JP2017179805A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel that enables opening/closing of a front window even when a construction support device is installed in an upper position within a cabin.SOLUTION: A shovel includes: lower machinery; a super structure that is revolvably mounted on the lower machinery; an attachment that is attached to the super structure; a driving control part that is provided in the super structure; and a front window that constitutes a front part of a window surface of a cabin for covering the driving control part. In the front window having a slide-openable/closable configuration, a notched part is formed in an upper central position.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an excavator.

  An excavator in which a stereo camera is arranged on a cabin is known (see, for example, Patent Document 1).

JP 2013-36243 A

  However, since the excavator of Patent Document 1 has the stereo camera disposed on the cabin, it may be damaged by falling objects such as earth and sand excavated by the stereo camera. For this reason, it is conceivable to arrange the stereo camera in the cabin. However, considering the operator's field of view, it is desirable to arrange the stereo camera at an upper position in the cabin.

  However, if the stereo camera is arranged at an upper position in the cabin, the front window and the stereo camera interfere when the front window constituting the cabin is opened and closed. For this reason, it is conceivable to fix the stereo camera to the inner surface of the front window. However, in this case, when the front window is opened, the position of the stereo camera is moved, and good construction cannot be performed. In addition, since the stereo camera frequently moves with the opening and closing operation of the front window, there is a possibility that the position of the stereo camera is shifted and a problem is caused.

  Therefore, an excavator capable of opening and closing the front window even when a construction support device such as a stereo camera is installed at an upper position in the cabin is desired.

  In view of the above, it is desirable to provide an excavator that can open and close the front window even if the construction support device is installed at an upper position in the cabin.

The excavator according to the embodiment of the present invention is
A lower traveling body,
An upper swivel body that is turnably mounted on the lower traveling body;
An attachment attached to the upper swing body;
A driving control unit provided in the upper swing body;
A front window that forms a front part of the cabin window covering the driver's control unit;
An excavator comprising
The front window has a structure that can be slidably opened and closed, and a notch is formed at the upper center position.

  With the above-described means, it is possible to provide an excavator capable of opening and closing the front window even when the construction support device is installed at an upper position in the cabin.

It is a side view of the shovel which concerns on embodiment of this invention. It is a figure which shows the structure of the drive system of the shovel of FIG. It is a block diagram which shows the structural example of a machine guidance apparatus. It is a figure which shows the relationship between a stereo pair image and a camera. It is a left view of the shovel which shows the attachment position of a camera. It is a figure which shows the state which the front window closed. (A) is a front view, (B) is a plan view, and (C) is a left side view. It is a figure which shows the state in the middle of the open front window. (A) is a front view, (B) is a plan view, and (C) is a left side view. It is a figure which shows the state which the front window opened. (A) is a front view, (B) is a plan view, and (C) is a left side view. FIG. 6A is a cross-sectional view taken along the arrow I-I in FIG. It is a partial side view which shows an example of the shovel which concerns on other embodiment of this invention. (A) is a front view, (B) is a plan view, and (C) is a left side view.

  FIG. 1 is a side view of an excavator (excavator) according to an embodiment of the present invention. An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2 so as to be capable of swinging. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. As an end attachment, a slope bucket, a kite bucket, or the like may be used.

  The boom 4, the arm 5, and the bucket 6 constitute a drilling attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism.

  The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor that detects a tilt angle with respect to the horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3.

  The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S <b> 2 is an acceleration sensor that detects the tilt angle with respect to the horizontal plane and detects the rotation angle of the arm 5 with respect to the boom 4.

  Bucket angle sensor S3 detects the rotation angle of bucket 6. In the present embodiment, the bucket angle sensor S <b> 3 is an acceleration sensor that detects the rotation angle of the bucket 6 relative to the arm 5 by detecting the inclination with respect to the horizontal plane. When the excavation attachment includes a bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis.

  The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder that detects a rotation angle around a connecting pin. Etc.

  The upper swing body 3 is provided with an operating device 26 as a driving control unit, and a cabin 10 that covers the operating device 26 is provided. A power source such as an engine 11 is further mounted on the upper swing body 3. A machine body tilt sensor S4 and a turning angular velocity sensor S5 are attached to the upper turning body 3. Further, a camera S6 as a construction support device is disposed in the cabin 10. Furthermore, a communication device S7 and a positioning device S8 may be attached.

  The body tilt sensor S4 detects the tilt of the upper swing body 3 with respect to the horizontal plane. In the present embodiment, the body tilt sensor S4 is a biaxial acceleration sensor that detects the tilt angles of the upper swing body 3 around the front and rear axes and the left and right axes. In addition, the front-rear axis and the left-right axis of the upper swing body 3 pass through an excavator center point that is one point on the swing axis of the shovel, for example, orthogonal to each other.

