Construction machine

Abstract

To provide a construction machine that can omit work of attaching / detaching a fixed portion, to reduce the time and effort of a worker.SOLUTION: A revolving work vehicle serving as a construction machine is equipped with a work device. The work device is provided with a fixing portion to which a detection device for detecting an attitude of the work device is fixed. The fixing portion is capable of switching a position of the detection device by a movable portion between a first state in which the attitude of the work device can be detected and a second state in which the attitude of the work device cannot be detected.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a construction machine. [Background technology]

[0002] BACKGROUND ART Construction machines equipped with blades (blade) have been known for some time. Patent Documents 1 and 2 disclose construction machines of this type.

[0003] The bulldozer in Patent Document 1 can automatically control the blade using an automatic tracking surveying instrument (total station). In this configuration, a pole is attached to the blade, and a prism is attached to this pole as a tracking target. The surveying instrument emits a laser beam and detects the light reflected by the prism. Based on this result, the coordinate position of the blade is measured.

[0004] The hydraulic excavator of Patent Document 2 is configured such that a reflector member that reflects light from vehicle headlights and the like is provided on the blade. A front device is provided on the upper rotating body of the hydraulic excavator. The hydraulic excavator can perform work such as excavating earth and sand using this front device, which is moved by rotating the upper rotating body. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 11-236713 [Patent Document 2] Japanese Patent Application Publication No. 2018-48451 Summary of the Invention [Problem to be solved by the invention]

[0006] In recent years, for example in the construction industry, there has been an increasing demand for information-based construction that aims to improve productivity and ensure quality by utilizing electronic information. Therefore, it is considered preferable to make the height of the blade automatically controllable in the hydraulic excavator of Patent Document 2 as well.

[0007] In this case, it is desirable to be able to omit the work of attaching / detaching a fixed part (e.g., a pole) to which a detection device such as a prism is fixed to a work device (e.g., a blade) in order to reduce the labor required by the worker.

[0008] The present invention has been made in consideration of the above circumstances, and its object is to provide a construction machine that can eliminate the need for attaching / detaching fixing parts, thereby reducing the workload of the worker. [Means for solving the problem]

[0009] The problem to be solved by the present invention is as described above. Next, the means for solving this problem and the effects thereof will be explained.

[0010] According to an aspect of the present invention, there is provided a construction machine having the following configuration. That is, the construction machine is equipped with a work implement. The work implement is provided with a fixed part to which a detection device for detecting the attitude of the work implement is fixed. The fixed part is capable of switching the position of the detection device by a movable part between a first state in which the attitude of the work implement can be detected and a second state in which the attitude of the work implement cannot be detected. [Effects of the Invention]

[0011] The work of attaching / detaching the fixing part can be omitted, thereby reducing the workload of the worker. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing the overall configuration of a slewing work vehicle according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram schematically showing a hydraulic circuit of the swing work vehicle. [Figure 3] FIG. 2 is a block diagram showing an electrical configuration for controlling the operation of the working device. [Figure 4] FIG. 10 is a front view showing the configuration near the blade when the support column is in an upright position. [Figure 5] FIG. 10 is a rear perspective view showing the configuration near the blade when the support pole is in an upright position. [Figure 6] FIG. 10 is a front perspective view showing the configuration of the rotating body, the support column, etc. when the support column is in an upright position. [Figure 7] FIG. 10 is a front view showing the configuration near the blade when the support pole is in a lying position. [Figure 8] FIG. 10 is a front perspective view showing the configuration of the rotating body, the support pillar, etc. when the support pillar is in a lying position. [Figure 9] 6 is a flowchart showing a process related to the regulation of the operation of a work device. DETAILED DESCRIPTION OF THE INVENTION

[0013] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a side view showing the overall configuration of a slewing work vehicle 1 according to one embodiment of the present invention.

[0014] The revolving work vehicle (blade work machine, construction machine) 1 shown in FIG.

[0015] The lower traveling body 11 includes a crawler traveling device 21 and a hydraulic motor 22. The crawler traveling device 21 and the hydraulic motor 22 are each arranged in pairs on the left and right.

[0016] Each crawler traveling device 21 has an endless crawler made of, for example, rubber. The crawler is wound around a sprocket, and the sprocket is connected to the output shaft of a hydraulic motor 22 arranged on the same side as the crawler traveling device 21.

[0017] Each hydraulic motor 22 is configured to be capable of rotating forward and backward, allowing the slewing work vehicle 1 to move forward and backward. The left and right hydraulic motors 22 are configured to be able to be driven independently, allowing the slewing work vehicle 1 to travel in a straight line and steer.

