JP6645321B2 - Construction machinery - Google Patents

Description

The present invention relates to a construction machine provided with an attachment.

  Conventionally, there has been proposed a dismantling work machine that outputs an alarm when a supporting force at a rear stable fulcrum of a ground contact surface of a lower traveling body is equal to or less than a limit value for ensuring safe work (for example, Patent Document 1).

JP-A-6-88358

  By the way, at the time of assembling and disassembling the construction machine, there is a case where the attachment or the counterweight is not attached, and the weight and the center of gravity greatly change. In particular, when some or all of the attachments are not mounted, the weight in front of the machine is reduced, and there is a possibility that the machine falls over.

  In this regard, Patent Literature 1 describes a dismantling work machine that prevents the machine from tipping over a slope, but specifically suppresses the machine from tipping backward when part or all of the attachment is removed. No method is described.

  Then, an object of the present invention is to provide a construction machine which can control that a machine falls down in the state where a part or all of an attachment is removed.

In order to achieve the above object, the present invention is a construction machine, a lower traveling body having a pair of crawlers that can expand and contract in a direction perpendicular to a traveling direction, and a pair of crawlers in an expanded state and a contracted state. An enlargement / reduction detection unit that detects which state is being set ; an upper revolving unit that is provided above the lower traveling unit and to which a counterweight can be attached and detached ; and whether the counterweight is mounted on the upper revolving unit. A counter weight attachment / detachment detection unit, an attachment connected to the upper revolving unit, the attachment being connected to a plurality of pieces, a wiring for detecting a connection state of the plurality of pieces, and a machine body. comprising a tilt angle sensor for detecting a tilt angle, and a control unit, said control unit, based on the connection state of the wiring, the attachment is fully assembled condition It determines whether, if the attachment is determined to the not fully assembled state, sets the backward fall prevention mode for executing a predetermined operation for suppressing tipping to the machine rear, the rear tipping prevention mode In the case where it is determined that the pair of crawlers is in the reduced state based on the detection result by the enlargement / reduction detection unit, and it is determined that the counter weight is attached based on the detection result by the counter weight attachment / detachment detection unit Prohibits the running operation and prohibits the turning operation, determines that the pair of crawlers are in the contracted state based on the detection result by the enlargement / reduction detection unit in the backward fall prevention mode, and It is determined that the counter weight is not attached based on the detection result by the detection unit, and the inclination angle sensor is determined. The tilt angle based on a detection result when it is determined to exceed the predetermined angle provides a construction machine, characterized in that prohibiting and prohibit the traveling operation said turning operation by.

  In addition, it is preferable that the control unit determines that the attachment is not in the assembly completed state when a tip piece constituting the attachment is not connected.

Further, the control unit determines that the pair of crawlers is in the expanded state based on a detection result by the enlargement / reduction detection unit in the backward fall prevention mode, and the counter based on a detection result by the counter weight attachment / detachment detection unit. When it is determined that a weight is attached and it is determined that the inclination angle exceeds a predetermined angle based on the detection result by the inclination angle sensor, the traveling operation is prohibited while the turning operation is permitted. it is preferable to.

Further, the control unit determines that the pair of crawlers is in the expanded state based on a detection result by the enlargement / reduction detection unit in the backward fall prevention mode, and the counter based on a detection result by the counter weight attachment / detachment detection unit. When it is determined that a weight is mounted, and when it is determined that the inclination angle is equal to or less than a predetermined angle based on the detection result by the inclination angle sensor, the traveling operation and the turning operation are permitted, In the backward fall prevention mode, the pair of crawlers is determined to be in the expanded state based on the detection result by the expansion / contraction detection unit, and the counter weight is not attached based on the detection result by the counter weight attachment / detachment detection unit. If it is determined, the traveling operation is permitted and the turning operation is permitted, and the backward fall prevention is performed. In the mode, it is determined that the pair of crawlers is in the contracted state based on the detection result by the enlargement / reduction detection unit, and it is determined that the counter weight is not attached based on the detection result by the counter weight attachment / detachment detection unit, When it is determined that the inclination angle is equal to or smaller than a predetermined angle based on the detection result of the inclination angle sensor, it is preferable that the traveling operation is permitted and the turning operation is permitted .

