CN114364844A - hydraulic excavator - Google Patents

Abstract

A hydraulic shovel is provided with: a lower traveling body; an upper revolving structure provided above the lower traveling structure so as to be able to revolve; a working machine supported by the upper slewing body so as to be rotatable in an up-down direction; a soil discharging device supported by the lower traveling structure so as to be rotatable in a vertical direction; a position information acquiring device that is disposed on a discharging plate of the discharging device and acquires current position information related to a current position of the discharging plate; a discharging control device that controls the discharging device based on a deviation between the target position information and the current position information of the discharging plate obtained from design surface data of a construction plan; and a prohibiting device that prohibits the turning of the upper revolving structure and the operation of the working machine.

Description

hydraulic excavator

technical field

The invention relates to a hydraulic excavator.

Background technique

The following Patent Document 1 discloses a technique in which a prism is provided on a blade of a bulldozer, the position information of the blade is acquired by a total station, and the blade is controlled to automatically perform leveling work.

However, when the technique of Patent Document 1 is applied to the scraper operation of the hydraulic excavator, the operator may move or turn the work machine, and the work machine may come into contact with the prism and be damaged. In addition, when the prism is, for example, a prism capable of transmitting object IDs, since a cable for power supply is connected to the upper swing body of the hydraulic excavator, the cable may be cut by the swing of the upper swing body.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Application Laid-Open No. 11-237244

SUMMARY OF THE INVENTION

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a hydraulic excavator capable of automatically performing leveling work using a soil removal device.

The hydraulic excavator according to the present invention includes: a lower running body; an upper slewing body rotatably provided above the lower running body; an upper revolving body; a soil dumping device that is supported on the lower running body so as to be rotatable in the up-down direction; current position information related to the current position of the slab; soil dumping control device, which controls the dumping plate based on the deviation between the target position information of the soil dumping slab and the current position information obtained according to the design surface data of the construction plan an earth device; and a prohibiting device that prohibits the turning of the upper swing body and the operation of the working machine.

According to this configuration, the soil dumping control device controls the soil dumping device based on the deviation between the target position information of the soil dumping plate obtained from the design surface data of the construction plan and the current position information of the soil dumping plate, so that leveling can be performed automatically. Operation. In addition, although the position information acquisition device is disposed on the soil plate, by prohibiting the rotation of the upper revolving body and the operation of the work machine by the prohibition device, it is possible to prevent the work machine from contacting the position information acquisition device to be damaged, and to prevent the position information from being acquired. The cable connecting the device to the upper revolving body was cut.

Description of drawings

FIG. 1 is a left side view showing the hydraulic excavator according to the present embodiment.

FIG. 2 is a diagram showing a hydraulic circuit of the hydraulic excavator according to the present embodiment.

3 is a block diagram showing a control system included in the hydraulic excavator.

FIG. 4 is a block diagram showing a control system according to another embodiment.

FIG. 5 is a block diagram showing a control system according to another embodiment.

FIG. 6 is a block diagram showing a control system according to another embodiment.

7A is a block diagram showing a control system according to another embodiment.

7B is a block diagram showing a hydraulic circuit according to another embodiment.

8 is a schematic perspective view showing a configuration around a driver's seat of a hydraulic excavator provided with a prohibit switch.

FIG. 9 is a schematic diagram for explaining the angle operation of the squeegee.

10 is a schematic plan view of a blade operating lever mounted on a hydraulic excavator as viewed from the rear to the front.

11 is a schematic plan view of a blade operating lever mounted on a hydraulic excavator as viewed from the front toward the rear.

Detailed ways

Embodiments of the present invention will be described with reference to the drawings.

[Outline of hydraulic excavator]

The schematic structure of the hydraulic excavator 1 will be described. As shown in FIG. 1 , the hydraulic excavator 1 includes: a lower running body 2; an upper slewing body 3 which is rotatably provided above the lower running body 2; It is supported by the upper revolving body 3 so as to be able to rotate horizontally, and the working machine 5 is supported by the boom bracket 4 so as to be able to rotate vertically.

The lower traveling body 2 receives power from the engine 30 and is driven, so that the hydraulic excavator 1 travels or turns. The lower traveling body 2 includes a pair of left and right crawler belts 21 and 21 and a pair of left and right travel motors 22 and 22 that drive the crawler belts 21 and 21 . Moreover, the earth removal apparatus 20 is supported by the lower running body 2 so that rotation in an up-down direction is possible. The soil removal device 20 includes: a pair of scraper arms 23, 23; a scraper 24 (corresponding to a soil scraper) extending in the left-right direction between the front ends of the pair of scraper arms 23, 23; and a scraper A lift cylinder 25 for raising and lowering the scraper 24 up and down; and a scraper tilt cylinder 26 (see FIG. 2 ) for tilting the scraper 24 . By raising and lowering the scraper 24, the relative distance between the scraper 24 and the ground can be adjusted. By inclining the scraper 24, the interval between the lower left end or the lower right end of the scraper 24 and the ground can be adjusted. The blade 24 is provided with an inclination sensor 26a (see FIG. 3 ) that detects an inclination angle (oblique angle).

