JP2002250055A - Construction equipment vehicle and its display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a construction equipment vehicle that has a function of allowing an operator to visually recognize a situation, and safely operate the vehicle without requiring a skill, suppress load swing, and safely handle the load and to provide its display device. SOLUTION: In this construction equipment vehicle capable of performing hoisting work, an important place of a hoisting working machine is provided with a detecting means of working machine attitude and a load detecting means, and a driver's cabin 3a has the display device (monitor 21) that has a function of visually displaying a rated load and a working range and can move and display a hoisting point. Detection signals from the detecting means of working machine attitude and the load detecting means are transmitted to a control device 30 for controlling a driving device of the hoisting working machine to make the control device control the hoisting working machine, and the hoisting point is displayed on the display device (monitor 21).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a mobile construction machine having an arm and capable of suspending a load at a tip thereof to perform a work. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine vehicle and a display device for reducing load swings and improving safety when approaching a movement stop limit in a range.

[0002]

2. Description of the Related Art In recent years, in the case of excavating or excavating soil, such as a hydraulic excavator, a lifting device is attached to the tip of an arm supporting the excavator. In addition to the work, models capable of performing load lifting work (lifting work) have been put to practical use. This type of working machine is a lifting device in which a loading hook is hung by a wire rope of a predetermined length at a distal end of the arm in a working machine including a boom that flexibly supports an arm to which the shovel is attached. The lifting load is moved by bending and raising and lowering the boom and the arm. For this reason, it is necessary to secure safety different from that of the excavation work at the time of the load work as a hydraulic excavator that also serves as the bent load work.

[0003] In short, during excavation work, the amount of sediment picked up by the bucket provided as a working machine is limited by the capacity of the bucket. Is performed, a load limit is basically set for the lifting amount. However, depending on the state of the load, there is a possibility that a load exceeding the limit load may be handled. In such a situation, it is not a work machine that presupposes a load lifting work like a normal crane, and since it has a moving function, it may move by hanging a load, and is not a dedicated machine. Therefore, more security is required.

[0004] A safety device for hanging a load in a hydraulic excavator capable of such a load lifting operation is disclosed in the prior art. For example, JP-A-11-28
According to Japanese Patent No. 6970, when the absolute angle between the boom and the arm reaches a predetermined value or more during the load lifting operation, the boom,
It is described that a hydraulic control circuit that operates to stop the operation of the arm is provided. Also, JP-A-11-2
No. 93715 describes that when the actual load of the suspended load reaches the allowable suspension load, the operation of the boom and the arm is stopped.

On the other hand, a mobile crane such as a rough terrain crane is provided with a display device as a safety device, which displays a screen as a means for ensuring the safety of an operator by recognizing the operation state of the crane during a lifting operation. That is being done. Such prior art is disclosed, for example, in Japanese Patent No. 2644352 or Japanese Patent Application Laid-Open No. 61-4 / 1986.
No. 9035 is known.

According to the publication of Japanese Patent No. 2644352, the operation direction image display of the tip boom, the boom angle,
It is described that each state of the limit load, the actual suspended load, and the work range is displayed by numerical values. Also, Japanese Patent Application Laid-Open No. 61-49035 describes the same technical configuration as the former.

[0007]

In carrying out a load lifting operation, it is necessary for the operator to visually recognize the operating state of the suspended load and to perform the operation safely, as in the prior art for the mobile crane described above. In a display device that displays numerical values, it is true that the status of each part is numerically displayed, so it is effective to numerically check the status at each time, but it is effective to check the status of the suspended load during actual work. Since the operation is performed by raising and lowering or turning while visually checking, a considerable amount of training is required to confirm the numerical value shown on the display device unless the lifting operation is interrupted. Therefore, there is a problem that the operator needs much experience, in other words, skill, to move the suspended load while grasping the operation status numerically by the display device.