The turning angular velocity sensor S5 is, for example, a gyro sensor, and detects the turning angular velocity of the upper turning body 3. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.
The camera S6 is an imaging device capable of taking a stereo image to acquire an image around the excavator. In the present embodiment, the camera S6 is one or a plurality of stereo cameras attached to the upper position in the front side (traveling direction side) in the cabin 10. The camera S6 may be a monocular camera. In this case, the camera S6 sets two camera images picked up at slightly different shooting positions as stereo pair images. However, in this embodiment, the camera S6 is described as a stereo camera S6 as a terrain shape acquisition device. The stereo camera S6 is fixed to the main body (frame body) of the cabin 10.

  Note that the movement of the imaging position is realized by, for example, turning of the upper turning body 3 and is measured using a gyro sensor, a GNSS (Global Navigation Satellite System), or the like.

  The communication device S7 is a device that controls communication between the shovel and the outside. The communication device S7 controls, for example, wireless communication between a surveying system such as GNSS and an excavator. The shovel can acquire design data including information on the target construction surface and the like via wireless communication by using the communication device S7. However, the shovel may acquire design data using a semiconductor memory or the like.

  The positioning device S8 is a device that measures the position and orientation of the excavator. In the present embodiment, the positioning device S8 is a GNSS receiver that incorporates an electronic compass, and measures the latitude, longitude, and altitude of the location of the shovel and measures the orientation of the shovel.

  In the cabin 10, an input device D1, an audio output device D2, a display device D3, a storage device D4, a gate lock lever D5, a controller 30, and a machine guidance device 50 are installed.

  The controller 30 functions as a main control unit that performs drive control of the shovel. In the present embodiment, the controller 30 includes an arithmetic processing device that includes a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.

  The machine guidance device 50 guides the operation of the excavator. In the present embodiment, the machine guidance device 50 visually and audibly notifies the operator of the distance in the vertical direction between the target construction surface set by the operator and the tip (toe) position of the bucket 6, for example. Thereby, the machine guidance apparatus 50 guides the operation of the shovel by the operator. Note that the machine guidance device 50 may only notify the operator of the distance visually or may only notify the operator audibly. Specifically, like the controller 30, the machine guidance device 50 is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory. The machine guidance device 50 may be provided separately from the controller 30 or may be incorporated in the controller 30.

  The input device D1 is a device for an excavator operator to input various information to the machine guidance device 50. In the present embodiment, the input device D1 is a membrane switch attached around the display device D3. A touch panel or the like may be used as the input device D1.

  The audio output device D2 outputs various audio information in response to an audio output command from the machine guidance device 50. In the present embodiment, an in-vehicle speaker that is directly connected to the machine guidance device 50 is used as the audio output device D2. An alarm device such as a buzzer may be used as the audio output device D2.

  The display device D3 outputs various image information in response to a command from the machine guidance device 50. In the present embodiment, an in-vehicle liquid crystal display directly connected to the machine guidance device 50 is used as the display device D3.

  The storage device D4 is a device for storing various information. In the present embodiment, a nonvolatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores various information output by the machine guidance device 50 and the like.

  The gate lock lever D5 is a mechanism that prevents the shovel from being operated accidentally. In the present embodiment, the gate lock lever D5 is disposed between the door of the cabin 10 and the driver's seat. When the gate lock lever D5 is pulled up so that the operator cannot leave the cabin 10, the various operation devices can be operated. On the other hand, when the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operation devices become inoperable.

  FIG. 2 is a diagram illustrating a configuration example of a drive system of the shovel of FIG. In FIG. 2, the mechanical power system is indicated by a double line, the high-pressure hydraulic line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control system is indicated by a thin solid line.

  The engine 11 is a power source for the excavator. In the present embodiment, the engine 11 is a diesel engine that employs isochronous control that maintains the engine speed constant regardless of increase or decrease in engine load. The fuel injection amount, fuel injection timing, boost pressure and the like in the engine 11 are controlled by an engine controller unit (ECU) D7.

  The engine 11 is connected with a main pump 14 and a pilot pump 15 as hydraulic pumps. A control valve 17 is connected to the main pump 14 via a high pressure hydraulic line.

  The control valve 17 is a hydraulic control device that controls the hydraulic system of the shovel. Hydraulic actuators such as a right traveling hydraulic motor, a left traveling hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a turning hydraulic motor are connected to a control valve 17 via a high pressure hydraulic line. The turning hydraulic motor may be a turning motor generator.

