JP2812892B2 - Work machine interference prevention device for construction machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine interference preventing device for a construction machine, and more particularly, to a work machine interference prevention device which improves operability of a construction machine by eliminating excessive deceleration in a deceleration range. It concerns the device.

[0002]

2. Description of the Related Art A construction machine such as an ultra-small swiveling shovel has a boom mounted on a front side of an upper revolving body so as to be able to move up and down. ing. Further, an arm is attached to the tip of the lateral folding boom via an offset arm so as to be rotatable up and down, and a bucket is attached to the tip of the arm so as to be rotatable up and down. Then, when the horizontal folding boom is rotated left and right, the offset arm is rotated by the same angle in a direction opposite to the rotation direction of the horizontal folding boom, so that the arm and the bucket are always connected to the upper rotating body. It is offset left and right while maintaining a parallel relationship with the front and rear direction. Therefore, the bucket attached to the forefront of the working machine is formed so as to be movable along the front vertical plane of the upper swing body with the rotation of the boom and the arm.

[0003] In this type of construction machine, if an operation such as pulling an arm is performed in a state where the side-bending boom is rotated toward the cab, the bucket and the cab may interfere with each other. Therefore, conventionally, this type of construction machine is equipped with a work machine interference prevention device. As shown in FIG. 5, the work machine interference prevention device is provided with angle sensors 4, 4, and 4 at pivot points of each work machine such as a boom 1, a side-bending boom 2, an arm 3, and the like. As a determination area, a safety area S is set far from the aircraft, a deceleration area D is set inside the safety area S, and a stop area L is set immediately near the aircraft inside the safety area S. Then, the detecting the position of the bucket 5 at an angle sensor 4,4,4, when the bucket 5 has entered the deceleration region D close to the cab 6, deceleration command f _D is a deceleration stop from the controller 7 By being output to the proportional valve 8,
When the operating speed of each work machine is reduced, and when the bucket 5 approaches the cab 6 and enters the stop area L, the controller 7 outputs a stop command f _L to the deceleration stop proportional valve 8. Thus, each work machine is stopped. The reason why the deceleration area D is provided between the safety area S and the stop area L is to reduce the shock at the time of stop and to improve the stop position accuracy.

[0004] deceleration zone size of the deceleration command f _D in D (deceleration degree) is as shown in FIG. 6 (a), rising stepwise at the boundary between safety margin S, the entire area of the velocity reduction zone D There is a case where it is set to a certain amount, and a case where it is set to increase like a ramp from the boundary of the safety zone S to the boundary of the stop zone L as shown in FIG. Further, as shown in FIG. 5 described above, the arm 3 is pendulum-operated in the direction of the cab 6 with the base end of the arm 3 fixed at an obliquely upward position in front of the cab 6 as shown in FIG. Thus, the value is set such that an appropriate deceleration can be obtained when the bucket 5 crosses the deceleration range D substantially horizontally from the center to the upper part of the cab 6.

[0005]

In a construction machine equipped with a conventional work machine interference prevention device, the work prevention machine operates unnecessarily because the interference prevention mechanism is activated more than necessary when excavating the ground in front of the cab. May be slow and operability is diminished. For example, when performing an operation of excavating the ground immediately before the cab and lifting the ground upward, the operation is inevitably deteriorated because the bucket is always located in the deceleration region. In addition, when the arm only pendulums in the cab direction while digging a distant ground, the bucket may not reach the stop area, but may be decelerated because the bucket has entered the deceleration area. .

[0006] On the other hand, since such work is actually frequently performed, it has a great influence. Therefore, there arises a technical problem to be solved in order to prevent excessive deceleration in the deceleration range by the work machine interference prevention device and improve operability of the construction machine, and the present invention solves the problem. The purpose is to:

[0007]

SUMMARY OF THE INVENTION The present invention has been proposed to solve the above-mentioned problems, and has a detecting means for detecting a position of a working machine which can be offset left and right with respect to an upper revolving unit. When the work machine enters the deceleration zone, the work machine speed is reduced, and when the work machine enters the stop zone, the work machine interference prevention device of the construction machine is formed to stop the work machine. A work machine interference prevention device for a construction machine, wherein the work machine in a deceleration range is formed so as to increase or decrease the degree of deceleration according to the vertical position of the work machine. is there.

