JP3192508U - Construction machinery - Google Patents

Abstract

The present invention provides a construction machine that is unlikely to cause an overhead wire cutting accident due to a boom operation.
In a construction machine including a boom 4 and a work tool 6 provided on the tip side of the boom, a tilt sensor 36 capable of detecting a tilt angle of the boom with respect to the horizontal direction, and a tilt angle of the boom by the tilt sensor become a set value. When it arrives, it is provided with a notification means for notifying that fact and / or a control means for controlling the operation of the boom. The tilt sensor is attached to the boom.
[Selection] Figure 1

Description

  The present invention relates to a construction machine such as a backhoe.

  For example, a first hydraulic cylinder that swings the boom up and down, a first control valve that supplies and discharges hydraulic oil to and from the first hydraulic cylinder, a second hydraulic cylinder that swings the arm back and forth, A second control valve for supplying and discharging hydraulic oil to and from the second hydraulic cylinder; and a pair of operation levers that are operated manually and operate the first and second control valves; An angle sensor that detects an angle of the boom; and an angle sensor that detects an angle of the arm with respect to the boom, and the other operation lever is operated in a state in which the one operation lever is operated to the scraping side of the arm. Is operated to the ascending side of the boom, based on the detection value of the angle sensor so that the tip of the arm moves substantially along a predetermined linear locus. First correction means for correcting the operation position of the first or second control valve on the ascending side of the boom or the scraping side of the arm, and the tip of the arm is moved to the predetermined linear locus by the first correction means. When the set position is reached, the first control valve is operated to the lowering side of the boom with respect to the other operating lever operated to the upper side of the boom, and the tip of the arm is the predetermined straight line. Based on the detection value of the angle sensor, the operation position of the first or second control valve with respect to the one or the other operation lever is set to the lower side of the boom or the arm so as to move substantially along a locus. A backhoe provided with a second correcting means for correcting on the scraping side, or a first hydraulic cylinder for swinging the boom up and down, and a pump for supplying and discharging hydraulic oil to the first hydraulic cylinder. A lot control type first control valve, a second hydraulic cylinder that swings the arm back and forth, a pilot control type second control valve that supplies and discharges hydraulic oil to and from the second hydraulic cylinder, A pilot that is operated to operate the first and second control valves, and a pilot that generates a pilot pressure to operate the first and second control valves according to the operation positions of the pair of operation levers. And an angle sensor for detecting the angle of the boom with respect to the swivel, and an angle sensor for detecting the angle of the arm with respect to the boom, and the one operating lever is operated on the scraping side of the arm. In this state, when the other operation lever is operated to the boom raising side, the detection value of the angle sensor is set so that the tip of the arm moves substantially along a predetermined linear locus. Based on the pilot pressure for operating the first or second control valve, the operation position of the first or second control valve with respect to the one or the other operation lever is changed to the rising side of the boom or the A first correcting means for correcting on the scraping side of the arm, and the other operation operated on the ascending side of the boom when the tip of the arm reaches the set position of the predetermined linear locus by the first correcting means. Based on the detection value of the angle sensor, the first control valve is operated to the lowering side of the boom with respect to the lever, and the tip of the arm moves substantially along the predetermined linear locus, The pilot pressure for operating the first or second control valve is changed to change the operation position of the first or second control valve relative to the one or the other operation lever to the lowering side of the boom or the arm It is a second correcting means for correcting the scraping side backhoe has been proposed (Japanese Patent Laid-Open No. 11-36360).

