JPH07305519A - Safety device of hydraulic working vehicle - Google Patents

Abstract

PURPOSE:To safely operate a hydraulic working vehicle by computing a warning territory, stroke end of a cylinder, and the like by the controller of a working vehicle based on signals from various sensors such as an inclination sensor, and outputting warnings according to respective warning territories. CONSTITUTION:The controller 25 of a hydraulic working vehicle provided with an ultralong attachment 13 having a crusher 19 and the like is connected to various sensors such as an inclination sensor 27 of a body, an approach sensor 32 for the stroke end of a bucket cylinder, and the other sensors 28-31. Based on the signals from these respective sensors, the distance L and the height H from the extreme end part 18 of an arm to the center O of a turning body 11 are computed, the result is displayed on a display machine 26, and when the vehicle enters the warning territory for preventing falling down or the stroke end of the bucket cylinder 24, warnings are output by respective different tones, also in case of wire connection troubles, intermittent sound, or the like from a buzzer 38 or an alarm unit 39. Hereby, safe operation can be carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a hydraulic working vehicle in which a super-long working attachment is mounted on the front portion of a vehicle body.

[0002]

2. Description of the Related Art FIG. 5 is a side view of a construction machine described in Japanese Utility Model Publication No. 2-38993. In the construction machine shown in FIG. 5, the boom 2, the arm 3 and the crusher 4 are sequentially connected to the front part of the dismantling machine body 1, and the boom 2 and the arm 3 are rotated by the cylinders 5 and 6, respectively. Limit switches 7 and 8 are provided at the rear end and the front end of the boom 2, respectively, and the limit switches 7 and 8 are connected in series. Further, a warning lamp or a warning buzzer is connected to this circuit, and both limit switches 7 and 8 are connected. When they work at the same time, they give an alarm. That is, when the crusher 4 attached to the tip of the arm 3 enters the range of the diagonal lines shown in FIG. 5, an alarm is issued.

[0003]

In the safety alarm device of the prior art, an alarm is issued when the arm tip of the work attachment for disassembling a high place enters the work prohibited range exceeding the stable work radius. Further, when the crushing work is performed with the bucket cylinder in the stroke end state, a large impact crushing force is applied to the bucket cylinder and other work attachments, but it was not known in the prior art that the bucket cylinder is in the stroke end state. In addition, the harness connection status of the angle sensor that detects the hoisting angle of the boom and the rotation angle of the arm with respect to the boom was also unknown.
An object of the present invention is to provide a safety device capable of safely operating a hydraulic work vehicle equipped with a work attachment of an ultra-long type.

[0004]

According to the safety device of the present invention,
An upper revolving structure is connected to the upper part of the lower traveling structure, a plurality of booms having a long boom are sequentially connected to the front part of the upper revolving structure, and an arm is connected to the tip end of the boom. Connect the work tool device to the tip of the arm,
A hydraulic work vehicle in which a super-long type work attachment is configured by allowing the plurality of booms, arms, and work tool devices to be bent and rotated in the front-rear direction by respective boom hydraulic cylinders, arm cylinders, and bucket cylinders. A tilt sensor for detecting a tilt angle of a vehicle body, an angle sensor for detecting a rotation angle of each of the plurality of booms and an arm, and a proximity sensor for detecting a position slightly ahead of an extension / contraction stroke end of a bucket cylinder. Is provided, and the detection signals from the tilt angle sensor, the angle sensor, and the proximity sensor are input to the controller,
Further, a plurality of alarm range areas in the operation range of the arm tip portion are set, and when the arm tip portion reaches the alarm range area, an alarm sound having a different blowing pattern is generated according to each alarm range area, The above-mentioned warning range is a range where the work vehicle is not likely to fall, and the safety range is set within the circumference of a predetermined radius from the turning center of the upper revolving superstructure, and there is no danger of falling outside the safety range. Set the warning zone to the area where sufficient caution is required for operation, and set the prohibition zone to the outside of the warning zone to prohibit the operation. Is input to the controller, and the controller calculates the position of the arm tip based on the above signal, so that the controller sends a warning to the alarm device when the arm tip is in the safe area. Do not output the command signal, and output the intermittent sounding command signal from the controller to the alarm device when the arm tip is in the warning area, and from the controller to the alarm device when the arm tip is in the prohibited area. A continuous blow command signal is output.
Further, when the detected signal from each of the angle sensors is out of a predetermined range, the controller determines that there is an abnormality, and the controller outputs the irregular blowing command signal to the alarm device. When the proximity sensor detects a position slightly before the stroke end of the bucket cylinder, the controller determines that the bucket cylinder is at a predetermined position close to the stroke end, and the controller issues an intermittent sound to the alarm device. A command signal is output. Further, when the detection signal from the proximity sensor is out of the predetermined range, the controller determines that there is an abnormality, and the controller outputs the continuous blowing command signal to the alarm device. Also, by connecting a display unit to the above controller, the controller calculates the position of the moving arm tip, and based on the calculation result, the controller tells the display unit the distance from the turning center to the arm tip on the horizontal projection plane. , And a display command signal for displaying the height from the ground. An angle signal indicating that the vehicle body is inclined more than a predetermined angle is input to the controller from an inclination angle sensor that detects the inclination angle of the vehicle body. The alarm generation command signal is now output. In addition, the safety range and the warning range are set to be narrower as the inclination angle of the vehicle body increases, as the inclination angle increases.

