JPH0790887A - Work machine interference preventive device - Google Patents
Work machine interference preventive deviceInfo
- Publication number
- JPH0790887A JPH0790887A JP26173093A JP26173093A JPH0790887A JP H0790887 A JPH0790887 A JP H0790887A JP 26173093 A JP26173093 A JP 26173093A JP 26173093 A JP26173093 A JP 26173093A JP H0790887 A JPH0790887 A JP H0790887A
- Authority
- JP
- Japan
- Prior art keywords
- area
- cab
- work machine
- region
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明はパワーショベルのような
掘削積込み用車両において作業時、作業機がキャブと干
渉してキャブを破損させるような事故を起こさないよう
にした作業機干渉防止装置に係り、特に一旦自動停止
後、キャブから遠ざかり、減速領域内で再度キャブに近
づく時の速度制御が行える作業機干渉防止装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine interference preventing device which prevents an accident such that the working machine interferes with the cab and damages the cab when working on a vehicle for excavation and loading such as a power shovel. In particular, the present invention relates to a work implement interference prevention device capable of performing speed control when moving away from a cab and then approaching the cab again in a deceleration region after being automatically stopped.
【0002】[0002]
【従来の技術】パワーショベルのような掘削積込み用車
両においては、一般に上部旋回体の上にブーム、アー
ム、およびバケット等からなる作業機が設けられてい
る。そして作業時はブームが上部旋回体に対して起伏
し、ブームの先端に設けられたアームおよびその先端の
バケットが前後方向に回動するようになっており、同じ
く上部旋回体の上部に設けられたキャブと干渉するよう
なことはない。ところが、車両の側方を掘る場合には上
述した作業機では掘ることができないために図4(a)
に側面図を、(b)に平面図を示すように従来のブーム
をオフセットブーム25とブーム26とに分割し、ブー
ム26に対してオフセットブーム25を左右方向にオフ
セットできるようにしたものがある。このような機構を
持つ掘削積込み用車両においては、オフセットブーム2
5がキャブ1側にオフセットした場合、アーム27やバ
ケット30の作業範囲はキャブ1と干渉する危険があ
る。これに対してキャブ1の回りに干渉防止領域を設
け、この領域をすべてコントローラに記憶させておき、
作業機がこの領域に入った場合にはコントローラの指令
により作業機の作動を停止させるようにした作業機干渉
防止装置が考えられている。2. Description of the Related Art In a vehicle for excavation and loading such as a power shovel, a working machine including a boom, an arm, a bucket and the like is generally provided on an upper swing body. During work, the boom undulates with respect to the upper revolving structure, and the arm provided at the tip of the boom and the bucket at the end of the boom rotate in the front-rear direction. It doesn't interfere with the cab. However, in the case of digging the side of the vehicle, it cannot be digged by the working machine described above.
A conventional boom is divided into an offset boom 25 and a boom 26 as shown in a side view and a plan view in (b), and the offset boom 25 can be laterally offset with respect to the boom 26. . In the excavating and loading vehicle having such a mechanism, the offset boom 2
If 5 is offset toward the cab 1, the working range of the arm 27 and the bucket 30 may interfere with the cab 1. On the other hand, an interference prevention area is provided around the cab 1, and this area is stored in the controller.
A work machine interference prevention device is considered in which the operation of the work machine is stopped by a command from the controller when the work machine enters this area.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、従来の
作業機干渉防止装置では、作業機が干渉防止領域に入る
と全操作が不能となるものが多く、その回避操作が面倒
であり、しかも急速に操作した場合は急速に停止するた
め、慣性による荷こぼれを起こすことを避けられことが
できない。However, in the conventional working machine interference prevention device, many operations are impossible when the working machine enters the interference prevention area, and the avoidance operation is troublesome and rapidly. When it is operated, it suddenly stops, so it is unavoidable to cause a load spill due to inertia.
