JPH0617450A - Travel restrainer of farm working machinery - Google Patents

Travel restrainer of farm working machinery

Info

Publication number
JPH0617450A
JPH0617450A JP17357992A JP17357992A JPH0617450A JP H0617450 A JPH0617450 A JP H0617450A JP 17357992 A JP17357992 A JP 17357992A JP 17357992 A JP17357992 A JP 17357992A JP H0617450 A JPH0617450 A JP H0617450A
Authority
JP
Japan
Prior art keywords
traveling
travel
base
state
backward
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP17357992A
Other languages
Japanese (ja)
Inventor
Tadao Adachi
忠夫 足立
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP17357992A priority Critical patent/JPH0617450A/en
Publication of JPH0617450A publication Critical patent/JPH0617450A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To keep off such a fact that one's face fails to turn back to grasp a situation in the backward direction with a turning base as the reference and thereby checking becomes difficult in a state of making this turning base almost go along the longitudinal direction of a travel machine base, and a farm working machinery has been traveled backward in leaving an inadvertent state of going in the forward direction intact. CONSTITUTION:A travel restrainer is formed by a checking circuit consisting of both first and second switches Sw1, Sw2 being installed on the underside of a turning base 2 with a different radius each, a position detecting means 10 detecting a relative angle position between the turning base 2 and a travel machine base 1 from both first and second contact pieces 12, 13 being installed on top of this machine base 1, a detecting switch checking the operating direction of symmetrical travel levers 14, a buzzer or the like. With this constitution, such a backward state that any check by visual observation for checking the conditions of a travel scheduled spot becomes impossible can be recognized by a driver, so a caution awakening action takes place so as to operate a change, etc., of a position of the turning base 2 so as to make this visual observation achievable.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、走行装置を有した走行
機台に、対地作業装置と操縦部とを備えた旋回台を旋回
自在に支持してあるバックホウやクレーン等の作業機の
走行牽制装置に係り、詳しくは、真後ろにバックする
等、進行方向の視認が困難である状態になったことを操
縦者に知らせるようにする技術に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to traveling of a working machine such as a backhoe or a crane in which a swivel platform having a ground working unit and a control section is rotatably supported on a traveling platform having a traveling unit. The present invention relates to a restraint device, and more particularly, to a technique for informing a driver of a situation in which it is difficult to visually recognize a traveling direction such as backing up right behind.

【0002】[0002]

【従来の技術】上記作業機では、旋回自在な旋回台側に
各装置類の指令を司る操縦部が設けてあるから、旋回台
と走行装置との位置関係の如何によっては前進操作する
と相対的には後進状態となることが生じる。すなわち、
例えばバックホウにおいて旋回台に居る操縦者を基準と
して前進走行して所定の作業現場に移動し、そこで旋回
台を横向きにして掘削作業を行うという状況において、
移動のための前記前進方向に対する後方位置に止めた運
搬車に掘削土砂を積込む状態では、旋回台は前記前進方
向に対する後向きとなっている。この後向き状態で掘削
位置や運搬車との間隔等を変更するためにバックホウを
移動させる場合、現在の状態(後向き状態)において前
進移動するには最初の前進状態での後進操作が必要であ
り、又、後進移動するには最初の前進状態での前進操作
が必要になるのであり、その判断は操縦者の旋回台と走
行機台との相対位置方向の認識に委ねられる。
2. Description of the Related Art In the above-mentioned working machine, since a control section for controlling the commands of various devices is provided on the side of a swivel base which can be swung freely, a forward operation is performed depending on the positional relationship between the swivel base and the traveling device. The vehicle may be in a reverse state. That is,
For example, in a situation in which the operator on the backhoe travels forward with reference to the operator on the swivel and moves to a predetermined work site, where the swivel is turned sideways for excavation work,
In the state where the excavated earth and sand is loaded on the carrier stopped at the rear position with respect to the forward direction for moving, the swivel base is facing backward with respect to the forward direction. When moving the backhoe in order to change the excavation position and the distance to the carrier in this backward state, in order to move forward in the current state (rearward state), the backward operation in the first forward state is required, Further, in order to move backward, the forward operation in the first forward state is required, and the judgment is left to the operator's recognition of the relative position direction between the swivel base and the traveling base.