[0018] The upper rotating body 12 includes a rotating frame 31 , a rotating motor 32 , an engine 33 , a hydraulic pump unit 34 , a control unit 35 , and a working device 13 .

[0019] The swivel frame 31 is disposed above the undercarriage 11 and is supported by the undercarriage 11 so as to be rotatable about a vertical axis. The swivel motor 32 is capable of rotating the swivel frame 31 relative to the undercarriage 11. The engine 33 is configured as, for example, a diesel engine. The hydraulic pump unit 34 is driven by the engine 33 and generates hydraulic pressure required for the swivel work vehicle 1 to travel and work.

[0020] The control section 35 is equipped with various operating members. These operating members include a pair of left and right travel operating levers 36 and a work operating lever 37. The operator can give various commands to the slewing work vehicle 1 by operating the operating members.

[0021] The working implement 13 includes a boom 41, an arm 42, a bucket 43, and a blade (blade) 47. The working implement 13 also includes, as actuators, a boom cylinder 44, an arm cylinder 45, a bucket cylinder 46, a blade lift cylinder 48, and a blade tilt cylinder 49.

[0022] The boom 41 is configured as an elongated member, and its base end is rotatably supported at the front part of the revolving frame 31. A boom cylinder 44 is attached to the boom 41, and the boom 41 can be rotated by extending and contracting the boom cylinder 44.

[0023] The arm 42 is configured as an elongated member, and its base end is rotatably supported at the tip of the boom 41. An arm cylinder 45 is attached to the arm 42, and the arm 42 can be rotated by extending and contracting the arm cylinder 45.

[0024] The bucket 43 is configured as a container-shaped member, and its base end is rotatably supported at the tip of the arm 42. A bucket cylinder 46 is attached to the bucket 43, and the bucket cylinder 46 extends and retracts to rotate the bucket 43, thereby enabling scooping and dumping operations.

[0025] The blade 47 is provided to extend in the vehicle body width direction (left-right direction). The blade 47 is disposed in front of the lower traveling body 11.

[0026] The blade 47 is supported on the undercarriage 11 so as to be rotatable about an axis extending in the left-right direction. A blade lift cylinder 48 is attached to the blade 47, and the extension and contraction of the blade lift cylinder 48 allows the blade 47 to be raised and lowered. In addition, a blade tilt cylinder 49 is attached to the blade 47, and the extension and contraction of the blade tilt cylinder 49 allows the blade 47 to be tilted about an axis parallel to the direction of travel of the rotary work vehicle 1.

[0027] In this embodiment, the boom cylinder 44, arm cylinder 45, bucket cylinder 46, blade lift cylinder 48, and blade tilt cylinder 49 are all hydraulic cylinders. These hydraulic cylinders extend and retract by hydraulic force generated by the hydraulic pump unit 34.

[0028] A support 55 is attached to the top of the blade 47, and a target prism (light receiving device) 56 is fixed to the top end of this support 55. The target prism 56 has a 360° prism, and can reflect light in a direction parallel to the incident light regardless of the direction from which light is incident. The target prism 56 is the target whose position is measured by a total station 57, which will be described later.

[0029] A total station (distance and angle measuring device) 57 is installed at an appropriate position on or near the work site. The total station 57 is configured as a known electronic distance and angle measuring device that uses light, and measures the vertical angle, horizontal angle, and distance at which the target prism 56 is located. Based on these measurement results, the three-dimensional coordinates of the target prism 56 can be calculated. The total station 57 is configured as an automatic tracking type and has the function of automatically tracking changes in the position of the target prism 56. The total station 57 tracks the target prism 56 and acquires changes in its position in real time.

[0030] The swivel work vehicle 1 is equipped with an antenna 58 that can communicate with a total station 57 via wireless communication. The swivel work vehicle 1 can receive the position of the target prism 56 from the total station 57 in real time.

[0031] Next, we will explain the hydraulic circuit equipped in the slewing work vehicle 1. Figure 2 is a diagram that schematically shows the hydraulic circuit of the slewing work vehicle 1. Note that, below, the reference numerals 21L, 21R, 22L, 22R, 37L, and 37R may be used to identify the left and right crawler traveling devices 21, hydraulic motor 22, and work operation lever 37.

[0032] As shown in FIG. 2, the hydraulic pump unit 34 is configured to include a variable displacement first hydraulic pump 61, a fixed displacement second hydraulic pump 62, and a fixed displacement third hydraulic pump 63.

[0033] The first hydraulic pump 61 is connected to the left hydraulic motor 22L, the boom cylinder 44, and the arm cylinder 45. Directional control valves 71L, 72, and 73 are arranged between the first discharge port of the first hydraulic pump 61 and the hydraulic motor 22L, the boom cylinder 44, and the arm cylinder 45, respectively.

