JP7377626B2 - construction machinery - Google Patents

Description

The present disclosure relates to construction machinery.

As shown in Patent Document 1, construction machines such as backhoes include an upper rotating body that is rotatably supported with respect to the lower traveling body, and a working machine such as a hydraulic excavator that is attached to the front part of the upper rotating body. have Patent Document 1 describes providing a camera and a monitor that projects an image of the camera on the wall and ceiling of a cabin containing a driver's seat.

Patent Document 2 describes that an obstacle sensor is attached to the rear part of the upper rotating body.

Japanese Patent Application Publication No. 2016-212503 Japanese Patent Application Publication No. 2001-262628

However, when the obstacle sensor is placed at the rear of the revolving upper body of a micro-swing type hydraulic excavator, depending on the size of the obstacle sensor, there is a risk that it may protrude from the rear end of the revolving upper body and be damaged during turning. Further, since the construction machine of Patent Document 1 is large, there is a high degree of freedom in the location where the obstacle sensor is attached, and there is no trade-off problem between securing the rear view of the cabin and the location where the obstacle sensor is installed.

The purpose of the construction machine of Patent Document 2 is to secure visibility in a construction machine in which the driver's seat is covered with a shielding material, and there is no disclosure about the installation structure when installing an obstacle sensor in a micro-swing hydraulic excavator. .

In addition, ultra-small swing construction machines are often transported on trucks, and there are legal restrictions on the maximum height when loaded on a truck. Therefore, it is difficult to install the obstacle sensor in the upper part of the cabin.

The present disclosure has been made with a focus on such issues, and the purpose is to solve the trade-off problem between securing the rear visibility of the driver's seat and the installation location of the obstacle sensor in an ultra-small swing type hydraulic excavator. Our goal is to provide construction machinery that solves the following problems.

The construction machine of the present disclosure includes an undercarriage body, an upper revolving body rotatably supported with respect to the undercarriage body, an engine disposed at the rear of the upper revolving body, and an engine disposed above the engine. a cabin that covers the driver's seat from above; and a plurality of obstacle sensors that detect obstacles; the cabin includes a cabin ceiling that covers above the driver's seat; two cabin columns that stand up at and support the cabin ceiling, and at least one of the plurality of obstacle sensors connects a virtual line connecting the lower parts of the two cabin columns and the cabin ceiling in a rear view. They are arranged along an axis parallel to at least one of the struts.

According to this configuration, a space for viewing the rear is formed between the two cabin pillars behind the driver's seat, and the rear of the driver's seat can be included in the field of vision. Furthermore, one or more obstacle sensors are arranged along an axis parallel to at least one of the imaginary line connecting the lower parts of the two cabin columns and the cabin column, so that the plurality of obstacle sensors can be connected to the driver's seat. It is possible to prevent the rear view from being obstructed.

A side view showing the construction machine of the first embodiment Plan view schematically showing the upper revolving body and internal equipment Rear view showing the structure around the rear of the cabin Perspective view showing the structure around the rear of the cabin Exploded perspective view showing a fixture that supports the obstacle sensor Plan view showing the detection area of the obstacle sensor Rear view showing the rear peripheral structure of the cabin of the second embodiment Rear view showing the rear peripheral structure of the cabin of the third embodiment A perspective view showing the rear peripheral structure of the cabin of the third embodiment Exploded perspective view showing a fixture that supports the obstacle sensor

<First embodiment>
Hereinafter, a construction machine according to a first embodiment of the present disclosure will be described with reference to the drawings.

[Structure of construction machinery]
As shown in FIG. 1, a schematic structure of a backhoe 1 as an example of a construction machine will be described. However, the construction machine is not limited to the backhoe 1. The backhoe 1 includes a lower traveling body 2, a working machine 3, and an upper revolving body 4. An upper rotating body 4 is rotatably supported by the lower traveling body 2, and a working machine 3 is attached to the upper rotating body 4.

The lower traveling body 2 is driven by receiving power from the engine 42 and causes the backhoe 1 to travel. The lower traveling body 2 includes a pair of left and right crawlers 21, 21 and a pair of left and right travel motors 22R, 22L. Left and right travel motors 22R and 22L, which are hydraulic motors, drive left and right crawlers 21 and 21, respectively, thereby enabling the backhoe 1 to move forward and backward. Further, the lower traveling body 2 is provided with a blade 23 and a blade cylinder 24 which is a hydraulic actuator for vertically rotating the blade 23.

