JP3898111B2 - Work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a work machine including a movable cabin and configured to prevent interference between the cabin and a work attachment.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a working machine that moves a cabin up and down, front and rear, or both in accordance with a working situation is known (for example, see Patent Document 1). Various techniques for preventing interference between the cabin and the work attachment have been proposed in this cabin moving work machine (see, for example, Patent Document 2).
[0003]
In these known interference prevention techniques, the position of the work attachment is detected, and when the work attachment reaches a restricted area where there is a possibility of interference with the cabin, the action of the attachment that causes interference (for example, a boom raising action in a hydraulic excavator, Arm pulling operation) is prohibited.
[0004]
[Patent Document 1]
JP-A-10-88618 [Patent Document 2]
Japanese Patent Laid-Open No. 2001-64992
[Problems to be solved by the invention]
However, according to the known interference prevention technology, all of them are configured to restrict only the operation of the work attachment, so even if the attachment operation is prohibited while the attachment is in the restricted area, the cabin is moved to the attachment side. In particular, when the cabin is moved in the front-rear direction (the cabin is moved forward), the cabin may collide with the attachment, which is still insufficient in terms of preventing interference.
[0006]
Therefore, the present invention is to reliably prevent interference between a work attachment and a cabin in a cabin moving type work machine.
[0007]
[Means for Solving the Problems]
According to a first aspect of the present invention, in a work machine comprising a cabin, a cabin moving means for moving the cabin, and a work attachment, an attachment position detection means for detecting the position of the attachment, and a position of the cabin are detected. A cabin position detecting means and an interference preventing means are provided, and as the cabin moving means, a four-bar linkage mechanism is provided for moving the cabin up and down by moving forward and backward, and the cabin position detecting means includes a cabin The upper and lower limit positions that are most retracted and the intermediate position where the cabin advances forward from the upper and lower limit positions are detected .
(A) divide the cabin position detected by the cabin position detection means into two upper and lower limit position and the intermediate position, and the cabin position, the position of the work Atatchimen bets are thus detected to the attachment position detection hand stage Set two types of restricted areas that could interfere with each other ,
(B) Select a restricted area from these two types according to the detected cabin position,
(C) the working attachment, that limits the operation and movement of the cabin of the working attachment interference occurs when it reaches the selected restricted area
It is one that is sea urchin configuration.
[0008]
A second aspect of the present invention, in the configuration of claim 1, as a cabin position detection means, but one position sensor which also serves as the upper limit position detecting means and the lower limit position detecting means is al provided.
[0009]
The invention of claim 3, in the configuration of claim 1, as a cabin position detection means, and the upper limit position sensor for detecting the upper limit position of the cabin, in which the lower limit position sensor for detecting the same lower limit position are provided separately is there.
[0010]
A fourth aspect of the present invention, in the configuration of claim 2 or 3, as a position sensor, a limit switch actuated by a change in the link interval with the pivoting movement of the pair of links constituting a four-bar linkage mechanism is al provided Is.
[0011]
According to a fifth aspect of the present invention, in the configuration according to any one of the first to fourth aspects, a cabin and a work attachment are attached to the upper structure mounted on the lower traveling body, and the work attachment includes a boom that can be raised and lowered, and a cabin. An arm that is pivotably attached to the boom in a state of performing a pulling action approaching the door and a pushing action moving away from the cabin, and a work tool attached to the arm, and the work prevention unit is selected as the interference prevention means. The boom raising operation, the arm pulling operation, and the movement of the cabin are restricted in a direction approaching the attachment when the restricted area is reached .
[0012]
According to a sixth aspect of the present invention, in the configuration of the fifth aspect , the boom operation lever and the arm operation lever are provided with a restriction release switch for releasing the operation restriction of the work attachment by the interference preventing means .
[0013]
According to the above configuration, in the state where the work attachment has reached the restricted area where there is a possibility of interference with the cabin, not only the dangerous side operation of the work attachment (the boom raising and the arm pulling operation in claims 5 and 6 ), but also interference. Since the movement of the cabin, which is another cause, is also restricted, the interference between the work attachment and the cabin can be surely prevented.
