JP2009197436A - Load bearing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a load bearing machine capable of quickly avoid a turnover by accurately calculating a frame balance. <P>SOLUTION: This load bearing machine 1 comprises a ground contact part 2 brought into contact with a ground and a load bearing part 3 connected to the ground contact part 2. A plurality of mechanical quantity detection sensors 11A-11D are attached to the connection parts 4, 8 between the ground contact part 2 and the load bearing part 3. The load bearing machine further comprises a calculation device 15 for determining the risk of turnover by calculating the frame balance according to detected signals from the mechanical quantity detection sensors and a turnover avoidance instruction output signal 16 for outputting a turnover avoidance instruction in response to the instruction from the calculation device. With this configuration, the frame balance during the operation can be obtained in real time by merely comparing the detected signals from the mechanical quantity detection sensors, and the result is output to the turnover avoidance instruction output means 16. Consequently, the operator can quickly avoid the turnover of the load bearing machine. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a load-loading machine such as a power shovel, a bulldozer, and various trucks, and more particularly to a load-loading machine in which the balance of the machine body is lost during work and there is a risk of falling.

  In order to prevent the machine body from falling out of balance while working on a load-bearing machine, for example, as in the hydraulic excavator shown in Patent Document 1, the fall moment acting on the fall fulcrum is calculated to prevent a fall accident. Techniques for preventing this have already been proposed. That is, in order to prevent a fall accident during the suspension work of the power shovel, the suspension load is determined by calculating the fall moment from the boom angle, arm angle, bucket angle, and boom cylinder hydraulic pressure.

JP-A-5-202535

  In the technique disclosed in Patent Document 1, the suspension load is determined by calculating the overturning moment from the boom angle, arm angle, bucket angle, and boom cylinder hydraulic pressure. Therefore, the suspension load is determined indirectly through the interposition of many link mechanisms. In order to calculate the overturning moment, the boom angle, arm angle, and bucket angle must be detected in consideration of the suspension load (load load) to calculate the overturning moment. Calculation must be performed, and the calculation accuracy of the overturning moment is reduced.

  In addition, suspension work of power shovels is complicated, and in excavation work with excavators, the boom angle, arm angle, bucket angle, and bucket load load are constantly changing, which makes it quick to calculate the tipping moment. There is a problem that lacks.

  An object of the present invention is to provide a load-loading machine capable of calculating a fuselage balance with high accuracy and performing a quick turnover avoidance.

  In order to achieve the above object, the present invention provides a load-loading machine including a ground contact portion that contacts the ground and a load load portion connected to the ground contact portion, wherein the ground contact portion and the load load portion are connected. Provided with a plurality of mechanical quantity detection sensors in the part, an arithmetic unit that calculates the balance of the aircraft based on detection signals from these mechanical quantity detection sensors and determines the risk of falling, and avoids falling by commands from this arithmetic unit A fall avoidance command output means for outputting a command is provided.

  As described above, by providing a plurality of mechanical quantity detection sensors at the connecting part between the ground contact part and the load loading part, the balance of the machine body in operation can be obtained in real time simply by comparing the detection signals from the respective mechanical quantity detection sensors. In addition, since the result is output by the overturn avoidance command output means, the operator can immediately avoid overturn of the load machine.

  As described above, according to the present invention, it is possible to obtain a load-loading machine that can calculate the body balance with high accuracy and can avoid overturning with high responsiveness.

  Hereinafter, an embodiment of a load machine according to the present invention will be described with respect to a power shovel 1 shown in FIGS.

  The power shovel 1 is roughly composed of a ground contact portion 2 that travels while being grounded to the ground, and a load load portion 3 that is connected to the ground contact portion 2.

  The ground contact portion 2 includes a caterpillar 2A that contacts the ground, a driving wheel and a driven wheel (not shown) that drive the caterpillar 2A, and a structure that supports them.