In particular, as in the case of the above-mentioned hydraulic excavator that also serves as a load suspending operation, the operation of the crane is restricted due to the limitation of the suspended load and the operation qualification of the operator is different from the person operating the crane dedicated machine. Even if a display device for ensuring safety is provided in the driver's cab, there is a problem that it is difficult to improve safety because of the above-mentioned skill required. For this reason, at present, a method in which the operation is forcibly stopped by the control means as described above is employed.

Also, when the work machine is moved and stopped during the load lifting operation, the swing of the suspended load interferes with the unloading operation, and the worker at the position for receiving the load feels danger. become. For this reason, depending on the work, auxiliary operations such as holding down the load rope and guiding the suspended load to the required position by connecting the standby rope to the suspended load may be required, and cooperation between the operator and the load handling operator may be required. There is a problem.

[0010] The present invention has been made in view of such a situation, and when displaying a situation during a load suspending operation in a cab, an operator is required to visually grasp the situation and to be skilled. It is an object of the present invention to provide a construction machine vehicle that has a function of safely driving operation without any load, and that can handle the load safely by suppressing the load swing and a display device thereof.

[0011]

Means for Solving the Problems and Functions / Effects In order to achieve the above-mentioned object, a display device for a construction machine vehicle according to a first aspect of the present invention is a construction machine vehicle capable of suspending a load. A work implement attitude detecting means and a load detecting means are provided at important points, and a display device which has a function of visually displaying a rated load and a working range and is capable of moving and displaying a load hanging point is provided in the cab, At the same time as transmitting a detection signal from the work implement attitude detecting means and the load detecting means to the control device for controlling the driving device of the suspending work equipment to control the load suspending work machine, the load suspending point is displayed on the display device. Is displayed.

In the present invention, when the operation of operating the load lifting work machine and lifting the load to the required position is performed,
Each detection data accompanying the operation is transmitted to the control device by the work posture detection means and the load detection means attached to the key points of the lifting work machine, and is compared and calculated by the calculation unit provided in the control device. The data is displayed as a load hanging point on a display device provided in the cab. In this display device, the load point is displayed while moving according to the operation of the work machine, where the rated load and the work range associated therewith are visually displayed. Since the load hanging point is displayed on the display surface on which the allowable working range is clearly indicated, the operator can immediately visually recognize the position of the actual load point on the display surface, which facilitates recognition. The effect that it can be made is produced. Naturally, since there is no hassle of reading the numerical values, there is an advantage that the skill is not required and the workability is facilitated.

In the present invention, it is preferable that the display surface of the display device is provided with a color display function of displaying an area corresponding to the rated load and the working range by a color so that the degree of safety can be classified (second). invention). In this case, the degree of danger of the work can be immediately determined in the situation where the load point is located, so that a safer operation can be performed and safety can be ensured.

Further, it is preferable that an alarm device is provided in an appropriate place in the operator's cab or the working machine so that an alarm is issued when the vehicle approaches the rated load limit (third invention). In this case, a warning is issued by an alarm until the operator senses a danger, and the operation can be performed on the safe side, so that safety can be ensured. In addition, as means of this warning, in addition to the sounding of a buzzer or the like, a visual warning such as a blinking load point is blinking on the screen of the display device, and the operator is alerted by hearing and vision. Thus, safe driving can be performed more reliably.

Next, a construction machine vehicle according to a fourth invention is:
In a construction machine vehicle capable of performing a load suspending operation, a work machine attitude detecting unit and a load detecting unit are provided at important points of the load suspending machine, and a control device for controlling a driving device of the load suspending machine detects the work machine attitude. Means to transmit the detection signal from the load detection means to control the load lifting work machine,
The pilot control valve in the hydraulic circuit constituting the drive device is controlled so that the operating speed of the work machine is reduced and stopped as the suspended load of the work machine approaches the rated load limit.

According to the present invention, in the operation of the working machine, the load position is controlled by the signals detected by the working machine attitude detecting means and the load detecting means provided at the key points of the lifting machine. As the speed approaches, the operating speed of the drive unit is reduced, and the moving speed of the work equipment is reduced, thereby suppressing excessive movement and reducing the load swing of the suspended load, allowing operations such as unloading to be performed smoothly. This has the effect. In addition, if the user tries to operate beyond the rated load regulation region, the operation is stopped. By doing so, it is possible to prevent overload and ensure safety.