[0008]

[Function] The deceleration in the deceleration range is changed in the vertical direction, and the deceleration in the vicinity of the ground below is set small.
It is set to increase as it goes upward. Thus, when the bucket is located at the upper side, the same deceleration operation as in the related art is performed. On the other hand, when the bucket is located below, the bucket can operate relatively fast without being decelerated so much. Therefore,
Even if the bucket enters the deceleration area while excavating the ground in front of the cab, the operability is improved because the bucket does not greatly decelerate unless the bucket is pulled up.
Further, since the bucket generally does not interfere with the lower portion of the cab, the influence on the interference prevention function is small.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to FIGS. FIG. 1 is a left side view of an ultra-small turning type shovel 11 equipped with a work implement interference prevention device, and a lower race 13 composed of left and right crawlers 12, 12 has a ball race 1.
The upper rotating body 15 is mounted so as to be freely rotatable in all directions in the horizontal direction. A main boom 17 is pivotally mounted to the right of the cab 16 of the upper revolving unit 15 (in the depth direction in the figure), and the main boom 17 is formed so as to be raised by the expansion and contraction operation of a boom cylinder 18. A horizontal bending boom 19 is pivotally attached to the distal end of the main boom 17, and the base end and the other end of the offset cylinder 20 are connected to the left end of the distal end of the main boom 17 and the horizontal bending boom 19, respectively. The lateral bending boom 19 is pivotally attached to the left side surface and extends and contracts by the offset cylinder 20.
Are formed so as to rotate in the left-right direction.

An offset arm 21 is pivotally mounted on the distal end of the horizontal folding boom 19 so as to be rotatable in the left-right direction, and a base bracket is provided on a left side of the distal end of the main boom 17 (frontward in FIG. 1). 22 and a top bracket 23 is protruded from the left side of the offset arm 21 (frontward in the drawing), and the base bracket 22 and the top bracket 23 are respectively provided with rods 2.
4 has one end and the other end pivotally connected. Accordingly, when the offset cylinder 20 is expanded and contracted to rotate the side-to-side boom 19 left and right, the offset arm 21 always keeps a parallel relationship with the main boom 17 by the action of the rod 24.

An arm 25 is connected to the front of the offset arm 21, and a bucket 26 is connected to the tip of the arm 25. Thus, when the offset cylinder 20 is expanded and contracted, the arm 25 and the bucket 26 are offset to the left and right with respect to the upper swing body 15.

The rear end of the offset arm 21 and the rear end of the arm 25 have arm cylinders 2 respectively.
7 is pivotally connected to the base end and the other end of the arm cylinder 2.
The arm 25 is formed to be rotatable vertically with respect to the offset arm 21 by the expansion and contraction of the arm 7. Also, the rear of the upper surface of the arm 25 and the bucket 2
The base end and the other end of the bucket cylinder 28 are pivotally connected to the rear part of the bucket 6, respectively. The bucket 26 is formed so as to be rotatable vertically with respect to the arm 25 by the expansion and contraction of the bucket cylinder 28. I have.

A boom angle sensor 29 is provided at a pivot point between the upper revolving unit 15 and the main boom 17, and a pivot between the main boom 17 and the horizontal folding boom 19 is provided. An offset angle sensor 30 is provided at the landing point. Furthermore, the offset arm 21
An arm angle sensor 31 is provided at the pivot point between the arm 25 and the arm 25.
Are arranged. These angle sensors 29, 30, 3
1 is sent to a controller 32 mounted in the cab 16, and subjected to data processing by a program of an arithmetic processing unit 33 stored in the controller 32, and a pivot point between the bucket 26 and the arm 25. The space coordinate value of P is calculated.