【0004】このような不具合を解決するものとして図
5のようにキャブ1に対する干渉防止領域が設けられ、
これに対応して作業機コントロール回路の指令圧力を変
化させるようにしたものがある。すなわち、キャブ1の
近傍の停止領域A、停止領域Aの前方に減速領域Bを設
け、さらにその前方に安全領域Cを設けたもので、安全
領域Cではブーム上・アーム掘削を作動させるコントロ
ール回路の指令圧力を高圧に、また、減速領域Bでは低
圧にセットされ、停止領域Aでは0となるようにしてい
る。As a solution to such a problem, an interference prevention area for the cab 1 is provided as shown in FIG.
In response to this, there is one in which the command pressure of the working machine control circuit is changed. That is, a stop area A near the cab 1, a deceleration area B in front of the stop area A, and a safety area C in front of the stop area A are provided. In the safety area C, a control circuit for operating boom-on-arm excavation is provided. Is set to a high pressure, the deceleration region B is set to a low pressure, and the stop region A is set to 0.
【0005】しかしながら近傍に塀等の障害物があると
減速領域Bで作業機2を作動させる必要が生じる。減速
領域Bでの作動は、図6に示すように、(a)はキャブ
1の正面で作業機2が自動停止した場合で、バケット3
0の刃先が停止領域Aに入ったところで停止する。つぎ
に(b)はブーム26下げ、またはアーム27のダンプ
側への操作でバケット30が前方に回避し、減速領域B
内で一旦作業機2を停止させた状態となる。(c)は減
速領域B内で再度ブーム26上、またはアーム27の掘
削操作でキャブ1に近付けようとする場合であるが、近
づく速度が遅いか、またはエンジン回転がスローからハ
ーフでは通常速度の約10〜20%となり動かない状態
となる。つまりキャブ1周辺での作動は安全性を考慮し
作業機コントロール回路の指令圧力が低圧に保持されて
いるので操作し難い欠点がある。However, if there is an obstacle such as a fence in the vicinity, it is necessary to operate the work machine 2 in the deceleration area B. As shown in FIG. 6, the operation in the deceleration region B is performed when the work implement 2 is automatically stopped in front of the cab 1 as shown in FIG.
It stops when the blade edge of 0 enters the stop area A. Next, in (b), the bucket 30 avoids forward by lowering the boom 26 or operating the arm 27 toward the dump side, and the deceleration area B
The working machine 2 is temporarily stopped inside. (C) is a case where the boom 26 or the arm 27 is tried to approach the cab 1 again in the deceleration area B by the excavation operation of the arm 27. However, the approaching speed is slow, or the engine speed is slow to a normal speed in the half. It will be about 10 to 20% and it will not move. In other words, the operation around the cab 1 has a drawback that it is difficult to operate because the command pressure of the working machine control circuit is kept low in consideration of safety.
【0006】本発明はこれに鑑み、キャブの減速領域に
おいても安全性を確保しつつある程度の速度で作業がで
きるようにした作業機干渉防止装置を提供して従来技術
の持つ欠点の解消を図ることを目的としてなされたもの
である。In view of the above, the present invention provides a work implement interference prevention device capable of working at a certain speed while ensuring safety even in the deceleration region of the cab, and aims to solve the drawbacks of the prior art. It was made for the purpose.
