WO2021246108A1 - Construction machine - Google Patents

Construction machine Download PDF

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Publication number
WO2021246108A1
WO2021246108A1 PCT/JP2021/017624 JP2021017624W WO2021246108A1 WO 2021246108 A1 WO2021246108 A1 WO 2021246108A1 JP 2021017624 W JP2021017624 W JP 2021017624W WO 2021246108 A1 WO2021246108 A1 WO 2021246108A1
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WO
WIPO (PCT)
Prior art keywords
cable
swivel body
soil removal
regulating member
construction machine
Prior art date
Application number
PCT/JP2021/017624
Other languages
French (fr)
Japanese (ja)
Inventor
健眞 若田
耕平 岡▲崎▼
Original Assignee
ヤンマーホールディングス株式会社
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 ヤンマーホールディングス株式会社 filed Critical ヤンマーホールディングス株式会社
Priority to JP2022528500A priority Critical patent/JPWO2021246108A1/ja
Publication of WO2021246108A1 publication Critical patent/WO2021246108A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00

Definitions

  • the present invention relates to construction machinery.
  • a construction machine equipped with a soil removal device used for leveling work is known.
  • an earth removal device having a blade (earth removal plate) extending in the left-right direction is provided in front of a lower traveling body of a hydraulic excavator, which is a typical example of a construction machine.
  • a technique is known in which an earth removal device mounted on a hydraulic excavator automatically controls the operation of a blade according to three-dimensional data of the ground to be constructed to perform leveling work (see, for example, Patent Document 1).
  • the hydraulic excavator of Patent Document 1 includes a position / attitude detecting device mounted on a blade and a controller provided on an upper swivel body rotatably mounted on a lower traveling body.
  • the position / attitude detector indicates the position and attitude of the blade.
  • the controller controls the operation of the blade based on the position and attitude of the blade indicated by the position / attitude detecting device.
  • a handrail extending in the left and right directions is provided on the front side of the driver's seat provided on the upper swing body, and a relay connector is fixed to the handrail.
  • the other end of the swivel side cable, one end of which is connected to the controller, is connected to the relay connector.
  • the other end of the blade-side cable, one end of which is connected to the position / attitude detection device, is detachably connected to the relay connector.
  • the blade side cable should be removed from the relay connector to prevent the swivel operation of the upper swivel body from being restricted by the cable. Can be done.
  • the upper swivel body may be rotated even when leveling work is performed.
  • the upper swivel body may be swiveled when the ground leveling work is performed for the purpose of facilitating the visual inspection of the blade from the driver's seat.
  • the blade-side cable extending from the relay connector to the position / attitude detecting device can move freely as the upper swivel body swivels. Therefore, due to the swivel of the upper swivel body, a load is likely to be applied to the other end connected to the relay connector of the blade side cable. The load may damage, for example, the connector provided at the other end of the blade-side cable.
  • An object of the present invention is to provide a technique capable of suppressing a load from being applied to a cable connection point due to a swivel of a swivel body.
  • the exemplary construction machine of the present invention is mounted on a traveling body that can travel straight in the front-rear direction, a soil discharging device having a soil discharging plate arranged in front of the traveling body, and a turning body that can turn on the traveling body.
  • a first cable having one end connected to the detection device, a second cable having one end connected to the control device, and the other end of the first cable arranged on the swivel body other than the second cable.
  • a relay unit connected to the end and a first regulating member arranged on the swivel body and restricting the movement of the first cable extending from the relay unit are provided.
  • Schematic perspective view of the construction machine according to the embodiment of the present invention Schematic side view of the construction machine according to the embodiment of the present invention Schematic perspective view showing the detection device and its surroundings in an enlarged manner. Schematic perspective view showing the relay section and its vicinity in an enlarged manner. Schematic perspective view showing the configuration of the relay unit Schematic perspective view showing the configuration of the first regulatory member Schematic cross-sectional view showing a modified example of the first regulating member Schematic perspective view showing the second regulating member arranged in the soil removal device and its surroundings. The figure which shows the state which two 1st cables are attached to the configuration shown in FIG. Schematic perspective view showing the configuration of the tilt cylinder cover to which the second regulating member is attached.
  • the direction in which the traveling body 1 shown in FIG. 1 travels straight is the front-rear direction, and the side in which the soil removal plate 41 of the traveling body 1 is arranged is the front side.
  • the vertical direction is defined with the swivel body 2 facing upward with respect to the traveling body 1.
  • the direction orthogonal to the front-back direction and the up-down direction is defined as the left-right direction.
  • the right side when viewed from the rear to the front is the right side, and the left side is the left side.
  • the expression based on the operator sitting in the driver's seat 22 of the turning body 2 is used, the direction in which the operator rotates in the clockwise direction is defined as a right turn, and the direction in which the operator rotates in the counterclockwise direction is defined as a counterclockwise direction.
  • a plane parallel to the vertical direction may be referred to as a vertical plane.
  • a plane orthogonal to the vertical direction may be expressed as a horizontal plane, and a direction parallel to the horizontal plane may be expressed as a horizontal direction. It should be noted that these directions are names used only for explanation, and there is no intention of limiting the actual positional relationship and direction.
  • FIG. 1 is a schematic perspective view of a construction machine 100 according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the construction machine 100 according to the embodiment of the present invention.
  • the construction machine 100 is a backhoe.
  • the construction machine of this embodiment is referred to as a backhoe 100.
  • the present invention is also applicable to construction machinery other than backhoes.
  • INDUSTRIAL APPLICABILITY The present invention can be widely applied to a construction machine including a traveling body provided with an earth removal device and a rotating body rotatably mounted on the traveling body.
  • the backhoe 100 includes a traveling body 1, a swivel body 2, a working device 3, and a soil discharging device 4.
  • the traveling body 1 makes the backhoe 100 self-propelled.
  • the traveling body 1 can travel straight in the front-rear direction.
  • the traveling body 1 has a pair of left and right crawlers 1a and a traveling motor 1b for driving them.
  • the traveling motor 1b is a hydraulic motor.
  • the traveling body 1 can travel straight in the front-rear direction by driving the left and right crawlers 1a at the same time by the traveling motor 1b.
  • the traveling body 1 can make a right turn and a left turn by independently driving the left and right crawlers 1a by the traveling motor 1b.
  • the backhoe 100 of the present embodiment is a crawler type, it may be a wheel type instead of the crawler type.
  • the swivel body 2 is mounted on the traveling body 1 so as to be swivelable.
  • the swivel body 2 has a swivel table 21 arranged between a pair of left and right crawlers 1a in a plan view from the vertical direction.
  • the swivel table 21 is rotatably supported by the main body frame 1c of the traveling body 1.
  • the swivel table 21 is driven by a swivel motor (not shown) configured as a hydraulic motor, and swivels around a central axis extending in the vertical direction.
  • the swivel table 21 is provided so as to be able to turn right and turn left.
  • the swivel body 2 is provided with a driver's seat 22 on which an operator who controls the backhoe 100 sits, and an engine (not shown) arranged inside the swivel body 2.
  • the operator sitting in the driver's seat 22 operates various operating levers and pedals provided in the vicinity of the driver's seat 22.
  • the engine as a prime mover drives a hydraulic pump (not shown) that supplies pressure oil to a hydraulic actuator mounted on a backhoe.
  • Hydraulic actuators include various hydraulic motors and hydraulic cylinders.
  • the working device 3 has a boom 31, an arm 32, and a bucket 33.
  • the work device 3 enables excavation work such as earth and sand by moving these simultaneously or independently.
  • One end of the boom 31 is supported by the boom bracket 34, and the boom 31 can rotate in a vertical plane by a boom cylinder 35 provided so as to be expandable and contractible.
  • One end of the arm 32 is supported by the other end of the boom 31, and the arm 32 can rotate in a vertical plane by a telescopic arm cylinder 36.
  • One end of the bucket 33 is supported by the other end of the arm 32, and the bucket 33 can rotate in a vertical plane by a bucket cylinder 37 provided so as to be expandable and contractible.
  • the working device 3 is arranged in the installation portion 24 of the swivel body 2.
  • the installation portion 24 projects in the horizontal direction from a part of the outer surface of the swivel body 2.
  • the installation unit 24 is located in front of the operator sitting in the driver's seat 22. 1 and 2 show a swivel body 2 in which the installation portion 24 faces forward and is arranged forward. When the swivel body 2 is arranged forward, the operator sitting in the driver's seat 22 faces forward (front).
  • the direction of the swivel body 2 will be described assuming that the swivel body 2 is arranged forward.
  • the boom 31, arm 32, and bucket 33 are rotatably provided about a central axis extending in the left-right direction.
  • the boom bracket 34 is rotatably supported by the installation portion 24 about a central axis extending in the vertical direction.
  • the boom bracket 34 is connected to a swing cylinder 25 provided on the swivel body 2 so as to be expandable and contractible in the front-rear direction, and rotates in the left-right direction due to the expansion and contraction of the swing cylinder 25. That is, by operating the swing cylinder 25, the work device 3 can be swung in the left-right direction.
  • the soil removal device 4 has a soil removal plate 41 arranged in front of the traveling body 1.
  • the soil removal plate 41 has a rectangular shape extending in the left-right direction in a plan view from the front-rear direction.
  • the soil removal plate 41 is provided so that the position and posture in the vertical direction can be changed.
  • the ground leveling work can be performed by changing the position and posture of the soil removal plate 41 and running the traveling body 1.
  • the soil removal device 4 has an elevating arm 42 that is swingably supported in the vertical direction at the front end of the main body frame 1c of the traveling body 1.
  • the vertical movement of the elevating arm 42 is enabled by a lift cylinder 43 that is extensiblely arranged between the main body frame 1c and the elevating arm 42.
  • the soil removal plate 41 is swingably supported on the front end side of the elevating arm 42. By moving the elevating arm 42 up and down by the lift cylinder 43, the soil removal plate 41 can be moved up and down.
  • the soil removal plate 41 is rotatably attached to the elevating arm 42 about a central axis extending in a direction parallel to the direction in which the elevating arm 42 extends (front-rear direction in FIGS. 1 and 2).
  • the central axis is located near the center of the top, bottom, left and right of the soil removal plate 41 in a plan view from the front-back direction.
  • the rotation is possible by the tilt cylinder 44 which is arranged on the rear surface side of the soil removal plate 41 and can be expanded and contracted in the left-right direction.
  • the tilt cylinder 44 allows both ends of the soil removal plate 41 in the left-right direction to swing in the up-down direction.
  • the vertical swing angle of the left-right end of the soil removal plate 41 is referred to as a tilt angle.
  • the soil removal plate 41 is rotatably attached to the elevating arm 42 about a shaft pin 45 extending in a direction orthogonal to the direction in which the elevating arm 42 extends (vertical direction in FIGS. 1 and 2).
  • the shaft pin 45 is located behind the soil removal plate 41, near the center in the left-right direction. Rotation around the shaft pin 45 is possible by a pair of angle cylinders 46 arranged at both left and right ends of the elevating arm 42.
  • the angle cylinder 46 allows both ends of the soil removal plate 41 in the left-right direction to swing in the front-rear direction.
  • the backhoe 100 configured as described above is attached to the soil removal plate 41 and includes a detection device 5 for detecting information related to the soil removal plate 41.
  • the information related to the soil removal plate 41 is, in detail, the position information and the posture information of the soil removal plate 41.
  • the attitude information detected by the detection device 5 is, in detail, tilt angle information.
  • FIG. 3 is a schematic perspective view showing the detection device 5 and its surroundings in an enlarged manner. It should be noted that FIG. 3 is a view seen from diagonally above the rear. As shown in FIG. 3, the detection device 5 includes a prism 51 and a tilt sensor 52.
  • the prism 51 is a target that is tracked by an automatic tracking type total station (not shown) during leveling work using the soil removal device 4.
  • the total station continuously measures the position information of the prism 51 and transmits the measurement result to the radio 6 of the backhoe 100.
  • the radio 6 is arranged behind the swivel body 2 as shown in FIGS. 1 and 2.
  • the soil removal plate 41 has a base portion 411 to which a prism 51 (detection device 5) is detachably attached on both left and right sides with respect to the center in the left-right direction.
  • the soil removal plate 41 has a base portion 411 to which a support column 7 to which the prism 51 is attached can be detachably attached near both left and right ends.
  • the stanchion 7 is arranged on one of the two base portions 411.
  • the support column 7 is arranged on the base portion 411 on the same left side as the side where the driver's seat 22 is located.
  • Each base portion 411 is arranged on the rear surface of the soil removal plate 41 and protrudes rearward.
  • the upper surface of the base portion 411 is a flat surface.
  • the strut 7 has a flange portion 71 at a lower end. By fixing the flange portion 71 to the upper surface of the base portion 411 using bolts and nuts, the support column 7 is fixed to the base portion 411. Further, the prism 51 is detachably attached to the upper end portion of the support column 7.
  • the prism 51 can be removed from the support column 7, the prism 51 can be removed from the backhoe 100 after the work is completed to prevent the prism 51 from being stolen. Further, the support column 7 can be removed from the soil removal plate 41 when the automatic ground leveling work using the total station is not performed. Further, since the support column 7 can be removed to change the position of the prism 51 in the left-right direction, even if the total station cannot track the prism 51 at one position, the prism 51 can be replaced with the prism 51 at the other position. It can be tracked.
  • the tilt sensor 52 detects the tilt angle of the soil removal plate 41.
  • the tilt angle detected by the tilt sensor 52 is transmitted by wire to the control device 8 described in detail later.
  • the tilt sensor 52 is arranged behind the soil removal plate 41.
  • the tilt sensor 52 is arranged at a position slightly shifted to the left from the center of the soil removal plate 41 in the left-right direction.
  • the tilt sensor 52 is arranged on the upper surface of the sensor base 412 provided on the rear surface of the soil removal plate 41.
  • the sensor base portion 412 is formed, for example, by welding an L-shaped member to the rear surface of the soil removal plate 41.
  • the upper surface of the sensor base 412 is a flat surface located higher than the center of the soil removal plate 41 in the vertical direction and having a larger area than the tilt sensor 52.
  • the tilt sensor 52 is covered with a box-shaped sensor cover 521 that opens downward.
  • a notch 521a is provided on the rear side surface of the sensor cover 521.
  • the connector 91 can be connected to the tilt sensor 52 covered with the sensor cover 521 from the rear via the notch 521a.
  • the upper portion of the sensor cover 521 is covered with the tilt cylinder cover 441 that covers the tilt cylinder 44.
  • the sensor base 412, the sensor cover 521, and the tilt cylinder cover 441 can prevent the earth and sand that crawls up from below the tilt sensor 52 and the earth and sand that falls from above. Therefore, the tilt sensor 52 can be appropriately protected from earth and sand during the leveling work.
  • the sensor cover 521 and the tilt cylinder cover 441 are omitted.
  • the prism 51 is used as a detection device for detecting the position information of the soil removal plate 41, but this is only an example.
