Work machine

Abstract

To provide a work machine capable of preventing automatic control from starting at unintentional times for operators.SOLUTION: A work machine WM comprises a rotatable rotary body 2, a work attachment 3 including a boom 31 mounted on the rotary body 2 so as to be capable of rising and falling, and a control device 4 for automatically controlling the rotary body 2. In addition, the work machine WM comprises a braking device 6 capable of switching between a braking state in which the movement of the rotary body 2 is restricted and a non-braking state in which the movement of the rotary body is not restricted. The control device 4 starts automatic control or puts it in a state where it can start when the braking device 6 is switched from the braking state to the non-braking state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a working machine.

Background Art

[0002] Conventionally, a crane equipped with a slewing stabilizer device is known (see, for example, Patent Document 1). In the crane described in Patent Document 1, slewing stabilizer control is started when a switch for starting slewing stabilizer control disposed in the cab is pressed by an operator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the crane described in the above-mentioned Patent Document 1, slewing stabilizer control is started even when the operator accidentally presses the switch for starting slewing stabilizer control. Therefore, there is a risk that the crane will operate at a timing unintended by the operator.

[0005] The present disclosure provides a working machine capable of preventing automatic control from starting at a timing unintended by the operator.

Means for Solving the Problems

[0006] One aspect of the present disclosure provides a work machine including a rotatable body, a work attachment including a boom attached to the rotatable body so as to be able to undulate, a control device for automatically controlling the rotatable body, and a braking device capable of switching between a braking state in which the operation of the rotatable body is restricted and a non-braking state in which the operation is not restricted. The control device starts or enables the start of the automatic control when the braking device is switched from the braking state to the non-braking state.

Advantages of the Invention

[0007] According to the above aspect of the present disclosure, it is possible to provide a work machine capable of preventing automatic control from starting at a timing unintended by the operator.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[0010] FIG. 1 is a view showing an embodiment of a work machine according to the present disclosure. FIG. 2 is a functional block diagram of the control device 4 of FIG. 1.

[0011] The working machine WM of the present embodiment is a construction machine or heavy machine such as an excavator or a crane equipped with a work attachment 3 suitable for each work, such as land leveling work, slope maintenance work, excavation work, loading work, demolition work, crushing work, sorting work, lifting work, or conveying work.

[0012] The working machine WM includes, for example, a traveling body 1, a revolving body 2, and a work attachment 3. Further, the working machine WM includes, for example, a control device 4, an operation device 5, a braking device 6, a driving device 7, and a user interface 8.

[0013] The traveling body 1 includes, for example, a pair of crawlers driven by a hydraulic motor included in the driving device 7, or a plurality of tires driven by an engine and a transmission included in the driving device 7, and travels the working machine WM. When the working machine WM is a stationary crane, the working machine WM may not have the traveling body 1.

[0014] The revolving body 2 is mounted, for example, rotatably on the traveling body 1. The revolving body 2 is driven, for example, by a hydraulic motor included in the driving device 7 and revolves around an axis parallel to the height direction of the working machine WM. When the working machine WM is a stationary crane, the revolving body 2 may be mounted rotatably on a pedestal or a mast.

[0015] The work attachment 3 includes, for example, a boom 31 attached to the revolving body 2 so as to be able to rise and fall. The boom 31 is rotatably attached to the revolving body 2 via a boom foot pin parallel to the width direction of the revolving body 2, and is driven by a hydraulic cylinder or a winch included in the driving device 7 to rise and fall.

[0016] When the working machine WM is an excavator, the work attachment 3 further includes an arm attached to the tip of the boom 31 and an end attachment such as a bucket attached to the tip of the arm.

[0017] Further, when the working machine WM is a crane, the work attachment 3 includes, for example, a jib attached to the tip of the boom 31, a boom 31, or a hook suspended from the tip of the jib or boom by a main rope. When the working machine WM is a crane, the boom 31 attached to the slewing body 2 may be referred to as the "main jib".

[0018] The control device 4 is a controller including, for example, a processing device such as a CPU and a storage device such as a RAM and a ROM. The control device 4 can perform various operations based on the input information by executing various programs stored in the storage device by the processing device, and can realize various functions including the automatic control of the working machine WM. Further, the control device 4 controls the braking device 6, the driving device 7, and the user interface 8 based on, for example, an operation signal input from the operation device 5.

[0019] As shown in FIG. 2, the control device 4 has, for example, a manual control execution unit 41, an automatic control permission determination unit 42, and an automatic control execution unit 43. Each part of the control device 4 represents each function of the control device 4 realized by executing a program stored in the memory by, for example, a CPU. Note that each part of the control device 4 may be realized by one controller, or may be realized using a plurality of controllers, firmware, or hardware.

