JPH10299035A - Shovel system construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease the possibility of turning-over and lying on its side, by providing an automatically slewing control means stewing the working part to the opposite direction against the turning-over direction expected by a turning-over estimate means. SOLUTION: An inclination sensor 12 detecting the lateral inclination of the upper slewing body of a construction machine is arranged at the nearly central part of the right and left sides of the upper slewing body to lessen the detection error as much as possible. The control part 13 is provided with a control program of the slewing control of the boom or the like by which an electromagnetic changeover valve 16 or the like for a slewing cylinder is controlled on the basis of the detected signals of the sensor 12. When an inclined angle of the upper slewing body is larger than an estimation base value of turning-over, the inclination direction of the body is judged in the slewing control part of the boom. And when the judged inclination direction is the right side, the valve 16 is changed over to the left slewing side. And the gravitational position of the machine body deviated to the inclined side is displaced to the reverse side to automatically slue the boom to the reverse direction against the inclination direction. And as a result, the possibility of laterally turning-over and lying on its side is lessened.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of shovel type construction machines such as hydraulic shovels.

[0002]

2. Description of the Related Art Generally, this kind of shovel type construction machine is
A traveling machine (including a lower traveling body and an upper revolving superstructure) including traveling devices such as crawler traveling devices is connected to a working unit whose working posture changes based on the operation of a hydraulic cylinder. The work position is moved based on the traveling operation of the vehicle, and work such as excavation is performed based on the operation of the working unit at the work position.

[0003]

When working at a work site where there is an inclination, a step, an excavation mark, and the like, pay sufficient attention to the inclination of the fuselage and the like in order to prevent the overturn of the fuselage. Although it is necessary, the operator may not be able to respond promptly if the body inclination suddenly changes contrary to the operator's will.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to solve these problems in view of the above-described circumstances, and has a work posture in which the working posture changes based on the operation of a hydraulic cylinder. The excavator-based construction machine, which is configured to swing the working unit left and right based on the operation of a turning hydraulic cylinder interposed between the traveling body and the working unit, while connecting the unit to the traveling body so as to be able to swing left and right. A traveling body, an inclination detecting means for detecting an inclination of the body, a rollover prediction means for predicting a rollover of the traveling body based on a detection signal of the inclination detection means, and a direction opposite to the rollover direction predicted by the rollover prediction means. Automatic turning control means for automatically turning the working unit. That is, when the aircraft is likely to roll over, the working unit automatically turns to move the center of gravity of the aircraft to the opposite side, so that the balance of the aircraft can be stabilized as much as possible. Further, an automatic extension control means is provided for automatically extending the work unit when the rollover prediction is not canceled even if the work unit is turned to the limit position based on the rollover prediction. In other words, if the machine body balance is not stable even when the working unit is automatically turned, the working unit is further extended automatically to move the body weight center to the opposite side, so that the machine body balance is stabilized as much as possible. be able to.

[0005]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a hydraulic excavator. The hydraulic excavator 1 includes a lower traveling body 2 having a pair of left and right crawler traveling devices, an upper revolving body 3 that is pivotably provided on an upper portion of the lower traveling body 2, and an upper revolving body. Revolving superstructure 3
And a working part 4 connected to the front end of the head. An engine is mounted on the upper revolving unit 3, and a hydraulic pump is driven by the power of the engine to supply hydraulic pressure to the respective units. All of these basic configurations are conventional.

The working part 4 includes a swing post 5 connected to the front end of the upper swing body 3 so as to be swingable in the left-right direction, a boom 6 swingably connected to the swing post 5, and a tip of the boom 6. Arm 7, which is pivotally connected to the front and rear portions of the arm 7, a bucket 8, which is pivotally connected to the distal end of the arm 7, and a boom cylinder 9 which is interposed between the turning post 5 and the boom 6. An arm cylinder 10 is interposed between the arm 6 and the arm 7, a bucket cylinder 11 is interposed between the arm 7 and the bucket 8, and the like. The working posture of the working unit 4 changes in accordance with the expansion and contraction operation of each of the cylinders 9 to 11. Further, a turning cylinder S is interposed between the upper swing body 3 and the working unit 4, and The entire working unit (boom 6) can be turned (swinged) in the left-right direction based on the expansion / contraction operation of the turning cylinder S.

Reference numeral 12 denotes an inclination sensor (horizontal sensor) for detecting the left-right inclination of the upper swing body 3 (or the lower traveling body 2). Although it is arranged substantially at the center of the revolving unit 3 in the left and right direction, the detection signal of the inclination sensor 12 is input to a control unit 13 described later.

