EP3666627A1 - Baumaschinen - Google Patents

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Publication number
EP3666627A1
EP3666627A1 EP18874218.3A EP18874218A EP3666627A1 EP 3666627 A1 EP3666627 A1 EP 3666627A1 EP 18874218 A EP18874218 A EP 18874218A EP 3666627 A1 EP3666627 A1 EP 3666627A1
Authority
EP
European Patent Office
Prior art keywords
revolving
pilot
detected
detecting sensor
upper revolving
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.)
Withdrawn
Application number
EP18874218.3A
Other languages
English (en)
French (fr)
Other versions
EP3666627A4 (de
Inventor
Daisuke Yamamoto
Kenichiro Nakatani
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Tierra Co Ltd
Original Assignee
Hitachi Construction Machinery Tierra Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Tierra Co Ltd filed Critical Hitachi Construction Machinery Tierra Co Ltd
Publication of EP3666627A1 publication Critical patent/EP3666627A1/de
Publication of EP3666627A4 publication Critical patent/EP3666627A4/de
Withdrawn legal-status Critical Current

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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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/128—Braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/94—Safety gear for limiting slewing movements
    • 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
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the present invention relates to a construction machine such as a hydraulic excavator, and the like.
  • a hydraulic excavator as a typical construction machine is generally configured by a self-propelled lower traveling structure and an upper revolving structure mounted rotatably on the lower traveling structure through a revolving device.
  • a front device is provided on a front side of the upper revolving structure, and the hydraulic excavator performs excavating work or the like by using the front device while allowing the upper revolving structure to revolve.
  • a harness (signal cable) is required to connect the electrical equipment on the lower traveling structure side and the controller on the upper revolving structure side.
  • the revolution of the upper revolving structure by 360° or more causes the harness torsion and its subsequent cable disconnection.
  • a revolving restriction apparatus includes a limit switch provided on a revolving structure and a striker provided on a fixed-side member supporting the revolving structure to allow the limit switch to detect the striker when the revolving structure revolves within a swing limit range.
  • the revolving structure can revolve within a range that allows for no torsion or cable disconnection on a harness.
  • a range for the limit switch to detect the striker can be enlarged by increasing the length dimension of the striker in a revolving direction. Therefore, the revolving structure can stop within the swing limit range by allowing the limit switch to continuously detect the striker even if the revolving structure has high inertial energy.
  • Patent Document 1 Japanese Patent Laid-Open No. H02-152896 A
  • a revolving restriction apparatus causes excessive inertial energy of a revolving structure, and the resulting runaway of the revolving structure by inertial rotation fails to allow the revolving structure to reliably stop within a swing limit range.
  • a harness connecting a control circuit mounted on the revolving structure and a remote controller is unfortunately prone to torsion and its subsequent damage.
  • a revolving structure of low inertial energy stops soon after a limit switch detects a striker.
  • the revolving structure of low inertial energy can stop at the inlet of a swing limit range when the length dimension of the striker is set large in preparation for high inertial energy in a revolving structure.
  • the range of a revolving structure to revolve is unfortunately narrower.
  • the present invention is made in view of the aforementioned problems of the prior art and has an object to provide a construction machine capable of reliably stopping an upper revolving structure within a swing limit range, and guarding a harness connecting electrical equipment on the lower traveling structure side and electrical equipment on the upper revolving structure side.
  • the present invention is applied to a construction machine, including: a self-propelled lower traveling structure; an upper revolving structure mounted rotatably on the lower traveling structure through a revolving device; a harness disposed over the upper revolving structure and the lower traveling structure; an object to be detected provided on the lower traveling structure; a detecting sensor mounted on the upper revolving structure and detecting the object to be detected when the upper revolving structure revolves; and a swing control device stopping revolving operation of the revolving device when the revolution of the upper revolving structure allows the detecting sensor to detect the object to be detected.
  • a feature of the present invention is that the lower traveling structure is provided with a traveling-structure-side stopper, and the upper revolving structure is provided with a revolving-structure-side stopper restricting inertial rotation of the upper revolving structure by allowing the swing control device to abut on the traveling-structure-side stopper after the swing control device stops revolving operation of the revolving device.
  • the revolving-structure-side stopper is allowed to abut on the traveling-structure-side stopper to reliably stop the upper revolving structure within a swing limit range even if the upper revolving structure continuously revolves by inertial rotation after the swing control device stops revolving operation of the revolving device.
  • torsion, cable disconnection or the like on the harness disposed over the upper revolving structure and the lower traveling structure can be suppressed to guard the harness.
  • a hydraulic excavator is exemplified as a construction machine according to an embodiment of the present invention, and will be described below in detail by referring to Figs. 1 to 14 .
  • a hydraulic excavator 1 includes a self-propelled crawler-type lower traveling structure 2, an upper revolving structure 3 mounted rotatably on the lower traveling structure 2 through a revolving device 8 which will be described later, and a front device 4 provided capable of moving upward/downward at a front center of the upper revolving structure 3.
  • the hydraulic excavator 1 is self-propelled at a work site by the lower traveling structure 2 to perform an excavating work of earth and sand or the like by using the front device 4.
  • the lower traveling structure 2 includes: a center frame 5 having a left front leg part 5A, a right front leg part 5B, a left rear leg part 5C, and a right rear leg part 5D; a left side frame 6 disposed on the left side of the center frame 5; and a right side frame 7 disposed on the right side of the center frame 5.
  • the left side frame 6 is provided on tip ends of the left front leg part 5A and the left rear leg part 5C of the center frame 5, and extends in a front-and-rear direction.
  • the right side frame 7 is provided on tip ends of the right front leg part 5B and the right rear leg part 5D of the center frame 5, and extends in the front-and-rear direction.
  • the revolving device 8 is configured by a swing circle 9 provided at a center part of the center frame 5 and a revolving motor 10 composed of a hydraulic motor provided on the upper revolving structure 3.
  • the swing circle 9 is configured by an inner race 9A mounted on a circle member (not shown) of the center frame 5 and an outer race 9B mounted rotatably on the outer peripheral side of the inner race 9A through a plurality of rolling bodies (not shown).