A GNSS antenna 27 that receives signals from positioning satellites and performs positioning is attached to the squeegee 24 . The GNSS antenna 27 is fixed to the front end of a support column 27 a erected from the back surface of the blade 24 . In addition, the hydraulic excavator 1 of this embodiment acquires the positional information of the scraper 24 by the RTK-positioning method, and installs the base station which is not shown in figure in a construction site.

The upper revolving body 3 is configured to be capable of revolving around an axis extending in the vertical direction at the central portion thereof. An engine 30 , a counterweight 31 , a cab 32 , a swing motor 33 , and the like are arranged on the upper swing body 3 . The upper swing body 3 is rotated via the swing bearing by the driving force of the swing motor 33 which is a hydraulic motor.

A driver's seat 321 for an operator to sit on is attached to the driver's portion surrounded by the driver's cab 32 . A pair of work operation levers 322 and 322 are arranged on the left and right sides of the driver's seat 321 , and a pair of travel levers 323 and 323 are arranged in front of the driver's seat 321 . The operator sits on the driver's seat 321 and operates the work operation levers 322, 322, the travel levers 323, 323, etc. to control the engine 30, each hydraulic motor, each hydraulic actuator, etc., thereby enabling traveling and turning. , work, etc.

The boom bracket 4 is attached to the front end portion of the upper revolving body 3 via a stay 34 . The support column 34 is provided with a pivot pin 40 whose axis is directed in the vertical direction. The boom bracket 4 is supported so as to be freely horizontally rotatable (that is, freely swingable to the left and right sides) about the pivot pin 40 . Between the upper swing body 3 and the boom bracket 4, a swing cylinder 41 (refer to FIG. 2 ) that extends and retracts in the front-rear direction is provided. The boom bracket 4 is horizontally rotated in accordance with the expansion and contraction of the swing cylinder 41 .

The work machine 5 is driven by receiving power from the engine 30 , thereby performing excavation work of sand and soil or the like in accordance with the operation of the driving unit. The working machine 5 is supported on the boom bracket 4 so as to be vertically rotatable. The boom bracket 4 is provided with a pivot pin 50 whose axis is oriented in the horizontal direction. The base end portion of the working machine 5 (the base end portion of the boom 51 described later) is supported so as to be freely rotatable up and down around the pivot pin 50 . The working machine 5 rotates on a vertical plane perpendicular to the axis of the pivot pin 50 . In addition, the working machine 5 can perform a rocking operation in conjunction with the horizontal rotation of the boom bracket 4 .

The working machine 5 includes a boom 51 , an arm 52 , and a bucket 53 , and can perform excavation work such as sand and soil by independently driving these. The base end portion of the boom 51 is attached to the boom bracket 4 so as to be rotatable up and down. The boom 5 is rotated by a boom cylinder 51a that is movable telescopically. Moreover, the base end part of the arm 52 is supported by the front end part of the boom 51, and the arm 52 is rotated by the arm cylinder 52a which can move telescopically. And the base end part of the bucket 53 is supported by the front end part of the arm 52, and the bucket 53 is rotated by the bucket cylinder 53a which can move telescopically. The boom cylinder 51a, the arm cylinder 52a, and the bucket cylinder 53a are constituted by hydraulic cylinders.

[Structure of hydraulic circuit]

The hydraulic circuit 6 included in the hydraulic excavator 1 will be described with reference to FIG. 2 . The hydraulic circuit 6 has a plurality of hydraulic actuators 60 , a variable displacement pump 61 , a fixed displacement pump 62 , and a pilot pump 63 .

The plurality of hydraulic actuators 60 include a first travel motor 22a, a second travel motor 22b (either the left travel motor 22 or the right travel motor 22), a boom cylinder 51a, an arm cylinder 52a, a bucket The cylinder 53 a , the blade lift cylinder 25 , the blade tilt cylinder 26 , the swing motor 33 , and the swing cylinder 41 .

The variable displacement pump 61 and the fixed displacement pump 62 are driven by the engine 30 and discharge the hydraulic oil supplied to the hydraulic actuator 60 . The variable displacement pump 61 is driven by supplying hydraulic oil to the first travel motor 22a, the second travel motor 22b, the boom cylinder 51a, the arm cylinder 52a, and the bucket cylinder 53a. The fixed displacement pump 62 is driven by supplying hydraulic oil to the blade lift cylinder 25 , the blade tilt cylinder 26 , the swing motor 33 , and the swing cylinder 41 .

