JPH0518122A - Safety device for demolition working machine - Google Patents

Abstract

PURPOSE:To improve safety by calculating the signals from angle detecting means provided on a front attachment with a controller, and operating a warning means or a control means when the work radius becomes a preset value or above. CONSTITUTION:Angle detecting means 8-10 are provided respectively on a main boom 3, an intermediate boom 4, and an arm 5 constituting a front attachment A, and their detection signals are inputted to a controller 13. The horizontal distance between a demolition device 7 and the machine rotation center O-O is calculated by an arithmetic section. The horizontal distance is compared by a comparison section with the workable radius for the machine stability stored in a memory section. When the work radius of the tip of the arm 5 in the attitude becomes the workable radius stored in the memory section, a forecast signal, a warning signal, or a control signal is outputted from the controller 13, and a warning means 15 and/or a control means 16 is operated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dismantling work machine for mounting a structure dismantling device on a machine body through a supporting member such as a boom and an arm composed of a plurality of boom constituent elements as a front attachment. The present invention relates to a safety device for stabilizing the machine body in a working posture.

[0002]

2. Description of the Related Art Although there are various kinds of work tools used for dismantling a structure, most of the base machines that are the attachment bases of these are excavator excavators or similar machines. That is, an upper revolving structure that is pivotally mounted above the lower traveling structure, and a front attachment that includes a disassembling device at the tip in front of the upper revolving structure and that includes supporting components such as a boom and an arm The dismantling device is set to a desired arbitrary position by pivotally supporting the component parts of the front attachment independently by a hydraulic cylinder. By such a method, it is possible to efficiently proceed with the mechanized construction of the dismantling work, but in recent years, even structures with a high ground clearance are gradually targeted for the dismantling work, and for that purpose,
A long front attachment is required, and in addition, advanced driving skills are required.

As an example of the above working state, a dismantling machine in which a dismantling work tool such as a concrete or wooden structure is attached to the arm tip of a hydraulic excavator excavator is shown in FIG. is there. In the figure, 1 is a lower traveling body,
Reference numeral 2 is an upper swing body which is pivotally mounted above it, and 23 is a boom whose pivot end is pivotally mounted at a predetermined position C of the upper swing body 2 and which is rotated vertically by a boom cylinder 25.
Is pivotally attached to the tip of the boom 23, and the arm cylinder 2
6 is an arm rotated by 6, and 27 is a dismantling device attached to the tip of the arm 24 so as to be rotated by the expansion and contraction of the cylinder 28. In this drawing, a hydraulic crushing tool is shown as an example. ing. Aa is the boom 2
3, an arm 24, a disassembling device 27, and a front attachment including various cylinders, links, rods, and the like for rotating them, and B is a machine body including a lower traveling body 1 and an upper revolving body 2 excluding the front attachment Aa. However, in this type of machine, in order to improve work efficiency, a front attachment or a dismantling device, which is longer than the standard, may be used in combination with the machine body B. Even in such a case, Since it is necessary to pay attention to driving so as not to exceed the stable safety range, a safety device is provided as a countermeasure to prevent accidental operation.

As an example of this safety device, various combinations of the boom 23 and the arm 24 when the boom cylinder 25 and the arm cylinder 26 in FIG. The arm 24
There is a warning device that gives a warning to the driver when a mounting part pivotally attached to the car enters. The detail of this warning device is shown in FIG.
0 and 21 indicate that the angle formed by the boom 23 and the arm 24 is θ when the hoisting angle of the boom 23 is smaller than θb.
It is a limit switch that is activated when it is larger than a.
Here, θb is a limit value for ensuring safe work at the hoisting angle of the boom 23 such that the tip of the arm 24 does not enter the work prohibited range Fa no matter how many times the arm 24 rotates with respect to the boom 23. And θa is a limit value for ensuring safe work at the rotation angle of the arm 24 such that the tip of the arm 24 does not fall within the work prohibited range Fa regardless of the hoisting angle of the boom 23. is there.

