U.S. patent application number 12/139996 was filed with the patent office on 2009-01-29 for excavator.
This patent application is currently assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD. Invention is credited to Takayuki DOI.
Application Number | 20090030580 12/139996 |
Document ID | / |
Family ID | 39620079 |
Filed Date | 2009-01-29 |
United States Patent
Application |
20090030580 |
Kind Code |
A1 |
DOI; Takayuki |
January 29, 2009 |
EXCAVATOR
Abstract
In a corner part on the front and lower side of a contact area
between a bucket and a cabin formed by an area front surface
serving as a front limitation of the contact area and an area lower
surface serving as a lower limit of the contact area, an exception
area of a right triangle seen from the side taking the area front
surface as a vertical side and the area lower surface as the base
is set under a fixed condition. When an arm top pin is within the
above exception area, a contact prevention function is cancelled
and actions of boom raising, arm pulling and left offset are
permitted in a decelerating state.
Inventors: |
DOI; Takayuki;
(Hiroshima-shi, JP) |
Correspondence
Address: |
OBLON, SPIVAK, MCCLELLAND MAIER & NEUSTADT, P.C.
1940 DUKE STREET
ALEXANDRIA
VA
22314
US
|
Assignee: |
KOBELCO CONSTRUCTION MACHINERY CO.,
LTD
Hiroshima-shi
JP
|
Family ID: |
39620079 |
Appl. No.: |
12/139996 |
Filed: |
June 16, 2008 |
Current U.S.
Class: |
701/50 |
Current CPC
Class: |
E02F 9/2033
20130101 |
Class at
Publication: |
701/50 |
International
Class: |
E02F 3/28 20060101
E02F003/28 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 24, 2007 |
JP |
2007-192187 |
Claims
1. An excavator, comprising: a lower traveling body; an upper
rotating body mounted on said lower traveling body, the upper
rotating body being provided with a cabin; a working attachment
installed in a front section of said upper rotating body, the
working attachment being provided with a boom to be raised and
lowered, an arm attached to a front end of the boom pivotally
around a boom top pin, and a bucket attached to a front end of the
arm pivotally around an arm top pin; position detecting means for
detecting a position of the arm top pin; and control means for
executing a contact prevention function of limiting actions of said
working attachment when the arm top pin intrudes a contact area
preliminarily set in front of the cabin, wherein said control means
is to set, in a corner part formed by an area front surface serving
as a front limitation of the contact area and an area lower surface
serving as a lower limit of the contact area, an exception area of
a right triangle seen from the side taking the area front surface
as a vertical side and the area lower surface as the base under the
following condition, and to cancel the contact prevention function
when the arm top pin is within the exception area, the condition
for setting the exception area: in the case where there is not the
exception area mentioned above, an x-coordinate position where the
arm top pin is stopped by the contact prevention function at the
time of grounding and horizontally moving the bucket to the rear
side is made as a first point, an y-coordinate position determined
by adding a maximum value for an increasing amount of a distance
from a land surface to be grounded to the arm top pin in accordance
with bucket size or the like to an y-coordinate position at the
time of stopping the arm top pin at the first point is made as a
second point, an x-coordinate position determined by adding a
distance from a tooth top of the bucket to a target point set
behind the first point to an x-coordinate position at the time of
stopping the arm top pin at the first point is made as a third
point, and a right triangle area connecting the points mentioned
above is made as an exception area.
2. The excavator according to claim 1, wherein said working
attachment is capable of performing an offset action towards the
cabin side.
3. The excavator according to claim 1, wherein a dozer is provided
in a front section of said lower traveling body, and taking a front
surface of the dozer as a target point, an x-coordinate position
determined by adding a distance from the tooth top of the bucket to
the dozer to the x-coordinate position at the time of stopping the
arm top pin at the first point is made as the third point so as to
set the exception area.
4. The excavator according to claim 1, wherein when the arm top pin
is within the exception area, the actions of the working attachment
are decelerated.
5. The excavator according to claim 1, wherein when the arm top pin
is within the exception area, an alarm is operated.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention relates to an excavator provided with
a function of preventing contact between a bucket and a cabin.
[0003] 2. Description of the Related Art
[0004] A description will particularly be given taking an offset
type hydraulic excavator in which contact between a cabin and a
working attachment is easily generated as an example (FIGS. 5 to
7).
[0005] In the hydraulic excavator, a working attachment 3 is
installed in a front section of an upper rotating body 2 mounted on
a crawler type lower traveling body 1.