[0020] The operation device 5 includes, for example, an operation lever 51, an operation pedal 52, an operation switch 53, an automatic control switch 54, a braking device operation unit 55, and an input device 56 as shown in FIG. 2. The braking device operation unit 55 includes, for example, a gate lock lever and a slewing brake switch. The input device 56 includes, for example, a keyboard and a touch panel. When the working machine WM has a remote operation function, the operation device 5 may be a remote operation device connected to the control device 4 via a wireless communication line.

[0021] The braking device 6 includes, for example, a traveling brake that brakes the traveling body 1. Further, the braking device 6 includes, for example, a lock mechanism that stops all operations of the working machine WM when an operation is performed to invalidate the gate lock lever included in the operating device 5. Further, when the working machine WM is a crane, the braking device 6 includes, for example, a slewing brake switch. The slewing brake switch locks or restricts the slewing of the slewing body 2 when it is pressed, and holds the slewing body 2 in a slewing stop state.

[0022] The drive device 7 includes, for example, a power source such as an engine, a hydraulic pump driven by the power source, and a direction control valve that controls the flow rate and direction of the hydraulic oil pumped by the hydraulic pump. Further, the drive device 7 includes, for example, a pilot pump and a pilot valve that supply pilot pressure to the direction control valve based on a control signal input from the control device 4.

[0023] Further, the drive device 7 includes, for example, a hydraulic actuator driven by the hydraulic oil pumped from the hydraulic pump via the direction control valve. The hydraulic actuator includes, for example, a hydraulic cylinder and a hydraulic motor. The drive device 7 operates the traveling body 1, the slewing body 2, and the work attachment 3 by driving the hydraulic actuator based on a control signal input from the control device 4.

[0024] The user interface 8 includes, for example, a display device such as a liquid crystal display device or an organic EL display device, and a voice output device such as a speaker.

[0025] Hereinafter, with reference to FIG. 3, an example of the operation of the control device 4 mounted on the working machine WM shown in FIG. 1 will be described. FIG. 3 is a flowchart showing the flow of the automatic control process by each part of the control device 4 in FIG. 2.

[0026] When the start switch of the working machine WM is turned on and the engine of the drive device 7 starts, for example, the control device 4 repeatedly executes the processing flow shown in FIG. 3 at a predetermined cycle by the automatic control availability determination unit 42. When starting the processing flow shown in FIG. 3, the automatic control availability determination unit 42 first executes a process P1 of determining whether automatic control has been turned on.

[0027] In this process P1, when the operator has not turned on the automatic control switch 54, the automatic control availability determination unit 42 determines that the automatic control is not on (NO) and ends the processing flow shown in FIG. 3. In this case, the mode of the working machine WM is maintained in the manual operation mode, and when the operator operates the operation lever 51, operation pedal 52, operation switch 53, etc. of the operation device 5, an operation signal corresponding to the operation is input to the manual control execution unit 41 of the control device 4.

[0028] In the manual operation mode of the working machine WM, the manual control execution unit 41 outputs a control signal to the braking device 6 and the drive device 7 based on the operation signal input from the operation device 5. As a result, the traveling body 1, slewing body 2, and working attachment 3 of the working machine WM shown in FIG. 1 are driven or braked according to the operator's operation, and the working attachment 3 including the boom 31 attached to the slewing body 2 so as to be able to undulate can perform a predetermined operation as described above.

[0029] On the other hand, when the operator turns on the automatic control switch 54 and switches the mode of the working machine WM from the manual operation mode to the automatic control mode, from a safety perspective, it is required to switch the mode of the working machine WM in a state where the braking device 6 is operated to limit the operation of the working machine WM.

[0030] Therefore, when the operator of the working machine WM intentionally switches the manual operation mode to the automatic control mode, for example, the operator operates a gate lock lever, a slewing brake switch, etc. included in the braking device operation unit 55 of the operation device 5. As a result, an operation signal for operating the braking device 6 is input from the braking device operation unit 55 to the control device 4.

[0031] The manual control execution unit 41 of the control device 4 outputs, for example, a control signal corresponding to an operation signal input from the brake device operation unit 55 to the brake device 6, and operates the brake device 6 in response to an operation of the brake device operation unit 55 by the operator. As a result, the brake device 6 switches, for example, from an unrestricted state in which the operations of the traveling body 1, the slewing body 2, and the work attachment 3 are not restricted to a braking state in which the operation of at least the slewing body 2 among these parts is restricted.

[0032] Thereafter, for example, while the brake device 6 is in the braking state and the operation of the work machine WM is restricted, the operator presses the automatic control switch 54 included in the operation device 5. As a result, for example, an operation signal indicating that the automatic control is turned on is input from the automatic control switch 54 to the control device 4.