  • the outer race 9B is mounted on a revolving frame 15 which will be described later.
  • An internal gear 9C is formed over the entire circumference on the inner peripheral surface of the inner race 9A, and a pinion gear (not shown) of the revolving motor 10 is meshed with the internal gear 9C.
  • a rotation of the pinion gear of the revolving motor 10 rotates the outer race 9B around the inner race 9A together with the upper revolving structure 3.
  • the resulting revolving operation of the revolving device 8 allows the upper revolving structure 3 to revolve in the right or left direction on the lower traveling structure 2.
  • a cylinder mounting bracket 5E located at an intermediate portion in the right-and-left direction and right and left blade mounting brackets 5F located on both right and left sides of the cylinder mounting bracket 5E are provided on a front side of the center frame 5.
  • Right and left arms 11A of a blade 11 used in earth removing work are each mounted rotatably in the vertical direction on the right and left blade mounting brackets 5F.
  • a blade cylinder (not shown) rotating the blade 11 is mounted between the blade 11 and the cylinder mounting bracket 5E.
  • the center frame 5 is provided with an object to be detected 28 and a traveling-structure-side stopper 42 which will be described later.
  • a drive wheel 12 rotatively driven by a traveling motor is provided each on a rear end side of the left side frame 6 and the right side frame 7.
  • An idler wheel 13 is provided each on a front end side of the left side frame 6 and the right side frame 7.
  • An endless crawler (crawler belt) 14 is looped around the drive wheel 12 and the idler wheel 13, and the crawler 14 is driven to circle by the drive wheel 12 to allow the hydraulic excavator 1 to travel.
  • the upper revolving structure 3 includes a revolving frame 15 that is to be a base of the upper revolving structure 3, and the revolving frame 15 is mounted rotatably on the lower traveling structure 2 through the swing circle 9.
  • the revolving frame 15 includes a bottom plate 15A, an arc-shaped left side frame 15B disposed on the left side of the bottom plate 15A, and an arc-shaped right side frame 15C disposed on the right side of the bottom plate 15A.
  • the bottom plate 15A and the left and right side frames 15B, 15C are connected by a plurality of extension beams (not shown).
  • a left revolving detecting sensor 29, a right revolving detecting sensor 30, and a revolving-structure-side stopper 43 which will be described later are provided on a lower surface side of the bottom plate 15A.
  • a counterweight 16 taking a weight balance with the front device 4 is provided on a rear side of the revolving frame 15.
  • An engine 17, a hydraulic pump 18 and the like are provided on a front side of the counterweight 16.
  • the hydraulic pump 18 is driven by the engine 17 to discharge working pressurized oil toward the traveling motor of the drive wheel 12, the revolving motor 10 of the revolving device 8, and a plurality of hydraulic cylinders which constitute the front device 4.
  • An operator's seat 19 is located on a front side of the engine 17 and provided on the revolving frame 15 in which an operator is seated.
  • a traveling operating lever/pedal 20 in manual operation or foot depressing operation when the lower traveling structure 2 travels is provided on a front side of the operator's seat 19.
  • a control lever device 21 composed of a pressure reducing valve type pilot valve having a working operating lever 21A operating the front device 4 and the revolving device 8 is disposed on both right and left sides of the operator's seat 19.
  • the control lever device 21 is connected to a pilot hydraulic power source 34 which will be described later.
  • a canopy 22 is disposed on an upper side of the operator's seat 19, and the operator's seat 19 and the like are covered from above by the canopy 22.
  • An exterior cover 23 is provided on a rear side and both right and left sides of the operator's seat 19. The exterior cover 23 covers onboard equipment such as the engine 17, the hydraulic pump 18, and a heat exchanger (not shown).
  • a left rotational speed sensor 24A is provided on a rear side of the left side frame 6 of the lower traveling structure 2.
  • a right rotational speed sensor 24B is provided on a rear side of the right side frame 7.
  • the left rotational speed sensor 24A and the right rotational speed sensor 24B constitute electrical equipment provided on the lower traveling structure 2 side.
  • the left rotational speed sensor 24A detects the rotational speed of the drive wheel 12 mounted on the left side frame 6, and outputs a detection signal in accordance with the rotational speed to a controller 25 which will be described later.
  • the right rotational speed sensor 24B detects the rotational speed of the drive wheel 12 mounted on the right side frame 7, and outputs a detection signal in accordance with the rotational speed to the controller 25.
  • the controller 25 as electrical equipment provided on the upper revolving structure 3 side is mounted on the revolving frame 15 in the state where the controller 25 is accommodated in the exterior cover 23.
  • the controller 25 controls the operation of the engine 17, the hydraulic pump 18 and the like based on the detection signals or the like from left and right rotational speed sensors 24A, 24B.
  • a left harness 26 electrically connects the left rotational speed sensor 24A on the lower traveling structure 2 side and the controller 25 on the upper revolving structure 3 side.
  • a right harness 27 electrically connects the right rotational speed sensor 24B and the controller 25.
  • the left harness 26 is introduced e.g., from the left rotational speed sensor 24A to the swing circle 9 along the left side frame 6 and the center frame 5.
  • the left harness 26 is introduced to an upper surface side of the revolving frame 15 through an inner peripheral side of the swing circle 9 (inner race 9A), and extends toward the controller 25.
  • the right harness 27 is introduced e.g., from the right rotational speed sensor 24B to the swing circle 9 along the right side frame 7 and the center frame 5.
  • the right harness 27 is introduced to the upper surface side of the revolving frame 15 through the inner peripheral side of the swing circle 9 (inner race 9A), and extends toward the controller 25.
  • the left harness 26 connects the left rotational speed sensor 24A on the lower traveling structure 2 side and the controller 25 on the upper revolving structure 3 side
  • the right harness 27 connects the right rotational speed sensor 24B on the lower traveling structure 2 side and the controller 25 on the upper revolving structure 3 side. Therefore, the left harness 26 and the right harness 27 might be prone to torsion, damage, cable disconnection or the like when the upper revolving structure 3 revolves at an angle of 360° or more relative to the lower traveling structure 2.