[0006] The working attachment 3 is provided with a boom 5 to be
raised and lowered taking a boom foot pin 4 as a center, an arm 7
attached to a front end of the boom 5 pivotally around a boom top
pin 6 in the up and down direction, and a bucket 9 attached to a
front end of the arm 7 pivotally around an arm top pin 8 in the up
and down direction. By raising, lowering and bending actions of the
working attachment 3, various works such as excavating and loading
are performed.
[0007] The boom 5 is formed by a rear boom 5a and a front boom
(also called an offset boom) 5b. By turn movement of the front boom
5b in the left and right direction to the rear boom 5a, the arm 7
and the bucket 9 are horizontally moved in the left and right
direction (offset) so that an excavating work for ditch or the like
is performed. FIG. 6 shows a state that an offset action is
performed to the left side, and the symbol .alpha. is an offset
angle thereof.
[0008] In FIGS. 5 and 6, the reference numeral 10 denotes a boom
raising and lowering cylinder for raising and lowering the boom 5,
the reference numeral 11 denotes an arm cylinder for turning the
arm 7 in the up and down direction, the reference numeral 12
denotes a bucket cylinder for turning the bucket 9 in the up and
down direction, and the reference numeral 13 denotes an offset
cylinder for turning the front boom 5a in the left and right
direction.
[0009] In the upper rotating body 2, a cabin 14 is installed on one
of the left and right sides in a front section thereof (generally
on the left side in the front section as shown in the figure,
hereinafter a description will be given with the above
configuration). Various operations are performed within the cabin
14.
[0010] By a dozer 15 (not shown in FIG. 6) provided in a front
section of the lower traveling body 1, a ground leveling work and a
dustpan work with using the bucket 9 are performed.
[0011] Here, since the working attachment 3 is bent towards the
cabin 14 side, contact between the bucket 9 and the cabin 14 may be
generated. Particularly, in the exemplified offset type excavator,
since the bucket 9 is located in front of the cabin 14 in the state
that an offset action is performed to the left side as shown in
FIG. 6, the contact is highly possibly generated.
[0012] Meanwhile, there is a contact prevention method disclosed in
Japanese Patent Laid-Open No. Hei3-156037.
[0013] In FIG. 7 schematically showing the entire excavator, a
contact area A serving as an area where the contact between the
bucket 9 and the cabin 14 may be generated when the arm top pin 8
intrudes is set in front of the cabin 14. When the arm top pin 8
enters the above contact area A, attachment actions (generally
actions of boom raising, arm pulling and left offset) are
stopped.
[0014] The contact area A is set in the vicinity of the cabin 14
shown by a double chain line in FIG. 7 in a general attachment with
the bucket 9 having standard size and being directly attached to
the front end of the arm.
[0015] Meanwhile, in the case where the bucket size is larger than
standard, and in the case where the bucket 9 is attached to the
front end of the arm through a special bucket attachment device for
simplifying an attaching and detaching work called quick hitch or
the like (hereinafter, such an attachment is collectively referred
to as the special attachment), a distance from the arm top pin 8 to
a tooth top of the bucket is longer than the standard
attachment.
[0016] In the case of having the above special attachment, a
special contact area B which is broader than the standard contact
area A towards the front side shown by a broken line in FIG. 7 is
set, and when the arm top pin 8 intrudes the above area B, the
attachment actions are stopped.
[0017] However, as shown in FIG. 7, a front limitation position of
the bucket in a state that the bucket 9 is grounded (a position
where the bucket is stopped by a contact prevention function) is
displaced towards the front side. Therefore, there is a problem
that a work of excavating, soil scooping and the like near a front
end of the lower traveling body 1 (hereinafter, referred to as the
near-by work) is limited.
[0018] Since the tooth top of the bucket 9 in the above figure does
not reach the dozer 15, it is not possible to perform the so-called
dustpan work of drawing the soil or the like to the dozer 15 side
and scooping by the bucket 9, which is a type of the near-by work.
The symbol B in FIG. 7 denotes a distance from the tooth top of the
bucket to a front surface of the dozer.
[0019] It should be noted that even in an excavator not performing
the offset action, in the case of installing the special attachment
in which bucket width is large and there is a fear that the left
side of the bucket may be brought in contact with the cabin 14, the
same problem is caused.