  An operation device 26 is connected to the pilot pump 15 via a pilot line. The operating device 26 includes a lever and a pedal. The operating device 26 is connected to the control valve 17 via a hydraulic line and a gate lock valve D6.

  The gate lock valve D6 switches communication / interruption of a hydraulic line connecting the control valve 17 and the operating device 26. In the present embodiment, the gate lock valve D <b> 6 is an electromagnetic valve that switches communication / cutoff of the hydraulic line in accordance with a command from the controller 30. The controller 30 determines the state of the gate lock lever D5 based on the state signal output from the gate lock lever D5. When the controller 30 determines that the gate lock lever D5 is in the raised state, the controller 30 outputs a communication command to the gate lock valve D6. When the communication command is received, the gate lock valve D6 is opened to connect the hydraulic line. As a result, the operator's operation on the operation device 26 becomes effective. On the other hand, when the controller 30 determines that the gate lock lever D5 is in the lowered state, the controller 30 outputs a cutoff command to the gate lock valve D6. When the shutoff command is received, the gate lock valve D6 is closed to shut off the hydraulic line. As a result, the operator's operation on the operation device 26 becomes invalid.

  The pressure sensor 29 detects the operation content of the operating device 26 in the form of pressure. The pressure sensor 29 outputs the detection value to the controller 30.

  FIG. 2 shows the connection relationship between the controller 30 and the display device D3. In the present embodiment, the display device D3 is connected to the controller 30 via the machine guidance device 50. The display device D3, the machine guidance device 50, and the controller 30 may be connected via a communication network such as CAN or may be connected via a dedicated line.

  The display device D3 includes a conversion processing unit D3a that generates an image. In the present embodiment, the conversion processing unit D3a generates a camera image for display based on the output of the stereo camera S6. Therefore, the display device D3 acquires the output of the stereo camera S6 connected to the machine guidance device 50 via the machine guidance device 50. However, the stereo camera S6 may be connected to the display device D3 or may be connected to the controller 30.

  The conversion processing unit D3a generates a display image based on the output of the controller 30 or the machine guidance device 50. In the present embodiment, the conversion processing unit D3a converts various information output from the controller 30 or the machine guidance device 50 into an image signal. The information output by the controller 30 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of fuel, and the like. The information output by the machine guidance device 50 includes data indicating the tip (toe) position of the bucket 6, data indicating the direction of the slope of the work target, data indicating the direction of the shovel, and the shovel facing the slope. For example, data indicating the operation direction is included.

  Note that the conversion processing unit D3a may be realized not as a function of the display device D3 but as a function of the controller 30 or the machine guidance device 50.

  Further, the display device D3 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The electric power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator other than the controller 30 and the display device D3. Further, the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 and starts the engine 11.

  The engine 11 is controlled by the engine controller unit D7. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the engine controller unit D7 to the controller 30. Therefore, the controller 30 can store this data in the temporary storage unit (memory) 30a and transmit it to the display device D3 when necessary.

  Various data are supplied to the controller 30 as described below and stored in the temporary storage unit 30a of the controller 30.

  First, data indicating the swash plate tilt angle is supplied to the controller 30 from the regulator 14a of the main pump 14 which is a variable displacement hydraulic pump. Further, data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. These data (data representing physical quantities) are stored in the temporary storage unit 30a. An oil temperature sensor 14c is provided in a pipe line between the main pump 14 and a tank in which the hydraulic oil sucked by the main pump 14 is stored, and data representing the temperature of the hydraulic oil flowing through the pipe line. It is supplied to the controller 30 from the oil temperature sensor 14c.

  Further, data indicating the fuel storage amount is supplied to the controller 30 from the fuel storage amount detection unit 55 a in the fuel storage unit 55. In the present embodiment, data indicating the fuel remaining state is supplied to the controller 30 from the fuel remaining amount sensor as the fuel storage amount detection unit 55 a in the fuel tank as the fuel storage unit 55.

  Specifically, the fuel remaining amount sensor includes a float that follows the liquid level, and a variable resistor (potentiometer) that converts the amount of vertical fluctuation of the float into a resistance value. With this configuration, the fuel remaining amount sensor can continuously display the fuel remaining state on the display device D3. Note that the detection method of the fuel storage amount detection unit can be appropriately selected according to the use environment and the like, and a detection method capable of displaying the remaining fuel level in stages may be adopted.

  A pilot pressure sent to the control valve 17 when the operating device 26 is operated is detected by the pressure sensor 29, and data indicating the detected pilot pressure is supplied to the controller 30.