  A boom supported on the swivel base so as to be swingable up and down, an arm supported on the tip end of the boom so as to swing back and forth, and a bucket supported on the tip end of the arm. A boom up / down angle sensor for detecting an angle and an arm front / back angle sensor for detecting a front / rear angle of the arm with respect to the boom are provided, and a detection value of the arm front / rear angle sensor is set with respect to a detection value of the boom up / down angle sensor. When the value reaches the value, it is determined that the bucket has reached a position away from the operating part by a predetermined distance, and the backhoe or arm that is provided with an arm check means for checking and preventing the operation of the arm to the scraping side A boom supported by the base so as to swing up and down, an arm supported so as to swing back and forth at the tip of the boom, and a bucket supported at the tip of the arm. A boom up / down angle sensor for detecting the up / down angle of the boom with respect to the swivel, and an arm up / down angle sensor for detecting the front / back angle of the arm with respect to the boom, and with respect to a detection value of the boom up / down angle sensor. When the detected value of the arm longitudinal angle sensor reaches the first set value, it is determined that the bucket has reached a position separated from the operating portion by a first predetermined distance, and based on the detected value of the arm longitudinal angle sensor. When the detection value of the arm front-rear angle sensor reaches a second set value with respect to the detection value of the boom vertical angle sensor, the arm deceleration means for decelerating the operation toward the scraping side of the arm, and the bucket It is determined that a position separated from the operating part by a second predetermined distance shorter than the first predetermined distance is reached, and the operation of the arm toward the scraping side is restrained. Backhoe that is an arm restraining means has been proposed (JP 2000-328608).

  A first boom is supported on the side of the operating section of the swivel base so as to be swingable up and down around a first lateral axis, and a second boom that forms a parallel quadruple link mechanism with a link at the tip of the first boom. Is supported at the tip of the second boom and the link so as to be able to swing left and right, and a third boom that moves parallel to the left and right as the second boom swings is provided. The arm is supported in a swingable manner around a second lateral axis parallel to the first lateral axis, and swings around a third lateral axis parallel to the second lateral axis at the tip of the arm. A boom cylinder that freely supports the bucket and swings the first boom up and down, an offset cylinder that swings the second boom left and right, an arm cylinder that swings the arm back and forth, and a bucket that swings the bucket Cylinder A boom up / down angle sensor for detecting an up / down angle of the first boom with respect to the swivel, a boom left / right angle sensor for detecting a left / right angle of the second boom with respect to the first boom, and a front / rear direction of the arm with respect to the third boom. An arm front / rear angle sensor for detecting an angle, and a restraining means for preventing the bucket from approaching more than a setting based on detection results of the boom up / down angle sensor, the boom left / right angle sensor, and the arm front / rear angle sensor. Proposed is a backhoe in which the third boom is composed of a pair of left and right main plates and a connecting plate connecting them, and the boom left / right angle sensor is disposed between the main plates (Japanese Patent Laid-Open No. 2002-105992). No.).

JP 11-36360 A JP 2000-328608 A JP 2002-105992 A

  There are many cases where overhead lines exist at the work site of a construction machine, for example, a backhoe. Moreover, the height of the overhead wire is often within the operating range of the backhoe boom (arm). Under such conditions, when the work with the backhoe is performed, the boom (arm) is hooked on the electric wire in some cases, and an electric wire cutting accident occurs.

  For this reason, as described above, an angle sensor is provided on the backhoe, and the angle sensor detects the rising angle of the boom with respect to the swivel, and when the rising angle exceeds α, the boom operation of the backhoe is performed. It was thought to stop.

  However, it has been found that this type of backhoe also has problems. That is, when the boom standing angle reaches a predetermined angle, the boom standing angle at this time is detected by the angle sensor, the boom operation is stopped, and the electric wire cutting accident should not occur. There was a case where an electric wire was caught and an electric wire cutting accident was reached.

  Therefore, a problem to be solved by the present invention is to provide a construction machine that is less likely to cause an overhead wire cutting accident, for example.

