JP2021011754A - Stay for attaching sensor for heavy machine, and heavy machine with contact prevention function - Google Patents

Stay for attaching sensor for heavy machine, and heavy machine with contact prevention function Download PDF

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JP2021011754A
JP2021011754A JP2019126837A JP2019126837A JP2021011754A JP 2021011754 A JP2021011754 A JP 2021011754A JP 2019126837 A JP2019126837 A JP 2019126837A JP 2019126837 A JP2019126837 A JP 2019126837A JP 2021011754 A JP2021011754 A JP 2021011754A
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heavy machine
boom
heavy
proximity sensor
movable portion
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JP7247041B2 (en
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詠一郎 春成
Eiichiro Harunari
詠一郎 春成
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Aktio Corp
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Aktio Corp
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Abstract

To enable stable approach detection without being restricted in a boom operation mode.SOLUTION: A stay for attaching a sensor for a heavy machine comprises at least: a fixing portion 10 having an attaching/detaching mechanism to a boom B1 of a heavy machine B; a movable portion 20 connected to the fixing portion 10 so as to vertically rotate; a proximity sensor 30 installed on an attaching face 212 of the movable portion 20; and a damper 40 arranged between the fixing portion 10 and the movable portion 20. An erroneous detection of the proximity sensor can be prevented, by reducing transmission of vibration and impact of the heavy machine and a main body to the movable portion while allowing flexibility in layout of the proximity sensor.SELECTED DRAWING: Figure 1

Description

本発明は、周囲の物または人との接触を防止すべく、重機のブームに近接センサを取り付けるためのセンサ取付ステーおよび該センサ取付ステーを取り付けた接触防止機能付き重機に関する。 The present invention relates to a sensor mounting stay for mounting a proximity sensor on a boom of a heavy machine and a heavy machine with a contact prevention function to which the sensor mounting stay is mounted in order to prevent contact with a surrounding object or a person.

小さなトンネルなどの狭い構造物の中で重機の作業を行う際には、重機のブームやアームが構造物や構造物内の人や物などと接触しないよう、オペレータが注意をはらって作業を行っている。
特に、鉄道のトンネルは、トンネル側壁に、列車無線、高圧ケーブル、信号ケーブルなどの重要な設備が敷設されてあるため、軌陸用重機を用いて作業を行う場合には、特段の注意を払うことが求められている。 When working on heavy machinery in a narrow structure such as a small tunnel, the operator should be careful not to let the boom or arm of the heavy machinery come into contact with the structure or people or objects inside the structure. ing.
In particular, railway tunnels have important equipment such as train radio, high-voltage cables, and signal cables laid on the side walls of the tunnel, so special care should be taken when working with heavy road-rail equipment. Is required.

例えば、以下の特許文献１には、クレーンの先端に取り付けたセンサによって、クレーンが送電線に接近した場合に自動的に接近警報を発する、接近警報装置が開示されている。 For example, Patent Document 1 below discloses an approach warning device that automatically issues an approach warning when the crane approaches a power transmission line by a sensor attached to the tip of the crane.

特開２００６−１９９４４０号公報Japanese Unexamined Patent Publication No. 2006-199440

出願人は、上記の従来技術を参考に、重機のブームに市販の近接センサを配置して、近接センサによる計測値が所定の値以下である場合に、警告通知や重機の停止を実施する装置の開発を進めていくにつれて、以下に記載する問題のうち少なくとも何れか１つの問題が発生した。
（１）ブームやアームには、近接センサを直接設置することが可能なスペースが乏しいため、近接センサのレイアウトや設置数に規制が多く、精度良い接近検出に限界があった。
（２）ブームやアームの動作時に、近接センサの計測値が突然停止距離内の数値となるエラーが発生し、停止装置が誤作動してしまう場合があった。これは、ブームやアームの動作が急である場合に特に顕著であった。 The applicant places a commercially available proximity sensor on the boom of the heavy equipment with reference to the above-mentioned prior art, and when the value measured by the proximity sensor is less than a predetermined value, a warning notification or a stop of the heavy equipment is performed. As the development of the above progressed, at least one of the problems described below occurred.
(1) Since there is not enough space in the boom and arm where the proximity sensor can be directly installed, there are many restrictions on the layout and the number of installation of the proximity sensor, and there is a limit to accurate proximity detection.
(2) When the boom or arm is operating, an error may occur in which the measured value of the proximity sensor suddenly becomes a numerical value within the stopping distance, and the stopping device may malfunction. This was especially noticeable when the boom or arm was moving abruptly.

