JP4539947B2 - Warning control device for construction machinery - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a warning control device for a construction machine used for various construction work such as a hydraulic excavator.
[0002]
[Prior art]
For example, Japanese Patent Laid-Open No. 5-18122 shows an example in which a hydraulic excavator is used for dismantling work. The hydraulic excavator of this publication has a hydraulic crushing tool attached to the end of its arm instead of a normal bucket, and the crushing tool can be used to dismantle a building or the like.
[0003]
Also, the hydraulic excavator disclosed in the publication is equipped with a warning device that generates a warning when the crushing tool comes out of the allowable working radius, and this warning device is considered useful for safe dismantling work. It is done.
[0004]
[Problems to be solved by the invention]
By the way, the warning device of the above-mentioned hydraulic excavator generates an alarm only when the crushing tool reaches the outside of the allowable work radius, and therefore does not function while the crushing tool is within the allowable work radius.
That is, the warning device does not issue a warning even if the arm of the hydraulic excavator is used in an undesired posture during the dismantling work within the allowable work radius.
[0005]
To explain this point in detail, as the building is dismantled, hydraulic excavators are also used for crushing rebar frames taken out of crushed concrete. In such crushing operations, the excavator arm is in a cloud state. The hoisting boom is raised and lowered, and the crushing tool or bucket at the end of the arm is struck against the reinforcing bar frame on the ground, thereby reducing the volume occupied by the reinforcing bar frame.
[0006]
Since the arm is in a cloud state during such a crushing operation, if the rebar frame is repeatedly struck, a pulling force is applied to the piston rod of the hydraulic cylinder that rotates the arm, so-called arm cylinder. The arm may reach full cloud without being noticed by the operator of the excavator.
[0007]
If the rebar frame is repeatedly struck in the full cloud state of the arm, the arm cylinder is already in a full stroke state in this case, so the pin connecting the arm cylinder and the arm is excessive. May occur, which may cause damage to the arm cylinder.
The object of the present invention is to appropriately warn the operator that the arm is in a situation where the arm tends to be full cloud in a situation where the rebar frame is crushed or the like as described above, and the arm cylinder may be damaged. An object of the present invention is to provide a warning device for a construction machine that can avoid work.
[0008]
[Means for Solving the Problems]
In order to achieve the above-described object, the present invention connects an arm to the tip of a hoisting boom so as to be rotatable, and includes a work tool at the tip of the arm, and the hoisting operation of the hoisting boom and the arm turning operation are respectively performed by In a construction machine that is operated via a cylinder and an arm cylinder, and the arm becomes a full cloud in the full stroke state of the arm cylinder, the warning control device for a construction machine according to the present invention (Claim 1) includes a lower surface of the hoisting boom and the arm The angle detection means for detecting the angle formed, the tilt detection means for detecting the tilting operation of the hoisting boom, and the angle detected by the angle detecting means may cause the arm to reach full cloud as the hoisting boom is tilted. determines that the cloud states of, when Fukudo undulating boom is detected by Fukudo detecting means at said cloud state of the arm, undulating boom Contact Comprising a controller for outputting a warning signal it is determined that the work posture and operation of the micro-arm is not permitted, on the basis of the warning signal and a warning device for generating a warning.
[0009]
According to the warning control device described above, the angle detected by the angle detection means, that is, the determination result of whether or not the arm is in a cloud state that may reach the full cloud, and the hoisting boom detected by the tilt detection means. Based on the combination with the tilting motion , the controller determines whether or not the working posture and motion of the hoisting boom and the arm are allowed, and if the determination result is negative, the controller outputs a warning signal. The warning device generates a warning to alert the construction machine operator.
[0010]
Specifically, the cloud state of the arm is defined by a threshold that the angle detected by the angle detector is smaller than 90 °, the controller detects that the angle detected by the angle detector is smaller than the threshold, and A warning signal is output when the tilting motion of the hoisting boom is detected by the tilting motion detecting means (claim 2). In this case, even if the detected angle is smaller than the threshold value , a warning signal is not output from the controller to the warning device. When the hoisting boom is lowered, a warning is generated from the warning device, and the operator Can recognize the work situation appropriately.
[0011]
Furthermore, it is preferable that the controller includes variable means for making the output cycle of the warning signal variable based on a deviation between the angle and the threshold value when the angle is smaller than the threshold value. ). In this case, according to the degree of the cloud state of the arm, the generation period of warning from a warning unit are changeable, it is possible to alert the operator more effectively.