The plurality of hydraulic actuators 60 are provided with corresponding directional switching valves, which are capable of changing the direction of the hydraulic fluid that is pressurized from the variable displacement pump 61 and the fixed displacement pump 62 to the hydraulic actuator 60 . A pilot-operated directional switching valve that switches with capacity.

In the present embodiment, a first traveling direction switching valve 64a corresponding to the first traveling motor 22a, a second traveling direction switching valve 64b corresponding to the second traveling motor 22b, and a boom cylinder 51a are provided. The corresponding boom direction switching valve 64c, the arm direction switching valve 64d corresponding to the arm cylinder 52a, the bucket direction switching valve 64e corresponding to the bucket cylinder 53a, the scraper corresponding to the scraper lift cylinder 25 The lift direction switching valve 64f, the blade tilt direction switching valve 64g corresponding to the blade tilt cylinder 26, the turning direction switching valve 64h corresponding to the turning motor 33, and the swing direction switching valve 64i corresponding to the swing cylinder 41 are provided. These directional switching valves are collectively referred to as the control valve 64 .

The pilot pump 63 mainly discharges pilot oil as a command input to the control valve 64 . However, a part of the oil passage from the pilot pump 63 to the control valve 64 is omitted in FIG. 2 . The pilot pump 63 is driven by the engine 30 to discharge pressurized oil, so that a pilot pressure is generated in the oil passage.

In addition, the hydraulic circuit 6 includes an operating device 71 for a boom, an operating device 72 for an arm, and an operating device 73 for turning. The boom operating device 71 , the arm operating device 72 , and the turning operating device 73 are constituted by a pair of work operating levers 322 and 322 . Moreover, the hydraulic circuit 6 is provided with the operation device 74 for blade raising/lowering, and the operation device 75 for blade tilting. The operation device 74 for squeegee raising and lowering and the operating device 75 for squeegee tilting are constituted by a squeegee operation lever not shown. In addition, although not shown in FIG. 2, the hydraulic circuit 6 is provided with the operating device for buckets and the operating device for swinging.

The boom operating device 71 includes a boom remote valve 710 for switching the direction and pressure of the pilot pressure oil supplied to the boom direction switching valve 64c. The hydraulic oil discharged from the pilot pump 63 is supplied to the boom remote valve 710 . The boom remote valve 710 generates a pilot pressure in accordance with the operation direction and operation amount of the boom operation device 71 .

The arm operating device 72 includes an arm remote valve 720 for switching the direction and pressure of the pilot pressure oil supplied to the arm direction switching valve 64d. The pressure oil discharged from the pilot pump 63 is supplied to the arm remote valve 720 . The arm-use remote valve 720 generates a pilot pressure in accordance with the operation direction and operation amount of the arm-use operation device 72 .

The turning operation device 73 includes a turning remote control valve 730 for switching the direction and pressure of the pilot pressure oil supplied to the turning direction switching valve 64h. The pressure oil discharged from the pilot pump 63 is supplied to the remote control valve 730 for turning. The remote control valve 730 for turning generates a pilot pressure according to the operation direction and the operation amount of the operating device 73 for turning.

The operation device 74 for blade raising/lowering includes a blade raising/lowering remote control valve 740 for switching the direction and pressure of the pilot pressure oil supplied to the blade raising/lowering direction switching valve 64f. The pressurized oil discharged from the pilot pump 63 is supplied to the remote valve 740 for raising and lowering the blade. The remote control valve 740 for squeegee raising/lowering generates a pilot pressure according to the operation direction and the operation amount of the operation device 74 for squeegee raising/lowering.

The 1st mechanical control oil passage 740d is connected to the 1st oil passage 740a between the remote control valve 740 for blade raising/lowering and the direction switching valve 64f for blade raising/lowering via the 1st shuttle valve 740c. In addition, the second mechanical control oil passage 740f is connected to the second oil passage 740b between the remote control valve 740 for blade raising and lowering and the direction switching valve 64f for blade raising and lowering via the second shuttle valve 740e. Pilot pressure oil is supplied from the pilot pump 63 to the first mechanical control oil passage 740d and the second mechanical control oil passage 740f.

The blade tilt operation device 75 includes a blade tilt remote valve 750 for switching the direction and pressure of the pilot pressure oil supplied to the blade tilt direction switching valve 64g. The hydraulic oil discharged from the pilot pump 63 is supplied to the remote valve 750 for blade tilting. The remote control valve 750 for squeegee inclination generates a pilot pressure according to the operation direction and operation amount of the operation device 75 for squeegee inclination.