  • a GNSS Global Navigation Satellite System
  • the position information detected by the GNSS antenna may be transmitted to the control device 8 by wire.
  • the backhoe 100 includes a control device (controller) 8 arranged on the swivel body.
  • the control device 8 is configured by using, for example, a computer having a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory).
  • the control device 8 has a display screen.
  • the control device 8 is arranged at a position that is easy for the operator sitting in the driver's seat 22 to see.
  • the control device 8 does not have to have a display screen.
  • the control device 8 may be configured to arrange the display device separately from the control device 8, and the control device 8 may be arranged inside the swivel body 2, for example. ..
  • the position information of the prism 51 is input to the control device 8 from the total station via the radio 6.
  • the control device 8 and the radio 6 are connected by wire.
  • the control device 8 may have a built-in wireless communication function so that the control device 8 and the total station perform wireless communication.
  • the tilt angle information of the soil removal plate 41 is input to the control device 8 by wire from the tilt sensor 52.
  • the control device 8 obtains the position and orientation of the soil removal plate 41 based on the position information of the prism 51 and the tilt angle information of the soil removal plate 41.
  • the control device 8 controls the operation of each cylinder 43, 44, 46 of the soil removal plate 41 based on the difference between the obtained position and orientation of the soil removal plate 41 and the three-dimensional design data prepared in advance, and backhoe. Have 100 perform automatic ground leveling work.
  • each backhoe 100 may perform automatic leveling work at the same time at one construction site. Even in such a case, it is necessary to configure the structure so that the position information of the soil removal plate 41 is not erroneously input.
  • each backhoe 100 operates as a set with a specific total station.
  • an authentication signal is transmitted and received between the control device 8 and the prism 51, and based on this, the control device 8 is located only from a specific total station paired with the prism 51 connected to the own device. Receive information. That is, in the backhoe 100 that performs the automatic leveling work, the control device 8 and the prism 51 are connected by wire.
  • the backhoe 100 includes a first cable 9, a second cable 10, and a relay unit 11. One end of the first cable 9 is connected to the detection device 5. One end of the second cable 10 is connected to the control device 8.
  • the relay unit 11 is arranged on the swivel body 2 and connects the other end of the first cable 9 to the other end of the second cable 10.
  • FIG. 4 is a schematic perspective view showing the relay unit 11 and its vicinity in an enlarged manner. Note that FIG. 4 is a view seen from diagonally above the front.
  • the detection device 5 includes two prisms 51 and a tilt sensor 52. Therefore, as shown in FIG. 4, the first cable 9 connected to the detection device 5 includes the first cable 9A for the prism and the first cable 9B for the tilt sensor. Further, the second cable 10 includes a second cable 10A for a prism and a second cable 10B for a tilt sensor, corresponding to the case where the first cable 9 includes two types of cables 9A and 9B.
  • First connectors 91 are provided at both ends of each of the first cables 9A and 9B.
  • the type of the first connector 91 may be the same or different between one end (detection device 5 side) and the other end (relay portion 11 side) of the first cables 9A and 9B.
  • the first connector 91 (see FIG. 4) provided at the other end has a shape that extends straight, but the first connector 91 (see FIG. 3) provided at one end has an L shape.
  • the cable portion extending from the first connector 91 is omitted.
  • the first connector 91 provided at one end of the prism first cable 9A is connected to the prism 51 at the upper end of the support column 7.
  • the first connector 91 provided at one end of the tilt sensor first cable 9B is connected to the tilt sensor 52 via the notch 521a of the sensor cover 521.
  • second connectors 101 are provided at both ends of each of the second cables 10A and 10B.
  • the type of the second connector 101 may be the same or different between one end (control device 8 side) and the other end (relay portion 11 side) of each of the second cables 10A and 10B.
  • the second connector 101 provided at one end and the second connector 101 provided at the other end are different types.
  • a part of the portion extending from the relay portion 11 of each of the second cables 10A and 10B is guided to the inside of the swivel body 2 and becomes a cable 81 (see FIG. 1) extending from the control device 8 inside the swivel body 2.
  • a cable 81 see FIG. 1
  • one ends of the second cables 10A and 10B are indirectly connected to the control device 8 via the cable 81, but may be directly connected to the control device 8.
  • the relay unit 11 is arranged in front of the swivel body 2. Further, the relay unit 11 is arranged at a position deviated from the central portion in the left-right direction of the swivel body 2 to one side in the left-right direction. With such a configuration, it is possible to prevent the relay unit 11 from becoming an obstacle during the swing operation of the work device 3. In the present embodiment, the relay unit 11 is arranged at a position shifted to the same side (left side) as the support column 7 on which the prism 51 is mounted. The relay unit 11 is arranged in front of the driver's seat 22. The relay unit 11 is arranged at a distance in front of the handrail 26 arranged in front of the driver's seat 22. By arranging the relay unit 11 in front of the swivel body 2 in this way, the distance from the detection device 5 to the relay unit 11 can be shortened. Therefore, the handling and attachment / detachment of the first cable 9 can be facilitated.
  • an opening 27 for passing a hose group (not shown) for supplying pressure oil to the working device 3 is provided in the vicinity of the central portion in the left-right direction in front of the swivel body 2. It will be provided.
  • the relay portion 11 is arranged on the front left side of the swivel body 2 avoiding the opening 27.
  • FIG. 5 is a schematic perspective view showing the configuration of the relay unit 11. As shown in FIG. 5, the relay unit 11 has a support member 111 and a holding member 112. Note that FIG. 5 also shows a second connector 101 attached to the relay unit 11 for ease of understanding.
  • the support member 111 extends upward from the upper surface of the swivel body 2 in front of the swivel body 2. Specifically, the support member 111 is arranged on the upper plate-shaped member 28 constituting the front upper surface of the swivel body 2. The upper surface of the upper plate-shaped member 28 extends in the horizontal direction. The support member 111 is provided on the upper plate-shaped member 28 independently of the handrail 26.
  • the support member 111 has a base portion 111a extending in the horizontal direction at the lower end, and the base portion 111a is fixed to the upper plate-shaped member 28.
  • the support member 111 has a flat plate portion 111b extending in a direction parallel to the vertical direction.
  • the flat plate portion 111b is tilted with respect to a plane parallel to the vertical direction and the horizontal direction. Specifically, the flat plate portion 111b is tilted so that the right end is in the front and the left end is in the rear.
  • the holding member 112 is attached to the support member 111 and holds the second connector 101 provided at the other end of the second cable 10.
  • the second cable 10 includes a second cable 10A for a prism and a second cable 10B for a tilt sensor.
  • the holding member 112 includes a prism cable holding member 112A and a tilt sensor cable holding member 112B.
  • the orientation of the holding member 112 can be easily set freely. Further, by providing the support member 111 that supports the holding member 112 at a position away from the handrail 26, the operator can easily use the handrail 26.
  • the prism cable holding member 112A and the tilt sensor cable holding member 112B are attached to the flat plate portion 111b of the support member 111 side by side in the vertical direction.
  • the prism cable holding member 112A is above the tilt sensor cable holding member 112B, but they may be arranged upside down.
  • the prism cable holding member 112A and the tilt sensor cable holding member 112B have the same configuration.
  • Each holding member 112A, 112B has two split bodies 1121, 1122 and two bolts 1123.
  • the two divided bodies 1121 and 1122 have the same rectangular parallelepiped shape, and a groove is provided on one surface.
  • the two divided bodies 1121 and 1122 are arranged in a direction in which the grooves face each other.
  • the second connector 101 is partially inserted into the grooves of the two divided bodies 1121 and 1122, and is sandwiched between the two divided bodies 1121 and 1122.
  • the two divided bodies 1121 and 1122 are fastened to the flat plate portion 111b of the support member 111 by two bolts 1123 in a state of sandwiching the second connector 101.
  • the two divided bodies 1121 and 1122 sandwiching the second connector 101 have a rectangular parallelepiped shape, and in a plan view from the vertical direction, the front end is tilted to the left and the rear end is tilted to the right with respect to the front-rear direction.
  • the tip of the second connector 101 sandwiched between the two split bodies 1121 and 1122 on the side opposite to the side connected to the second cable 10 projects diagonally forward to the right from the holding member 112.
  • the first connector 91 of each of the first cables 9A and 9B is attached to the tip of the second connector 101 protruding from the holding members 112A and 112B.
  • the first connector 91 provided at the other end of the first cable 9 is arranged so as to be inclined with respect to the front-rear direction, and extends from the relay portion 11 toward the installation portion 24.
  • the first cable 9 With such a configuration, it is possible to easily arrange the first cable 9 by avoiding the hose group passing through the opening 27 arranged on the right side of the relay unit 11. Further, since the first cable 9 extends inward rather than outward from the relay portion 11, the rotation of the swivel body 2 can reduce the possibility that the first cable 9 comes into contact with the crawler 1a. Further, since the first cable 9 is tilted in the front-rear direction and the left-right direction and extends from the relay unit 11, the working device 3 and the first cable 9 come into contact with each other even when the working device 3 swings. The possibility of doing so can be reduced.
  • the second connector 101 is held by the holding member 112, but the present invention is not limited to this.
  • the holding member 112 holds the plug
  • not only the first connector 91 but also the second connector 101 may be detachable from the relay unit 11.
  • the other end of the first cable 9 and the other end of the second cable 10 may be directly connected by the relay unit 11 as in the present embodiment, but are indirectly connected by the relay unit 11. May be good.
  • the mounting positions of the first connector 91 and the second connector 101 may be reversed.
  • the relay unit 11 is configured on the front upper surface of the swivel body 2, but this is only an example.
  • the relay unit 11 may be provided on the front wall of the swivel body 2.
  • the swivel body 2 is provided so as to be swivelable within the width of the traveling body 1 in the left-right direction. In view of this point, it is preferable that the relay unit 11 is configured so as not to protrude from the width in the left-right direction of the traveling body 1 when the turning body 2 is turned.
  • the first cables 9A and 9B can be easily removed from the relay unit 11 and the detection device 5. For this reason, for example, it can be removed at the end of a day's work to prevent theft. Further, when the automatic ground leveling work is not performed, the first cables 9A and 9B can be removed to widen the turning range of the turning body 2.
  • the relay unit 11 is provided with a connector cover 113 (see FIG. 4) that is attached to the tip of the second connector 101 when the first connector 91 is removed.
  • the connector cover 113 is suspended from the holding member 112 by, for example, a wire such as a wire.
  • the connector cover 113 can prevent foreign matter such as dust and water from entering the inside of the second connector 101.
  • the backhoe 100 includes a first regulating member 12 arranged on the swivel body 2.
  • the first regulating member 12 regulates the movement of the first cable 9 extending from the relay portion 11.
  • the first regulating member 12 regulates the movement of the swivel body 2 of the first cable 9 accompanying the swivel.
  • the first regulating member 12 is provided separately from the relay unit 11 and is arranged away from the relay unit 11.
  • the first regulating member 12 also has a function as a guide member for guiding the first cable 9 extending from the relay unit 11 to the detection device 5.
  • the first regulating member 12 moves together with the swivel body 2 in the same manner as the relay unit 11. For this reason, by providing the first regulating member 12, it is possible to suppress the movement of the first cable 9 between the first regulating member 12 and the relay portion 11 even when the swivel body 2 is swiveled. .. That is, it is possible to prevent a load from being applied to the connection portion of the first cable 9 (specifically, the first connector 91 on the relay portion 11 side) due to the swivel of the swivel body 2.
  • the first regulating member 12 is arranged between the installation portion 24 and the relay portion 11 in the left-right direction in a plan view (front view) of the swivel body 2 from the front-rear direction.
  • the first regulating member 12 can be arranged at a position close to the center in the left-right direction in front of the swivel body 2. That is, according to this configuration, since the starting point of the twist of the first cable 9 can be arranged close to the center in the left-right direction in front of the swivel body 2, the swivel body 2 swivels to the left or right. In, the rampage of the first cable 9 can be suppressed.
  • the installation unit 24 and the relay unit 11 may have the same height position in the vertical direction, but may be offset from each other.
  • the installation unit 24 and the relay unit 11 are not opposed to each other in the left-right direction because the height positions of the installation unit 24 and the relay unit 11 are deviated from each other in the plan view from the front-rear direction.
  • the first regulating member 12 may not be arranged between the installation unit 24 and the relay unit 11 in the left-right direction, and may be arranged, for example, in front of the relay unit 11 or to the left of the relay unit 11. .. Even with such a configuration, it is possible to suppress the load on the other end of the first cable 9 (the first connector 91 on the relay portion 11 side).
  • the first regulating member 12 is arranged below the relay unit 11. With this configuration, it is possible to easily arrange the first cable 9 from the relay unit 11 at a short distance toward the detection device 5 arranged below the swivel body 2. Further, when guiding the first cable 9 from the relay unit 11 to the first regulating member 12, it is possible to prevent an unreasonable force from being applied to the other end of the first cable 9.
  • FIG. 6 is a schematic perspective view showing the configuration of the first regulatory member 12.
  • the first regulating member 12 is provided on the front plate-shaped member 29 constituting the front surface of the swivel body 2.
  • the front plate-shaped member 29 constitutes a wall surface on the front side of the opening 27 through which the hose group is passed.
  • the first restricting member 12 is the first restricting for the prism cable in response to the existence of the first cable 9A for the prism and the first cable 9B for the tilt sensor.
  • the member 12A and the first regulating member 12B for the tilt sensor cable are included.
  • the first regulatory member 12 is L-shaped with its tip facing upward.
  • the first regulating member 12 is in the shape of a hook.
  • the structure of the first regulating member 12 can be simplified and the first regulating member 12 can be easily arranged on the swivel body 2.
  • the first regulating member 12A for the prism cable and the first regulating member 12B for the tilt sensor cable have the same L-shape.
  • the two first regulating members 12A and 12B are attached to the front plate-shaped member 29 at intervals in the left-right direction by welding or the like.
  • the first cable 9 is hooked on the first regulatory member 12. Specifically, as shown in FIG. 4, the first prism cable 9A is hooked on the first regulating member 12A for the prism cable.
  • the tilt sensor first cable 9B is hooked on the tilt sensor cable first regulating member 12B. With this configuration, the first cables 9A and 9B can be easily attached to and detached from the first regulating members 12A and 12B, respectively.
  • a part of the first cable 9 is spiral and the spiral part is the first regulating member so that the first cable 9 can be easily attached to and detached from the L-shaped first regulating member 12. It is configured to be hooked on 12. That is, the first cable 9 has a spiral portion that is hooked on the first regulating member 12.
  • the first cable 9 may be entirely or substantially entirely spiral. With such a configuration, the first cable 9 can be easily expanded and contracted. As a result, the length of the first cable 9 can be made compact, and the possibility of damage to the first cable 9 can be reduced.
  • the first cable 9 is linear and may be wound around the first regulating member 12 and attached.
  • the first restricting member 12 is provided on the front surface of the swivel body 2, but the present invention is not limited to this, and the first regulating member is arranged on, for example, the front upper surface of the swivel body 2. May be.