[0033] Then, the automatic control permission determination unit 42 of the control device 4 determines, for example, in the process P1 shown in FIG. 3, that the automatic control has been turned on (YES) by the operation of the operator. Thereafter, the automatic control permission determination unit 42 executes, for example, a process P2 of determining whether or not the brake device 6 is on (in the braking state).

[0034] In this process P2, when the brake device 6 is operating by the operation of the operator as described above, the automatic control permission determination unit 42 determines that the brake device 6 is on (in the braking state) (YES), and executes a process P3 of switching the manual operation mode to the automatic control mode.

[0035] In this process P3, the control device 4 invalidates, for example, at least a part of the control of the traveling body 1, the slewing body 2, or the work attachment 3 by the manual control execution unit 41 based on the manual operation of the operator. Further, the control device 4 enables, for example, at least the control of the slewing body 2 among the controls of the traveling body 1, the slewing body 2, and the work attachment 3 by the automatic control execution unit 43. Thereafter, the control device 4 executes, for example, a process P4 of notifying the mode switch.

[0036] In this process P4, the automatic control permission determination unit 42 outputs, for example, a control signal for notifying the display device 81 and the audio output device 82 included in the user interface 8 of the mode switch. As a result, an image notifying the mode switch is displayed on the display device 81. Also, an audio for notifying the mode switch is output from the audio output device 82.

[0037] Thereby, the operator of the working machine WM is notified via the display device 81 and the audio output device 82 that the mode of the working machine WM has been switched from the manual operation mode to the automatic control mode. After that, the control device 4 executes, for example, a process P5 for accepting the setting of the automatic control.

[0038] In this process P5, the automatic control execution unit 43 of the control device 4 displays, for example, a setting screen for the automatic control via the display device 81 constituting the user interface 8. Also, the automatic control execution unit 43 accepts the setting of the automatic control by the operator via an input device 56 such as a keyboard, an operation button, or a touch panel included in the operation device 5.

[0039] When the working machine WM is an excavator, the setting of the automatic control includes, for example, the input of the target surface for the land leveling work or the slope forming work, the excavation range in the excavation work, the position of the transport vehicle in the loading work, and the like. When the working machine WM is a crane, the setting of the automatic control includes, for example, the presence or absence of the automatic anti-sway control of the suspended load, the position information of the transport destination in the automatic transport of the suspended load, and the like.

[0040] When the reception of the setting by the automatic control execution unit 43 is completed, the control device 4 executes a process P6 for determining whether or not the braking device 6 has been turned off. In this process P6, the automatic control execution unit 43 determines, for example, whether or not the operator has operated the braking device operation unit 55 to turn off the braking device 6, that is, whether or not the braking device 6 has been switched from the braking state to the non-braking state.

[0041] Before starting the automatic control, the operator of the working machine WM is required to sufficiently check the safety around the working machine WM. In addition, before starting the automatic control, the operator needs to sufficiently confirm that the settings of the automatic control are correct. Therefore, for example, until the safety check and setting check around the working machine WM are completed, the operator maintains the braking state of the braking device 6 and does not release the brakes of the traveling body 1, the slewing body 2, the working attachment 3, etc.

[0042] Therefore, during the above confirmation by the operator, the automatic control execution unit 43 determines in process P6 that the braking device 6 is not turned off, that is, the braking state of the braking device 6 is not released (NO). In this case, the automatic control execution unit 43 executes, for example, process P7 of notifying the operator of the operation guidance.

[0043] In this process P7, the automatic control execution unit 43 prompts the operator to perform an operation to release the braking state of the braking device 6 and switch it to the non-braking state. Specifically, the automatic control execution unit 43 outputs, for example, a control signal for causing the display device 81 and the voice output device 82 to display a predetermined image or output a predetermined voice.

[0044] As a result, an image or voice notifying that it is necessary to switch the braking state of the braking device 6 to the non-braking state in order to start the automatic control is provided to the operator of the working machine WM via the display device 81 and the voice output device 82. After that, the automatic control execution unit 43 executes, for example, process P8 of determining whether or not the automatic control (automatic control switch 54) has been turned off.

[0045] For example, during the check of the safety around the working machine WM and the settings before starting the automatic control as described above, the operator of the working machine WM maintains the state where the automatic control switch 54 is turned on. Therefore, in the above process P8, the automatic control execution unit 43 determines that the automatic control (automatic control switch 54) is not turned off (NO), and repeats the processes from process P6 to process P8 at a predetermined cycle.

[0046] When the operator of the working machine WM determines, for example, based on the result of the pre-automatic control check as described above, that the safety around the working machine WM is not ensured, or notices that there is an error in the automatic control settings, the operator turns off the automatic control switch 54. Then, an operation signal indicating that the automatic control switch 54 has been turned off is input from the automatic control execution unit 43 to the control device 4.