【0007】[0007]
【課題を解決するための手段】上記従来技術の問題点を
解決する手段として本発明はキャブの前方側にオフセッ
トした作業機をキャブに向かって屈曲させたとき、作業
機が干渉を起こすキャブ回りの干渉防止領域をコントロ
ーラに記憶させて、作業機が該領域内で自動停止する停
止領域、およびその前方に減速領域をそれぞれ設け、さ
らにその前方を安全領域とした作業機干渉防止装置にお
いて、請求項1は作業機が前記停止領域で停止後キヤブ
から遠ざかり、減速領域内で再度キャブに近づく時、該
減速領域を安全領域に近い側と停止領域に近い側とに区
分する第1,第2領域を設けて、第1領域では中速に
し、第2領域では低速にすることを特徴とし、請求項2
は請求項1の減速領域で高速から順次低速となる斜線状
に変化させることを特徴とする。As a means for solving the above-mentioned problems of the prior art, the present invention relates to a cab rotation which causes interference when a working machine offset toward the front side of the cab is bent toward the cab. In a work machine interference prevention device, a controller stores the interference prevention area, and a work machine automatically stops in the area, and a deceleration area is provided in front of the stop area. Item 1 defines the deceleration area into a side closer to the safety area and a side closer to the stop area when the working machine moves away from the cabin after stopping in the stop area and approaches the cab again in the deceleration area. 3. A region is provided so that the first region has a medium speed and the second region has a low speed.
Is characterized in that the speed is changed from a high speed to a low speed in the deceleration region according to claim 1 in a slanted manner.
【0008】[0008]
【作用】上記構成によれば、請求項1,2とも減速領域
においても安全領域寄りの場合での作業機の作動速度は
速くなり、停止領域に近づいた場合は作業機の作動速度
は遅くなる。According to the above construction, in both claims 1 and 2, the operating speed of the working machine becomes faster even in the deceleration area near the safety area, and becomes slower when approaching the stop area. .
【0009】[0009]
【実施例】図1は本発明の請求項1,2にかかる作業機
干渉防止装置の一実施例を示す回路図、図2は本発明の
請求項1にかかる作業機干渉防止装置の干渉防止領域の
範囲とブーム上・アーム掘削を作動させるコントロール
回路(回路9、16)の指令圧力の関係の一実施例を示
す説明図、図3は本発明の請求項2にかかる作業機干渉
防止装置の干渉防止領域の範囲とブーム上・アーム掘削
を作動させるコントロール回路(回路9、16)の指令
圧力の関係の一実施例を示す説明図である。1 is a circuit diagram showing an embodiment of a work machine interference prevention device according to claims 1 and 2 of the present invention, and FIG. 2 is an interference prevention of the work machine interference prevention device according to claim 1 of the present invention. FIG. 3 is an explanatory view showing an embodiment of the relationship between the range of the region and the command pressure of the control circuit (circuits 9 and 16) for operating the boom / arm excavation. FIG. 3 is a work machine interference prevention device according to claim 2 of the present invention. FIG. 4 is an explanatory diagram showing an example of the relationship between the range of the interference prevention area and the command pressure of the control circuit (circuits 9 and 16) for operating the boom on-arm excavation.
【0010】以下、本発明を図1乃至図3に示す実施例
を参照して説明する。本発明はキャブ1の前方側にオフ
セットした作業機2をキャブに向かって屈曲させたと
き、作業機2が干渉を起こすキャブ1回りの干渉防止領
域をコントローラ3に記憶させて作業機2が該領域内で
自動停止する停止領域A、およびその前方に減速領域B
をそれぞれ設け、さらにその前方を安全領域Cとした作
業機干渉防止装置において、請求項1は作業機2が停止
領域Aで一旦自動停止し、キャブ1から遠ざかり、減速
領域Bで再度キャブ1に近づくとき、図2に示すように
該減速領域Bを安全領域Cに近い側と停止領域Aに近い
側とに区分する第1,第2領域B1,B2を設けて、第
1領域B1ではブーム上・アーム掘削を作動させるコン
トロール回路(回路9、16)の指令圧を安全領域Cで
の高圧より低い中圧に保持し、作業機2の速度を中速と
し、第2領域B2ブーム上・アーム掘削を作動させるコ
ントロール回路(回路9、16)の指令圧を低圧に保持
し、作業機2の速度を低速にするようにしたものであ
り、請求項2は作業機2が停止領域Aで一旦自動停止
し、キャブ1から遠ざかり、減速領域Bで再度キャブ1
に近づく時、図3に示すようにブーム上・アーム掘削を
作動させるコントロール回路9、16の指令圧力を、安
全領域Cから停止領域Aに至る減速領域B間で高圧から
順次低圧となる斜線状に変化させるようにし、作業機2