[0017]

Next, specific embodiments of a construction machine vehicle and a display device thereof according to the present invention will be described with reference to the drawings.

FIG. 1 is an external side view of an embodiment of a hydraulic excavator having a load suspending function. FIG. 2 is a diagram illustrating a control device of a hydraulic shovel having a load suspending function and a display device of a suspended load according to the embodiment, and FIG. 3 is a diagram illustrating an embodiment of a monitor screen of the display device. I have.

A hydraulic excavator 1 according to the present embodiment shown in the drawing has an upper revolving structure 3 supported on a crawler traveling type lower traveling structure 2 via a revolving mechanism, and has a base end pivotally supported at a front portion thereof. The arm 5 is provided with a tip and a base of the boom 4 protruding forward and supported by a shaft. A bucket 6 is provided at the tip of the arm 5, and a boom cylinder 7 and an arm cylinder 8 provided on the boom 4 are provided. While swinging up and down, the bucket 6 can be operated by a bucket operating cylinder 9 attached to the arm 5. Further, a lifting hook 10 is provided at the tip end of the arm 5 (or at a position behind the supporting portion of the bucket 6) as a lifting device 10 via a hanging cable 12 so as not to hinder the excavation work by the bucket 6. It is configured to be able to carry out load lifting work.

In such a hydraulic excavator 1, a lifting device 10 is provided so that, in addition to a normal excavation operation, for example, a cargo handling operation such as hanging a pipe to be laid can be used in a pipe laying operation. ing. In order to carry out such lifting work, unlike ordinary crane trucks, boom 4
The operation corresponding to a so-called crooked jib crane in which the load is suspended by moving the arm 5 up and down and bending, and the moving operation is performed. Therefore, in the present embodiment, the operator's cab 3a is designed so that the operator can easily check the state of the suspended load during the load lifting operation and perform a safe operation.
A monitor panel 20 is provided as a display device capable of visually grasping the situation, and a control device 30 for controlling a driving device at the time of a load lifting operation is provided with a work implement posture detecting means for detecting an operating posture of the boom 4 and the arm 5 and a load detection. Means are provided to control the operating state of the lifting device 10 by transmitting detection signals from these detecting means, and at the same time, to display the loading point on the monitor 21 of the display device.

In addition to the monitor 21, the monitor panel 20 is provided with a work mode changeover switch 22 for normal excavation work and load-lifting work. When the switching is performed, the controller 31 of the control device 30 operates the detection signal related to the lifting operation, the associated operation signal, and the display operation of the lifting point.

The display device for grasping the state of the suspended load is provided on the screen of the monitor 21 like the monitor screen of the display device (monitor panel 20) shown in FIG. The load curve A representing the rated load during the load operation (represented by the rated load t on the ordinate and the working radius m on the abscissa) and the operation area of the suspended load within the rated load. The color range is changed to a required width in the order of the safety area (prescribed speed area) a → caution area (deceleration area) b → dangerous area (automatic stop area) c along the rated load curve, and the color gradually changes from light to dark. , And the position of the suspended load by the suspension device 10 is point-displayed on the screen so that the work situation can be grasped. In addition, as the color tone indicating the area, for example, green in the safety area, yellow in the caution area,
In the danger area, it is preferable to adopt a color that is easy for the operator to visually recognize, such as a color arrangement in which each color is changed from a light color approaching the load curve to a dark color as the red color. In addition, the load hanging point B is displayed in a color that can be clearly distinguished from the color representing the area, for example, black and in a visually recognizable size.