よって、本発明は、ブームの動作態様に制約を受けることなく、安定した接近検出を可能とする手段の提供を目的の一つとする。 Therefore, one of the objects of the present invention is to provide a means for enabling stable approach detection without being restricted by the operation mode of the boom.

上記課題を解決すべくなされた本願の第１発明は、重機と、物または人との接触を防止すべく、重機のブームに近接センサを取り付けるための、センサ取付ステーであって、前記ブームとの着脱機構を有する、固定部と、前記固定部に対して上下方向に回動可能に接続し、前記近接センサの取付面を有する、可動部と、前記固定部と前記可動部との間に介設する、ダンパーと、を少なくとも具備することを特徴とするものである。
また、本願の第２発明は、前記第１発明において、前記固定部において、前記可動部の回動動作の限界位置に、弾性部材からなるストッパーを設けてあることを特徴とするものである。
また、本願の第３発明は、周囲の物または人との接触を防止するための接触防止機能付き重機であって、重機のブームに直接又は間接的に取り付ける、前記第１発明または第２発明に記載のセンサ取付ステーと、前記センサ取付ステーに対し、前記ブームの両側から異なる所定角度を設けるように配置する、複数の近接センサと、前記近接センサからの計測値に基づいて、アラームの通知および重機のエンジン回転数を制御する、制御装置と、を少なくとも有することを特徴とする
また、本願の第４発明は、前記第３発明において、前記制御装置が、アラームの通知およびエンジン回転数を落とす制御を開始するための距離と、重機の停止を開始するための距離を、各近接センサに対して個別に設定可能に構成してあることを特徴とするものである。 The first invention of the present application, which has been made to solve the above problems, is a sensor mounting stay for mounting a proximity sensor on a boom of a heavy machine in order to prevent contact between the heavy machine and an object or a person. Between the fixed portion having the attachment / detachment mechanism of the movable portion and the movable portion having the attachment surface of the proximity sensor, which is rotatably connected to the fixed portion in the vertical direction, and between the fixed portion and the movable portion. It is characterized in that it is provided with at least a damper to be provided.
Further, the second invention of the present application is characterized in that, in the first invention, a stopper made of an elastic member is provided at a limit position of the rotational operation of the movable portion in the fixed portion.
The third invention of the present application is a heavy machine having a contact prevention function for preventing contact with a surrounding object or a person, and is directly or indirectly attached to the boom of the heavy machine, the first invention or the second invention. A plurality of proximity sensors arranged so as to provide different predetermined angles from both sides of the boom with respect to the sensor mounting stay described in the above and the sensor mounting stay, and notification of an alarm based on the measured values from the proximity sensors. It is characterized by having at least a control device for controlling the engine rotation speed of the heavy machine, and the fourth invention of the present application is the third invention, wherein the control device notifies an alarm and the engine rotation speed. It is characterized in that the distance for starting the drop control and the distance for starting the stop of the heavy machine can be set individually for each proximity sensor.