の速度を順次低速にしたものである。The present invention will be described below with reference to the embodiments shown in FIGS. According to the present invention, when the working machine 2 offset toward the front side of the cab 1 is bent toward the cab, the controller 3 stores the interference prevention area around the cab 1 in which the working machine 2 causes interference, and the working machine 2 stores the interference prevention area. Stop area A that automatically stops in the area, and deceleration area B in front of it
In a work implement interference prevention device having a safety area C in front of each of them, the work implement 2 once stops automatically in the stop area A, moves away from the cab 1, and again in the deceleration area B to the cab 1. When approaching, as shown in FIG. 2, the deceleration area B is divided into a side close to the safety area C and a side close to the stop area A by providing first and second areas B1 and B2. The command pressure of the control circuit (circuits 9 and 16) for operating the upper arm excavation is maintained at an intermediate pressure lower than the high pressure in the safety area C, the speed of the work machine 2 is set to the intermediate speed, and the second area B2 is on the boom. The command pressure of the control circuit (circuits 9 and 16) for operating the arm excavation is maintained at a low pressure so that the speed of the working machine 2 is set to a low speed. Automatically stop once and move away from cab 1 Ri, cab 1 again in the deceleration region B
As shown in FIG. 3, the command pressures of the control circuits 9 and 16 for operating the boom on-arm excavation are gradually changed from high pressure to low pressure in the deceleration region B from the safety region C to the stop region A, as shown in FIG. Work machine 2
The speed of is gradually reduced.
【0011】図1はキャブ1の前方にオフセットした作
業機2をキャブ1に向かって屈曲しうるようにした掘削
積込車両の油圧回路を示し、図示しない所望のアクチュ
エータに油圧を供給する方向切換弁61,62,63,
…の切換えを、パイロットポンプ7からの油圧でパイロ
ット圧制御弁81,82,83が行うようになってい
る。このうち、ブーム制御弁81上側からブーム方向切
換弁61上側に至る回路9途中にはブーム上停止用電磁
比例弁4が、アーム制御弁82掘削側からアーム方向切
換弁62掘削側に至る回路10途中にはアーム掘削停止
用電磁比例弁5がそれぞれ連結され、そして前記電磁比
例弁4,5はコントローラ3に接続されている。前記ブ
ーム制御弁81は右操作レバー12により、アーム制御
弁82は左操作レバー13によりそれぞれ操作され、ま
た、オフセット制御弁83は操作ペダル14により操作
され、オフセット方向切換弁63左側に至る回路17に
は電磁弁31が連結され、この電磁弁31はコントロー
ラ3に接続それている。これら制御弁81,82,83
はそれぞれブーム方向切換弁61,アーム方向切換弁6
2,オフセット方向切換弁63の各左右端にパイロット
回路9,10,15,16,17,18により連結され
ている.さらに前記各方向切換弁61,62は主ポンプ
19,20から、方向切換弁63は主ポンプ21からそ
れぞれ主回路22,23,24を通して吐出油が供給さ
れるようになっている。前記コントローラ3は作業機2
の作動時にブーム26の支点部に設けたポテンショ信号
26a,アーム27の支点部に設けたポテンショ信号2
7a,オフセットブーム25の支点部に設けたポテンシ
ョ信号25aを入力して作業機2がキャブ1に対して予
め設定した干渉防止領域に近づいた時これを回避するた
めの出力信号を発するようになっている。前記電磁比例
弁4,5はコントローラ3からの出力信号を受けると、
電流の大きさに比例して作動するようになっており、停
止ショックを低減してバケットの荷こぼれを防止すると
共に、停止位置のバラツキを少なくするもので、スピー
ドに応じてセット圧を可変でき、速い時にはセット圧を
低くしている。前記電磁弁31はコントローラ3からの
出力信号を受けると、開閉の作動をするものであるが、
オフセットブーム25がオフセットするスピードは速く
ないので電磁比例弁を用いる必要はない。さらに、前記
各制御弁81,82,83とパイロットポンプ7との間
の回路28途中には油圧ロック電磁弁29が設けられ、
この弁29は前記コントローラ3からの出力信号を受け
ると回路28を遮断するようになっている。図中、30
はバケットである。FIG. 1 shows a hydraulic circuit of an excavation and loading vehicle in which a working machine 2 offset to the front of the cab 1 can be bent toward the cab 1, and the direction is switched to supply hydraulic pressure to a desired actuator (not shown). Valves 61, 62, 63,