  On the other hand, the load loading unit 3 includes a swing frame 4 constituting a connecting portion, a cab 3A, a counterweight 3B and a boom 5 fixed to the swing frame 4, and an arm pivotally supported at the tip of the boom 5. 6 and a bucket 7 pivotally supported at the tip of the arm 6, and although not shown, a hydraulic mechanism for rotating the arms 6 and the bucket 7 around the pivotal support is provided.

  The ground contact portion 2 and the load loading portion 3 constitute a connecting portion by a turning wheel 8 which is a turning means provided in a plane on the structure of the ground contacting portion 2, and the connecting portion and the turning frame 4 The connection part is connected by bolt fastening. The bolt fastening is performed at a position near the outer periphery that is concentric with the center of rotation of the turning wheel 8, so that the plurality of connecting bolts 9 are equally spaced in the turning circumferential direction of the turning wheel 8. The nut 10 is screwed into the through end and fastened.

  The above configuration is a configuration of a normal power shovel. In the present embodiment, four fastening bolts among the fastening bolts 9 connecting the turning frame 4 and the turning wheel 8 are shown in FIG. The strain detection bolt 11 constituting the mechanical quantity detection sensor is used. Of the four strain detection bolts 11, the two strain detection bolts 11 </ b> A and 11 </ b> B are arranged in a direction a that coincides with the extending direction of the boom 5 in a plane as shown in FIG. 2. The two strain detection bolts 11C and 11D are arranged so as to be symmetric with respect to the rotation center, and the swivel wheel 8 is rotated in a direction b orthogonal to the two strain detection bolts 11A and 11B in a plane. They are arranged so as to be symmetric with respect to the center.

  These strain detection bolts 11 (11A to 11D) store a strain sensor 12 in a storage hole 11H formed from the bolt head toward the bolt tip, and are filled with a filler 13 such as a resin. ing. The strain sensor 12 detects a strain generated with the expansion / contraction force Fc acting on the bolt after the nut 10 is fastened. Therefore, the strain detection bolts 11A and 11B incorporating the strain sensor 12 become the first two mechanical quantity detection sensors of the present invention, and the strain detection bolts 11C and 11D incorporating the strain sensor 12 are the second two mechanical detection sensors of the present invention. It becomes a mechanical quantity detection sensor.

  And the receiver 14 which receives the distortion detection signal from four distortion detection bolts 11A-11D, and the fuselage which calculates the distortion detection signal received by the receiver 14 and the magnitude of the possibility of the ground contact portion 2 to fall down A calculation device 15 for obtaining a balance and a fall avoidance command output means 16 for outputting a fall avoidance command when the calculation device 15 determines that the risk of falling is large are mounted on the cab 3A. The overturn avoidance command output means 16 displays the airframe balance display device 17 for displaying the airframe balance state based on the calculation result in the arithmetic device 15, and when the arithmetic device 15 determines that the risk of the overturn is great. A warning generating device 18 for notifying the operator and an operation for stopping the power of the excavator 1 or performing a reverse operation when the operator continues the work while ignoring the warning from the warning generating device 18 are performed in the drive unit. The controller 19 that outputs the signal and the memory unit 20 that stores the operation of the power shovel 1 for a predetermined time before the controller 19 outputs a signal to the drive unit.

  Next, as described above, when the power shovel 1 in which the strain detection bolt 11 (11A to 11D) is installed at the connecting portion between the turning frame 4 and the turning wheel 8 with respect to the extending direction of the boom 5 is operated. The following describes the detection of the aircraft balance and the actions that can be taken thereafter.

  FIG. 4 shows a case where the balance of the power shovel 1 is balanced. At that time, the strain detection bolts 11A to 11D have substantially the same downward loads F1, F2, F3, as shown in FIG. F4 is loaded. Therefore, the same strain detection signal is output from the strain sensor 12 in each of the strain detection bolts 11A to 11D. Therefore, each distortion detection signal is input to the arithmetic device 15 via the receiving device 14 and is calculated. However, the calculation result does not have a difference that causes the balance of the airframe to be lost in each distortion detection signal. Displayed on the balance display device 17.