The third mechanical control oil passage 750d is connected to the third oil passage 750a between the remote control valve 750 for blade inclination and the direction switching valve 64g for blade inclination via the third shuttle valve 750c. In addition, the fourth mechanical control oil passage 750f is connected to the fourth oil passage 750b between the remote control valve 750 for blade tilting and the direction switching valve 64g for blade tilting via the fourth shuttle valve 750e. Pilot pressure oil is supplied from the pilot pump 63 to the third mechanical control oil passage 750d and the fourth mechanical control oil passage 750f.

The electromagnetic proportional valve 103 is provided in each of the first mechanical control oil passage 740d, the second mechanical control oil passage 740f, the third mechanical control oil passage 750d, and the fourth mechanical control oil passage 750f. The electromagnetic proportional valve 103 can adjust the pilot pressure in accordance with a control command from the mechanical control controller 102 to be described later. Thereby, the mechanical control controller 102 can control the driving of the blade lift cylinder 25 and the blade tilt cylinder 26 by operating the blade lift direction switching valve 64f and the blade tilt direction switching valve 64g.

A solenoid valve 104 as a prohibiting device is provided in the oil passage between the pilot pump 63 and the boom remote valve 710 , the arm remote valve 720 , and the swing remote valve 730 . In addition, a solenoid valve 104 is also provided in the oil passage between the pilot pump 63 and the remote control valve for a bucket and the remote control valve for a swing (not shown). The solenoid valve 104 controls the pilot primary pressure from the pilot pump 63 in accordance with a control command from the integrated controller 100 to be described later. Specifically, the solenoid valve 104 cuts off the pilot primary pressure by cutting off the release signal from the integrated controller 100 . As a result, the pressure oil from the pilot pump 63 cannot be supplied to the boom remote valve 710, the arm remote valve 720, the swing remote valve 730, the bucket remote valve, and the swing remote valve. The operation of the operation device 71 , the arm operation device 72 , the swing operation device 73 , the bucket operation device, and the swing operation device is performed to prohibit the swing of the upper swing body 3 and the operation of the work machine 5 .

[Control system of hydraulic excavator]

An example of a control system included in the hydraulic excavator 1 will be briefly described. The hydraulic excavator 1 includes an integrated controller 100 as a control device. The integrated controller 100 outputs a control instruction to the above-described engine 30 and hydraulic pump as a main control unit that performs drive control of the hydraulic excavator 1 .

In addition, the hydraulic excavator 1 includes an earth removal control device 101 that controls the earth removal device 20 including the blade 24 , the blade lift cylinder 25 , and the blade tilt cylinder 26 . The soil removal control device 101 includes a control valve 64 for mechanical control (a direction switching valve 64f for blade lift and a direction switching valve 64g for blade inclination), a mechanical control controller 102, and an electromagnetic proportional valve 103, so that the soil removal device 20 automatically perform action.

The machine control controller 102 controls the earth removal device 20 based on the deviation between the target position information of the scraper 24 obtained from the design surface data of the construction plan and the current position information of the scraper 24 .

The design surface data is electronic data that three-dimensionalizes the height of the finished surface at each horizontal coordinate position of the construction section in which the construction plan is executed, and is input to the machine control controller 102 in advance. The design surface data is stored in the design surface data storage device 102a. The target position of the scraper 24 can be set based on the design surface data.

In the present embodiment, the current position information of the scraper 24 is acquired by the tilt sensor 26 a and the GNSS antenna 27 . Specifically, by combining the coordinate information of the squeegee 24 acquired by the GNSS antenna 27 and the inclination angle information of the squeegee 24 detected by the inclination sensor 26a, the current position information including the position and posture of the squeegee 24 can be acquired . In addition, the machine control controller 102 stores information on the width of the squeegee 24 and the installation position of the GNSS antenna 27 relative to the squeegee 24 in advance, and can accurately calculate the current position information of the squeegee 24 .

The machine control controller 102 includes a blade control command calculation unit 102b. The squeegee control command calculation unit 102b reads the target position information of the squeegee 24 from the design surface data stored in the design surface data storage device 102a, and compares the target position information with the current position information of the squeegee 24, thereby The control command value to be sent to the electromagnetic proportional valve 103 is calculated so that the scraper 24 is at the target position.

The solenoid proportional valve 103 adjusts the pilot pressure applied to the blade lift direction switching valve 64f and the blade tilt direction switching valve 64g in accordance with a control command from the mechanical control controller 102, thereby applying the blade lift cylinder 25 and the blade tilt. The driving of the cylinder 26 is controlled.

A start switch 105 for starting the soil removal control device 101 is connected to the machine control controller 102 . The start switch 105 is arranged in front of the driver's seat 321, and by turning on the start switch 105, the automatic control of the scraper 24 can be executed.