... is switched by the pilot pressure control valves 81, 82, 83 by the hydraulic pressure from the pilot pump 7. Among them, in the circuit 9 from the boom control valve 81 upper side to the boom direction switching valve 61 upper side, the boom top stop electromagnetic proportional valve 4 is provided in the circuit 10 from the arm control valve 82 excavation side to the arm direction switching valve 62 excavation side. The solenoid proportional valves 5 for stopping the arm excavation are connected to the respective paths, and the solenoid proportional valves 4 and 5 are connected to the controller 3. The boom control valve 81 is operated by the right operation lever 12, the arm control valve 82 is operated by the left operation lever 13, the offset control valve 83 is operated by the operation pedal 14, and the circuit 17 reaching the left side of the offset direction switching valve 63 is provided. A solenoid valve 31 is connected to the solenoid valve 31, and the solenoid valve 31 is connected to the controller 3. These control valves 81, 82, 83
Are the boom direction switching valve 61 and the arm direction switching valve 6, respectively.
2. Pilot circuits 9, 10, 15, 16, 17, and 18 are connected to the left and right ends of the offset direction switching valve 63, respectively. Discharge oil is supplied from the main pumps 19 and 20 to the respective directional switching valves 61 and 62, and discharge oil is supplied from the main pump 21 to the directional switching valve 63 through the main circuits 22, 23 and 24, respectively. The controller 3 is the work machine 2
Signal 26a provided on the fulcrum of the boom 26 and potentiometer signal 2 provided on the fulcrum of the arm 27 during operation of the
7a, the potentiometer signal 25a provided at the fulcrum of the offset boom 25 is input, and when the working machine 2 approaches the cab 1 in the preset interference prevention area, an output signal for avoiding this is issued. ing. When the electromagnetic proportional valves 4 and 5 receive the output signal from the controller 3,
It operates in proportion to the magnitude of the current, which reduces the stop shock to prevent bucket spillage and reduces variations in the stop position.The set pressure can be changed according to the speed. , When the speed is fast, the set pressure is low. When the solenoid valve 31 receives an output signal from the controller 3, it opens and closes.
Since the offset boom 25 does not offset at a high speed, it is not necessary to use a solenoid proportional valve. Further, a hydraulic lock solenoid valve 29 is provided in the middle of the circuit 28 between the control valves 81, 82, 83 and the pilot pump 7.
The valve 29 shuts off the circuit 28 when receiving the output signal from the controller 3. 30 in the figure
Is a bucket.
【0012】図2は本発明の要部を示し、キャブ1の前
部には停止領域Aが例えばL1 幅に、その前に減速領域
Bが例えばL2 幅に設けられ、その前は安全領域Cとな
っている。その減速領域Bを安全領域Cに近い側の第1
領域B1と、停止領域Aに近い側の第2領域B2とに分
割して、ブーム上、およびアーム掘削用の電磁比例弁
4、5の設定圧力を制御して、ブーム上およびアーム掘
削用のコントロール回路(回路9、16)の指令圧力は
図5にも示したように安全領域Cでは高、第1領域B1
では中、第2領域B2では低となるように、第1領域B
1での中を新たに設けたものである。FIG. 2 shows an essential part of the present invention. A stop area A is provided in the front portion of the cab 1 in the width L 1, for example, and a deceleration area B is provided in the width L 2 in front of the stop area A. It is a region C. The deceleration area B is the first on the side closer to the safety area C.