The work machine 3 is driven by receiving power from an engine 42 and performs excavation work of earth and sand. The work machine 3 includes a boom 31, an arm 32, and a bucket 33, and enables excavation work by driving these independently. The boom 31, the arm 32, and the bucket 33 each correspond to a working part, and the backhoe 1 has a plurality of working parts.

The boom 31 has a base end supported rotatably in the vertical direction by the front part of the upper revolving structure 4, and is rotated by a telescopically movable boom cylinder 31a. Further, the arm 32 has a base end supported by the distal end of the boom 31 and is rotated by an arm cylinder 32a that is movable telescopically. The bucket 33 has its base end supported by the distal end of the arm 32 and is rotated by a telescopically movable bucket cylinder 33a. The boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a correspond to a hydraulic actuator that drives the working section. A multi-joint structure is formed by the boom 31 and the arm 32, and the boom 31 is disposed at the most proximal end of the elements constituting the multi-joint structure.

The upper rotating body 4 is configured to be able to rotate relative to the lower traveling body 2 via a swing bearing (not shown). A cabin 41, an engine 42, a swivel base 43, a swivel motor 44, and the like are arranged in the upper revolving body 4. The upper rotating structure 4 is rotated by the driving force of a swing motor 44, which is a hydraulic motor, via a swing bearing (not shown). Moreover, a plurality of hydraulic pumps (not shown) driven by the engine 42 are arranged in the upper revolving structure 4 . These hydraulic pumps supply hydraulic oil to the boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a.

2 is a plan view of the upper revolving body 4, FIG. 3 is a rear view showing the structure around the rear part of the cabin 41, and FIG. 4 is a perspective view showing the structure around the rear part of the cabin 41. In the figure, the front FD, rear BD, right RD, left LD, and upper UD are indicated by arrows. It shows the direction from the cabin 41 towards the work machine 3.

As shown in FIG. 2, the working machine 3 is attached to the front part of the revolving upper structure 4. An engine 42 is arranged behind the working machine 3 in the upper revolving structure 4. The cabin 41 is arranged on the left side of the upper revolving body 4 in plan view. A hydraulic oil tank 46 that stores hydraulic oil to be supplied to the hydraulic actuators (boom cylinder 31a, arm cylinder 32a, bucket cylinder 33a) constituting the work machine 3 and a fuel tank 48 that stores fuel for the engine 42 are shown in plan view. It is arranged on the right side of the upper revolving body 4. The cabin 41 and the hydraulic oil tank 46 are spaced apart from each other in the left-right direction. In this embodiment, the cabin 41 is arranged on the left side of the upper revolving structure 4, and the hydraulic oil tank 46 is arranged on the right side of the upper revolving structure 4, but the present invention is not limited thereto. If the cabin 41 is arranged on either the left or right side of the upper revolving structure 4 and the hydraulic oil tank 46 is arranged on the other, for example, the cabin 41 is arranged on the right side of the upper revolving structure 4. In addition, the hydraulic oil tank 46 may be arranged on the left side of the revolving upper structure 4. As shown in FIG. 2, a rear bonnet 47 for housing an engine 42 is provided at the rear of the cabin 41. A side bonnet 49 that accommodates a fuel tank 48 and a hydraulic oil tank 46 is provided on the side of the cabin 41.

As shown in FIGS. 2, 3, and 6, an exhaust pipe 45 for discharging exhaust gas from the engine 42 is arranged at the rear right side of the upper revolving structure 4. The exhaust pipe 45 is arranged on the side of the cabin 41. The position of the exhaust pipe 45 changes depending on the size of the engine 42, and there are models in which the exhaust pipe 45 is arranged at the rear of the cabin 41.

A driver's seat 411 is arranged above the engine 42. A pair of work operation levers 412, 412 are arranged on the left and right sides of the driver's seat 411, and a pair of travel levers 413, 413 are arranged in front of the driver's seat 411. The operator sits in the driver's seat 411 and controls the engine 42, each hydraulic motor, each hydraulic actuator, etc. by operating the work operation levers 412, 412, travel levers 413, 413, etc., and performs travel, turning, and work. etc. can be done.