本発明によれば、以下に記載する効果のうち少なくとも何れか１つの効果を有する。
（１）重機のブームに取り付け可能なステーに近接センサを配置することで、近接センサのレイアウトや数を柔軟に設計できる。
（２）ステーを構成する固定部と可動部との間にダンパーを設けることで、重機のエンジン駆動、重機の移動、ブームやアームの移動、バケットによる掘削動作等に起因する、重機および本体の振動や衝撃の可動部への伝達を軽減することができる。よって、可動部に取り付けた近接センサの誤検知の防止に寄与する。
（３）前記ダンパーによって、可動部に取り付けた近接センサにも大きな衝撃が加わりにくくなるため、近接センサの破損防止にも寄与する。
（４）固定部にストッパーを設けておくことで、ダンパーのガス圧が抜けた場合などに、可動部が急に倒れて固定部やアームと干渉する恐れを防止できる。 According to the present invention, it has at least one of the effects described below.
(1) By arranging the proximity sensors on the stays that can be attached to the boom of heavy machinery, the layout and number of proximity sensors can be flexibly designed.
(2) By providing a damper between the fixed part and the movable part that make up the stay, the heavy machine and the main body are caused by the engine drive of the heavy machine, the movement of the heavy machine, the movement of the boom and arm, the excavation operation by the bucket, etc. It is possible to reduce the transmission of vibration and impact to moving parts. Therefore, it contributes to the prevention of false detection of the proximity sensor attached to the movable part.
(3) Since the damper makes it difficult for a large impact to be applied to the proximity sensor attached to the movable portion, it also contributes to the prevention of damage to the proximity sensor.
(4) By providing a stopper on the fixed portion, it is possible to prevent the movable portion from suddenly falling and interfering with the fixed portion or the arm when the gas pressure of the damper is released.

本発明に係るステーを取り付けた重機の概略側面図。The schematic side view of the heavy machine which attached the stay which concerns on this invention. 本発明に係るステーの構成を示す概略側面図。The schematic side view which shows the structure of the stay which concerns on this invention. 固定部と可動部との連結部分を示す概略斜視図。The schematic perspective view which shows the connecting part of a fixed part and a movable part. 可動部の先端側の形状を示す概略平面図。The schematic plan view which shows the shape of the tip side of a movable part.

以下、図面を参照しながら、本発明に係る実施例について説明する。 Hereinafter, examples according to the present invention will be described with reference to the drawings.

＜１＞全体構成（図１）
本発明に係る干渉防止機能付き重機Ｂ（以下、単に「重機Ｂ」という。）について、図１を参照しながら説明する。
図１に示す重機Ｂは、ブームＢ１およびアームＢ２を少なくとも有するバックホウである。
この重機ＢのブームＢ１の先端には、アームシリンダーブラケットが設けてあり、このブラケットに、前方に向けて延伸するように本発明に係るセンサ取付ステーＡ（以下、単に「ステーＡ」という。）を固定している。
ステーＡは、重機Ｂとの着脱機構を有する固定部１０と、固定部１０に対して上下方向に回動可能に接続される可動部２０と、少なくとも可動部２０に取り付ける近接センサ３０と、固定部１０と可動部２０との間に介設するダンパー４０と、を少なくとも具備して構成する。
また、重機Ｂには、近接センサ３０による計測値に基づいて、アラームの通知および重機Ｂのエンジン回転数を制御する制御装置（図示せず）を、重機Ｂの動作に支障が無い場所（例えば運転席など）に設置している。
以下、各構成要素の詳細について説明する。 <1> Overall configuration (Fig. 1)
A heavy machine B with an interference prevention function (hereinafter, simply referred to as “heavy machine B”) according to the present invention will be described with reference to FIG.
The heavy machine B shown in FIG. 1 is a backhoe having at least a boom B1 and an arm B2.
An arm cylinder bracket is provided at the tip of the boom B1 of the heavy machine B, and the sensor mounting stay A according to the present invention (hereinafter, simply referred to as "stay A") extends toward the front of the bracket. Is fixed.
The stay A is fixed to a fixed portion 10 having a mechanism for attaching / detaching to / from the heavy machine B, a movable portion 20 rotatably connected to the fixed portion 10 in the vertical direction, and at least a proximity sensor 30 attached to the movable portion 20. It is configured to include at least a damper 40 interposed between the portion 10 and the movable portion 20.
Further, the heavy machine B is provided with a control device (not shown) for notifying an alarm and controlling the engine speed of the heavy machine B based on the measured value by the proximity sensor 30, in a place where the operation of the heavy machine B is not hindered (for example). It is installed in the driver's seat, etc.).
The details of each component will be described below.