Further, the construction machine further comprises an alarm output unit, in the rear fall prevention mode, the control unit preferably instructs the output of the alarm before Symbol alarm output unit as a said predetermined operation.

  ADVANTAGE OF THE INVENTION According to this invention, it is possible to suppress that a machine falls down in the state where some or all of an attachment is removed.

The side view showing the dismantling machine by an embodiment of the present invention. The side view which shows the dismantling machine which turned the upper revolving superstructure 90 degrees rightward from the state shown in FIG. FIG. 3 is a functional block diagram including a controller. 9 is a flowchart illustrating an operation in a backward fall prevention mode. 5 is a table showing the control contents of a traveling operation and a turning operation according to each condition. FIG. 9 is a diagram for explaining a control method according to a first modification. The figure for explaining the control method concerning the 2nd modification.

<1. Embodiment>
A construction machine according to an embodiment of the present invention will be described with reference to FIGS. Hereinafter, a dismantling machine 1 shown in FIG. 1 will be exemplified as an example of a construction machine.

  As shown in FIG. 1, a dismantling machine 1 includes a crawler-type lower traveling body 2 and an upper revolving superstructure 3. The upper revolving unit 3 is mounted on the lower traveling unit 2 and is capable of revolving around the vertical axis with respect to the lower traveling unit 2.

  As shown in FIG. 2, the lower traveling body 2 includes a pair of crawlers 21A and 21B that are mounted at an interval in the direction DR2. Note that the direction DR2 is a direction orthogonal to the traveling direction DR1 (FIG. 1) of the crawlers 21A and 21B.

  The pair of crawlers 21A and 21B are configured to be able to expand and contract in the direction DR2 by a hydraulic cylinder (not shown). Hereinafter, the state where the pair of crawlers 21A and 21B are expanded is also simply referred to as “expanded state”. The state in which the pair of crawlers 21A and 21B are contracted is also simply referred to as a "reduced state".

  As shown in FIGS. 1 and 2, the upper swing body 3 includes a work attachment 5 and a counter weight 4 for maintaining a balance in the machine longitudinal direction.

  The attachment 5 includes a boom 51, an arm 53 connected to a tip of the boom 51, and a crusher 55 connected to a tip of the arm 53. Here, the boom 51, the arm 53, and the crusher 55 are sequentially connected and assembled from the base end to the distal end in this order. The boom 51, the arm 53, and the crusher 55 are examples of a plurality of pieces according to the present invention.

  The dismantling machine 1 is provided with a controller 6 for controlling a fall prevention mode including a forward fall prevention mode and a rear fall prevention mode.

  The forward fall prevention mode is a mode for preventing the dismantling machine 1 from falling forward when the attachment 5 is mounted. The backward fall prevention mode is a mode for preventing the dismantling machine 1 from falling backward when the attachment 5 is not mounted or when the attachment 5 is assembled.

  As shown in FIG. 3, the controller 6 includes a wiring 50, a traveling hydraulic circuit 20, a turning hydraulic circuit 30, an inclination angle sensor 71, a crawler enlargement / reduction detection unit 72, and a counterweight attachment / detachment detection unit 73. , An alarm 81 and a display monitor 83 are connected.

  The wiring 50 is used to determine whether or not the attachment 5 is in an assembly completed state. Here, the assembly completed state refers to a state in which the boom 51, the arm 53, and the crusher 55 that constitute the attachment 5 are all connected. Therefore, for example, even when the connection between the boom 51 and the arm 53 is completed, if the crusher 55 is not connected, the attachment 5 cannot be said to be in the assembly completed state. As described above, in the present embodiment, it is determined that the attachment 5 is in the assembly completed state only after the crusher 55 that is the tip piece is connected.

  More specifically, when all the pieces (the boom 51, the arm 53, and the crusher 55) constituting the attachment 5 are connected, the wiring 50 is closed and becomes conductive. On the other hand, when any one of the pieces of the wiring 50 is not connected, the circuit is opened and becomes non-conductive. Therefore, the controller 6 determines that the attachment 5 is in the assembled state when the wiring 50 is in the conductive state, and determines that the attachment 5 is not in the assembled state when the wiring 50 is in the non-conductive state.