  On the other hand, as shown in FIG. 5 (A), for example, when a downward load W is applied to the bucket 7 during the operation, the load 5 is applied with a force to incline toward the boom 5 side. A large downward load F1 'acting on the compression side is applied to the strain detection bolt 11A on the side, and an upward load F2' acting on the tension side is applied to the strain detection bolt 11B that forms a pair with the strain detection bolt 11A. The When the left and right balance is balanced between the strain detection bolts 11C and 11D that form a pair orthogonal to the strain detection bolt 11B that forms a pair with the detection bolt 11A, loads F3 ′ and F4 on the same compression side are balanced. 'Is loaded. Since the strain sensor 12 changes linearly with respect to the applied load, by comparing the strain detection signals from the strain sensor 12 of the pair of strain detection bolts 11A and 11B, in the direction in which the boom 5 extends. The aircraft balance before and after the vehicle can be calculated, and by comparing and calculating the strain detection signals from the strain sensors 12 of the strain detection bolts 11C and 11D that are paired in a direction orthogonal to the plane, the left and right aircraft balance Can be calculated.

  Then, when the arithmetic device 15 determines that the front and rear aircraft balance is not the vehicle balance that causes the vehicle to fall, the operation status is not output to the warning generator 18 or the control device 19, and the current status is simply displayed on the aircraft balance display device 17. Continue to display the aircraft balance.

  When the aircraft balance calculated by the computing device 15 approaches the aircraft balance with the risk of falling, the current aircraft balance is displayed on the aircraft balance display device 17 and the work is stopped on the warning generator 18. Display (image display or guidance broadcast display) to call attention. If the operator continues the work, the work continuation stop command is output to the control device 19 to stop the operation of the power source and forcibly stop the work. Instead of forcibly canceling the work, the memory unit 20 stores the operation immediately before the risk of overturning and the body balance, and if there is a risk of overturning, the control device 19 moves the work to the previous operation. A command to return can be issued to avoid the risk of falling.

  As described above, according to the present embodiment, two sets of strain detection bolts 11A, 11B and 11C, 11D are provided at the connection portion between the ground contact portion 2 of the excavator 1 and the load load portion 3, and the strains built in these are provided. By detecting and comparing the distortion change of the sensor 12, the balance of the aircraft can be known in real time. Therefore, even if the angle of the boom 5, the angle of the arm 6, the angle of the bucket 7 and the load load of the bucket 7 constantly change during excavation work of the excavator 1, even if the operation is complicated, the balance of the body during the work Can know immediately.

  By the way, as the strain sensor 12, for example, a strain gauge made of a metal wire resistance or a semiconductor strain sensor using a piezoresistance effect of a silicon single crystal can be used. However, it is desirable to use the semiconductor strain sensor 12S shown in FIG. 7 having excellent detection sensitivity in order to instantly notify the airframe balance and prevent a fall accident or the like. In the semiconductor strain sensor 12S, four diffusion resistors 12a to 12d are formed on the surface of the silicon substrate, and a bridge circuit is formed by these. The four diffused resistors 12a to 12d are P-type diffused resistors, and the four diffused resistors are arranged so that the lengthwise direction thereof is parallel to the <110> direction of the silicon single crystal, two by two so as to be orthogonal to each other. Is configured. In FIG. 7, the arrow Lb is the longitudinal direction of the strain detection bolts 11A, 11B and 11C, 11D, and the arrow Ms is the strain detection direction. For details of the semiconductor strain sensor 12S, refer to Japanese Patent Application No. 2005-78376 (and Phrase Association 2006-258664) previously filed by the applicant of the present application.

  By using the semiconductor strain sensor 12S having such a high detection sensitivity, the strain change applied to the strain detection bolts 11A, 11B and 11C, 11D due to the balance of the airframe can be measured with high sensitivity, and the bridge circuit configuration Measurement error due to local temperature change can be suppressed, and even if the semiconductor strain sensor 12S is installed in the vicinity of a noise source such as a motor that is a power source, high-accuracy strain measurement can be performed by suppressing the mixing of noise. It can be carried out.