＜３＞固定部（図２，図３）
固定部１０は、重機ＢのブームＢ１に脱着自在に取り付けて、可動部２０を回動自在に接続するための部材である。
固定部１０は、ブームＢ１の両側からブームＢ１の所定の位置に固定される形状・構造を呈する。
図２，３に示す実施例では、固定部１０を、ブームＢ１の両側にそれぞれ取付可能な一対の取付部１１と、一対の取付部１１間を上部で一体化する接続部１２と、取付部１１の上下に間隔を開けて取り付ける規制部１３とを少なくとも有して構成している。 <3> Fixed part (Figs. 2 and 3)
The fixed portion 10 is a member that is detachably attached to the boom B1 of the heavy machine B and rotatably connects the movable portion 20.
The fixing portion 10 has a shape and structure of being fixed at a predetermined position of the boom B1 from both sides of the boom B1.
In the embodiment shown in FIGS. 2 and 3, a pair of mounting portions 11 capable of mounting the fixing portions 10 on both sides of the boom B1, a connecting portion 12 for integrating the pair of mounting portions 11 at the upper portion, and a mounting portion. It is configured to have at least a regulating portion 13 attached to the top and bottom of the 11 at intervals.

＜３．１＞取付部（図２，図３）
取付部１１は、固定部１０をブームＢ１に取り付ける為の部材である。
図３に示す実施例では、取付部１１を、ブームＢ１の外側に向けて上部を折曲してなる正面視略逆Ｌ字状を呈する鋼部材でもって構成している。
そして、取付部１１の下部側には、下側の規制部１３を取り付けるための台座１４と、ブームＢ１との間でボルトなどの締結部材を螺合可能な取付孔１１１を設けている。
また、取付部１１の上部側には、後述する可動部２０との連結機構が形成されている。 <3.1> Mounting part (Figs. 2 and 3)
The mounting portion 11 is a member for mounting the fixing portion 10 to the boom B1.
In the embodiment shown in FIG. 3, the mounting portion 11 is formed of a steel member having a substantially inverted L-shape in front view, which is formed by bending the upper portion toward the outside of the boom B1.
Further, on the lower side of the mounting portion 11, a mounting hole 111 for screwing a fastening member such as a bolt between the pedestal 14 for mounting the lower regulating portion 13 and the boom B1 is provided.
Further, on the upper side of the mounting portion 11, a connecting mechanism with the movable portion 20, which will be described later, is formed.

＜３．２＞接続部（図２，図３）
接続部１２は、固定部１０の剛性を高めるための部材である。
図３に示す実施例では、接続部１２を、一対の取付部１１の間を繋ぐ鋼板でもって構成している。
なお、一対の取付部１１でもって固定部１０の剛性が十分に確保されている場合には、本発明において接続部１２は必須の部材ではない。 <3.2> Connection (Figs. 2 and 3)
The connecting portion 12 is a member for increasing the rigidity of the fixing portion 10.
In the embodiment shown in FIG. 3, the connecting portion 12 is composed of a steel plate connecting the pair of mounting portions 11.
When the rigidity of the fixing portion 10 is sufficiently secured by the pair of mounting portions 11, the connecting portion 12 is not an essential member in the present invention.

＜３．３＞規制部（図２，図３）
規制部１３は、後述する可動部２０の回動動作の限界位置を規定するための部材である。
図３に示す実施例では、規制部１３を、断面略コ字形状を呈する鋼製の長尺材を、取付部１１の上下方向に間隔を空けて設置して構成している。
この規制部１３に対し、可動部２０に設けた張出部２１３を、上下の長尺材間に位置させることで、可動部２０の回動動作を規制することができる。 <3.3> Regulatory Department (Figs. 2 and 3)
The regulating unit 13 is a member for defining the limit position of the rotational operation of the movable unit 20, which will be described later.
In the embodiment shown in FIG. 3, the restricting portion 13 is configured by installing long steel members having a substantially U-shaped cross section at intervals in the vertical direction of the mounting portion 11.
By locating the overhanging portion 213 provided on the movable portion 20 between the upper and lower elongated members with respect to the restricting portion 13, the rotational operation of the movable portion 20 can be regulated.