  When the controller 6 determines that the attachment 5 is in the assembly completed state, the controller 6 sets the overturn prevention operation mode to the above-described forward overturn prevention mode. On the other hand, when the controller 6 determines that the attachment 5 is not in the assembly completed state, the controller 6 sets the overturn prevention operation mode to the above-mentioned backward overturn prevention mode.

  The traveling hydraulic circuit 20 is a hydraulic circuit for controlling traveling of the lower traveling body 2.

  The turning hydraulic circuit 30 is a hydraulic circuit for controlling turning of the upper turning body 3.

  The inclination angle sensor 71 is a sensor for detecting an inclination angle of the dismantling machine 1 with respect to a horizontal plane.

  The crawler enlargement / reduction detection unit 72 is a processing unit that detects whether the pair of crawlers 21A and 21B is in an expanded state or a reduced state.

  The counter weight attachment / detachment detection unit 73 is a processing unit that detects whether or not the counter weight 4 is attached.

  The alarm device 81 is a device that outputs an alarm according to an instruction from the controller 6.

  The display monitor 83 is a device that displays various information in response to an instruction from the controller 6.

  Next, the control contents of the controller 6 in the backward fall prevention mode will be described with reference to the flowchart of FIG. It is assumed that the controller 6 repeatedly executes the process of the flowchart shown in FIG. 4 at predetermined intervals in the backward fall prevention mode.

  First, in step S <b> 1, the controller 6 determines the state of expansion and contraction of the pair of crawlers 21 </ b> A and 21 </ b> B based on the detection result by the crawler expansion and contraction detection unit 72. Here, if it is determined that the pair of crawlers 21A and 21B are in the expanded state, the process proceeds to step S2. On the other hand, when it is determined that the pair of crawlers 21A and 21B are in the reduced state, the process proceeds to step S3. Hereinafter, the processing after step S2 will be described first, and then the processing after step S3 will be described.

  In step S2, the controller 6 determines whether or not the counterweight 4 is attached based on the detection result of the counterweight attachment / detachment detection unit 73. Here, if it is determined that the counterweight 4 is attached, the process proceeds to step S4. On the other hand, if it is determined that the counterweight 4 is not mounted, the process proceeds to step S7 described below.

  In step S4, the controller 6 determines whether or not the inclination angle of the dismantling machine 1 exceeds a predetermined value (here, 16.7 °) based on the inclination angle from the inclination angle sensor 71. Here, if it is determined that the inclination angle exceeds the predetermined value, the process proceeds to step S6. On the other hand, when it is determined that the inclination angle does not exceed the predetermined value (that is, is equal to or less than the predetermined value), the process proceeds to step S7.

  In step S6, the controller 6 controls the traveling hydraulic circuit 20 to prohibit the lower traveling body 2 from traveling, while controlling the turning hydraulic circuit 30 to allow the upper revolving body 3 to pivot.

  In step S7, the controller 6 controls the traveling hydraulic circuit 20 to allow the lower traveling body 2 to travel, and controls the turning hydraulic circuit 30 to permit the upper revolving body 3 to pivot.

  Subsequently, processing after step S3 will be described.

  In step S3, the controller 6 determines whether or not the counter weight 4 is attached based on the detection result by the counter weight attachment / detachment detection unit 73. Here, if it is determined that the counterweight 4 is not attached, the process proceeds to step S5. On the other hand, if it is determined that the counterweight 4 is attached, the process proceeds to step S8 described below.

  In step S5, the controller 6 determines whether or not the inclination angle of the dismantling machine 1 exceeds a predetermined value (here, 16.7 °) based on the inclination angle from the inclination angle sensor 71. Here, if it is determined that the inclination angle exceeds the predetermined value, the process proceeds to step S8 described below. On the other hand, when it is determined that the inclination angle does not exceed the predetermined value (that is, is equal to or less than the predetermined value), the process proceeds to step S7 described above.

  In step S8, the controller 6 controls the traveling hydraulic circuit 20 to prohibit the lower traveling body 2 from traveling, and controls the turning hydraulic circuit 30 to prohibit the upper revolving body 3 from turning.