  • the hydraulic excavator 1 which is configured to limit the range of the upper revolving structure 3 to revolve (revolving angle) within 360°, is provided with an object to be detected 28, a left revolving detecting sensor 29, a right revolving detecting sensor 30, a swing control device 31, a traveling-structure-side stopper 42, and the revolving-structure-side stopper 43 which will be described later.
  • the object to be detected 28 is provided on a front upper surface side of the center frame 5 which constitutes the lower traveling structure 2. That is, the object to be detected 28 is disposed between the cylinder mounting bracket 5E disposed at an intermediate portion in the right-and-left direction of the center frame 5 and the outer race 9B of the swing circle 9, and fixed on the upper surface 5G of the center frame 5.
  • the object to be detected 28 is detected by the left revolving detecting sensor 29 when the upper revolving structure 3 reaches a left swing limit range as a limit range of revolving in the left direction.
  • the object to be detected 28 is detected by the right revolving detecting sensor 30 when the upper revolving structure 3 reaches a right swing limit range as a limit range of revolving in the right direction.
  • the object to be detected 28 is composed of an arc-shaped plate around a revolving center P of the upper revolving structure 3 (center of swing circle 9) (see Fig. 8 ).
  • the object to be detected 28 is faced with an outer peripheral surface of the outer race 9B of the swing circle 9 at a constant interval and extends in the right-and-left direction.
  • a plurality of (e.g., 3) mounting plates 28A are fixed to the object to be detected 28 by welding or the like.
  • Each of the mounting plates 28A is detachably mounted on a base plate 28B having an L-shape fixed to the upper surface 5G of the center frame 5 using bolts 28C (see Fig. 5 ).
  • the object to be detected 28 is installed upright from the lower traveling structure 2 (the upper surface 5G of the center frame 5) toward the upper revolving structure 3 in the state where the object to be detected 28 is faced with the outer peripheral surface of the outer race 9B of the swing circle 9.
  • adhesion of earth and sand or the like to a detecting surface 28D detected by the left revolving detecting sensor 29 or the right revolving detecting sensor 30 in the object to be detected 28 can be suppressed.
  • a gap 28E is formed between a lower end of the object to be detected 28 and the upper surface 5G of the center frame 5.
  • earth and sand falling on the upper surface 5G of the center frame 5 are discharged through the gap 28E, accumulation of earth and sand or the like around the object to be detected 28 can be suppressed.
  • the left revolving detecting sensor 29 and the right revolving detecting sensor 30 are provided on the revolving frame 15 of the upper revolving structure 3 to detect the object to be detected 28 when the upper revolving structure 3 revolves.
  • the left revolving detecting sensor 29 and the right revolving detecting sensor 30 are each constituted by a proximity switch, and mounted on a lower surface of the bottom plate 15A which constitutes the revolving frame 15.
  • the left revolving detecting sensor 29 and the right revolving detecting sensor 30 are disposed on the same circumference around the revolving center P of the upper revolving structure 3 at an interval in the right-and-left direction.
  • the state where the front device 4 is parallel to the right and left crawler 14 of the lower traveling structure 2 means that the upper revolving structure 3 is at an intermediate position.
  • the left revolving detecting sensor 29 and the right revolving detecting sensor 30 are disposed opposite to the object to be detected 28 across the swing circle 9 in the state where the upper revolving structure 3 is at the intermediate position.
  • the left revolving detecting sensor 29 detects the object to be detected 28 when the upper revolving structure 3 revolves in the left direction to reach a revolving angle ⁇ L1 (see Fig. 9 ). As a result, the swing control device 31 stops revolving operation of the revolving device 8 (revolving motor 10). Meanwhile, the left revolving detecting sensor 29 continuously detects the object to be detected 28 until the upper revolving structure 3 performs inertial rotation by inertial energy to reach a revolving angle ⁇ L2 (see Fig. 10 ).
  • a swing range between the revolving angle ⁇ L1 and the revolving angle ⁇ L2 corresponds to a swing limit range for the upper revolving structure 3 to revolve in the left direction, and the swing control device 31 continuously controls the stop of revolving operation of the revolving device 8 when the upper revolving structure 3 is within a range between the revolving angles ⁇ L1 and ⁇ L2.
  • the right revolving detecting sensor 30 detects the object to be detected 28 when the upper revolving structure 3 revolves in the right direction to reach a revolving angle ⁇ R1 (see Fig. 11 ). As a result, the swing control device 31 stops revolving operation of the revolving device 8. Meanwhile, the right revolving detecting sensor 30 continuously detects the object to be detected 28 until the upper revolving structure 3 performs inertial rotation by inertial energy to reach a revolving angle ⁇ R2 (see Fig. 12 ).
  • a swing range between the revolving angle ⁇ R1 and the revolving angle ⁇ R2 corresponds to a swing limit range for the upper revolving structure 3 to revolve in the right direction, and the swing control device 31 continuously controls the stop of revolving operation of the revolving device 8 when the upper revolving structure 3 is within a range between the revolving angles ⁇ R1 and ⁇ R2.
  • the swing control device 31 is provided on the upper revolving structure 3 to stop the operation of the revolving motor 10 when the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28.
  • the swing control device 31 is configured by a directional control valve 32, a left revolving pilot valve 35, and a right revolving pilot valve 37 which will be described later.
  • the directional control valve 32 is provided on the way between a tank 34B which will be described later and a main line 33 connecting the hydraulic pump 18 and the revolving motor 10.
  • the directional control valve 32 switches the revolving motor 10 between left and right revolution in accordance with the supply of pilot pressure to the left and right hydraulic pilot parts 32A, 32B. That is, the revolving motor 10 is rotatively driven in the left revolving direction when pilot pressure is supplied to the left revolving hydraulic pilot part 32A.
  • the revolving motor 10 is rotatively driven in the right revolving direction when pilot pressure is supplied to the right revolving hydraulic pilot part 32B.