The integrated controller 100 of the present embodiment receives a signal from the mechanical control controller 102 and transmits a control command to the solenoid valve 104 to cut off the pilot primary pressure from the pilot pump 63 when the mechanical control controller 102 is activated. Thereby, the swing of the upper swing body 3 and the swing of the work machine 5 by the operation of the boom operation device 71 , the arm operation device 72 , the swing operation device 73 , the bucket operation device, and the swing operation device are performed. Action is prohibited.

As described above, the hydraulic excavator 1 of the present embodiment includes: the lower running body 2; the upper slewing body 3 rotatably provided above the lower running body 2; and the working machine 5 rotatably in the vertical direction It is supported on the upper revolving body 3; the soil removal device 20 is supported on the lower running body 2 so as to be rotatable in the vertical direction; the GNSS antenna 27 and the inclination sensor 26a are arranged on the scraper 24 of the soil removal device 20, and acquire The current position information related to the current position of the scraper 24; the soil dumping control device 101, which controls the discharge based on the deviation between the target position information of the scraper 24 and the current position information obtained from the design surface data of the construction plan; The soil device 20; and the solenoid valve 104, which prohibits the turning of the upper turning body 3 and the operation of the working machine 5.

According to this configuration, the soil removal control device 101 can automatically control the soil removal device 20 based on the deviation between the target position information of the blade 24 and the current position information of the blade 24 obtained from the design surface data of the construction plan. Leveling work. In addition, although the GNSS antenna 27 and the inclination sensor 26a are arranged on the scraper 24, by prohibiting the rotation of the upper swing body 3 and the operation of the work machine 5 by the solenoid valve 104, the work machine 5, the GNSS antenna 27 and the inclination sensor 26a can be prevented from being The cable connecting the GNSS antenna 27 and the inclination sensor 26a to the upper revolving body 3 is cut off due to contact and damage.

In addition, as another embodiment, as shown in FIG. 4 , the hydraulic excavator 1 may include an omnidirectional prism 28 instead of the GNSS antenna 27 . The omnidirectional prism 28 is automatically tracked by a total station 29 separately provided at the construction site. The total station 29 can measure the distance and angle with respect to the omnidirectional prism 28 and obtain the coordinate information of the scraper 24 from the measured data. The coordinate information of the squeegee 24 is wirelessly transmitted from the total station 29 to the squeegee control command calculation unit 102b. Other structures are the same as those of the above-described embodiment.

Moreover, as shown in FIG. 5, the hydraulic excavator 1 may be provided with the prohibition switch 104a which activates the prohibition device (solenoid valve 104). According to this configuration, since the operator himself can activate the prohibition device, the position of the work machine 5 can be set at a position where the operator can easily confirm the leveling state before the hydraulic excavator 1 is changed to the automatic leveling operation.

The prohibition switch 104a may be a push button switch or a seesaw switch, and when a signal from the prohibition switch 104a is input to the integrated controller 100, a command signal is input from the integrated controller 100 to the solenoid valve 104 to prohibit the rotation of the upper swing body 3 and the operation of the work machine 5 . The prohibition switch 104 a is arranged in front of the driver's seat 321 , may be arranged adjacent to the start switch 105 , or may be used together with the start switch 105 .

In addition, the hydraulic excavator 1 is provided with connection confirmation means for confirming the connection between the GNSS antenna 27 and the upper swing body 3 , and when the connection confirmation means confirms the connection, the prohibition device can be activated. Specifically, upon detection of the transmission of coordinate information from the GNSS antenna 27 to the machine control controller 102 , it is confirmed that the GNSS antenna 27 and the upper revolving body 3 are connected by a cable, and the integrated controller 100 receives the information from the machine control controller 102 . signal to send a cut-off control command to the solenoid valve 104 .

In addition, when the hydraulic excavator 1 includes the omnidirectional prism 28 having the target ID, the omnidirectional prism 28 needs electric power for transmitting the target ID by infrared light. At this time, by monitoring the electric power supplied to the omnidirectional prism 28, it can be confirmed that the omnidirectional prism 28 and the upper revolving body 3 are connected by a cable. In addition, by monitoring the electric power supplied to the tilt sensor 26a serving as a gyro sensor, it can be confirmed that the tilt sensor 26a and the upper revolving body 3 are connected by a cable.

The GNSS antenna 27 and the omnidirectional prism 28 removed from the hydraulic excavator 1 are required to be attached to the scraper 24 in order to prevent theft during automatic leveling work and to prevent the working machine 5 from being contacted and damaged during normal excavation work. Operation. By using this work as a trigger for prohibiting the turning of the upper turning body 3 and the operation of the working machine 5 , damage to the GNSS antenna 27 , the omnidirectional prism 28 , and disconnection of the cable can be reliably prevented.