【0003】[0003]

【発明が解決しようとする課題】つまり、走行操作する
場合には操縦具をいずれの方向に操作すれば旋回台を基
準としての前進或いは後進になるか、という旋回台と走
行機台との相対位置方向関係を作業中は理解しておく必
要がある。ところが、うっかり前記相対位置方向関係が
混乱して分からなくなると、前進移動するつもりが後進
する、或いは後進移動するつもりが前進することが生じ
るが、この場合、進行方向の状況を操縦者が視認できる
か否かが問題となる。すなわち、旋回台が走行機台に対
して真横またはほぼ真横に向いているようの状態では、
前進でも後進でも操縦者に対しての横移動となり、顔を
横向きにしてその進行方向の状況を把握しながらの進行
状態を現出することができるので、前進と後進の認識が
間違っていても実際上の不都合は先ずない。しかしなが
ら、顔を横向きにはできるが後向きにはできないため、
旋回台が走行機台の長手方向に沿うまたはほぼ沿う状態
の旋回台を基準とした後進時では、進行方向の視認が困
難になるという不都合が生じる。それ故、旋回台の向き
如何によっては進行方向への前方注意が不足する点にお
いての改善の余地が残されているものであった。本発明
の目的は、旋回台と走行機台との相対位置方向関係によ
って決まる前後方向のいずれに走行するのかが操縦者に
判るようにし、上記不都合を解消できるようにする点に
ある。
In other words, in traveling operation, in which direction the operating tool is operated to move forward or backward with reference to the swivel base. It is necessary to understand the positional relationship while working. However, if the relative position / direction relationship is accidentally confused and becomes unclear, the intention is to move forward and move backward, or the intention to move backward is to move forward.In this case, the operator can visually recognize the situation in the direction of travel. Whether or not it matters. In other words, in the state where the swivel is facing right or almost right with respect to the traveling base,
Whether it is forward or backward, it will be a lateral movement with respect to the operator, and you can show the progress state while keeping the face sideways and grasping the situation in the direction of travel, so even if the recognition of forward and reverse is wrong There is almost no practical inconvenience. However, the face can be turned sideways but not backwards,
When the revolving base with the revolving base along or substantially along the longitudinal direction of the traveling platform is used as a reference during reverse travel, it is difficult to visually recognize the traveling direction. Therefore, there is still room for improvement in that the attention to the front in the traveling direction is insufficient depending on the orientation of the swivel base. An object of the present invention is to enable the operator to know in which of the front-back direction the vehicle is traveling, which is determined by the relative positional directional relationship between the swivel base and the traveling machine base, so that the above inconvenience can be eliminated.

【0004】[0004]

【課題を解決するための手段】上記目的の達成のために
本発明は、走行装置を有した走行機台に、対地作業装置
と操縦部とを備えた旋回台を旋回自在に支持してある作
業機の走行牽制装置において、下記〜の構成を備え
てあることを特徴とするものである。 旋回台の走行機台に対する向きを検出する方向検出
手段 走行機台が走行している状態において、走行機台の
旋回台に対する進行方向を判断する進行方向判断手段 旋回台と走行機台との旋回中心に対する相対角度位
置を検出する位置検出手段 位置検出手段によって検出された検出相対角度位置
が予め設定された所定角度範囲内に在るか否かを判断す
る判断手段 検出相対角度位置が所定角度範囲内にあるという判
断手段による判断結果の出力に基づいて作動する警報装
In order to achieve the above-mentioned object, the present invention supports a swivel base having a ground work device and a control section so that the swivel base can swivel on a traveling machine base having a traveling device. A travel restraint device for a working machine is characterized by having the following configurations. Direction detection means for detecting the orientation of the swivel platform with respect to the traveling platform. A traveling direction determination means for determining the traveling direction of the traveling platform with respect to the swivel platform while the traveling platform is traveling. Position detecting means for detecting the relative angular position with respect to the center Judging means for judging whether or not the detected relative angular position detected by the position detecting means is within a preset predetermined angle range Alarm device that operates based on the output of the judgment result by the judgment means that it is inside