The spatial coordinates are spatial coordinates with respect to the upper revolving unit 15, and the position of the upper revolving unit 15 in the front-rear direction is determined using the pivot point of the upper revolving unit 15 and the main boom 17 as the origin. Are three-dimensional orthogonal coordinates including an x-axis, a y-axis for determining a vertical position, and a z-axis for determining a horizontal position. The space coordinates are divided into three areas of a safety area S, a deceleration area D and a stop area L by two boundary planes A and B shown by two dashed lines in the figure. The safety zone S is expanded and a stop zone L is set in the immediate vicinity of the fuselage. A deceleration zone D is interposed between the safety zone S and the stop zone L.

The position data of the pivot point P calculated by the arithmetic processing unit 33 is sent to the determination unit 34. If the pivot point P is within the safety zone S, the bucket 26 and the cab 1
6, there is no possibility of interference, and the interference prevention mechanism does not operate. On the other hand, when it is determined that the pivot point P has entered the deceleration area D beyond the boundary surface A by pulling the bucket 26, the deceleration stop processing unit 35 causes the deceleration stop provided inside the upper revolving unit 15 to stop. use the proportional valve 36 deceleration command f _D is outputted to the boom cylinder 18 by the proportional valve 36 for the deceleration stop, offset cylinders 20 and the arm cylinder 2
7, the speed of the pivot point P is reduced. Further, when it is determined that the pivot point P has entered the stop area L beyond the boundary surface B by pulling the bucket 26 toward the cab 16, the deceleration / stop processing unit 35 outputs the deceleration / stop proportional valve 36. A stop command f _L is output to the boom cylinder 18, the offset cylinder 21, and the arm cylinder 27, and the hydraulic oil of the boom cylinder 18, the offset cylinder 21, and the arm cylinder 27 is shut off by the deceleration stop proportional valve 36. I do. Thus, interference between the bucket 26 and the cab 16 is prevented.

[0016] In Thus, the magnitude of the deceleration command f _D (deceleration degree) is not uniform in the entire area of the velocity reduction zone D to conventional as, vary depending on the value of y-coordinate cage, when the value of the y-axis is large, is also set larger the deceleration command f _D,
The deceleration command f _D according to the value of the y-axis is small is set to be smaller. FIGS. 2A to 2E
Are respectively y = 3, y shown by a three-dot chain line in FIG.
= 2, y = 1, y = 0 (overlapping with the solid arrow indicating the x-axis)
6 is a graph illustrating an example of the magnitude of a deceleration command f _D on each plane when y = −1. As shown in FIG.
6 At the height near the upper part, the deceleration command f _D is as shown in FIG.
As in the case of the conventional example of FIG.
Up to the border of the ramp. Therefore, when the bucket 26 is located at a height near the upper portion of the cab 16, the same deceleration as in the prior art is performed.

Meanwhile, as the position of the pivot point P of the bucket 26 becomes lower, as is illustrated in FIG. 2 (b) to (e), the upper limit of the deceleration command f _D is restricted so as to gradually become smaller When the deceleration command f _D rises in a ramp shape from the boundary of the safety zone S reaches its upper limit, the deceleration command f _D maintains an equilibrium state with the upper limit until reaching the stop zone L thereafter. Then, as shown in FIG.
When pivot point P of is positioned near the ground, the upper limit of the deceleration command f _D is negligible in pressing are. Therefore, the lower the bucket 26 is, the smaller the degree of deceleration in the deceleration range D is.

