JP6654589B2 - Work machine - Google Patents

Description

  The present invention relates to a working machine such as a hydraulic shovel.

  In the cab of a working machine such as a hydraulic excavator, a sun shade device such as a manual roll screen or a sun visor is often installed in order to reduce strong solar radiation or the like. 2. Description of the Related Art As a awning device, there is known an electric awning device for a building, which measures a solar radiation angle and intensity and automatically adjusts the position to an optimum position (see Patent Document 1).

JP-A-2000-54762

  When the electric awning device disclosed in Patent Document 1 is provided in the operator's cab of a work machine, the visibility of the front work machine may be impaired by the awning device controlled according to the solar radiation angle. Therefore, an object of the present invention is to ensure visibility from the cab to the outside in a working machine having an incident light rejection device in the cab.

In order to achieve the above object, the present invention provides a work machine having a front work machine equipped with a work implement, including an incident light rejection device that removes incident light, and a control device that controls the incident light rejection device, The incident light rejection device includes a light-shielding member that shields at least a part of the incident light from a driver's cab window, and a light-shielding region changing device that changes a light-shielding region that is shielded by the light-shielding member. The apparatus calculates a first angle having a positive direction between the straight line connecting a predetermined eye point of the worker and a predetermined portion of the work implement in the cab and a horizontal plane of the work machine. a first angle calculation unit for, a straight line connecting the lower end of the reference light shielding region is determined based on the position of the eye point and the light source, a second angle to the upper positive direction between the horizontal plane Also, when the first angle is large, the light-shielding area is reduced in accordance with an increase in the first angle, and when the first angle is smaller than the second angle, the light-shielding area is reduced to the reference light-shielding area. And a light-shielding area control unit that controls the light-shielding area changing device so as to be an area.

  ADVANTAGE OF THE INVENTION According to this invention, in the working machine provided with the incident light rejection device (shading device) in the cab, the visibility of the working machine from the cab to the outside can be secured.

FIG. 1 is a side view illustrating the entire structure of an ultra-large hydraulic excavator to which one embodiment is applied. The block diagram of the awning control system. The side view of the whole shovel when the bucket is lowered. The side view of the whole shovel when raising a bucket. FIG. 5 is a side view of the inside of the cab when the bucket is lowered. The side view in a cab when raising a bucket. 6 is a flowchart showing the processing content of drive control of the roll screen by the control unit.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a side view showing the entire structure of an ultra-large hydraulic excavator 1 to which an embodiment of a cab shade control system according to the present invention is applied. As shown in FIG. 1, the hydraulic excavator 1 is a two-engine type super-large excavator having a body weight of several hundred tons, which is often used in mines overseas, for example. The hydraulic excavator 1 includes a traveling body 3 having left and right crawler tracks 2, a revolving body 4 rotatably provided on the traveling body 3, and a vertically movable center of a front part of the revolving body 4. A front work machine 5 rotatably provided in the direction (movable up and down), a left building 6A for storing various devices provided on the revolving unit 4, and an operator cab 7 provided on the upper front side of the left building 6A. And a counterweight 8 attached to the rear of the revolving unit 4. The front work machine 5 includes a boom 13 rotatably attached to the revolving unit 4, an arm 14 rotatably attached to the tip of the boom 13, and a bucket rotatably attached to the tip of the arm 14. 15 are included.

  FIG. 2 is a diagram illustrating the configuration of the awning control system. As shown in FIG. 2, the awning control system includes a control unit 24 (control device), a front calculation unit 20 (first angle calculation unit), a sun angle calculation unit 22, a satellite communication unit 21, and an angle sensor 19. , A roll screen 25a, and a drive motor 25b (light-shielding area changing device). The angle sensor 19 includes a boom angle sensor 19a, an arm angle sensor 19b, and a bucket angle sensor 19c. The control unit 24 includes a daytime / sunset determination unit 24a, a correction unit 24b, an opening determination unit 24c, and a motor control unit 24d (light-shielding region control unit) as functions.