  • the first regulating member may have a shape that extends straight upward from the upper surface of the swivel body 2, for example.
  • the first cable 9 can be hooked on the first regulating member.
  • the first regulating member 12 is configured to regulate the movement of the first cable 9 by hooking and holding the first cable 9, but this is also merely an example.
  • the first restricting member may have a structure that can restrict the movement of the first cable 9, and may not have a structure for hooking the first cable 9.
  • the first regulating member may have a ring shape, a tubular shape, or the like through which the first cable 9 is passed.
  • the first regulating member may be configured to sandwich the first cable 9 as shown in FIG. 7.
  • the first regulating member 12X has a pair of leaf spring members 121 projecting forward from the front plate-shaped member 29. The pair of leaf spring members 121 sandwich and hold the first cable 9 by an elastic force.
  • FIG. 7 is a cross-sectional view of the first regulating member 12X sandwiching the first cable 9 in the horizontal direction.
  • At least one second regulating member 13 that regulates the movement of the first cable 9 is arranged in the soil discharging device 4.
  • the second regulating member 13 it is possible to prevent the first cable 9 from being violent due to the turning of the swivel body 2 between the first regulating member 12 and the detection device 5.
  • FIG. 8 is a schematic perspective view showing the second regulating member 13 arranged in the soil removal device 4 and its surroundings.
  • FIG. 8 is a perspective view seen from the front upper side. Further, FIG. 8 shows a state in which the two first cables 9A and 9B are not attached.
  • two second regulation members 13 are arranged in the soil removal device 4. It should be noted that the number of the second regulating member 13 is appropriately changed as long as the first cable 9 can be suppressed from being violent due to the turning of the swivel body 2, and the number of the second regulating member 13 is appropriately changed within the range of fulfilling the purpose. It's okay.
  • the second regulating member 13A of one of the two second regulating members 13 is attached to the angle cylinder cover 461 of the angle cylinder 46. More specifically, the second regulating member 13A has a base plate 131A attached to the angle cylinder cover 461 and a regulating portion 132A attached to the base plate 131A.
  • the regulating portion 132A has a rod-shaped portion 132Aa fixed to the base plate 131A and an annular portion 132Ab connected to the rod-shaped portion 132Aa. The annular portion 132Ab penetrates in the front-rear direction.
  • the other second regulating member 13B of the two second regulating members 13 is attached to the tilt cylinder cover 441. More specifically, the second regulating member 13B has a base plate 131B attached to the tilt cylinder cover 441 and a regulating portion 132B attached to the base plate 131B.
  • the regulating portion 132B has a rod-shaped portion 132B fixed to the base plate 131B and an annular portion 132Bb connected to the rod-shaped portion 132B.
  • the annular portion 132Bb penetrates in the front-rear direction.
  • FIG. 9 is a diagram showing a state in which two first cables 9A and 9B are attached to the configuration shown in FIG.
  • the prism first cable 9A is passed through the annular portions 132Ab and 132Bb of the two second regulating members 13A and 13B. That is, the prism first cable 9A is guided from the relay unit 11 to the prism 51 by being guided by the two second regulating members 13A and 13B in addition to the prism cable first regulating member 12A.
  • the first cable 9B for the tilt sensor is passed through the annular portion 132Ab of one second regulating member 13A. That is, the tilt sensor first cable 9B is guided from the relay unit 11 to the tilt sensor 52 by being guided by one second regulating member 13A in addition to the tilt sensor cable first regulating member 12B.
  • the second regulating member 13A is configured to be shared by the two first cables 9A and 9B, but it may be configured not to be shared. In this case, the number of the second regulating members 13 may be increased.
  • the soil removal plate 41 is provided with two base portions 411 on which the columns 7 to which the prisms 51 are attached can be arranged so that the positions of the prisms 51 can be changed. Be done.
  • the backhoe 100 of the present embodiment has been devised in consideration of this point. That is, the soil removal device 4 has a plurality of mounting portions for the second regulating member that enable the use of the second regulating member 13 arranged at different positions according to the replacement of the detection device 5 with respect to the two base portions 411. 14 is provided. According to this, even when the arrangement of the detection device 5 is changed, it is possible to prevent the first cable 9 from being violent due to the turning of the swivel body 2.
  • FIG. 10 is a schematic perspective view showing the configuration of the tilt cylinder cover 441 to which the second regulating member 13B is attached.
  • FIG. 10 is a perspective view seen from the front upper side. Further, in FIG. 10, for ease of understanding, bolts required for attaching the tilt cylinder cover 441 to other members are also shown.
  • the tilt cylinder cover 441 allows the use of the second restricting member 13B arranged at different positions according to the replacement of the prism 51 with respect to the two base portions 411.
  • the member mounting portions 14A and 14B are provided.
  • One mounting portion 14A for the second regulating member is provided at the left end of the tilt cylinder cover 441, and the other mounting portion 14B for the second regulating member is provided at the center portion in the left-right direction of the tilt cylinder cover 441.
  • each of the second regulatory member mounting portions 14A and 14B is composed of bolt holes required for mounting the base plate 131B.
  • the mounting portion 14 for the second regulating member does not have to be a hole for a bolt.
  • the position where the second regulating member 13B is attached is changed. Specifically, in the second regulating member 13B, from the state where the base plate 131B is attached to the second regulating member mounting portion 14A using bolts, the base plate 131B bolts to the second regulating member mounting portion 14B. It is changed to the attached state using.
  • the annular portion 132Bb is arranged to penetrate in the left-right direction. Such a change in the direction of the annular portion 132Bb may be appropriately performed in consideration of the ease of guiding the first cable 9 to the detection device 5.
  • the location of the second regulating member 13B is replaced according to the replacement of the location of the support column 7, but both of the two mounting portions 14A and 14B for the second regulating member are previously replaced. It may be configured that two second regulation members are attached. Further, in the present embodiment, the configuration in which the second regulating member mounting portions 14A and 14B are provided on the tilt cylinder cover 441 is shown, but this is merely an example and may be provided in addition to the tilt cylinder cover 441. Further, in the present embodiment, the case where the position of the second regulating member 13B is changed is illustrated, but for example, the position of the second regulating member 13A may also be changed.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
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Abstract

This construction machine comprises: a traveling body capable of traveling in a straight line in the longitudinal direction; a soil removal device having a soil removal plate disposed in front of the traveling body; a rotating body rotatably mounted on the traveling body; a work device installed in an installation part of the rotating body; a detection device attached to the soil removal plate and detecting information related to the soil removal plate; a control device disposed on the rotating body; a first cable having one end connected to the detection device; a second cable having one end connected to the control device; a relay part disposed on the rotating body and connecting the other end of the first cable to the other end of the second cable; and a first regulation member disposed on the rotating body and regulating the movement of the first cable extending from the relay part.

Description

建設機械Construction machinery
　本発明は、建設機械に関する。 The present invention relates to construction machinery.
　従来、整地作業に用いられる排土装置を備えた建設機械が知られる。例えば、建設機械の代表例である油圧ショベルの下部走行体の前方に、左右方向に延びるブレード（排土板）を有する排土装置が設けられる。油圧ショベルに搭載された排土装置により、施工すべき地面の３次元データに従ってブレードの動作を自動制御して整地作業を行う技術が知られる（例えば特許文献１参照）。 Conventionally, a construction machine equipped with a soil removal device used for leveling work is known. For example, an earth removal device having a blade (earth removal plate) extending in the left-right direction is provided in front of a lower traveling body of a hydraulic excavator, which is a typical example of a construction machine. A technique is known in which an earth removal device mounted on a hydraulic excavator automatically controls the operation of a blade according to three-dimensional data of the ground to be constructed to perform leveling work (see, for example, Patent Document 1).
　特許文献１の油圧ショベルは、ブレードに取り付けられる位置・姿勢検出装置と、下部走行体上に旋回可能に搭載される上部旋回体に設けられるコントローラと、を備える。位置・姿勢検出装置は、ブレードの位置および姿勢を示す。コントローラは、位置・姿勢検出装置が示すブレードの位置および姿勢に基づいてブレードの動作を制御する。 The hydraulic excavator of Patent Document 1 includes a position / attitude detecting device mounted on a blade and a controller provided on an upper swivel body rotatably mounted on a lower traveling body. The position / attitude detector indicates the position and attitude of the blade. The controller controls the operation of the blade based on the position and attitude of the blade indicated by the position / attitude detecting device.
　上部旋回体に設けられる運転席の前側には左、右方向に延在する手摺りが設けられ、手摺りには中継コネクタが固定される。コントローラに一端が接続された旋回体側ケーブルの他端は、中継コネクタに接続される。位置・姿勢検出装置に一端が接続されたブレード側ケーブルの他端は、中継コネクタに着脱可能に接続される。整地作業を行う場合には、旋回体側ケーブルとブレード側ケーブルとが中継コネクタを介して接続され、位置・姿勢検出装置とコントローラとを接続することができる。一方、上部旋回体に設けられる作業装置を用いた掘削作業等を行う場合には、ブレード側ケーブルを中継コネクタから取り外すことにより、上部旋回体の旋回動作がケーブルにより制限されることを回避することができる。 A handrail extending in the left and right directions is provided on the front side of the driver's seat provided on the upper swing body, and a relay connector is fixed to the handrail. The other end of the swivel side cable, one end of which is connected to the controller, is connected to the relay connector. The other end of the blade-side cable, one end of which is connected to the position / attitude detection device, is detachably connected to the relay connector. When the ground leveling work is performed, the swivel side cable and the blade side cable are connected via the relay connector, and the position / attitude detection device and the controller can be connected. On the other hand, when excavating using the work device provided on the upper swivel body, the blade side cable should be removed from the relay connector to prevent the swivel operation of the upper swivel body from being restricted by the cable. Can be done.
特開２０２０－１２２５５号公報Japanese Unexamined Patent Publication No. 2020-12255
　整地作業を行う場合においても、上部旋回体が回転される場合がある。例えば、運転席からのブレードの目視を容易とする目的で、上部旋回体が整地作業を行う場合に旋回されることがある。特許文献１の構成においては、中継コネクタから位置・姿勢検出装置へと延びるブレード側ケーブルは、上部旋回体の旋回に伴い自由に動くことができる。このために、上部旋回体の旋回により、ブレード側ケーブルの中継コネクタに接続される他端には負荷がかかり易い。当該負荷により、例えば、ブレード側ケーブルの他端に設けられるコネクタが損傷する可能性がある。 The upper swivel body may be rotated even when leveling work is performed. For example, the upper swivel body may be swiveled when the ground leveling work is performed for the purpose of facilitating the visual inspection of the blade from the driver's seat. In the configuration of Patent Document 1, the blade-side cable extending from the relay connector to the position / attitude detecting device can move freely as the upper swivel body swivels. Therefore, due to the swivel of the upper swivel body, a load is likely to be applied to the other end connected to the relay connector of the blade side cable. The load may damage, for example, the connector provided at the other end of the blade-side cable.
　本発明は、旋回体の旋回によってケーブルの接続箇所に負荷が加わることを抑制できる技術を提供することを目的とする。 An object of the present invention is to provide a technique capable of suppressing a load from being applied to a cable connection point due to a swivel of a swivel body.
　本発明の例示的な建設機械は、前後方向に直進可能な走行体と、前記走行体の前方に配置される排土板を有する排土装置と、前記走行体上に旋回可能に搭載される旋回体と、前記旋回体の設置部に設置される作業装置と、前記排土板に取り付けられ、前記排土板に関わる情報を検出する検出装置と、前記旋回体に配置される制御装置と、一端が前記検出装置に接続される第１ケーブルと、一端が前記制御装置に接続される第２ケーブルと、前記旋回体に配置され、前記第１ケーブルの他端を前記第２ケーブルの他端に接続する中継部と、前記旋回体に配置され、前記中継部から延び出す前記第１ケーブルの動きを規制する第１規制部材と、を備える。 The exemplary construction machine of the present invention is mounted on a traveling body that can travel straight in the front-rear direction, a soil discharging device having a soil discharging plate arranged in front of the traveling body, and a turning body that can turn on the traveling body. A swivel body, a work device installed in the installation portion of the swivel body, a detection device attached to the soil removal plate to detect information related to the soil removal plate, and a control device arranged in the swivel body. A first cable having one end connected to the detection device, a second cable having one end connected to the control device, and the other end of the first cable arranged on the swivel body other than the second cable. A relay unit connected to the end and a first regulating member arranged on the swivel body and restricting the movement of the first cable extending from the relay unit are provided.
　本発明の例示的な建設機械によれば、旋回体の旋回によってケーブルの接続箇所に負荷が加わることを抑制できる。 According to the exemplary construction machine of the present invention, it is possible to suppress the load applied to the connection point of the cable due to the swivel of the swivel body.
本発明の実施形態に係る建設機械の概略斜視図Schematic perspective view of the construction machine according to the embodiment of the present invention. 本発明の実施形態に係る建設機械の概略側面図Schematic side view of the construction machine according to the embodiment of the present invention 検出装置およびその周辺を拡大して示す概略斜視図Schematic perspective view showing the detection device and its surroundings in an enlarged manner. 中継部およびその近傍を拡大して示した概略斜視図Schematic perspective view showing the relay section and its vicinity in an enlarged manner. 中継部の構成を示す概略斜視図Schematic perspective view showing the configuration of the relay unit 第１規制部材の構成を示す概略斜視図Schematic perspective view showing the configuration of the first regulatory member 第１規制部材の変形例を示す概略断面図Schematic cross-sectional view showing a modified example of the first regulating member 排土装置に配置される第２規制部材およびその周辺を示す概略斜視図Schematic perspective view showing the second regulating member arranged in the soil removal device and its surroundings. 図８に示す構成に２つの第１ケーブルが取り付けられた状態を示す図The figure which shows the state which two 1st cables are attached to the configuration shown in FIG. 第２規制部材が取り付けられるチルトシリンダカバーの構成を示す概略斜視図Schematic perspective view showing the configuration of the tilt cylinder cover to which the second regulating member is attached.
