JPH02176903A - Work machine interference preventing device - Google Patents

Abstract

PURPOSE:To safely and without any anxiety execute the work and to improve workability by operating and correcting a work machine stop area by a temperature of hydraulic oil. CONSTITUTION:A computer 129 sends an electric signal to a solenoid valve 68 and a moving amount (m) of a work machine before the work machine stops is derived in advance by an experiment, etc., by using a temperature of hydraulic oil as a function, and a stop area of the work machine is widened by correcting it by the moving amount (m) and stored as a corrected stop area in a memory 130. The computer 129 operates a position of the work machine by reading measured values of a boom, an arm and offset use potentiometers 99-101, and sets a corrected work machine stop area by a measured value of a hydraulic oil temperature. In such a way, when an operator's cab of the work machine and a car body, etc., come to a position where they interfere with an interference avoidance object, they stop automatically and the interference can be prevented in advance, the work can be executed safely and without any anxiety, and the workability can be enhanced.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a work machine that prevents interference of a work machine in a commercial vehicle such as an excavation and loading vehicle with an interference avoidable object such as a driver's cab or a vehicle. This invention relates to an interference prevention device.

[Prior Art] In a work vehicle such as a power shovel that has a parallelogram configuration in which a part of an articulated work machine arm link mechanism that undergoes bending motion can be offset in the lateral direction, it is difficult to operate the work machine. If the excavation and loading operation is carried out with an offset to the front side of the chamber, the operation of the working machine becomes dangerous because the movement range of the working machine includes an area that interferes with the operator's cab.

[Problem to be Solved by the Invention] In order to eliminate such dangerous operations, there is a means to sound a buzzer when a working machine enters an area that interferes with the operator's cab, but in this case, the operator immediately responds to the buzzer and It was necessary to stop operating the work equipment, and work efficiency was reduced because it was not possible to work 1% safely and with peace of mind.

[Means and effects for solving the problem] In order to solve the above problems, the present invention provides a work vehicle equipped with an interference avoidance device within the movable range of the work machine to avoid interference with the work machine. The work machine stop area where the machine interferes with the object to be avoided is stored in the storage means, the work machine stop area is calculated and corrected based on the hydraulic oil temperature, and the refractive movement f-year detection means detects the movement of the work machine. A determination means for determining whether or not the work machine enters the stop area of the work machine based on the signal; and a work machine operation stop means for stopping the operation of the work machine in response to a command from the t1 cutting means. It has a configuration with

[Example] Hereinafter, the present invention will be explained based on the drawings. Fig. 1 shows a side view of the excavation and loading vehicle, Fig. 2 shows a plan view of the same, Fig. 3 shows a side view of the working vehicle with a part of the working equipment omitted, and Fig. 4 shows a plan view of the same. shows.

The work vehicle is equipped with an upper revolving body 4 as a vehicle body, which is provided with a rotating mechanism 3 on a frame 2 of an undercarriage I. A chamber 6 is mounted thereon, and a working machine 7 is mounted on the frame 5. The working machine 7 is equipped with a first boom 8, and the frame 5 is attached to a bracket 12 at its base end so that it can be raised and lowered by a bin 13. At the tip of the first boom 8, a second boom 9 is swung horizontally (ih) by a bin 10.
++R function is installed.

A lower bracket 15, 16 is fixed to the tip of the first boom 8, and a cylinder mounting bracket 17 is fixed to the frame 5 of the upper revolving body 4. The base end of a boom cylinder 18 is swingably attached to this cylinder mounting bracket 17 with a pin 19.
The two are connected by a bottle 21.

A bracket 22 is fixed to the right side of the tip of the second boom 9, and the base end of an offset cylinder 23 is attached to the bracket 1) 16 on the right side of the first boom so that it can swing in the left-right direction with a bin 24. The piston rod 25 of the offset cylinder 23 is connected to the bracket 22 of the second boom 9 by a pin 26. At the tip of the 21st beam 9, a third boom 27 is attached to a bin 28 so as to be swingable in the left-right direction, and a bracket 29 is fixed to the left side of the tip of the third boom 27. It is.