SUMMARY OF THE INVENTION
[0020] It is an object of the present invention to provide an
excavator capable of sufficiently ensuring the near-by work
described above while avoiding contact between a bucket and a cabin
as much as possible in the case where the special contact area is
set.
[0021] An excavator according to the present invention comprises a
lower traveling body, an upper rotating body mounted on the lower
traveling body and provided with a cabin, and a working attachment
installed in a front section of the upper rotating body as a basic
configuration. The above working attachment is provided with a boom
to be raised and lowered, an arm attached to a front end of the
boom pivotally around a boom top pin, and a bucket attached to a
front end of the arm pivotally around an arm top pin. Further, the
excavator according to the present invention is provided with
position detecting means for detecting a position of the arm top
pin, and control means for executing a contact prevention function
of limiting actions of the working attachment when the arm top pin
intrudes a contact area preliminarily set in front of the cabin.
Here, the control means is to set, in a corner part formed by an
area front surface serving as a front limitation of the contact
area and an area lower surface serving as a lower limit of the
contact area, an exception area of a right triangle seen from the
side taking the area front surface as a vertical side and the area
lower surface as the base under the following condition, and to
cancel the contact prevention function when the arm top pin is
within the exception area.
[0022] The condition for setting the exception area is as
follows:
[0023] In the case where there is not the exception area, an
x-coordinate position where the arm top pin is stopped by the
contact prevention function at the time of grounding and
horizontally moving the bucket to the rear side is made as a first
point, an y-coordinate position determined by adding a maximum
value for an increasing amount of a distance from a land surface to
be grounded to the arm top pin in accordance with bucket size or
the like to an y-coordinate position at the time of stopping the
arm top pin at the first point is made as a second point, an
x-coordinate position determined by adding a distance from a tooth
top of the bucket to a target point set behind the first point to
an x-coordinate position at the time of stopping the arm top pin at
the first point is made as a third point, and a right triangle area
connecting the points mentioned above is made as an exception
area.
[0024] According to the present invention, in the corner part (the
corner part on the front and lower side of the area) formed by the
area front surface serving as the front limitation of the contact
area and the area lower surface serving as the lower limit of the
contact area, the exception area of the right triangle seen from
the side taking the area front surface as the vertical side and the
area lower surface as the base is set under a fixed condition, and
the contact prevention function is cancelled when the arm top pin
is within the above exception area. Therefore, it is possible to
displace a front limitation position of the arm top pin in a state
that the bucket is grounded to the rear side (the machine
side).
[0025] Consequently, since the bucket can be brought in the
vicinity of the lower traveling body (the bucket reaches a dozer in
claim 3), it is possible to sufficiently ensure the near-by work
described above (including a dustpan work in the case of the
excavator). It should be noted that in the case where the dozer is
provided in a front section of the lower traveling body, and taking
a front surface of the dozer as a target point, an x-coordinate
position determined by adding a distance from the tooth top of the
bucket to the dozer to the x-coordinate position at the time of
stopping the arm top pin at the first point is made as the third
point so as to set the exception area, it is possible for the
bucket to reach the dozer.
[0026] Furthermore, the exception area is set to the corner part on
the front and lower side of the contact area which is the most
distant position from the cabin and an area where a working tool is
grounded. Therefore, the contact between the bucket and the cabin
is highly unlikely generated.
[0027] The exception area is set as the right triangle seen from
the side. Therefore, in comparison to the case where the exception
area is set as square, possibility of the contact is further
reduced while ensuring the near-by work.
[0028] As mentioned above, while preventing the contact between the
bucket and the cabin as much as possible, it is possible to enlarge
a working range for the near-by work.
[0029] When the arm top pin is within the exception area, the
actions of the working attachment are preferably decelerated. In
such a case, when the arm top pin is in the exception area, the
actions of the working attachment are decelerated. Therefore, when
the contact between the working tool and the cabin seems to be
generated by any chance, the actions are stopped without delay so
as to avoid the contact.
[0030] Further, when the arm top pin is within the exception area,
an alarm is preferably operated. In such a case, since an operator
is notified that the arm top pin is in the exception area by an
alert so as to take measures, it is possible to enhance safety.
BRIEF DESCRIPTION OF THE DRAWINGS
[0031] FIG. 1 is a side view schematically showing an excavator
according to an embodiment of the present invention and a contact
area thereof;
[0032] FIG. 2 is an enlarged view showing an exception area in FIG.