【0005】[0005]

【作用】先ず、構成,により、旋回台と走行機台と
の相対位置方向関係が検出されるとともに走行機台の進
行方向の検知とから、旋回台に対する進行方向を検出す
ることができる。構成によれば、前記相対位置方向関
係が判断された状態すなわち、前向き、或いは後向きの
うちのどような角度位置にあるのかが検出でき、構成
,によって、構成による検出位置が所定角度位置
にあるか否かを警報装置の作動もしくは非作動によって
操縦者に認識させることが可能になる。例えば、図2に
示すように、視野における認識可能な水平方向角度が1
20度であり、かつ、90度の顔の横向きが可能である
とすると、操縦者には左右150度の範囲を除いた後の
60度の範囲が視認不能領域となる。この場合では、図
4に示すように、旋回台2と走行機台1とが沿った状態
を相対角度の0とし、旋回台2底面に備えたスイッチS
1 ,Sw2 を作動させる操作片12,13を、機台1
の前後方向に一致した基準線Xに対して振り分けた60
度の角度範囲に設けることにより、旋回台2が基準線X
に対して振り分けた60度の角度範囲(所定角度範囲)
に存在している状態で後進すると警報装置(ブザー等)
が作動するようになる。これをもって目視での確認が不
能となる後進状態であることを操縦者が認知することが
できるようになり、進行方向の視認を可能にするべく旋
回台2をもう少し横向きに移動操作するとか後進を中止
する等の対処を迅速に行えるようになる。
First, according to the configuration, the relative position / direction relationship between the swivel base and the traveling platform can be detected, and the traveling direction with respect to the swivel platform can be detected by detecting the traveling direction of the traveling platform. According to the configuration, it is possible to detect whether the relative position / direction relationship is determined, that is, whether the angular position is forward or backward, and whether the detected position by the configuration is at a predetermined angular position by the configuration. Whether or not the alarm device is activated or inactivated can be recognized by the operator. For example, as shown in FIG. 2, the recognizable horizontal angle in the visual field is 1
Assuming that the face can be turned sideways at 20 degrees and 90 degrees, the range of 60 degrees after the operator excludes the range of 150 degrees to the left and right becomes the invisible area. In this case, as shown in FIG. 4, the state in which the swivel base 2 and the traveling platform 1 are aligned is set to a relative angle of 0, and the switch S provided on the bottom surface of the swivel base 2 is set.
The operation pieces 12 and 13 for operating w 1 and Sw 2 are attached to the machine base 1
60 was assigned to the reference line X that matched the front-back direction of
By setting it in the angle range of degrees, the swivel base 2 becomes the reference line X.
60 degree angle range (predetermined angle range)
Alarm device (buzzer, etc.) when moving backward while existing
Will work. This makes it possible for the operator to recognize that the vehicle is in a reverse state, where visual confirmation is impossible, and to move the swivel base 2 a little more laterally or to reverse the vehicle so that the driver can see the direction of travel. It will be possible to promptly take measures such as stopping.

【0006】[0006]

【発明の効果】その結果、視認できない後進操作を改善
するようにという旨の注意喚起効果が生じて、進行方向
状況の把握が不確かなまま後進操作されることが抑制さ
れ、より正確・安全に機台移動できるようになった。
As a result, the effect of calling attention to the improvement of the backward operation that cannot be visually recognized is generated, and the backward operation is suppressed while the grasp of the direction of the traveling direction is uncertain. The machine can be moved.