  The above problems have been studied with eagerness. As a result, the following has been found. That is, the angle detected by the angle sensor was the boom's standing angle with respect to the swivel base (ground), so whether the ground at the same location is a horizontal plane, a down slope, or an up slope The angle with respect to the horizontal plane differs depending on whether the By the way, although the height H from the ground to the overhead line is fixed, even if the boom standing angle is the same angle α, depending on whether the ground situation is a horizontal plane, a downward slope, or an upward slope, The height of the boom tip is different. This is because when the backhoe is located on the down slope (inclination angle is -β), the boom height (Y) in the vertical direction from the ground is boom length (L) x sin (α-β), and the boom stands up. Even when the angle is α, the height of the boom tip may be much lower than the overhead wire height H. On the contrary, when the backhoe is located on the uphill slope (inclination angle + β), the boom height (Y) in the vertical direction from the ground is boom length (L) × sin (α + β), and the boom standing angle is α In some cases, the height of the boom tip may exceed the overhead wire height H. That is, the boom end has already reached the height H corresponding to the set value (specified value: threshold) α, even though the detected angle (boom standing angle) is an angle less than the set value (specified value: threshold) α. It means that there is. That is, it means that the boom end may be caught by the electric wire even though the detection angle is in the safe range before the set value (specified value: threshold value) α. And in the said proposal, even if the standing angle of the boom is the same, the height of the boom end varies depending on the ground condition where the backhoe exists, and it was noticed that an electric wire hooking and cutting accident occurred. .

  As a result of further studies based on such knowledge, it has been thought that it would be sufficient to be able to detect the tilt angle of the boom without depending on the ground condition where the construction machine exists. In other words, no matter what the situation of the ground where the construction machine exists, if it is possible to detect how many times the boom inclination angle with respect to the horizontal plane (for example, the plane orthogonal to the vertical direction), The same inclination angle is detected whether the ground on which the construction machine exists is a down slope or an up slope. When the inclination angle reaches a specified value (threshold value), the boom height at that time is a certain height, regardless of whether the ground on which the construction machine exists is a down slope or an up slope. Therefore, if this height is slightly lower than the height of the electric wire, it was thought that the accident that the boom caught the electric wire would not occur.

  The present invention has been achieved based on the above findings.

The present invention
In a construction machine comprising a boom and a work tool provided on the tip side of the boom,
An inclination sensor capable of detecting an inclination angle of the boom with respect to a horizontal direction;
When the inclination angle of the boom by the inclination sensor reaches a set value, a construction machine is provided, which is provided with an informing means for informing the fact.

The present invention
In a construction machine having a boom with a work tool attached to the tip side,
An inclination sensor capable of detecting an inclination angle of the boom with respect to a horizontal direction;
Proposed is a construction machine comprising control means for controlling the operation of the boom when the tilt angle of the boom by the tilt sensor reaches a specified value.

  The present invention proposes a construction machine, preferably the construction machine, wherein the tilt sensor is attached to a boom.

  The present invention preferably proposes the construction machine described above, wherein the inclination sensor is detachably attached.

  It is difficult to cause an overhead wire accident due to the operation of a boom or the like.

Schematic diagram of the construction machine according to the present invention Schematic diagram of the construction machine according to the present invention

  The present invention is a construction machine. The construction machine includes a work tool. This work tool has a structure having a function according to the purpose. For example, a bucket (excavator). Of course, it is not limited to this. The construction machine has a boom. The work tool is provided on the tip side of the boom. For example, the work tool is provided at the tip of the arm connected to the tip of the boom. That is, it is provided indirectly (via the arm) on the tip side of the boom. Of course, it is not limited to this. The construction machine includes an inclination sensor. This tilt sensor has a function of detecting the tilt angle of the boom with respect to the horizontal direction. The tilt sensor is attached to the boom, for example. For example, it is detachably attached. For example, it is detachably attached to the boom by a magnet or the like. The construction machine includes a notification unit. This notification means is, for example, an alarm device. It is a device that warns construction workers by visual or auditory sense. This warning (alarm) is configured to be output when the tilt angle of the boom with respect to the horizontal direction by the tilt sensor reaches a set value (specified value: threshold value). When a warning (warning) is output, the construction machine operator can stop raising the boom any more. Alternatively, instead of the notification means, or together with the notification means, when the tilt angle of the boom by the tilt sensor reaches a specified value, there is provided control means for controlling the operation of the boom. For example, when the tilt angle of the boom by the tilt sensor reaches a specified value, control means for stopping the operation of the boom is provided.