It is divided into a region B1 and a second region B2 on the side close to the stop region A, and the set pressures of the electromagnetic proportional valves 4 and 5 for boom boom and arm excavation are controlled to control the boom boom and arm excavation. As shown in FIG. 5, the command pressure of the control circuit (circuits 9 and 16) is high in the safety area C and the first area B1.
Then, in the first area B, the second area B2 becomes low in the middle area.
The inside of 1 is newly provided.
【0013】つぎに作用を説明する。作業機2が停止領
域Aとなり一旦自動停止したのち、作業機2をキャブ1
から遠ざけ、減速域Bで停止させ、再度キャブ1に近づ
けた時は、図6(c)に示した位置における作動とな
る。すなわち図2の第1領域B1における作動は電磁比
例弁4,5のセット圧は中圧であり、ブーム上・アーム
掘削を作動させるコントロール回路(回路9、16)の
指令圧は中圧となり、したがってこのB1領域での作業
機の作動速度は多少減速はされるものの停止することな
く、第2領域B2に接近した場合は電磁比例弁4,5の
セット圧は低圧でブーム上・アーム掘削を作動させるコ
ントロール回路(回路9、16)の指令圧は低圧であ
り、作業機2の速度が低速となる。The operation will be described below. After the working machine 2 becomes the stop area A and is automatically stopped, the working machine 2 is placed in the cab 1.
When the vehicle is moved away from the vehicle, stopped in the deceleration area B, and brought closer to the cab 1, the operation is performed at the position shown in FIG. 6C. That is, in the operation in the first region B1 of FIG. 2, the set pressure of the solenoid proportional valves 4 and 5 is medium pressure, and the command pressure of the control circuit (circuits 9 and 16) for operating the boom upper / arm excavation is medium pressure. Therefore, although the operating speed of the work machine in this B1 region is slightly reduced, it does not stop, and when approaching the second region B2, the set pressure of the solenoid proportional valves 4 and 5 is low and the boom / arm excavation is performed. The command pressure of the control circuit (circuits 9 and 16) to be operated is low, and the speed of the work machine 2 is low.
【0014】本発明の請求項2は図3に示すように、請
求項1は減速領域Bを2分したのに対して、安全領域C
と停止領域Aとの間の減速領域Bの幅をブーム上げ・ア
ーム掘削を作動させるコントロール回路(回路9、1
6)の指令圧を安全領域Cに近い側第1領域B1では従
来通り高く、停止領域Aに近い側第2領域B2では従来
通り低くなるように斜線とした点が相違する。したがっ
て安全領域Cに近い側から停止領域Aに近づくに従って
作業機の作動速度が遅くなる。According to claim 2 of the present invention, as shown in FIG. 3, according to claim 1, the deceleration region B is divided into two, while the safety region C is divided.
The width of the deceleration area B between the stop area A and the stop area A is a control circuit for operating the boom raising and arm excavation (circuits 9 and 1).
The difference is that the command pressure of 6) is shaded so that the command pressure is higher in the first area B1 closer to the safety area C as usual and lower in the second area B2 closer to the stop area A as usual. Therefore, the operating speed of the working machine becomes slower as the stop area A is approached from the side closer to the safety area C.