【0007】[0007]

【実施例】以下に、本発明の実施例を、作業機の一例で
あるバックホウの場合について図面に基づいて説明す
る。図7にバックホウが示され、1は走行機台、2は旋
回台、3は操縦部、4はクローラ走行装置、5は掘削作
業装置、6はドーザ装置である。このバックホウでは、
旋回台2が走行機台1に対して所定の角度位置にある場
合に後進操作がされると警報装置7が鳴るように構成さ
れた走行牽制装置Aが装備されており、その構造を次に
説明する。尚、ここで、前進とは旋回台2の前部に装備
される掘削作業装置5の方向に進む成分が生じる場合を
言い、後進とは旋回台2の後部に装備されたエンジンE
の方向に進む成分が生じる場合を言うと定義する。つま
り、図3に示すように、走行機台1が矢印(イ)の方向
に進行する状態において、旋回台2の前後基準線Yの前
方部分が、走行機台1の左右真横位置を境とした180
度の角度範囲のうちの、第1区間aにあるときは前進状
態であり、第2区間bにあるときは後進状態である。
尚、ドーザ装置6の存在側に第1区間aがあるときを絶
対前進状態、第2区間bがあるときを絶対後進状態であ
ると夫々定義する。
Embodiments of the present invention will be described below with reference to the drawings in the case of a backhoe which is an example of a working machine. A backhoe is shown in FIG. 7, 1 is a traveling platform, 2 is a swivel platform, 3 is a control unit, 4 is a crawler traveling device, 5 is an excavation work device, and 6 is a dozer device. With this backhoe,
The vehicle is equipped with a travel restraint device A configured to sound an alarm device 7 when a reverse operation is performed when the swivel base 2 is at a predetermined angular position with respect to the travel platform 1. explain. Here, the forward movement means a case in which a component advancing in the direction of the excavation work device 5 mounted on the front portion of the swivel base 2 occurs, and the reverse traveling means the engine E mounted on the rear portion of the swivel base 2.
It is defined as a case where a component that advances in the direction of occurs. That is, as shown in FIG. 3, in a state in which the traveling platform 1 advances in the direction of the arrow (a), the front portion of the front-rear reference line Y of the swivel base 2 demarcates between the right and left lateral positions of the traveling platform 1. Done 180
Of the angular range of degrees, the vehicle is in the forward traveling state when it is in the first section a and in the backward traveling state when it is in the second section b.
The first section a on the side where the dozer device 6 is present is defined as the absolute forward state, and the second section b is defined as the absolute reverse state.

【0008】図2、図4、図5に示すように、旋回台2
の下面には、旋回中心Pを通る直線上に第1スイッチS
1 と第2スイッチSw2 が設けられるとともに、走行
機台1の上面には、第1スイッチSw1 が存在する半径
1 上に位置する円弧状の第1接当片12と、第2スイ
ッチSw2 が存在する半径r2 上に位置する円弧状の第
2接当片13とが設けられている。これら両接当片1
2,13は互いに180度対向して配置され、かつ、夫
々60度の角度に亘る円弧長さを有している。操縦部3
には左右のクローラ走行装置4,4に対応した左右一対
の前後揺動式の走行レバー14,14が備えられ、かつ
夫々のレバー14には揺動操作方向を検出する検出スイ
ッチ15を設けてある。つまり、図3に示すように旋回
台2がドーザ装置6側に向いた状態において、走行レバ
ー14を前に倒すと矢印イ方向に進行するようにクロー
ラ4aが駆動され、後に倒すと矢印ロ方向にクローラ4
aが駆動されるように構成してある。そして、図1に示
すように各検出スイッチ15,15、第1及び第2スイ
ッチSw1 ,Sw2 、リレー16、ブザー7によって牽
制回路Lが構成してあり、これによって走行牽制装置A
が構成してある。
As shown in FIGS. 2, 4 and 5, the swivel base 2
On the lower surface of the first switch S on a straight line passing through the turning center P.
w 1 and a second switch Sw 2 are provided, and an arc-shaped first contact piece 12 located on a radius r 1 where the first switch Sw 1 is present, and a second switch a second abutment piece 13 arcuate located on the radius r 2 of the switch Sw 2 is present is provided. These two contact pieces 1
The reference numerals 2 and 13 are arranged to face each other by 180 degrees, and each have an arc length extending over an angle of 60 degrees. Control unit 3
Is provided with a pair of right and left swingable traveling levers 14, 14 corresponding to the left and right crawler traveling devices 4, 4, and each lever 14 is provided with a detection switch 15 for detecting the swinging operation direction. is there. That is, when the swivel base 2 faces the dozer device 6 side as shown in FIG. 3, when the traveling lever 14 is tilted forward, the crawler 4a is driven so as to move in the arrow A direction, and when tilted backward, the crawler 4a is moved in the arrow B direction. To crawler 4
a is driven. As shown in FIG. 1, the detection circuit 15, the first and second switches Sw 1 and Sw 2 , the relay 16 and the buzzer 7 constitute a check circuit L, which allows the travel check device A to operate.
Is configured.

