Construction machinery

Abstract

To provide a construction machine capable of preventing a work object from entering a cab through a skylight when a front working machine is operated with the skylight open. [Solution] The hydraulic excavator (1) comprises a lower running body (101), an upper rotating body (102), a cab (107), angle sensors (31a-31c) that detect the posture of the front working implement (103), and a controller (32) that limits the operation of the front working implement (103) based on the detection results of the angle sensors (31a-31c), the cab (107) having a front part (107a), a rear part (107b), and a top part (107b), the cab box (107A) having an operator's cab formed inside, and a skylight (170) provided in the top part (107b) that can be opened and closed, the hydraulic excavator (1) is provided with an open / close detection switch (180) that detects the open / closed state of the skylight (170), and the controller (32) limits the operation of the front working implement (103) when it detects that the skylight (170) is open and that the height of the reference position (BP) is equal to or greater than a predetermined height.

Description

[Technical Field]

[0001] The present invention relates to a construction machine having a skylight provided in the cab. [Background technology]

[0002] Patent Document 1 describes an interference prevention device for a construction machine that includes an operating lever for inputting the operating direction and amount of the attachment, and a hydraulic circuit for controlling the operation of the attachment based on the operating direction and amount input by the operating lever, wherein the device has a detection means for detecting the position of the attachment, and a control means for controlling the detection means and the hydraulic circuit, and the control means sets an interference prevention range based on the position of the attachment detected by the detection means and the operating direction input by the operating lever, and based on the position of the attachment detected by the detection means The present invention discloses an interference prevention device for construction machinery, which determines whether the attachment has entered the interference prevention range, and if the attachment has entered the interference prevention range, decelerates or stops the hydraulic cylinder that drives the attachment using the hydraulic circuit, and when the position of the attachment detected by the detection means is above the cab and the operating direction input by the operating lever is in the boom raising direction, sets the area excluding a predetermined area above the cab as the interference prevention range, and does not decelerate or stop the hydraulic cylinder for boom raising operations when the position of the attachment is in the predetermined area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-163156 [Overview of the Initiative] [Problem to be solved by the invention]

[0004] On the other hand, construction machinery cabs are sometimes equipped with a skylight that can be opened and closed to allow the operator seated in the driver's seat to see above the cab. However, when a front work implement with an attachment is operated with the skylight open, if the front work implement is positioned higher than the cab, there is a risk that soil or other work material scooped up by the attachment may fall from the attachment and enter the cab through the opening in the skylight, potentially interfering with the work.

[0005] In Patent Document 1, although it is possible to prevent the attachment itself from interfering with the vehicle body, sufficient consideration is not given to preventing the workpiece handled by the attachment from entering the cab.

[0006] The present invention has been made in consideration of the above circumstances, and its object is to provide a construction machine that can prevent work objects from entering the cab through an opening in the top surface. [Means for solving the problem]

[0007] To achieve the above objective, the present invention provides a construction machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a cab provided on the upper rotating body; a front work implement mounted on the upper rotating body so as to be able to move up and down; a posture detection device for detecting posture information of the front work implement; and a controller for controlling the operation of the front work implement based on the posture information detected by the posture detection device, wherein the cab has a front portion, a rear portion, and a top portion, and a cab box in which a driver's compartment is formed inside; and a skylight provided on the top portion of the cab box that can be opened and closed, the construction machine further comprises an opening / closing detection device for detecting the open / closed state of the skylight, and the controller restricts the operation of the front work implement when the opening / closing detection device detects that the skylight is in an open state and the posture detection device detects that the height of a reference part of the front work implement is above a predetermined height. [Effects of the Invention]