[0012]
Specifically, the warning device includes a buzzer (Claim 4) or a lamp that lights (Claim 5) in the output period of the warning signal, and further includes both the buzzer and the lamp. (Claim 6).
[0013]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a hydraulic excavator as a construction machine. The hydraulic excavator includes a crawler-type lower traveling body 2 and an upper revolving body 4 that is turnably provided on the lower traveling body 2. The lower traveling body 2 and the upper revolving body 4 constitute a body of the hydraulic excavator.
The upper swing body 4 is equipped with a front attachment 6 for performing construction work (including dismantling work) and a cab 8, and the cab 8 can be used for driving the vehicle and operating the front attachment 6. Further, the upper revolving body 4 is provided with an engine room 10 containing an engine (not shown) at the rear thereof, and the engine operates the lower traveling body 2, the upper revolving body 4, and the front attachment 6. Drive source for hydraulic equipment.
[0014]
The front attachment 6 includes a hoisting boom 12 extending from the body side of the excavator, that is, the upper swing body 4, and the hoisting boom 12 is pivotally supported at the front portion of the upper swing body 4 so as to be raised and lowered. An arm 14 is rotatably connected to the tip of the hoisting boom 12, and a work tool such as a bucket 16 or a crushing tool as a work tool can be attached to the tip of the arm 14.
[0015]
On the other hand, between the upper swing body 4 and the hoisting boom 12, between the hoisting boom 12 and the base end of the arm 14, and between the tip of the arm 14 and the bucket 16, respectively, a boom cylinder 18 and an arm cylinder are provided. 20 and a bucket cylinder 22 are provided, and the cylinders 18, 20, and 22 are hydraulic cylinders. The boom cylinder 18 raises and lowers the hoisting boom 12 by its expansion and contraction, and the arm cylinder 20 and the bucket cylinder 22 can rotate the arm 14 and the bucket 16 by their expansion and contraction.
[0016]
The traveling of the lower traveling body 2, the turning of the upper revolving body 4, and the expansion and contraction of each cylinder in the front attachment 6 can be controlled via a hydraulic circuit by an operating lever in the cab 8. A part is shown in FIG.
FIG. 2 shows a hydraulic circuit that controls the expansion and contraction of the boom cylinder 18 and the arm cylinder 20, and the hydraulic circuit includes a main pump 24 that is a variable displacement hydraulic pump. The main pump 24 is driven by the engine described above, and discharges the pressure oil sucked from the hydraulic tank 26 toward the main supply line 28. The main supply pipeline 28 is branched downstream as branch supply pipelines 30 and 32, and the branch supply pipelines 30 and 32 extend toward the boom cylinder 18 and the arm cylinder 20, respectively.
[0017]
A main return pipe 34 extends from the hydraulic tank 26, and the main return pipe 34 is branched upstream as branch return pipes 36 and 38. These branch return pipes 36 and 38 are also connected to the boom cylinder 18 and the arm. The cylinder 20 extends toward the cylinder 20 in a pair with the corresponding branch supply lines 30 and 32.
On the other hand, as is clear from FIG. 2, the boom cylinder 18 and the arm cylinder 20 are each constituted by a backward hydraulic cylinder, and the boom cylinder 18 and the arm cylinder 20 have a pair of boom conduit 40 and arm conduit 42 respectively. Each extends.
[0018]
The pair of boom conduits 40 are connected to the branch supply conduit 30 and the branch return conduit 36 via a boom control valve 44, and the pair of arm conduits 42 are also branched and supplied via an arm control valve 46. The pipe 32 and the branch return pipe 38 are connected. Here, the boom control valve 44 and the arm control valve 46 are pilot pressure actuated direction control valves, more specifically, a 4-port 3-position direction control valve.
[0019]
When the boom control valve 44 is switched from the illustrated neutral position to one switching position, the branch supply line 30 is connected to one boom line 40 and the branch return line 36 is connected to the other boom line 40. As a result of the connection, pressure oil is supplied to one pressure chamber in the boom cylinder 18 and the rod of the boom cylinder 18 extends or contracts. At this time, the pressure oil in the other pressure chamber in the boom cylinder 18 is returned to the hydraulic tank 26 via the other boom conduit 40, the branch return conduit 38 and the main return conduit 34.
[0020]
Even in the arm cylinder 20, the rod is similarly extended or contracted by switching the arm control valve 46.