【0009】作用を説明すると、図2に示す状態で両走
行レバー14を後方に揺動すると、各検出スイッチ1
5,15はy1 及びy2 側が導通されるとともに、第1
接当片12が第1スイッチSw1 に接当してこれを導通
して第1回路部L1 が閉じ状態となり(図1の状態)、
リレー16が作動してブザー7が鳴るようになる。つま
り、第1スイッチSw1 が閉じとなる図4における第1
所定角度範囲θ1 にある状態では両走行レバー14,1
4を共に操縦者側に操作すると後進方向の状況を把握で
きない視認困難な状態であると判断し、ブザー7を鳴ら
して操縦者に知らしめるのである。エンジンEがドーザ
装置6側に向いた状態で、両走行レバー14,14を共
に掘削作業装置側に揺動すると、図4に示すように、第
2所定角度範囲θ2 にある状態では各検出スイッチ1
5,15はx1 及びx2 側が導通されるとともに、第2
接当片13が第2スイッチSw2 に接当してこれを導通
して第2回路部L2 が閉じ状態となり同様にブザー7が
鳴るようになる。
The operation will be described. When both traveling levers 14 are swung rearward in the state shown in FIG.
5, 15 are electrically connected on the y 1 and y 2 sides, and
The contact piece 12 contacts the first switch Sw 1 to make it conductive, and the first circuit portion L 1 is closed (state in FIG. 1).
The relay 16 operates and the buzzer 7 sounds. That is, the first switch Sw 1 is closed and the first switch in FIG.
When the vehicle is in the predetermined angle range θ 1 , both traveling levers 14, 1
When both 4 are operated to the operator side, it is judged that it is difficult to visually recognize the situation in the backward direction, and the buzzer 7 is sounded to inform the operator. When both traveling levers 14 and 14 are swung to the excavation work device side with the engine E facing the dozer device 6 side, as shown in FIG. 4, each detection is performed in the second predetermined angle range θ 2. Switch 1
5 and 15 are conducted on the x 1 and x 2 sides, and the second
The contact piece 13 contacts the second switch Sw 2 and makes it conductive, and the second circuit portion L 2 is closed, and the buzzer 7 also sounds.