[0008] According to the present invention, when the front working implement is operated with the top window open, it is possible to prevent the work object from entering the cab through the opening in the top surface portion. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing the structure of a hydraulic excavator according to a first embodiment of the present invention. [Figure 2] 2(a) is an enlarged view of the main part in FIG. 1 showing the openable / closable structure of the skylight, and an enlarged perspective view showing the detailed structure of part A in FIG. 2(a). [Figure 3] FIG. 1 is a hydraulic circuit diagram showing a hydraulic drive system of a hydraulic excavator. [Figure 4] FIG. 1 is an explanatory diagram illustrating the concept of limit control. [Figure 5] FIG. 2 is a diagram showing inputs and outputs of a controller. [Figure 6] 10 is a flowchart showing the processing content of a controller. [Figure 7] FIG. 2 is an explanatory diagram showing the display contents of icons on a display device. [Figure 8] FIG. 4 is an explanatory diagram illustrating a conversion table used for pressure reduction control of an electromagnetic proportional valve. [Figure 9] FIG. 5 is a hydraulic circuit diagram showing a hydraulic drive system for a hydraulic excavator according to a second embodiment of the present invention. [Figure 10] FIG. 2 is a diagram showing inputs and outputs of a controller. [Figure 11] 10 is a flowchart showing the processing content of a controller. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] First Embodiment First, a first embodiment of the present invention will be described with reference to Figures 1 to 8. In the following description, the up-down direction, front-rear direction, and left-right direction correspond to the directions of arrows shown in Figure 1.

[0012] <Hydraulic Excavator> Fig. 1 shows a hydraulic excavator 1 as a construction machine to which the present invention is applied. The hydraulic excavator 1 is suitable for use in excavation work and the like, and has a self-propelled lower body 101, an upper rotating body 102 rotatably mounted on the lower body 101, and an articulated front working mechanism 103.

[0013] The front work implement 103 is attached to the front side of the upper rotating body 102 so as to be able to move up and down. In this example, the front work implement 103 is configured by rotatably connecting multiple driven members, including a boom 103a attached to the upper rotating body 102 so as to be able to move up and down, an arm 103b connected to the tip of the boom 103a so as to be able to move up and down, and a bucket 103c connected to the tip of the arm 103b so as to be able to move up and down. That is, in this embodiment, the bucket 103c is attached as an attachment. Note that other attachments (such as a grapple or a breaker) may be attached instead of the bucket 103c. The boom 103a, arm 103b, and bucket 103c are driven by corresponding hydraulic actuators: a boom cylinder 3a, an arm cylinder 3b, and a bucket cylinder 3c, respectively. The hydraulic excavator 1 performs work such as excavating earth and sand by rotating the boom 103a, arm 103b, and bucket 103c of the front work implement 103 while rotating the upper rotating body 102. Angle sensors 31a, 31b, and 31c that detect the rotation angles of the boom 103a, arm 103b, and bucket 103c are provided at the rotation fulcrums of the boom 103a, arm 103b, and bucket 103c, respectively (see FIG. 3, described later). Note that the angle sensor 31c that detects the rotation angle of the bucket 103c may be omitted. These angle sensors 31a to 31c serve as posture detection devices that detect posture information of the front work implement 103. Note that instead of the angle sensors 31a to 31c, stroke sensors that detect the strokes of the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, etc., which are the hydraulic actuators described above, may be used, and posture information of the front work implement 103 may be detected by a known method based on the detection results. In this case, the stroke sensor serves as the attitude detection device.

[0014] The upper rotating body 102 includes a rotating frame 105. The rotating frame 105 is rotatably mounted on the lower traveling body 101. A boom 103a and a boom cylinder 3a of the front working implement 103 are mounted on the front side of the rotating frame 105. A cab 107 including a cab box 107A is provided on the front left side of the rotating frame 105. The cab box 107A has a front portion 107a, a rear portion (not shown), and a top portion 107b, and is equipped inside with a driver's seat (not shown), operating lever devices 4a to 4f (see FIG. 3 described later), etc. A skylight 170 is provided on the top portion 107b to allow the operator to view above the cab 107. In this example, as shown in FIG. 2(a), the skylight 170 is configured so that a lid portion 170B can be opened and closed by rotating about a hinge 170A. When the cover portion 170B of the skylight 70 is opened, the interior space of the cab 107 is exposed through the opening 170C.

[0015] <Hydraulic circuit of hydraulic drive system> Fig. 3 is a hydraulic circuit diagram showing the hydraulic drive system of the hydraulic excavator 1. In Fig. 3, this hydraulic drive system includes a hydraulic pump 2 driven by an engine (not shown), a plurality of actuators including a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f that are driven by pressure oil from the hydraulic pump 2, operation lever devices 4a to 4f provided corresponding to these hydraulic actuators 3a to 3f, a plurality of control valves 5a to 5f that are connected between the hydraulic pump 2 and the plurality of hydraulic actuators 3a to 3f and are switched from a neutral position by the operation pilot pressure of the operation lever devices 4a to 4f to control the flow rate of pressure oil supplied to the hydraulic actuators 3a to 3f, and a main relief valve 6 as a safety valve.