[0034] The first hydraulic pump 61 is connected to the right hydraulic motor 22R and the bucket cylinder 46. Directional control valves 71R and 74 are arranged between the second discharge port of the first hydraulic pump 61 and the hydraulic motor 22R and the bucket cylinder 46, respectively.

[0035] The second hydraulic pump 62 is connected to the blade lift cylinder 48, the blade tilt cylinder 49, the swing motor 32, and the boom swing cylinder 66. Directional control valves 75, 76, 77, and 78 are arranged between the discharge port of the second hydraulic pump 62 and the blade lift cylinder 48, the blade tilt cylinder 49, the swing motor 32, and the boom swing cylinder 66, respectively.

[0036] The left work operation lever 37L can command the rotation of the arm 42. The right work operation lever 37R can command the rotation of the boom 41. The swing operation lever 39 can command the swing of the upper swing body 12. Note that the left work operation lever 37L can also serve as the swing operation lever 39, for example.

[0037] The slewing work vehicle 1 is equipped with remote control valves 81, 82 arranged to correspond to the left and right work operation levers 37L, 37R. Each remote control valve 81, 82 has two output ports, and can send hydraulic oil at a pressure according to the amount of operation to the port corresponding to the operation of the left and right work operation levers 37L, 37R.

[0038] The pilot pressures output by these remote control valves 81, 82 are respectively guided to the pilot ports of the directional control valves 73, 72. In other words, the remote control valves 81, 82 can send hydraulic oil at pressures (pilot pressures) corresponding to the operation of the left and right work operation levers 37L, 37R, respectively.

[0039] Therefore, the spools of the directional control valves 73, 72 are displaced in a direction and by an amount corresponding to the rotational state commanded by each of the left and right work operation levers 37L, 37R. This allows the arm cylinder 45 and boom cylinder 44 to be extended or retracted based on the operator's command, thereby operating the work implement 13.

[0040] Similar to the directional control valves 73 and 72, each of the other directional control valves 71, 74 to 78 is connected to a remote control valve. When the operator operates an operating member such as the travel control lever 36, the pilot pressure output by the remote control valve changes, which displaces the spools of the directional control valves 71, 74 to 78 and switches between supplying and stopping hydraulic oil. This allows the hydraulic motors 22L and 22R, bucket cylinder 46, blade lift cylinder 48, blade tilt cylinder 49, swing motor 32, and boom swing cylinder 66 to be driven in response to an instruction from the operator.

[0041] To explain this by way of example, as shown in Figure 2, a remote control valve 83 is connected to the directional control valve 77. When the operator operates the swing operation lever 39, the pilot pressure output from the remote control valve 83 changes, which displaces the spool of the directional control valve 77 and switches between supplying and stopping hydraulic oil. This allows the swing motor 32 to be driven by the operator's command, allowing the upper swing body 12 to swing.

[0042] Next, we will explain the configuration for acquiring position information of the blade 47 equipped on the rotary work vehicle 1. Figure 3 is a block diagram showing the electrical configuration for controlling the operation of the work implement 13.

[0043] The slewing work vehicle 1 is equipped with a control unit 150 shown in Fig. 3. The control unit 150 is configured as a known computer, and is equipped with a CPU, storage device, input / output device, etc., which are not shown. The CPU can read and execute various programs, etc., from the storage device. Various programs and data are stored in the storage device.

[0044] The slewing work vehicle 1 also includes a position information acquisition unit 161 that acquires position information of the blade 47. In this embodiment, the position information acquisition unit 161 is configured from a wireless receiver that uses an antenna 58 to wirelessly receive the position of the target prism 56 from the total station 57.

[0045] The position information acquisition unit 161 outputs the position information of the blade 47 to the control unit 150. This position information of the blade 47 is three-dimensional position information, and includes the distance to a target (target prism 56) provided on the blade 47, the horizontal angle of the direction in which the target exists relative to a reference direction, and the vertical angle of the direction in which the target exists relative to a reference height.

[0046] The control unit 150 determines the position of the bottom end of the blade 47 based on the position of the target prism 56. Then, the control unit 150 compares this position of the bottom end of the blade with design information previously set in the control unit 150. The design information is information that describes the height of the surface to be finished by the blade 47 in three dimensions.

[0047] The control unit 150 controls the blade lift cylinder 48, for example, to lower the blade 47 if the height of the lower end of the blade is higher than the finish surface in the design information, or to raise the blade 47 if the height is lower than the finish surface. This control is achieved by the control unit 150 outputting a control signal instructing the opening degree to the electromagnetic proportional valves 167, 168, which adjust the pilot pressure for moving the spools of the directional control valves 75, 76. However, the electromagnetic proportional valves 167, 168 are omitted from the hydraulic circuit diagram in FIG. 2.