　以下、本発明の例示的な実施形態について、図面を参照しながら詳細に説明する。本明細書では、図１に示す走行体１が直進する方向を前後方向とし、走行体１の排土板４１が配置される側を前側とする。また、走行体１に対して旋回体２が上として上下方向を定義する。前後方向と上下方向とに直交する方向を左右方向と定義する。後方から前方に向かって見た場合に右となる側を右側、左となる側を左側とする。また、旋回方向については、旋回体２が有する運転席２２に座るオペレータを基準とした表現を用い、オペレータが時計回り方向に回転する方向を右旋回とし、反時計回り方向に回転する方向を左旋回とする。また、本明細書では、上下方向と平行な面を鉛直面と表現することがある。上下方向と直交する面を水平面として、水平面に平行な方向を水平方向と表現することもある。なお、これらの方向は単に説明のために用いられる名称であって、実際の位置関係及び方向を限定する意図はない。 Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. In the present specification, the direction in which the traveling body 1 shown in FIG. 1 travels straight is the front-rear direction, and the side in which the soil removal plate 41 of the traveling body 1 is arranged is the front side. Further, the vertical direction is defined with the swivel body 2 facing upward with respect to the traveling body 1. The direction orthogonal to the front-back direction and the up-down direction is defined as the left-right direction. The right side when viewed from the rear to the front is the right side, and the left side is the left side. As for the turning direction, the expression based on the operator sitting in the driver's seat 22 of the turning body 2 is used, the direction in which the operator rotates in the clockwise direction is defined as a right turn, and the direction in which the operator rotates in the counterclockwise direction is defined as a counterclockwise direction. Turn left. Further, in the present specification, a plane parallel to the vertical direction may be referred to as a vertical plane. A plane orthogonal to the vertical direction may be expressed as a horizontal plane, and a direction parallel to the horizontal plane may be expressed as a horizontal direction. It should be noted that these directions are names used only for explanation, and there is no intention of limiting the actual positional relationship and direction.
＜１．建設機械の概要＞
　図１は、本発明の実施形態に係る建設機械１００の概略斜視図である。図２は、本発明の実施形態に係る建設機械１００の概略側面図である。図１および図２示すように、建設機械１００は、バックホーである。以下、本実施形態の建設機械のことをバックホー１００と表現する。ただし、本発明は、バックホー以外の建設機械にも適用可能である。本発明は、排土装置が設けられる走行体と、走行体上に旋回可能に搭載される旋回体とを備える建設機械に広く適用可能である。 <1. Overview of construction machinery ＞
FIG. 1 is a schematic perspective view of a construction machine 100 according to an embodiment of the present invention. FIG. 2 is a schematic side view of the construction machine 100 according to the embodiment of the present invention. As shown in FIGS. 1 and 2, the construction machine 100 is a backhoe. Hereinafter, the construction machine of this embodiment is referred to as a backhoe 100. However, the present invention is also applicable to construction machinery other than backhoes. INDUSTRIAL APPLICABILITY The present invention can be widely applied to a construction machine including a traveling body provided with an earth removal device and a rotating body rotatably mounted on the traveling body.
　図１および図２に示すように、バックホー１００は、走行体１と、旋回体２と、作業装置３と、排土装置４とを備える。 As shown in FIGS. 1 and 2, the backhoe 100 includes a traveling body 1, a swivel body 2, a working device 3, and a soil discharging device 4.
　走行体１は、バックホー１００を自走可能とする。走行体１は、前後方向に直進可能である。詳細には、走行体１は、左右一対のクローラ１ａと、それらを駆動させる走行モータ１ｂと、を有する。走行モータ１ｂは油圧モータである。走行体１は、走行モータ１ｂが左右のクローラ１ａを同時に駆動することで前後方向に直進することができる。走行体１は、走行モータ１ｂが左右のクローラ１ａを独立して駆動することで右旋回および左旋回を行うことができる。なお、本実施形態のバックホー１００はクローラ式であるが、クローラ式に替えてホイール式とされてもよい。 The traveling body 1 makes the backhoe 100 self-propelled. The traveling body 1 can travel straight in the front-rear direction. Specifically, the traveling body 1 has a pair of left and right crawlers 1a and a traveling motor 1b for driving them. The traveling motor 1b is a hydraulic motor. The traveling body 1 can travel straight in the front-rear direction by driving the left and right crawlers 1a at the same time by the traveling motor 1b. The traveling body 1 can make a right turn and a left turn by independently driving the left and right crawlers 1a by the traveling motor 1b. Although the backhoe 100 of the present embodiment is a crawler type, it may be a wheel type instead of the crawler type.
　旋回体２は、走行体１上に旋回可能に搭載される。旋回体２は、上下方向からの平面視において、左右一対のクローラ１ａの間に配置される旋回台２１を有する。旋回台２１は、走行体１の本体フレーム１ｃに回転可能に支持される。旋回台２１は、油圧モータとして構成される不図示の旋回モータにより駆動され、上下方向に延びる中心軸を中心として旋回する。旋回台２１は、右旋回と左旋回とを可能に設けられる。 The swivel body 2 is mounted on the traveling body 1 so as to be swivelable. The swivel body 2 has a swivel table 21 arranged between a pair of left and right crawlers 1a in a plan view from the vertical direction. The swivel table 21 is rotatably supported by the main body frame 1c of the traveling body 1. The swivel table 21 is driven by a swivel motor (not shown) configured as a hydraulic motor, and swivels around a central axis extending in the vertical direction. The swivel table 21 is provided so as to be able to turn right and turn left.
　旋回体２には、バックホー１００を操縦するオペレータが座る運転席２２、および、旋回体２の内部に配置されるエンジン（不図示）が配置される。運転席２２に座るオペレータは、運転席２２の近傍に設けられる各種の操作レバーやペダルを操作する。原動機としてのエンジンは、バックホーに搭載された油圧アクチュエータに圧油を供給する油圧ポンプ（不図示）を駆動する。油圧アクチュエータには、各種の油圧モータおよび油圧シリンダが含まれる。 The swivel body 2 is provided with a driver's seat 22 on which an operator who controls the backhoe 100 sits, and an engine (not shown) arranged inside the swivel body 2. The operator sitting in the driver's seat 22 operates various operating levers and pedals provided in the vicinity of the driver's seat 22. The engine as a prime mover drives a hydraulic pump (not shown) that supplies pressure oil to a hydraulic actuator mounted on a backhoe. Hydraulic actuators include various hydraulic motors and hydraulic cylinders.
　作業装置３は、ブーム３１と、アーム３２と、バケット３３とを有する。作業装置３は、これらを同時に又は独立して動かすことで、土砂等の掘削作業を可能とする。ブーム３１は、その一端部がブームブラケット３４に支持され、伸縮可能に設けられるブームシリンダ３５により鉛直面内で回転可能である。アーム３２は、その一端部がブーム３１の他端部に支持されており、伸縮可能に設けられるアームシリンダ３６により鉛直面内で回転可能である。バケット３３は、その一端部がアーム３２の他端部に支持されており、伸縮可能に設けられるバケットシリンダ３７により鉛直面内で回転可能である。 The working device 3 has a boom 31, an arm 32, and a bucket 33. The work device 3 enables excavation work such as earth and sand by moving these simultaneously or independently. One end of the boom 31 is supported by the boom bracket 34, and the boom 31 can rotate in a vertical plane by a boom cylinder 35 provided so as to be expandable and contractible. One end of the arm 32 is supported by the other end of the boom 31, and the arm 32 can rotate in a vertical plane by a telescopic arm cylinder 36. One end of the bucket 33 is supported by the other end of the arm 32, and the bucket 33 can rotate in a vertical plane by a bucket cylinder 37 provided so as to be expandable and contractible.
　なお、作業装置３は、旋回体２の設置部２４に配置される。設置部２４は、旋回体２の外側面の一部の範囲から水平方向に突出する。設置部２４は、運転席２２に座るオペレータから見て前方に位置する。図１および図２は、設置部２４が前方を向く前方配置とされた旋回体２を示す。旋回体２が前方配置された場合、運転席２２に座るオペレータは前方（正面）を向く。以下、特に断りがない限り、旋回体２は前方配置されているものとして方向の説明を行う。 The working device 3 is arranged in the installation portion 24 of the swivel body 2. The installation portion 24 projects in the horizontal direction from a part of the outer surface of the swivel body 2. The installation unit 24 is located in front of the operator sitting in the driver's seat 22. 1 and 2 show a swivel body 2 in which the installation portion 24 faces forward and is arranged forward. When the swivel body 2 is arranged forward, the operator sitting in the driver's seat 22 faces forward (front). Hereinafter, unless otherwise specified, the direction of the swivel body 2 will be described assuming that the swivel body 2 is arranged forward.
　ブーム３１、アーム３２、および、バケット３３は、詳細には、それぞれ左右方向に延びる中心軸を中心として回転可能に設けられる。また、ブームブラケット３４は、上下方向に延びる中心軸を中心として回転可能に、設置部２４に支持される。ブームブラケット３４は、旋回体２に前後方向に伸縮可能に設けられるスイングシリンダ２５に接続され、スイングシリンダ２５の伸縮により左右方向に回転する。すなわち、スイングシリンダ２５を動作させることにより、作業装置３を左右方向にスイングさせることができる。 In detail, the boom 31, arm 32, and bucket 33 are rotatably provided about a central axis extending in the left-right direction. Further, the boom bracket 34 is rotatably supported by the installation portion 24 about a central axis extending in the vertical direction. The boom bracket 34 is connected to a swing cylinder 25 provided on the swivel body 2 so as to be expandable and contractible in the front-rear direction, and rotates in the left-right direction due to the expansion and contraction of the swing cylinder 25. That is, by operating the swing cylinder 25, the work device 3 can be swung in the left-right direction.
　排土装置４は、走行体１の前方に配置される排土板４１を有する。排土板４１は、前後方向からの平面視において、左右方向に延びる矩形状である。排土板４１は、上下方向の位置および姿勢を変更可能に設けられる。排土板４１の位置および姿勢を変更して、走行体１を走行させることにより整地作業を行うことができる。 The soil removal device 4 has a soil removal plate 41 arranged in front of the traveling body 1. The soil removal plate 41 has a rectangular shape extending in the left-right direction in a plan view from the front-rear direction. The soil removal plate 41 is provided so that the position and posture in the vertical direction can be changed. The ground leveling work can be performed by changing the position and posture of the soil removal plate 41 and running the traveling body 1.
　排土装置４は、走行体１の本体フレーム１ｃの前端部に上下方向に揺動可能に支持される昇降アーム４２を有する。昇降アーム４２の上下動は、本体フレーム１ｃと昇降アーム４２との間に伸縮可能に配置されるリフトシリンダ４３により可能とされる。排土板４１は、昇降アーム４２の前端側に揺動可能に支持される。リフトシリンダ４３により昇降アーム４２を上下動させることにより、排土板４１を上下動させることができる。 The soil removal device 4 has an elevating arm 42 that is swingably supported in the vertical direction at the front end of the main body frame 1c of the traveling body 1. The vertical movement of the elevating arm 42 is enabled by a lift cylinder 43 that is extensiblely arranged between the main body frame 1c and the elevating arm 42. The soil removal plate 41 is swingably supported on the front end side of the elevating arm 42. By moving the elevating arm 42 up and down by the lift cylinder 43, the soil removal plate 41 can be moved up and down.
　排土板４１は、昇降アーム４２に対して、昇降アーム４２が延びる方向と平行な方向（図１および図２では前後方向）に延びる中心軸を中心として回転可能に取り付けられる。当該中心軸は、前後方向からの平面視において、排土板４１の上下および左右の中心近傍に位置する。また、当該回転は、排土板４１の後面側に配置され、左右方向に伸縮可能なチルトシリンダ４４により可能となる。チルトシリンダ４４により、排土板４１の左右方向の両端を上下方向に揺動させることができる。以下、排土板４１の左右方向の端部の上下方向への揺動角度のことをチルト角度と表現する。 The soil removal plate 41 is rotatably attached to the elevating arm 42 about a central axis extending in a direction parallel to the direction in which the elevating arm 42 extends (front-rear direction in FIGS. 1 and 2). The central axis is located near the center of the top, bottom, left and right of the soil removal plate 41 in a plan view from the front-back direction. Further, the rotation is possible by the tilt cylinder 44 which is arranged on the rear surface side of the soil removal plate 41 and can be expanded and contracted in the left-right direction. The tilt cylinder 44 allows both ends of the soil removal plate 41 in the left-right direction to swing in the up-down direction. Hereinafter, the vertical swing angle of the left-right end of the soil removal plate 41 is referred to as a tilt angle.
　また、排土板４１は、昇降アーム４２に対して、昇降アーム４２が延びる方向と直交する方向（図１および図２では上下方向）に延びる軸ピン４５を中心として回転可能に取り付けられる。軸ピン４５は、排土板４１の後方、左右方向の中央近傍に位置する。軸ピン４５回りの回転は、昇降アーム４２の左右の両端に配置される一対のアングルシリンダ４６により可能となる。アングルシリンダ４６により、排土板４１の左右方向の両端を前後方向に揺動させることができる。 Further, the soil removal plate 41 is rotatably attached to the elevating arm 42 about a shaft pin 45 extending in a direction orthogonal to the direction in which the elevating arm 42 extends (vertical direction in FIGS. 1 and 2). The shaft pin 45 is located behind the soil removal plate 41, near the center in the left-right direction. Rotation around the shaft pin 45 is possible by a pair of angle cylinders 46 arranged at both left and right ends of the elevating arm 42. The angle cylinder 46 allows both ends of the soil removal plate 41 in the left-right direction to swing in the front-rear direction.
＜２．検出装置＞
　以上のように構成されるバックホー１００は、排土板４１に取り付けられ、排土板４１に関わる情報を検出する検出装置５を備える。排土板４１に関わる情報は、詳細には、排土板４１の位置情報および姿勢情報である。検出装置５が検出する姿勢情報は、詳細には、チルト角度情報である。 <2. Detection device>
The backhoe 100 configured as described above is attached to the soil removal plate 41 and includes a detection device 5 for detecting information related to the soil removal plate 41. The information related to the soil removal plate 41 is, in detail, the position information and the posture information of the soil removal plate 41. The attitude information detected by the detection device 5 is, in detail, tilt angle information.
　図３は、検出装置５およびその周辺を拡大して示す概略斜視図である。なお、図３は後方斜め上方から見た図である。図３に示すように、検出装置５は、プリズム５１とチルトセンサ５２とを含む。 FIG. 3 is a schematic perspective view showing the detection device 5 and its surroundings in an enlarged manner. It should be noted that FIG. 3 is a view seen from diagonally above the rear. As shown in FIG. 3, the detection device 5 includes a prism 51 and a tilt sensor 52.
　プリズム５１は、排土装置４を用いた整地作業時に自動追尾式のトータルステーション（不図示）によって追尾されるターゲットである。トータルステーションは、プリズム５１の位置情報を連続的に計測し、この計測結果をバックホー１００の無線機６に送信する。本実施形態では、無線機６は、図１および図２に示すように、旋回体２の後方に配置される。 The prism 51 is a target that is tracked by an automatic tracking type total station (not shown) during leveling work using the soil removal device 4. The total station continuously measures the position information of the prism 51 and transmits the measurement result to the radio 6 of the backhoe 100. In this embodiment, the radio 6 is arranged behind the swivel body 2 as shown in FIGS. 1 and 2.