【0010】〔別実施例〕図6に示すように、旋回台2
と走行機台1との相対角度を検出するポテンショメータ
17と、所定角度範囲θの値を設定する角度設定器19
と警告ランプ7と、走行レバーの操作方向を検出するポ
テンショスイッチ15,15とを制御装置18に接続し
て走行牽制装置Aを構成しても良い。つまり、制御装置
18に、視認困難な後進状態が現出される場合における
ポテンショメータ17の検出値と走行レバー14,14
の操作方向との組み合わせが予め記憶されており、その
条件に合致する状況になった場合に警告ランプ7が点灯
するように回路構成されているのである。この手段では
設定器19の操作によって所定角度θを容易に変更でき
る利点がある。
[Other Embodiments] As shown in FIG.
And a potentiometer 17 for detecting the relative angle between the vehicle and the platform 1, and an angle setter 19 for setting a value in a predetermined angle range θ.
The traveling check device A may be configured by connecting the warning lamp 7 and the potentiometer switches 15 and 15 for detecting the operating direction of the traveling lever to the control device 18. In other words, the controller 18 detects the detected value of the potentiometer 17 and the traveling levers 14 and 14 when a reverse state that is difficult to visually recognize appears.
The combination with the operation direction is stored in advance, and the circuit is configured so that the warning lamp 7 is turned on when the condition is met. This means has an advantage that the predetermined angle θ can be easily changed by operating the setting device 19.

【0011】本願では、本実施例での第1,第2スイッ
チSw1 ,Sw2 と第1,第2接当片12,13や別実
施例でのポテンショメータ17によって、旋回台2の走
行機台1に対する向きを検出する方向検出手段8が、本
実施例での第1,第2スイッチSw1 ,Sw2 と第1,
第2接当片12,13と各検出スイッチ15,15やで
別実施例でのポテンショメータ17と各検出スイッチ1
5,15によって、走行機台1が走行している状態にお
いて、走行機台1の旋回台に対する進行方向を判断する
進行方向判断手段9が、本実施例での第1,第2スイッ
チSw1 ,Sw2 と第1,第2接当片12,13や別実
施例でのポテンショメータ17によって、旋回台2と走
行機台1との旋回中心Pに対する相対角度位置を検出す
る位置検出手段10が、本実施例での第1、第2回路部
1 ,L2 とで成る判断回路部分Lや別実施例での制御
装置18により、位置検出手段10によって検出された
検出相対角度位置が予め設定された所定角度範囲内に在
るか否かを判断する判断手段11が、及び、本実施例で
のブザー7や別実施例での警告ランプ7によって、検出
相対角度位置が所定角度範囲内にあるという判断手段1
1による判断結果の出力に基づいて作動する警報装置7
が夫々構成されているのである。
In the present application, the traveling machine of the swivel base 2 is constituted by the first and second switches Sw 1 and Sw 2 and the first and second contact pieces 12 and 13 in this embodiment and the potentiometer 17 in another embodiment. The direction detecting means 8 for detecting the direction with respect to the table 1 is provided with the first and second switches Sw 1 and Sw 2 and the first and second switches Sw 1 and Sw 2 in this embodiment.
The second contact pieces 12 and 13 and the detection switches 15 and 15 and the potentiometer 17 and the detection switches 1 in another embodiment.
The traveling direction determination means 9 for determining the traveling direction of the traveling machine base 1 with respect to the swivel base while the traveling machine base 1 is traveling by 5 and 15 is the first and second switches Sw 1 in the present embodiment. , Sw 2 and the first and second contact pieces 12, 13 and the potentiometer 17 in another embodiment, the position detecting means 10 for detecting the relative angular position of the swivel base 2 and the traveling platform 1 with respect to the swivel center P. The detection relative angular position detected by the position detecting means 10 is previously determined by the determination circuit portion L including the first and second circuit portions L 1 and L 2 in this embodiment and the control device 18 in another embodiment. The detection means 11 for determining whether or not the detected relative angular position is within the set predetermined angular range, and the buzzer 7 according to the present embodiment or the warning lamp 7 according to another embodiment allows the detected relative angular position to be within the predetermined angular range. Means 1
Alarm device 7 that operates based on the output of the judgment result according to 1.
Are configured respectively.

【0012】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。
It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

【図面の簡単な説明】[Brief description of drawings]

【図1】走行牽制装置の回路図[Fig. 1] Circuit diagram of travel restraint system

【図2】走行状態を定義するためのバックホウの平面図FIG. 2 is a plan view of a backhoe for defining a running state.

【図3】前進と後進を定義するためのバックホウの平面
FIG. 3 is a plan view of a backhoe for defining forward and reverse.