[0047] In this case, in process P8, the automatic control execution unit 43 determines that the automatic control (automatic control switch 54) has been turned off (YES). After that, the automatic control execution unit 43 executes process P9 to notify the operator to cancel the automatic control P10.

[0048] In this process P9, the automatic control execution unit 43 outputs a control signal for, for example, causing the display device 81 and the voice output device 82 to display a predetermined image or output a predetermined voice. As a result, an image or voice notifying that the automatic control P10 has been canceled is provided to the operator of the working machine WM via the display device 81 and the voice output device 82. After that, the control device 4 ends the process flow shown in FIG. 3 and switches the automatic control mode to the manual control mode.

[0049] When the operator of the working machine WM determines, for example, based on the result of the pre-automatic control check as described above, that the safety around the working machine WM is ensured and there is no error in the automatic control settings, the operator starts the automatic control P10. In this case, the operator performs an operation to release the braking by the braking device 6 using, for example, the braking device operation unit 55. Specifically, the operator, for example, enables the gate lock lever included in the braking device operation unit 55 or turns off the swing brake switch included in the braking device operation unit 55.

[0050] As a result, an operation signal for releasing the braking state by the braking device 6 from the braking device operation unit 55 to the control device 4 and switching the braking device 6 to the non-braking state is input. Then, the control device 4 outputs, for example, a control signal for releasing the braking state to the braking device 6 by the automatic control execution unit 43 to switch the braking device 6 to the non-braking state, and starts the automatic control P10 set in the above-described process P5.

[0051] Here, the automatic control execution unit 43 may, for example, not immediately start the automatic control P10, but wait in a state where the automatic control P10 can be started, and cause the operator to input an operation for finally starting the automatic control P10 again. Further, the control device 4 may, for example, start the automatic control P10 after waiting for a predetermined time of about several seconds after an operation signal for switching the braking device 6 to the non-braking state is input from the braking device operation unit 55.

[0052] In this automatic control P10, the automatic control execution unit 43 outputs a control signal to the drive device 7 that drives the revolving body 2, and automatically controls the operation of the revolving body 2. Further, the automatic control execution unit 43 may automatically control the traveling body 1 and the work attachment 3 in the same manner as the revolving body 2. As a result, the work machine WM can automatically perform operations such as leveling work, slope maintenance work, excavation work, loading work, demolition work, crushing work, sorting work, lifting work, or conveying work with preset contents without the operator operating the operation device 5.

[0053] Note that the automatic control P10 by the automatic control execution unit 43 may be partial automatic control that targets only some of the configurations among the traveling body 1, the revolving body 2, and the work attachment 3, and the other configurations are targets of manual operation by the operator. Further, during the execution of the automatic control P10, when the operator operates the operation device 5, the automatic control execution unit 43 may invalidate the operator's operation and continue the automatic control P10, or may give priority to the operator's operation and cancel the automatic control P10. The automatic control execution unit 43 may accept such settings in the above-described process P5.

[0054] During the execution of the automatic control P10, for example, the automatic control execution unit 43 executes a process P11 to determine whether the operator has turned on the braking device 6 (whether the non-braking state of the braking device 6 has been switched to the braking state).

[0055] When an operator of the working machine WM operates the braking device operating unit 55 to activate the braking device 6, for example, when some abnormality occurs during the execution of the automatic control P10 by the automatic control execution unit 43. Here, the braking device operating unit 55 may include, for example, a gate lock lever, a swivel brake switch, as well as a foot brake or a hand brake for braking each part of the traveling body 1, the swivel body 2, or the work attachment 3.

[0056] When the operator operates the braking device operating unit 55 to activate the braking device 6, a control signal corresponding to the operator's operation is output from the braking device operating unit 55 to the control device 4. When the automatic control execution unit 43 receives a control signal for activating the braking device 6 from the braking device operating unit 55, in the process P11, it determines that the operator has turned on the braking device 6, that is, the braking device 6 has been switched from the non-braking state to the braking state (YES).

[0057] In this case, the control device 4 outputs, for example, a control signal corresponding to the operator's operation to the braking device 6 through the manual control execution unit 41 to switch the non-braking state of the braking device 6 to the braking state. Then, the automatic control execution unit 43 determines in the process P11 that the braking device 6 has been turned on (YES) and executes the above-mentioned process P7, prompting the operator to turn off the braking device 6 and switch the braking state of the braking device 6 to the non-braking state. After that, the automatic control execution unit 43 executes the above-mentioned process P8 to determine whether the automatic control (automatic control switch 54) has been turned off, and executes the above-mentioned process P6 or process P9 according to the result.

[0058] On the one hand, when no abnormality occurs during the execution of the automatic control P10 by the automatic control execution unit 43, the operator does not perform an operation to turn on the braking device 6 (switch the non-braking state of the braking device 6 to the braking state) on the braking device operation unit 55. In this case, the automatic control execution unit 43 determines in process P11 that the braking device 6 is not turned on, that is, the non-braking state of the braking device 6 has not been switched to the braking state (NO), and executes process P12 to determine whether the automatic control has been completed.