[0048] Next, the configuration for attaching the target prism 56 to the blade 47 will be described in detail with reference to FIGS. 4 to 8. FIG. 4 is a front view showing the configuration in the vicinity of the blade 47 when the support column 55 is in an upright position. FIG. 5 is a rear perspective view showing the configuration in the vicinity of the blade 47 when the support column 55 is in an upright position. FIG. 6 is a front perspective view showing the configuration of the rotor 113, the support column 55, etc. when the support column 55 is in an upright position. FIG. 7 is a front view showing the configuration in the vicinity of the blade 47 when the support column 55 is in a laid-down position. FIG. 8 is a front perspective view showing the configuration of the rotor 113, the support column 55, etc. when the support column 55 is in a laid-down position.

[0049] As shown in FIG. 4, the target prism 56 is attached to the blade 47 via a mounting member 110 so as to be positioned above the blade 47.

[0050] 5, the mounting member 110 is attached to a rear surface 115 of the blade 47. The mounting member 110 is disposed in a position shifted to one side in the left-right direction from the left-right center of the blade 47. In this embodiment, the mounting member 110 is disposed in front of the left crawler device 21L of the left and right crawler devices 21L, 21R.

[0051] As shown in FIGS. 5 and 6, the mounting member 110 includes a protruding member 111, a support 112, a rotating body 113, and a support column 55.

[0052] 5, the protruding member 111 is provided so as to protrude rearward from the back surface 115 of the blade 47. The protruding member 111 has a first fixed piece 121 and a second fixed piece 122. The first fixed piece 121 and the second fixed piece 122 are arranged at a predetermined interval in the left-right direction.

[0053] A front portion 123 of the first fixed piece 121 is fixed to the rear surface 115 of the blade 47. Similarly, a front portion 124 of the second fixed piece 122 is fixed to the rear surface 115 of the blade 47. The upper ends of the first fixed piece 121 and the second fixed piece 122 are located near the upper end of the blade 47.

[0054] The support 112 is attached to the blade 47 via the protruding member 111. The support 112 is fixed to the protruding member 111 and the blade 47 by welding while being placed on the protruding member 111. The support 112 is disposed behind the blade 47 and near the upper end of the blade 47.

[0055] The support body 112 is formed in the shape of a rectangular flat plate. The support body 112 is arranged so that its thickness direction is along the vertical direction. The support body 112 is arranged so as to overlap the blade 47 when the blade 47 (rotating work vehicle 1) is viewed from the front.

[0056] A rotation support part 116 is fixed to the support body 112. The rotation support part 116 is disposed at one of the left and right ends of the support body 112 (specifically, the right end, which is the end closer to the left-right center of the blade 47). The rotation support part 116 is configured as a cylindrical member. A rotation shaft 131, which will be described later, is inserted into the shaft hole of the rotation support part 116.

[0057] The rotating body 113 is rotatably supported by the support body 112. As a result, the rotating body 113 can rotate about an axis oriented in the front-to-rear direction relative to the blade 47. This rotation allows the rotating body 113 to move between a first rotation position shown in Figures 4 and 6 and a second rotation position shown in Figures 7 and 8.

[0058] More specifically, a rotation shaft 131 is attached to the mounting portion 125. The rotation shaft 131 is inserted into a rotation support portion 116 provided on the support body 112. This allows the mounting portion 125 (in other words, the rotating body 113) to rotate about the rotation shaft 131 relative to the support body 112 and ultimately the blade 47. This allows the position to be switched between a first rotation position and a second rotation position.

[0059] When the rotating body 113 is in the first rotation position, the rotating body 113 is placed on the support 112. When the rotating body 113 is in the second rotation position, the rotating body 113 is separated from the support 112.

[0060] Rotating body 113 includes mounting portion 125 formed in a flat plate shape. When rotating body 113 is in the first rotation position, mounting portion 125 is in contact with the upper surface of support body 112 while being parallel to support body 112. Mounting portion 125 is provided with the aforementioned support pillar 55. Support pillar 55 is formed in an elongated cylindrical shape and is disposed perpendicular to mounting portion 125. Support pillar 55 protrudes away from support body 112.

[0061] The mounting portion 125 is fixed to the support 112 by fastening members 128 such as bolts while placed on the support 112. This makes it possible to prevent the rotating body 113 from rotating unexpectedly due to vibration or the like. By removing the fastening members 128, the rotating body 113 becomes displaceable relative to the support 112 so as to assume the second rotation position.