  In this embodiment, as shown in FIG. 2, the excavator includes an engine speed adjustment dial 75 in the cabin 10. The engine rotation speed adjustment dial 75 is a dial for adjusting the rotation speed of the engine 11, and in this embodiment, the engine rotation speed can be switched in four stages. Further, data indicating the setting state of the engine speed is constantly transmitted from the engine speed adjustment dial 75 to the controller 30. Further, the engine speed adjustment dial 75 allows the engine speed to be switched in four stages of SP mode, H mode, A mode, and idling mode. FIG. 2 shows a state in which the H mode is selected with the engine speed adjustment dial 75.

  The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotational speed mode that is selected when the engine 11 is desired to be in an idling state, and uses the lowest engine rotational speed. The engine 11 is controlled at a constant speed with the engine speed in the speed mode set with the engine speed adjustment dial 75.

  Next, various functional elements of the machine guidance device 50 will be described with reference to FIG. FIG. 3 is a functional block diagram illustrating a configuration example of the machine guidance device 50.

  In the present embodiment, the controller 30 controls whether to perform guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, the controller 30 controls whether or not the guidance by the machine guidance device 50 is performed based on the state of the gate lock lever D5, the detection signal from the pressure sensor 29, and the like.

  Next, the machine guidance device 50 will be described. In the present embodiment, the machine guidance device 50 includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning angular velocity sensor S5, an input device D1, and various types output from the controller 30. Receive signals and some data. Then, the machine guidance device 50 calculates the actual operation position of the attachment (for example, the bucket 6) based on the received signal and data. Then, the machine guidance device 50 transmits an alarm command to the audio output device D2 and the display device D3 according to the distance between the actual operation position of the attachment and the target operation position, and issues a notification.

  The machine guidance device 50 includes functional units that perform various functions. In the present embodiment, the machine guidance device 50 includes an inclination angle calculation unit 501, a height calculation unit 503, a comparison unit 504, an alarm control unit 505, and a guidance data output unit 506 as functional units for guiding an attachment operation. including. In addition, the machine guidance device 50 includes a stereo pair image acquisition unit 507, a terrain data generation unit 508, a coordinate conversion unit 509, a coordinate correction unit 510, and a terrain data display unit 511 as functional units for measuring the terrain around the excavator. It functions as an excavator measuring device.

  The inclination angle calculation unit 501 calculates the inclination angle (excavator inclination angle) of the upper swing body 3 with respect to the horizontal plane based on the detection signal from the body inclination sensor S4. That is, the tilt angle calculation unit 501 calculates the tilt angle of the shovel using the detection signal from the body tilt sensor S4.

  The height calculation unit 503 is used as a work part of the end attachment from the inclination angle calculated by the inclination angle calculation unit 501 and the angles of the boom 4, the arm 5, and the bucket 6 calculated from the detection signals of the sensors S <b> 1 to S <b> 3. The height of the tip (toe) of the bucket 6 is calculated. In this embodiment, since excavation is performed at the tip of the bucket 6, the tip (toe) of the bucket 6 corresponds to the work site of the end attachment. On the other hand, when the work for leveling earth and sand is performed on the back surface of the bucket 6, the back surface of the bucket 6 corresponds to the work part of the end attachment. When a breaker is used as an end attachment other than the bucket 6, the tip of the breaker corresponds to the work site of the end attachment.

  The comparison unit 504 calculates the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 and the target height of the tip (toe) of the bucket 6 indicated by the guidance data output from the guidance data output unit 506. Compare. Here, the target height may be calculated from the design drawing inputted in advance, the current position of the excavator, and the working posture. Further, it may be calculated from the toe position of the past shovel that has been set, the input target depth, the angle, and the current working posture (current toe position).

  The alarm control unit 505 transmits a notification command to both or one of the voice output device D2 and the display device D3 when it is determined that notification is necessary based on the comparison result in the comparison unit 504. When the voice output device D2 and the display device D3 receive a report command, the voice output device D2 and the display device D3 make a predetermined notification sound and notify the operator of the shovel. This notification may be set in multiple stages according to the distance between the actual operation position of the attachment and the target operation position.

  As described above, the guidance data output unit 506 extracts the target height data of the bucket 6 from the guidance data stored in advance in the storage device of the machine guidance device 50 and outputs it to the comparison unit 504. At this time, the guidance data output unit 506 outputs data on the target height of the bucket 6 corresponding to the inclination angle of the shovel.