The work implement attitude detecting means and the load detecting means for detecting the state of the suspended load by the lifting device 10 are:
As shown in FIG. 2, first, potentiometers 33 and 34 are attached to the base pivot position 4a of the boom 4 and the arm 5 base support shaft position 5a of the boom 4 at the tip thereof, respectively, as work implement posture detecting means. Bucket operating cylinder 9
Sensor 3 for the hydraulic cylinder at the refueling position
5 is provided so that data detected by the potentiometers 33 and 34 and the stroke sensor 35 can be transmitted as a position signal to a controller 31 in a control device 30 for controlling a driving device of a work machine. The upper revolving unit 3 is provided with an angle sensor 36, which detects a turning angle up to a position where the boom 4 turns on the basis of a state in which the boom 4 is oriented forward on the traveling axis of the lower traveling unit 2,
The signal can be transmitted to the controller 31 as a position signal.

The load detecting means is provided with a pressure sensor 37 at a hydraulic pressure supply section for the boom cylinder 7 for operating the arm 5 and the boom 4 constituting the bending jib, and acts on the hook 11 of the lifting device 10 by the pressure sensor 37. The boom cylinder 7 changes the load due to the suspension work radius Rm.
, And the load pressure signal can be transmitted to the controller 31.

The controller 31 of the control device 30 compares the position signal and the load pressure signal with data stored in advance and calculates the actual load weight.
This is displayed on the monitor 21 screen of the display device (monitor panel 20) as the loading point B based on the position data.

In addition, the control device of the work implement has its load point data entered into the deceleration area b on the monitor 21 according to the data obtained by the operation of the controller 31, thereby reducing the operating speed of the work implement to the specified speed range. When moving from the (safety area) a to the deceleration area (caution area) b, the pressure reducing valves (EPC valves) 39, 3 on the pilot circuits f to i of the valves (ppc valve 38) for controlling the working machine
By issuing a deceleration signal to throttle 9, 39, 39 (corresponding to the pilot operation valve of the present invention), the operation valves 40, 41 are operated,
The operating speed of the boom cylinder 7 and the arm cylinder 8 is reduced from the operating speed in the specified speed region a.
A mechanism for controlling the hydraulic pressure so as to control the operation of the work machine to automatically stop by issuing a stop signal to close the work machine 9 is also provided.

Further, an alarm means is provided in association with the control mechanism. As this warning means, a buzzer 45 is attached in or near the cab 3a, and when the load hanging point B on the display device moves from the specified speed area a to the deceleration area b, the deceleration signal is transmitted. At the same time, for example, an intermittent buzzer sound is emitted, and a continuous buzzer sound is emitted when moving to a dangerous area, so as to warn an operator and an associated worker.

When the loader B moves from the automatic stop line (rated load line A) to the deceleration area b and further to the specified speed area a by moving the work machine (by bending and extending the boom 4 and the arm 5), the controller Pressure reducing valve 3 controlled by 31
It is preferable to increase the opening of 9 and to increase the moving speed by the operation of the controller valve (ppc valve 28).

The operation of the hydraulic shovel of the present embodiment configured as described above when carrying out a load lifting operation will be described with reference to a flowchart shown in FIG. S1: First, when the operator performs the load lifting operation, the operator operates the operation mode changeover switch 22 on the monitor panel 20 to select the load lifting operation or the excavation operation. When performing the load suspending operation (yes), the process proceeds to the next step S2. S2: The monitor 21 display screen of the monitor panel 20 operates in a display state. S3: When the normal excavation work is selected by the mode changeover switch 22 (no), the display on the monitor maintains the initial state. That is, no screen display is performed.

S4: A target load is hung on the hook 11 of the lifting device 10 attached to the tip of the arm 5 of the working machine, and the operator operates the lever of the controller valve (ppc valve 28) to operate the boom cylinder 7 and the boom cylinder 7 of the working machine. Arm cylinder 8
Is operated to lift the load, it is determined whether the load is within the range of the rated load. Whether the load is within the range of the rated load of the suspended load is determined by a function of the pressure sensor 37 of the load detecting means, and a load pressure signal is transmitted to the controller 31 of the control device 30.
It is determined by a calculation operation by the calculation unit. If it is within the rated load (yes), the process proceeds to the next step S6. S5: When the suspended load exceeds the rated load, the display color on the monitor 21 becomes red and the operation of the work machine is automatically stopped.