[0005]

In the safety device of the present invention, the position of the arm tip portion is calculated by the controller every moment when the work attachment is operated. Then, the controller determines when the arm tip is in the position within the safe area, and the controller does not output the blowing command signal to the alarm device. Therefore, when the tip of the arm is within the safety range, no alarm sound is generated by the alarm device. Next, the controller determines that the tip of the arm reaches the boundary surface between the safety area and the warning area, and the controller outputs an intermittent sounding command signal to the alarm device. Therefore, when the arm tip reaches the boundary surface, an intermittent alarm sound is generated from the alarm device, and when the arm tip is in the warning range, the intermittent alarm sound is emitted. Next, the controller determines that the tip of the arm reaches the boundary surface between the warning area and the prohibited area, and the controller outputs a continuous blowing command signal to the alarm device. Therefore, when the tip of the arm reaches the boundary surface, a continuous warning sound is emitted from the alarm device.

In the present invention, each angle sensor for detecting the tilting angle of each of the plurality of booms and arms is arranged. At least one of the harnesses connected to each angle sensor has a broken wire. When an accident occurs,
An abnormal signal such as a disconnection signal is input to the controller. The controller determines based on the above-mentioned abnormality signal, and outputs an irregular blowing command signal from the controller to the alarm device.
Therefore, in this case, an irregular alarm sound having a sounding pattern different from the intermittent alarm sound and the continuous alarm sound is emitted from the alarm device.

Further, in the present invention, the proximity sensor is arranged near the tip of the arm. When the proximity sensor detects a predetermined position slightly before the end of the expansion / contraction stroke of the bucket cylinder, the detection signal is input to the controller. The controller makes a determination based on the above detection signal, and the controller outputs an intermittent sounding command signal to the alarm device. Therefore, when the bucket cylinder is at a predetermined position close to the stroke end, an intermittent alarm sound is emitted from the alarm device. When the bucket cylinder is at a position farther than the above predetermined position at the stroke end, the controller judges based on the signal from the proximity sensor and the controller does not output the blow command signal to the alarm device. Is not generated.

Further, in the present invention, when the harness connected to the proximity sensor causes a disconnection accident, an abnormal signal such as a disconnection signal is input to the controller. The controller makes a judgment based on the above-mentioned abnormality signal, and outputs a continuous blowing command signal from the controller to the alarm device. Therefore, in this case, a continuous warning sound is emitted from the alarm device.

Further, in the present invention, the display is connected to the controller, the position of the moving arm tip is calculated by the controller, and based on the calculation result, the controller horizontally directs the indicator to the display from the turning center to the arm tip. A display command signal for displaying the distance on the projection surface and the height from the ground is output. Therefore, the driver can confirm the distance on the horizontal projection plane from the center of turning and the height from the ground of the arm tip, which moves moment by moment, by visually observing the display.