＜３．３．１＞隙間の形勢（図３）
規制部１３を構成する長尺材と取付部１１との間には、隙間１３１を形成しておく。これは、後述する可動部２０の回動動作に伴い、当該隙間１３１への延伸部２１を侵入・離脱を許容するためである。 <3.3.1> Gap formation (Fig. 3)
A gap 131 is formed between the long member constituting the regulating portion 13 and the mounting portion 11. This is to allow the extending portion 21 to enter and leave the gap 131 as the movable portion 20 rotates, which will be described later.

＜４＞可動部（図２〜図４）
可動部２０は、固定部１０に対し、重機Ｂの左右方向を回転軸として上下方向に旋回可能とした部材である。
可動部２０は、ブームＢ１の両側に位置して、前記固定部１０に回動自在に取り付け可能な一対の延伸部２１と、前記一対の延伸部２１を上部で繋いで一体化させる、連絡部２２とを少なくとも備えて構成する。
よって、可動部２０は、ブームＢ１の後端側を開口してなる平面視略コ字形状を呈する。 <4> Moving parts (Figs. 2 to 4)
The movable portion 20 is a member capable of turning in the vertical direction with respect to the fixed portion 10 with the horizontal direction of the heavy machine B as a rotation axis.
The movable portion 20 is located on both sides of the boom B1 and is a connecting portion that connects and integrates the pair of extending portions 21 that can be rotatably attached to the fixing portion 10 and the pair of extending portions 21 at the upper part. It is configured to include at least 22.
Therefore, the movable portion 20 has a substantially U-shaped plan view formed by opening the rear end side of the boom B1.

＜４．１＞延伸部（図２，図４）
延伸部２１は、後述する近接センサ３０を取り付けるための部材である。
延伸部２１は、固定部１０に対しそれぞれ回動自在に連結する。
図４に示す実施例では、延伸部２１を、長尺状の鋼板で構成しており、この鋼板の後端側から先端側にむかって、適宜所定の角度で折曲している。 <4.1> Stretched portion (Figs. 2 and 4)
The extension portion 21 is a member for attaching the proximity sensor 30, which will be described later.
The extending portion 21 is rotatably connected to the fixing portion 10.
In the embodiment shown in FIG. 4, the stretched portion 21 is made of a long steel plate, and is bent at an appropriate angle from the rear end side to the front end side of the steel plate.

＜４．１．１＞回動部（図２，図３）
延伸部２１の後端には、固定部１０を構成する取付部１１との回動部２１１を形成している。
図３に示す実施例では、回動部２１１を、重機Ｂの左右方向をピン方向として取付部１１に対し回動自在とする機構で構成してあり、当該構成によって、固定部１０に対し、可動部２０を上下方向に旋回させることができる。 <4.1.1> Rotating part (Figs. 2 and 3)
At the rear end of the stretched portion 21, a rotating portion 211 with a mounting portion 11 constituting the fixed portion 10 is formed.
In the embodiment shown in FIG. 3, the rotating portion 211 is configured by a mechanism that makes the rotating portion 211 rotatable with respect to the mounting portion 11 with the left-right direction of the heavy machine B as the pin direction. The movable portion 20 can be swiveled in the vertical direction.

＜４．１．２＞取付面（図２，図４）
各延伸部２１には、近接センサ３０の取付面２１２を設けている。
図４に示す実施例では、適宜所定の角度で折曲してなる鋼板の外面側を取付面２１２としている。
この取付面２１２の角度は、近接センサ３０の性能や設置個数に応じて適宜設計すればよい。 <4.1.2> Mounting surface (Figs. 2 and 4)
Each stretched portion 21 is provided with a mounting surface 212 for the proximity sensor 30.
In the embodiment shown in FIG. 4, the outer surface side of the steel plate that is appropriately bent at a predetermined angle is the mounting surface 212.
The angle of the mounting surface 212 may be appropriately designed according to the performance of the proximity sensors 30 and the number of installations.