Since θa and θb are determined under the conditions as described above, in various combinations of operating angles of the boom 23 and the arm 24, unless both the limit switches 20 and 21 are operated, the tip of the arm 24 is Since it does not exist in the work prohibited area Fa, the limit switch 2
By connecting a power source to the warning devices 0 and 21 in series, the warning device is activated immediately when the tip of the arm 24 enters a work posture in which the work is prohibited, and the driver is informed accordingly. This will increase the safety of work.

[0006]

However, as described above, if a machine of this kind is used for the purpose of disassembling a structure having a high ground height, an underground structure, etc., the boom, arm Both must be made long, and a relatively heavy and powerful dismantling device must be attached to the tip of the arm. It is difficult to narrow the space and to increase the vertical working range by combining multiple booms and arms. In addition, without using the above-mentioned safety device, the length indicated by reference numeral 1 in FIG. 7, that is,
A safe working distance from the driver's seat is set in advance, and the driver does not exceed the safe working distance by paying attention to the dismantling work. However, this visual measurement tends to be erroneous depending on the surrounding conditions, so that the operator tends to work on an extra safe side, and the driver is greatly mentally and physically fatigued, and the work efficiency is not improved.

The present invention has been made in view of the above circumstances, and an object thereof is to overcome the above problems, and in particular, a certain base machine is provided with a plurality of booms and arms, which are longer than their standard front attachments. Even when the dismantling device is attached to the tip of the tool and the worker is approaching the limit of the safe work range, or when the work posture exceeds the limit, the warning means immediately activates and gives an alarm, or An object of the present invention is to provide a safety device that prevents an operation in a direction that makes the machine body unstable due to the rotation of the components of the front attachment.

[0008]

In order to solve the above problems, the present invention takes the following measures. That is, (a) Of the multiple booms that are the components of the front attachment that supports the dismantling device, the elevation angle of the boom on the proximal side whose base is pivotally supported by the airframe and its boom relative to the boom on the proximal side. The relative angle of the boom pivoted to the tip side,
An angle detection means is provided for detecting each of the relative angle of the arm with respect to the boom in which the base end of the arm is pivotally supported at the tip, and outputting an angle signal. B) A computing unit having a computing function for computing the working radius of the arm tip from the signals from the respective angle detecting means and the effective length of the front attachment constituent elements, and the dismantling machine previously calculated from the viewpoint of the stability of the aircraft. Of the limit maximum working radius and warning start margin, and the working radius calculated by the above-mentioned computing unit is compared with the above-mentioned limit maximum working radius and warning working radius. A controller including a comparison unit having a function of outputting C) Warning means for issuing different kinds of warnings for each of the warning signal and the warning signal from the controller is provided. D) Further, when the warning signal is output, the ground angle of each boom, arm, etc. is known from the angle signal from the angle detecting means, and their rotation makes the aircraft more unstable. With a function to determine the direction
A discriminating unit that outputs a signal for preventing an operation of rotating in that direction is added to the controller.

[0009]

When each constituent element of the front attachment is rotated by the expansion and contraction of the hydraulic cylinder, an angle signal is input to the controller from the angle detection means, and the disassembly device mounting portion is determined based on the relationship between the angle of the constituent element and the effective length. When the working radius of the posture of the arm tip is calculated by the computing unit of the controller and the value becomes the advance notice working radius or the limit maximum working radius stored in the storage unit in advance,
Each time the warning signal or warning signal of a different type is output to the warning means, the warning means issues a warning warning or warning. Also, if the controller is equipped with a discrimination function, the ground angle of the front attachment components when the warning signal is output is calculated and discriminated, and the front attachment is activated to the side where the aircraft becomes more unstable than its posture. The operation that activates the hydraulic cylinder is automatically blocked.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a working state of a crawler type hydraulic excavator in which a disassembling device 7 is attached to a tip portion of an arm 4 which is one of front attachment A constituent elements of a body B including a lower traveling body 1 and an upper revolving body 2. Although it is a side view, the disassembling device 7 in this figure is a hydraulic crushing tool as an example, but it goes without saying that a similar tool can be applied instead. In this figure, the dismantling device 7
The configuration of the front attachment A except is composed of a main boom 3, an inter-boom 4, and an arm 5 from the base side thereof. The base end of the main boom 3 is the upper swing body 2, and the base end of the inter-boom 4 is The main boom 3 is pivotally supported at its upper end, the base end of the arm 5 at the tip end of the inter-boom 4, and the dismantling device 7 at the tip end of the arm 5 by pins E1, E2, E3, D, respectively. Further, as shown in the drawing, the hydraulic cylinder pivotally supported between the fixed points can be rotated up and down by expansion and contraction.