  More specific description will be given below.

  1 and 2 are schematic views of a construction machine according to an embodiment of the present invention. This construction machine is, for example, a backhoe. Of course, it is not limited to this.

  The backhoe A shown in the figure has a swivel base 2 supported by a traveling device 1 and a backhoe device 3 at the front of the swivel base 2.

  The backhoe device 3 includes a boom 4 that is swung up and down by a hydraulic cylinder 11, an arm 5 that is swung back and forth by a hydraulic cylinder 12, and a bucket 6 that is swung by a hydraulic cylinder 13.

  The boom 4 of the backhoe device 3 includes a first boom 4a that is swung up and down, a second boom 4b that is pivotably connected around an axis P1 at the front end of the first boom 4a, and a front end of the second boom 4b. The support bracket 4c is swingably connected around the shaft core P2. An arm 5 is connected to the support bracket 4c. A linkage link 8 is constructed over the first boom 4a and the support bracket 4c to constitute a parallel quadruple link. By swinging the second boom 4b with respect to the first boom 4a with the hydraulic cylinder 7, the arm 5 and the bucket 6 can be moved left and right.

  A backhoe device 3 is disposed on the right side of the swivel base 2. On the left side, a driving section 15 including a driver's seat 14 and right / left operating levers 9 and 10 is arranged. A vertical partition plate 16 with a window for partitioning the backhoe device 3 and the operating unit 15 is provided at the left and right center of the swivel base 2, and an upper partition plate 17 along the outside of the swivel base 2 at the upper end of the vertical partition plate 16. Is fixed.