[0016] <Boom, arm, bucket cylinder> The boom cylinder 3a receives hydraulic oil at its bottom side, driving it in the extension direction to raise the boom 103a, and receives hydraulic oil at its rod side, driving it in the retraction direction to lower the boom 103a. The arm cylinder 3b performs a crowding operation on the arm 103b by supplying hydraulic oil to the bottom side and driving it in the extension side, and performs a dumping operation on the arm 103b by supplying hydraulic oil to the rod side and driving it in the contraction side. The bucket cylinder 3c is supplied with hydraulic oil on its bottom side, driving it in the extension direction to perform a crowding operation of the bucket 103c, and is supplied with hydraulic oil on its rod side, driving it in the contraction direction to perform a dumping operation of the bucket 103c.

[0017] <Operating lever device> The operating lever devices 4a to 4f are hydraulic pilot type devices with built-in pressure reducing valves, and are connected via a pilot pressure supply oil line 7b to a discharge oil line 7a of a pilot pump 7 driven by the engine. A pilot relief valve 8 that keeps the discharge pressure of the pilot pump 7 constant is provided in the discharge oil line 7a of the pilot pump 7.

[0018] The control lever devices 4a to 4f each generate a command pilot pressure (secondary pressure) according to the amount and direction of operation of the control lever operated by the operator, based on the hydraulic pressure (primary pressure) generated by the pilot pump 7. These command pilot pressures are guided via pilot lines 10a, 10b to 15a, 15b to the hydraulic drive units 20a, 20b to 25a, 25b of the corresponding control valves 5a to 5f.

[0019] <Control Valve> Control valve 5a (boom control valve) is operated by a boom-up command pilot pressure or a boom-down command pilot pressure guided through pilot lines 10a, 10b (boom pilot lines) and controls the flow of hydraulic oil supplied to or discharged from the bottom side or rod side of boom cylinder 3a. The control valve 5b (arm control valve) is operated by the arm cloud command pilot pressure or arm dump command pilot pressure delivered via the pilot line 11a (pilot line for the first arm) or 11b (pilot line for the second arm), and controls the flow of hydraulic fluid supplied to or discharged from the bottom side or rod side of the arm cylinder 3b. The control valve 5c (bucket control valve) is operated by the bucket cloud command pilot pressure or bucket dump command pilot pressure delivered via the pilot lines 12a and 12b (bucket pilot lines), and controls the flow of hydraulic fluid supplied to or discharged from the bottom or rod side of the bucket cylinder 3c.

[0020] <Solenoid proportional valves and lock valves> Furthermore, the hydraulic drive system shown in Figure 3 includes a controller 32 that receives signals from the angle sensors 31a, 31b, and 31c mentioned above and performs calculation processing for various limiting controls described later to control the operation of the front work implement 103; electromagnetic proportional pressure reducing valves 33a, 33b, and 33c, respectively, which are provided in the pilot lines 10a, 11a, and 11b and are driven by the drive current (command signal) output from the controller 32; and an electromagnetically switchable hydraulic lock valve 34 positioned between the discharge oil passage 7a of the pilot pump 7 and the pilot pressure supply oil passage 7b.

[0021] The electromagnetic proportional pressure reducing valve 33a (electromagnetic proportional valve for the boom) reduces the boom-raising command pilot pressure generated by the operating lever device 4a in accordance with the drive current from the controller 32. When the electromagnetic proportional pressure reducing valve 33a is driven in the opening direction, the reduced boom-raising command pilot pressure is guided through the pilot line 10a to the hydraulic drive unit 20a of the control valve 5a, and the control valve 5a supplies hydraulic fluid to the bottom side of the boom cylinder 3a.