Reference numerals 8, 9 and 10 denote angle detecting means provided near the base end sides of the main boom 3, the inter-boom 4 and the arm 5, respectively. 3, the angle detecting means 9 detects the relative angle of the inter-boom 4 with respect to the main boom 3, and the angle detecting means 10 detects the relative angle of the arm 5 with respect to the inter-boom 4, and outputs an angle signal. ing. FIG. 2 and FIG. 3 show one of the operating devices of the angle detecting means associated with the rotation of these front attachments.
For example, FIG. 2 shows the case of the angle detecting means 8 and FIG. 3 shows the case of the angle detecting means 10. That is, between the upper swing body 2 and the main boom 3, and between the inter-boom 4 and the arm 5, the arms directly connected to the rotation shafts of the respective detection means are provided so that their relative rotation angles can be obtained. 11 and the arm 1
It is arranged so that the tip end of 1 and the upper revolving superstructure 2 or a fixed point on the inter-boom 4 form two parallel link sides with a rod 12 to which a pin is connected. Although illustration of the operating method of the angle detecting means 9 is omitted, it is based on the same means as above.

Reference numeral 6 is an operator's cab, and 13 or 14 is a controller provided in a place protected from the inside or the outside of the operator's cab 6, which will be described later by inputting angle signals from the angle detecting means 8, 9, 10. The warning signal is output to the warning means 15 provided at a position easily detected from the driver's seat, and as a result, the warning means 15 issues a notice or a warning. Further, when the warning signal is output from the controller 13 or 14, the reference numeral 16 indicates the main boom 3, the inter-boom 4, and the arm 5 only in the direction in which the stability of the aircraft at that time is further deteriorated by the signal. , Is a control means that exerts the function of blocking each operation. In addition, the dismantling work machine in FIG. 1 is much longer than the standard front attachment to the machine body B, and its combination is also an ordinary shovel system, for the purpose of enabling work at a height above ground level. Where an excavator should be one boom, two boom components are combined to expand the vertical set position range of the dismantling device 7 and to consider the stability of the machine during storage. . Therefore, in the case of the front attachment A having the above combination, if the maximum working radius is kept and the body B is unstable in the horizontal direction, the body B becomes unstable. As mentioned above, the horizontal distance must be limited.

In FIG. 1, the limit maximum work radius for issuing an alarm is X, which is the distance from the turning center line OO, F indicates the work prohibited range, and b indicates the horizontal position of the pin D. A warning start margin for announcing that the distance has approached the limit maximum working radius X by a predetermined value before reaching the limit maximum working radius X, a is the pivotal connection of the main boom 3 from the turning center line OO of the machine. The horizontal distance to the center of the pin E1 which is a point is shown, and in this figure, the position of the pin E1 is shown to be ahead of the turning center of the body B. And then x
Is a horizontal distance between the centers of the pins E1 and D when the front attachment A is set in the illustrated state. Therefore, the activation of the above-mentioned alarm is (x + a) = X, and the activation of the advance notice is (x + a) = X−b. Note that L1, L2, and L3 indicate effective lengths of the main boom 3, interboom 4, and arm 5.