The control section 13 is constituted by using a so-called microcomputer. The input section of the control section 13 detects the operation of the tilt sensor 12 and the boom swing operation lever (not shown). A pair of left and right lever operation detection switches 14L and 14R, a boom swing sensor 15 for detecting the left and right swing position of the boom 6 and the like are connected via a predetermined input interface circuit, while an output section is provided with a swing cylinder electromagnetic switch. Solenoids 16a, 16b for turning left and right of the valve 16; solenoids 17a, 17b for raising and lowering the electromagnetic switching valve 17 for the boom cylinder;
The solenoids 18a and 18b for pulling and pushing of the electromagnetic switching valve 18 for the arm cylinder are connected via a predetermined interface circuit. That is, the control unit 1
3 is a tilt sensor 12, a lever operation detection switch 14
A control program such as “boom swing control” for controlling the solenoid switching valve 16 for the swing cylinder, the solenoid switching valve 17 for the boom cylinder, and the solenoid switching valve 18 for the arm cylinder based on the detection signals of the L, 14R and the boom swing sensor 15 is provided. The control procedure of “boom swing control” will be described below with reference to a flowchart.

In the "boom swing control", first, the right and left inclination values α and β of the upper swing body 3 are compared with a rollover prediction reference value γ (horizontal ± θ), and the left and right inclination values α and β are determined. When it is smaller than the rollover prediction reference value γ, the “normal work” which is a subroutine is executed. And
In the “normal operation”, the lever operation detection switch 14
The boom turning operation is determined based on the detection signals of L and 14R, and when the boom turning operation is performed, the boom 6 is turned by switching the turning cylinder electromagnetic switching valve 16 to the side corresponding to the lever operating direction. It is made to let.

On the other hand, when the left and right inclination values α and β of the upper swing body 3 are larger than the rollover prediction reference value γ, the inclination direction of the upper swing body 3 is further determined. Then, when the determined inclination direction is the right inclination, the electromagnetic switching valve 16 for the swing cylinder is switched to the left turning side, and when the inclination direction is the left inclination, the electromagnetic switching valve 16 for the swing cylinder is set to the right turning side. Is switched to. That is, since the hydraulic excavator 1 is predicted to roll over based on the left-right inclination of the upper revolving unit 3 and the boom 6 is automatically swung in a direction opposite to the inclination direction, the machine weight center position biased to the inclination side is set. The hydraulic shovel 1 can be displaced in the opposite direction, and as a result, the possibility that the hydraulic shovel 1 rolls over can be reduced.

The automatic turning operation of the boom 6 based on the rollover prediction is continued until the turning sensor value a exceeds the turning reference values b and c, but the turning sensor value a exceeds the turning reference values b and c. Even if the rollover prediction is not canceled, the working unit 4 is automatically extended (in this embodiment, the boom lowering operation and the arm pushing operation).
In other words, the machine center-of-gravity position biased to the inclined side can be displaced to the opposite side based on the extension operation of the working unit 4,
The possibility that the hydraulic shovel 1 rolls over can be further reduced.

Reference numerals 19L and 19R denote obstacle sensors such as ultrasonic sensors mounted on both right and left sides of the arm 7 (or the boom 6).
R detects an obstacle existing on the left and right sides of the working unit 4 and inputs the detection signal to the turning alarm control unit 20 (or the control unit 13);
The turning alarm control unit 20 activates an alarm buzzer 21 provided in the operation unit 3a for a predetermined time when an obstacle detection signal is input from the obstacle sensors 19L and 19R. That is, when the upper swing body 3 or the boom 6 is turned in a situation where an obstacle exists on the side of the working unit 4,
Since there is a possibility that the working unit 4 may come into contact with an obstacle, the warning sound of the warning buzzer 21 alerts the operator. In this embodiment, an alarm is output regardless of the presence or absence of the turning operation (the upper revolving unit 3 or the boom 6). However, an alarm is output only when the turning operation is determined, or the obstacle detection direction and the turning operation are determined. If an alarm is output only when the directions match, unnecessary alarms can be omitted.

Reference numerals 22L and 22R denote a pair of left and right traveling operation levers disposed in front of the driver's seat of the operation section 3a. The traveling operation levers 22L and 22R are configured to be swingable in the front-rear direction. At the same time, they are operatively connected to a pair of left and right traveling motor switching valves (not shown). When the traveling operation levers 22L and 22R are pivoted forward from the neutral position, the crawler traveling device on the corresponding side operates forward, while the traveling operation levers 22L and 22R are operated.
Is operated backward from the neutral position, the crawler belt traveling device on the corresponding side operates backward.

23L and 23R are the traveling operation levers 22.
A neutral detection switch disposed at a position close to the base end of the L, 22R, wherein the neutral detection switches 23L, 23R are:
The neutral state of each of the traveling operation levers 22L and 22R is detected.
Are connected in series to a starter current supply path to a starter motor 26 via a starter switch 24 and a safety switch 25. That is, since the engine start is permitted only when the travel operation levers 22L and 22R are in the neutral state, the inconvenience of the hydraulic excavator 1 traveling at the same time as the engine start can be eliminated.

Reference numeral 27 denotes a blade provided at the front end of the lower traveling body 2. The blade 27 is provided for performing earth pressing work, leveling work, and the like.
A marker 28 with high visibility is attached (or painted) to the upper edge of the blade 27. That is, since the relative turning position of the upper revolving unit 3 with respect to the lower traveling unit 2 can be easily recognized by using the marker 28 as a mark, a traveling operation error based on erroneous recognition of the turning position is possible. Can be prevented.