As shown in FIGS. 1 to 4, the cabin 41 covers the driver's seat 411 at least from above. The cabin 41 includes a cabin ceiling 41a that covers above the driver's seat 411, and a frame 41b that supports the cabin ceiling 41a. The frame body 41b includes two cabin supports 41c that stand up behind the driver's seat 411. As shown in FIG. 3, the frame body 41b has a rectangular portion in rear view including two cabin supports 41c and a cabin beam 41d, and a transparent plate 41e such as glass that is attached to the rectangular portion as a window. . In this way, a space for viewing the rear is formed between the two cabin columns 41c behind the driver's seat 411. Note that the cabin 41 does not have to be a box type that surrounds the driver's seat 411 shown in FIGS. 1 to 3 as long as there are at least two cabin supports 41c behind the driver's seat 411.

As shown in FIGS. 1 to 4, a plurality of obstacle sensors 5 are provided at the rear of the cabin 41 to detect obstacles. In this embodiment, three obstacle sensors 5 are provided, but the number can be changed. As shown in FIG. 3, at least two of the plurality of obstacle sensors 5 are parallel to at least one of the cabin support 41c and an imaginary line C1 connecting the lower portions of the two cabin supports 41c in rear view. arranged along the axis. In FIG. 3, the first obstacle sensor 51 and the second obstacle sensor 52 are arranged along an axis C3 parallel to the virtual line C1. All sensors 5 are arranged below the maximum height of the cabin 41.

Further, a second obstacle sensor 52 and a third obstacle sensor 53 are arranged along an axis C2 parallel to the cabin support column 41c. That is, at least two obstacle sensors 5 (second obstacle sensor 52, third obstacle sensor 53) are arranged along either of the two cabin columns 41c. Also, at least two obstacle sensors 5 (second obstacle sensor 52, third obstacle sensor 53) are arranged along the cabin pillar 41c on the hydraulic oil tank 46 side (right RD) of the two cabin pillars 41c. It is located.

As shown in FIG. 6, the plurality of obstacle sensors 5 include a first obstacle sensor 51, a second obstacle sensor 52, and a third obstacle sensor 53. The first obstacle sensor 51 has a detection area Ar1 at the rear of the cabin 41 side (left LD). The second obstacle sensor 52 has a detection area Ar2 at the rear of the hydraulic oil tank 46 side (right side RD). The third obstacle sensor 53 has a detection area Ar3 on the side and in front of the hydraulic oil tank 46 side (right RD). In this way, by excluding the area with good visibility from the driver's seat 411 of the cabin 41 (the front of the vehicle body and the side (left LD) on the cabin 41 side) from the detection area of the plurality of obstacle sensors 5, It becomes possible to reduce or minimize the number of obstacle sensors 5 installed.

In this embodiment, the obstacle sensor 5 is a TOF camera (TOF camera) that has a light source and acquires distance information based on the time it takes for the light emitted from the light source to reflect on the obstacle and the reflected light to reach the image sensor. of-Flight Camera), but it is not limited to this as long as it can detect obstacles. For example, the obstacle sensor 5 may be a camera with a built-in imaging device such as a CMOS device or a CCD device, and the operator may determine the presence or absence of an obstacle based on the image captured by the camera. Further, instead of the operator's judgment, the computer may acquire the brightness, hue value, and saturation value for each pixel to determine the obstacle. Alternatively, the distance information of the obstacle may be acquired using a stereo camera that is integrally equipped with the photographing functions of two cameras. Alternatively, it may be a millimeter wave radar that acquires distance information using radio waves in the millimeter wave band.

As shown in FIG. 2, the outer edges 5a of the plurality of obstacle sensors 5 are located inside the rear edge 47a of the rear bonnet 47 in plan view. This arrangement can prevent the obstacle sensor 5 from coming into contact with an obstacle when the revolving upper structure 4 turns.