Next, the functions of the controllers 13 and 14 will be described with reference to the block diagrams of FIGS. 4 and 5. Figure 4
The dismantling device 7 is a work prohibited area F due to the safety device
A method for approaching the alarm and issuing an alarm or forecast will be described. The function thereof will be described with reference to FIGS. 1 and 6. That is, the angle detection signal is the angle detection means 8,
When input from the controller 9 to the controller 13, the calculation unit in the controller 13 causes the elevation angle θ1 of the main boom 3 and its effective length L1 and the relative angle θ2 of the interboom 4 to the main boom 3 and its effective length. From the length L2, the angle θ1, and the relative angle θ3 of the arm 5 with respect to the interboom 4 and its effective length L3 and the angles θ1 and θ2, the front attachment A
In each state, the pin D at the tip of the arm 5 has a function of calculating a horizontal distance (x + a) from the turning center OO. Next, the storage unit stores the turning center OO of the dismantling work machine.
It has a function of storing a limit maximum work radius X which is a horizontal distance from the above to the work prohibited range F and a notice start margin length b which is a work radius slightly smaller than that. The values of X and b can be set / changed from the outside according to the combination of the front attachment including the disassembling device, the working condition, and the working direction.

Further, the comparing unit uses the value calculated by the calculating unit as the limit maximum working radius X previously input to the storing unit.
It has a function of outputting different kinds of signals as a warning signal and a warning signal when the work radius is smaller than the work radius smaller than the warning start margin length b by more than that. 1
Reference numeral 5 denotes a warning means including, for example, a warning lamp 17 and a buzzer 18, and when a notice signal is input from the above-mentioned signals from the controller 13, the projection of the lamp 17 blinks and the buzzer 18 is turned off. It has a function of emitting different alarms, such as continuous light emission and continuous sound, when an intermittent sound is emitted and a warning signal is input.

In addition to FIG. 4, FIG. 5 is provided with a discriminating section in the controller 14 and a control means 16 which operates by the output of the controller 14. In this discriminating unit, for example, in the state of FIG. 6, the pin D is on the limit line of the work prohibited range, and therefore the working radius is X, but from this state, any of the plurality of constituent elements of the front attachment A is An operation to increase the working radius X by operating one or more, that is, the elevation angle and the relative angle θ in the state shown in the figure.
When further reducing 4, θ5, and θ6, the control means 16
In contrast to the above example, the elevation angle θ4 and the relative angles θ5 and θ6 are not limited to when the respective angles are small, but the absolute angle Depending on the value and combination, the working radius becomes large even when those angles increase, so these are discriminated and a signal is output. As an example of the control means 16, here, the switching valves 19a, 19b, 19c for switching the operating directions of the hydraulic cylinders for rotating the main boom 3, the inter-boom 4, and the arm 5 are all pilot pressure switching type. Opening valves 20a, 20 shown in FIG.
b is provided, and a predetermined on-off valve is operated by a signal from the controller 14. That is, as an example, the switching valve 1
9c is a switching valve for rotating the arm 5, and the on-off valve 20
Assuming that the relative angle θ6 in FIG. 6 becomes small when the pilot pressure is supplied via a, the controller 14 operates at such a time as the switching valve 19c for the opening / closing valve 20c.
Although a signal is output to a and operation cannot be performed in a direction in which the relative angle θ6 decreases, no signal is supplied to the on-off valve 20b, so that the relative angle θ6 increases in a direction in which the operation angle X becomes smaller than the working radius X. Various operations are possible.

In the above description, the hydraulic pilot type switching valve is used as an example of the control means 16, but the means for preventing the operation of the switching valve is not limited to this, and other mechanical means, It is also possible to use a combination of known techniques such as electrical means. Further, the safety device according to the present invention is not limited to the combination of the main boom, the inter-boom, and the arm as shown in this embodiment diagram,
It goes without saying that the application is also effective in the case of a plurality of components of the front attachment. Therefore, according to the present invention, in a machine equipped with a disassembling device having a long front attachment and an articulated boom composed of a plurality of constituent elements, an arm, etc., the working radius is naturally limited from the standpoint of stability of the machine body. But approaching that value,
Or, when the working radius exceeds that, the warning means and the control means operate as described above to notify the driver of it.