The main supply line 28 and the main return line 34 are connected by a relief line 48 in the vicinity of the discharge side of the main pump 24, and a relief valve 50 is inserted in the relief line 48. . The relief valve 50 regulates the hydraulic pressure in the main supply line 28 to a predetermined pressure.
[0021]
On the other hand, in order to operate the switching of the boom control valve 44 and the arm control valve 46 described above, the hydraulic circuit includes a pilot pump 52 including a hydraulic pump, and a pilot pressure supply line 54 extends from the pilot pump 52. The pilot pressure supply line 54 is branched and connected to the boom operation lever unit 56 and the arm operation lever unit 58, respectively, and a pair of pilot pressure lines 60, 62 and one branch return pipe 64 each extend.
[0022]
The pair of pilot pressure pipes 60 are connected to both pressure receiving parts 66 of the boom control valve 44, respectively, and the pair of pilot pressure pipes 62 are connected to both pressure receiving parts 68 of the arm control valve 46, respectively. Further, the two branch return pipes 64 are joined and then connected to the hydraulic tank 26 as a return pipe 70.
On the other hand, the boom operating lever unit 56 and the arm control lever unit 58 has a pilot pump 52 the operating levers 56a pilot primary pressure supplied from the pressure reducing valve for reducing the pressure in accordance with the amount of operation of 58a (not shown), respectively ing.
[0023]
Therefore, in the boom operation lever unit 56, by operating the operation lever 56a, the pilot pressure is supplied to the boom control valve 44 through one pilot pressure line 60, the boom control valve 44 is switched, and the boom cylinder 18 is switched. The boom cylinder 18 can be expanded and contracted by supplying pressure oil from the main pump 24.
[0024]
Even in the arm operation lever unit 58, the arm cylinder 20 can be expanded and contracted in the same manner by operating the operation lever 58a.
The pilot pressure supply pipe 54 is also provided with a relief pipe 72 extending from the vicinity of the discharge side of the pilot pump 52 toward the hydraulic tank 26, and a relief valve 74 inserted in the relief pipe 72 is supplied with pilot pressure. The pilot pressure in the pipe line 54 is adjusted to a predetermined pressure.
[0025]
Further, a pressure sensor 76 is provided in one pilot pressure line 60 on the boom cylinder 18 side, and the pressure sensor 76 detects the pilot pressure in the pilot pressure line 60 and transmits the pressure signal to the warning controller 78. To do.
Here, the pilot pressure line 60 including the pressure sensor 76 supplies pilot pressure to the pressure receiving portion 66 on the side that switches the boom control valve 44 in the direction in which the boom cylinder 18 is contracted. That is, the pressure sensor 76 constitutes a swing detection means for detecting the contraction of the boom cylinder 18, that is, the swinging motion of the hoisting boom 12 by detecting the pilot pressure in the pilot pressure line 60.
[0026]
In addition to the pressure sensor 76, the tilting detection means may be a switch that detects the operation of the operation lever 56a in the boom operation lever unit 56, an angle sensor that directly detects the tilting motion of the hoisting boom 12 itself, or the like. Good.
Further, in addition to the pressure sensor 76 described above, an angle sensor 80 is also connected to the input side of the warning controller 78. The angle sensor 80 connects the tip of the hoisting boom 12 and the arm 14 as shown in FIG. The angle θ formed between the lower surface of the hoisting boom 12 and the arm 14 is detected and transmitted to the warning controller 78.
[0027]
On the other hand, a buzzer 82 and a lamp 84 as a warning device are electrically connected to the output side of the warning controller 78 , respectively. .
As shown in FIG. 2, the warning controller 78 is a microcomputer including a central processing unit (CPU) 86, a memory 88 such as a ROM and a RAM, and various peripheral devices such as drivers 90 and 92 for a buzzer 82 and a lamp 84. And an alarm is issued to the operator of the excavator via the buzzer 82 and the lamp 84 based on the pressure signal and the angle signal.
[0028]
Specifically, the warning controller 78 repeatedly executes the warning routine shown in FIG. 3 every predetermined control cycle according to the program stored in the memory 88, that is, the ROM, and the buzzer 82 is extinguished and the lamp 84 is turned on. Control the blinking of.
[0029]
Warning routine In the warning routine, first, the angle θ between the hoisting boom 12 and the arm 14 is read based on the angle signal from the angle sensor 80 (step S1). Thereafter, the procedure of steps S2 to S4 and step S5 to step S5 are performed. The procedure of S7 is executed in parallel.