  By the way, since the bridge circuit is formed by the diffusion resistors 12a to 12d of the semiconductor strain sensor 12S, the sensitivity to the strain in the out-of-plane direction of the silicon substrate becomes zero. Therefore, the longitudinal direction Lb of the strain detection bolts 11A, 11B and 11C, 11D. Therefore, it is easy to detect the distortion, and it is possible to perform highly accurate measurement with a small measurement error.

  Furthermore, as shown in FIG. 7, for example, by providing a temperature sensor 21 of a PN junction on the surface of the silicon substrate, when working in an environment where the temperature changes, the strain measurement variation due to the temperature change is detected by the temperature sensor 21. By correcting in consideration of the measured temperature, more accurate strain measurement can be performed.

  In addition, an amplifier 22 for amplifying the output of the bridge circuit may be provided on the surface of the silicon substrate of FIG. By providing the amplifier 22 in the semiconductor strain sensor 12S in which the diffusion resistors 12a to 12d are formed, the output from the diffusion resistors 12a to 12d can be amplified, so that noise resistance is improved, and the semiconductor strain sensor 12S having the amplifier 22 is provided. Can be unitized.

  As described above, in the present embodiment, the strain detection bolt 11 (in which the strain sensor 12 is built in a part of the fastening bolt 9 that connects the turning wheel 8 and the turning frame portion 4 of the excavator 1 as a mechanical quantity detection sensor. 11A-11D) were used. By configuring in this way, there is an advantage that the configuration of the power shovel 1 does not need to be remodeled in order to install the mechanical quantity detection sensor. However, instead of using the strain detection bolt 11 with the built-in strain sensor 12, another mechanical quantity detection sensor, for example, a sheet-like pressure sensor is connected at the connecting portion between the turning frame 4 and the cab 3A of the load load portion 3. It may be provided at a position corresponding to the installation position of the strain detection bolts 11A to 11D, and a change in pressure acting on the pressure sensor may be detected and compared to detect the body balance.

  Further, in the present embodiment, the strain detection bolts 11A to 11D are placed in four locations, but all the fastening bolts 9 are made into the strain detection bolts 11 so as to detect the balance of the machine body in every fine direction. It may be.

  FIG. 8 shows a modified example of the revolving frame 4 shown in FIG. 2, and the same reference numerals as those in FIG.

  In the modification shown in FIG. 8, the revolving frame 4 includes a rectangular outer frame 4S, a central frame 4R located in the center, and four connecting frames that connect the outer frame 4S and the central frame 4R and serve as strength members. It is comprised from 4A-4D. These connection frames 4A to 4D connect the outer frame 4S and the center frame 4R at positions corresponding to the installation positions of the strain detection bolts 11A to 11D.

  With such a configuration of the turning frame 4, the center frame 4R can be firmly supported on the outer frame 4S by the connection frames 4A to 4D at positions corresponding to the installation positions of the strain detection bolts 11A to 11D. As a result, it is possible to avoid the inconvenience that the center frame 4R connected to the swivel wheel 8 is easily displaced by the tilting force acting on the power shovel due to the load and the distortion cannot be measured accurately. In other words, even if a tilting force acting on the power shovel due to a load is applied to the center frame 4R, the center frame 4R is integrated with the cab 3A and the counterweight 3B of the load load section 3 via the connection frames 4A to 4D. Since the center frame 4R is not easily displaced, it can be stably supported. Therefore, the tilting force acts on the strain detection bolts 11A to 11D in a concentrated manner, so that the strain can be accurately detected.