[0022] The electromagnetic proportional pressure reducing valve 33b (first arm electromagnetic proportional valve) reduces the arm crowd command pilot pressure generated by the operating lever device 4b in accordance with the drive current from the controller 32. When the electromagnetic proportional pressure reducing valve 33b is driven in the opening direction, the reduced arm crowd command pilot pressure is guided to the hydraulic drive unit 21a of the control valve 5b via the pilot line 11a, and the control valve 5b supplies hydraulic oil to the bottom side of the arm cylinder 3b. The electromagnetic proportional pressure reducing valve 33c (second arm electromagnetic proportional valve) reduces the arm dump command pilot pressure generated by the operating lever device 4b in accordance with the drive current from the controller 32. When the electromagnetic proportional pressure reducing valve 33c is driven in the opening direction, the reduced arm dump command pilot pressure is guided to the hydraulic drive unit 21b of the control valve 5b via the pilot line 11b, and the control valve 5b supplies hydraulic oil to the rod side of the arm cylinder 3b.

[0023] The hydraulic lock valve 34 is normally switched to the left position in the figure by an ON signal output from the controller 32. In this case, the discharge pressure of the pilot pump 7 is directed to the pilot pressure supply oil line 7b as the primary pressure, and the control lever devices 4a to 4f can generate command pilot pressure by operating their respective control levers. When the ON signal output from the controller 32 switches to an OFF signal, the hydraulic lock valve 34 switches to the right position in the figure, cutting off the connection between the discharge oil line 7a of the pilot pump 7 and the pilot pressure supply oil line 7b and connecting the pilot pressure supply oil line 7b to the tank. As a result, the control lever devices 4a to 4f cannot generate command pilot pressure even if their respective control levers are operated, and the hydraulic drive system becomes inoperable. As a result, all operation of the hydraulic excavator 1 stops.

[0024] <Detecting whether skylights are open or closed> As described above using Figures 1 and 2(a), the lid portion 170B of the skylight 170 is openable and closable. To detect this open / closed state, a known open / closed detection switch 180 is provided on the top surface 107b, as shown in Figure 2(b). The open / closed detection switch 180 is attached to at least one of the skylight 170 or the top surface 107b and outputs a signal to the controller 32 corresponding to the open state of the lid portion 170B of the skylight 170. When the lid portion 170B of the skylight 170 is closed, an ON signal is output from the open / closed detection switch 180, and when the lid portion 170B of the skylight 170 is open, an OFF signal is output from the open / closed detection switch 180, and these are input to the controller 32 shown in Figure 3. Specific examples of the open / close detection switch 180 are as follows. For example, in the skylight 170, a switch contact is provided on one side of the lid portion 170B, which is the open / closed part, and the opening portion 170C, which is the non-open / closed part, and a pressing portion that presses the switch contact is provided on the other side. In the closed state, the pressing portion presses the switch contact, causing conductivity and outputting an ON signal, and in the open state, the pressing portion does not press the switch contact, causing non-conductivity and outputting an OFF signal. Alternatively, a transmitting device may be provided on one side of the lid portion 170B and the opening 170C, and a receiving device may be provided on the other side, and the ON signal and OFF signal may be output from the receiving device based on the communication result between them. Alternatively, instead of detecting the actual open / closed state of the lid portion 170B of the skylight 170, as with the open / closed detection switch 180, the open / closed state of the lid portion 170B may be indirectly detected by having the operator manually input the open / closed state of the lid portion 170B and obtaining the input result.

[0025] The controller 32 is also connected to a display device 190, which is installed in a suitable location within the cab box 107A so that it can be seen by the operator. Based on the ON signal from the open / close detection switch 180, the controller 32 displays an icon on the display device 190 indicating that the lid portion 170B of the skylight 170 is in the open state (hereinafter referred to as the "skylight open icon" as appropriate; see Figures 7(a) and 7(b) described later).

[0026] <Main parts of the embodiment> As mentioned above, in a configuration in which the cover portion 170B of the skylight 170 can be opened and closed, when the front work implement 103 is operated while the cover portion 170B of the skylight 170 is open, if the front work implement 103 is positioned higher than the cab 107, there is a risk that work materials such as soil and sand may enter the cab 107 through the opening 170C of the skylight 170 and interfere with the operator's work.

[0027] The key feature of this embodiment is that, in order to avoid the above, when the open state of the lid portion 170B of the skylight 170 is detected, and it is detected that the reference portion of the front work implement 103 is above a predetermined height (details will be described later), limiting control (boom limiting control, arm limiting control, described later) is performed to restrict the operation of the front work implement 103. The details will be explained in order below.