  • the pilot hydraulic power source 34 is configured by a pilot pump 34A and the tank 34B. Pilot pressure from the pilot pump 34A is supplied to the hydraulic pilot parts 32A, 32B of the directional control valve 32 in accordance with the operating amount in the right-and-left direction or in the front-and-rear direction of the working operating lever 21A provided on the control lever device 21. The pilot pressure supplied at the hydraulic pilot parts 32A, 32B of the directional control valve 32 is returned to the tank 34B, and the directional control valve 32 is returned to a neutral position when the working operating lever 21A of the control lever device 21 is at the neutral position.
  • the left revolving pilot valve 35 is provided on the way of the left revolving pilot line 36 connecting the hydraulic pilot part 32A of the directional control valve 32 and the control lever device 21.
  • the left revolving pilot valve 35 is configured by a three-port and two-position solenoid valve having a solenoid operated pilot part 35A.
  • the left revolving pilot valve 35 communicates the pilot line 36 by holding a communication position (a) when power is not supplied from a power source 39 to the solenoid operated pilot part 35A. Meanwhile, the left revolving pilot valve 35 switches to a blockade position (b) to shut off the pilot line 36 when power is supplied from the power source 39 to the solenoid operated pilot part 35A.
  • the right revolving pilot valve 37 is provided on the way of a right revolving pilot line 38 connecting the hydraulic pilot part 32B of the directional control valve 32 and the control lever device 21.
  • the right revolving pilot valve 37 is configured by a three-port and two-position solenoid valve having a solenoid operated pilot part 37A.
  • the right revolving pilot valve 37 communicates the pilot line 38 by holding a communication position (c) when power is not supplied from the power source 39 to the solenoid operated pilot part 37A. Meanwhile, the right revolving pilot valve 37 is switched to a blockade position (d) to shut off the pilot line 38 when power is not supplied from the power source 39 to the solenoid operated pilot part 37A.
  • the left revolving detecting sensor 29 and a left revolving stop mode release switch 40 are provided in series between the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39.
  • the stop mode release switch 40 forms a normally closed contact, which is operated by an operator to electrically shut off the power source 39 and the solenoid operated pilot part 35A.
  • the left revolving pilot valve 35 is switched to the blockade position (b) when the upper revolving structure 3 revolves in the left direction to allow the left revolving detecting sensor 29 to detect the object to be detected 28.
  • supply of pilot pressure to the hydraulic pilot part 32A of the directional control valve 32 is shut off to stop revolving operation of the revolving motor 10.
  • the right revolving detecting sensor 30 is separated from the object to be detected 28 when the left revolving detecting sensor 29 detects the object to be detected 28.
  • the power source 39 and the solenoid operated pilot part 35A are electrically shut off when the stop mode release switch 40 is operated.
  • the left revolving pilot valve 35 holds the communication position (a) regardless of whether the left revolving detecting sensor 29 detects the object to be detected 28 or not. Therefore, the control for stopping revolving operation of the revolving motor 10 is released when the stop mode release switch 40 is operated.
  • the upper revolving structure 3 can revolve in accordance with the operation of the working operating lever 21A of the control lever device 21 even if the upper revolving structure 3 revolves in the left direction within a swing limit range (between the revolving angle ⁇ L1 illustrated in Fig. 9 and the revolving angle ⁇ L2 illustrated in Fig. 10 ).
  • the right revolving detecting sensor 30 and a right revolving stop mode release switch 41 are provided in series between the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39.
  • the stop mode release switch 41 forms a normally closed contact, which is operated by an operator to electrically shut off the power source 39 and the solenoid operated pilot part 37A.
  • the right revolving pilot valve 37 is switched to the blockade position (d) when the upper revolving structure 3 revolves in the right direction to allow the right revolving detecting sensor 30 to detect the object to be detected 28.
  • supply of pilot pressure to the hydraulic pilot part 32B of the directional control valve 32 is shut off to stop revolving operation of the revolving motor 10.
  • the left revolving detecting sensor 29 is separated from the object to be detected 28 when the right revolving detecting sensor 30 detects the object to be detected 28.
  • the power source 39 and the solenoid operated pilot part 37A are electrically shut off when the stop mode release switch 41 is operated.
  • the right revolving pilot valve 37 holds the communication position (c) regardless of whether the right revolving detecting sensor 30 detects the object to be detected 28 or not. Therefore, the control for stopping revolving operation of the revolving motor 10 is released when the stop mode release switch 41 is operated.
  • the upper revolving structure 3 can revolve in accordance with the operation of the working operating lever 21A of the control lever device 21 even if the upper revolving structure 3 revolves in the right direction within a swing limit range (between the revolving angle ⁇ R1 illustrated in Fig. 11 and the revolving angle ⁇ R2 illustrated in Fig. 12 ).
  • traveling-structure-side stopper 42 and the revolving-structure-side stopper 43 used in the hydraulic excavator 1 will be described.
  • the traveling-structure-side stopper 42 is provided on the center frame 5 of the lower traveling structure 2. As illustrated in Fig. 3 , the traveling-structure-side stopper 42 is provided on an upper surface on a proximal end side of the left front leg part 5A in the center frame 5.
  • the traveling-structure-side stopper 42 is configured by a base plate 42A fixed to an upper surface of the left front leg part 5A by welding or the like, a mounting board 42C detachably mounted on the base plate 42A using a plurality of bolts 42B, a support plate 42D installed upright on an upper surface of the mounting board 42C, and a left revolving abutment plate 42E and a right revolving abutment plate 42F provided on both sides in the length direction of the support plate 42D.
  • the support plate 42D is faced with the outer peripheral surface of the swing circle 9 (outer race 9B), and extends in the circumferential direction around the revolving center P of the upper revolving structure 3.
  • the left revolving abutment plate 42E is composed of a rectangular flat plate, and fixed on one side in the length direction of the support plate 42D by welding or the like.
  • the right revolving abutment plate 42F is also composed of a rectangular flat plate, and fixed on the other side in the length direction of the support plate 42D by welding or the like.
  • the revolving-structure-side stopper 43 is provided on the revolving frame 15 of the upper revolving structure 3.