The cabin 41 is fixed to the upper revolving body 4 via a vibration isolating member, thereby being supported in a vibration-proof manner. As shown in FIGS. 4 and 5, the plurality of obstacle sensors 5 are attached to the cabin 41 via fixtures 6, and are fixed using the cabin 41 as a scaffold. With this configuration, it is possible to make it difficult for vibrations and shocks to be transmitted from the main unit of the backhoe 1 to the obstacle sensor 5.

The fixture 6 of the obstacle sensor 5 will be explained using FIGS. 4 and 5. As shown in FIG. 5, two upper and lower cabin beams 41d constituting the frame 41b and the right RD cabin support column 41c are fixed. A stay 60 is fixed to the right RD cabin column 41c with bolts, and a third obstacle sensor 53 is fixed to the stay 60. A first fixing bar 61 extending in the left-right direction is fixed to the lower cabin beam 41d with bolts. A cabin support column 41c of the left LD is fixed with a bolt between the first fixed crosspiece 61 and the cabin beam 41d of the upper UD. A second fixing crosspiece 62 extending in the left-right direction is fixed with bolts between the left and right cabin columns 41c. A stay 63 for fixing the first obstacle sensor 51 and the second fixing bar 62 is fixed to the first fixing bar 61 and the second fixing bar 62 with bolts. The first fixed bar 61 and the second fixed bar 62 are parallel to each other. A plurality of bolt holes or bolt holes 61a with nuts are formed in the first fixing beam 61 at intervals in the left-right direction. A plurality of bolt holes or bolt holes 62a with nuts are formed in the second fixing beam 62 at intervals in the left-right direction. With this structure, by selecting the bolt holes 61a and 62a for fixing the stay 63, the mounting position of the stay 63 can be changed in the left-right direction, and as a result, the position of the first obstacle sensor 51 and the second fixing crosspiece 62 can be changed. It becomes possible to change the mounting position in the left and right direction.

<Second embodiment>
A construction machine according to a second embodiment of the present disclosure will be described. FIG. 7 is a rear view of the rear peripheral structure of the cabin 41 of the backhoe 1 according to the second embodiment. As shown in FIG. 7, in the backhoe 1 of the second embodiment, an exhaust pipe 45 that discharges exhaust gas from the engine 42 is arranged at the rear of the cabin 41. Therefore, the detection areas Ar1 and Ar2 of the first obstacle sensor 51 and the second obstacle sensor 52 for detecting rear obstacles may interfere with the exhaust pipe 45, and the detection area may become narrow. Therefore, as shown in FIG. 7, the first obstacle sensor 51 is arranged on the side (left LD) closer to the cabin 41 than the second obstacle sensor 52, and the first obstacle sensor 51 and the second obstacle sensor Obstacle sensors 52 are arranged in the left-right direction but not in the vertical direction. The exhaust pipe 45 is disposed between the first obstacle sensor 51 and the second obstacle sensor 52 when viewed from the rear. With this arrangement, it is possible to prevent the exhaust pipe 45 from interfering with the detection areas Ar1 and Ar2 of the first obstacle sensor 51 and the second obstacle sensor 52, thereby preventing the detection areas from becoming narrower.

<Third embodiment>
A construction machine according to a third embodiment of the present disclosure will be described. FIG. 8 is a rear view showing the structure around the rear part of the cabin 41 of the backhoe 1 according to the third embodiment. FIG. 9 is a perspective view showing peripheral structures of the cabin 41. FIG. 10 is an exploded perspective view showing the fixture 106 of the obstacle sensor 5. As shown in FIG. As shown in FIGS. 8 to 10, all the obstacle sensors 5 (first obstacle sensor 51, second obstacle sensor 52, and third obstacle sensor 53) are one of the two cabin supports 41c in rear view. It is arranged along the cabin column 41c on the hydraulic oil tank 46 side (right RD). That is, it is arranged along the axis C2 parallel to the cabin support column 41c on the hydraulic oil tank 46 side (right side RD). As shown in FIG. 10, the first obstacle sensor 51, the second obstacle sensor 52, and the third obstacle sensor 53 are fixed to a fixture 106, which is a stay, with bolts. It is fixed to the side (right RD) cabin pillar 41c. According to this configuration, all the obstacle sensors 5 (the first obstacle sensor 51, the second obstacle sensor 52, and the third obstacle sensor 53) are arranged radially around the cabin support 41c or an axis parallel to the cabin support 41c. This is preferable for reducing blind spots in the detection area of the obstacle sensor 5. Moreover, since all the obstacle sensors 5 are fixed with one fixture 106, it is possible to simplify the work of attaching the obstacle sensors 5 and the fixture 106.