[0059] In this process P12, if the automatic control execution unit 43 determines that the set automatic control has not been completed (NO), it continues the above-mentioned automatic control P10 and repeats processes P11 and P12. On the other hand, in this process P12, if the automatic control execution unit 43 determines that the set automatic control has been completed (YES), it executes process P13 to notify the operator of the completion of the automatic control.

[0060] In this process P13, the automatic control execution unit 43 outputs a control signal for, for example, causing the display device 81 and the audio output device 82 to display a predetermined image or output a predetermined audio. As a result, an image or audio notifying that the predetermined automatic control has been completed is provided to the operator of the working machine WM via the display device 81 and the audio output device 82. Thereafter, the control device 4 ends the processing flow shown in FIG. 3 and returns the working machine WM from the automatic control mode to the manual control mode.

[0061] In the manual operation mode, when the operator of the working machine WM manually operates the operation device 5, an operation signal corresponding to the operator's operation is output from the operation device 5 to the control device 4. The manual control execution unit 41 of the control device 4 outputs, for example, a control signal corresponding to the operation signal input from the operation device 5 to the drive device 7, and drives the traveling body 1, the slewing body 2, and the work attachment 3 according to the operator's operation.

[0062] During the manual operation of such a working machine WM, the automatic control switch 54 may be turned on contrary to the operator's intention, such as when the operator accidentally presses the automatic control switch 54. Also, in the manual operation mode, the control device 4 periodically executes the processing flow shown in FIG. 3. When the processing flow shown in FIG. 3 is started, the control device 4 executes the process P1 by the automatic control permission determination unit 42 as described above.

[0063] When the automatic control switch 54 is turned on contrary to the operator's intention, an operation signal indicating that the automatic control has been turned on is input from the automatic control switch 54 to the control device 4. Then, in the process P1, the automatic control permission determination unit 42 determines that the automatic control has been turned on (YES) by the operator's operation. After that, the automatic control permission determination unit 42 executes, for example, a process P2 of determining whether the braking device 6 is on or not.

[0064] As described above, when the automatic control switch 54 is accidentally turned on during the operator's manual operation, the gate lock lever included in the braking device operation unit 55 is not operated. Also, except for specific operations, the operator does not turn on the swing brake switch included in the braking device operation unit 55. Therefore, in these cases, although the automatic control switch 54 is on, the braking device operation unit 55 is not operated and the braking device 6 is in a non-braking state (off).

[0065] In this case, in the process P2, the automatic control permission determination unit 42 determines that the braking device 6 is not on (in a braking state) (NO) and executes a process P14 of warning the operator. In this process P14, the automatic control permission determination unit 42 outputs, for example, a control signal for issuing a predetermined warning to the display device 81 and the voice output device 82.

[0066] As a result, the display device 81 and the audio output device 82 provide a warning including an image and audio to notify the operator that the automatic control switch 54 has been turned on or to prompt the operator to turn on the braking device 6 (switch from the non-braking state to the braking state). After that, the automatic control availability determination unit 42 executes a process P15 of determining whether the automatic control (automatic control switch 54) has been turned off.

[0067] If the operator of the working machine WM inadvertently turns on the automatic control switch 54 during manual operation, the operator turns off the automatic control switch 54 in response to the warning of process P14. As a result, an operation signal indicating that the automatic control switch 54 has been turned off is input from the automatic control switch 54 to the control device 4. In this case, in process P15, the automatic control availability determination unit 42 determines that the automatic control (automatic control switch 54) has been turned off (YES), and executes a process P16 of notifying the operator that the automatic control P10 has been aborted.

[0068] In this process P16, the automatic control availability determination unit 42 outputs, for example, a control signal for giving a predetermined notification to the display device 81 and the audio output device 82. As a result, the display device 81 and the audio output device 82 provide the operator with an image and audio indicating that the automatic control P10 has been aborted. After that, the control device 4 ends the process flow shown in FIG. 3 without switching the manual control mode to the automatic control mode.

[0069] Even if the operator of the working machine WM intentionally turns on the automatic control switch 54 during manual operation but does not operate the braking device 6, the operator leaves the automatic control switch 54 turned on even after receiving the warning of process P14. Further, the operator operates the braking device operation unit 55 to turn on the braking device 6 and switch from the non-braking state to the braking state in response to the warning of process P14.

[0070] As a result, an operation signal for operating the braking device 6 is input from the braking device operation unit 55 to the control device 4. Then, the manual control execution unit 41 outputs a control signal corresponding to the operation signal input from the braking device operation unit 55 to the braking device 6, and turns on the braking device 6 according to the operator's operation to switch the non-braking state to the braking state.