[0030]
In step S2, it is determined whether or not the read angle θ is smaller than a predetermined threshold α (α <90 °). If the determination result here is true (Yes), that is, the angle θ is smaller than the threshold α. In the cloud state of the arm 14 that is also reduced, the deviation Δθα (= α−θ) of the angle θ from the threshold α is calculated (step S3), and the buzzer 82 sounds based on the deviation Δθα. A sound cycle Tα is calculated (step S4). Here, sounding period Tα indicates the time interval at which the buzzer 82 is periodically ringing as shown in FIG. More specifically, the sound generation period Tα is set shorter as the deviation Δθα increases. Incidentally, sounding time T _B of the buzzer 82 in per is constant.
[0031]
On the other hand, in step S5, it is determined whether or not the angle θ is smaller than a predetermined threshold β (β <90 °). If the determination result here is true (Yes), that is, the angle θ is smaller than the threshold β. In the cloud state of the arm 14 that is also reduced, the deviation Δθβ (= β−θ) of the angle θ from the threshold value β is calculated (step S6), and the lamp 84 is turned on based on this deviation Δθβ. The period Tβ is calculated (step S7). Here again, the lighting cycle Tβ indicates the time interval when the lamp 84 is periodically turned on as shown in FIG. 5, and the lighting cycle Tβ is set shorter as the deviation Δθβ increases, Time T _L is constant. The threshold values α and β are stored in the memory 88 in advance.
[0032]
Steps S4 and S7 are followed by step S8, where it is determined whether or not the hoisting boom 12 is lowered based on the pressure signal from the pressure sensor 76 described above. If the determination result in step S8 is true, the warning controller 78 determines that the working posture and operation of the hoisting boom 12 and the arm 14 are not allowed, and extinguishes the buzzer 82 based on the calculated sounding period Tα (step S9). At the same time, the lamp 84 is blinked based on the calculated lighting cycle Tβ (step S10). That is, steps S9 and S10 are performed in parallel.
[0033]
If the determination result in step S2 or S5 is false (No), only the angle θ is read in step S1, and the warning routine is not substantially executed.
Even if the determination result in step S2 or S5 becomes true, the buzzer 82 is not extinguished or the lamp 84 is not blinked immediately. Flashing or lighting is executed.
[0034]
By the way, as the working state of the hydraulic excavator in which the buzzer 82 is extinguished and the lamp 84 is blinked, the rebar frame crushing work accompanying the dismantling of the building can be considered as described above. In this crushing operation, as shown in FIG. 1, the arm 14 is brought into a cloud state, and in this state, the hoisting operation of the hoisting boom 12 is repeated. That is, as the hoisting boom 12 is raised and lowered, the bucket 16 is moved up and down via the arm 14, whereby the ground reinforcing bar frame F is crushed by the bucket 16.
[0035]
During such a crushing operation, when the detected angle θ becomes smaller than the threshold α or β and the hoisting boom 12 is moved down, that is, when the bucket 16 is lowered, based on the magnitude of the deviation Δθα or Δθβ, The buzzer 82 is extinguished or the lamp 84 is blinked. Therefore, if the operator of the excavator repeats the swinging motion of the hoisting boom 12 in the current work situation from the sounding of the buzzer 82 or the blinking of the lamp 84, it may be heard that the full cloud of the arm 14 may be caused. Can be recognized visually or visually, and such a slinging motion can be reliably avoided.
[0036]
Therefore, the arm 14 does not reach the full cloud without being noticed by the operator during the crushing operation, and the above-mentioned crushing operation is executed while the arm 14 is in the full cloud state, and the arm cylinder 20 is excessively large. Therefore, the arm cylinder 20 is not damaged.
Further, each of the sounding cycle Tα of the buzzer 82 or the lighting cycle Tβ of the lamp 84 becomes shorter as the deviation Δθα or Δθβ becomes larger, that is, as the arm 14 becomes closer to the full cloud. The alarm from 84 is strongly transmitted to the operator, and the operator can be made to recognize the current work situation accurately.
[0037]
The present invention is not limited to the above-described embodiment, and various modifications can be made.
For example, the alarm device may be one of the buzzer 82 and the lamp 84.