In addition, in the hydraulic excavator 1, the prohibiting device may be activated when the soil discharge control device 101 is activated. Specifically, as shown in FIG. 6 , the signal from the start switch 105 may be input to the mechanical control controller 102 and the integrated controller 100 at the same time.

According to this configuration, the prohibition device can be activated at the same time as the soil discharge control device 101 is activated, so that the GNSS antenna 27 and the omnidirectional prism 28 can be reliably prevented from being damaged and the cable being cut.

In addition, as shown in FIG. 7A , the hydraulic excavator 1 may include a prohibition release switch 106 as prohibition release means for releasing the prohibition device. The prohibition release switch 106 is, for example, a push button switch arranged at a position adjacent to the prohibition switch 104a. When the prohibition release switch 106 is pressed, a prohibition release signal is input to the integrated controller 100, and the integrated controller 100 is input to the prohibition device. A signal to release the function of the prohibiting device (solenoid valve 104).

In addition, the prohibition switch 104a itself may have a prohibition release function. For example, the state where the prohibition switch 104a is turned off may be regarded as the release state of the prohibition switch 104a, and a signal to cancel the function of the prohibition device may be input from the integrated controller 100 to the prohibition device.

Further, the hydraulic excavator 1 may include a restriction device 107 that restricts the work machine 5 from entering into an intrusion prohibition area set around the position information acquisition device when the prohibition release switch 106 is activated. According to this structure, even when the operator activates the prohibition release switch 106 in order to confirm the state of leveling, for example, in the automatic leveling work, the work machine 5 can be moved safely.

As the restricting device 107, for example, a solenoid valve shown in FIG. 7B is exemplified. The intrusion prohibited area of the working machine 5 is, for example, a circular area set around the GNSS antenna 27 or the omnidirectional prism 28 . When the integrated controller 100 detects that the work machine 5 has intruded into the boundary area of the intrusion prohibition area, it sends a control command to the corresponding restriction device 107, thereby cutting off the hydraulic actuator (boom) that drives in the direction of approaching the intrusion prohibition area. Direction switching valves (boom direction switching valve 64c, arm direction switching valve 64d, bucket direction switching valve 64e, The pilot secondary pressure input from the swing direction switching valve 64h and the swing direction switching valve 64i) can restrict the swing of the upper swing body 3 and the operation of the working machine 5 . In addition, the position information of the working machine 5 is acquired by a plurality of acceleration sensors (not shown) attached to the working machine 5, and the swing angle information of the upper swing body 3 is obtained by a swing angle sensor (not shown), and these information are input to the integrated control. device 100.

When a prohibition release signal is input from the prohibition release switch 106 to the integrated controller 100 , the integrated controller 100 inputs a signal to release the function of the prohibition device to the prohibition device, and simultaneously transmits a restriction signal to the restriction device 107 . When the prohibition switch 104a has the prohibition release function, a separate limit switch is provided, and after the automatic leveling operation is completed and the GNSS antenna 27 and the omnidirectional prism 28 are removed, the limit switch is turned off, and the limiter 107 is released, whereby the normal operation can be performed. excavation work.

The inhibit switch 104a shown in FIGS. 5 and 7A will be described in more detail. FIG. 8 is a schematic perspective view showing a configuration around the driver's seat 321 of the hydraulic excavator 1 including the prohibition switch 104a. As shown in FIG. 8 , the upper revolving body 3 is provided with a driver's seat 321 on which the operator sits and a case member 324 . The case member 324 is arranged around the driver's seat 321 . An operating lever 325 operated by the operator protrudes from the housing member 324 . In addition, in this example, although the driver's seat 321 is not surrounded by a cab, it may be surrounded by a cab.

In this example, the case member 324 is located on the opposite side to the boarding gate 326 side with respect to the driver's seat 321 . The boarding gate 326 is a portion where the operator can get on the driver's seat 321 . By arranging the case member 324 in this way, the boarding opening 326 can be enlarged, and the operator can easily get on and off the hydraulic excavator 1 . In addition, the boarding gate 326 exists on the left side with respect to the driver's seat 321 , and more specifically, exists on the left front of the driver's seat 321 .

Specifically, the case member 324 is arranged on the right side of the driver's seat 321 . More specifically, one of a pair of work operation levers 322 arranged at intervals in the left-right direction is arranged on the right side of the driver's seat 321 . The case member 324 is arranged adjacent to the work operation lever 322 arranged on the right side of the driver's seat 321 . Specifically, the case member 324 is arranged adjacent to the right side of the work operation lever 322 on the right side of the driver's seat 321 .