The base end of a link 30 is connected to the left bracket 15 of the first boom 8 by a pin 3.1, and the tip end of the link 30 is connected to the bracket 29 by a pin 32.

An arm 33 is attached to the tip of the third boom 27 so as to be swingable in the vertical direction by means of a bin 34.

The base end of an arm cylinder 35 is swingably attached to the rear end of the third boom 27 with a pin 3G, and the piston rod 37 of the arm cylinder 35 is attached to the rear end of the arm 33 with a pin 38. .

A packet 39 is attached to the tip of the arm 33 so as to be able to swing vertically by means of a bin 40.
The bracket 41 of No. 9 and the tip of the arm 33 are connected by links 42 and 45, respectively, and the arm 33
The proximal end of a packet cylinder 47 is attached to the bracket 46 by a pin 48, and the piston rod 49 of the bucket cylinder 47 is connected to the tip of the link 42, 43 by a pin 50.

FIG. 5 is a diagram showing the installation of a potentiometer for detecting the position of the work equipment 7. A boolean 11 for detecting the position of the first boom 8 and a boom potentiometer 99 as an angle sensor are attached to the side surface of the base of the first boom 8. Further, an arm potentiometer 100 as an arm angle sensor for detecting the position of the arm 33 is attached to the third boom 27, and an offset for detecting the offset amount of the second boom 9 is attached to the offset link part. Offset as an angle sensor
A single potentiometer 101 is attached.

FIG. 6 shows how the boom potentiometer 99 is installed.

That is, a boom potentiometer 99 is attached to the side surface of the base of the first boom 8. An arm member 105 is fixed to the rotating shaft 104 of the boom potentiometer 99. One end of a yoke 106 is connected to the arm member 105 with a pin 107, and the other end of the yoke 106 is connected to a mounting bracket 108. They are connected by a bin 109.

The mounting state of the arm potentiometer 100 is
As shown in FIG.

That is, a holder 110 is fixed to the side surface of the tip end of the third boom 27 with bolts 111, and the arm potentiometer 10 is attached to the holder 110 via a holding member 110'.
0 is fixed, and this arm potentiometer 10
The axial center of the rotation shaft 112 of 0 is located on an extension of the axis 113 of the bin 34. An arm member 114 is fixed to this rotating shaft 112, and this arm member 114
A guide hole 115 is formed at the tip of the guide hole 115 along the axial direction of the guide hole 115. Then, the arm 3 is inserted into this guide hole 115.
A rond 116 protruding from 3 is slidably inserted. The state of the offset potentiometer 101 is shown in FIGS. 9 and 10. That is, a holder 117 is mounted on the upper surface of the bracket 16 on the right side of the first boom 8 to hold the bolt 1.
An offset potentiometer 101 is fixed to this holder 117 , and the axis of a rotating shaft 119 of this offset potentiometer 101 is located on an extension of the axis 120 of the bin 24 . An arm member +21 is fixed to the rotating shaft 119, and a guide 122 is formed at the tip of the arm member 121 along the axial direction thereof. A rod 123 protruding from the link 30 is inserted into the guide hole 122.
is slidably inserted.

The boom, arm and offset potentiometers 99, 100, 101 and the oil temperature sensor 132 installed in the hydraulic oil flow path are connected to the multiplexer 127 via interfaces 124, 125, 126, 133, respectively, as shown in FIG. The output side of the multiplexer 127 is connected to the input side, and the output side of the multiplexer 127 is connected to the A/D converter 128.
connected to the input side of the computer 129 via e,
A memory 130 is connected to the computer 129.

And the output side interface 1 of the computer 129
31 to the solenoid 79 of the electromagnetic valve 68 (see figure 7jE13).

FIG. 13 shows a safety circuit in the work machine interference prevention device. In the figure, 54 is a work machine lever, and this work machine lever 5
4 is configured to rotate around a fulcrum 5S, and an arm 57 is attached to the leg portion 56 of the working machine lever 54.