＜４．１．３＞張出部（図２，図３）
各延伸部２１には、固定部１０の規制部１３と干渉するための張出部２１３を設けている。
図３に示す実施例では、延伸部２１の外面から横方向に張り出すように鋼板を溶接して張出部２１３を形成しており、この張出部２１３が上下の規制部１３の間に位置した状態とすることで、可動部２０の回動動作の限界位置を規定している。 <4.1.3> Overhanging part (Figs. 2 and 3)
Each extending portion 21 is provided with an overhanging portion 213 for interfering with the regulating portion 13 of the fixing portion 10.
In the embodiment shown in FIG. 3, a steel plate is welded so as to project laterally from the outer surface of the stretched portion 21 to form an overhanging portion 213, and the overhanging portion 213 is located between the upper and lower regulating portions 13. By setting the position, the limit position of the rotational operation of the movable portion 20 is defined.

＜４．２＞連絡部（図２〜図４）
連絡部２２は、一対の延伸部２１を接続して一体化するための部材である。
連絡部２２は、一対の延伸部２１を一体化することで、ブームＢ１の両側に設ける近接センサ３０同士の位置ズレが生じることを防止し、かつ可動部２０の剛性を確保する。
図３，４に示す実施例では、連絡部２２を、延伸部２１を構成する鋼板の上縁を繋ぐように接続した鋼板で構成している。 <4.2> Communication section (Figs. 2 and 4)
The connecting portion 22 is a member for connecting and integrating the pair of extending portions 21.
By integrating the pair of extending portions 21, the connecting portion 22 prevents the proximity sensors 30 provided on both sides of the boom B1 from being displaced from each other, and secures the rigidity of the movable portion 20.
In the embodiment shown in FIGS. 3 and 4, the connecting portion 22 is composed of a steel plate connected so as to connect the upper edges of the steel plates constituting the stretched portion 21.

＜５＞近接センサ（図２〜図４）
近接センサ３０は、周囲の人や物との離隔距離を計測するための部材である。
本発明において、近接センサ３０は、少なくとも可動部２０の外面に適宜設けておき、周囲の人や物との離隔距離を計測する機能を有し、計測した値は、後述する制御装置でもって、ブームＢ１やアームＢ２に人や物が接近しているか否かの判定に利用される。
本発明に係る近接センサ３０は、レーザーセンサ、超音波センサなど、周囲の人や物との離隔距離を計測可能な公知のセンサを用いることができる。
また、近接センサ３０のレイアウトや配置数は、近接センサ３０の性能に併せて、検知漏れの無い範囲で適宜設計すればよい。 <5> Proximity sensor (Figs. 2 to 4)
The proximity sensor 30 is a member for measuring the separation distance from surrounding people and objects.
In the present invention, the proximity sensor 30 is appropriately provided on at least the outer surface of the movable portion 20 and has a function of measuring the separation distance from surrounding people and objects, and the measured value is obtained by a control device described later. It is used to determine whether a person or an object is approaching the boom B1 or the arm B2.
As the proximity sensor 30 according to the present invention, a known sensor such as a laser sensor or an ultrasonic sensor that can measure the separation distance from a surrounding person or object can be used.
Further, the layout and the number of arrangements of the proximity sensors 30 may be appropriately designed in accordance with the performance of the proximity sensors 30 within a range where there is no omission of detection.

＜６＞ダンパー（図２）
ダンパー４０は、固定部１０と可動部２０との間に介設して、重機Ｂおよび本体で生じる振動や衝撃を吸収することで、可動部２０に伝達する振動や衝撃を軽減するための部材である。
図２に示す実施例では、固定部１０の取付部１１と、可動部２０の延伸部２１との間を繋ぐようにダンパー４０を設けてあり、可動部２０が下方向に回動する際に、ダンパー４０が圧縮して緩衝することで、重機Ｂのエンジン駆動、重機Ｂの移動、ブームＢ１やアームＢ２の移動、バケットによる掘削動作等に起因する、重機Ｂおよび本体の振動や衝撃が、可動部２０に伝達し辛くなるよう構成している。 <6> Damper (Fig. 2)
The damper 40 is a member that is interposed between the fixed portion 10 and the movable portion 20 to absorb the vibration and impact generated in the heavy machine B and the main body, thereby reducing the vibration and impact transmitted to the movable portion 20. Is.
In the embodiment shown in FIG. 2, a damper 40 is provided so as to connect the mounting portion 11 of the fixed portion 10 and the extending portion 21 of the movable portion 20, and when the movable portion 20 rotates downward. , The damper 40 compresses and buffers, so that the vibration and impact of the heavy machine B and the main body caused by the engine drive of the heavy machine B, the movement of the heavy machine B, the movement of the boom B1 and the arm B2, the excavation operation by the bucket, etc. It is configured so that it is difficult to transmit to the movable portion 20.