[0062] An L-shaped stopper portion 133 is formed on the mounting portion 125. The stopper portion 133 abuts against the second fixed piece 122 when the mounting portion 125 is rotated approximately 90° from the first rotation position. This restriction positions the rotating body 113 at the second rotation position.

[0063] One longitudinal end of the support 55 is fixed to the mounting portion 125 of the rotating body 113. Therefore, the support 55 can rotate integrally with the rotating body 113. A target prism 56 is provided on the end of the support 55 opposite to the rotating body 113.

[0064] In this configuration, when the rotating body 113 is in the first rotation position, the support column 55 assumes an upright position protruding upward from the rotating body 113 as shown in Fig. 4. When the rotating body 113 is in the second rotation position, the support column 55 assumes a laid-down position protruding to the right from the rotating body 113 as shown in Fig. 7.

[0065] When the support pillars 55 are in an upright position, as shown in Figures 4 to 6, the support pillars 55 protrude upward relative to the blades 47. When the support pillars 55 are in a laid-down position, as shown in Figures 7 and 8, the support pillars 55 are oriented parallel to the direction in which the blades 47 extend (left-right direction).

[0066] The length of the support pillar 55 can be set as desired, taking into consideration factors such as the visibility of the target prism 56 relative to the total station 57. Note that since the target prism 56 is often removed from the rotary work vehicle 1 when not in use, it is preferable to determine the length of the support pillar 55 so that the support pillar 55 does not protrude beyond the left-right width of the blade 47 when in the laid-down position. Of course, the length of the support pillar 55 may also be determined so that the target prism 56 does not protrude beyond the left-right width of the blade 47 even when the laid-down position is taken while the target prism 56 remains attached to the support pillar 55.

[0067] In this embodiment, when the support 55 is in an upright position, the rotating body 113 (mounting portion 125) is fixed to the support body 112 with the fastening member 128 as described above, thereby preventing the support 55 from moving relative to the blade 47.

[0068] Although not shown in the drawings, the support column 55 is configured to be able to be fixed to the blade 47 even when it is in a lying position. This fixing structure can be, for example, a known structure using a lock pin, but is not limited to this.

[0069] With the above configuration, the rotating body 113 can be rotated relative to the support 112 (blade 47) to switch the posture of the support 55 between an upright posture and a reclined posture. This switching of the posture of the support 55 can be performed with the target prism 56 attached to the support 55.

[0070] When performing information-aided construction using the swivel work vehicle 1, the support 55 is fixed in an upright position. This positions the target prism 56 almost above the blade 47, allowing the position of the target prism 56 to be accurately obtained by the total station 57. The swivel work vehicle 1 automatically changes the height of the blade 47 using the control described above, based on the results of comparing the three-dimensional position of the target prism 56 with design information previously set in the swivel work vehicle 1. This allows paving work to be performed optimally using the blade 47.

[0071] On the other hand, when automatic control of the blade 47 is not performed, the posture of the support 55 is switched from the upright posture to the laid posture. This allows the working device 13 to perform work while avoiding interference between the working device 13 and the support 55.

[0072] The rotating body 113 and the support pillars 55 are attached to a protruding member 111 that protrudes rearward from the blade 47. The protruding member 111 (first fixed piece 121 and second fixed piece 122) is fixed by welding to the back surface 115 of the blade 47 together with the support body 112. As a result, the layout is such that the support pillars 55 and the like are positioned rearward of the blade 47, so that the support pillars 55 do not interfere with the earth removal work whether they are in an upright position or a laid-down position.

[0073] Furthermore, when the working implement 13 operates while the support pillar 55 is in an upright position, the slewing work vehicle 1 can execute processing to prevent the working implement 13 from interfering with the support pillar 55. The configuration related to this processing will be described below.

[0074] As shown in FIG. 3, the control unit 150 includes a storage unit 151, a work device position acquisition unit 152, and a restriction determination unit 153.

[0075] As described above, the control unit 150 includes a CPU and various programs are stored in the ROM. The above hardware and software work together to cause the control unit 150 to function as the storage unit 151, the work device position acquisition unit 152, the restriction determination unit 153, and the like shown in FIG. 3.

[0076] The storage unit 151 can store restricted position information relating to the restricted area of ​​the working device 13. The restricted position information is determined in advance to be near the support 55 based on the position of the support 55 in the upright position.