The case member 324 is made of resin, for example. The housing member 324 extends in the front-rear direction. The casing member 324 is installed with various operating equipment required for the hydraulic excavator 1 . The monitor 327 which displays the operation information of the hydraulic excavator 1 is attached to the front-end|tip part of the housing member 324 in the state which exposed the display screen. The operation lever 325 protrudes upward from the upper surface of the case member 324 at the rear of the monitor 327 . The operation lever 325 is located in the front right when viewed from the operator sitting on the driver's seat 321 . The operation lever 325 is arranged rearward of the grip portion of the work operation lever 322 . Therefore, the operator can operate the operation lever 325 without being hindered by the work operation lever 322 .

The inhibit switch 104a is attached to the case member 324 . According to such a structure, the prohibition switch 104a can be arrange|positioned in the position which can easily enter the field of vision of an operator, and can be easily reached by a hand. As a result, it is possible to reduce the possibility of forgetting to press the prohibition switch for prohibiting the rotation of the upper swing body 3 and the operation of the working machine 5 before the automatic leveling operation is performed by pressing the start switch 105 (for example, refer to FIGS. 5 and 11 ). 104a.

In this example, the operation lever 325 is a blade operation lever which operates the blade 24 (soil plate). That is, in the structure of this example, the prohibition switch 104a can be arrange|positioned in the vicinity of the blade operating lever 325. Therefore, it is easy to recognize the existence of the prohibition switch 104a before entering the automatic leveling operation using the scraper 24, so that the possibility of forgetting to press the prohibition switch 104a can be further reduced.

Specifically, the prohibition switch 104 a is arranged behind the blade operating lever 325 . With this configuration, the prohibition switch 104a can be suppressed from being difficult to be seen by the operator due to the presence of the blade operating lever 325, so that the operator can smoothly operate the prohibition switch 104a.

The prohibition switch 104 a is constituted by, for example, a seesaw switch, and is arranged on the upper surface of the case member 324 . In this example, behind the blade operating lever 325 , a plurality of switches are arranged on the upper surface of the case member 324 in the front-rear direction. The inhibit switch 104a is one of the above-mentioned switches. It can be appropriately determined which one of the plurality of switches is set to be the disable switch 104a. In the example shown in FIG. 8, the switch closest to the blade operating lever 325 is the prohibition switch 104a.

As described above, the squeegee operating lever 325 constitutes the operating device 74 for the squeegee raising and lowering and the operating device 75 for the squeegee tilting. That is, the squeegee 24 can be moved up and down by the squeegee operating lever 325 and the squeegee 24 can be inclined. In addition, in this example, the squeegee operating lever 325 also constitutes a device for operating the angle of the squeegee 24 .

FIG. 9 is a schematic diagram for explaining the angle operation of the scraper 24 . 9 : is the figure which looked at the front part of the hydraulic excavator 1 from above. The scraper 24 is supported by the scraper arm 23A so as to be rotatable around a shaft pin 201 extending up and down. The scraper 24 is rotated about the shaft pin 201 by operating a pair of angle cylinders 202 disposed on the left and right sides of the scraper arm 23A. The scraper 24 indicated by the one-dot chain line in FIG. 9 shows a state in which the scraper 24 is swung by the operation of the pair of angle cylinders 202 . The angle operation is an operation of swinging both ends in the left-right direction of the scraper 24 toward the front-rear direction.

The operator can move the squeegee 24 up and down by grasping the grip portion 325a of the squeegee operating lever 325 and moving the squeegee operating lever 325 in the front-rear direction. In addition, the squeegee operating lever 325 is provided with an operation portion capable of tilting operation and angle operation of the squeegee 24 .

FIG. 10 is a schematic plan view of the blade operating lever 325 mounted on the hydraulic excavator 1 viewed from the rear toward the front. As shown in FIG. 10 , the grip portion 325 a is provided on the front end side of the arm portion 325 b protruding from the housing member 324 . A changeover switch 3251 and an operation roller 3252 are attached to the upper surface side of the front end of the grip portion 325a so as to be aligned in the left and right directions. In addition, the positional relationship between the changeover switch 3251 and the operation roller 3252 can be appropriately changed.

The changeover switch 3251 is a switch that switches between the tilt operation and the angle operation. The changeover switch 3251 is, for example, a seesaw switch. The operation roller 3252 is a rotating body for performing tilt operation or angle operation. A part of the side surface (outer peripheral surface) of the operation roller 3252 protrudes from the surface of the holding|grip part 325a, and an operator can perform a rotation operation. The amount of inclination of the blade 24 can be changed by rotating the operation roller 3252 in a state where the inclination operation is selected by the changeover switch 3251 . In addition, by rotating the operation roller 3252 in a state where the angle operation is selected by the changeover switch 3251, the position of the left and right ends of the blade 24 in the front-rear direction can be changed.