Next, a deceleration command f _D will be described with reference to FIG. 3 and FIG. 4 specific action when set to as described above. In FIG. 3, the attitude of the ultra-small turning type shovel 11 illustrated by a solid line indicates a state where the bucket 26 is excavating the ground immediately before the cab 16. When the bucket 26 is lifted upward from this position and shifts to the position as shown by the two-dot chain line in the drawing, the locus of the pivot point P of the bucket 26 has a deceleration range throughout as shown by the solid line arrow in the drawing. D and rises in a part of the deceleration region D slightly closer to the stop region L. In this case, since the conventionally generated is throughout a large deceleration command f _D, working machine operation is quite dull. However, according to the In the ultraminiature rotary excavator 11 according to the present invention, since when the bucket 26 is positioned in the vicinity of the ground is smaller deceleration command f _D, can operate relatively quickly, leading to upward It gradually slows down.

Further, in FIG. 4, the posture of the ultra-small swivel type shovel 11 shown by a solid line shows a state in which the ground away from the cab 16 is excavated. If only the arm 25 is pulled toward the cab 16 from this position, the bucket 26 may enter the deceleration region D and may be greatly decelerated in the related art, although the bucket 26 may not reach the stop region L. However, in the ultra-small turning shovel 11 according to the present invention, even if the pivot point P of the bucket 26 enters the deceleration range D, the bucket 26 does not reach a very high position. It will not be done.

The operation shown in FIGS. 3 and 4 is not a special operation for this type of construction machine, but is frequently performed during ground excavation work.
Therefore, in the past, the working machine was greatly decelerated very frequently during the work, thereby deteriorating the workability. In the present invention, however, since excessive deceleration is suppressed as described above, Workability of the construction machine will be improved. Further, since the bucket 26 does not interfere with the lower portion of the cab 16, even if the degree of deceleration below the deceleration range D is reduced, the influence on the interference prevention function is small. Further, in the operation shown in FIG. 4, the arm 25 must be lifted against the gravity when the vehicle enters the deceleration range D. Therefore, when the engine speed is low, the conventional deceleration method stops halfway due to its own weight load. According to the present invention, such a stall can be prevented.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0022]

As described in detail in the above embodiment, the present invention is configured to increase or decrease the degree of deceleration of the working machine in the deceleration range according to the vertical position of the working machine. .
Therefore, it is possible to prevent the working machine from being decelerated more than necessary in the deceleration area during ground excavation work or the like. Thus, the operability of the construction machine can be improved.

[Brief description of the drawings]

FIG. 1 is a side view of a micro turning shovel according to an embodiment of the present invention.

FIG. 2 is a graph showing the magnitude of a deceleration command on each plane of y = 3, 2, 1, 0 and −1 in FIG.

FIG. 3 is a side view showing one mode of operation of the ultra-small turning shovel in FIG. 1;

FIG. 4 is a side view showing another mode of the operation of the ultra-small turning shovel in FIG. 1;

FIG. 5 is a side view of a conventional ultra-small turning type shovel.

FIG. 6 is a graph showing a magnitude of a deceleration command in a deceleration range in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 Ultra-small revolving type shovel 15 Upper revolving unit 16 Cab 17 Main boom 18 Boom cylinder 19 Lateral bending boom 20 Offset cylinder 21 Offset arm 25 Arm 26 Bucket 27 Arm cylinder 28 Bucket cylinder 29 Boom angle sensor 30 Offset angle sensor 31 Arm angle sensor 32 Controller 33 Arithmetic processing unit 34 Judgment unit 35 Deceleration stop processing unit 36 Proportional valve for deceleration stop P Pivot point S Safety zone D Deceleration zone L Stop zone f _D Deceleration command f _L Stop command

Claims (1)

(57) [Claims] 1. A detecting means for detecting a position of a work machine which can be offset to the left and right with respect to an upper revolving structure. When the work machine enters a deceleration range, the speed of the work machine is reduced, and When the machine enters the stop zone, the work machine interference preventing device of the construction machine formed so as to stop the work machine determines the degree of deceleration of the work machine in the deceleration zone by using the vertical direction of the work machine. A work machine interference prevention device for a construction machine, which is formed so as to increase or decrease according to the position of the work machine.