  Next, the operation structure of the hydraulic circuit structure, the backhoe device 3 and the swivel base 2 will be described. The control valve of the hydraulic cylinder 11 of the first boom 4a (boom 4), the control valve of the hydraulic cylinder 12 of the arm 5, the control valve of the hydraulic cylinder 13 of the bucket 6, the control valve of the swing motor 18 of the swivel base 2, and the second boom 4b, a control valve for the hydraulic cylinder 7, a control valve for the right traveling device 1, a control valve for the left traveling device 1, a control valve for the service port, and a control valve for the hydraulic cylinder that moves the dozer 19 up and down. Hydraulic oil from the pump is supplied to the control valve. The control valve of the first boom 4a, the control valve of the arm 5, the control valve of the bucket 6, the control valve of the swivel base 2, and the control valve of the second boom 4b are configured as a pilot operation type by a pilot pressure in a neutral return type. Yes. The control valve of the right and left traveling devices 1, the control valve of the service port, and the control valve of the dozer 19 are configured as a mechanically operated neutral return type operated by an operation lever. The right operation lever 9 is configured to be freely movable in the front / rear and left / right directions. The pilot valve generates pilot pressure by the rear operation of the right operation lever 9, the pilot valve generates pilot pressure by the front operation of the right operation lever 9, and the right A pilot valve that generates a pilot pressure by the right operation of the operation lever 9 and a pilot valve that generates a pilot pressure by the left operation of the right operation lever 9 are provided. Similarly, the left operation lever 10 is configured to be freely movable in the front / rear and left / right directions. The pilot valve generates pilot pressure by the rear operation of the left operation lever 10 and the pilot valve generates pilot pressure by the front operation of the left operation lever 10. A pilot valve that generates a pilot pressure by the right operation of the left operation lever 10 and a pilot valve that generates a pilot pressure by the left operation of the left operation lever 10 are provided. In addition, an operation pedal that can be freely operated from side to side is provided. A pilot valve that generates a pilot pressure when the operation pedal is operated to the left and a pilot valve that generates a pilot pressure when the operation pedal is operated to the right are provided. Yes. A pilot pump for supplying pilot pressure to these pilot valves is provided. The pilot valve of the right operating lever 9 and the control valve of the first boom 4a, and the pilot valve of the right operating lever 9 and the control valve of the bucket 6 are connected via a pilot oil passage, and the pilot of the left operating lever 10 The valve, the control valve of the arm 5, the pilot valve of the left operating lever 10, and the control valve of the swivel base 2 are connected via a pilot oil passage. The pilot valve of the operation pedal and the control valve of the second boom part 4b are connected via a pilot oil passage. With the above structure, when the right operating lever 9 is operated backward, the control valve of the first boom 4a is operated to the ascending side (the extending side of the hydraulic cylinder 11) by the pilot pressure from the pilot valve, and the right operating lever 9 is moved forward. When operated, the control valve of the first boom 4a is operated to the lowering side (the contracting side of the hydraulic cylinder 11) by the pilot pressure from the pilot valve. When the right operating lever 9 is operated to the right, the control valve of the bucket 6 is operated to the soil discharge side (the contraction side of the hydraulic cylinder 13) by the pilot pressure from the pilot valve, and when the right operating lever 9 is operated to the left, the pilot valve With the pilot pressure, the control valve of the bucket 6 is operated to the scraping side (extension side of the hydraulic cylinder 13). When the left operating lever 10 is operated backward, the control valve of the arm 5 is operated to the scraping side (the extending side of the hydraulic cylinder 12) by the pilot pressure from the pilot valve, and when the left operating lever 10 is operated in advance, the pilot valve With this pilot pressure, the control valve of the arm 5 is operated to the soil discharge side (the contraction side of the hydraulic cylinder 12). When the left operating lever 10 is operated to the right, the control valve of the swivel base 2 is operated to the right side by the pilot pressure from the pilot valve, and when the left operating lever 10 is operated to the left, the control valve is rotated by the pilot pressure from the pilot valve. The control valve of the base 2 is operated to the left turning side. When the operating pedal is operated to the left, the control valve of the second boom 4b is operated to the left swing side (the extending side of the hydraulic cylinder 7) by the pilot pressure from the pilot valve, and when the operating pedal is operated to the right, the pilot valve is operated. The control valve of the second boom 4b is operated to the right swinging side (the contracting side of the hydraulic cylinder 7) by the pilot pressure from. The pilot pressure of the pilot valve is configured to increase as the right / left operation levers 9 and 10 and the operation pedal are largely operated from the neutral position. As a result, the pilot pressure of the pilot valve increases corresponding to the operation positions of the right / left operation levers 9 and 10 and the operation pedal as the right / left operation levers 9 and 10 and the operation pedal are operated more greatly from the neutral position. Thus, the hydraulic cylinders 7, 11, 12, 13 and the swing motor 18 operate at higher speed as the control valve is operated to the larger flow rate and the right / left operation levers 9, 10 and the operation pedal are operated more greatly. A pilot oil passage for connecting the pilot valve of the right operation lever 9 and the control valve of the first boom 4a (a pilot oil passage for operating the control valve of the first boom 4a upward), the pilot valve and the arm of the left operation lever 10 Pilot oil passage for connecting the control valve 5 (pilot oil passage for operating the control valve of the arm 5 to the scraping side), and a pilot oil passage for connecting the pilot valve of the operation pedal and the control valve of the second boom 4b. Each of (the pilot oil passage for operating the control valve of the second boom 4b to the left swing side) is provided with an electromagnetically operated pressure control valve. Accordingly, the pilot pressure is reduced by this pressure control valve (the maximum pressure is a value set by the right / left operation levers 9 and 10 and the operation pedal), and the right and left operation levers 9 and 10 and the operation pedal are operated. Regardless of the position, the opening degree of the control valve of the first boom 4a, the opening degree of the control valve of the arm 5, the opening degree of the control valve of the second boom 4b, and the opening degree of the left swing side of the control valve are arbitrarily set. Can change. By setting the pilot pressure to zero with the pressure control valve, the hydraulic cylinder 11 of the first boom 4a, the hydraulic cylinder 12 of the arm 5, the first The hydraulic cylinder 7 of the 2 boom 4b can be stopped.