[0014]
In this case, in the work machine that moves the cabin back and forth while moving the cabin up and down by the four- bar linkage mechanism, by restricting the forward movement of the cabin that is highly likely to cause interference, the interference prevention function is expanded and the safety is further enhanced. be able to.
[0015]
Moreover, for setting the restricted area of the position of the key Yabin upper and lower limit position and the other position (the middle position) and in divided into two types only simple configuration easy and interference preventing means is set in this restricted area The cost is low.
[0016]
In addition, the upper limit position and the lower limit position of the cabin are detected by a single position sensor in claim 2 , and the limit switch is used as this position sensor in claim 4 , so that the sensor cost is low and the cabin position detection means is inexpensive. it can be.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
In the embodiment of the following, transportation of wastes, etc., it is taken as an example a work machine to perform loading as applied.
[0018]
In FIG. 1, reference numeral 1 denotes a crawler type lower traveling body, and an upper revolving body 2 is mounted on the lower traveling body 1 so as to be rotatable about a vertical axis. The upper revolving body 2 has a cabin 3, a work attachment 4, A power unit and the like (not shown) are provided.
[0019]
The work attachment 4 includes a boom 5 that can be raised and lowered, an arm 6 that is attached to the tip of the boom 5 so as to be pivotable about a horizontal axis, and performs a pulling and pulling operation, and an open / close attached to the tip of the arm 6. Type work tool 7 and actuators (normally hydraulic cylinders) for raising / lowering the boom, for arm operation, and for opening / closing the work tool (not shown), and transporting the waste material by each operation of raising / lowering the boom, pivoting the arm, and opening / closing the work tool Carrying work such as loading.
[0020]
The cabin 3 is moved back and forth while moving up and down by a four-bar linkage mechanism (here, a parallel link mechanism is shown as a representative example) 8 as a cabin moving means, and a lower limit position (basic position) of FIG. It moves between the upper limit position of the two-dot chain line and intermediate positions indicated by broken lines.
[0021]
As shown in FIG. 2, the four-bar linkage mechanism 8 includes a first link 9 that is the front side (rear side of the cabin upper limit position) at the cabin lower limit position, and a second link 10 that is the rear side (same front side). One end of each of the links 9 and 10 is attached to a support frame 11 provided on the upper swing body 2 and the other end is attached to a deck frame 12 of the cabin 3 so as to be rotatable around a horizontal axis.
[0022]
The four-bar linkage mechanism 8 performs parallel movement in the vertical direction by a driving force of a driving source (not shown) (for example, a hydraulic cylinder), and thereby the cabin 3 moves back and forth while moving up and down.
[0023]
The mechanism 8 is provided with a limit switch 13 as a cabin position detecting means.
[0024]
The limit switch 13 is attached to one of the links 9 and 10, and the distance between the links 9 and 10 is minimized at both the lower limit and upper limit positions of the cabin 3, so that the contact is brought into contact with the other link. Turns on (may be off).
[0025]
The operation signal of the limit switch 13 is input to the controller 14 shown in FIG. 3, and the controller 14 determines that the cabin 3 is at the lower limit position or the upper limit position.
[0026]
The controller 14 also receives an angle signal from a boom angle sensor 15 that detects the angle of the boom 5 and an arm angle sensor 16 that detects the angle of the arm 6, and the position of the work attachment 4 is based on these angle signals. (Specifically, the position of the work tool 7 that directly interferes with the cabin 3) is determined.
[0027]
Further, in the cabin 3, limit release switches 17 and 17 are provided at upper ends (grips) of both boom and arm operating levers (not shown) arranged separately on the left and right sides with the driver's seat in between. , 17 are also input to the controller 14.