[0071] Then, the automatic control availability determination unit 42 determines in process P15 that the automatic control (automatic control switch 54) is not off (NO), and executes process P2 of determining again whether the braking device 6 is on. In this process P2, the automatic control availability determination unit 42 determines that the braking device 6 is on, that is, the braking device 6 is in the braking state (YES). As a result, the aforementioned processes P3 to P13 are executed.

[0072] As described above, the working machine WM of the present embodiment includes a swivel body 2 that can swivel, a working attachment 3 including a boom 31 attached to the swivel body 2 so as to be able to undulate, and a control device 4 that automatically controls the swivel body 2. Further, the working machine WM includes a braking device 6 that can switch between a braking state in which the operation of the swivel body 2 is restricted and a non-braking state in which the operation is not restricted. And the control device 4 starts or makes the automatic control P10 possible when the braking device 6 is switched from the braking state to the non-braking state, for example, as in process P6 shown in FIG. 3.

[0073] With such a configuration, in the working machine WM of the present embodiment, when the braking device 6 is in the non-braking state and a manual operation is being performed by the operator, even if the operator inadvertently turns on the automatic control switch 54, the control device 4 does not satisfy the conditions for enabling the automatic control P10. Therefore, it is possible to prevent the automatic control P10 from being started contrary to the operator's intention. Also, when the braking device 6 is in the braking state, the control device 4 does not satisfy the conditions for enabling the automatic control P10 and the automatic control P10 is not started, so the control safety of the working machine WM is ensured.

[0074] On the other hand, when the operator intentionally performs the automatic control P10, first, the manual operation is interrupted, the braking device 6 is switched from the non-braking state to the braking state, and then it is necessary to switch the braking device 6 to the non-braking state. Therefore, according to the working machine WM of the present embodiment, it is possible to prevent the automatic control from starting at a timing unintended by the operator and improve the safety. Further, since the braking state and the non-braking state of the braking device 6 can be switched by operating the braking device operation unit 55 including the gate lock lever and the swing brake switch conventionally mounted on the working machine WM, the working machine WM can be operated more safely.

[0075] Further, in the working machine WM of the present embodiment, as shown in FIG. 3, when the braking device 6 is in the braking state (on) in the process P2, the control device 4 receives an input related to the automatic control P10 such as setting of the automatic control P10 in the process P5.

[0076] With such a configuration, according to the working machine WM of the present embodiment, when the operator inputs information related to the automatic control P10 to the control device 4, the working machine WM performing an operation unintended by the operator is prevented by the braking device 6. Therefore, according to the working machine WM, the safety when the control device 4 receives an input related to the automatic control P10 can be further improved.

[0077] Further, in the working machine WM of the present embodiment, as shown in FIG. 3, when the braking device 6 is switched from the non-braking state (off) to the braking state (on) after the start of the automatic control P10, the control device 4 interrupts the automatic control P10 as shown from the process P11 to the process P9.

[0078] With such a configuration, when some abnormality occurs during the automatic control P10, the operator can interrupt the automatic control P10 by operating the braking device operation unit 55 to switch the braking device 6 from the non-braking state to the braking state. Therefore, according to the working machine WM of the present embodiment, the safety of the automatic control P10 can be further improved.

[0079] As described above, according to the present embodiment, it is possible to provide a working machine WM that can prevent automatic control from starting at a timing unintended by the operator.

[0080] Hereinafter, with reference to FIGS. 1 to 6, an embodiment in the case where the aforementioned working machine WM is a crane will be described. FIG. 4 is a side view of a crane C which is an example of the working machine WM of FIG. 1. FIG. 5 is a perspective view around the driver's seat 21a of the crane C shown in FIG. 4. FIG. 6 is a top view of the revolving body 2 of the crane C shown in FIG. 4.

[0081] As shown in FIGS. 1 and 4 to 6, a crane C which is an example of the working machine WM includes, for example, a traveling body 1, a revolving body 2, a working attachment 3, a control device 4, an operating device 5, a braking device 6, a driving device 7, and a user interface 8.

[0082] The traveling body 1 includes, for example, left and right crawlers 11, 11 driven by left and right traveling hydraulic motors 71, 71 included in the driving device 7 as shown in FIG. 4, and travels the crane C. When the crane C is a stationary crane, the crane C may not have the traveling body 1.

[0083] The revolving body 2 is mounted on the traveling body 1 so as to be rotatable via a slewing bearing and a center joint, for example. The revolving body 2 is driven by a slewing device 72 included in the driving device 7 as shown in FIG. 6, for example, and rotates around an axis parallel to the height direction of the crane C. When the crane C is a stationary crane, the revolving body 2 may be mounted on a pedestal or a mast so as to be rotatable.