Further, according to the present invention, a tilt angle sensor for detecting whether the vehicle body is tilted in the front-rear direction or the left-right direction with respect to the horizontal plane is arranged. Therefore, the inclination angle of the vehicle body is always detected by the inclination angle sensor, and the angle detection signal is input to the controller. Here, when the vehicle body is tilted at a predetermined angle or more, when the tilt angle signal is input to the controller from the tilt angle sensor, the controller makes a judgment based on the tilt angle signal and outputs an alarm from the controller. An alarm generation command signal is output to the container. Therefore, in this case, the alarm sounds an intermittent alarm sound having a particularly short period. Further, in the present invention, the safety range and the warning range are set so as to be narrowed as the inclination angle of the vehicle body is increased in correspondence with the predetermined inclination angle of the vehicle body. The warning area can be corrected.

[0011]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a side view of a hydraulic work vehicle 9 equipped with the safety device of the present invention. In the figure, 10 is a lower traveling structure of the hydraulic work vehicle 9, 11 is an upper revolving structure, 12 is a driver's cab provided on the upper revolving structure 11, and 13 is a work attachment mounted on the front part of the upper revolving structure 11. A certain super long attachment, 14 is a first boom of the super long attachment 13, 15 is a second boom, 16 is a third boom, 17 is an arm, 18 is an arm tip, 19 is a crusher as a work tool device, 20 is First boom cylinder, 21
Is a second boom cylinder, 22 is a third boom cylinder, 2
3 is an arm cylinder, 24 is a bucket cylinder, 25 is a controller mounted on the upper swing body 11, 26 is an indicator provided in the cab 20, and 27 is a vehicle body (refers to the upper swing body 11 and the lower traveling body 10). , A potentiometer which is an angle sensor for detecting the rotation angle a of the first boom 14 with respect to the vehicle body,
29 is a potentiometer for detecting the rotation angle b of the second boom 15 with respect to the first boom 14, and 30 is the second boom 15.
A potentiometer for detecting a rotation angle C of the third boom 16 with respect to the, a potentiometer 31 for detecting a rotation angle d of the arm 17 with respect to the third boom 16, a reference numeral 32, a proximity sensor provided near the arm tip portion 18, and a reference numeral 33. The first boom foot pin, center O-O, is the swing center of the upper swing body 11.

FIG. 2 is a circuit diagram of essential parts of the safety device according to the present invention. In the figure, 34 is a main pump mounted on the upper swing body 11, 35 is a pilot switching valve for controlling the bucket cylinder 24, 36 is a pilot pump that is a pilot pressure hydraulic source, and 37 is a hydraulic remote controller for operating the bucket cylinder 24. A valve, 38 is a buzzer which is an alarm, 39 is an alarm such as a buzzer which operates in response to the operation of the proximity switch 32, 41 is a piston of the bucket cylinder 24, and symbol a is a piston 41 when the bucket cylinder 24 is extended. Is a position slightly before the end of the extension stroke, and symbol B is a position slightly before the end of the contraction stroke where the piston 41 moves when the bucket cylinder 24 performs the contraction operation.

FIG. 3 is a partially cutaway detailed view of portion A in FIG. In the figure, 42 is a side plate at the front of the arm 17, 43 is a proximity sensor mounting bracket, 44 is a base end of the idler link 45, 46 is a pin pivotally supporting the base end 44, and O is a pin 46. A shaft center, 47 is a ring fixedly provided on the inner surface of the base end portion 44, and 48a and 48b are upper and lower limit non-detection holes formed in the outer peripheral portion of the ring 47, 49a and 4a, respectively.
9b is the loading member, c is the angular position of the idler link 45 when the bucket cylinder 24 is contracted to reach the contracted cylinder end position, and 2 is the bucket cylinder 2.
4 is extended and the extended stroke end position is reached.
An angle from the position C where the idler link 45 swings about the axis O of the above to the position D, and 50 is a harness connected to the proximity sensor 32. The proximity sensor mounting bracket 51 that holds the proximity sensor 32 fixed is fixed to the outer surface of the side plate 42 of the arm 17. FIG. 4 is a plan view of a partly cutaway main part viewed from BB of FIG. 3.