＜７＞ストッパー（図２，３）
本発明は、固定部１０に対する可動部２０の回動動作の限界位置に設けるストッパー５０を設けてもよい。
図２，３に示す実施例では、ストッパー５０を、固定部１０を構成する規制部１３に配置した弾性部材で構成している。
このストッパー５０は、固定部１０に対して可動部２０の回動動作の限界位置を規定することで、当該回動動作による、固定部１０と可動部２０との干渉や、可動部２０と重機Ｂとの干渉等に伴う各部の破損を防止する効果を発揮する。
また、ストッパー５０は、前記したダンパー４０のガス圧が抜けて故障した際にも可動部２０の前倒れを防止する点で有効に機能する。 <7> Stopper (Figs. 2 and 3)
In the present invention, the stopper 50 provided at the limit position of the rotational operation of the movable portion 20 with respect to the fixed portion 10 may be provided.
In the embodiment shown in FIGS. 2 and 3, the stopper 50 is composed of an elastic member arranged in the regulating portion 13 constituting the fixing portion 10.
By defining the limit position of the rotational movement of the movable portion 20 with respect to the fixed portion 10, the stopper 50 causes interference between the fixed portion 10 and the movable portion 20 due to the rotational operation, and the movable portion 20 and the heavy machine. It exerts the effect of preventing damage to each part due to interference with B or the like.
Further, the stopper 50 functions effectively in preventing the movable portion 20 from tipping forward even when the gas pressure of the damper 40 is released and a failure occurs.

＜８＞制御装置（図示せず）
制御装置は、近接センサ３０からの計測値でもって、アラームの通知、および、重機Ｂのエンジン回転数を制御可能な装置である。
本発明では、制御装置は、重機Ｂの動作に支障が無い場所に設置されており、各近接センサ３０からの計測値を受信して、当該計測値に基づいてアラームの通知の有無の判定、および重機Ｂのエンジン回転数の制御を行う。
例えば、制御装置は、各近接センサ３０に対して個別に二種類のしきい値を設定可能に構成し、例えば近接センサ３０で計測した離隔距離が第１のしきい値以下に達した場合にアラームを通知しつつエンジンの回転数を落とし、さらに第２のしきい値以下に達した場合に重機Ｂを停止させるよう構成することができる。
これらの制御方法は、現場の環境や所望される条件に応じて適宜設計することができる。 <8> Control device (not shown)
The control device is a device capable of notifying an alarm and controlling the engine speed of the heavy machine B by the measured value from the proximity sensor 30.
In the present invention, the control device is installed in a place where the operation of the heavy machine B is not hindered, receives the measured values from each proximity sensor 30, and determines whether or not an alarm is notified based on the measured values. And the engine speed of the heavy machine B is controlled.
For example, the control device is configured so that two types of threshold values can be set individually for each proximity sensor 30, and for example, when the separation distance measured by the proximity sensor 30 reaches or less than the first threshold value. It can be configured to reduce the engine speed while notifying an alarm and to stop the heavy machine B when the second threshold value or less is reached.
These control methods can be appropriately designed according to the site environment and desired conditions.