  In FIG. 5, the control contents according to the processing of the flowchart of FIG. 4 are shown in a table. As shown in FIG. 5, combinations of the traveling operation and the turning operation are classified into six patterns PT1 to PT6 in total.

  As described above, according to the present embodiment, the process of the flowchart of FIG. 4 is executed in the backward fall prevention mode, and thus, when the attachment 5 is partially or entirely removed, the machine is prevented from falling backward. It is possible to

  Further, in the present embodiment, when at least one piece constituting the attachment 5 is missing, the wiring 50 becomes non-conductive, so that it is possible to reliably detect that the attachment 5 is disconnected. Therefore, it is possible to reliably determine whether or not the attachment 5 is in the assembly completed state.

<2. Modification>
The construction machine according to the present invention is not limited to the embodiments described above, and various modifications and improvements can be made within the scope described in the claims.

  For example, in the above embodiment, the case where the traveling of the lower traveling body 2 and the turning of the upper revolving superstructure 3 are prohibited when a specific condition is satisfied, is not limited thereto, and the alarm 81 issues an alarm. It may be output. Specifically, in step S6 of FIG. 4, an alarm indicating that the traveling of the lower traveling body 2 is dangerous may be output from the alarm 81. In addition, in step S8 in FIG. 4, an alarm indicating that both the traveling of the lower traveling body 2 and the turning of the upper rotating body 3 are dangerous may be output from the alarm 81.

  According to such a modification, it is possible to inform the operator of the danger of falling backward. Further, only when the backward fall prevention mode is set, the warning about the backward fall is output, so that the operator does not have to confuse which direction is the forward or backward direction.

  Further, a warning may be displayed on the display monitor 83 instead of prohibiting running or turning. Specifically, in step S6 of FIG. 4, a warning indicating that the traveling of the lower traveling body 2 is dangerous may be output to the display monitor 83. In step S8 of FIG. 4, a warning indicating that both the traveling of the lower traveling body 2 and the turning of the upper rotating body 3 are dangerous may be output to the display monitor 83.

  As described above, according to the alarm output via the alarm 81 and the warning display via the display monitor 83, it is not necessary to add a hydraulic device for control, and the cost can be reduced.

  In the above embodiment, the traveling of the lower traveling unit 2 and the turning of the upper revolving unit 3 are controlled based on the expanding / contracting state of the pair of crawlers 21A and 21B, the presence or absence of the counterweight 4, and the inclination angle of the dismantling machine 1. However, the present invention is not limited to this.

  For example, the stability of the dismantling machine 1 may be calculated by detecting the attitude of the attachment 5, and the traveling of the lower traveling body 2 and the turning of the upper revolving body 3 may be controlled in consideration of the stability. Note that the stability of the dismantling machine 1 may be calculated based on a detection signal from an angle detector attached to the boom 51 or the arm 53 as in the related art.

  Alternatively, the traveling of the lower traveling body 2 and the turning of the upper revolving body 3 are controlled by further considering whether the front-rear direction of the machine body of the demolition machine 1 and the traveling direction of the lower traveling body 2 match. You may. This is because, when the front-rear direction of the machine body of the dismantling machine 1 is perpendicular to the traveling direction of the lower traveling body 2, the danger of falling backward is higher than in the case where the two coincide.

  Alternatively, the traveling of the lower traveling unit 2 and the turning of the upper revolving unit 3 may be controlled by further taking into account the supporting force R1 of the rear overturn support point 23 shown in FIG. This is because when the supporting force R1 increases, the risk of falling backward increases.

  Alternatively, as shown in FIG. 7, the lower part is further taken into consideration whether or not an angle β formed by a line connecting the rearward fulcrum 23 and the position of the center of gravity GA of the dismantling machine 1 to a vertical line is equal to or smaller than a predetermined angle α. The traveling of the traveling body 2 and the turning of the upper rotating body 3 may be controlled. This is because, when the angle β is equal to or less than the predetermined angle α, the risk of falling backward becomes high.

  As described above, the construction machine according to the present invention is suitable for a dismantling machine or the like having a work attachment.