As described above, the construction machine of the first, second or third embodiment is
a lower running body 2;
an upper rotating body 4 rotatably supported with respect to the lower traveling body 2;
an engine 42 disposed at the rear of the upper revolving structure 4;
A driver's seat 411 located above the engine 42;
A cabin 41 that covers the driver's seat 411 from above;
A plurality of obstacle sensors 5 for detecting obstacles,
The cabin 41 has a cabin ceiling 41a that covers above the driver's seat 411, and two cabin columns 41c that stand up behind the driver's seat 411 and support the cabin ceiling 41a,
At least one of the plurality of obstacle sensors 5 is arranged along an axis (C2, C3) parallel to at least one of the cabin supports 41c and an imaginary line C1 connecting the lower portions of the two cabin supports 41c in rear view. ing.

According to this configuration, a space for viewing the rear is formed between the two cabin columns 41c behind the driver's seat 411, and the rear of the driver's seat 411 can be included in the field of vision. Furthermore, one or more obstacle sensors 5 are arranged along the axis (C2, C3) parallel to at least one of the imaginary line C1 connecting the lower parts of the two cabin columns 41c and the cabin column 41c. , it is possible to prevent the plurality of obstacle sensors 5 from blocking the view behind the driver's seat.

As in the first, second, or third embodiment, a plurality of obstacle sensors 5 (a first obstacle sensor 51, a second obstacle sensor 52, and a third obstacle sensor 53) are installed in a vibration-proof supported cabin. 41 as a scaffold.

According to this configuration, since the cabin 41 is supported in a vibration-proof manner, vibrations and shocks coming from the machine are less likely to be transmitted to the obstacle sensor 5, and the failure rate of the obstacle sensor 5 can be reduced. Further, since the obstacle sensor 5 is not attached to the rear bonnet 47, it becomes easy to design a structure in which the rear bonnet 47 and the obstacle sensor 5 do not interfere with each other when the rear bonnet 47 is opened or closed.

As in the first, second, or third embodiment, the rear bonnet 47 that accommodates the engine 42 is provided, and the outer edge 5a of the plurality of obstacle sensors 5 is inside the rear edge 47a of the rear bonnet 47 in plan view. It is preferable that the

According to this configuration, it is possible to prevent the obstacle sensor 5 from coming into contact with an obstacle and being damaged when the upper revolving body 4 turns.

Like the first or third embodiment, at least two obstacle sensors 5 (first obstacle sensor 51, second obstacle sensor 52, third obstacle sensor 53) out of the plurality of obstacle sensors 5 (first obstacle sensor 51, second obstacle sensor 52, third obstacle sensor 53) The second obstacle sensor 52 and the third obstacle sensor 53) are preferably arranged along either one of the two cabin pillars 41c.

According to this configuration, the direction of the obstacle sensor 5 can be arranged radially in a plan view centering on the cabin support 41c or the axis C2 parallel to the cabin support 41c, and the detection range of the obstacle sensor 5 (viewing angle ), the number of obstacle sensors 5 can be reduced or minimized. Furthermore, since at least two obstacle sensors 5 can be arranged in a concentrated manner, installation work of the obstacle sensors 5 and wiring work of the obstacle sensors 5 can be facilitated.

As in the first or third embodiment, the cabin 41 is arranged on either the left side or the right side of the upper revolving body 4 in plan view, and the side bonnet 49 is arranged on the side of the cabin 41. , at least two obstacle sensors 5 (second obstacle sensor 52, third obstacle sensor 53) among the plurality of obstacle sensors 5 (first obstacle sensor 51, second obstacle sensor 52, third obstacle sensor 53) It is preferable that the sensor 53) is arranged along the cabin column 41c on the side bonnet 49 side of the two cabin columns 41c.