[0018]

INDUSTRIAL APPLICABILITY In the dismantling work of a structure, in order to cover a wide range in the vertical direction, a plurality of booms, arms and the like are used as a supporting member, and a dismantling work machine in which a dismantling device is attached to the tip thereof If a safety device is installed, the controller calculates the work range in the combined work posture of many booms and arms, and if the dismantling device approaches the work prohibited range or tries to exceed the limit maximum work radius, a warning is issued. Since a warning or warning is issued from the means, the driver can concentrate on the dismantling work until then, which leads to an improvement in efficiency. In addition, if an operation is performed that exceeds the limit maximum working radius, the operation in that direction is automatically prevented, that is, the dismantling device is prevented from entering the work prohibited range. . Therefore, the mental and physical burden on the driver during work is reduced.

[Brief description of drawings]

FIG. 1 is an external side view of a dismantling machine provided with a safety device according to the present invention during operation.

FIG. 2 is an enlarged view of a main part illustrating a method of detecting a depression / elevation angle of a main boom.

FIG. 3 is an enlarged view of a main part illustrating a method of detecting a relative angle of an arm with respect to an inter boom.

FIG. 4 is a block diagram showing a function of a controller and an operation of a warning unit.

FIG. 5 is a block diagram showing the functions of the controller and the operation of the control means.

FIG. 6 is a schematic diagram illustrating a relationship between an angle obtained by an angle detector and a working radius, for explaining the function of a determination unit in the controller.

FIG. 7 is an overall side view showing an example of a conventional safety device.

[Explanation of symbols]

3 main boom 4 Inter Boom 5 arms 7 Dismantling device 8, 9, 10, angle detection means 13, 14 Controller 15 Warning means 16 Control means

Claims (3)

[Claims] 1. A hydraulic system comprising a plurality of booms, an arm pivotally supported on the tip of the uppermost boom of the booms, and a base of a front attachment comprising a dismantling device pivotally mounted on the tip of the arms, pivotally mounted on the body of the vehicle. In a dismantling work machine that supports the front attachment with a cylinder and rotates the constituent elements of the front attachment with hydraulic cylinders to set the disassembling device to a desired position to perform a working operation, a base of a plurality of booms is used. Angle detection means for detecting the elevation angle of the boom on the end side, angle detection means for detecting the boom angle on the tip side with respect to the base side boom, angle detection means for detecting the arm angle for the uppermost boom, A calculation function for calculating the horizontal distance from the body center of the pivot point of the disassembling device at the arm tip by a signal from each angle detecting means, and A controller having a function of storing the workable radius for stability of the machine inputted for the purpose of outputting, and outputting a warning signal when the calculation result exceeds the workable radius, and a warning means for issuing an alarm by the output from the controller. Safety device for dismantling work machine. 2. A calculation function for calculating the horizontal distance from the center of the airframe of the dismantling device pivot point based on signals from angle detection means for detecting each constituent element of the front attachment, and a limit value of a workable radius for stability of the airframe. And a controller having a function of outputting a warning signal when the limit value is exceeded, and a warning unit that issues different warnings according to the prediction signal and the warning signal from the controller. The safety device for the dismantling work machine according to claim 1. 3. When a warning signal is input from the controller, the hydraulic cylinder that rotates the components of the front attachment adjusts the horizontal distance from the center of the body of the pivot point of the disassembly device to a workable radius for stabilizing the body. The safety device for a dismantling work machine according to claim 1 or 2, further comprising a control means for automatically preventing an operation operation of expanding and contracting in a direction exceeding the above range.