【図4】位置検出手段を示す原理図FIG. 4 is a principle diagram showing a position detecting means.

【図5】方向検出手段の具体側面図FIG. 5 is a specific side view of the direction detecting means.

【図6】走行牽制装置の別実施例を示す原理図FIG. 6 is a principle view showing another embodiment of the travel restraint device.

【図7】バックホウの側面図FIG. 7 is a side view of the backhoe.

【符号の説明】[Explanation of symbols]

1 走行機台 2 旋回台 3 操縦部 4 走行装置 5 作業装置 7 警報装置 8 方向検出手段 9 進行方向判断手段 10 位置検出手段 11 判断手段 P 旋回中心 DESCRIPTION OF SYMBOLS 1 Traveling machine platform 2 Revolving platform 3 Control part 4 Traveling device 5 Working device 7 Warning device 8 Direction detecting means 9 Moving direction judging means 10 Position detecting means 11 Judging means P Turning center

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 走行装置(4)を有した走行機台(1)
に、対地作業装置(5)と操縦部(3)とを備えた旋回
台(2)を旋回自在に支持してある作業機の走行牽制装
置であって、 前記旋回台(2)の前記走行機台(1)に対する向きを
検出する方向検出手段(8)と、 前記走行機台(1)が走行している状態において、該走
行機台(1)の前記旋回台(2)に対する進行方向を判
断する進行方向判断手段(9)と、 前記旋回台(2)と前記走行機台(1)との旋回中心
(P)に対する相対角度位置を検出する位置検出手段
(10)と、 前記位置検出手段(10)によって検出された検出相対
角度位置が予め設定された所定角度範囲内に在るか否か
を判断する判断手段(11)と、 前記検出相対角度位置が前記所定角度範囲内にあるとい
う前記判断手段(11)による判断結果の出力に基づい
て作動する警報装置(7)とを備えてある作業機の走行
牽制装置。
1. A traveling platform (1) having a traveling device (4).
A travel restraint device for a working machine, in which a swivel base (2) having a ground work device (5) and a control section (3) is rotatably supported, the traveling of the swivel base (2). A direction detection means (8) for detecting a direction with respect to the machine base (1), and a traveling direction of the travel machine base (1) with respect to the swivel base (2) in a state where the travel machine base (1) is traveling. A traveling direction determination means (9) for determining the position, a position detection means (10) for detecting a relative angular position of the swivel base (2) and the traveling machine base (1) with respect to a swivel center (P), and the position Determination means (11) for determining whether the detected relative angular position detected by the detection means (10) is within a preset predetermined angular range; and the detected relative angular position is within the predetermined angular range. Based on the output of the judgment result by the judgment means (11) that there is Alarm device (7) and the travel restraint device of the working machine that is equipped with operating.
JP17357992A 1992-07-01 1992-07-01 Travel restrainer of farm working machinery Pending JPH0617450A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17357992A JPH0617450A (en) 1992-07-01 1992-07-01 Travel restrainer of farm working machinery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17357992A JPH0617450A (en) 1992-07-01 1992-07-01 Travel restrainer of farm working machinery

Publications (1)

Publication Number Publication Date
JPH0617450A true JPH0617450A (en) 1994-01-25

Family

ID=15963193

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17357992A Pending JPH0617450A (en) 1992-07-01 1992-07-01 Travel restrainer of farm working machinery

Country Status (1)

Country Link
JP (1) JPH0617450A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016500774A (en) * 2012-10-30 2016-01-14 コリア インスティチュート オブ オーシャン サイエンス アンド テクノロジー Bidirectional manganese nodule collection equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016500774A (en) * 2012-10-30 2016-01-14 コリア インスティチュート オブ オーシャン サイエンス アンド テクノロジー Bidirectional manganese nodule collection equipment
US9574445B2 (en) 2012-10-30 2017-02-21 Korea Instutite of Ocean Science & Technology Apparatus for bi-directionally mining manganese nodule

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