[0077] The work device position acquisition unit 152 can acquire position information of the work device 13. In this embodiment, the work device position acquisition unit 152 calculates and acquires the position information of the work device 13 based on the rotation angle of the upper rotating body 12, the rotation angle of the boom 41, the rotation angle of the arm 42, and the rotation angle of the bucket 43 acquired by the control unit 150. Specifically, the position information of the work device 13 can be the three-dimensional coordinates of the tip of the bucket 43, but is not limited to this.

[0078] The restriction determination unit 153 can determine whether or not it is necessary to restrict the operation of the work device 13 based on the restriction position information stored in the memory unit 151 and the work device position information acquired by the work device position acquisition unit 152.

[0079] 3, the control unit 150 is connected to the above-mentioned position information acquisition unit 161, as well as to a rotation angle sensor 162, a first angle sensor 163, a second angle sensor 164, a third angle sensor 165, and a standing posture detection unit 166. In addition, the control unit 150 is connected to an electromagnetic valve 170 that corresponds to a regulating device.

[0080] The swing angle sensor 162 can detect the swing angle of the upper swing body 12. The first angle sensor 163 can detect the rotation angle of the boom 41. The second angle sensor 164 can detect the rotation angle of the arm 42. The third angle sensor 165 can detect the rotation angle of the bucket 43. These sensors 162, 163, 164, and 165 each output a detection signal to the control unit 150.

[0081] The standing posture detection unit 166 can detect that the support 55 is in an standing posture. In this embodiment, the standing posture detection unit 166 is configured as a push-type switch. As shown in FIG. 8, the standing posture detection unit 166 is provided so as to protrude upward from the support body 112. When the support 55 is in an standing posture, a contactor provided in the standing posture detection unit 166 is pressed from above by the rotating body 113. The standing posture detection unit 166 outputs a detection signal indicating whether the contactor is being pressed to the control unit 150.

[0082] The solenoid valve 170 can regulate the operation of the working implement 13. Specifically, the solenoid valve 170 can stop the drive of the swing motor 32, the boom cylinder 44, and the arm cylinder 45 by blocking the supply of hydraulic oil sent from the third hydraulic pump 63 shown in FIG. 2 to the pilot ports of the directional control valves 77, 72, and 73. The solenoid valve 170 is disposed between the third hydraulic pump 63 and the directional control valves 77, 72, and 73. The solenoid valve 170 operates to be in an open state or a closed state.

[0083] The solenoid valve 170 realizes cutoff control. The solenoid valve 170 is in an open state when the contacts of a cutoff switch (not shown) are closed (ON). On the other hand, the solenoid valve 170 is in a closed state when the contacts of the cutoff switch are open (OFF). The cutoff switch is switched between ON and OFF by operating the cutoff lever 38 included in the operating member. In this embodiment, the solenoid valve 170 is controlled to close not only when the cutoff switch is OFF, but also when a predetermined condition, which will be described later, is satisfied.

[0084] When the solenoid valve 170 is in an open state, hydraulic oil can be supplied from the third hydraulic pump 63 to the direction switching valve 77, and pilot pressure can be applied to the direction switching valve 77. When the solenoid valve 170 is in a closed state, the supply of hydraulic oil from the third hydraulic pump 63 to the direction switching valve 77 is cut off. As a result, pilot pressure no longer acts on the direction switching valve 77, and therefore rotation of the upper rotating body 12 by the swing motor 32 is substantially prevented. Similarly, when the solenoid valve 170 is closed, pilot pressure no longer acts on the direction switching valves 72, 73, and therefore rotation of the boom 41 by the boom cylinder 44 and rotation of the arm 42 by the arm cylinder 45 are substantially prevented.

[0085] Next, the processing performed by the control unit 150 regarding the solenoid valve 170 will be described with reference to Fig. 9. Fig. 9 is a flowchart showing the processing regarding the regulation of the operation of the working device 13.

[0086] 9 starts, the control unit 150 first determines whether the posture of the support 55 is in the upright posture based on the detection result of the upright posture detection unit 166 (step S101). If the posture of the support 55 is not in the upright posture, the control unit 150 opens the solenoid valve 170 (step S102). Thereafter, the process returns to step S101.

[0087] If the result of the determination in step S101 is that the posture of the support 55 is an upright posture, the control unit 150 determines whether the position of the working device 13 is within the restricted area (step S103). If the position of the working device 13 is within the restricted area, the control unit 150 closes the solenoid valve 170 (step S104). Thereafter, the process returns to step S101.

[0088] If the position of the working device 13 is not within the restricted area, the control unit 150 opens the solenoid valve 170 (step S102), after which the process returns to step S101.