【0015】[0015]
【発明の効果】以上説明したように本発明は、キャブの
前方側にオフセットした作業機をキャブに向かって屈曲
させたとき、作業機が干渉を起こすキャブ回りの干渉防
止領域をコントローラに記憶させて、作業機が該領域内
で自動停止する停止領域、およびその手前に減速領域を
それぞれ設け、さらにその手前を安全領域とした作業機
干渉防止装置において、請求項1は該減速領域を安全領
域に近い側と停止領域に近い側とに区分する第1、第2
領域を設けて、第1領域では作業機の速度を中速と
し、、第2領域では従来の低速にすることを特徴とし、
請求項2は作業機の速度を安全領域側から停止領域に至
る減速領域間で高速から順次低速となる斜線状に変化さ
せたから、減速領域での実用性および安全性が両立で
き、したがってキャブ周辺における作業性を著しく向上
させることができる。As described above, according to the present invention, when the working machine offset to the front side of the cab is bent toward the cab, the controller stores the interference prevention area around the cab where the working machine interferes. In the working machine interference prevention device, a stop area in which the work machine automatically stops in the area and a deceleration area in front of the stop area are provided, and the area in front of the stop area is a safety area. 1st and 2nd, which are divided into a side close to
By providing a region, the speed of the work machine is set to medium speed in the first region, and the conventional low speed in the second region,
According to claim 2, the speed of the working machine is changed from a high speed area to a stop area in a deceleration area from a high speed to a low speed, so that the speed and the speed are gradually reduced. It is possible to significantly improve the workability in.
【図1】本発明の請求項1,2にかかる作業機干渉防止
装置の回路図である。FIG. 1 is a circuit diagram of a work machine interference prevention device according to claims 1 and 2 of the present invention.
【図2】本発明の請求項1にかかる作業機干渉防止装置
の干渉防止領域の範囲とブーム上げ・アーム掘削を作動
させるコントロール回路の指令圧の関係を示す図であるFIG. 2 is a diagram showing a relationship between a range of an interference prevention region of the work implement interference prevention device according to claim 1 of the present invention and a command pressure of a control circuit for operating boom raising / arm excavation.
【図3】本発明の請求項2にかかる作業機干渉防止装置
の干渉防止領域の範囲とブーム上げ・アーム掘削を作動
させるコントロール回路の指令圧の関係を示す図であるFIG. 3 is a diagram showing a relationship between a range of an interference prevention region of a work implement interference prevention device according to claim 2 of the present invention and a command pressure of a control circuit for operating boom raising / arm excavation.
【図4】従来のオフセット式掘削積込車両を示し、
(a)は側面、(b)は平面図である。FIG. 4 shows a conventional offset excavation and loading vehicle,
(A) is a side view and (b) is a plan view.
【図5】従来の作業機干渉防止装置の干渉防止領域の範
囲とブーム上げ・アーム掘削を作動させるコントロール
回路の指令圧の関係を示す図である。FIG. 5 is a diagram showing a relationship between a range of an interference prevention region of a conventional work machine interference prevention device and a command pressure of a control circuit for operating boom raising / arm excavation.
【図6】作業機干渉防止領域での作業機の姿勢を示す状
態図である。FIG. 6 is a state diagram showing a posture of the work machine in the work machine interference prevention area.
1 キャブ 2 作業機 3 コントローラ 4 電磁比例弁(ブーム上げ用) 5 〃 (アーム掘削用) 9 ブーム上を作動させるコントロール回路 16 アーム掘削を作動させるコントロール回路 A 停止領域 B 減速領域 B1 第1領域 B2 第2領域 C 安全領域 1 cab 2 work machine 3 controller 4 solenoid proportional valve (for boom raising) 5 〃 (for arm excavation) 9 control circuit that operates on boom 16 control circuit that operates arm excavation A stop area B deceleration area B1 first area B2 Second area C Safety area
Claims (2)
をキャブに向かって屈曲させたとき、作業機が干渉を起
こすキャブ回りの干渉防止領域をコントローラに記憶さ
せて、作業機が該領域内で自動停止する停止領域、およ
びその前方に減速領域をそれぞれ設け、さらにその前方
を安全領域とした作業機干渉防止装置において、作業機
が前記停止領域で停止後キヤブから遠ざかり、減速領域
内で再度キャブに近づく時、該減速領域を安全領域に近
い側と停止領域に近い側とに区分する第1,第2領域を
設けて、第1領域では中速とし、第2領域では低速にす
ることを特徴とする作業機干渉防止装置。1. An interference prevention area around a cab in which the working machine interferes when the working machine offset to the front side of the cab is bent toward the cab is stored in a controller, and the working machine is stored in the area. In a work machine interference prevention device in which a stop area that automatically stops and a deceleration area in front of it are provided respectively, and further in front of that a safety area, in a work machine interference prevention device, the work machine moves away from the cabin after stopping in the stop area, and the cab again in the deceleration area. When the deceleration region approaches, the first and second regions that divide the deceleration region into the side closer to the safety region and the side closer to the stop region are provided, and the first region is set to medium speed and the second region is set to low speed. Characteristic work equipment interference prevention device.