　図１および図３に示すように、排土板４１は、左右方向の中心に対して左右の両側に、プリズム５１（検出装置５）を着脱可能に取り付ける基台部４１１を有する。詳細には、排土板４１は、左右の両端部寄りに、プリズム５１が取り付けられる支柱７を着脱可能に取り付ける基台部４１１を有する。支柱７は、２つの基台部４１１のうちの一方に配置される。本実施形態では、図１に示すように、支柱７は、運転席２２がある側と同じ左側の基台部４１１に配置される。 As shown in FIGS. 1 and 3, the soil removal plate 41 has a base portion 411 to which a prism 51 (detection device 5) is detachably attached on both left and right sides with respect to the center in the left-right direction. Specifically, the soil removal plate 41 has a base portion 411 to which a support column 7 to which the prism 51 is attached can be detachably attached near both left and right ends. The stanchion 7 is arranged on one of the two base portions 411. In the present embodiment, as shown in FIG. 1, the support column 7 is arranged on the base portion 411 on the same left side as the side where the driver's seat 22 is located.
　各基台部４１１は、排土板４１の後面に配置され、後方に突出する。基台部４１１の上面は平面である。支柱７は、下方側の端部にフランジ部７１を有する。フランジ部７１が基台部４１１の上面にボルトとナットを用いて固定されることにより、支柱７は基台部４１１に固定される。また、プリズム５１は、支柱７の上端部に着脱可能に取り付けられる。 Each base portion 411 is arranged on the rear surface of the soil removal plate 41 and protrudes rearward. The upper surface of the base portion 411 is a flat surface. The strut 7 has a flange portion 71 at a lower end. By fixing the flange portion 71 to the upper surface of the base portion 411 using bolts and nuts, the support column 7 is fixed to the base portion 411. Further, the prism 51 is detachably attached to the upper end portion of the support column 7.
　支柱７からプリズム５１を取り外すことができるために、作業終了後にプリズム５１をバックホー１００から外してプリズム５１の盗難を防止することができる。また、トータルステーションを用いた自動整地作業を行わない場合に、支柱７を排土板４１から取り外すことができる。更に、支柱７を取り外してプリズム５１の左右方向の位置を変更することができるために、一方の位置でトータルステーションがプリズム５１を追尾できない場合でも、他方の位置にプリズム５１を置き換えることによりプリズム５１を追尾可能とすることができる。 Since the prism 51 can be removed from the support column 7, the prism 51 can be removed from the backhoe 100 after the work is completed to prevent the prism 51 from being stolen. Further, the support column 7 can be removed from the soil removal plate 41 when the automatic ground leveling work using the total station is not performed. Further, since the support column 7 can be removed to change the position of the prism 51 in the left-right direction, even if the total station cannot track the prism 51 at one position, the prism 51 can be replaced with the prism 51 at the other position. It can be tracked.
　チルトセンサ５２は、排土板４１のチルト角度を検出する。チルトセンサ５２により検出されたチルト角度は、有線により詳細は後述する制御装置８に送信される。図１および図３に示すように、チルトセンサ５２は、排土板４１の後方に配置される。本実施形態においては、チルトセンサ５２は、排土板４１の左右方向の真ん中より少し左方にずれた位置に配置される。 The tilt sensor 52 detects the tilt angle of the soil removal plate 41. The tilt angle detected by the tilt sensor 52 is transmitted by wire to the control device 8 described in detail later. As shown in FIGS. 1 and 3, the tilt sensor 52 is arranged behind the soil removal plate 41. In the present embodiment, the tilt sensor 52 is arranged at a position slightly shifted to the left from the center of the soil removal plate 41 in the left-right direction.
　詳細には、チルトセンサ５２は、排土板４１の後面に設けられるセンサ台部４１２の上面に配置される。センサ台部４１２は、例えば、Ｌ字状の部材を排土板４１の後面に溶接して形成される。センサ台部４１２の上面は、排土板４１の上下方向の真ん中より高い位置に位置し、チルトセンサ５２より大きな面積を有する平面である。チルトセンサ５２は、下方に向けて開口する箱形状のセンサカバー５２１で覆われる。センサカバー５２１の後方側の側面には、切欠き５２１ａが設けられる。切欠き５２１ａを介して、センサカバー５２１で覆われるチルトセンサ５２に、後方からコネクタ９１を接続することができる。また、センサカバー５２１の上部は、チルトシリンダ４４を覆うチルトシリンダカバー４４１により覆われる。 Specifically, the tilt sensor 52 is arranged on the upper surface of the sensor base 412 provided on the rear surface of the soil removal plate 41. The sensor base portion 412 is formed, for example, by welding an L-shaped member to the rear surface of the soil removal plate 41. The upper surface of the sensor base 412 is a flat surface located higher than the center of the soil removal plate 41 in the vertical direction and having a larger area than the tilt sensor 52. The tilt sensor 52 is covered with a box-shaped sensor cover 521 that opens downward. A notch 521a is provided on the rear side surface of the sensor cover 521. The connector 91 can be connected to the tilt sensor 52 covered with the sensor cover 521 from the rear via the notch 521a. Further, the upper portion of the sensor cover 521 is covered with the tilt cylinder cover 441 that covers the tilt cylinder 44.
　センサ台部４１２、センサカバー５２１、および、チルトシリンダカバー４４１によって、チルトセンサ５２の下から這い上がる土砂、および、上方から落ちてくる土砂を防ぐことができる。このために、整地作業時においてチルトセンサ５２を土砂から適切に保護することができる。なお、図１および図２においては、センサカバー５２１およびチルトシリンダカバー４４１は省略されている。 The sensor base 412, the sensor cover 521, and the tilt cylinder cover 441 can prevent the earth and sand that crawls up from below the tilt sensor 52 and the earth and sand that falls from above. Therefore, the tilt sensor 52 can be appropriately protected from earth and sand during the leveling work. In addition, in FIGS. 1 and 2, the sensor cover 521 and the tilt cylinder cover 441 are omitted.
　なお、本実施形態では、排土板４１の位置情報を検出する検出装置としてプリズム５１が用いられる構成としたが、これは例示にすぎない。例えば、プリズム５１に替えてＧＮＳＳ（Global　Navigation　Satellite　System）アンテナが支柱７に装着される構成としてよい。この場合には、ＧＮＳＳアンテナにより検出された位置情報は、有線により制御装置８に送信される構成としてよい。 In the present embodiment, the prism 51 is used as a detection device for detecting the position information of the soil removal plate 41, but this is only an example. For example, a GNSS (Global Navigation Satellite System) antenna may be mounted on the support column 7 instead of the prism 51. In this case, the position information detected by the GNSS antenna may be transmitted to the control device 8 by wire.
＜３．制御装置＞
　図１および図２に示すように、バックホー１００は、旋回体に配置される制御装置（コントローラ）８を備える。制御装置８は、例えばＣＰＵ（Central　Processing　Unit）、ＲＡＭ（Random　Access　Memory）、および、ＲＯＭ（Read　Only　Memory）を有するコンピュータを用いて構成される。本実施形態では、制御装置８は、表示画面を有する。制御装置８は、運転席２２に座るオペレータから見易い位置に配置される。制御装置８は、表示画面を有しなくてもよく、この場合には、制御装置８と別に表示装置を配置する構成としてよく、制御装置８を例えば旋回体２の内部に配置してもよい。 <3. Control device>
As shown in FIGS. 1 and 2, the backhoe 100 includes a control device (controller) 8 arranged on the swivel body. The control device 8 is configured by using, for example, a computer having a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory). In this embodiment, the control device 8 has a display screen. The control device 8 is arranged at a position that is easy for the operator sitting in the driver's seat 22 to see. The control device 8 does not have to have a display screen. In this case, the control device 8 may be configured to arrange the display device separately from the control device 8, and the control device 8 may be arranged inside the swivel body 2, for example. ..
　制御装置８には、トータルステーションから無線機６を介してプリズム５１の位置情報が入力される。制御装置８と無線機６とは有線接続される。なお、制御装置８に無線通信機能を内蔵して、制御装置８とトータルステーションとが無線通信を行う構成としてもよい。また、制御装置８には、チルトセンサ５２から排土板４１のチルト角度情報が有線にて入力される。 The position information of the prism 51 is input to the control device 8 from the total station via the radio 6. The control device 8 and the radio 6 are connected by wire. The control device 8 may have a built-in wireless communication function so that the control device 8 and the total station perform wireless communication. Further, the tilt angle information of the soil removal plate 41 is input to the control device 8 by wire from the tilt sensor 52.
　制御装置８は、プリズム５１の位置情報および排土板４１のチルト角度情報に基づき、排土板４１の位置および姿勢を求める。制御装置８は、求めた排土板４１の位置および姿勢と、予め準備された３次元の設計データとの差異に基づき排土板４１の各シリンダ４３、４４、４６の動作を制御し、バックホー１００に自動整地作業を行わせる。 The control device 8 obtains the position and orientation of the soil removal plate 41 based on the position information of the prism 51 and the tilt angle information of the soil removal plate 41. The control device 8 controls the operation of each cylinder 43, 44, 46 of the soil removal plate 41 based on the difference between the obtained position and orientation of the soil removal plate 41 and the three-dimensional design data prepared in advance, and backhoe. Have 100 perform automatic ground leveling work.
　なお、一つの工事現場で複数のバックホー１００が自動整地作業を同時に行うことがある。このような場合においても、排土板４１の位置情報が誤って入力されない構成とする必要がある。このために、各バックホー１００は、それぞれ、特定のトータルステーションとセットとなって稼働する。各バックホー１００においては、制御装置８とプリズム５１との間で認証用の信号の送受信が行われ、これに基づき、制御装置８は自装置と繋がるプリズム５１と対をなす特定のトータルステーションのみから位置情報を受信する。すなわち、自動整地作業を行うバックホー１００においては、制御装置８とプリズム５１とが有線にて接続される。 In addition, multiple backhoes 100 may perform automatic leveling work at the same time at one construction site. Even in such a case, it is necessary to configure the structure so that the position information of the soil removal plate 41 is not erroneously input. For this purpose, each backhoe 100 operates as a set with a specific total station. In each backhoe 100, an authentication signal is transmitted and received between the control device 8 and the prism 51, and based on this, the control device 8 is located only from a specific total station paired with the prism 51 connected to the own device. Receive information. That is, in the backhoe 100 that performs the automatic leveling work, the control device 8 and the prism 51 are connected by wire.
＜４．検出装置と制御装置との接続の詳細＞
　図２に示すように、バックホー１００は、第１ケーブル９と、第２ケーブル１０と、中継部１１と、を備える。第１ケーブル９は、一端が検出装置５に接続される。第２ケーブル１０は、一端が制御装置８に接続される。中継部１１は、旋回体２に配置され、第１ケーブル９の他端を第２ケーブル１０の他端に接続する。 <4. Details of connection between detector and control device>
As shown in FIG. 2, the backhoe 100 includes a first cable 9, a second cable 10, and a relay unit 11. One end of the first cable 9 is connected to the detection device 5. One end of the second cable 10 is connected to the control device 8. The relay unit 11 is arranged on the swivel body 2 and connects the other end of the first cable 9 to the other end of the second cable 10.
　図４は、中継部１１およびその近傍を拡大して示した概略斜視図である。なお、図４は前方斜め上方から見た図である。本実施形態では、検出装置５は、プリズム５１とチルトセンサ５２との２つを含む。このために、図４に示すように、検出装置５に接続される第１ケーブル９は、プリズム用第１ケーブル９Ａと、チルトセンサ用第１ケーブル９Ｂとを含む。また、第１ケーブル９が２種類のケーブル９Ａ、９Ｂを含むことに対応して、第２ケーブル１０は、プリズム用第２ケーブル１０Ａと、チルトセンサ用第２ケーブル１０Ｂとを含む。 FIG. 4 is a schematic perspective view showing the relay unit 11 and its vicinity in an enlarged manner. Note that FIG. 4 is a view seen from diagonally above the front. In the present embodiment, the detection device 5 includes two prisms 51 and a tilt sensor 52. Therefore, as shown in FIG. 4, the first cable 9 connected to the detection device 5 includes the first cable 9A for the prism and the first cable 9B for the tilt sensor. Further, the second cable 10 includes a second cable 10A for a prism and a second cable 10B for a tilt sensor, corresponding to the case where the first cable 9 includes two types of cables 9A and 9B.
　各第１ケーブル９Ａ、９Ｂの両端には、第１コネクタ９１が設けられる。各第１ケーブル９Ａ、９Ｂの一端（検出装置５側）と他端（中継部１１側）とで、第１コネクタ９１の種類は同じでもよいし、異なってもよい。本実施形態では、他端に設けられる第１コネクタ９１（図４参照）は真っすぐに延びる形状であるが、一端に設けられる第１コネクタ９１（図３参照）はＬ字状である。なお、図３においては、第１コネクタ９１から延びるケーブル部分は省略されている。プリズム用第１ケーブル９Ａの一端に設けられる第１コネクタ９１は、支柱７の上端でプリズム５１に接続される。チルトセンサ用第１ケーブル９Ｂの一端に設けられる第１コネクタ９１は、センサカバー５２１の切欠き５２１ａを介してチルトセンサ５２に接続される。 First connectors 91 are provided at both ends of each of the first cables 9A and 9B. The type of the first connector 91 may be the same or different between one end (detection device 5 side) and the other end (relay portion 11 side) of the first cables 9A and 9B. In the present embodiment, the first connector 91 (see FIG. 4) provided at the other end has a shape that extends straight, but the first connector 91 (see FIG. 3) provided at one end has an L shape. In FIG. 3, the cable portion extending from the first connector 91 is omitted. The first connector 91 provided at one end of the prism first cable 9A is connected to the prism 51 at the upper end of the support column 7. The first connector 91 provided at one end of the tilt sensor first cable 9B is connected to the tilt sensor 52 via the notch 521a of the sensor cover 521.
　また、各第２ケーブル１０Ａ、１０Ｂの両端には、第２コネクタ１０１が設けられる。各第２ケーブル１０Ａ、１０Ｂの一端（制御装置８側）と他端（中継部１１側）とで、第２コネクタ１０１の種類は同じでもよいし、異なってもよい。本実施形態では、一端に設けられる第２コネクタ１０１と、他端に設けられる第２コネクタ１０１とは異なる種類である。各第２ケーブル１０Ａ、１０Ｂの中継部１１から延び出した部分の一部は、旋回体２の内部に導かれて、旋回体２の内部で制御装置８から延びるケーブル８１（図１参照）に接続される。なお、本実施形態では、第２ケーブル１０Ａ、１０Ｂの一端が、ケーブル８１を介して間接的に制御装置８に接続されるが、直接的に制御装置８に接続されてもよい。 Further, second connectors 101 are provided at both ends of each of the second cables 10A and 10B. The type of the second connector 101 may be the same or different between one end (control device 8 side) and the other end (relay portion 11 side) of each of the second cables 10A and 10B. In the present embodiment, the second connector 101 provided at one end and the second connector 101 provided at the other end are different types. A part of the portion extending from the relay portion 11 of each of the second cables 10A and 10B is guided to the inside of the swivel body 2 and becomes a cable 81 (see FIG. 1) extending from the control device 8 inside the swivel body 2. Be connected. In the present embodiment, one ends of the second cables 10A and 10B are indirectly connected to the control device 8 via the cable 81, but may be directly connected to the control device 8.