Next, the structure and operation of the safety device of the present invention will be described with reference to FIGS. In the hydraulic work vehicle 9 according to the present invention, the first boom 14, the second boom 15, and the third boom having the elongated boom (referred to as the first boom 14 and the third boom 16) at the front portion of the upper swing body 11 are provided. 16 are sequentially connected, the arm 17 is connected to the tip of the third boom 16 on the tip side, and the crusher 1 is attached to the tip of the arm 17.
9 to connect the first boom 14, the second boom 15, the third boom 16, the arm 17, the crusher 19 to the first, respectively.
The boom cylinder 20, the second boom cylinder 21, the third boom cylinder 22, the arm cylinder 23, and the bucket cylinder 24 constitute the ultra-long attachment 13 so that it can be bent and rotated in the front-rear direction, and also detects the inclination angle of the vehicle body. Tilt angle sensor 27 and the plurality of booms 1
4, 15 and 16, and potentiometers 28 to 31 for respectively detecting the rotation angles of the arm 17, and a proximity capable of detecting slightly front side positions a and b (shown in FIG. 2) of the expansion / contraction stroke end of the bucket cylinder 24. A sensor 32 is provided, and the tilt angle sensor 27, each potentiometer 28,
, 31, and the detection signals from the proximity sensor 32 are input to the controller 25. Then, as a range in which the ultra-long attachment 13 is not likely to fall, a safety range S is set as a range within the circumference of a predetermined radius R from the turning center OO (shown in FIG. 1) of the upper-part turning body 11 and its safety. Outside the area S, a range that does not cause a fall but requires sufficient caution is set as a warning area M, and a range outside the warning area M is set as a prohibition area K. When the long attachment 13 is operated, signals from the plurality of potentiometers 28, ..., 31 are transmitted to the controller 25.
The controller 25 calculates the position of the arm tip 18 (shown in FIG. 1) based on the above signal, and the controller 25 blows the buzzer 38 when the arm tip 18 is in the safe area S. A command signal is not output, an intermittent command signal is output from the controller 25 to the buzzer 38 when the arm tip 18 is in the warning area M, and a controller is output when the arm tip 18 is in the prohibited area K. From 25, a continuous blowing command signal is output to the buzzer 38. As a result, when the arm tip portion 18 is within the safety range S, the alarm sound is not generated from the buzzer 38. Also, the arm tip 1
Buzzer 3 when 8 reaches the boundary between safety area S and warning area M
An intermittent alarm sound is generated from 8, and when the arm tip portion 18 is in the warning range M, the intermittent alarm sound is emitted. Next, the arm tip portion 18 has a warning area M and a prohibition area K.
When it reaches the boundary surface between and, a continuous alarm sound is emitted from the buzzer 38.

Further, in the present invention, each potentiometer 2
Harnesses 53, ..., 56 connected to 8, ..., 31
An abnormal signal such as a disconnection signal (shown in FIG. 2) is input to the controller 25, and the controller 25 outputs an irregular sounding command signal to the buzzer 38 by making a determination based on the abnormal signal. did. As a result, when at least one of the harnesses 53, ..., 56 connected to the potentiometers 28, .about.31 causes a disconnection accident, connection failure, etc., the abnormal signal is input to the controller 25. In this case, the buzzer 38 emits an irregular alarm sound having a sounding pattern different from the intermittent alarm sound and the continuous alarm sound.

Further, according to the present invention, when the proximity sensor 32 detects the positions a and b (shown in FIG. 2) slightly before the expansion / contraction stroke end of the bucket cylinder 24, the bucket cylinder 24 is at a predetermined position near the stroke end. When the controller 25 determines that there is the above condition, the controller 25 outputs an intermittent sounding command signal to the alarm device 39. As a result, the bucket cylinder 2
When 4 is at the predetermined position near the stroke end,
From the alarm device 39, for example, a peculiar intermittent alarm sound having a timbre of hum, hum, or hum is emitted. When the bucket cylinder 24 is at a position farther than the predetermined position at the stroke end, the controller 25 makes a judgment based on the signal from the proximity sensor 32, and the controller 25 does not output the blowing command signal to the alarm device 39. No alarm sound is generated from the alarm device 39. Further, in this embodiment, the buzzer 38 and the alarm device 39 are used, but a single alarm device may be shared.