  • the revolving-structure-side stopper 43 is provided on a lower surface of the bottom plate 15A which constitutes the revolving frame 15, and keeps an angle interval of approximately 180° relative to the traveling-structure-side stopper 42 when the upper revolving structure 3 is at the intermediate position illustrated in Fig. 8 .
  • the revolving-structure-side stopper 43 and the traveling-structure-side stopper 42 are disposed on the circumference having an identical radius R around the revolving center P of the upper revolving structure 3.
  • the revolving-structure-side stopper 43 is configured by a base plate 43A fixed on the lower surface of the bottom plate 15A by welding or the like, a support plate 43B projected downward from the base plate 43A, a pair of end plates 43C, 43D provided on both sides in the length direction of the support plate 43B, a left revolving abutting body 43F mounted on the end plate 43C using bolts 43E, and a right revolving abutting body 43G mounted on the end plate 43D using bolts 43E.
  • the support plate 43B is faced with the outer peripheral surface of the swing circle 9 (outer race 9B), and extends in the circumferential direction around the revolving center P of the upper revolving structure 3.
  • the left revolving abutting body 43F is cylindrical and abuts on the left revolving abutment plate 42E of the traveling-structure-side stopper 42 when the upper revolving structure 3 revolves in the left direction to reach the revolving angle ⁇ L2 (see Fig. 10 ).
  • the right revolving abutting body 43G is cylindrical and abuts on the right revolving abutment plate 42F of the traveling-structure-side stopper 42 when the upper revolving structure 3 revolves in the right direction to reach a revolving angle ⁇ R2 (see Fig. 12 ).
  • the left revolving detecting sensor 29 detects the object to be detected 28 and the swing control device 31 stops revolving operation of the revolving motor 10 when the upper revolving structure 3 revolves in the left direction to reach the revolving angle ⁇ L1.
  • the upper revolving structure 3 continuously revolves beyond the revolving angle ⁇ L1 by inertial rotation when the inertial energy of the upper revolving structure 3 is high.
  • the left revolving abutting body 43F of the revolving-structure-side stopper 43 abuts on the left revolving abutment plate 42E of the traveling-structure-side stopper 42 to reliably stop inertial rotation of the upper revolving structure 3 when the upper revolving structure 3 reaches the revolving angle ⁇ L2.
  • the right revolving detecting sensor 30 is disposed at a position at which the object to be detected 28 is not detected (position separated from the object to be detected 28) when the upper revolving structure 3 revolves in the left direction to allow the revolving-structure-side stopper 43 to abut on the traveling-structure-side stopper 42.
  • pilot pressure is supplied to the hydraulic pilot part 32B of the directional control valve 32 through the right revolving pilot valve 37 to allow the upper revolving structure 3 to revolve in the right direction even if the left revolving detecting sensor 29 detects the object to be detected 28 and the swing control device 31 stops left revolving operation of the revolving motor 10.
  • the right revolving detecting sensor 30 detects the object to be detected 28 and the swing control device 31 stops revolving operation of the revolving motor 10 when the upper revolving structure 3 revolves in the right direction to reach the revolving angle ⁇ R1.
  • the upper revolving structure 3 continuously revolves beyond the revolving angle ⁇ R1 by inertial rotation when the inertial energy of the upper revolving structure 3 is high.
  • the right revolving abutting body 43G of the revolving-structure-side stopper 43 abuts on the right revolving abutment plate 42F of the traveling-structure-side stopper 42 to reliably stop inertial rotation of the upper revolving structure 3 when the upper revolving structure 3 reaches the revolving angle ⁇ R2.
  • the left revolving detecting sensor 29 is disposed at a position at which the object to be detected 28 is not detected when the upper revolving structure 3 revolves in the right direction to allow the revolving-structure-side stopper 43 to abut on the traveling-structure-side stopper 42.
  • pilot pressure is supplied to the hydraulic pilot part 32A of the directional control valve 32 through the left revolving pilot valve 35 to allow the upper revolving structure 3 to revolve in the left direction even if the right revolving detecting sensor 30 detects the object to be detected 28 and the swing control device 31 stops right revolving operation of the revolving motor 10.
  • the hydraulic excavator 1 according to the first embodiment is configured as described above, and the operation of the hydraulic excavator 1 will be described.
  • An operator is seated in the operator's seat 19 and operates the traveling operating lever/pedal 20 to allow the lower traveling structure 2 to travel forward or backward when excavating work is performed by using the hydraulic excavator 1.
  • the operator operates the working operating lever 21A of the control lever device 21 to allow the upper revolving structure 3 to revolve and excavate earth and sand by using the front device 4.
  • the hydraulic excavator 1 includes a left rotational speed sensor 24A detecting the rotational speed of a drive wheel 12 mounted on the left side frame 6 and a right rotational speed sensor 24B detecting the rotational speed of a drive wheel 12 mounted on the right side frame 7.
  • the controller 25 provided on the upper revolving structure 3 and the left rotational speed sensor 24A are connected by the left harness 26.
  • the controller 25 and the right rotational speed sensor 24B are connected by the right harness 27. Therefore, the left harness 26 and the right harness 27 might be prone to torsion, damage, cable disconnection or the like when the upper revolving structure 3 revolves at an angle of 360° or more relative to the lower traveling structure 2.
  • the hydraulic excavator 1 can limit the revolving range (revolving angle) of the upper revolving structure 3 within 360°.
  • the left revolving detecting sensor 29 detects the object to be detected 28 when the upper revolving structure 3 revolves in the left direction from the intermediate position illustrated in Fig. 8 and reaches the revolving angle ⁇ L1 illustrated in Fig. 9 .
  • the left revolving pilot valve 35 of the swing control device 31 is switched to the blockade position (b). Therefore, supply of pilot pressure to the hydraulic pilot part 32A of the directional control valve 32 is shut off to stop revolving operation of the revolving motor 10.
  • revolution of the upper revolving structure 3 can stop at the time of the left revolving detecting sensor 29 detecting the object to be detected 28 when the inertial energy of the upper revolving structure 3 is low.
  • the upper revolving structure 3 continuously revolves beyond the revolving angle ⁇ L1 by inertial rotation when the inertial energy of the upper revolving structure 3 is high.