　中継部１１は、旋回体２の前方に配置される。また、中継部１１は、旋回体２の左右方向の中央部から左右方向の一方にずれた位置に配置される。このように構成することにより、作業装置３のスイング操作の際に中継部１１が邪魔になることを抑制することができる。本実施形態では、中継部１１は、プリズム５１が装着される支柱７と同じ側（左側）にずれた位置に配置される。中継部１１は、運転席２２の前方に配置される。中継部１１は、運転席２２の前方に配置される手摺り２６に対して、前方に間隔をあけて配置される。このように中継部１１が旋回体２の前方に配置されることにより、検出装置５から中継部１１までの距離を短くすることができる。このために、第１ケーブル９の取り扱いや、着脱を容易とすることができる。 The relay unit 11 is arranged in front of the swivel body 2. Further, the relay unit 11 is arranged at a position deviated from the central portion in the left-right direction of the swivel body 2 to one side in the left-right direction. With such a configuration, it is possible to prevent the relay unit 11 from becoming an obstacle during the swing operation of the work device 3. In the present embodiment, the relay unit 11 is arranged at a position shifted to the same side (left side) as the support column 7 on which the prism 51 is mounted. The relay unit 11 is arranged in front of the driver's seat 22. The relay unit 11 is arranged at a distance in front of the handrail 26 arranged in front of the driver's seat 22. By arranging the relay unit 11 in front of the swivel body 2 in this way, the distance from the detection device 5 to the relay unit 11 can be shortened. Therefore, the handling and attachment / detachment of the first cable 9 can be facilitated.
　なお、本実施形態では、図４に示すように、旋回体２の前方の左右方向の中央部近傍には、作業装置３に圧油を供給するホース群（不図示）を通す開口部２７が設けられる。中継部１１は、この開口部２７を避けて旋回体２の前方左寄りに配置される。 In this embodiment, as shown in FIG. 4, an opening 27 for passing a hose group (not shown) for supplying pressure oil to the working device 3 is provided in the vicinity of the central portion in the left-right direction in front of the swivel body 2. It will be provided. The relay portion 11 is arranged on the front left side of the swivel body 2 avoiding the opening 27.
　図５は、中継部１１の構成を示す概略斜視図である。図５に示すように、中継部１１は、支持部材１１１と保持部材１１２とを有する。なお、図５には、理解を容易とするために、中継部１１に取り付けられた第２コネクタ１０１も示されている。 FIG. 5 is a schematic perspective view showing the configuration of the relay unit 11. As shown in FIG. 5, the relay unit 11 has a support member 111 and a holding member 112. Note that FIG. 5 also shows a second connector 101 attached to the relay unit 11 for ease of understanding.
　支持部材１１１は、旋回体２の前方において、旋回体２の上面から上方に延びる。詳細には、支持部材１１１は、旋回体２の前方上面を構成する上側板状部材２８上に配置される。上側板状部材２８の上面は、水平方向に広がる。支持部材１１１は、上側板状部材２８上に手摺り２６とは離れて独立に設けられる。支持部材１１１は、下端に水平方向に広がるベース部１１１ａを有し、当該ベース部１１１ａが上側板状部材２８に固定される。支持部材１１１は、上下方向と平行な方向に広がる平板部１１１ｂを有する。平板部１１１ｂは、上下方向および左右方向に平行な面に対して傾く。詳細には、平板部１１１ｂは、右端が前方、左端が後方となる向きに傾く。 The support member 111 extends upward from the upper surface of the swivel body 2 in front of the swivel body 2. Specifically, the support member 111 is arranged on the upper plate-shaped member 28 constituting the front upper surface of the swivel body 2. The upper surface of the upper plate-shaped member 28 extends in the horizontal direction. The support member 111 is provided on the upper plate-shaped member 28 independently of the handrail 26. The support member 111 has a base portion 111a extending in the horizontal direction at the lower end, and the base portion 111a is fixed to the upper plate-shaped member 28. The support member 111 has a flat plate portion 111b extending in a direction parallel to the vertical direction. The flat plate portion 111b is tilted with respect to a plane parallel to the vertical direction and the horizontal direction. Specifically, the flat plate portion 111b is tilted so that the right end is in the front and the left end is in the rear.
　保持部材１１２は、支持部材１１１に取りけられ、第２ケーブル１０の他端に設けられる第２コネクタ１０１を保持する。本実施形態では、第２ケーブル１０は、プリズム用第２ケーブル１０Ａと、チルトセンサ用第２ケーブル１０Ｂとを含む。このために、保持部材１１２は、プリズムケーブル用保持部材１１２Ａと、チルトセンサケーブル用保持部材１１２Ｂとを含む。 The holding member 112 is attached to the support member 111 and holds the second connector 101 provided at the other end of the second cable 10. In the present embodiment, the second cable 10 includes a second cable 10A for a prism and a second cable 10B for a tilt sensor. For this purpose, the holding member 112 includes a prism cable holding member 112A and a tilt sensor cable holding member 112B.
　本構成のように、保持部材１１２を支持する支持部材１１１を、旋回体２の上面に取り付ける構成とすることにより、保持部材１１２の向きを自由に設定し易くすることができる。また、保持部材１１２を支持する支持部材１１１が手摺り２６とは離れた位置に設けられることにより、オペレータが手摺り２６を利用し易くすることができる。 By mounting the support member 111 that supports the holding member 112 on the upper surface of the swivel body 2 as in the present configuration, the orientation of the holding member 112 can be easily set freely. Further, by providing the support member 111 that supports the holding member 112 at a position away from the handrail 26, the operator can easily use the handrail 26.
　プリズムケーブル用保持部材１１２Ａと、チルトセンサケーブル用保持部材１１２Ｂとは、支持部材１１１の平板部１１１ｂに上下方向に並んで取り付けられる。本実施形態では、プリズムケーブル用保持部材１１２Ａがチルトセンサケーブル用保持部材１１２Ｂに対して上であるが、これらは上下逆に配置されてもよい。 The prism cable holding member 112A and the tilt sensor cable holding member 112B are attached to the flat plate portion 111b of the support member 111 side by side in the vertical direction. In the present embodiment, the prism cable holding member 112A is above the tilt sensor cable holding member 112B, but they may be arranged upside down.
　プリズムケーブル用保持部材１１２Ａと、チルトセンサケーブル用保持部材１１２Ｂとは、同一の構成である。各保持部材１１２Ａ、１１２Ｂは、２個の分割体１１２１、１１２２と、２個のボルト１１２３とを有する。２個の分割体１１２１、１１２２は、同一の直方体形状であり、一の面に溝が設けられている。２個の分割体１１２１、１１２２は、互いに溝が対向する方向に配置される。第２コネクタ１０１は、２個の分割体１１２１、１１２２の溝に一部が入れられ、２個の分割体１１２１、１１２２に挟み込まれる。２個の分割体１１２１、１１２２は、第２コネクタ１０１を挟み込んだ状態で、２個のボルト１１２３により支持部材１１１の平板部１１１ｂに締結される。 The prism cable holding member 112A and the tilt sensor cable holding member 112B have the same configuration. Each holding member 112A, 112B has two split bodies 1121, 1122 and two bolts 1123. The two divided bodies 1121 and 1122 have the same rectangular parallelepiped shape, and a groove is provided on one surface. The two divided bodies 1121 and 1122 are arranged in a direction in which the grooves face each other. The second connector 101 is partially inserted into the grooves of the two divided bodies 1121 and 1122, and is sandwiched between the two divided bodies 1121 and 1122. The two divided bodies 1121 and 1122 are fastened to the flat plate portion 111b of the support member 111 by two bolts 1123 in a state of sandwiching the second connector 101.
　第２コネクタ１０１を挟持した２個の分割体１１２１、１１２２は、直方体形状であり、上下方向からの平面視において、前後方向に対して前端が左、後端が右となる方向に傾く。２個の分割体１１２１、１１２２に挟持された第２コネクタ１０１は、第２ケーブル１０と接続される側と反対側の先端が保持部材１１２から右斜め前方に突出する。 The two divided bodies 1121 and 1122 sandwiching the second connector 101 have a rectangular parallelepiped shape, and in a plan view from the vertical direction, the front end is tilted to the left and the rear end is tilted to the right with respect to the front-rear direction. The tip of the second connector 101 sandwiched between the two split bodies 1121 and 1122 on the side opposite to the side connected to the second cable 10 projects diagonally forward to the right from the holding member 112.
　図４に示すように、各第１ケーブル９Ａ、９Ｂの第１コネクタ９１は、各保持部材１１２Ａ、１１２Ｂから突出する第２コネクタ１０１の先端に取り付けられる。上下方向からの平面視において、第１ケーブル９の他端に設けられる第１コネクタ９１は、前後方向に対して傾斜して配置され、中継部１１から設置部２４に向かって延びる。 As shown in FIG. 4, the first connector 91 of each of the first cables 9A and 9B is attached to the tip of the second connector 101 protruding from the holding members 112A and 112B. In a plan view from the vertical direction, the first connector 91 provided at the other end of the first cable 9 is arranged so as to be inclined with respect to the front-rear direction, and extends from the relay portion 11 toward the installation portion 24.
　このような構成とすると、中継部１１の右方に配置される開口部２７を通るホース群を避けて第１ケーブル９を配置し易くすることができる。また、第１ケーブル９が中継部１１から外方ではなく内方に延び出すために旋回体２の回転により、第１ケーブル９がクローラ１ａに接触する可能性を低減することができる。また、第１ケーブル９が前後方向および左右方向に対して傾いて中継部１１から延び出すために、作業装置３がスイング動作を行った場合にも、作業装置３と第１ケーブル９とが接触する可能性を低減することができる。 With such a configuration, it is possible to easily arrange the first cable 9 by avoiding the hose group passing through the opening 27 arranged on the right side of the relay unit 11. Further, since the first cable 9 extends inward rather than outward from the relay portion 11, the rotation of the swivel body 2 can reduce the possibility that the first cable 9 comes into contact with the crawler 1a. Further, since the first cable 9 is tilted in the front-rear direction and the left-right direction and extends from the relay unit 11, the working device 3 and the first cable 9 come into contact with each other even when the working device 3 swings. The possibility of doing so can be reduced.
　なお、本実施形態では、第２コネクタ１０１が保持部材１１２に保持される構成としたが、これに限定されない。保持部材１１２がプラグを保持する構成として、第１コネクタ９１のみならず、第２コネクタ１０１も中継部１１に対して着脱可能としてよい。換言すると、第１ケーブル９の他端と第２ケーブル１０の他端とは、本実施形態のように、中継部１１において直接接続されてもよいが、中継部１１において間接的に接続されてもよい。また、場合によっては、第２コネクタ１０１が保持部材１１２に保持される構成において、第１コネクタ９１と第２コネクタ１０１との取り付け位置を逆の配置としてもよい。 In the present embodiment, the second connector 101 is held by the holding member 112, but the present invention is not limited to this. As a configuration in which the holding member 112 holds the plug, not only the first connector 91 but also the second connector 101 may be detachable from the relay unit 11. In other words, the other end of the first cable 9 and the other end of the second cable 10 may be directly connected by the relay unit 11 as in the present embodiment, but are indirectly connected by the relay unit 11. May be good. Further, in some cases, in the configuration in which the second connector 101 is held by the holding member 112, the mounting positions of the first connector 91 and the second connector 101 may be reversed.
　また、本実施形態では、中継部１１を旋回体２の前方上面に構成したが、これは例示にすぎない。例えば、中継部１１は、旋回体２の前面壁に設けられてもよい。本実施形態では、旋回体２は、走行体１の左右方向の幅内で旋回可能となるように設けられている。この点を踏まえて、中継部１１は、旋回体２の旋回時に走行体１の左右方向の幅からはみ出さない構成とされることが好ましい。 Further, in the present embodiment, the relay unit 11 is configured on the front upper surface of the swivel body 2, but this is only an example. For example, the relay unit 11 may be provided on the front wall of the swivel body 2. In the present embodiment, the swivel body 2 is provided so as to be swivelable within the width of the traveling body 1 in the left-right direction. In view of this point, it is preferable that the relay unit 11 is configured so as not to protrude from the width in the left-right direction of the traveling body 1 when the turning body 2 is turned.
　以上からわかるように、各第１ケーブル９Ａ、９Ｂは、中継部１１および検出装置５から簡単に取り外すことができる。このために、例えば一日の作業の終了時に取り外して盗難を防止することができる。また、自動整地作業を行わない場合に各第１ケーブル９Ａ、９Ｂを取り外して、旋回体２の旋回範囲を広げることができる。 As can be seen from the above, the first cables 9A and 9B can be easily removed from the relay unit 11 and the detection device 5. For this reason, for example, it can be removed at the end of a day's work to prevent theft. Further, when the automatic ground leveling work is not performed, the first cables 9A and 9B can be removed to widen the turning range of the turning body 2.
　なお、本実施形態では、中継部１１には、第１コネクタ９１が外された場合に第２コネクタ１０１の先端に取り付けられるコネクタカバー１１３（図４参照）が設けられる。コネクタカバー１１３は、例えばワイヤ等の線材により保持部材１１２に吊り下げられる。コネクタカバー１１３により、第２コネクタ１０１の内部に埃や水等の異物が侵入することを防止することができる。 In the present embodiment, the relay unit 11 is provided with a connector cover 113 (see FIG. 4) that is attached to the tip of the second connector 101 when the first connector 91 is removed. The connector cover 113 is suspended from the holding member 112 by, for example, a wire such as a wire. The connector cover 113 can prevent foreign matter such as dust and water from entering the inside of the second connector 101.
　図４に示すように、バックホー１００は、旋回体２に配置される第１規制部材１２を備える。第１規制部材１２は、中継部１１から延び出す第１ケーブル９の動きを規制する。詳細には、第１規制部材１２は、第１ケーブル９の旋回体２の旋回に伴う動きを規制する。第１規制部材１２は、中継部１１とは別に設けられ、中継部１１から離れて配置される。第１規制部材１２は、中継部１１から延び出す第１ケーブル９を検出装置５に案内するガイド部材としての機能も有する。 As shown in FIG. 4, the backhoe 100 includes a first regulating member 12 arranged on the swivel body 2. The first regulating member 12 regulates the movement of the first cable 9 extending from the relay portion 11. Specifically, the first regulating member 12 regulates the movement of the swivel body 2 of the first cable 9 accompanying the swivel. The first regulating member 12 is provided separately from the relay unit 11 and is arranged away from the relay unit 11. The first regulating member 12 also has a function as a guide member for guiding the first cable 9 extending from the relay unit 11 to the detection device 5.