[0084] A cabin 21 for the operator to board is provided on the front right side of the revolving body 2. The control device 4 is housed, for example, under the driver's seat 21a in the cabin 21 shown in FIG. 5. In the center of the front part of the revolving body 2, a boom 31 of the working attachment 3 is attached so as to be able to move up and down via a boom foot pin parallel to the width direction of the revolving body 2. A counterweight 22 is loaded on the rear part of the revolving body 2.

[0085] The work attachment 3 includes, for example, as shown in FIG. 4, a boom 31 attached to the revolving body 2 so as to be able to rise and fall, a jib 32 attached to the tip of the boom 31, and a hook 34 suspended from the tip of the jib 32 via a main rope 33. The boom 31 includes, for example, a lower tower boom 31a, an intermediate tower boom 31b, and an upper tower boom 31c. The jib 32 includes, for example, a lower tower jib 32a, an intermediate tower jib 32b, and an upper tower jib 32c.

[0086] The control device 4 starts or makes it possible to start the automatic control P10 of the revolving body 2 and the work attachment 3 when, for example, as shown in processes P6 and P10 in FIG. 3, the braking device 6 is switched from the braking state to the non-braking state.

[0087] Here, the automatic control P10 by the control device 4 includes, for example, automatic anti-sway control for controlling the slewing device 72 according to the sway of the suspended load to prevent the sway of the suspended load. Further, the automatic control P10 by the control device 4 includes, for example, automatic conveyance of the suspended load for controlling at least one of the slewing device 72, the boom hoist winch 73, and the main winch 74 to move the suspended load from the first point to the second point. The control device 4 receives, for example, in process P5 shown in FIG. 3, settings such as the presence or absence of the aforementioned automatic anti-sway control and the first point and the second point in the automatic conveyance of the suspended load.

[0088] The operating device 5 is arranged, for example, as shown in FIG. 5, around the driver's seat 21a in the cabin 21. The operating device 5 includes, for example, as shown in FIG. 2, an operation lever 51, an operation pedal 52, an operation switch 53, an automatic control switch 54, a braking device operation unit 55, and an input device 56.

[0089] The operation lever 51 includes, for example, a left travel lever 51a, a right travel lever 51b, a swing operation lever 51c, a main winch operation lever 51d, a supplementary winch operation lever 51e, and a boom hoisting winch operation lever 51f as shown in FIG. 5. The operation pedal 52 includes, for example, a swing brake pedal 52a, a supplementary winch brake pedal 52b, and a main winch brake pedal 52c.

[0090] The operation switch 53 includes, for example, a main winch brake mode changeover switch 53a provided on the main winch operation lever 51d and a supplementary winch brake mode changeover switch 53b provided on the supplementary winch operation lever 51e.

[0091] The automatic control switch 54 is provided, for example, on the swing operation lever 51c or the input device 56. The brake device operation unit 55 includes, for example, a swing brake switch 55a provided on the swing operation lever 51c.

[0092] The drive device 7 includes, for example, left and right travel hydraulic motors 71, 71 that drive the left and right crawlers of the traveling body 1 according to the operations of the left travel lever 51a and the right travel lever 51b, and a swing device 72 that swings the swing body 2 according to the operation of the swing operation lever 51c. The swing device 72 includes, for example, a swing hydraulic motor and a speed reducer mounted on the swing body 2. The speed reducer of the swing device 72 has, for example, a pinion that meshes with a swing gear mounted on the traveling body 1.

[0093] Further, the drive device 7 includes, for example, a boom hoisting winch 73, a main winch 74, a supplementary winch 75, and a third winch 76 as shown in FIG. 6. The boom hoisting winch 73 raises and lowers the boom 31 according to the operation of the boom hoisting winch operation lever 51f. The main winch 74 winds up the main rope 33 that suspends the hook 34 from the tip of the work attachment 3 according to the operation of the main winch operation lever 51d. Also, the supplementary winch 75 raises and lowers the jib 32 according to the operation of the supplementary winch operation lever 51e. The third winch 76 is optionally mounted on the swing body 2.

[0094] The braking device 6 includes, for example, a swing foot brake that brakes the swing of the swing body 2 by, for example, tightening the outer side of the clutch drum with a brake band or pressing a brake lining against a disk brake in response to the operation of the swing brake pedal 52a. Further, the braking device 6 includes, for example, a swing brake that locks or restricts the swing of the swing body 2 by turning on a swing brake switch 55a provided on the swing operation lever 51c. The swing brake may be called, for example, a "swing parking brake".

[0095] Further, the braking device 6 includes, for example, a rewinding winch braking device that brakes the rewinding winch 75 in response to the operation of the rewinding winch brake pedal 52b, and a main winch braking device that brakes the main winch 74 in response to the operation of the main winch brake pedal 52c. Further, the user interface 8 includes, for example, a display device 81 shown in FIG. 5.