  • the object to be detected 28 extends in an arc shape around the revolving center P of the upper revolving structure 3.
  • the left revolving detecting sensor 29 continuously detects the object to be detected 28 until the upper revolving structure 3 reaches the revolving angle ⁇ L2 illustrated in Fig. 10 .
  • the swing control device 31 continuously controls the stop of revolving operation of the revolving motor 10 when the upper revolving structure 3 revolves in the left direction to stay within a swing limit range between the revolving angle ⁇ L1 and the revolving angle ⁇ L2.
  • the swing control device 31 is insufficient to stop revolution of the upper revolving structure 3 when the inertial energy of the upper revolving structure 3 is excessive.
  • the upper revolving structure 3 reaches the revolving angle ⁇ L2 to allow the left revolving abutting body 43F of the revolving-structure-side stopper 43 to abut on the left revolving abutment plate 42E of the traveling-structure-side stopper 42.
  • inertial rotation of the upper revolving structure 3 can be stopped, and the upper revolving structure 3 revolving in the left direction can reliably be stopped within the swing limit range.
  • the revolving angle of the upper revolving structure 3 revolving in the left direction is limited to ⁇ L2 or less to suppress torsion, damage, cable disconnection or the like on the left harness 26 and the right harness 27, thereby guarding the left harness 26 and the right harness 27.
  • the upper revolving structure 3 stops at the time of reaching the revolving angle ⁇ L1 when the inertial energy of the upper revolving structure 3 is low. However, the stopped upper revolving structure 3 may need continuously revolving to the revolving angle ⁇ L2. In this case, the left revolving pilot valve 35 is switched to the communication position (a) after the operator operates the stop mode release switch 40. Therefore, the control for stopping revolving operation of the revolving motor 10 by the swing control device 31 is released.
  • the upper revolving structure 3 can revolve until it reaches the revolving angle ⁇ L2 in accordance with the operation of the working operating lever 21A of the control lever device 21 even if the upper revolving structure 3 revolves in the left direction within the swing limit range.
  • the right revolving detecting sensor 30 detects the object to be detected 28 when the upper revolving structure 3 revolves in the right direction from the intermediate position illustrated in Fig. 8 to reach the revolving angle ⁇ R1 illustrated in Fig. 11 .
  • the right revolving pilot valve 37 of the swing control device 31 is switched to the blockade position (d). Therefore, supply of pilot pressure to the hydraulic pilot part 32B of the directional control valve 32 is shut off to stop revolving operation of the revolving motor 10. In this case, revolution of the upper revolving structure 3 can be stopped at the time of the right revolving detecting sensor 30 detecting the object to be detected 28 when the inertial energy of the upper revolving structure 3 is low.
  • the upper revolving structure 3 continuously revolves beyond the revolving angle ⁇ R1 by inertial rotation when the inertial energy of the upper revolving structure 3 is high.
  • the right revolving detecting sensor 30 continuously detects the object to be detected 28 until the upper revolving structure 3 reaches the revolving angle ⁇ R2 illustrated in Fig. 12 . Therefore, the swing control device 31 continuously controls the stop of revolving operation of the revolving motor 10 when the upper revolving structure 3 revolves in the right direction to stay within a swing limit range between the revolving angle ⁇ R1 and the revolving angle ⁇ R2.
  • the swing control device 31 is insufficient to stop revolution of the upper revolving structure 3 when the inertial energy of the upper revolving structure 3 is excessive.
  • the upper revolving structure 3 reaches the revolving angle ⁇ R2 to allow the right revolving abutting body 43G of the revolving-structure-side stopper 43 to abut on the right revolving abutment plate 42F of the traveling-structure-side stopper 42.
  • inertial rotation of the upper revolving structure 3 can be stopped, and the upper revolving structure 3 revolving in the right direction can reliably be stopped within the swing limit range.
  • the revolving angle of the upper revolving structure 3 revolving in the right direction is limited to ⁇ R2 or less to suppress torsion, damage, cable disconnection or the like on the left harness 26 and the right harness 27, thereby guarding the left harness 26 and the right harness 27.
  • the upper revolving structure 3 stops at the time of reaching the revolving angle ⁇ R1 when the inertial energy of the upper revolving structure 3 is low.
  • the stop upper revolving structure 3 may need continuously revolving to the revolving angle ⁇ R2.
  • the right revolving pilot valve 37 is switched to the communication position (c) after the operator operates the stop mode release switch 41. Therefore, the control for stopping revolving operation of the revolving motor 10 by the swing control device 31 is released.
  • the upper revolving structure 3 can revolve until it reaches the revolving angle ⁇ R2 in accordance with the operation of the working operating lever 21A relative to the control lever device 21even if the upper revolving structure 3 revolves in the right direction within the swing limit range.
  • the revolving angle of the upper revolving structure 3 is set at the revolving angle ( ⁇ L2+ ⁇ R2) obtained by adding the revolving angle ⁇ L2 during left-direction revolution and the revolving angle ⁇ R2 during right-direction revolution or less. Therefore, the revolving range (revolving angle) of the upper revolving structure 3 can be limited to 360° or less, thereby guarding the left and right harnesses 26, 27 connecting the left and right rotational speed sensors 24A, 24B on the lower traveling structure 2 side and the controller 25 on the upper revolving structure 3 side.
  • the hydraulic excavator 1 includes the left and right harnesses 26, 27 connecting the left and right rotational speed sensors 24A, 24B provided on the lower traveling structure 2 side and the controller 25 provided on the upper revolving structure 3 side, the object to be detected 28 provided on the lower traveling structure 2, the left and right revolving detecting sensors 29, 30 provided on the upper revolving structure 3 and detecting the object to be detected 28 when the upper revolving structure 3 revolves, and the swing control device 31 stopping revolving operation of the revolving motor 10 when the upper revolving structure 3 revolves to allow the left revolving detecting sensor 29 or the right revolving detecting sensor 30 to detect the object to be detected 28.