Reference numeral 58 denotes a lever having a swinging fulcrum 59 in the center, and one end of this lever 59 is connected to the piston rod 1 of the f-actuating cylinder 60 with a pin 62, and the opening and I-domain of this actuating cylinder 60 are connected to each other by a pin 62. A J turn spring 63 is installed in the side chamber 64.
is accommodated. The mouth/throat chamber 64 and bottom side chamber 65 of the actuation cylinder 60 are solenoid ports 68a, 681) of the solenoid valve 68 connected via conduits 66, 67, and the interface 131 of the computer 129.
It is activated by an electric signal from In this way, to solenoid 79; II! The position of the solenoid valve 68 is switched by the electric current, and the hydraulic pressure from the pump 69 is applied to the bottom side chamber 65 of the operating cylinder 60, and the lever 58 is rotated clockwise via the piston rod 61, and the arm 57 is rotated. interference, and rotates the work implement lever 54 in the direction of the arrow to return it to the neutral position. For this reason, the boom, arm, and offset operation valves (not shown) linked to the work equipment lever 54 are brought into a neutral state, and the boom cylinder 18 and arm cylinder 35
Then, the operation of the offset cylinder 23 is stopped, and the movement of the working machine 7 is stopped.

Next, the operation will be explained.

By operating the work equipment lever 54, each operation valve is operated, and the boom cylinder 8, arm cylinder 35, and offset cylinder 23 move to expand and contract, thereby moving the first boom 8, the arm 33, and the second boom forward. The position of the first boom 8 is detected by the boom potentiometer 99 via the yoke 106 and the arm member 105 as the first boom 8 rotates.

Further, the position of the arm 33 is such that the arm 33 is located in the guide hole 115.
Detection is detected by the arm potentiometer 99 by sliding the arm member 114 inside and rotating the rotating shaft 112 of the arm potentiometer 100.

Further, the offset amount of the second boom 9 is detected by the offset potentiometer 101 when the rod 123 of the link 30 slides in the kite hole 122 and pushes the arm member 121 as the second boom 9 rotates. Ru.

The boom, arm, and offset potentiometer 9
The detection signals detected by 9.100.101 are input to the computer 129 via the multiplexer 127 and the A/D converter 128.

The working position calculation method in the computer 129 is as shown in FIGS. 17 and 18, where the boom swing angle is a, the offset angle is β, and the arm swing angle is γ, δδ8, L, ~L4, A, B.
When is a constant, the directional position X is.

X = L + S: na + L, Cosβ・5in
(α+δ1)+L, 5in (a+δ1+δ,) +L4Sin(y+β+γ+δ, +δ,)+A.

In addition, the left-right position Y is According to Y=L*Sinβ.

Moreover, the vertical position Z is Z=LCosa+L*Cosβ(a+δ1)+I-:
+Cos (a +δ, +δ2)+L-acos(a+
β+δ, +δ,) According to 10B.

FIG. 12 shows the relationship among the boom swing angle a, the arm swing angle γ, and the offset angle β. ■ in Figure 12 is the offset angle β+
: The stopping curve when 80° to -8.4', ■ is the stopping curve when left offset angle β = 15@, ■ is the stopping curve when left offset angle β = 30°, and ■ is the stopping curve when left offset angle β = 30°. This is the stopping curve when the left maximum offset angle β=43296.

However, the stop range of the work equipment 7 shown by the stop curves for each offset and 1st angle described above is the case where the work equipment 7 immediately stops in response to a stop command, but in reality, the work equipment 7 is activated by an electric signal from the computer 129. Depending on the viscosity of the hydraulic oil, until the hydraulic pressure of the oil is applied to rotate the work equipment lever 54 and return it to the neutral position, stopping the movement of the work equipment 7.
A time delay occurs, and during this time delay, the work implement 7 moves and interferes with the operator's cab, so it is necessary to correct the stop range of the work implement 7 based on the viscosity of the hydraulic oil.