S6: When the operation of the work machine is performed to lift and move the load (changing the work radius Rm), the position of the load suspended by the hook 11, that is, the load suspending point B becomes the position of the work machine. Each potentiometer 3 of the detection means
The position signal and the load pressure signal are sent to the controller 31 of the control device 30 in real time by the action of the stroke sensors 35, 34, the stroke sensor 35 and the pressure sensor 37 of the load detecting means, and are calculated by the calculation unit of the controller 31, and The information is sequentially displayed on the monitor 21. At this time, it is determined whether the suspension position is in the specified speed area (safety area) a. S7: If yes in the previous step S6, control at a specified speed is performed. Therefore, the load lifting operation continues the operation in the safety area a. In this state,
The load suspension point B moves in the green display zone on the monitor 21 and the position of the suspended load is displayed.

S8: If no in the previous step S6, that is, it is determined whether or not the suspended load position is in the deceleration area b. If the suspended load position is in the deceleration area b (ye
s), and proceed to step S9. The suspended load position is in the deceleration area b
Is determined to be (no) in the danger area c beyond the limit, the process proceeds to step S11. S9: When the suspended load position is in the deceleration area b, it is displayed in yellow on the screen of the monitor 21, and the pilot circuits f to i that control the hydraulic circuit to the actuator (the boom cylinder 7, the arm cylinder 8) by the ppc valve are depressurized. A pressure reduction signal is provided from the controller 31 to each pressure reduction valve 39 so as to be controlled.

S10: It is determined whether the suspended load position has returned to the specified speed area a. If it is in the specified speed area (safety area) a (yes), the process proceeds to step S7.
That is, control is performed at the specified speed. If not (no), the process returns to step S9. That is, pressure reduction control is performed. S11: If it is determined in step S8 that the suspended load position is beyond the deceleration area b (no), the suspended load position is in the danger area c, the screen display of the monitor 21 is located in the zone represented by red, Controller 3 for each pressure reducing valve 39
When a stop signal is given from 1 and the pilot circuits f to i are closed, the operation of the work machine is automatically stopped regardless of the operation by the ppc valve. S12: It is determined whether the suspended load position has returned to the deceleration area b. After moving to the deceleration area after the required time has elapsed (yes
s), the process proceeds to step S9, and the screen of the monitor 21 returns to yellow, and the operation by the ppc valve is also decelerated. Further, it still remains in the dangerous area c (n
o), and the process returns to step S11.

In this manner, each actuator of the working machine is controlled by the operation of the control device 30, and accordingly, the monitor 21 of the display device provided in the cab 3a
Since the moving state of the suspended load is displayed in real time as the moving state of the suspended load, the operator views the monitor 21 screen for the situation during the operation, and the suspended point B at that time is displayed on the screen. It can be confirmed on the screen that the position of the load suspending point B moves as the load is moved (for example, the marks j to m in FIG. 3). Usually, during the load lifting operation, the operator carries out the load lifting operation while watching the load in principle, so he carries out the load transfer operation on the safe side based on his experience. However, in the case of the present embodiment, the rated load When the load lifting point B moves to the deceleration area b in accordance with the above, the control mechanism automatically reduces the moving speed to prevent a sudden overload state from occurring, and automatically moves when it reaches the further dangerous area c. Will be stopped, and safety can be ensured. Also,
The addition of the deceleration operation suppresses the load swing at the time of the unloading operation at the position, so that the workability is improved.

Also, even during the driving operation, the operator can see the monitor 21 of the display device (monitor panel 20) provided in the operator's cab 3a to find out in which area the loading point B is located. It can be confirmed visually. If the user is moving to the deceleration area b, since the user is moving from the green area to the yellow area, it is possible to quickly determine that the operation is performed while changing the suspended load position. Of course, if the user moves to the danger area c, since the area is displayed in red, it is possible to recognize that an operation to quickly return to the safety area a is necessary. In this way, the safety of the work is displayed by the color tone, so that the operator can visually check the suspended load,
By looking at the monitor screen of the display device for a very short time, the position of the suspended load can be confirmed and the cargo can be moved to the safe side for cargo handling.
Therefore, in particular, when a swing operation is performed while suspending a load, the load is lifted in a direction (lateral position) orthogonal to the traveling axis of the lower traveling unit 2 where the stability is lowest in the working posture of the excavator. However, if the operation is performed while checking the loading point on the display device, the operation can be performed safely without difficulty.