Ａ ステー
１０ 固定部
１１ 取付部
１１１ 取付孔
１２ 接続部
１３ 規制部
１４ 台座
１３１ 隙間
２０ 可動部
２１ 延伸部
２１１ 回動部
２１２ 取付面
２１３ 張出部
２２ 連絡部
３０ 近接センサ
４０ ダンパー
５０ ストッパー
Ｂ 重機
Ｂ１ ブーム
Ｂ２ アーム A Stay 10 Fixing part 11 Mounting part 111 Mounting hole 12 Connecting part 13 Restricting part 14 Pedestal 131 Gap 20 Movable part 21 Extension part 211 Rotating part 212 Mounting surface 213 Overhanging part 22 Communication part 30 Proximity sensor 40 Damper 50 Stopper B Heavy equipment B1 boom B2 arm

Claims (4)

重機と、物または人との接触を防止すべく、重機のブームに近接センサを取り付けるための、センサ取付ステーであって、
前記ブームとの着脱機構を有する、固定部と、
前記固定部に対して上下方向に回動可能に接続し、前記近接センサの取付面を有する、可動部と、
前記固定部と前記可動部との間に介設する、ダンパーと、を少なくとも具備することを特徴とする、
重機用のセンサ取付ステー。 A sensor mounting stay for mounting a proximity sensor on the boom of heavy machinery to prevent contact between heavy machinery and objects or people.
A fixed portion having a mechanism for attaching / detaching to / from the boom,
A movable portion that is rotatably connected to the fixed portion in the vertical direction and has a mounting surface for the proximity sensor.
It is characterized by having at least a damper provided between the fixed portion and the movable portion.
Sensor mounting stay for heavy machinery. 前記固定部において、前記可動部の回動動作の限界位置に、弾性部材からなるストッパーを設けてあることを特徴とする、
請求項１に記載の重機用のセンサ取付ステー。 The fixed portion is characterized in that a stopper made of an elastic member is provided at a limit position of the rotational operation of the movable portion.
The sensor mounting stay for heavy machinery according to claim 1. 周囲の物または人との接触を防止するための接触防止機能付き重機であって、
重機のブームに直接又は間接的に取り付ける、請求項１または２に記載のセンサ取付ステーと、
前記センサ取付ステーに対し、前記ブームの両側から異なる所定角度を設けるように配置する、複数の近接センサと、
前記近接センサからの計測値に基づいて、アラームの通知および重機のエンジン回転数を制御する、制御装置と、
を少なくとも有することを特徴とする、
接触防止機能付き重機。 A heavy machine with a contact prevention function to prevent contact with surrounding objects or people.
The sensor mounting stay according to claim 1 or 2, which is directly or indirectly mounted on the boom of a heavy machine.
A plurality of proximity sensors arranged so as to provide different predetermined angles from both sides of the boom with respect to the sensor mounting stay.
A control device that controls alarm notification and engine speed of heavy machinery based on the measured values from the proximity sensor.
It is characterized by having at least
Heavy equipment with contact prevention function. 前記制御装置が、アラームの通知およびエンジン回転数を落とす制御を開始するための距離と、重機の停止を開始するための距離を、各近接センサに対して個別に設定可能に構成してあることを特徴とする、
請求項３に記載の干渉防止機能付き重機。 The control device is configured so that the distance for starting the alarm notification and the control to reduce the engine speed and the distance for starting the stop of the heavy equipment can be set individually for each proximity sensor. Characterized by,
The heavy equipment with an interference prevention function according to claim 3.
JP2019126837A 2019-07-08 2019-07-08 Sensor mounting stay for heavy machinery and heavy machinery with contact prevention function Active JP7247041B2 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006152740A (en) * 2004-12-01 2006-06-15 Komatsu Ltd Work machine
JP2008144378A (en) * 2006-12-06 2008-06-26 Shin Caterpillar Mitsubishi Ltd Controller for remote controlled working machine
JP2017227035A (en) * 2016-06-22 2017-12-28 みらい建設工業株式会社 Contact prevention assist system
JP2019097454A (en) * 2017-11-30 2019-06-24 井関農機株式会社 Work vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006152740A (en) * 2004-12-01 2006-06-15 Komatsu Ltd Work machine
JP2008144378A (en) * 2006-12-06 2008-06-26 Shin Caterpillar Mitsubishi Ltd Controller for remote controlled working machine
JP2017227035A (en) * 2016-06-22 2017-12-28 みらい建設工業株式会社 Contact prevention assist system
JP2019097454A (en) * 2017-11-30 2019-06-24 井関農機株式会社 Work vehicle

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