  Reference numeral 36 denotes an inclination sensor. The tilt sensor 36 has a function of detecting the tilt angle (standing angle: tilt angle (standing angle) with respect to the horizontal direction) of the first boom 4a. The tilt sensor 36 is detachably attached to the first boom 4a. For example, since the first boom 4a is generally made of iron, the tilt sensor 36 is detachably attached to the first boom 4a by attaching a magnet to the tilt sensor 36. Of course, this embodiment also has such a structure. In addition, the inclination sensor 36 is arrange | positioned by the connection part of the swivel base 2 and the 1st boom 4a in the figure. Of course, the position is not limited to this. Reference numerals 37 and 38 denote angle sensors. The angle sensor 37 has a function of detecting the left-right angle of the second boom 4b with respect to the first boom 4a. The angle sensor 37 is detachably attached to the connecting portion between the first boom 4a and the second boom 4b. The angle sensor 38 has a function of detecting the longitudinal angle of the arm 5 with respect to the second boom 4b. The angle sensor 38 is detachably attached to the connecting portion between the support bracket 4 c and the arm 5. And the detection value by the said inclination sensor 36 and the angle sensors 37 and 38 is comprised so that it may input into a control apparatus (memory | storage means).

  Next, control when the first boom 4a is operated upward will be described. The detection values of the sensors 36, 37, and 38 are always input to the control device. When the right operation lever 9 is operated rearward and the first boom 4 a is operated to the ascending side, the bucket 6 is brought into a state of approaching the operating unit 15. Thereby, the right operation lever 9 is operated rearward, and the inclination angle (standing angle) of the first boom 4a changes to the ascending side (see FIG. 2). At this time, as can be seen from the comparison between FIG. 1 and FIG. 2, the height of the front end side of the first boom 4 a (second boom) increases in the vertical direction (vertical direction). When reaching such a state, if an overhead line exists at an intermediate height, the overhead line is torn off. Therefore, in the case where such an overhead wire exists at the work site, the standing angle α of the first boom 4a at the previous stage where the overhead wire is torn off is input to the control device in advance. The angle α previously input (stored) in the control device (storage means) and the magnitude of the detection value (output value) by the inclination sensor 36 are compared by the control device (comparison means: calculation means). As a result of this comparison, When both become equal or exceed, the control device outputs an alarm to an alarm (sound and / or light alarm) device arranged in the cab. When this alarm is output, the worker stops further rising of the first boom 4a. Although it may be automatically stopped, if it is set automatically, for example, although there is still a margin of about 20 cm to reach the overhead line, and 1 cm Even if the work is finished if the height is made higher, the work stops and the workability deteriorates. Therefore, it is preferable to output an alarm and leave the determination to the worker for the subsequent work, rather than adopting the automatic stop method.

DESCRIPTION OF SYMBOLS 1 Traveling apparatus 2 Swing stand 3 Backhoe apparatus 4, 4a Boom 5 Arm 6 Bucket 36 Inclination sensor

Claims (5)

In a construction machine comprising a boom and a work tool provided on the tip side of the boom,
An inclination sensor capable of detecting an inclination angle of the boom with respect to a horizontal direction;
A construction machine comprising: an informing means for informing when the inclination angle of the boom by the inclination sensor reaches a set value. In a construction machine having a boom with a work tool attached to the tip side,
An inclination sensor capable of detecting an inclination angle of the boom with respect to a horizontal direction;
A construction machine comprising: control means for controlling the operation of the boom when the tilt angle of the boom by the tilt sensor reaches a specified value. 3. The construction machine according to claim 1, wherein the tilt sensor is attached to a boom. The construction machine according to claim 2, further comprising a notifying means for notifying when the tilt angle of the boom by the tilt sensor reaches a set value. The construction machine according to any one of claims 1 to 4, wherein the inclination sensor is detachably attached.

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