  The stereo pair image acquisition unit 507 is a functional element that acquires a stereo pair image. The stereo pair image is a pair of camera images used for deriving the distance between the stereo camera S6 and a point to be measured (hereinafter referred to as “measurement point”) using a triangulation method. In the present embodiment, the stereo pair image acquisition unit 507 acquires a pair of camera images output from the stereo camera S6 as a stereo pair image. Further, parameters related to the stereo camera S6 such as the mounting position, mounting angle, and focal length of the stereo camera S6 are stored in advance in the storage device D4 and the like. The stereo pair image acquisition unit 507 reads these parameters from the storage device D4 or the like as necessary.

  Here, with reference to FIG.4 and FIG.5, the detail of stereo camera S6 is demonstrated. FIG. 4 is a top view showing the relationship between the stereo pair image and the stereo camera S6. FIG. 5 is a left side view of the shovel showing the mounting position of the stereo camera S6.

  As shown in FIG. 4, when the stereo camera S6 is attached to the shovel, the stereo pair image acquisition unit 507 captures a pair of camera images captured simultaneously by the pair of imaging units S61 and S62 in the stereo camera S6. Is acquired as a stereo pair image. Then, based on the deviation between the pixels corresponding to the measurement point P in each of the acquired pair of camera images and the distance L between the imaging unit S61 and the imaging unit S62, a stereogramming method is used for stereo. The distance between the camera S6 and the measurement point P is acquired.

  In FIG. 4, the imaging range of the imaging unit S61 is represented by an imaging range Ra surrounded by a broken line. In addition, the imaging range of the imaging unit S62 is represented by an imaging range Rb surrounded by a broken line. The overlapping imaging range R of the imaging range Ra and the imaging range Rb is hatched with a dot pattern. A measurement target range X surrounded by an alternate long and short dash line indicates an existing range of measurement points. In the present embodiment, the measurement target range X is limited to the central portion of each camera image. This is because the peripheral portion of each camera image may not be able to accurately derive the distance due to the effects of vignetting, distortion, and the like. However, the present invention does not exclude a configuration in which the measurement target range X includes the peripheral portion.

  In addition, the stereo pair image acquisition unit 507 acquires a stereo pair image every time a predetermined acquisition condition is satisfied. The predetermined acquisition condition is set based on, for example, the turning angle of the upper turning body 3, the excavator moving distance, and the like. In the present embodiment, the stereo pair image acquisition unit 507 acquires a stereo pair image every time the upper swing body 3 turns by a predetermined turning angle α. The turning angle is derived from the output of the turning angular velocity sensor S5, for example. Further, the stereo pair image acquisition unit 507 may acquire a stereo pair image each time the excavator moves (runs) by a predetermined distance D. The moving distance is derived from the output of the positioning device S8, for example. Alternatively, the stereo pair image acquisition unit 507 may dynamically determine thresholds relating to the turning angle, the moving distance, and the like as acquisition conditions so that a stereo pair image including an image of a desired measurement point can be efficiently acquired. Good. The stereo pair image acquisition unit 507 may acquire a stereo pair image at predetermined time intervals, and acquire a stereo pair image at an arbitrary timing according to an operation input (for example, switch operation) by an operator of the excavator. May be. The machine guidance device 50 as a measuring device measures the terrain information around the excavator from the stereo pair image acquired in this way during or after the construction. Further, not only the terrain information but also an image taken by the stereo camera S6 usually includes an attachment. For this reason, you may acquire the motion of an image attachment based on the captured image of stereo camera S6. Further, when a surrounding installation object is included in the captured image of the stereo camera S6, the installation position information of the captured installation object may be recorded in association with the terrain information. Furthermore, the type of work (such as earth and sand, rock) may be determined using the image taken by the stereo camera S6, and the work content may be estimated.

  Next, the configuration of the cabin 10 in which the stereo camera S6 is mounted will be described with reference to FIGS.

  FIG. 6 is a diagram illustrating a state in which the front window as the movable window is closed. (A) is a front view, (B) is a plan view, and (C) is a left side view. FIG. 7 is a diagram illustrating a state in which the front window is being opened. (A) is a front view, (B) is a plan view, and (C) is a left side view. FIG. 8 is a diagram illustrating a state in which the front window is opened. (A) is a front view, (B) is a plan view, and (C) is a left side view. FIG. 9 shows a cross-sectional view taken along the arrow I-I in FIG. Note that the left side view shows a view of the interior of the cabin 10 with respect to the forward direction (attachment extending direction) of the cabin 10 that is the operator's viewpoint. In the illustrated left side view, the door portion and the like existing on the left side surface of the cabin 10 are omitted for the sake of explanation.

  The cabin 10 includes an operation device 26 as a driving control unit, a driver's seat 60, an input device D1, a display device D3, a gate lock lever D5, and the like. Although not shown, the cabin 10 is equipped with the controller 30 and the machine guidance device 50 shown in FIG.