　第１規制部材１２は、中継部１１と同様に旋回体２と共に動く。このために、第１規制部材１２が設けられることにより、旋回体２が旋回した場合でも、第１規制部材１２と中継部１１との間で第１ケーブル９が動くことを抑制することができる。すなわち、旋回体２の旋回により第１ケーブル９の接続箇所（詳細には、中継部１１側の第１コネクタ９１）に負荷がかかることを抑制することができる。 The first regulating member 12 moves together with the swivel body 2 in the same manner as the relay unit 11. For this reason, by providing the first regulating member 12, it is possible to suppress the movement of the first cable 9 between the first regulating member 12 and the relay portion 11 even when the swivel body 2 is swiveled. .. That is, it is possible to prevent a load from being applied to the connection portion of the first cable 9 (specifically, the first connector 91 on the relay portion 11 side) due to the swivel of the swivel body 2.
　本実施形態では、好ましい形態として、旋回体２の前後方向からの平面視（正面視）において、第１規制部材１２は、設置部２４と中継部１１との左右方向間に配置される。このように構成することにより、第１規制部材１２を旋回体２の前方の左右方向の中心に近い位置に配置することができる。すなわち、本構成によれば、第１ケーブル９の捻じれの起点を旋回体２の前方の左右方向の中心に近づけて配置することができるために、旋回体２が左右のいずれに旋回する場合において第１ケーブル９の暴れを抑制することができる。 In the present embodiment, as a preferred embodiment, the first regulating member 12 is arranged between the installation portion 24 and the relay portion 11 in the left-right direction in a plan view (front view) of the swivel body 2 from the front-rear direction. With this configuration, the first regulating member 12 can be arranged at a position close to the center in the left-right direction in front of the swivel body 2. That is, according to this configuration, since the starting point of the twist of the first cable 9 can be arranged close to the center in the left-right direction in front of the swivel body 2, the swivel body 2 swivels to the left or right. In, the rampage of the first cable 9 can be suppressed.
　なお、設置部２４と中継部１１とは、上下方向の高さ位置が同じでもよいが、ずれていてもよい。本実施形態では、前後方向からの平面視において、設置部２４と中継部１１とは上下方向の高さ位置がずれており、左右方向に対向していない。また、第１規制部材１２は、設置部２４と中継部１１との左右方向間に配置されなくてもよく、例えば、中継部１１の前方や、中継部１１より左方に配置されてもよい。このような構成でも、第１ケーブル９の他端（中継部１１側の第１コネクタ９１）に負荷がかかることを抑制できる。 The installation unit 24 and the relay unit 11 may have the same height position in the vertical direction, but may be offset from each other. In the present embodiment, the installation unit 24 and the relay unit 11 are not opposed to each other in the left-right direction because the height positions of the installation unit 24 and the relay unit 11 are deviated from each other in the plan view from the front-rear direction. Further, the first regulating member 12 may not be arranged between the installation unit 24 and the relay unit 11 in the left-right direction, and may be arranged, for example, in front of the relay unit 11 or to the left of the relay unit 11. .. Even with such a configuration, it is possible to suppress the load on the other end of the first cable 9 (the first connector 91 on the relay portion 11 side).
　また、本実施形態では、好ましい形態として、第１規制部材１２は、中継部１１よりも下方に配置される。このように構成することにより、旋回体２よりも下方に配置される検出装置５に向けて、中継部１１から第１ケーブル９を短い距離で配置し易くすることができる。また、中継部１１から第１規制部材１２に第１ケーブル９を導くに際して、第１ケーブル９の他端に無理な力がかかり難くすることができる。 Further, in the present embodiment, as a preferred embodiment, the first regulating member 12 is arranged below the relay unit 11. With this configuration, it is possible to easily arrange the first cable 9 from the relay unit 11 at a short distance toward the detection device 5 arranged below the swivel body 2. Further, when guiding the first cable 9 from the relay unit 11 to the first regulating member 12, it is possible to prevent an unreasonable force from being applied to the other end of the first cable 9.
　図６は、第１規制部材１２の構成を示す概略斜視図である。第１規制部材１２は、旋回体２の前面を構成する前側板状部材２９に設けられる。図４に示すように、前側板状部材２９は、ホース群を通す開口部２７の前方側の壁面を構成する。図６に示すように、本実施形態では、プリズム用第１ケーブル９Ａと、チルトセンサ用第１ケーブル９Ｂとが存在することに対応して、第１規制部材１２は、プリズムケーブル用第１規制部材１２Ａと、チルトセンサケーブル用第１規制部材１２Ｂとを含む。 FIG. 6 is a schematic perspective view showing the configuration of the first regulatory member 12. The first regulating member 12 is provided on the front plate-shaped member 29 constituting the front surface of the swivel body 2. As shown in FIG. 4, the front plate-shaped member 29 constitutes a wall surface on the front side of the opening 27 through which the hose group is passed. As shown in FIG. 6, in the present embodiment, the first restricting member 12 is the first restricting for the prism cable in response to the existence of the first cable 9A for the prism and the first cable 9B for the tilt sensor. The member 12A and the first regulating member 12B for the tilt sensor cable are included.
　第１規制部材１２は、先端部が上を向くＬ字状である。換言すると、第１規制部材１２はフック状である。第１規制部材１２をこのような形状とすることにより、第１規制部材１２の構造を簡易な構造とし、旋回体２に第１規制部材１２を容易に配置することができる。詳細には、プリズムケーブル用第１規制部材１２Ａと、チルトセンサケーブル用第１規制部材１２Ｂとは、同じＬ字形状である。２つの第１規制部材１２Ａ、１２Ｂは、左右方向に間隔をあけて前側板状部材２９に溶接等により取り付けられる。 The first regulatory member 12 is L-shaped with its tip facing upward. In other words, the first regulating member 12 is in the shape of a hook. By forming the first regulating member 12 in such a shape, the structure of the first regulating member 12 can be simplified and the first regulating member 12 can be easily arranged on the swivel body 2. Specifically, the first regulating member 12A for the prism cable and the first regulating member 12B for the tilt sensor cable have the same L-shape. The two first regulating members 12A and 12B are attached to the front plate-shaped member 29 at intervals in the left-right direction by welding or the like.
　第１ケーブル９は、第１規制部材１２に引っ掛けられる。詳細には、図４に示すように、プリズム用第１ケーブル９Ａは、プリズムケーブル用第１規制部材１２Ａに引っ掛けられる。チルトセンサ用第１ケーブル９Ｂは、チルトセンサケーブル用第１規制部材１２Ｂに引っ掛けられる。このように構成すれば、各第１ケーブル９Ａ、９Ｂを各第１規制部材１２Ａ、１２Ｂに簡単に着脱することができる。 The first cable 9 is hooked on the first regulatory member 12. Specifically, as shown in FIG. 4, the first prism cable 9A is hooked on the first regulating member 12A for the prism cable. The tilt sensor first cable 9B is hooked on the tilt sensor cable first regulating member 12B. With this configuration, the first cables 9A and 9B can be easily attached to and detached from the first regulating members 12A and 12B, respectively.
　なお、本実施形態では、Ｌ字状の第１規制部材１２に簡単に第１ケーブル９を着脱できるように、第１ケーブル９の一部を螺旋状とし、螺旋状の部分を第１規制部材１２に引っ掛ける構成としている。すなわち、第１ケーブル９は、第１規制部材１２に引っ掛けられる螺旋部を有する。ただし、第１ケーブル９は、全体、或いは、概ね全体が螺旋状であってよい。このように構成することにより、第１ケーブル９を伸び縮みし易くすることができる。この結果、第１ケーブル９の長さをコンパクトにすることができ、また、第１ケーブル９が損傷する可能性を低減することができる。なお、第１ケーブル９は、線状であり、第１規制部材１２に巻き回して取り付けられてもよい。 In the present embodiment, a part of the first cable 9 is spiral and the spiral part is the first regulating member so that the first cable 9 can be easily attached to and detached from the L-shaped first regulating member 12. It is configured to be hooked on 12. That is, the first cable 9 has a spiral portion that is hooked on the first regulating member 12. However, the first cable 9 may be entirely or substantially entirely spiral. With such a configuration, the first cable 9 can be easily expanded and contracted. As a result, the length of the first cable 9 can be made compact, and the possibility of damage to the first cable 9 can be reduced. The first cable 9 is linear and may be wound around the first regulating member 12 and attached.
　また、本実施形態では、第１規制部材１２が旋回体２の前面に設けられる構成としたが、これに限らず、第１規制部材は、例えば旋回体２の前方上面に配置される構成等であってもよい。この場合には、第１規制部材は、例えば、旋回体２の上面から上方に真っすぐ延びる形状としてよい。この場合にも、第１ケーブル９を第１規制部材に引っ掛けることができる。 Further, in the present embodiment, the first restricting member 12 is provided on the front surface of the swivel body 2, but the present invention is not limited to this, and the first regulating member is arranged on, for example, the front upper surface of the swivel body 2. May be. In this case, the first regulating member may have a shape that extends straight upward from the upper surface of the swivel body 2, for example. In this case as well, the first cable 9 can be hooked on the first regulating member.
　また、本実施形態では、第１規制部材１２は、第１ケーブル９を引っ掛けて保持することにより、第１ケーブル９の動きを規制する構成としたが、これも例示にすぎない。第１規制部材は、第１ケーブル９の動きを制限できる構造であればよく、第１ケーブル９を引っ掛ける構造でなくてもよい。例えば、第１規制部材は、第１ケーブル９を通すリング状や筒状等であってもよい。 Further, in the present embodiment, the first regulating member 12 is configured to regulate the movement of the first cable 9 by hooking and holding the first cable 9, but this is also merely an example. The first restricting member may have a structure that can restrict the movement of the first cable 9, and may not have a structure for hooking the first cable 9. For example, the first regulating member may have a ring shape, a tubular shape, or the like through which the first cable 9 is passed.
　また、例えば、第１規制部材は、図７に示すような第１ケーブル９を挟持する構成であってもよい。図７に示す変形例では、第１規制部材１２Ｘは、前側板状部材２９から前方に突出する一対の板バネ部材１２１を有する。一対の板バネ部材１２１は、弾性力により第１ケーブル９を挟んで保持する。なお、図７は、第１ケーブル９を挟持した第１規制部材１２Ｘを水平方向に切った断面図である。 Further, for example, the first regulating member may be configured to sandwich the first cable 9 as shown in FIG. 7. In the modified example shown in FIG. 7, the first regulating member 12X has a pair of leaf spring members 121 projecting forward from the front plate-shaped member 29. The pair of leaf spring members 121 sandwich and hold the first cable 9 by an elastic force. Note that FIG. 7 is a cross-sectional view of the first regulating member 12X sandwiching the first cable 9 in the horizontal direction.
　本実施形態においては、排土装置４には、第１ケーブル９の動きを規制する少なくとも１つの第２規制部材１３が配置される。第２規制部材１３が設けられることによって、第１規制部材１２と検出装置５との間において第１ケーブル９が旋回体２の旋回により暴れることを抑制することができる。 In the present embodiment, at least one second regulating member 13 that regulates the movement of the first cable 9 is arranged in the soil discharging device 4. By providing the second regulating member 13, it is possible to prevent the first cable 9 from being violent due to the turning of the swivel body 2 between the first regulating member 12 and the detection device 5.
　図８は、排土装置４に配置される第２規制部材１３およびその周辺を示す概略斜視図である。図８は、前方上方から見た斜視図である。また、図８は、２つの第１ケーブル９Ａ、９Ｂが取り付けられていない状態を示す。図８に示すように、本実施形態では、排土装置４には、２つの第２規制部材１３が配置される。なお、第２規制部材１３は、第１ケーブル９が旋回体２の旋回により暴れることを抑制することができればよいために、当該目的を果たす範囲で、第２規制部材１３の数は適宜変更されてよい。 FIG. 8 is a schematic perspective view showing the second regulating member 13 arranged in the soil removal device 4 and its surroundings. FIG. 8 is a perspective view seen from the front upper side. Further, FIG. 8 shows a state in which the two first cables 9A and 9B are not attached. As shown in FIG. 8, in the present embodiment, two second regulation members 13 are arranged in the soil removal device 4. It should be noted that the number of the second regulating member 13 is appropriately changed as long as the first cable 9 can be suppressed from being violent due to the turning of the swivel body 2, and the number of the second regulating member 13 is appropriately changed within the range of fulfilling the purpose. It's okay.
　２つの第２規制部材１３のうちの一方の第２規制部材１３Ａは、アングルシリンダ４６のアングルシリンダカバー４６１に取り付けられる。より詳細には、第２規制部材１３Ａは、アングルシリンダカバー４６１に取りけられるベース板１３１Ａと、ベース板１３１Ａに取り付けられる規制部１３２Ａとを有する。規制部１３２Ａは、ベース板１３１Ａに固着される棒状部１３２Ａａと、棒状部１３２Ａａに接続される環状部１３２Ａｂとを有する。環状部１３２Ａｂは、前後方向に貫通する。 The second regulating member 13A of one of the two second regulating members 13 is attached to the angle cylinder cover 461 of the angle cylinder 46. More specifically, the second regulating member 13A has a base plate 131A attached to the angle cylinder cover 461 and a regulating portion 132A attached to the base plate 131A. The regulating portion 132A has a rod-shaped portion 132Aa fixed to the base plate 131A and an annular portion 132Ab connected to the rod-shaped portion 132Aa. The annular portion 132Ab penetrates in the front-rear direction.
　２つの第２規制部材１３のうちの他方の第２規制部材１３Ｂは、チルトシリンダカバー４４１に取り付けられる。より詳細には、第２規制部材１３Ｂは、チルトシリンダカバー４４１に取りけられるベース板１３１Ｂと、ベース板１３１Ｂに取り付けられる規制部１３２Ｂとを有する。規制部１３２Ｂは、ベース板１３１Ｂに固着される棒状部１３２Ｂａと、棒状部１３２Ｂａに接続される環状部１３２Ｂｂとを有する。環状部１３２Ｂｂは、前後方向に貫通する。 The other second regulating member 13B of the two second regulating members 13 is attached to the tilt cylinder cover 441. More specifically, the second regulating member 13B has a base plate 131B attached to the tilt cylinder cover 441 and a regulating portion 132B attached to the base plate 131B. The regulating portion 132B has a rod-shaped portion 132B fixed to the base plate 131B and an annular portion 132Bb connected to the rod-shaped portion 132B. The annular portion 132Bb penetrates in the front-rear direction.
　図９は、図８に示す構成に２つの第１ケーブル９Ａ、９Ｂが取り付けられた状態を示す図である。図９に示すように、プリズム用第１ケーブル９Ａは、２つの第２規制部材１３Ａ、１３Ｂの環状部１３２Ａｂ、１３２Ｂｂに通される。すなわち、プリズム用第１ケーブル９Ａは、中継部１１から、プリズムケーブル用第１規制部材１２Ａに加えて、２つの第２規制部材１３Ａ、１３Ｂに案内されてプリズム５１に接続される。一方、チルトセンサ用第１ケーブル９Ｂは、１つの第２規制部材１３Ａの環状部１３２Ａｂに通される。すなわち、チルトセンサ用第１ケーブル９Ｂは、中継部１１から、チルトセンサケーブル用第１規制部材１２Ｂに加えて、１つの第２規制部材１３Ａに案内されてチルトセンサ５２に接続される。 FIG. 9 is a diagram showing a state in which two first cables 9A and 9B are attached to the configuration shown in FIG. As shown in FIG. 9, the prism first cable 9A is passed through the annular portions 132Ab and 132Bb of the two second regulating members 13A and 13B. That is, the prism first cable 9A is guided from the relay unit 11 to the prism 51 by being guided by the two second regulating members 13A and 13B in addition to the prism cable first regulating member 12A. On the other hand, the first cable 9B for the tilt sensor is passed through the annular portion 132Ab of one second regulating member 13A. That is, the tilt sensor first cable 9B is guided from the relay unit 11 to the tilt sensor 52 by being guided by one second regulating member 13A in addition to the tilt sensor cable first regulating member 12B.