  The roll screen 25a has a configuration in which a screen (light shielding member) for shielding sunlight is wound around a roller (rotary shaft). Based on a control signal from the control unit 24, the drive motor 25b rotates the rollers in the normal and reverse directions to wind up and rewind the screen. The control unit 24, the front calculation unit 20, and the sun angle calculation unit 22 are configured by, for example, a plurality of computers including an arithmetic processing unit having a CPU, a ROM and a RAM as storage devices, and other peripheral circuits. Alternatively, all of these components are configured by a single computer.

  In the angle sensor 19, a boom angle sensor 19 a is attached to a boom rotation shaft, and outputs a voltage signal corresponding to a rotation angle of the boom 13 with respect to the swing body 4 to the front calculation unit 20. The arm angle sensor 19b is attached to the arm rotation shaft, and outputs a voltage signal corresponding to the rotation angle of the arm 14 with respect to the boom 13 to the front calculation unit 20. The bucket angle sensor 19c is attached to the bucket rotation shaft, and outputs a voltage signal corresponding to the rotation angle of the bucket 15 with respect to the arm 14 to the front calculation unit 20.

  The storage device (not shown) of the front calculation unit 20 stores programs used for predetermined calculations and various constants used for the calculations (the dimensions of each part of the excavator 1, the boom angle sensor 19a and the arm angle sensor 19b included in the angle sensor 19). And output characteristics of the bucket angle sensor 19c) are recorded in advance. A boom angle sensor 19a, an arm angle sensor 19b, and a bucket angle sensor 19c (angle sensor 19) are connected to the front calculation unit 20, and signals from the boom angle sensor 19a, the arm angle sensor 19b, and the bucket angle sensor 19c and The bucket direction angle β is calculated based on the dimensions of each part of the excavator 1 stored in the storage device, and the calculation result is output to the control unit 24. The bucket direction angle β is defined as an angle (first angle) from the worker's eye point to the position B of the toe (tip / edge) of the bucket 15.

  FIG. 3 is a side view of the entire shovel when the bucket 15 is lowered, and FIG. 4 is a side view of the entire shovel when the bucket 15 is raised. As shown in FIGS. 3 and 4, an eye point of a worker in the operator's cab 7 is defined as an origin O, and an X axis and a Y axis are defined. The X axis is an axis parallel to the horizontal direction, and the Y axis is an axis parallel to the vertical direction. In this coordinate system, a position ahead of the origin O is indicated by a positive value of the X coordinate, and a position behind the origin O is indicated by a negative value of the X coordinate. Further, in this coordinate system, a position downward from the origin O is indicated by a positive value of the Y coordinate, and a position upward from the origin O is indicated by a negative value of the Y coordinate. In this coordinate system, the coordinates of the position O 'of the boom rotation axis are defined as O' (X, Y), and the coordinates of the position B of the toe of the bucket 15 are defined as B (X + X ', Y + Y'). The boom length, the arm length, and the length from the bucket rotation axis to the toe of the bucket 15 are constants specific to each type of work machine or constants specific to each machine body of the work machine.

  The front calculation unit 20 calculates the boom length, the arm length, the length from the bucket rotation axis to the toe, and the rotation angles detected by the boom angle sensor 19a, the arm angle sensor 19b, and the bucket angle sensor 19c (angle sensor 19). Based on this, the relative position (X ′, Y ′) between the position O ′ of the boom rotation axis and the position B of the toe of the bucket 15 is calculated. The relative position (X, Y) between the origin O and the position O 'of the boom rotation axis is also a constant that is a unique value for each type of body. Note that the boom length is a linear distance between an attachment portion between the revolving unit 4 and the boom 13 (boom rotation axis) and an attachment portion between the boom 13 and the arm 14 (arm rotation axis). The arm length is a linear distance from a mounting portion between the boom 13 and the arm 14 (arm rotation axis) to a mounting portion between the arm 14 and the bucket 15 (bucket rotation axis).