[0028] <Concept of limit control> Figure 4 is an explanatory diagram illustrating the concept of limit control. In Figure 4, the cab 107 is surrounded by three zones, from bottom to top: an uncontrolled zone X, a deceleration zone A, a stopping zone B, and a prohibited zone C. Here, the deceleration zone A, stopping zone B, and prohibited zone C constitute a controlled zone Y. The uncontrolled zone X and the deceleration zone A are separated by a boundary surface E1, the deceleration zone A and the stopping zone B are separated by a boundary surface E2, and the stopping zone B and the prohibited zone C are separated by a boundary surface E3. The height position of boundary surface E3 coincides with the height position of the top surface 107b of the cab box 107A, in other words, the height position of the skylight 170.

[0029] Deceleration zone A is a region where the operating speed of the driven front work implement 103 is reduced, and stopping zone B is a region where the operation of the driven front work implement 103 is stopped. Prohibition zone C is a region where, if the front work implement 103 exceeds stopping zone B and enters prohibition zone C, the hydraulic drive system is disabled, thereby stopping all operation of the hydraulic excavator 1.

[0030] <Controller Functions> Next, the function of the controller 32 that realizes the above-mentioned limit control will be described with reference to FIGS.

[0031] Fig. 5 is a diagram showing input and output of the controller 32. As shown in Fig. 5, the controller 32 references a conversion table 32a (described later) and outputs drive currents to an electromagnetic proportional pressure reducing valve 33a that reduces the boom-up command pilot pressure, an electromagnetic proportional pressure reducing valve 33b that reduces the arm crowd command pilot pressure, an electromagnetic proportional pressure reducing valve 33c that reduces the arm dump command pilot pressure, and the hydraulic lock valve 34, in accordance with the rotation angles of the boom 103a and the arm 103b detected by the angle sensors 31a and 31b.

[0032] <Processing flow by the controller - Part 1> FIG. 6 is a flowchart showing the processing contents of the controller 32. First, in S5, the controller 32 determines whether the cover portion 170B of the roof window 170 is in the open state based on the detection result of the open / close detection switch 180. If it is in the closed state, the determination is No, and this flow ends. If it is in the open state, the determination is Yes, and the process proceeds to S10. Note that when the determination is Yes, indicating the open state, the display device 190 displays the above-mentioned roof window open icon IC1 (first image) as shown in FIG. 7(a). Note that when the roof window open icon IC1 is displayed, an audio notification may also be given from a sound generating device (buzzer, speaker, etc.) appropriately provided in the cab box 107A.

[0033] Returning to Fig. 6, in S10, the controller calculates the position of a reference point of the front working implement 103 based on the rotation angles of the boom 103a, arm 103b, and bucket 103c input from the angle sensors 31a, 31b, and 31c, and the dimensions of each part of the front working implement 103 pre-stored in a memory or the like. In this example, the controller 32 uses the connecting pin BP (see Fig. 4) between the bucket 103c and the arm 103b as the reference point (hereinafter, simply referred to as the "reference point BP") More specifically, the reference point is the axial center of the connecting pin BP.

[0034] Subsequently, in S20, the controller 32 determines, based on the calculation result in S10, whether the height position of the reference position BP is equal to or higher than the height position of the boundary surface E1 (in other words, whether the hydraulic excavator 1 has entered the deceleration region A). Regarding the boundary surface E1, a predetermined value set based on the specifications of the vehicle body of the hydraulic excavator 1 is pre-stored in the controller 32. If the position of the reference position BP is lower than the boundary surface E1, the determination is No, and the process returns to S5, where the same processing is repeated. If the position of the reference position BP is equal to or higher than the boundary surface E1, the determination is Yes, and the process proceeds to S25. The height of the boundary surface E1 corresponds to the predetermined height in this embodiment. Note that, in this specification, "height" refers to the dimension in the direction perpendicular to the contact surface LA of the crawler 101A of the undercarriage 101, as shown in FIG. 4. Therefore, when the hydraulic excavator 1 is in a state where it is entirely tilted, such as when working on a slope, the direction of the "height" has a certain angle (diagonal direction) with respect to the so-called vertical up-down direction.

[0035] In S25, the controller 32 executes pressure reduction control of the electromagnetic proportional valves. This pressure reduction control is performed using the conversion table shown in Fig. 8. In Fig. 8, the horizontal axis represents the height direction distance D between the reference position BP and the top surface 107b of the cab box 107A (in other words, the roof window 170), and the vertical axis represents the front-to-rear pressure ratio r of the electromagnetic proportional pressure reducing valves 33a, 33b, and 33c.