  The operation device 26 includes an operation lever 26A, a travel lever 26B, a pedal 26C, and the like. A gate lock lever D <b> 5 is provided at the lower left position of the driver seat 60. When the gate lock lever D5 is pulled up so that the operator cannot leave the cabin 10, the various operation devices can be operated. On the other hand, when the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operation devices become inoperable. The driver seat 60 has an armrest 61.

  The cabin 10 has a frame body 110. The frame body 110 is formed by combining a vertical frame, a horizontal frame, and a connecting frame. The vertical frame has a pair of left and right vertical frames 111 located on the front side (traveling direction side, Z1 side) and a pair of left and right vertical frames 112 located on the rear side (Z2 side). The horizontal frame includes a horizontal frame 113 which is horizontally mounted between the left and right vertical frames 111 on the front side, and a rear horizontal frame 114 which is horizontally mounted between the left and right vertical frames 112 on the rear side. The pair of left and right vertical frames 111 on the front side and the pair of left and right vertical frames 112 on the rear side are connected by a pair of right and left connecting frames 115, respectively.

  In the cabin 10, a window surface front portion 80 is disposed on a front frame formed by the frame body 110. In the cabin 10, side windows 90 are arranged on the left and right frames formed by the frame body 110. Further, the cabin 10 has a head window 100 disposed on an upper surface frame formed by the frame body 110.

  The window surface front portion 80 includes a lower front window 81, a front window 82, and an upper front window 83.

  The front window 82 has a slide mechanism that can slide the front window 82. In the present embodiment, when the front window 82 is slid, the front window 82 and the lower front window 81 are separated so that they can be stored in the cabin 10.

  The slide mechanism of this embodiment includes a pair of left and right slide rails 111a provided on the inner side surfaces of the pair of left and right vertical frames 111, and a pair of left and right slide rails 115a provided on the inner side surfaces of the left and right connecting frames 115, respectively. have. The front window 82 is disposed between the left and right slide rails 111a and between the left and right slide rails 115a. The slide rail 111a and the slide rail 115a are formed so that the rail grooves are continuous, and a sliding portion (not shown) provided at the end of the front window 82 or the like is movable from the slide rail 111a to the slide rail 115a. May be. The sliding part may be a roller or the like.

The front window 82 is disposed between the lower front window 81 and the upper front window 83 when closed. When the front window 82 is opened, the front window 82 is detached from the lower front window 81 and the upper front window 83 and slides in the opening direction (Y1 side). When the front window 82 is closed, the front window 82 slides in the closing direction (Y2 side) and is disposed between the lower front window 81 and the upper front window 83.
The front window 82 has a notch 82a formed at the upper center position. The notch shape of the front window 82 formed in the notch portion 82a is larger than the shape on the front side of the stereo camera S6 as the terrain shape acquisition device. The front window 82 is provided with handle portions 82b at the upper left position and the upper right position, respectively. The handle portion 82b may be provided only on either the left or right side. The operator grasps the handle portion 82b and slides the front window 82 in the opening direction or the closing direction. The handle portion 82 b may have a lock mechanism that fixes the front window 82 between the lower front window 81 and the upper front window 83.

  Further, the front window 82 has a notch 82c formed at the lower center position. The notch shape of the front window 82 formed by the notch portion 82c is larger than the shape of the bottom surface of the stereo camera S6. When the front window 82 is slid in the opening direction and arranged so as to be parallel to the upper surface of the cabin 10, the notch 82c is formed between the stereo camera S6 and the front window 82 as shown in FIG. Avoid interference.

  The upper front window 83 is disposed at the position of the notch 82 a of the front window 82. The upper front window 83 is directly fixed to the horizontal frame 113 at the upper edge. The shape of the upper front window 83 is larger than the shape of the front side of the stereo camera S6.

  The stereo camera S6 is disposed at a position corresponding to the notch 82a of the front window 82. In the present embodiment, the stereo camera S6 is disposed inside the upper front window 83 disposed in the notch 82a. Therefore, the stereo camera S6 is protected by the upper front window 83. Stereo camera S6 is fixed to the main body (horizontal frame 113) of cabin 10 via an attachment member or the like at a substantially central position of horizontal frame 113 constituting cabin 10.

  As shown in FIGS. 9A and 9B, the upper front window 83 and the front window 82 have a seal member S interposed therebetween. The seal member S1 includes a seal member S1 and a seal member S2. The seal member S <b> 1 is provided at the lower edge portion of the upper front window 83. The seal member S2 is provided at the upper edge of the front window 82. The seal member S1 has a flange S1h on the front side (Z1 side). The collar portion S1h prevents rainwater or the like from entering between the seal members S1 and S2. The seal member S1 and the seal member S2 can be separated from each other as shown in FIG. 9B.