According to this configuration, the cabin pillar 41c on the side bonnet 49 side (right RD) is located near the center of the vehicle body in plan view, so the obstacle sensor 5 can be arranged radially, and the obstacle It becomes possible to reduce or minimize the blind spot of the sensor 5.

As in the first, second, or third embodiment, the plurality of obstacle sensors 5 include a first obstacle sensor 51 that detects the rear side of the cabin 41 side as a detection area Ar1, and a first obstacle sensor 51 that detects the rear side of the side bonnet 49 side. It has a second obstacle sensor 52 that has an area Ar2, and a third obstacle sensor 53 that has a detection area Ar3 on the side and in front of the side bonnet 49 side.

In this way, an area with good visibility from the driver's seat 411 of the cabin 41 (in the first, second or third embodiment, the front of the vehicle body and the side (left LD) on the side of the cabin 41) is divided into a plurality of areas. By removing it from the detection area of the obstacle sensor 5, it is possible to reduce or minimize the number of obstacle sensors 5 installed.

As in the second embodiment, the exhaust pipe 45 is disposed at the rear of the upper revolving body 4 and discharges exhaust gas from the engine 42, and the first obstacle sensor 51 is located closer to the cabin 41 than the second obstacle sensor 52. The exhaust pipe 45 is preferably arranged between the first obstacle sensor 51 and the second obstacle sensor 52 when viewed from the rear.

When the exhaust pipe 45 of the engine 42 is arranged at the rear of the cabin 41, there is a risk that the exhaust pipe 45 will be arranged in the detection areas Ar1 and Ar2 of the first obstacle sensor 51 and the second obstacle sensor 52 and interfere with each other. be. Therefore, by arranging the exhaust pipe 45 between the first obstacle sensor 51 and the second obstacle sensor 52 in rear view, the detection area Ar1 of both the first obstacle sensor 51 and the second obstacle sensor 52, It becomes possible to avoid interference of the exhaust pipe 45 with Ar2.

Although the embodiments of the present disclosure have been described above based on the drawings, it should be understood that the specific configuration is not limited to these embodiments. The scope of the present disclosure is indicated not only by the description of the embodiments described above but also by the claims, and further includes all changes within the meaning and scope equivalent to the claims.

It is possible to apply the structure adopted in each of the above embodiments to any other embodiment. The specific configuration of each part is not limited to the embodiment described above, and various modifications can be made without departing from the spirit of the present disclosure.

For example, in the first to third embodiments, there are three obstacle sensors 5, but there is no limitation as long as there are two or more. When there are two obstacle sensors 5, the two obstacle sensors 5 may be arranged along the axis C2 or may be arranged along the axis C3. Further, one obstacle sensor 5 may be arranged along the axis C2 and the other obstacle sensor 5 may be arranged along the axis C3, in which case the plurality of obstacle sensors 5 are arranged along the axis C2 and the other obstacle sensor 5 is arranged along the axis C2. It will be arranged along axis C3.

2 Lower traveling body 4 Upper revolving body 41 Cabin 41a Cabin ceiling 41c Cabin support 411 Driver's seat 42 Engine 45 Exhaust pipe 47 Rear bonnet 49 Side bonnet 5 Obstacle sensor 51 First obstacle sensor 52 Second obstacle sensor 53 Third obstacle sensor

Claims (4)

A cabin that covers the driver's seat of construction equipment from above,
Equipped with multiple obstacle sensors that detect obstacles,
The cabin has a cabin ceiling that covers above the driver's seat, and a frame that supports the cabin ceiling at the rear of the cabin,
The plurality of obstacle sensors are supported by the frame,
The cabin is arranged on either the left side or the right side of the revolving upper structure in plan view,
A side bonnet is arranged on the side of the cabin,
In the construction machine, at least two obstacle sensors among the plurality of obstacle sensors are arranged on the side bonnet side. The construction machine according to claim 1, wherein the plurality of obstacle sensors face different directions. The construction machine according to claim 1 or 2, wherein at least two of the plurality of obstacle sensors are arranged vertically or horizontally. comprising a rear bonnet for accommodating an engine located below the driver's seat;
The construction machine according to any one of claims 1 to 3, wherein outer edges of the plurality of obstacle sensors are located inside a rear edge of the rear bonnet in plan view.

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