JPH0230521Y2 - - Google Patents

Description

[Detailed explanation of the idea]

[Industrial Application Field] The present invention relates to a safety device for excavating construction machinery. [Prior Art] Generally, the tip of a bucket of an excavating construction machine such as a power shovel can take a trajectory S shown in FIG. 1 as the maximum trajectory of the tip. Note that FIG. 1 shows a case where the rotating body 2 is not turning (a case where the turning angle=0). As is clear from the trajectory S of the tip of the bucket, in this type of power shovel, the bucket 1 may excavate the area directly under the track 3, or the bucket 1 may collide with the track 3, and as a result, There was a risk of the power shovel falling over or damaging the tracks. [Problem that the invention aims to solve] Conventionally, there was no safety device to prevent this type of accident, and the system relied on the skill of the operator. The present invention has been developed in view of the above circumstances, and an object of the present invention is to provide a safety device for excavating construction machinery that prevents the excavating construction machinery from falling over and damaging its tracks. [Means for solving the problem] According to this invention, the bucket tip position of the excavation construction machine is calculated sequentially, and when the bucket tip enters a preset area where the bucket tip is prohibited from entering, the bucket tip position is subsequently calculated. It is designed to prevent the tip of the bucket from entering the prohibited area. [Example] The present invention will be described in detail below with reference to the accompanying drawings. First, a method for calculating the tip position _P3 of the bucket 1 will be explained with reference to the side view of the power shovel shown in FIG. Now, as shown in Fig. 3, the center axis of rotation of the rotating body 2 is the V axis, the longitudinal direction of the crawler track 3 on the ground is the u axis, and P ₀ : boom foot pin position (in the uv coordinate system). (-a, b) position) P ₁ : Boom arm mounting pin position P ₂ : Arm bucket mounting pin position l ₁ : Boom length (length of line segment _{0 1} ) l ₂ : Arm length (line segment _{1 2} length) l ₃ : Bucket length (length of line segment _{2 3} ) θ ₁ : Boom inclination angle (angle between perpendicular line and line segment _{0 1} ) θ ₂ : Arm inclination angle (perpendicular line and line segment _{1 2} ) θ ₃ : Bucket inclination angle (angle between perpendicular line and line segment _{2 3} ) Then, the position of each pin and the bucket tip position
P ₃ is the uv coordinate system, and the following formula, P ₀ = (-a b) ... (1) P ₁ = P ₀ - (l ₁ sin θ ₁ l ₁ cos θ ₁ ) ... (2) P ₂ = P ₁ − (l ₂ sinθ ₂ l ₂ cosθ ₂ ) ...(3) P ₃ = P ₂ − (l ₃ sinθ ₃ l ₃ cosθ ₃ ) = (P ₃ u P ₃ v) ...(4) be able to. The above is a consideration of only the uv coordinate system, but in reality, since there is a rotation of the rotating body 2, the bucket tip position _P3 is a three-dimensional space with the addition of another axis w (see Figure 2). Located in Therefore, rotating body 2
If the turning angle is, then the bucket tip position P ₃ (=
P ₃ ) can be expressed by the following equation: P ₃ =(u v w)=(P ₃ ucos P ₃ v P ₃ usin) (5). Next, the area where entry is prohibited at the tip of the bucket will be explained with reference to FIGS. 1, 2, and 4. In FIG. 4, area A is an area involved in the collision between the bucket 1 and left and right crawlers 3, and areas B and C are areas directly below the left and right crawlers 3. Here, areas A, B, and C are u, v, and w, respectively.
When expressed in a coordinate system, it is as shown in Table 1.

[Effect of idea]

As explained above, according to the present invention, when the tip of the bucket enters an area where it is prohibited to enter, it will automatically stop, which will prevent the power shovel from falling over due to excavation directly below the crawler or collision between the bucket and the crawler, etc. It is possible to prevent such damage accidents.

[Brief explanation of the drawing]

Figure 1 is a side view of the power shovel used to show the maximum trajectory drawn by the tip of the power shovel, Figure 2 is a front view of the power shovel used to show the prohibited area of the bucket tip, and Figure 3 is the front view of the power shovel. A side view of the power shovel used to explain the method of calculating the bucket tip position, Figure 4 is a perspective view showing the prohibited area of the bucket tip, and Figure 5 is an implementation of the safety device of the excavation construction machine according to the present invention. FIG. 2 is a block diagram showing an example. 1...bucket, 2...swivel body, 3...crawler,
4a, 4b, 4c...operation lever, 5a, 5b,
5c... Drive circuit, 6a, 6b, 6c... Normally closed switch, 7a, 7b, 7c... Solenoid valve, 8
a, 8b, 8c...Hydraulic cylinder, 10...Boom inclinometer, 11...Arm inclinometer, 12...Bucket inclinometer, 13...Turning angle detector, 14...Arithmetic circuit, 15...Constant measurement 16, 17... Comparison circuit, 18... Caution area setter, 19... Warning area setter, 20... Display lamp, 21... Buzzer.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) Calculation means for calculating the position of the bucket tip of an excavating construction machine, area setting means for setting an area where entry of the bucket tip is prohibited, and calculation by the calculation means comparing means for comparing the bucket tip position determined by the bucket tip with the area set by the area setting means and outputting a signal indicating that the bucket tip position has entered the set area; and means for preventing the tip of the bucket from entering the prohibited area. (2) The excavator according to claim 1, wherein the calculation means calculates the bucket tip position based on the lengths and inclination angles of the boom, the arm, and the bucket, and the swing angle of the boom. Safety equipment for construction machinery. (3) The area setting means sets an area related to a collision between the bucket and the crawler or a part that supports the aircraft corresponding to the crawler or the aircraft body, and an area directly below the crawler or a part that supports the aircraft that corresponds to the crawler to the tip of the bucket. A safety device for an excavating construction machine as set forth in claim (1) of the utility model registration, which is set as an area where entry is prohibited. (4) The means for preventing the tip of the bucket from entering the prohibited area prohibits the supply of pressure oil to at least each working machine hydraulic cylinder in a direction in which the tip of the bucket can enter the prohibited area. A safety device for an excavating construction machine as set forth in claim (1) of the utility model registration.