FIG. 9 shows a modification of the installation position of the strain detection bolt 11 for connecting the turning frame 4 and the turning wheel 8 shown in FIG. 8, and the same reference numerals as those in FIG. Detailed description is omitted.
In FIG. 8, the strain detection bolts 11 </ b> A to 11 </ b> D are placed at four locations, but in FIG. 9, the strain detection bolts 11 </ b> E to 11 </ b> H are installed immediately next to the strain detection bolts 11 </ b> A to 11 </ b> D. As shown in the figure, connecting frames 4A and 4B provided in the extending direction of the boom 5 of the revolving frame 4, and connecting frames 4C provided in a direction perpendicular to the extending direction of the boom 5 in a plane. By placing a plurality of strain detection bolts 11A, 11E, 11B, 11F and 11C, 11G, 11D, 11H concentrated on the position facing 4D, the load applied to the bolts with the inclination of the fuselage can be efficiently Not only can it be transmitted well to the strain detection bolts 11A to 11H, but even if one of the pair of strain detection bolts malfunctions, the other strain detection bolt is operating normally. If this is the case, accurate aircraft balance can be detected. In addition, it is possible to detect an abnormality of the strain detection bolt, for example, when the output difference between the pair of strain detection bolts exceeds a certain specified value, the strain detection bolt is defective.

  FIG. 10 shows a second embodiment according to the present invention. In addition to the configuration according to the first embodiment, an inclination sensor 23 is provided on the turning frame 4 of the load load section 3.

  With this configuration, when a downward load is applied to the bucket 7 when excavation work is performed on an inclined land, even if the load is a load that is insufficient to cause the excavator 1 to fall on a flat ground. On slopes, there is a risk that the balance of the fuselage will collapse and fall, so this can be avoided.

  That is, as shown in FIG. 11, when measuring the strain due to the strain detection bolts 11 </ b> A to 11 </ b> D and calculating the balance of the aircraft by the arithmetic unit 15, the aircraft is taken into account the inclination direction and the inclination angle detected by the inclination sensor 23. The balance is corrected, the overturning moment is calculated, and first, as in the embodiment, the balance of the aircraft, the display of the work continuation stop (image display and guidance broadcast display), and the forced shutdown Gives a command to return the work to the previous action and avoids the risk of falling.

  In the second embodiment, the example in which the tilt sensor 23 is provided on the revolving frame 4 has been described. However, the load load unit 3 may be anywhere as long as it is integral with the revolving frame 4, and may be grounded. You may provide in the part 2 side.

  By the way, although the above explanation demonstrated the power shovel which has the turning wheel 8 and the turning frame 4 as an example of a load-loading machine, the turning wheel 8 and the turning frame 4 do not exist, but the balance of the body during work on an inclined ground. Needless to say, the present invention can also be applied to a load-loading machine such as a bulldozer or various trucks that are likely to collapse due to the occurrence of collapse. For example, in a bulldozer, various types of trucks, etc., the ground contact portion 2 that travels in contact with the ground is a wheel, the load load portion 3 is a portion supported by the wheel axle, and the ground contact portion 2 and the load load portion 3 The connecting portion becomes the bearing portion.

  Specifically, in the case of a bulldozer, load bearing portions including a driver's seat are supported via bearings on the front and rear drive wheels and idler wheel axles that drive the caterpillar 2A. By providing a mechanical quantity detection sensor such as the above, it is possible to detect an unbalance of a load acting on a bearing during leveling work on an inclined ground, calculate a balance of the body, and notify the danger of falling.

  Also, in the case of a truck, a vehicle body frame is provided on the axles of the front, rear, left and right traveling wheels via bearings, and a load seat is configured by supporting a driver's seat and a cargo bed on the vehicle body frame. A mechanical quantity detection sensor is provided between the bearing and the vehicle body frame. Therefore, unless the load is evenly loaded on the loading platform, the balance of the fuselage is lost, and further deviation occurs in the load acting on the bearing when traveling on an inclined ground, so that the balance of the fuselage is further lost. In addition, in the case of a truck in which the loading platform is inclined, a deviation occurs in the load acting on the bearing due to the inclination of the loading platform, so that the balance of the airframe is lost. Therefore, the body balance can be calculated by the mechanical quantity detection sensor provided at the connection portion between the bearing and the vehicle body frame to notify the danger of falling.