[0028]
In FIG. 3, 18 is a solenoid of a solenoid valve for boom operation restriction provided on the pilot line on the boom raising side in the boom control valve, and 19 is an arm action restriction provided on the pilot line on the arm pulling side in the arm control valve. When the solenoids 18 and 19 are energized on the basis of a signal from the controller 14, the boom raising operation and the arm pulling operation, which are operations for the work tool 7 to approach the cabin 3, are automatically stopped ( It is forbidden.
[0029]
The interference preventing action including the action of the controller 14 will be described with reference to the flowchart of FIG.
[0030]
At the start of control, the boom angle, arm angle, and cabin position are detected (steps S1, S2, and S3).
[0031]
The controller 14 is preliminarily divided into two areas: a limit area at the cabin upper limit and the lower limit position (a in FIG. 1), and a limit area at the intermediate position (b) at the upper and lower positions. A restricted area is set in advance, and in step S4, a restricted area is selected and set from these two types according to the detected cabin position.
[0032]
Next, in steps S5 and S6, the attachment position is determined from the detected boom angle and arm angle, and whether or not the attachment 4 (work implement 7) has reached the set restriction area A or B, Then, it is determined whether or not the operation of raising the boom 5 or pulling the arm 6 as the dangerous operation has been performed.
[0033]
If it is determined that there is a possibility of interference (YES in step S6), it is determined in step S7 whether or not at least one of the restriction release switches 17 and 17 has been operated. As processing, an arm pulling limit signal is output (step S8) and a boom raising limit signal is output (step S9).
[0034]
In step S10, a cabin movement restriction signal, that is, a signal for stopping the operation of the drive source of the four-bar linkage mechanism 8 is output, and the movement of the cabin 3 is prohibited.
[0035]
Thereby, in the state where the cabin 3 is at the lower limit position or the upper limit position and the attachment 4 has reached the restricted area, not only the dangerous side operation of the boom 5 and the arm 6 but also the cabin 3 is in the intermediate position, that is, the work attachment 4. Since the forward movement toward is also prohibited at the same time, the interference between the attachment 4 and the cabin 3 is surely prevented.
[0036]
According to this flow, even when the cabin 3 is in the intermediate position, the movement (up or down) of the cabin 3 is prohibited if the answer is YES in step S6, but there is no actual harm caused by this. However, the movement of the cabin 3 may be limited only when the cabin 3 is at the lower limit position or the upper limit position as described above.
[0037]
On the other hand, if YES in step S7 (when the restriction release operation is performed), the control in steps S8 to S10 is not performed. Therefore, based on the operator's judgment, the work attachment 4 can be operated within a range that does not actually interfere with the cabin 3 even if the work attachment 4 is within the restricted area.
[0038]
In this case, since the restriction release switch 17 is provided on both the boom and arm operation levers, the restriction release operation can be performed with one open hand even when one hand is closed by another lever operation, such as during combined operation. Can be done .
[0039]
Other Embodiments (1) As a modification of the first embodiment, when separately setting a limit area separately for the lower limit position and the upper limit position of the cabin 3, the lower limit and the upper limit positions are set as separate limits. You may make it detect with a switch.
[0040]
Further, instead of the limit switch, another sensor having a similar function such as a proximity switch or an optical sensor may be used.
[0041]
In (2) above Symbol embodiment is configured to prohibit the dangerous operations when working attachment 4 has reached the restricted area, set the deceleration region outside the restricted area, the attachment operation in the deceleration region You may comprise so that it may decelerate .
[0042]
Also, the present invention is not limited to the cargo handling equipment illustrated above embodiment, a hydraulic shovel and Deep hole drilling machine, pile drivers, demolition machine, cabin is movable and has a working attachment, attachment and cabin It can be applied to all work machines where there is a risk of interference.
[0043]
【The invention's effect】
As described above, according to the present invention, in the state where the work attachment reaches the restricted area where the cabin may interfere, not only the dangerous side operation of the work attachment but also the movement of the cabin which is another cause of the interference Therefore, interference of the work attachment cabin can be surely prevented.