Here, the angle from the horizontal plane centered on the eye point (origin) O to the toe of the bucket 15, that is, the bucket direction angle β formed by the horizontal plane and the line segment OB (first angle; -π / 2 <β <π / 2) can be calculated as β = tan ⁻¹ ((Y + Y ′) / (X + X ′)), where the upward direction is the positive direction based on the horizontal direction.

  The front calculation unit 20 calculates the relative position (X ', Y') between the calculated position B 'of the boom rotation axis and the position B of the toe of the bucket 15, the origin O stored in the storage device, and the boom rotation. The bucket direction angle β is calculated based on the relative position (X, Y) with respect to the axis position O ′, and the calculation result is output to the control unit 24.

  The satellite communication unit 21 includes an antenna unit and a controller unit (both are not shown). The controller unit of the satellite communication unit 21 outputs the information of the latitude, longitude, and date and time of the shovel body received by the antenna unit to the solar angle calculation unit 22. The sun angle calculation unit 22 calculates the sun angle α (second angle) at that time by an operation based on astronomy, and outputs the calculated sun angle α to the control unit 24.

  The daytime / sunset determination unit 24a determines whether it is daytime or after sunset based on the sun angle α. When the sun angle α is larger than the threshold value 0 (α> 0), the daytime / sunset determination unit 24a determines that the sunlight is shining from above the horizon, that is, the daytime. When the sun angle α is equal to or smaller than 0 (α ≦ 0), the daytime / sunset determination unit 24a determines that the day is not in the daytime, that is, after sunset. The threshold value 0 is a threshold value that is set to determine whether it is during the day or after sunset.

  FIG. 5 is a side view of the inside of the cab 7 when the bucket 15 is lowered, and FIG. 6 is a side view of the inside of the cab 7 when the bucket 15 is raised. Hereinafter, FIG. 5 and FIG. 6 will be further referred to. The correction unit 24b calculates a corrected sun angle α ′ based on the sun angle α calculated by the front calculation unit 20. In this calculation, the edge of the roll screen 25a is made to exactly match the direction in which the sun is present, thereby preventing leakage of sunlight. The correction value Δα (second correction amount) used by the correction unit 24b in the calculation is set such that all direct sunlight can be blocked. The correction unit 24b calculates a corrected bucket direction angle β 'based on the bucket direction angle β. With this calculation, it is possible to have a margin so that not only the toes of the bucket 15 but also the entire bucket can be seen. The correction value Δβ (first correction amount) used by the correction unit 24b in the calculation is set so as not to hinder the work of the operator. The values of the correction values Δα and Δβ can be changed by operating the operation device 23 provided in the cab 7. The correction unit 24b changes and rewrites the previously recorded correction values Δα and Δβ within a predetermined range based on an operation signal from the operation device 23. Thereby, it is possible to reflect the preference of the individual about how good it is to close the roll screen 25a with respect to the bucket 15 and the sun, and the shift of the eye point due to the difference in the body shape and the seat position.

  The opening degree determination unit 24c determines which of the sun position and the bucket position should be given priority based on the corrected sun angle α ′ derived by the correction unit 24b and the corrected bucket direction angle β ′, and opens the roll screen. The degree R is calculated. When the corrected sun angle α ′ is larger than the corrected bucket direction angle β ′ (α ′> β ′), the opening degree determination unit 24c gives priority to the sun position and sets the degree of opening of the roll screen 25a (roll screen opening degree R). ) Is calculated. When the corrected sun angle α ′ is equal to or smaller than the corrected bucket direction angle β ′ (α ′ ≦ β ′), the opening degree determination unit 24c calculates the roll screen opening degree R by giving priority to the bucket position, and the motor control unit 24d. Output to The motor control unit 24d controls the drive motor 25b that rotationally drives the rollers of the roll screen 25a so that the roll screen opening degree R calculated by the opening degree determination unit 24c is obtained.

  FIG. 7 is a flowchart showing the processing content of drive control of the roll screen 25a by the control unit 24. The process shown in this flowchart is started, for example, by turning on an ignition switch (not shown), and after performing initial settings (not shown), the processes after step S100 are repeatedly executed at predetermined control cycles.