When both the buzzer 82 and the lamp 84 are used as in the embodiment, the threshold values α and β may be different values or the same value. However, if the threshold value β is set to a value larger than the threshold value α, the buzzer 82 is first extinguished after the lamp 84 starts blinking, which is preferable for alerting the operator. .
[0038]
Further, as the deviations Δθα and Δθβ are increased, the sounding level of the buzzer 82 and the light emission level of the lamp 84 can be increased in addition to shortening the sounding period Tα and the lighting period Tβ. The warning against becomes more effective.
Further, the above-described crushing operation is performed even in a state where a crushing tool is attached to the tip of the arm 14 instead of the bucket 16, but in this case as well, the arm 14 is in an unacceptable cloud state and the hoisting boom 12. There is an alarm buzzer 82 and lamp 84 is likewise issued canceller when it is Fukudo.
[0039]
Furthermore, since not only a crushing operation but also an alarm is generated in any work situation as long as the alarm is to be generated, various operations can be performed safely.
[0040]
【The invention's effect】
As described above, according to the warning control device for a construction machine of the present invention (Claims 1 and 2 ), the angle detection for detecting the cloud state of the arm that may cause the arm to reach the full cloud as the hoisting boom moves down. Based on the detection result from the swing detection means for detecting the swinging motion of the lifting boom and the hoisting boom, it is determined whether or not the working posture and operation of the hoisting boom and the arm are allowed. If the determination result is negative, a warning is given. Since the warning is issued from the device, the operator can take an avoidance operation to avoid the full cloud of the arm during the work, and can safely perform the work without causing damage to the arm cylinder or the like.
[0041]
The warning from the warning device is so generates upon detecting the Fukudo undulations boom, it is possible to effectively alert to the operator.
When the output cycle of warning signal emitted from the alert device is varied by the degree of the cloud states in the arm (claim 3-6), it may be a warning to the operator more appropriately.
[Brief description of the drawings]
FIG. 1 is a view showing a hydraulic excavator as a construction machine.
FIG. 2 is a diagram illustrating a part of a hydraulic circuit including a warning control device according to an embodiment.
FIG. 3 is a flowchart showing a warning routine executed by the warning control device of FIG. 2;
FIG. 4 is a graph showing a buzzer sound pattern as a warning device.
FIG. 5 is a graph showing a lighting pattern of a lamp as a warning device.
[Explanation of symbols]
12 Lifting boom 14 Arm 16 Bucket 18 Boom cylinder 20 Arm cylinder 56 Boom operation lever unit 76 Pressure sensor (slope detection means)
78 Warning controller 80 Angle sensor (angle detection means)
82 Buzzer (warning device)
84 Lamp (warning device)

Claims (6)

An arm is pivotally connected to the tip of the hoisting boom, while a work tool is provided at the tip of the arm, and the hoisting operation of the hoisting boom and the pivoting operation of the arm are performed via a boom cylinder and an arm cylinder , respectively. In a construction machine in which the arm becomes a full cloud in the full stroke state of the arm cylinder ,
An angle detection means for detecting an angle formed between the lower surface of the hoisting boom and the arm;
A swing detection means for detecting the swing of the hoisting boom;
Based on the angle detected by the angle detection means, it is determined that the arm is in a cloud state where the arm may reach the full cloud as the hoisting boom moves down, and the arm is in the cloud state. A controller that outputs a warning signal by determining that the working posture and operation of the hoisting boom and the arm are not permitted when the hoisting boom is detected by the movement detecting means ;
A warning control device for a construction machine, comprising a warning device that generates a warning based on the warning signal. The cloud state of the arm is defined by a threshold value with an angle detected by the angle detection means being smaller than 90 °,
Wherein the controller, the angle is detected angle by detecting means smaller than said threshold value, and, upon detection of the Fukudo of the undulations boom by the Fukudo detecting means, and outputting the warning signal The construction machine warning control device according to claim 1.   The controller includes variable means for making an output cycle of the warning signal variable based on a deviation between the angle and the threshold when the angle is smaller than the threshold. Item 3. The construction machine warning control device according to Item 2.   4. The warning control device for a construction machine according to claim 3, wherein the warning device is a buzzer that makes a sound based on an output cycle of the warning signal.   4. The construction machine warning control device according to claim 3, wherein the warning device is a lamp that is turned on based on an output cycle of the warning signal.   The said warning device is a warning control apparatus of the construction machine of Claim 3 containing the buzzer and lamp which sound and light, respectively, based on the output period of the said warning signal.

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