The side view which shows the power shovel which is 1st Example of the load loading machine by this invention. The cross-sectional enlarged plan view which follows the AA line of FIG. The partially broken figure which shows the fastening state in the distortion | strain detection volt | bolt used for this invention. (A) is a side view which shows the power shovel with which the body balance is taken, (B) is a perspective view which shows the load which acts on a distortion | strain detection bolt. (A) is a side view which shows the power shovel in which the body balance is not taken, (B) is a perspective view which shows the load which acts on a distortion | strain detection bolt. The flowchart which shows the process of the detection signal from a distortion sensor. The schematic diagram which shows a semiconductor strain sensor as a strain sensor. The top view which shows the modification of the turning frame of FIG. The top view which shows the modification of the installation position of the distortion | strain detection volt | bolt of the turning frame of FIG. The side view which shows the power shovel which is 2nd Example of the load loading machine by this invention. The flowchart which shows the process of the detection signal from the distortion sensor by 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Power shovel, 2 ... Ground contact part, 3 ... Load application part, 4 ... Turning frame, 5 ... Boom, 6 ... Arm, 7 ... Bucket, 8 ... Turning wheel, 9 ... Fastening bolt, 10 ... Nut, 11, DESCRIPTION OF SYMBOLS 11A-11H ... Strain detection bolt, 12 ... Strain sensor, 13 ... Filler, 14 ... Receiving device, 15 ... Arithmetic device, 16 ... Overturn avoidance command output means, 17 ... Airframe balance display device, 18 ... Warning generating device, 19 DESCRIPTION OF SYMBOLS ... Control apparatus, 20 ... Memory part, 21 ... Temperature sensor, 22 ... Amplifier, 23 ... Inclination sensor.

Claims (17)