  In step S100, the daytime / sunset determination unit 24a and the correction unit 24b of the control unit 24 obtain the bucket direction angle β calculated by the front calculation unit 20 and the sun angle α calculated by the sun angle calculation unit 22. Then, the control unit 24 proceeds to the process of step S110.

  In step S110, the daytime / sunset determination unit 24a determines whether the sun angle α is larger than 0. The control unit 24 proceeds to step S120 when an affirmative determination is made in step S110, and proceeds to step S130 when a negative determination is made in step S110.

  In step S120, the correction unit 24b calculates α ′ = α + Δα and β ′ = β−Δβ and registers them as parameters, and the control unit 24 proceeds to step S140.

  In step S130, the opening determining unit 24c registers the roll screen opening R = 0 as a parameter.

  In step S140, the correction unit 24b determines whether α ′ is larger than β ′. Control unit 24 proceeds to step S150 if a positive determination is made in step S140, and proceeds to step S160 if a negative determination is made in step S110.

  In step S150, the opening determining unit 24c calculates the roll screen opening R = L1−L2tanα ′, registers the result as a parameter, and the control unit 24 proceeds to step S170.

  In step S160, the opening degree determination unit 24c of the control unit 24 calculates the roll screen opening degree R = L1−L2tanβ ′, registers the result as a parameter, and the control unit 24 proceeds to step S170.

  In step S170, the motor control unit 24d of the control unit 24 outputs a forward / reverse control signal to the drive motor 25b of the roll screen 25a until the registered roll screen opening degree R reaches the registered value. Ends the processing of the flowchart shown in FIG.

  The operation of the present embodiment is summarized as follows. At first, the roll screen 25a is set to the corrected sun angle α 'at which the operator's eyes do not receive direct light from the sun in accordance with the angle of the sun. The corrected sun angle α 'changes with the angle of the sun, and is set so that all the roll screens 25a are automatically opened after sunset. When the worker operates the front work machine 5 during the day and the corrected bucket direction angle β ′ reaches the corrected sun angle α ′, the roll screen 25a moves the bucket based on the corrected bucket direction angle β ′. It is raised and lowered according to. By raising and lowering the roll screen 25a, the operator can perform the loading operation while excluding the influence of the direct light from the sun on the field of view and the influence of the roll screen 25a on the field of view in the bucket direction. When the bucket 15 is lowered again until the corrected bucket direction angle β ′ in the bucket direction becomes the corrected sun angle α ′, the lower end of the roll screen 25a is lowered as necessary based on the corrected sun angle α ′, The work can be continued while maintaining a wide field of view without being unnecessarily obstructed by the roll screen 25a.

According to the first embodiment, the following operation and effect can be obtained.
(1) The hydraulic shovel 1 according to the present embodiment includes, in the cab 7, an electrically driven roll screen capable of controlling the descending amount of the roll screen 25a by a drive motor 25b by an external signal. The hydraulic excavator 1 includes a front calculation unit 20 that calculates a bucket direction angle β between a horizontal line and a straight line connecting a worker's eye point and a toe of the bucket 15 set in advance in the operator's cab 7, an eye point and a reference. When the bucket direction angle β is greater than the sun angle α from the horizontal plane of the straight line connecting the lower end of the light-shielding region, the drive motor 25b decreases the roll screen 25a by the drive motor 25b so as to decrease as the β increases. Control unit having a motor control unit 24d for changing the roll screen descent amount by the drive motor 25b so as to be a reference light-shielding area when the bucket direction angle β is smaller than the sun angle α. 24. Thereby, even when the position of the bucket 15 is raised, the work can be continued without being obstructed by the roll screen 25a.