  • the lower traveling structure 2 is provided with the traveling-structure-side stopper 42
  • the upper revolving structure 3 is provided with the revolving-structure-side stopper 43 restricting inertial rotation of the upper revolving structure 3 by allowing the swing control device 31 to abut on the traveling-structure-side stopper 42 after the swing control device 31 stops revolving operation of the revolving motor 10.
  • the revolving-structure-side stopper 43 abuts on the traveling-structure-side stopper 42 to allow the upper revolving structure 3 to reliably stop within the swing limit range even if the upper revolving structure 3 continuously revolves by inertial rotation after the swing control device 31 stops revolving operation of the revolving motor 10.
  • torsion, cable disconnection or the like on the left and right harnesses 26, 27 connecting the left and right rotational speed sensors 24A, 24B on the lower traveling structure 2 side and the controller 25 on the upper revolving structure 3 side can be suppressed to guard the left and right harnesses 26, 27.
  • the hydraulic excavator 1 includes the control lever device 21 instructing revolution either in the right or left direction of the upper revolving structure 3, and the swing control device 31 receives a pilot signal from the control lever device 21 to control the revolving direction of the upper revolving structure 3 in the right and left directions.
  • the swing control device 31 can stop revolving operation of the revolving device 8 by shutting off a pilot signal from the control lever device 21 when the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28.
  • the hydraulic excavator 1 is provided with the stop mode release switches 40, 41 releasing the control stopping revolving operation of the revolving motor 10 by the swing control device 31 regardless of whether the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28 or not. Therefore, the upper revolving structure 3 can continuously be revolved within a range of the revolving-structure-side stopper 43 to abut on the traveling-structure-side stopper 42 by operating the stop mode release switch 40 or 41 even if the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28.
  • the swing control device 31 is configured by the directional control valve 32 controlling the revolving direction of the upper revolving structure 3 in the right and left directions by allowing the control lever device 21 to supply a pilot signal to the left and right hydraulic pilot parts 32A, 32B, a left revolving pilot valve 35 supplying pilot pressure to the left revolving hydraulic pilot part 32A of the directional control valve 32, and a right revolving pilot valve 37 supplying pilot pressure to the right revolving hydraulic pilot part 32B of the directional control valve 32.
  • the pilot valves 35, 37 are configured to each include solenoid operated pilot parts 35A, 37A and to shut off a pilot signal supplied to the left and right hydraulic pilot parts 32A, 32B of the directional control valve 32 when power is supplied from the power source 39 to the solenoid operated pilot parts 35A, 37A.
  • the left revolving detecting sensor 29 and the stop mode release switch 40 are provided in series between the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39.
  • the right revolving detecting sensor 30 and the stop mode release switch 41 are provided in series between the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39.
  • Each of the detecting sensors 29, 30 supplies power from the power source 39 to the solenoid operated pilot parts 35A, 37A of each of the pilot valves 35, 37 upon detecting the object to be detected 28.
  • connection between the power source 39 and the solenoid operated pilot part 35A is shut off by allowing an operator to operate the stop mode release switch 40 even if the left revolving detecting sensor 29 detects the object to be detected 28 when the upper revolving structure 3 revolves in the left direction.
  • connection between the power source 39 and the solenoid operated pilot part 37A is shut off by allowing an operator to operate the stop mode release switch 41 even if the right revolving detecting sensor 30 detects the object to be detected 28 when the upper revolving structure 3 revolves in the right direction.
  • pilot pressure is supplied to the hydraulic pilot part 32A or 32B of the directional control valve 32 through the left revolving pilot valve 35 or the right revolving pilot valve 37 even if the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28.
  • the upper revolving structure 3 can continuously be revolved.
  • Detecting sensors provided on the upper revolving structure 3 are configured by the left revolving detecting sensor 29 detecting the object to be detected 28 when the upper revolving structure 3 revolves in the left direction and the right revolving detecting sensor 30 detecting the object to be detected 28 when the upper revolving structure 3 revolves in the right direction.
  • the right revolving detecting sensor 30 is disposed at a position at which the object to be detected 28 is not detected when the upper revolving structure 3 revolves in the left direction to allow the revolving-structure-side stopper 43 to abut on the traveling-structure-side stopper 42.
  • the left revolving detecting sensor 29 is disposed at a position at which the object to be detected 28 is not detected when the upper revolving structure 3 revolves in the right direction to allow the revolving-structure-side stopper 43 to abut on the traveling-structure-side stopper 42.
  • pilot pressure is supplied to the hydraulic pilot part 32B of the directional control valve 32 through the right revolving pilot valve 37 even if the left revolving detecting sensor 29 detects the object to be detected 28 to allow the swing control device 31 to stop left revolving operation of the revolving motor 10.
  • the upper revolving structure 3 can revolve in the right direction.
  • pilot pressure is supplied to the hydraulic pilot part 32A of the directional control valve 32 through the left revolving pilot valve 35 even if the right revolving detecting sensor 30 detects the object to be detected 28 to allow the swing control device 31 to stop right revolving operation of the revolving motor 10.
  • the upper revolving structure 3 can revolve in the left direction.
  • the object to be detected 28 is composed of an arc-shaped plate around the revolving center P of the upper revolving structure 3.
  • the object to be detected 28 is installed upright from the lower traveling structure 2 toward the upper revolving structure 3 in the state where the object to be detected 28 is faced with the outer peripheral surface of the swing circle 9.
  • adhesion of earth and sand or the like to the detecting surface 28D detected by the left revolving detecting sensor 29 or the right revolving detecting sensor 30 in the object to be detected 28 can be suppressed.
  • the left revolving detecting sensor 29 and the right revolving detecting sensor 30 can reliably detect the detecting surface 28D of the object to be detected 28 over extended periods of time.
  • FIG. 13 illustrates a second embodiment of the present invention.
  • the left revolving detecting sensor 29 and a relay 44 which will be described later are provided in series between the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39.
  • the right revolving detecting sensor 30 and a relay 45 which will be described later are provided in series between the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39.
  • a left revolving relay 44 is provided between the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39 to constitute a normally closed contact.
  • the relay 44 is opened or closed by a control signal supplied from the controller 25.
  • a right revolving relay 45 is provided between the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39 to constitute a normally closed contact.