  The lower front window 81 is directly fixed to the frame body 110 or the like. The lower front window 81 has a convex part 81 a corresponding to the notch part 82 c of the front window 82. A seal member shown in FIG. 9 may be interposed between the lower front window 81 and the front window 82.

  When the front window 82 is closed, as shown in FIG. 9A, the front window 82 is disposed flush with the upper front window 83 and the seal member S1, and constitutes the window surface front portion 80 of the cabin 10. When the operator opens the handle portion 82b to open the front window 82, as shown in FIG. 9B, the front window 82 moves rearward (Z2 side), and the upper front window 83 is moved. Leave. At this time, the front window 82 is also detached from the lower front window 81. The opening operation refers to an unlocking operation for releasing the fixing of the front window 82 and an operation for sliding the front window 82 upward.

  Here, the opening / closing operation of the front window 82 will be described with reference to FIGS. 6 to 9 again.

  When the front window 82 is closed, the front window 82 is disposed between the lower front window 81 and the upper front window 83 as shown in FIG. At this time, the lower edge portion of the upper front window 83 and the upper edge portion of the front window 82 are connected by the seal member S as shown in FIG.

  Next, when the operator grasps the handle portion 82b of the front window 82 and opens it, the front window 82 slides in the opening direction as shown in FIG. At this time, the front window 82 moves in the G1 and G2 directions shown in FIG. 9B, and therefore does not interfere with the stereo camera S6.

  The front window 82 is arranged at a position parallel to the upper surface of the cabin 10 as shown in FIG. At this time, as shown in FIG. 8A, the front surface of the cabin 10 is in an open state where the front window 82 is disposed. Further, as shown in FIG. 8B, the front window 82 can avoid interference with the stereo camera S6 by the notch 82c.

  As described above, the front window 82 is provided with the notch 82a at the upper center position, and the stereo camera S6 is disposed inside the upper front window 83 disposed at the position of the notch 82a. Therefore, the front window 82 is released without interfering with the stereo camera S6. Further, the front window 82 is provided with a notch 82c at the lower center position. Therefore, even if the front window 82 is slid in the opening direction and disposed at a position parallel to the upper surface of the cabin 10, interference between the front window 82 and the stereo camera S6 is avoided as shown in FIG.

  Next, another embodiment of the excavator of the present invention will be described with reference to FIG. FIG. 10 is a view showing a state in which a front window of an excavator according to another embodiment of the present invention is opened. (A) is a front view, (B) is a plan view, and (C) is a left side view. Hereinafter, the description of the configuration common to the configuration illustrated in FIGS. 6 to 9 will be omitted, and the description will focus on the differences.

  The shovel of the present embodiment has a projection device (projector) S9 in the cabin 10 that displays a projection image on the inner surface of the window surface front portion 800. The projection device S9 may project information for supporting construction on the inner side surface of the window surface front portion 800.

  The projection device S9 is installed at an upper position (Y1 side) on the rear side (Z2 side) in the cabin 10. The projection device S9 may be attached to the rear side (Z2 side) horizontal frame 114 via a support member.

  The window front portion 800 includes a lower front window 810, a front window 820, and an upper front window 830.

  The front window 820 has a slide mechanism that can slide the front window 820. The slide mechanism is the same as that described with reference to FIGS.

  The front window 820 is disposed between the lower front window 810 and the upper front window 830 when closed. The front window 820 detaches from the lower front window 810 and the upper front window 830 when opening, and slides in the opening direction (Y1 side). When the front window 820 is closed, the front window 820 slides in the closing direction (Y2 side) and is disposed between the lower front window 810 and the upper front window 830.

  The front window 820 of this embodiment has a notch 820a formed at the upper center position. The notch shape of the front window 820 formed in the notch portion 820a is larger than the shape of the bottom surface of the projection device S9. The projection device S9 is disposed at a position corresponding to the notch 820a. The notch 820a avoids interference between the projection device S9 and the front window 820 when the front window 820 is slid in the opening direction and arranged so as to be parallel to the upper surface of the cabin 10.

  The front window 820 has a handle portion 820b at an upper left position and an upper right position. The handle 820b may be attached to only one of the left and right. The front window 820 has a lower edge formed in a flat shape.