1;
[0033] FIG. 3 is a block diagram of control means;
[0034] FIG. 4 is a flowchart for explaining an effect;
[0035] FIG. 5 is a side view showing a schematic configuration of a
hydraulic excavator;
[0036] FIG. 6 is a plan view showing the schematic configuration of
the hydraulic excavator; and
[0037] FIG. 7 is a side view schematically showing a contact area
in a hydraulic excavator of THE RELATED ART.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0038] A description will be given to an embodiment of the present
invention with reference to FIGS. 1 to 4, and FIGS. 5 and 7 showing
schematic configurations of hydraulic excavators accordingly. In
the embodiment, an offset type excavator into which a special
attachment is installed is taken as an example to which the present
invention is applied.
[0039] FIG. 1 schematically shows an excavator according to the
embodiment and a contact area thereof.
[0040] A configuration of the excavator itself is the same as THE
RELATED ART. Therefore, the same parts as FIG. 7 are given the same
reference numerals and a duplicated explanation thereof will be
omitted.
[0041] As an area where a contact between a bucket 9 and a cabin 14
is generated when an arm top pin 8 intrudes, a special contact area
(hereinafter, simply referred to as the contact area) B is set in
front of the cabin. In principle, a function of preventing the
contact in the above contact area B is executed so that attachment
actions are limited. Specifically, actions of boom raising, arm
pulling and left offset of the attachment are stopped as mentioned
above.
[0042] In the above excavator, in a corner part (a corner part on
the front and lower side) formed by an area front surface B1
serving as a front limitation of the contact area B and an area
lower surface B2 serving as a lower limit of the contact area B, an
exception area C of a right triangle seen from the side taking the
area front surface B1 as a vertical side and the area lower surface
B2 as the base is set over the entire width of the contact area B.
When the arm top pin 8 is in the above exception area C, the
contact prevention function is cancelled (the attachment actions
are permitted as described later).
[0043] A detailed description will be given to the above exception
area C with reference to FIG. 2.
[0044] A first point P1 serving as a front limitation and a lower
limit of the area C is an x-coordinate position (position in the
front and back direction) where the arm top pin 8 is stopped by the
contact prevention function at the time of grounding and
horizontally drawing (horizontally moving to the rear side) the
bucket 9 in the case where there is not the exception area C.
[0045] A second point P2 serving as the front limitation and an
upper limit of the area C, the second point P2 located above the
first point P1, is an y-coordinate position determined by adding an
increasing amount (an anticipated maximum value) V of an
y-coordinate position from a land surface to be grounded to the arm
top pin 8 due to large bucket size or use of a special attachment
device called quick hitch to an y-coordinate position at the time
of stopping the arm top pin 8 at the first point P1.
[0046] A third point P3 is an x-coordinate position determined by
adding a distance W from a tooth top of the bucket to a target
point set behind the first point P1 (a front surface of a dozer 15
in the present embodiment) to an x-coordinate position at the time
of stopping the arm top pin 8 at the first point P1.
[0047] The distance W is the same as a distance .beta. from the
tooth top of the bucket to the front surface of the dozer 15 shown
in FIG. 7. The third point P3 is set so as to make the above
distance .beta. zero.
[0048] It should be noted that the target point for determining the
third point P3 is set as an arbitrary point behind the first point
P1, and may be set slightly ahead of the front surface of the
dozer, or behind a position of the dozer (in front of a front end
of the lower traveling body) in the case where there is not the
dozer 15.
[0049] It is desirable to add an accidental error amount due to an
accidental error in manufacturing or assembling the machine to both
the second and third points P2 and P3.
[0050] A right triangle area connecting the above first to third
points P1, P2 and P3 is the exception area C.
[0051] In the above excavator, by control means shown in FIG. 3, a
straight line L is calculated from coordinates of both the second
and third points P2 and P3, a current position of the arm top pin 8
is detected, and it is determined whether the position is above
(within the contact area B and outside the exception area C) or
below (within the exception area C) the straight line L. Only in
the case where the position is below the straight line L, the
attachment actions are permitted.
[0052] The control means is formed by a controller 16 for
outputting arithmetic and command signals, boom angle, arm angle
and offset angle sensors 17, 18 and 19 serving as position
detecting means for detecting the position of the arm top pin 8, a
cancel switch 20 for cancelling the contact prevention function by
an operation of an operator, stop proportional valves 21, 22 and 23
for stopping or decelerating the actions of boom raising, arm
puling and left offset on the basis of the command signals from the
controller 16, and an alarm (such as a buzzer and an indicator) 24
for giving an alert to and notifying the operator when the arm top
pin 8 is within the exception area C set by the control means.