(2) The sun angle calculation unit 22 has, as a function, a reference area determination unit that determines a reference light-shielded area based on the sun angle α. This eliminates the need for the operator to reset the reference light-shielding area in accordance with the sun angle α that changes with time. On the other hand, when the electric awning device described above as a background art is provided in the cab 7 of a working machine such as the hydraulic shovel 1, the visibility of the worker on the front work machine 5 is controlled by the awning device controlled according to the solar radiation angle. May be impaired. For example, if the worker cannot visually recognize the toes of the bucket 15 during loading work on the dump truck, the bucket 15 may be brought into contact with the opening edge of the bed (vessel) of the dump truck. Therefore, when the visibility of the worker on the front work machine 5 is impaired by the awning device, it is necessary to temporarily move the awning device, and there is a problem that the operator feels troublesome. On the other hand, according to the present embodiment, the roll screen 25a is automatically controlled so that the field of view is secured according to the operation of the front work machine 5, so that the operator may feel troublesome. There is no workability.

(3) The sun angle calculation unit 22 calculates the sun angle α based on the latitude and the date and time. Therefore, the sun angle α can be calculated only by using existing shovel parts and adding a calculation controller.

(4) The front calculation unit 20 calculates the bucket direction angle β based on the boom angle sensor 19a, the arm angle sensor 19b, and the bucket angle sensor 19c. Therefore, the bucket direction angle β can be calculated simply by using existing shovel parts and adding a calculation controller.

(5) a correction unit 24b of the control unit 24, a first correction unit that corrects the bucket direction angle β by the correction value Δβ according to an operation on the operation device 23, a second correction unit that corrects the sun angle α by the correction value Δα, In addition, a function of a correction amount changing unit (not shown) for changing the correction values Δα and Δβ based on information from the operation device 23 is provided. Thereby, it is possible to reflect the personal preference of the worker as to how much the roll screen 25a should be closed with respect to the bucket 15 and the sun, and the shift of the eye point due to the difference in the worker's body type and seat position. it can.

  The following modifications are also within the scope of the present invention, and one or more of the modifications can be combined with the above-described embodiment.

(Modification 1)
For example, in another embodiment, the sunshade device is a smart window, and a solar radiation sensor is provided in the driver's cab 7 by taking advantage of the characteristic that the solar radiation transmittance can be partially and steplessly changed according to the magnitude of the load voltage. The range above the roll screen opening R calculated by the control unit 24 has the minimum transmittance, and the range below the roll screen opening R is based on the amount of solar radiation obtained by the solar radiation sensor. It is also possible to control to reduce the transmittance to such an extent that is visible. Such a deformation is effective for reflection when the outdoors are very bright.

(Modification 2)
In the above-described embodiment, an example in which the latitude information acquired by the satellite communication unit 21 is acquired has been described, but the present invention is not limited to this. For example, in another embodiment, the operator may be allowed to arbitrarily set position information such as latitude and longitude via the operation device 23.

(Modification 3)
In the above-described embodiment, the sun angle α is calculated based on the latitude information acquired by the satellite communication unit 21 and the date and time information. For example, in another embodiment, the sun angle α is calculated using a well-known solar radiation sensor. α may be calculated.

(Modification 4)
In the above-described embodiment, an example in which the position B of the toe of the bucket 15 is calculated by the front calculation unit 20 has been described, but the present invention is not limited to this. For example, in another embodiment, instead of the position B of the toe of the bucket 15, the root of the bucket 15 may be set as the position B of a predetermined portion, and may be used for the calculation in the front calculation unit 20.

(Modification 5)
In the above-described embodiment, the hydraulic shovel 1 including the bucket 15 as a working tool has been described as an example of a working machine, but the present invention is not limited to this. For example, in another embodiment, the above-described embodiment can be applied to various working machines including a breaker, a lifting magnet, or a crusher as a working tool.

(Modification 6)
In the above-described embodiment, an example has been described in which the reference light-shielding region is determined based on the sun angle α, but the present invention is not limited to this. For example, in another embodiment, the reference light shielding area may be arbitrarily set by the operator via the operation device 23.