In addition, as described above, if linked with the alarm means, the danger is notified by the alarm by the buzzer 45 in addition to the control of the operation by the control mechanism. A safety confirmation is also reported to the user, and work safety can be improved.

In the above-mentioned embodiment, the point of suspension of the load B to be displayed on the monitor 21 of the monitor panel 20 is point-displayed in a required color tone. By blinking in addition to the position display, the visibility of the operator can be further enhanced, and the effect of further improving the visual effect of ensuring safety can be obtained together with the change in the color tone of the area display. .

In the above description, a hydraulic excavator having a load suspending function has been described, but according to the gist of the present invention,
It can also be used in construction equipment vehicles and crane trucks equipped with other load-carrying functions, and the status can be displayed visually, making it easy to ensure the safety of work even for operators with low proficiency. can do.

[Brief description of the drawings]

FIG. 1 is an external side view of an embodiment of a hydraulic excavator having a load suspending function.

FIG. 2 is a diagram illustrating a control device of a hydraulic shovel having a load suspending function and a display device of a suspended load according to the embodiment;

FIG. 3 is a diagram illustrating an embodiment of a monitor screen of a display device.

FIG. 4 is a flowchart of display and control during a load suspending operation.

[Explanation of symbols]

 Reference Signs List 1 hydraulic excavator 3 upper revolving unit 4 boom 5 arm 6 bucket 7 boom cylinder 8 arm cylinder 9 bucket operation cylinder 10 lifting device 20 monitor panel 21 monitor 30 control device 31 controller 33, 34 potentiometer 35 stroke sensor 36 angle sensor 37 pressure sensor 38 ppc valve 39 pressure reducing valve of pilot circuit 45 buzzer B load point a specified speed area b deceleration area c dangerous area

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) E02F 3/43 E02F 3/43 N 9/24 9/24 K F term (reference) 2D003 AA01 AB03 BA06 BA07 BB11 DA03 DB02 DB04 DB05 2D015 GA02 GB03 HA03 HB01 HB05 3F204 AA04 BA02 CA07 GA02 GA04 GA07 3F205 AA05 BA06 HA01 HA02 HA03 HA06 HB02 HC02

Claims (4)

[Claims] In a construction machine vehicle capable of carrying out a load-lifting operation, a work-machine attitude detecting means and a load detecting means are provided at important points of the load-lifting work machine, and a rated load and a work range are visually displayed in a cab. A display device capable of moving and displaying the load suspending point with the function of performing the operation, transmitting a detection signal from the work implement attitude detecting means and the load detecting means to a control device for controlling a driving device of the load suspending work machine, A display device for a construction machine vehicle, wherein the display device is configured to display a load hanging point on the display device at the same time as controlling the load lifting machine. 2. The display device according to claim 1, wherein the display surface of the display device is provided with a color display function for displaying an area corresponding to a rated load and its working range with a color so that the degree of safety can be classified. Display device for construction machinery vehicles. 3. The display device for a construction machine vehicle according to claim 1, wherein an alarm device is provided in an appropriate place of a driver's cab or a working machine, and an alarm is issued when the vehicle approaches a rated load limit. 4. In a construction machine vehicle capable of carrying out a load lifting operation, a work machine attitude detecting means and a load detecting means are provided at important points of the load lifting machine, and a control device for controlling a driving device of the load lifting machine is provided. The work machine attitude detecting means and the detection signal from the load detecting means are transmitted to control the suspended work machine, and as the suspended load of the work machine approaches the rated load limit, the operating speed of the work machine is increased. A construction machine vehicle characterized in that a pilot operation valve in a hydraulic circuit constituting the drive device is controlled so as to decelerate and stop the vehicle.