[0096] Hereinafter, the operation of a crane C, which is an example of the working machine WM of the present embodiment, will be described.

[0097] The crane C of the present embodiment shown in FIGS. 4 to 6 is an example of the working machine WM described with reference to FIGS. 1 to 3. As described above, the crane C includes a swingable swing body 2, a working attachment 3 including a boom 31 attached to the swing body 2 so as to be able to rise and fall, and a control device 4 that automatically controls the swing body 2. Further, the crane C includes a braking device 6 that can switch between a braking state in which the operation of the swing body 2 is restricted and a non-braking state in which the operation is not restricted. Then, as shown in processes P6 and P10 of FIG. 3, the control device 4 starts or makes the automatic control P10 startable when the braking device 6 is switched from the braking state to the non-braking state.

[0098] Further, in the crane C, which is an example of the working machine WM of the present embodiment, the braking device 6 that starts or makes the automatic control P10 startable is a swing brake that is operated by a swing brake switch 55a to restrict the swing of the swing body 2.

[0099] With such a configuration, when the slewing brake switch 55a of the crane C of the present embodiment is turned off and the slewing brake is in a non-braking state, and the operator is manually operating, even if the operator inadvertently turns on the automatic control switch 54, the control device 4 does not satisfy the conditions for enabling the automatic control P10. Therefore, it is possible to prevent the automatic control P10 from being started against the intention of the operator. Also, when the slewing brake switch 55a is turned on and the slewing brake is in a braking state, the control device 4 does not satisfy the conditions for enabling the automatic control P10, and the automatic control P10 is not started, so the control safety of the crane C is ensured.

[0100] On the other hand, when the operator intentionally performs the automatic control P10, first, the manual operation is interrupted, the slewing brake switch 55a is turned on, and the slewing brake is switched from the non-braking state to the braking state. After that, the operator needs to turn off the slewing brake switch 55a to switch the slewing brake to the non-braking state. Therefore, according to the crane C of the present embodiment, it is possible to prevent the automatic control from being started at a timing unintended by the operator and improve the safety. Also, since the slewing brake that operates by operating the slewing brake switch 55a conventionally mounted on the crane C can be used, it becomes possible to operate the crane C more safely.

[0101] Also, the crane C, which is an example of the working machine WM of the present embodiment, includes a slewing device 72 that slews the slewing body 2, a boom hoisting winch 73 that raises and lowers the boom 31, and a main winch 74 that winds up the main rope 33 that suspends the hook 34 from the tip of the work attachment 3.

[0102] With such a configuration, the crane C of this embodiment can lift a suspended load by hooking a wire rope for hanging balls on the hook 34 and winding up the main rope 33 by the main winch 74. Further, the slewing body 2 can be slewed by the slewing device 72, or the boom 31 can be raised and lowered by the boom hoist winch 73, so that the suspended load can be transported from the first point to the second point.

[0103] Also, in the crane C which is an example of the working machine WM of this embodiment, the automatic control by the control device 4 includes the control of the slewing device 72 and the control of at least one of the boom hoist winch 73 and the main winch 74. With such a configuration, the crane C of this embodiment can perform the automatic swing prevention control of the suspended load and the automatic transportation of the suspended load more safely as described above.

[0104] As described above, according to this embodiment, it is possible to provide a working machine WM that can prevent automatic control from starting at a timing unintended by the operator.

[0105] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical contradiction.

Explanation of reference numerals

[0106] 2 Slewing body 3 Working attachment 31 Boom 33 Main rope 34 Hook 4 Control device 6 Braking device (slewing brake) 72 Slewing device 73 Boom hoist winch 74 Main winch P10 Automatic control WM Working machine

Claims

1. A rotatable revolving body, a working attachment including a boom attached to the revolving body so as to be able to move up and down, a control device for automatically controlling the revolving body, and a braking device capable of switching between a braking state in which the operation of the revolving body is restricted and a non-braking state in which the operation is not restricted, wherein the control device starts or enables the automatic control when the braking device is switched from the braking state to the non-braking state. A working machine.

2. The control device receives an input related to the automatic control when the braking device is in the braking state. The working machine according to Claim 1.

3. The braking device is a turning brake that restricts the turning of the revolving body. The working machine according to Claim 1.

4. The working machine includes a turning device for turning the revolving body, a boom hoisting winch for raising and lowering the boom, and a main winch for winding up a main rope for suspending a hook from the tip of the working attachment. The working machine according to Claim 3.

5. The automatic control includes control of the turning device and control of at least one of the boom hoisting winch and the main winch. The working machine according to Claim 4.

6. The control device interrupts the automatic control when the braking device is switched from the non-braking state to the braking state after the start of the automatic control. The working machine according to Claim 1.

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