The start switch 105 for starting the control of the soil removal control apparatus 101 is provided in the grip part 325a of the blade operating lever 325. As a result, since the start switch 105 for starting the automatic leveling operation with the scraper 24 is arranged close to the prohibition switch 104a, the presence of the prohibition switch 104a can be easily recognized before the automatic leveling operation, and it is possible to further reduce forgetting to press the prohibition switch. 104a possibility.

FIG. 11 is a schematic plan view of the blade operating lever 325 mounted on the hydraulic excavator 1 viewed from the front toward the rear. As shown in FIG. 11, in this example, the start switch 105 is attached to the lower surface side of the front end of the grip part 325a. That is, the start switch 105 is provided on the surface on the opposite side of the surface on which the selector switch 3251 and the operation roller 3252 of the grip portion 325a are provided. The start switch 105 is, for example, a seesaw switch. The operator holding the grip portion 325a with the right hand can operate the start switch 105 with, for example, the index finger and operate the changeover switch 3251 and the operation roller 3252 with the thumb.

In addition, in the above, the case member 324 on which the operating lever 325 is protruded is arranged on the opposite side to the boarding gate 326 side with respect to the driver's seat 321 . However, this is just an example. For example, the case member on which the operating lever is protruded may be arranged on the side of the boarding gate 326 with respect to the driver's seat 321 . In this case, for example, the case member on which the operation lever is protruded may be the case member in which the work operation lever 322 is protruded. In addition, even when the case member on which the operation lever is protruded is disposed on the opposite side to the boarding gate 326 side with respect to the driver's seat 321, the case member may be a case member in which the work operation lever 322 is protruded. .

The present invention is not limited to any of the above-described embodiments, and various improvements and changes can be made without departing from the gist of the present invention.

Description of reference numerals

1 Hydraulic excavator

2 Lower running body

3 Upper swivel

4 Boom bracket

5 work machine

6 Hydraulic circuit

20 Dumping device

24 Scraper

25 Scraper lift cylinder

26 Scraper tilt cylinder

26a Tilt sensor

27 GNSS Antennas

28 omnidirectional prisms

29 Total Station

100 Integrated Controller

101 Discharge control device

103 Solenoid proportional valve

104 Solenoid valve

104a Inhibit switch

105 Start switch

106 Prohibit release switch

107 Limiting devices

321 Driver's Seat

324 Housing parts

325 Scraper operating lever (operating lever)

325a Grip

326 Boarding Gate

Claims (10)

1. A hydraulic excavator, characterized in that, The hydraulic excavator has: lower running body; an upper slewing body, which is rotatably arranged above the lower running body; a working machine supported on the upper revolving body so as to be rotatable in the up-down direction; A soil dumping device supported on the lower running body so as to be rotatable in the up-down direction; a position information acquisition device, which is configured on the soil dumping board of the soil dumping device, and acquires current position information related to the current position of the soil dumping board; a soil dump control device that controls the soil dump device based on the deviation between the target position information of the soil dump plate obtained from the design surface data of the construction plan and the current position information; and A prohibition device prohibits the rotation of the upper revolving body and the operation of the working machine. 2. The hydraulic excavator according to claim 1, characterized in that, The hydraulic excavator includes a prohibition switch that activates the prohibition device. 3. The hydraulic excavator according to claim 2, characterized in that, The upper revolving body is provided with: a driver's seat on which an operator sits; and a case member arranged around the driver's seat, and an operation lever operated by the operator protrudes from the case member, The inhibit switch is attached to the case member. 4. The hydraulic excavator according to claim 3, characterized in that, The case member is located on the opposite side to the boarding gate side with respect to the driver's seat, and the boarding gate can allow the operator to get on the driver's seat. 5. The hydraulic excavator according to claim 3 or 4, characterized in that, The said operation lever is a blade operation lever which operates the said earth-moving board. 6. The hydraulic excavator according to claim 5, characterized in that, The prohibition switch is arranged behind the blade operating lever. 7. The hydraulic excavator according to claim 5 or 6, characterized in that, A start switch for starting control of the soil removal control device is provided on the grip portion of the blade operating lever. 8. The hydraulic excavator according to claim 1, characterized in that, The hydraulic excavator includes connection confirmation means for confirming connection between the position information acquisition device and the upper swing body, The prohibition means is activated when the connection confirmation unit confirms the connection. 9. The hydraulic excavator according to claim 1, characterized in that, The inhibiting device is activated when the soil removal control device is activated. 10 . The hydraulic excavator according to claim 1 , wherein: 10 . The hydraulic excavator has: a prohibition release unit that releases the prohibition device during activation of the soil dump control device and the prohibition device; and A restriction device that restricts intrusion of the work machine into an intrusion prohibition area set around the position information acquisition device when the prohibition releasing means is activated.

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