  In a load loading machine including a ground contact portion that contacts the ground and a load load portion connected to the ground contact portion, a plurality of mechanical quantity detection sensors are provided at a connection portion between the ground contact portion and the load load portion. An arithmetic unit that calculates the balance of the airframe based on the detection signals from the mechanical quantity detection sensors and determines the risk of falling, and a fall avoidance command output means that outputs a fall avoidance command according to a command from the arithmetic unit A load-bearing machine characterized by that.   In a load-bearing machine including a ground contact portion made of a traveling wheel and a load applying portion made of a cargo bed connected to an axle of the wheel via a plurality of bearings, a plurality of connecting portions between the plurality of bearings and the cargo bed are arranged at a plurality of portions. In addition to providing a mechanical quantity detection sensor, an arithmetic device that calculates the balance of the body based on detection signals from these mechanical quantity detection sensors and determines the risk of falling, and outputs a fall avoidance command according to a command from the arithmetic device A load-loading machine, characterized in that a fall avoidance command output means is provided.   A load-bearing machine comprising a ground contact portion composed of a traveling wheel, a vehicle body frame connected to an axle of the wheel via a plurality of bearings, and a load applying portion formed of a cargo bed that is tiltably connected to the vehicle body frame. In addition, a plurality of mechanical quantity detection sensors are provided at connecting portions between the plurality of bearings and the loading platform, and the balance of the airframe is calculated based on the detection signal from the mechanical quantity detection sensor when the loading platform is tilted to reduce the risk of falling. A load-loading machine, comprising: a computing device for judging; and a tipping avoidance command output means for outputting a tipping avoidance command according to a command from the computing device.   In a load-loading machine comprising a ground contact portion that contacts the ground, a turning means provided in a plane on the ground contact portion, and a load load portion connected to the turning means, the turning means and the load load portion A plurality of mechanical quantity detection sensors in the turning direction of the connecting portion, and an arithmetic device for calculating the balance of the body based on detection signals from the mechanical quantity detection sensors to determine the risk of falling, and from the arithmetic device A load-loading machine provided with a fall avoidance command output means for outputting a fall avoidance command according to the command.   A ground contact portion that contacts the ground, a turning means provided in a plane on the ground contact portion, a turning frame connected to the turning means, a boom supported by the turning frame, and a boom connected to the boom In a load-bearing machine comprising an arm and a load-loading unit composed of a bucket connected to the arm, a plurality of mechanical quantity detection sensors are provided in the turning direction at the connecting part between the turning means and the turning frame, and these mechanical quantities are provided. An arithmetic device that calculates the balance of the aircraft based on the detection signal from the detection sensor to determine the risk of falling, and a fall avoidance command output means that outputs a fall avoidance command according to a command from the arithmetic device are provided. And load-loading machine.   A ground contact portion that contacts the ground, a turning means provided in a plane on the ground contact portion, a turning frame connected to the turning means, a boom supported by the turning frame, and a boom connected to the boom In a load-loading machine including an arm and a load-loading unit including a bucket connected to the arm, a plurality of mechanical quantity detection sensors are provided in a turning direction at a connecting part between the turning unit and the turning frame. The mechanical quantity detection sensor includes a first two mechanical quantity detection sensors that are positioned at an equal distance across the turning center of the turning means along the extending direction of the boom in a plane, and the extending direction of the boom. A second two mechanical quantity detection sensors which are perpendicular to a line connecting the first two mechanical quantity detection sensors along the plane and located at an equal distance across the turning center of the turning means, and Power An arithmetic device that calculates the balance of the airframe based on the detection signal from the amount detection sensor to determine the risk of falling, and a tipping avoidance command output means that outputs a tipping avoidance command according to a command from the arithmetic device are provided. Feature load-bearing machine.   7. The load machine according to claim 1, wherein the connecting portion where the mechanical quantity detection sensor is installed is reinforced by a strength member.   The mechanical quantity detection sensor is a strain sensor, and the strain sensor is embedded in a connecting bolt provided in the connecting portion to detect strain acting on the connecting bolt. 2. Load-loading machine according to 2, 3, 4, 5 or 6.   9. The load-loading machine according to claim 8, wherein the strain sensor is a semiconductor strain sensor in which a bridge circuit is configured by four diffusion resistors formed on the surface of a silicon substrate.   The load machine according to claim 1, 2, 3, 4, 5 or 6, wherein the mechanical quantity detection sensor is a sheet-like pressure sensor, and the pressure sensor is interposed in the connecting portion.   7. The load machine according to claim 1, wherein the overturn avoidance command output means is a body balance display device that displays a body balance.   The load-loading machine according to claim 1, 2, 3, 4, 5, or 6, wherein the overturn avoidance command output means is a warning generation device that issues a overturn warning.   The load-loading machine according to claim 1, 2, 3, 4, 5 or 6, wherein the overturn avoidance command output means is a control device that interrupts the work leading to the overturn.   The load load according to claim 1, 2, 3, 4, 5 or 6, wherein the overturn avoidance command output means is a control device that outputs a command for reversing the previous operation stored in the memory unit. machine.   The load machine according to claim 4, 5 or 6, wherein the mechanical quantity detection sensors are provided at equal intervals in the turning direction.   A plurality of mechanical quantity detection sensors are provided in the turning direction at the connecting portion between the turning means and the turning frame, and the plurality of mechanical quantity detection sensors are connected to the connecting frame provided in the extending direction of the boom of the turning frame, and The load machine according to claim 5 or 6, wherein the load-loading machine is provided in a concentrated manner at a position facing a connecting frame provided in a direction perpendicular to the extending direction of the boom.   In a load loading machine comprising a ground contact portion that contacts the ground and a load load portion connected to the ground contact portion, a plurality of mechanical quantity detection sensors are provided at a connection portion between the ground contact portion and the load load portion, In addition, an inclination sensor is provided in the ground contact portion or the load load portion, and a fall moment is determined by calculating a fall moment for the detection signal from the mechanical quantity detection sensor in consideration of the output signal of the tilt sensor. A load-loading machine comprising an arithmetic device and a fall avoidance command output means for outputting a fall avoidance command according to a command from the arithmetic device.

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