  The upper front window 830 has the same configuration as that of the upper front window 83 described above, and common description is omitted. Although the stereo camera S6 is not disposed inside the upper front window 830 in the illustrated example, the stereo camera S6 may be disposed. In that case, the front window 820 is formed with a notch at the lower center position. This is to avoid interference between the front window 820 and the stereo camera S6 when the front window 820 is slid in the opening direction and disposed at a position parallel to the upper surface of the cabin 10.

  A seal member S as shown in FIG. 9 is interposed between the lower edge portion of the upper front window 830 and the upper edge portion of the front window 820.

  The lower front window 810 has substantially the same configuration as the lower front window 81 described above, and a common description is omitted. The lower front window 810 has an upper edge formed flat like the lower edge of the front window 820. In addition, when the notch part is formed in the lower center position of the front window 820, the lower front window 810 has a convex part corresponding to this notch part.

  The front window 820 slides in the opening direction when the operator grasps the handle portion 820b and opens it.

  When the front window 820 is slid in the opening direction, the front window 820 is disposed at a position parallel to the upper surface of the cabin 10 as shown in FIG. At this time, as shown in FIG. 10A, the front surface of the cabin 10 is in an open state where the front window 820 is disposed. Further, as shown in FIG. 10B, the front window 820 does not interfere with the projection device S9 due to the notch 820a.

  As described above, the front window 820 of the present embodiment is provided with the notch 820a at the upper center position, and the projection device S9 is disposed at a position corresponding to the notch 820a. Accordingly, the front window 820 is opened and closed without interfering with the projection device S9. In the above-described embodiment, the example in which the notches 82a and 820a are formed only at the upper center position of the front windows 82 and 820 is shown. However, not only the upper center position of the front windows 82 and 820 but also the side from the upper center position. You may make it notch the whole upper part over a direction edge part. In this case, since the shapes of the front windows 82 and 820 and the upper front windows 83 and 830 are simplified, the manufacturing cost can be reduced. Similarly, not only the lower center position of the front windows 82 and 820 but also the entire lower portion may be cut out so as to prevent interference with the device when sliding from the lower center position to the side edge. . In this case, since the shape of the lower front windows 81 and 810 becomes simple, the manufacturing cost can be reduced.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, an example in which the stereo camera S6 and the projection device S9 are mounted as the construction support device is shown, but this is not restrictive. For example, it may be a laser distance meter or a head-up display device.

DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Turning mechanism 3 ... Upper turning body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... cabin 11 ... engine 14 ... main pump 15 ... pilot pump 17 ... control valve 26 ... operation device 29 ... pressure sensor 30 ... controller 50 ..Machine guidance device 60: Driver's seat 61 ... Armrest 80 ... Front window 81 ... Lower front window 82 ... Front window 83 ... Upper front window 82a, 82c ... Notches Part 82b ... handle part 501 ... inclination angle calculation part 503 ... height calculation part 504 ... comparison part 505 Alarm control unit 506 ... guidance data output unit 507 ... stereo pair image acquisition unit 508 ... terrain data generation unit 509 ... coordinate conversion unit 510 ... coordinate correction unit 511 ... terrain data display unit S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Airframe tilt sensor S5 ... Turning angular velocity sensor S6 ... Stereo camera S7 ... Communication device S8 ... Positioning device S9: Projection device D1 ... Input device D2 ... Audio output device D3 ... Display device D3a ... Conversion processing unit D4 ... Storage device D5 ... Gate lock lever D6 ..Gate lock valve D7 ... Engine controller unit

Claims (6)

A lower traveling body,
An upper swivel body that is turnably mounted on the lower traveling body;
An attachment attached to the upper swing body;
A driving control unit provided in the upper swing body;
A shovel comprising a front window that constitutes a front part of a cabin window that covers the driving control unit,
The said front window has the structure which can be opened and closed slidably, The notch part is formed in the upper center position, The excavator characterized by the above-mentioned.   The excavator according to claim 1, wherein a terrain shape acquisition device is disposed in the notch.   The excavator according to claim 2, wherein the terrain shape acquisition device is fixed to the cabin main body.   The shovel according to claim 1, wherein a projection device that projects the front window is disposed at a position corresponding to the notch. The front portion of the window surface has the front window and an upper front window,
The excavator according to any one of claims 1 to 4, wherein a seal member is interposed between the front window and the upper front window. A lower traveling body,
An upper swivel body that is turnably mounted on the lower traveling body;
An attachment attached to the upper swing body;
A driving control unit provided in the upper swing body;
A shovel comprising a front window that constitutes a front part of a cabin window that covers the driving control unit,
The said front window has the structure which can be opened and closed slidably, and the notch part is formed in the lower center position, The shovel characterized by the above-mentioned.

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