However, since the viscosity of the hydraulic oil cannot be easily measured, the temperature of the hydraulic oil is used as a substitute characteristic for correction.

That is, the computer 129 sends an electric signal to the electromagnetic valve 68 to determine in advance through experiments, etc., the amount of movement m of the work implement 7 until the work implement 7 stops, as a function of the temperature of the hydraulic oil.
The stop area of the working machine 7 is corrected by the amount of movement m to make it wider and stored in the memory 130 of the computer 129 as a corrected stop area.

With this configuration, when the work machine 7 enters the correction stop area, an electric signal is sent to the safety circuit in the work machine interference prevention device shown in FIG. 13 via the output side interface 131 of the computer 129. When the electric signal is received, the work equipment lever 54 is rotated in the direction of the arrow and returned to the neutral position as described above, and the boom, arm, and offset operation valves (not shown) linked to the work equipment lever 54 are placed in the neutral state. Then, the operations of the boom cylinder 18, arm cylinder 35, and offset cylinder 23 are stopped, and the movement of the working machine 7 is stopped.

Next, these operations will be explained using the flowchart shown in FIG. Start at 801, read the measured values of potentiometers attached to each part of the work machine at S02, calculate the work machine position at 503, measure the hydraulic oil temperature at 504, and correct the work machine stop area at 505. set, 80
Determine whether the work equipment is in the correction stop area in step 6, and if yes, SO
7, issue a command to stop the operation of the work equipment, stop the work equipment, and
If (), return to before 502.

- Note that the means for detecting the position of the first boom 8, the offset amount of the second boom 9, and the position of the arm 33 is not limited to this embodiment, and any other means may be used.

[Effects of the Invention] As detailed above, the work machine interference prevention device according to the present invention prevents one work machine from interfering with a work machine in a work vehicle equipped with an interference avoidance object that should avoid interference with the work machine within the movable range of the work machine. The work machine stop area that interferes with the object to be interfered with is stored in the storage means, the work machine stop area is calculated and corrected based on the hydraulic oil temperature, and the work machine is detected based on the signal from the refraction motion detection means that detects the movement of the work machine. The present invention is characterized by comprising a judgment means for determining whether or not the work machine has entered the corrected work machine stop area, and a work machine operation stop means for stopping the movement of the work machine in response to a command from the judgment means. This is a working machine interference prevention device.

Therefore, when the work equipment comes to a position where it will interfere with an interference avoidance object such as the driver's cab or the vehicle body, it will automatically stop to prevent interference with the interference avoidable object such as the operator's cab or the vehicle body of the work equipment. This allows work to be carried out safely and with peace of mind, thereby increasing work efficiency.

[Brief explanation of the drawing]

Fig. 1 shows a side view of the excavation and loading vehicle, Fig. 2 shows a plan view of the same, Fig. 3 is a side view with a part of the working equipment omitted in the same working vehicle, and Fig. 4 shows a plan view of the same. 5 shows the installation of the position detection potentiometer of the working machine 7, FIG. 6 shows the installation of the boom potentiometer 99, and FIGS. 7 and 8 show the installation of the arm potentiometer 100. , FIG. 9 and FIG. 10 show the installed state of the OFF potentiometer 101, FIG. The diagram shows the relationship between the boom angle, arm angle, and offset angle, and Figure 13 shows a 1Iill19II device that automatically returns the ft commercial machine lever to the neutral position.
FIG. 14 shows a flowchart diagram. In the figure, 6 is a driver's cab, 7 is a working machine, and 54 is a working machine lever.

Claims (1)

[Claims] In a work vehicle equipped with an interference avoidance object that should avoid interference with the work machine within the movable range of the work machine, a work machine stop area where the work machine interferes with the interference avoidance object is stored in a storage means, and the work machine stop area is stored in a storage means. determining means for determining whether or not the working equipment has entered the corrected work equipment stop area based on a signal from the refraction motion detection means for detecting the operation of the working equipment; A work machine interference prevention device characterized by comprising a work machine operation stop means for stopping the operation of the work machine in response to a command from a determining means.