Further, according to the present invention, an abnormal signal such as a disconnection signal is input to the controller 25 from the harness 50 connected to the proximity sensor 32, and the controller 25 makes a judgment based on the abnormal signal, whereby the controller 2
From 5, the continuous buzzing command signal is output to the buzzer 38. As a result, when the harness 50 connected to the proximity sensor 32 causes a disconnection accident, a connection failure, or the like,
The abnormal signal is input to the controller 25. In this case, a continuous warning sound is emitted from the buzzer 38.

Further, in the present invention, the controller 25 is connected to the indicator 26, the position of the moving arm tip portion 18 is calculated by the controller 25, and based on the calculation result, the controller 25 tells the indicator 26 about the turning center. OO
A display command signal for displaying the distance L (shown in FIG. 1) to the arm tip 18 on the horizontal projection plane and the height H from the ground is output. Therefore, when the driver visually checks the display 26, the distance and height on the water projection plane of the arm tip portion 18 moving from moment to moment from the turning center OO, that is, the ultralong attachment 1
You can check the current operating range of 3.

Further, according to the present invention, an inclination angle sensor 27 for detecting the inclination angle of the vehicle body provided on the upper swing body 11 inputs an angle signal inclining the vehicle body by a predetermined angle, for example, larger than about 3 °, to the controller 25. The controller 25 outputs an alarm generation command signal to the buzzer 38 by making a determination based on the angle signal at 25. As a result, when the vehicle body is on the ground inclined in the front-rear direction or the left-right direction by 3 ° or more than 3 °, the inclination angle signal is transmitted from the inclination angle sensor 27 to the controller
Input to 5. The controller 25 makes a judgment based on the tilt angle signal, and the controller 25 outputs a buzzer 38
An alarm generation command signal is output to. Therefore, in this case, the buzzer 38 emits an intermittent warning sound having a particularly short period. Further, in the present invention, the safety range S and the warning range M are set so as to be narrowed as the inclination angle of the vehicle body is increased in correspondence with the predetermined inclination angle of the vehicle body. It is possible to correct the area and the warning area.

[0020]

According to the safety device of the present invention, in consideration of the state in which the hydraulic work vehicle works on the ground inclined in the front-rear direction or the left-right direction, the safety range and the prohibition range in the working range of the arm tip portion of the ultra-long attachment are considered. The warning area is set between the area and the area. The above warning area is set as a range that requires sufficient caution when operating the arm tip when it enters the warning area.Therefore, the arm tip may slightly project outside the safety area during operation of the ultra long attachment. When the warning area is entered, an intermittent alarm sound is emitted from the alarm device, so that the driver can confirm the intermittent alarm sound and return the arm tip to the safe area. Also, when the bucket cylinder is at a predetermined position near the stroke end, an intermittent alarm sound with a peculiar tone is emitted from the alarm device, so the driver recognizes the intermittent alarm sound and operates the bucket cylinder to a position farther than the above position. By doing so, it is possible to prevent damage to the bucket cylinder, the boom, and other parts of the arm. In addition, if at least one part of the harness connected to each potentiometer or proximity sensor equipped on the ultra-long attachment causes a disconnection accident, connection failure, etc., an irregular alarm sound or continuous alarm sound with a different sounding pattern is generated. It occurs and makes the driver aware of it. Therefore, it is possible to prevent a problem in which the alarm generation function in the alarm range area (warning area or prohibition area) cannot be exerted. In addition, the controller is connected to an indicator, and the indicator displays the distance from the turning center to the tip of the arm on the horizontal projection plane and the height from the ground. The operating range of can be visually confirmed. Further, when the hydraulic work vehicle is tilted forward or backward or leftward or rightward by a predetermined angle, for example, an intermittent alarm sound of a particularly short cycle is emitted from the alarm device.
The driver can recognize this and adjust the vehicle body to a substantially horizontal state before performing safe work. Further, in the present invention, the safety range and the warning range are set so as to be narrowed as the inclination angle of the vehicle body is increased in correspondence with the predetermined inclination angle of the vehicle body. The warning area can be corrected.

[Brief description of drawings]

FIG. 1 is a side view of a hydraulic work vehicle equipped with a safety device of the present invention.

FIG. 2 is a circuit diagram of a main part of a safety device according to the present invention.

3 is a partially cutaway detailed view of a portion A in FIG.

FIG. 4 is a plan view of a partly cutaway main part viewed from BB of FIG. 3.