In the configuration described above, when the left and right inclination values α and β of the upper swing body 3 exceed the rollover prediction reference value γ, the boom 6 is automatically turned in a direction opposite to the inclination direction. It turns. Therefore, it is possible to displace the center-of-gravity position biased to the body inclination side in the opposite direction as much as possible. As a result, the possibility that the hydraulic excavator 1 rolls over can be reduced.

Further, the boom 6 is determined based on the rollover prediction.
If the rollover prediction is not canceled even when the vehicle is automatically turned to the turning reference values b and c, since the working unit 4 automatically extends, the body weight center position biased toward the body inclination side is further displaced in the opposite direction. As a result, the possibility that the hydraulic shovel 1 rolls over can be further reduced.

The present invention is, of course, not limited to the above embodiment. For example, in the above embodiment, the neutral detection switches 23L and 23R for detecting the neutral state of the traveling operation levers 22L and 22R are provided. Although the provision of the first lever lock mechanism 29 shown in FIG. 12 and the second lever lock mechanism 30 shown in FIG. The travel of the airframe may be prevented. That is, the first lever lock mechanism 29 includes a linear lock plate 31 formed in a linear shape, a curved lock plate 32 formed in a curved shape, and a rotation fulcrum projecting rightward of the right traveling operation lever 23R. A pin 33, a non-locking position fixing pin 34 protruding in front of the rotation fulcrum pin 33, a locking position fixing pin 35 protruding on the left side of the left traveling operation lever 23L, 34, 35 and a nut 36 selectively screwed onto the nut. During the operation, the linear lock plate 31 and the curved lock plate 3 that are rotatable around the rotation fulcrum pin 33 as a fulcrum.
2 is fixed to the non-locking position fixing pin 34, but when not working, the linear lock plate 31 removed from the non-locking position fixing pin 34 is rotated clockwise to lock the locking position fixing pin. 35, and by rotating the curved lock plate 32 counterclockwise and fixing it to the lock position fixing pin 35, the travel operation lever 22
L and 22R can be neutrally locked.

On the other hand, the second lever lock mechanism 30 includes a linear lock plate 37 formed in a linear shape, a Japanese lock plate 38 formed in a zigzag shape, and a projecting right side of the right traveling operation lever 23R. A right fixing pin 39 to be provided,
A left-side fixing pin 40 protruding to the left side of the left-side traveling operation lever 23L; a front-side fixing pin 41 protruding from a corner of the zigzag-shaped lock plate 38;
And wing nuts 42 which are screwed to the respective parts. During operation, a pair of non-locking fixing holes 38a formed at the rear end of the zigzag-shaped lock plate 38 are provided.
Are fixed with the left and right fixing pins 39 and 40, and both ends of the linear lock plate 37 are fixed with the left fixing pin 40 and the front fixing pin 41. A pair of lock fixing holes 38b formed in the front and rear middle portions are
The traveling operation levers 22L and 22R can be locked at the neutral position by fixing the end portions of the linear lock plate 37 with the right and left fixing pins 39 and 40 while fixing at 0.

[Brief description of the drawings]

FIG. 1 is a side view of a hydraulic excavator.

FIG. 2 is a rear view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a front view of an essential part of the above, showing an operation.

FIG. 5 is a block diagram showing input and output of a control unit.

FIG. 6 is a flowchart showing “boom turning control”.

FIG. 7 is a flowchart showing “normal work”.

FIG. 8 is a front view of a main part of a working unit showing an obstacle detection sensor.

FIG. 9A is a block diagram showing input / output of a turning alarm control unit, and FIG. 9B is a flowchart showing “turning alarm control”.

FIG. 10 is a perspective view of a traveling operation lever.

FIG. 11 is a circuit diagram showing a starter current supply path.

FIG. 12 is a perspective view showing an unlocked state and a locked state of the first lever lock mechanism.

FIG. 13 is a perspective view showing an unlocked state and a locked state of the second lever lock mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Undercarriage 3 Upper revolving superstructure 4 Working part 6 Boom 7 Arm 12 Inclination sensor 13 Control part S Revolving cylinder

Claims (2)

[Claims] A working part, whose working posture changes based on the operation of a hydraulic cylinder, is connected to a traveling body so as to be pivotable in the left-right direction, and a hydraulic cylinder for rotation interposed between the traveling body and the working part. In a shovel-based construction machine for turning a working unit left and right based on an operation, a tilt detecting means for detecting a body tilt of the traveling body, and a rollover for predicting a roll of the traveling body based on a detection signal of the tilt detecting means. A shovel-type construction machine, comprising: a prediction unit; and an automatic turning control unit for automatically turning the working unit in a direction opposite to the rollover direction predicted by the rollover prediction unit. 2. An automatic extension control means for automatically extending the working unit when the rollover prediction is not canceled even if the working unit is turned to the limit position based on the rollover prediction. Excavator construction equipment.