　このような構成によれば、旋回体２が左右のいずれに旋回する場合でも、プリズム用第１ケーブル９Ａおよびチルトセンサ用第１ケーブル９Ｂが旋回により暴れることを抑制することができる。なお、本実施形態では、第２規制部材１３Ａは、２つの第１ケーブル９Ａ、９Ｂに共用される構成としているが、共用されない構成としてもよい。この場合には、第２規制部材１３の数を増やしてよい。 According to such a configuration, it is possible to prevent the first cable 9A for the prism and the first cable 9B for the tilt sensor from being violent due to the swivel regardless of whether the swivel body 2 swivels to the left or right. In the present embodiment, the second regulating member 13A is configured to be shared by the two first cables 9A and 9B, but it may be configured not to be shared. In this case, the number of the second regulating members 13 may be increased.
　ところで、上述のように、本実施形態では、プリズム５１の位置を付け替えることができるように、排土板４１には、プリズム５１が取り付けられる支柱７を配置可能な２つの基台部４１１が設けられる。本実施形態のバックホー１００は、この点を考慮した工夫が施されている。すなわち、排土装置４には、２つの基台部４１１に対する検出装置５の付け替えに応じて異なる位置に配置される第２規制部材１３の使用を可能とする複数の第２規制部材用取付部１４が設けられる。これによれば、検出装置５の配置が変更された場合においても、旋回体２の旋回により第１ケーブル９が暴れることを抑制することができる。 By the way, as described above, in the present embodiment, the soil removal plate 41 is provided with two base portions 411 on which the columns 7 to which the prisms 51 are attached can be arranged so that the positions of the prisms 51 can be changed. Be done. The backhoe 100 of the present embodiment has been devised in consideration of this point. That is, the soil removal device 4 has a plurality of mounting portions for the second regulating member that enable the use of the second regulating member 13 arranged at different positions according to the replacement of the detection device 5 with respect to the two base portions 411. 14 is provided. According to this, even when the arrangement of the detection device 5 is changed, it is possible to prevent the first cable 9 from being violent due to the turning of the swivel body 2.
　図１０は、第２規制部材１３Ｂが取り付けられるチルトシリンダカバー４４１の構成を示す概略斜視図である。図１０は、前方上方から見た斜視図である。また、図１０においては、理解を容易とするために、チルトシリンダカバー４４１を他の部材に取り付けるために必要となるボルトも示されている。 FIG. 10 is a schematic perspective view showing the configuration of the tilt cylinder cover 441 to which the second regulating member 13B is attached. FIG. 10 is a perspective view seen from the front upper side. Further, in FIG. 10, for ease of understanding, bolts required for attaching the tilt cylinder cover 441 to other members are also shown.
　図１０に示すように、チルトシリンダカバー４４１には、２つの基台部４１１に対するプリズム５１の付け替えに応じて異なる位置に配置される第２規制部材１３Ｂの使用を可能とする２つの第２規制部材用取付部１４Ａ、１４Ｂが設けられる。一方の第２規制部材用取付部１４Ａは、チルトシリンダカバー４４１の左端に設けられ、他方の第２規制部材用取付部１４Ｂは、チルトシリンダカバー４４１の左右方向の中央部に設けられる。 As shown in FIG. 10, the tilt cylinder cover 441 allows the use of the second restricting member 13B arranged at different positions according to the replacement of the prism 51 with respect to the two base portions 411. The member mounting portions 14A and 14B are provided. One mounting portion 14A for the second regulating member is provided at the left end of the tilt cylinder cover 441, and the other mounting portion 14B for the second regulating member is provided at the center portion in the left-right direction of the tilt cylinder cover 441.
　詳細には、各第２規制部材用取付部１４Ａ、１４Ｂは、ベース板１３１Ｂを取り付けるために必要となるボルト用の孔で構成される。なお、第２規制部材１３Ｂのチルトシリンダカバー４４１への取り付け手法が本実施形態の手法と異なる場合には、第２規制部材用取付部１４はボルト用の孔でなくてもよい。 Specifically, each of the second regulatory member mounting portions 14A and 14B is composed of bolt holes required for mounting the base plate 131B. When the method of attaching the second regulating member 13B to the tilt cylinder cover 441 is different from the method of the present embodiment, the mounting portion 14 for the second regulating member does not have to be a hole for a bolt.
　プリズム５１が取り付けられる支柱７の位置が、図９における左側から右側に移動されると、第２規制部材１３Ｂが取り付けられる位置が変更される。具体的には、第２規制部材１３Ｂは、ベース板１３１Ｂが第２規制部材用取付部１４Ａにボルトを用いて取り付けられた状態から、ベース板１３１Ｂが第２規制部材用取付部１４Ｂにボルトを用いて取り付けられた状態に変更される。本実施形態では、ベース板１３１Ｂが第２規制部材用取付部１４Ｂに取り付けられた状態となると、環状部１３２Ｂｂは左右方向に貫通する配置となる。このような環状部１３２Ｂｂの向きの変更は、第１ケーブル９の検出装置５への導き易さ等を考慮して適宜行われてよい。 When the position of the support column 7 to which the prism 51 is attached is moved from the left side to the right side in FIG. 9, the position where the second regulating member 13B is attached is changed. Specifically, in the second regulating member 13B, from the state where the base plate 131B is attached to the second regulating member mounting portion 14A using bolts, the base plate 131B bolts to the second regulating member mounting portion 14B. It is changed to the attached state using. In the present embodiment, when the base plate 131B is attached to the second restricting member attachment portion 14B, the annular portion 132Bb is arranged to penetrate in the left-right direction. Such a change in the direction of the annular portion 132Bb may be appropriately performed in consideration of the ease of guiding the first cable 9 to the detection device 5.
　なお、本実施形態では、支柱７の場所の付け替えに応じて、第２規制部材１３Ｂの場所の付け替えが行われる構成としたが、２つの第２規制部材用取付部１４Ａ、１４Ｂの両方に予め２つの第２規制部材が取り付けられている構成としてもよい。また、本実施形態では、第２規制部材用取付部１４Ａ、１４Ｂがチルトシリンダカバー４４１に設けられる構成を示したが、これは例示にすぎず、チルトシリンダカバー４４１以外に設けられてもよい。また、本実施形態では、第２規制部材１３Ｂの位置が変更される場合を例示したが、例えば第２規制部材１３Ａの位置も変更されてもよい。 In the present embodiment, the location of the second regulating member 13B is replaced according to the replacement of the location of the support column 7, but both of the two mounting portions 14A and 14B for the second regulating member are previously replaced. It may be configured that two second regulation members are attached. Further, in the present embodiment, the configuration in which the second regulating member mounting portions 14A and 14B are provided on the tilt cylinder cover 441 is shown, but this is merely an example and may be provided in addition to the tilt cylinder cover 441. Further, in the present embodiment, the case where the position of the second regulating member 13B is changed is illustrated, but for example, the position of the second regulating member 13A may also be changed.
＜５．留意事項＞
　本明細書中に開示される種々の技術的特徴は、その技術的創作の主旨を逸脱しない範囲で種々の変更を加えることが可能である。また、本明細書中に示される複数の実施形態および変形例は可能な範囲で組み合わせて実施されてよい。 <5. Points to note>
The various technical features disclosed herein can be modified in various ways without departing from the gist of the technical creation. In addition, a plurality of embodiments and modifications shown in the present specification may be combined and implemented to the extent possible.
　１・・・走行体
　２・・・旋回体
　３・・・作業装置
　４・・・排土装置
　５・・・検出装置
　８・・・制御装置
　９・・・第１ケーブル
　１０・・・第２ケーブル
　１１・・・中継部
　１２・・・第１規制部材
　１３・・・第２規制部材
　１４・・・第２規制部材用取付部
　２４・・・設置部
　４１・・・排土板
　９１・・・第１コネクタ（コネクタ）
　１００・・・バックホー（建設機械）
　１１１・・・支持部材
　１１２・・・保持部材
　４１１・・・基台部 1 ... Running body 2 ... Swinging body 3 ... Working device 4 ... Soil removal device 5 ... Detection device 8 ... Control device 9 ... 1st cable 10 ... 2nd Cable 11 ・ ・ ・ Relay part 12 ・ ・ ・ 1st regulation member 13 ・ ・ ・ 2nd regulation member 14 ・ ・ ・ Mounting part for 2nd regulation member 24 ・ ・ ・ Installation part 41 ・ ・ ・ Soil removal plate 91 ・ ・・ First connector (connector)
100 ... Backhoe (construction machinery)
111 ... Support member 112 ... Holding member 411 ... Base

Claims (9)

  1. 　前後方向に直進可能な走行体と、
    　前記走行体の前方に配置される排土板を有する排土装置と、
    　前記走行体上に旋回可能に搭載される旋回体と、
    　前記旋回体の設置部に設置される作業装置と、
    　前記排土板に取り付けられ、前記排土板に関わる情報を検出する検出装置と、
    　前記旋回体に配置される制御装置と、
    　一端が前記検出装置に接続される第１ケーブルと、
    　一端が前記制御装置に接続される第２ケーブルと、
    　前記旋回体に配置され、前記第１ケーブルの他端を前記第２ケーブルの他端に接続する中継部と、
    　前記旋回体に配置され、前記中継部から延び出す前記第１ケーブルの動きを規制する第１規制部材と、
    　を備える、建設機械。     A traveling body that can go straight in the front-back direction,
    A soil removal device having a soil removal plate arranged in front of the traveling body,
    A swivel body that can be swiveled on the traveling body and
    The work device installed in the installation part of the swivel body and
    A detection device attached to the soil removal plate and detecting information related to the soil removal plate,
    The control device arranged on the swivel body and
    The first cable, one end of which is connected to the detector,
    A second cable whose one end is connected to the control device,
    A relay unit arranged on the swivel body and connecting the other end of the first cable to the other end of the second cable,
    A first regulating member arranged on the swivel body and restricting the movement of the first cable extending from the relay portion, and
    Equipped with construction machinery.
  2. 　前記設置部が前方を向く前方配置とした前記旋回体の前後方向からの平面視において、
    　前記第１規制部材は、前記設置部と前記中継部との左右方向間に配置される、請求項１に記載の建設機械。     In a plan view from the front-rear direction of the swivel body in which the installation portion faces forward and is arranged forward.
    The construction machine according to claim 1, wherein the first regulating member is arranged between the installation portion and the relay portion in the left-right direction.
  3. 　前記前方配置される前記旋回体の上下方向からの平面視において、
    　前記第１ケーブルの他端に設けられるコネクタは、前後方向に対して傾斜して配置され、前記中継部から前記設置部に向かって延びる、請求項２に記載の建設機械。     In a plan view from the vertical direction of the swivel body arranged forward.
    The construction machine according to claim 2, wherein the connector provided at the other end of the first cable is arranged so as to be inclined in the front-rear direction and extends from the relay portion toward the installation portion.
  4. 　前記第１規制部材は、前記中継部よりも下方に配置される、請求項１から３のいずれか１項に記載の建設機械。 The construction machine according to any one of claims 1 to 3, wherein the first regulatory member is arranged below the relay unit.
  5. 　前記第１ケーブルは、前記第１規制部材に引っ掛けられる、請求項１から４のいずれか１項に記載の建設機械。 The construction machine according to any one of claims 1 to 4, wherein the first cable is hooked on the first regulatory member.
  6. 　前記第１規制部材は、先端部が上方に向くＬ字状である、請求項５に記載の建設機械。 The construction machine according to claim 5, wherein the first regulatory member has an L-shape with its tip facing upward.
  7. 　前記排土装置には、前記第１ケーブルの動きを規制する少なくとも１つの第２規制部材が配置される、請求項１から６のいずれか１項に記載の建設機械。 The construction machine according to any one of claims 1 to 6, wherein at least one second regulating member that regulates the movement of the first cable is arranged in the soil discharging device.
  8. 　前記排土板は、左右方向の中心に対して左右の両側に、前記検出装置を着脱可能に取り付ける基台部を有し、
    　前記排土装置には、２つの前記基台部に対する前記検出装置の付け替えに応じて、異なる位置に配置される前記第２規制部材の使用を可能とする複数の第２規制部材用取付部が設けられる、請求項７に記載の建設機械。     The soil removal plate has base portions on both left and right sides with respect to the center in the left-right direction to detachably attach the detection device.
    The soil removal device includes a plurality of mounting portions for the second regulating member that enable the use of the second regulating member arranged at different positions according to the replacement of the detecting device with respect to the two base portions. The construction machine according to claim 7, which is provided.
  9. 　前記中継部は、
    　　前記設置部が前方を向く前方配置とした前記旋回体の前方において、前記旋回体の上面から上方に延びる支持部材と、
    　　前記支持部材に取り付けられ、前記第２ケーブルの他端に設けられるコネクタを保持する保持部材と、
    　を有する、請求項１から８のいずれか１項に記載の建設機械。     The relay unit is
    In front of the swivel body in which the installation portion faces forward, a support member extending upward from the upper surface of the swivel body and
    A holding member attached to the support member and holding a connector provided at the other end of the second cable, and a holding member.
    The construction machine according to any one of claims 1 to 8.
PCT/JP2021/017624 2020-06-02 2021-05-10 Construction machine WO2021246108A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012241326A (en) * 2011-05-16 2012-12-10 Hitachi Constr Mach Co Ltd Working machine
JP2013002169A (en) * 2011-06-17 2013-01-07 Komatsu Ltd Hydraulic shovel
JP2014040726A (en) * 2012-08-22 2014-03-06 Kobelco Contstruction Machinery Ltd Cable fixing structure of construction machinery
JP2020012255A (en) * 2018-07-13 2020-01-23 株式会社日立建機ティエラ Construction machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012241326A (en) * 2011-05-16 2012-12-10 Hitachi Constr Mach Co Ltd Working machine
JP2013002169A (en) * 2011-06-17 2013-01-07 Komatsu Ltd Hydraulic shovel
JP2014040726A (en) * 2012-08-22 2014-03-06 Kobelco Contstruction Machinery Ltd Cable fixing structure of construction machinery
JP2020012255A (en) * 2018-07-13 2020-01-23 株式会社日立建機ティエラ Construction machine

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