  • the relay 45 is opened or closed by a control signal supplied from the controller 25.
  • a stop mode release switch 46 is provided on the working operating lever 21A of the control lever device 21.
  • the stop mode release switch 46 is connected to the controller 25.
  • the stop mode release switch 46 is operated by an operator to output a signal to the controller 25.
  • the controller 25 receives an input signal from the stop mode release switch 46 to supply a control signal for opening a normally closed contact to each of the relays 44, 45.
  • the left revolving detecting sensor 29 and the relay 44 are provided in series between the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39.
  • the right revolving detecting sensor 30 and the relay 45 are provided in series between the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39.
  • the relays 44, 45 are opened or closed in accordance with a control signal supplied from the controller 25 in accordance with the operation of the stop mode release switch 46.
  • the solenoid operated pilot part 35A of the left revolving pilot valve 35 and the power source 39 are electrically shut off by allowing an operator to operate the stop mode release switch 46 even if the left revolving detecting sensor 29 detects the object to be detected 28 when the upper revolving structure 3 revolves in the left direction. Also, the solenoid operated pilot part 37A of the right revolving pilot valve 37 and the power source 39 are electrically shut off.
  • pilot pressure is supplied to either of the hydraulic pilot parts 32A, 32B of the directional control valve 32 through either of the left revolving pilot valve 35 or the right revolving pilot valve 37 even if the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28.
  • the upper revolving structure 3 can continuously revolve by allowing an operator to operate the stop mode release switch 46.
  • the stop mode release switch 46 is provided on the working operating lever 21A of the control lever device 21 operated to allow the upper revolving structure 3 to revolve.
  • an operator can simultaneously operate the working operating lever 21A and the stop mode release switch 46 even if the left revolving detecting sensor 29 or the right revolving detecting sensor 30 detects the object to be detected 28 when the upper revolving structure 3 revolves.
  • the upper revolving structure 3 is allowed to continuously and smoothly revolve.
  • a solenoid valve switchable from a communication position (a) to a blockade position (b) is used as the left revolving pilot valve 35 by supplying power from the power source 39 to the solenoid operated pilot part 35A.
  • a solenoid valve switchable from the communication position (a) to the blockade position (b) is used as the right revolving pilot valve 37 by supplying power from the power source 39 to the solenoid operated pilot part 37A.
  • a solenoid proportional control valve controlling the valve opening degree in accordance with a command signal from the controller 25 may be used as the left revolving pilot valve 47 and the right revolving pilot valve 48.
  • the command signal from the controller 25 is supplied to the solenoid operated pilot part 47A of the left revolving pilot valve 47 when the upper revolving structure 3 revolves in the left direction to operate the stop mode release switch 46 and allow the upper revolving structure 3 to revolve within the swing limit range from the revolving angles ⁇ L1 to ⁇ L2.
  • the valve opening degree of the left revolving pilot valve 47 can be made smaller in accordance with a command signal from the controller 25.
  • the swing speed of the upper revolving structure 3 can be suppressed regardless of the operating amount relative to the working operating lever 21A of the control lever device 21. Therefore, the upper revolving structure 3 can gently revolve in the left direction within the swing limit range from the revolving angles ⁇ L1 to ⁇ L2.
  • the command signal from the controller 25 is supplied to the solenoid operated pilot part 48A of the right revolving pilot valve 48 when the upper revolving structure 3 revolves in the right direction to operate the stop mode release switch 46 and allow the upper revolving structure 3 to revolve within the swing limit range from the revolving angles ⁇ R1 to ⁇ R2.
  • the valve opening degree of the right revolving pilot valve 48 can be made smaller in accordance with a command signal from the controller 25.
  • the swing speed of the upper revolving structure 3 can be suppressed regardless of the operating amount relative to the working operating lever 21A of the control lever device 21. Therefore, the upper revolving structure 3 can gently revolve in the right direction within the swing limit range from the revolving angles ⁇ R1 to ⁇ R2.
  • left and right rotational speed sensors 24A, 24B detecting the rotational speed of the right and left drive wheels 12 was exemplified as electrical equipment provided on the lower traveling structure 2 side.
  • lighting may be provided on a front side of the lower traveling structure 2, and the lighting and the controller 25 on the upper revolving structure 3 side may be connected by a harness.
  • right and left electric motors may be provided as motors rotatively driving right and left drive wheels, and the electric motors and the controller 25 on the upper revolving structure 3 side may be connected by a harness.
  • a crawler-type hydraulic excavator 1 including a crawler 14 was exemplified.
  • the present invention is not limited to that, and can also widely be applied to other construction machines having a lower traveling structure and an upper revolving structure such as a wheel-type hydraulic excavator and a hydraulic crane.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)
EP18874218.3A 2017-10-31 2018-10-26 Baumaschinen Withdrawn EP3666627A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017210552A JP6851954B2 (ja) 2017-10-31 2017-10-31 建設機械
PCT/JP2018/039885 WO2019087962A1 (ja) 2017-10-31 2018-10-26 建設機械

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EP3666627A1 true EP3666627A1 (de) 2020-06-17
EP3666627A4 EP3666627A4 (de) 2021-06-30

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WO (1) WO2019087962A1 (de)

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CN112922071B (zh) * 2021-01-28 2022-09-09 三一重机有限公司 一种回转机构限位系统及作业机械

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Publication number Priority date Publication date Assignee Title
JPS4943792Y1 (de) * 1971-09-22 1974-11-30
JPH06102519B2 (ja) * 1985-02-05 1994-12-14 株式会社タダノ 作業車における旋回停止制御装置
JPS61141085U (de) * 1985-02-19 1986-09-01
JPS61154506U (de) * 1985-03-15 1986-09-25
JPH02152896A (ja) 1988-12-06 1990-06-12 Hitachi Constr Mach Co Ltd 旋回制限装置
JP2007055810A (ja) * 2005-08-26 2007-03-08 Kobelco Contstruction Machinery Ltd 軌道作業車両

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JP2019082061A (ja) 2019-05-30
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JP6851954B2 (ja) 2021-03-31

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