1 dismantling machine, 2 undercarriage, 3 revolving superstructure, 4 counterweight,
5 attachments, 6 controllers, 20 traveling hydraulic circuits,
21A, 21B a pair of crawlers, 23 a rear fulcrum, 30 a turning hydraulic circuit,
50 wiring, 51 boom, 53 arm, 55 crusher, 71 tilt angle sensor,
72 crawler enlargement / reduction detection unit, 73 counter weight attachment / detachment detection unit, 81 alarm
83 display monitor, GA center of gravity position, R1 support force, α predetermined angle, β angle

Claims (5)

A construction machine,
A lower traveling body having a pair of crawlers that can expand and contract in a direction perpendicular to the traveling direction ,
An enlargement / reduction detection unit that detects whether the pair of crawlers is in an expanded state or a reduced state.
An upper revolving superstructure provided on the upper side of the lower traveling structure and capable of attaching and detaching a counter weight ;
A counter weight attachment / detachment detection unit that detects whether the counter weight is attached to the upper swing body,
An attachment connected to the upper revolving unit, wherein the plurality of pieces are connected;
Wiring for detecting the connection state of the plurality of pieces,
An inclination sensor for detecting the inclination of the machine body,
A control unit;
With
The control unit includes:
Based on the connection state of the wiring, determine whether the attachment is in an assembly completed state,
If it is determined that the attachment is not in the assembly completed state, set a backward fall prevention mode to execute a predetermined operation for suppressing the fall to the rear of the machine ,
In the backward fall prevention mode, the pair of crawlers is determined to be in the contracted state based on the detection result by the enlargement / reduction detection unit, and the counter weight is mounted based on the detection result by the counter weight attachment / detachment detection unit. If determined, the traveling operation is prohibited and the turning operation is prohibited,
In the backward fall prevention mode, the pair of crawlers is determined to be in the contracted state based on the detection result by the enlargement / reduction detection unit, and the counter weight is not attached based on the detection result by the counter weight attachment / detachment detection unit. A construction machine for prohibiting the traveling operation and prohibiting the turning operation when it is determined that the inclination angle exceeds a predetermined angle based on the detection result by the inclination angle sensor. .   In the backward fall prevention mode, the control unit determines that the pair of crawlers is in the expanded state based on the detection result by the expansion / contraction detection unit, and sets the counter weight based on the detection result by the counter weight attachment / detachment detection unit. If it is determined that the vehicle is mounted and it is determined that the inclination angle exceeds a predetermined angle based on the detection result of the inclination angle sensor, the traveling operation is prohibited while the turning operation is permitted. The construction machine according to claim 1, wherein:   The control unit includes:
    In the backward fall prevention mode, the pair of crawlers is determined to be in the expanded state based on the detection result by the expansion / contraction detection unit, and the counterweight is mounted based on the detection result by the counterweight attachment / detachment detection unit. It is determined, when it is determined that the inclination angle is equal to or less than a predetermined angle based on the detection result by the inclination angle sensor, the traveling operation is allowed and the turning operation is allowed,
    In the backward fall prevention mode, the pair of crawlers is determined to be in the expanded state based on the detection result by the expansion / contraction detection unit, and the counter weight is not attached based on the detection result by the counter weight attachment / detachment detection unit. If determined, permit the traveling operation and allow the turning operation,
    In the backward fall prevention mode, the pair of crawlers is determined to be in the contracted state based on the detection result by the enlargement / reduction detection unit, and the counter weight is not attached based on the detection result by the counter weight attachment / detachment detection unit. The method according to claim 1, wherein, when it is determined that the inclination angle is equal to or less than a predetermined angle based on a detection result of the inclination angle sensor, the traveling operation and the turning operation are permitted. Or the construction machine according to 2. The construction machine according to any one of claims 1 to 3, wherein the control unit determines that the attachment is not in the assembly completed state when a tip piece constituting the attachment is not connected. The construction machine further comprises an alarm output unit,
Wherein in a backward fall prevention mode, the control unit, the construction machine according to claim 1, any one of 4, characterized in that an instruction output of the alarm before Symbol alarm output unit as a said predetermined operation.

Images