(Modification 7)
In the above-described embodiment, an example has been described in which the work is performed in a state where the excavator 1 is in contact with the horizontal ground, but the present invention is not limited to this. For example, in another embodiment, the present invention can be applied to a case where the work is performed in a state where the excavator 1 is in contact with the inclined ground. In this case, the correction amount can be controlled to cope with the situation. Further, for example, in still another embodiment, a light-shielding area is automatically controlled based on the inclination angle by using an inclination angle sensor that detects the inclination angle of the main body and a rotation angle sensor that detects the rotation angle of the revolving unit 4. You may make it.

(Modification 8)
In the above-described embodiment, an example has been described in which the position B of the toe of the bucket 15 is calculated based on the plurality of angle sensors 19 and the geometric information of the front working device. However, the present invention is not limited to this. For example, in another embodiment, the position B of the toe of the bucket 15 may be calculated using information of a stroke sensor that detects a stroke of a hydraulic cylinder that drives the bucket 15, the arm 14, and the boom 13. A transmitter may be provided at the toe of the bucket 15 and the position B of the toe of the bucket 15 may be calculated based on a signal from the transmitter.

(Modification 9)
In the above-described embodiment, the case where the incident light from the window of the driver's cab 7 is direct light from the sun is exemplified. However, for example, in other embodiments, the incident light from the window of the driver's cab 7 For example, the sunlight may be reflected indirectly on the wall of a building, or may be light from an artificial light source such as a searchlight that illuminates a workplace at night. Light other than light may be excluded from the eyes of the worker.

  The present invention is not limited to the above-described embodiments as long as the features of the present invention are not impaired, and other forms conceivable within the technical idea of the present invention are also included in the scope of the present invention. .

1 hydraulic excavator (work machine), 5 front work machine, 7 cab, 13 boom, 14 arm, 15 bucket, 20 front calculation unit (first angle calculation unit), 22 sun angle calculation unit (reference area determination unit), 24 control unit (control device), 23 operating device (correction amount changing unit), 24b correction unit, 24d motor control unit (light shielding region control unit), 25a roll screen (light shielding member), 25b drive motor (light shielding region changing device)

Claims (5)

In a work machine having a front work machine equipped with a work implement, an incident light rejection device that eliminates incident light, and a control device that controls the incident light rejection device,
The incident light rejection device,
A light-blocking member that blocks at least a part of the incident light from the driver's cab window,
A light-shielding area changing device that changes a light-shielding area that is shielded by the light-shielding member,
The control device includes:
A first angle for calculating a first angle in which the upper direction between a straight line connecting an eye point of a worker preset in a cab and a predetermined portion of the work implement with a horizontal plane of the work machine is a positive direction . An angle calculator,
When the first angle is larger than a straight line connecting the lower end of the reference light-shielding region determined based on the position of the eye point and the light source, and a second angle having a positive direction above the horizontal plane, When the first angle is smaller than the second angle, the light shielding area changing device controls the light shielding area changing device so that the light shielding area is used as the reference light shielding area when the first angle is smaller than the second angle. A working light machine comprising: The work machine according to claim 1,
The incident light is direct light of the sun,
The work machine according to claim 1, wherein the control device further includes a reference area determination unit that determines the reference light-shielded area based on an angle of the incident light. The work machine according to claim 2,
The work machine according to claim 1, wherein the reference area determination unit further calculates an angle of the incident light based on latitude and date. The work machine according to claim 1,
The front work machine, a boom rotatably attached to the body of the body of the work machine,
An arm rotatably attached to the boom, and a bucket as the work tool rotatably attached to the arm,
The predetermined part of the work implement is a toe of the bucket,
The work machine according to claim 1, wherein the first angle calculation unit calculates the first angle based on a rotation angle of the boom, a rotation angle of the arm, and a rotation angle of the bucket. The work machine according to claim 1,
The control device includes:
The first angle is corrected by a first correction amount set so as not to hinder the work of an operator, and the second angle is set to a second correction amount set to block all of the incident light. A correction unit that corrects only
A work machine further comprising: a correction amount changing unit that changes the first correction amount and the second correction amount based on an operation by an operator from the cab.