FIG. 5 is a side view of a construction machine according to an embodiment of the prior art.

[Explanation of symbols]

 2 Boom 3,17 Arm 4,19 Crusher 9 Hydraulic work vehicle 11 Upper revolving structure 13 Super long attachment 14, 15, 16 1st, 2nd, 3rd boom 18 Arm tip part 24 Bucket cylinder 25 Controller 26 Indicator 27 Inclination sensor 28, ~, 31 Potentiometer 32 Proximity sensor 38 Buzzer 39 Alarm device 50, 53, ~, 56 Harness

Claims (7)

[Claims] 1. An upper revolving structure is connected to an upper part of a lower traveling structure, and a plurality of booms having an elongated boom are sequentially connected to a front part of the upper revolving structure, and a boom tip part on a tip side thereof is connected to the boom tip part. An arm is connected, and a work tool device is connected to the tip of the arm, and the plurality of booms, arms, and work tool devices are bent and rotated forward and backward by hydraulic boom cylinders, arm cylinders, and bucket cylinders, respectively. In a hydraulic work vehicle that constitutes an ultra-long type work attachment in such a manner, a tilt angle sensor for detecting a tilt angle of a vehicle body, and an angle sensor for detecting each rotation angle of the plurality of booms and arms. And a proximity sensor capable of detecting a position slightly closer to the end of the expansion / contraction stroke of the bucket cylinder, the tilt angle sensor, the angle sensor, and the proximity sensor. These detection signals are input to the controller, and multiple alarm range areas in the operating range of the arm tip are set.When the arm tip reaches the above alarm range, the alarm range is set according to each alarm range. A warning sound with a different blowing pattern is generated, and the warning range is set as a safety range within a circle with a predetermined radius from the turning center of the upper swing body as a range where the work vehicle is not likely to fall. Outside the safety zone, set a warning zone that does not have a risk of tipping over but requires careful operation.
In addition, the prohibited area is set outside the warning area, and the signals from the multiple angle sensors are input to the controller when the work attachment is operated. By calculating the position of, the controller does not output a blow command signal to the alarm when the arm tip is in the safe area, and the controller intermittently emits an alarm to the alarm when the arm tip is in the warning area. A safety device for a hydraulic work vehicle, wherein a command signal is output, and a continuous blow command signal is output from a controller to an alarm device when the tip of the arm is in the prohibited area. 2. The safety device for a hydraulic work vehicle according to claim 1, wherein when the detection signal from each angle sensor is a value outside a predetermined range, the controller determines that the abnormality occurs. A safety device for a hydraulic work vehicle characterized in that an irregular blowing command signal is output from a controller to an alarm device. 3. The safety device for a hydraulic work vehicle according to claim 1, wherein when the proximity sensor detects a position slightly before the stroke end of the bucket cylinder, the bucket cylinder has a predetermined position close to the stroke end. A safety device for a hydraulic work vehicle, wherein the controller outputs an intermittent blow command signal to an alarm device when the controller determines that the position is present. 4. The safety device for a hydraulic work vehicle according to claim 1, wherein when the detection signal from the proximity sensor has a value outside a predetermined range, the controller determines that the controller is abnormal, A safety device for a hydraulic work vehicle, wherein a continuous blowing command signal is output to an alarm device. 5. The safety device for a hydraulic working vehicle according to claim 1, wherein an indicator is connected to the controller, the position of the moving arm tip portion is calculated by the controller, and the controller is based on the calculation result. A safety device for a hydraulic work vehicle characterized in that a display command signal for displaying the distance from the turning center to the arm tip on the horizontal projection plane and the height from the ground is output to the display device. . 6. The safety device for a hydraulic work vehicle according to claim 1, wherein an angle signal indicating that the vehicle body is inclined more than a predetermined angle is input to the controller from an inclination angle sensor that detects an inclination angle of the vehicle body. A safety device for a hydraulic work vehicle, wherein the controller outputs an alarm generation command signal to an alarm device by making a determination based on the angle signal by the controller. 7. The safety device for a hydraulic work vehicle according to claim 1, which corresponds to a predetermined inclination angle of the vehicle body, and narrows the safety range and the warning range as the inclination angle increases. A safety device for a hydraulic work vehicle characterized by being set as described above.