をキャブに向かって屈曲させたとき、作業機が干渉を起
こすキャブ回りの干渉防止領域をコントローラに記憶さ
せて、作業機が該領域内で自動停止する停止領域、およ
びその前方に減速領域をそれぞれ設け、さらにその前方
を安全領域とした作業機干渉防止装置において、作業機
が前記停止領域で停止後キヤブから遠ざかり、減速領域
内で再度キャブに近づく時、安全領域側から停止領域側
に至る減速領域間で順次速度が低速となる斜線状に変化
させることを特徴とする作業機干渉防止装置。2. An interference prevention area around a cab in which the working machine interferes when the working machine offset to the front side of the cab is bent toward the cab, is stored in a controller, and the working machine is stored in the area. In a work machine interference prevention device in which a stop area that automatically stops and a deceleration area in front of it are provided respectively, and further in front of that a safety area, in a work machine interference prevention device, the work machine moves away from the cabin after stopping in the stop area, and the cab again in the deceleration area. A work implement interference prevention device, characterized in that the speed is changed in a diagonal manner such that the speed gradually decreases between the deceleration regions from the safety region side to the stop region side when approaching.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26173093A JPH0790887A (en) | 1993-09-24 | 1993-09-24 | Work machine interference preventive device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26173093A JPH0790887A (en) | 1993-09-24 | 1993-09-24 | Work machine interference preventive device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0790887A true JPH0790887A (en) | 1995-04-04 |
Family
ID=17365918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP26173093A Pending JPH0790887A (en) | 1993-09-24 | 1993-09-24 | Work machine interference preventive device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0790887A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09111798A (en) * | 1995-10-16 | 1997-04-28 | Sumitomo Constr Mach Co Ltd | Interference preventing equipment for working machine in construction machinery |
EP0786559A2 (en) * | 1995-12-27 | 1997-07-30 | Hitachi Construction Machinery Co., Ltd. | Work area limitation control system for construction machine |
JPH1060941A (en) * | 1996-07-17 | 1998-03-03 | Caterpillar Inc | Device and method for limiting operation of working tool of working machine |
-
1993
- 1993-09-24 JP JP26173093A patent/JPH0790887A/en active Pending
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09111798A (en) * | 1995-10-16 | 1997-04-28 | Sumitomo Constr Mach Co Ltd | Interference preventing equipment for working machine in construction machinery |
EP0786559A2 (en) * | 1995-12-27 | 1997-07-30 | Hitachi Construction Machinery Co., Ltd. | Work area limitation control system for construction machine |
EP0786559A3 (en) * | 1995-12-27 | 1997-08-27 | Hitachi Construction Machinery | |
US5822891A (en) * | 1995-12-27 | 1998-10-20 | Hitachi Construction Machinery Co., Ltd. | Work area limitation control system for construction machine |
JPH1060941A (en) * | 1996-07-17 | 1998-03-03 | Caterpillar Inc | Device and method for limiting operation of working tool of working machine |
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