[0044]
In this case, in the work machine that moves the cabin back and forth while moving the cabin up and down by the four- bar linkage mechanism, by restricting the forward movement of the cabin that is highly likely to cause interference, the interference prevention function is expanded and the safety is further enhanced. be able to.
[0045]
Moreover, for setting the restricted area of the position of the key Yabin upper and lower limit position and the other position (the middle position) and in divided into two types only simple configuration easy and interference preventing means is set in this restricted area The cost is low.
[0046]
In addition, in the invention of claim 2 , the upper limit position and the lower limit position of the cabin are detected by one position sensor, and in the invention of claim 4, a limit switch is used as this position sensor, so the sensor cost is low and the cabin position detection means Can be configured at low cost.
[Brief description of the drawings]
FIG. 1 is a schematic side view of an entire work machine according to a first embodiment of the present invention.
FIG. 2 is an enlarged side view of a cabin moving mechanism in the same embodiment.
FIG. 3 is a diagram showing a configuration of the control system.
FIG. 4 is a flowchart for explaining the operation of the control system.
[Explanation of symbols]
1 Lower traveling body of work machine 2 Upper revolving body (upper structure)
DESCRIPTION OF SYMBOLS 3 Cabin 4 Work attachment 5 Boom which comprises work attachment 6 Same arm 7 Same work tool 8 Four-bar link mechanism as cabin moving means 9, 10 Link which comprises the same mechanism 13 Upper / lower limit position of cabin as cabin position detection means 15 A boom angle sensor for detecting the angle of the boom as a work attachment position detecting means 16 Arm angle sensor 17, 17 Limit release switch 14, 21 A controller 18, 19 constituting the interference preventing means One of the interference preventing means solenoids for restricting the operation of attachment as part

Claims (6)

In a work machine including a cabin, a cabin moving unit that moves the cabin, and a work attachment, an attachment position detection unit that detects the position of the attachment, a cabin position detection unit that detects the position of the cabin, and interference A four-bar linkage mechanism that moves the cabin up and down while moving the cabin back and forth by a pivoting movement, and the cabin position detection means is configured to have upper and lower limit positions at which the cabin is most retracted. And the intermediate position where the cabin advances forward from the upper and lower limit positions ,
(A) divide the cabin position detected by the cabin position detection means into two upper and lower limit position and the intermediate position, and the cabin position, the position of the work Atatchimen bets are thus detected to the attachment position detection hand stage Set two types of restricted areas that could interfere with each other ,
(B) Select a restricted area from these two types according to the detected cabin position,
(C) the working attachment, that limits the operation and movement of the cabin of the working attachment interference occurs when it reaches the selected restricted area
Working machine, characterized in that I have been sea urchin configuration. As the cabin position detection means, the working machine of claim 1, wherein the one position sensor which also serves as the upper limit position detecting means and the lower limit position detecting means provided et the. As the cabin position detection means, the working machine of claim 1, wherein the upper limit position sensor for detecting the upper limit position of the cabin, that the lower limit position sensor for detecting the same lower limit position are provided separately. As the position sensor, the working machine according to claim 2 or 3, wherein the limit switch to operate is found provided by a change of the link interval with the pivoting movement of the pair of links constituting a four-bar linkage mechanism. A cabin and a work attachment are attached to the upper structure mounted on the lower traveling body, and the work attachment rotates to the boom in a state where the boom can be raised and lowered, and a pulling operation to approach the cabin and a pushing operation to move away from the cabin are performed. The arm includes a movably mounted arm and a work implement attached to the arm, and the interference prevention means raises the boom and pulls the arm when the work attachment reaches a selected restriction area. The work machine according to any one of claims 1 to 4, wherein the work machine is configured to limit movement of the cabin in a direction approaching the attachment . 6. The work machine according to claim 5, wherein a restriction release switch for releasing operation restriction of the work attachment by the interference preventing means is provided on the boom operation lever and the arm operation lever .

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