[0089] By performing the above processing, when the support pillar 55 is in an upright position and the working implement 13 is in a restricted area near the support pillar 55 (in other words, the target prism 56), the solenoid valve 170 is automatically closed, thereby preventing operations such as the rotation of the upper rotating body 12 and the rotation of the boom 41. Therefore, even if the operator operates the working implement 13 while forgetting to tilt the support pillar 55, it is possible to prevent the bucket 43 and the like from colliding with the target prism 56 and the support pillar 55.

[0090] As described above, the swivel work vehicle 1 of this embodiment is equipped with the lower running body 11, the upper rotating body 12, the working device 13, the rotating body 113, and the support column 55. The blade 47 is attached to the lower running body 11. The upper rotating body 12 is supported by the lower running body 11 so as to be rotatable. The working device 13 is rotatably supported by the upper rotating body 12. The rotating body 113 is attached to the blade 47. The support column 55 is attached so as to protrude from the rotating body 113. A target prism 56, which is the measurement target of the total station 57, can be fixed to the support column 55. The rotating body 113 rotates relative to the blade 47, so that the posture of the support column 55 can be switched between an upright posture and a reclined posture.

[0091] As a result, when work is performed with the blade 47 using the target prism 56, the support 55 can be in an upright position, allowing for good measurement with the total station 57. On the other hand, when work is performed without using the target prism 56, the support 55 can be in a laid-down position so that it does not get in the way of work performed by the work implement 13, for example. As a result, the work of attaching and detaching the support 55 to the slewing work vehicle 1 can be omitted, reducing the amount of work required by the worker.

[0092] The slewing work vehicle 1 of this embodiment is also equipped with an overhanging member 111. The overhanging member 111 is provided so as to overhang rearward from the blade 47, and supports a rotating body 113.

[0093] As a result, the rotor 113 and the support 55, and therefore the target prism 56, can be stably supported on the blade 47 using the overhang member 111. In addition, since the rotor 113 and the support 55 are located behind the blade 47, a layout can be realized that does not interfere with soil removal work.

[0094] The slewing work vehicle 1 of this embodiment is equipped with a work device position acquisition unit 152, a solenoid valve 170, an upright posture detection unit 166, and a control unit 150. The work device position acquisition unit 152 acquires position information of the work device 13. The solenoid valve 170 regulates the operation of the work device 13. The upright posture detection unit 166 detects whether the posture of the support column 55 is upright. When the upright posture detection unit 166 detects that the posture of the support column 55 is upright, the control unit 150 closes the solenoid valve 170 based on the position information of the work device 13 acquired by the work device position acquisition unit 152.

[0095] As a result, when the support column 55 is in an upright position, the solenoid valve 170 is closed to substantially prevent the rotation motor 32 and the like from being driven, thereby preventing the working device 13 from interfering with the support column 55 and the like. This makes it possible to prevent damage to the target prism 56 and the support column 55 and the like due to interference with the working device 13. On the other hand, when the working device 13 does not enter the restricted area, the operation of the working device 13 is not restricted, so the working efficiency of the working device 13 does not decrease excessively.

[0096] The preferred embodiment of the present invention has been described above, but the above configuration can be modified, for example, as follows.

[0097] In the above embodiment, the rotating body 113 is attached to the blade 47 via the protruding member 111 and the support 112, but the configuration for attaching the rotating body 113 to the blade 47 is not particularly limited, and for example, the rotating body 113 may be attached to the blade 47 via another member, or may be attached directly to the blade 47.

[0098] In the above embodiment, the support pillar 55 is arranged to protrude from the rotating body 113 to the right of the swivel work vehicle 1 when in the lying position, but it may also be arranged to protrude from the rotating body 113 to the left of the swivel work vehicle 1.

[0099] The structure for maintaining the upright position of the support column 55 can also be realized by using a component other than the fastening member 128, such as a lock pin. Similarly, the structure for maintaining the lying position of the support column 55 can also be changed as appropriate.

[0100] In the above embodiment, when the position of the working implement 13 enters the restricted area, the swing motor 32, boom cylinder 44, and arm cylinder 45 are stopped. Alternatively, the boom cylinder 44 and other components may be configured to automatically perform an avoidance operation. For example, consider a situation in which the upper structure 12 of the rotating work vehicle 1 is being rotated by the operator while the support column 55 is not tilted. The control unit 150 determines, based on the position of the working implement 13, whether the bucket 43 will collide with the target prism 56 or other components if the rotation continues. If the possibility of such a collision is high, the control unit 150 continues to rotate the upper structure 12 while automatically driving the boom cylinder 44 and other components to raise the bucket 43. This configuration also prevents damage to the target prism 56 or other components.