[0053] A description will be given to an effect of the above
control means by a flowchart of FIG. 4.
[0054] At the beginning of control, the position of the arm top pin
8 (both the x-coordinate and y-coordinate positions) is calculated
from detected values detected by the angle sensors 17 to 19 (Step
S1). It is determined whether or not the calculated position of the
arm top pin is within the contact area B (Step S2).
[0055] In the case of YES here, it is determined whether or not the
x-coordinate position of the arm top pin 8 is between the first and
third points P1 and P3 of FIG. 2 in Step S3. In the case of NO,
that is, in the case where the x-coordinate position is outside the
exception area C and within the contact area B, stop signals are
outputted to the boom raising, arm pulling and left offset stop
proportional valves 21 to 23 as the original contact prevention
function so that the actions are stopped (Step S4).
[0056] Meanwhile, in the case of YES in Step S3, it is determined
that the x-coordinate position of the arm top pin 8 is between the
points P1 and P3 (within the exception area C). Therefore, in Step
S5, the x-coordinate position of the arm top pin 8 is substituted
in a preliminarily determined line equation so as to calculate an
y-coordinate point on the straight line L corresponding to the
x-coordinate position of the arm top pin 8.
[0057] In the following Step S6, it is determined whether or not
the y-coordinate position of the arm top pin 8 is larger than
(above) the calculated y-coordinate point on the straight line L.
In the case of NO (the y-coordinate position is below the straight
line L, that is, within the exception area C), it is determined
that the attachment actions should be permitted. Therefore, in Step
S7, the command signals for permitting the actions of boom raising,
arm pulling and left offset are outputted to the proportional
valves 21 to 23.
[0058] In such a case, since possibility of generating the contact
between the bucket 9 and the cabin 14 is increased with making the
actions completely free, command signals for decelerating the
actions are outputted in the embodiment.
[0059] In Step S8, an action command signal to the alarm 24 is
outputted so that the alert is given to the operator, and then the
flow returns to Step S1.
[0060] It should be noted that in the case of YES (the arm top pin
8 is above the straight line L) in Step S6, the attachment actions
are stopped in Step S4. In the case of NO (the arm top pin 8 is
outside the contact area B) in Step S2, the flow returns to Step
S1.
[0061] As mentioned above, when the arm top pin 8 is within the
exception area C, the contact prevention function is cancelled.
Therefore, it is possible to displace a front limitation position
of the arm top pin 8 in a state that the bucket is grounded to the
rear side (the machine side).
[0062] Consequently, since the grounded bucket 9 can be brought in
the vicinity of the lower traveling body 1 and the tooth top of the
bucket can reach the dozer 15 in the present embodiment, it is
possible to sufficiently ensure the near-by work described above
including a dustpan work. In other words, the exception area C is
set so as to obtain such a situation.
[0063] Furthermore, the exception area C is set to the corner part
on the front and lower side of the contact area B where the bucket
9 is grounded at the most distant position from the cabin 14.
Therefore, the contact between the bucket 9 and the cabin 14 is
highly unlikely generated.
[0064] The exception area is set as the right triangle seen from
the side. Therefore, in comparison to the case where the exception
area is set as square, the possibility of the contact is further
reduced while ensuring the near-by work.
[0065] From the points mentioned above, it is possible to enlarge a
working range of the near-by work described above while preventing
the contact between the bucket 9 and the cabin 14 as much as
possible.
[0066] When the arm top pin 8 is in the exception area C, the
attachment actions are decelerated. Therefore, when the contact
between the bucket 9 and the cabin 14 seems to be generated by any
chance, dangerous actions are stopped without delay so as to avoid
the contact.
[0067] Further, since the operator is notified that the arm top pin
8 is within the exception area C by the alert so as to take
measures on the alert, it is possible to enhance safety.
[0068] The present invention is generally applied to the offset
type excavator exemplified in the embodiment. However, even in an
excavator in which the working attachment 3 does not perform the
offset action, the contact with the cabin 14 may be generated in
the case where a wide special attachment is installed in the bucket
9. Therefore, it is also possible to apply the present invention to
such an excavator.
[0069] Although the invention has been described with reference to
the preferred embodiments in the attached figures, it is noted that
equivalents may be employed and substitutions made herein without
departing from the scope of the invention as recited in the
claims.
* * * * *