[0101] Restriction of the operation of the working implement 13 is not limited to being achieved by stopping the supply of pilot pressure to the directional control valve. For example, consider a case where the rotating work vehicle 1 is equipped with a hydraulic swing brake that brakes the rotation of the upper rotating body 12. This swing brake is applied by spring force, but can be released by supplying hydraulic pressure. During normal work, a hydraulic pump supplies hydraulic pressure to the swing brake, so braking is not performed. On the other hand, when the position information of the working implement 13 is within the restricted area, the control unit 150 cuts off the supply of hydraulic pressure to the swing brake, for example, by using a solenoid valve. This brakes the rotation of the upper rotating body 12, and it is possible to essentially prevent the working implement 13 from rotating.

[0102] The decision as to whether or not to restrict the operation of the working device 13 may be made taking into consideration the speed, acceleration, etc. of the working device 13 in addition to the current position of the working device 13.

[0103] The construction machine of this embodiment can also be expressed as follows. That is, the construction machine of this embodiment comprises a lower traveling body, an upper rotating body, a working device, a rotating body, and a support pillar. A blade is provided on the lower traveling body. The upper rotating body is supported on the lower traveling body so as to be able to rotate. The working device is rotatably supported on the upper rotating body. The rotating body is provided on the blade. The support pillar is provided so as to protrude from the rotating body. A light receiving device, which is the measurement target of the distance and angle measuring device, can be fixed to the support pillar. The rotating body rotates relative to the blade, so that the posture of the support pillar can be switched between an upright posture and a lying posture.

[0104] As a result, when performing work using the blade with the light receiving device, the support pole can be in an upright position, allowing for good measurement by the distance and angle measuring device. On the other hand, when working without using the light receiving device, the support pole can be in a laid-down position so that it does not get in the way of work using the work equipment, for example. As a result, the work of installing and removing the support pole can be omitted, reducing the burden on the worker.

[0105] The construction machine preferably includes an extension member that extends rearward from the blade and supports the rotor.

[0106] This allows the rotor and support column, and ultimately the light receiving device, to be stably supported on the blade using the overhanging member. In addition, because the rotor and support column are located behind the blade, a layout can be achieved that does not interfere with the removal of soil.

[0107] The construction machine preferably has the following configuration. That is, the construction machine includes a work implement position acquisition unit, a regulating device, an upright posture detection unit, and a control unit. The work implement position acquisition unit acquires position information of the work implement. The regulating device regulates the operation of the work implement. The upright posture detection unit detects whether the posture of the support pole is the upright posture. When the upright posture detection unit detects that the posture of the support pole is the upright posture, the control unit activates the regulating device based on the position information of the work implement acquired by the work implement position acquisition unit.

[0108] As a result, when the support pole is in an upright position, the restricting device is activated to restrict the operation of the working device, preventing the working device from interfering with the support pole. This prevents damage to the support pole or the like due to interference with the working device. On the other hand, when the working device is sufficiently far from the support pole or the like, for example, the operation of the working device is not restricted, so the working efficiency of the working device does not decrease excessively.

[0109] Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that, within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein. [Explanation of symbols]

[0110] 1. Swinging work vehicle (construction machinery) 11 Undercarriage 12 Upper rotating body 13 Work equipment 47 Blade (Blade) 55 Post 56 Target prism (light receiving device) 57 Total station (distance and angle measuring device) 111 Projecting member 113 Rotating Body 150 control section 152 Work equipment position acquisition unit 166 Standing posture detection unit 170 Solenoid valve (regulating device)

Claims

1. A construction machine equipped with a work implement, the working device is provided with a fixing portion to which a detection device for detecting the attitude of the working device is fixed, The fixed part is capable of switching the position of the detection device by the movable part between a first state in which the attitude of the work device can be detected and a second state in which the attitude of the work device cannot be detected.

2. The construction machine according to claim 1 , further comprising a control unit capable of determining whether the fixing unit is in the first state or the second state.

3. The construction machine according to claim 1 or 2, wherein the movable part is a rotating body that switches between the first state and the second state by a rotational motion.

4. 4. The construction machine according to claim 1, wherein the working device is a blade.

5. 5. The construction machine according to claim 4, wherein the detection device is a light receiving device that is a measurement target of a distance and angle measuring device.

6. The construction machine according to claim 5 , wherein the fixing portion is a support to which the light receiving device is fixed.

7. The first state is a state in which the support column is in an upright position, The construction machine according to claim 6, wherein the second state is a state in which the support pole is in a lying position.

8. a support attached to the blade via an overhanging member; a mounting portion that contacts an upper surface of the support, The support pillar is provided on the placement portion, The construction machine according to claim 6 or 7, wherein the mounting portion is fastened to the support body at a plurality of locations by fastening members.

Images