[0036] 8, the relationship between the distance D and the front-to-rear pressure ratio r is set so that when the distance D is equal to or greater than a first set value D1, the front-to-rear pressure ratio r is 1, and as the distance D becomes smaller than the first set value D1, the front-to-rear pressure ratio r gradually decreases from 1, and when the distance D reaches a second set value D2, the front-to-rear pressure ratio r becomes 0. The first set value D1 corresponds to the boundary surface E1 in FIG. 4, and the second set value D2 corresponds to the boundary surface E2 in FIG. 4. On the side smaller than the second set value D2 (the side closer to the origin), a third set value D3 corresponding to the boundary surface E3 in FIG. 4 is set. That is, the region equal to or greater than the first set value D1 (the side farther from the origin) corresponds to the non-control region X, the region between the first set value D1 and the second set value D2 corresponds to the deceleration region A, the region between the second set value D2 and the third set value D3 corresponds to the stop region B, and the region equal to or less than the third set value D3 corresponds to the prohibited region C.

[0037] The controller 32 refers to the conversion table 32a to determine the front-to-rear pressure ratio r corresponding to the vertical distance D between the reference position BP and the top surface 107b of the cab box 107A (i.e., the roof window 170). The controller 32 then converts the front-to-rear pressure ratio r into a drive current for a corresponding one of the electromagnetic proportional pressure reducing valves 33a, 33b, and 33c, and outputs the drive current to at least one of the corresponding electromagnetic proportional pressure reducing valves 33a, 33b, and 33c. The conversion table 32a may be individually provided for each of the electromagnetic proportional pressure reducing valves 33a, 33b, and 33c. During the pressure reduction control of S25, the display device 190 simultaneously displays a control icon IC2 (second icon) indicating that pressure reduction control is being performed, in addition to the roof window open icon IC1 (first icon), as shown in FIG. 7(b). As described above, when the control icon IC2 is displayed, an audio notification may also be provided from a sound generating device (e.g., a buzzer or speaker) appropriately provided in the cab box 107A.

[0038] As a result of the pressure reduction control at S25, when the front working machine 103 operates and the reference part BP enters the deceleration area A, the controller 32 drives the corresponding ones of the electromagnetic proportional pressure reducing valves 33a, 33b, and 33c to reduce the command pilot pressure, and gradually reduces the operating speed of the corresponding boom cylinder 3a or arm cylinder 3b to gradually decelerate the operation of the front working machine 103.

[0039] <In the case of boom control> Specifically, for example, in the case of the boom raising operation, when the operation lever of the boom operation lever device 4a is operated to the boom raising side, the operation lever device 4a generates a boom command pilot pressure (secondary pressure) corresponding to the operation amount based on the hydraulic pressure (primary pressure) generated by the pilot pump 7. This boom raising command pilot pressure is guided to the hydraulic drive part 20a of the control valve 5a via the pilot line 10a and the electromagnetic proportional pressure reducing valve 33a, and the control valve 5a is switched from the illustrated neutral position to the left position. Thereby, the discharge oil of the hydraulic pump 2 is supplied to the bottom side of the boom cylinder 3a via the control valve 5a, and the boom cylinder 3a extends and the boom 103a rises.

[0040] When the above-mentioned reference part BP of the front working machine 103 enters the deceleration area A due to the rise of the above-mentioned boom 103a (boom raising operation), the controller 32 outputs a drive current corresponding to the front-back pressure ratio r corresponding to the distance D (D2 < D ≤ D1) at that time based on the conversion table 32a in FIG. 8 (in other words, the current for driving the electromagnetic proportional pressure reducing valve 33a in the closing direction. Corresponding to the first command signal). As a result, since the electromagnetic proportional pressure reducing valve 33a reduces the boom raising command pilot pressure of the pilot line 10a, the deceleration operation of the boom cylinder 3a is performed and the boom raising operation is restricted.

[0041] Furthermore, when the reference part BP of the front working machine 103 reaches the stop area B beyond the deceleration area A due to the raising of the boom 103a (boom raising operation), the controller 32 outputs a drive current (corresponding to the first command signal) corresponding to the front-rear pressure ratio r = 0 based on the conversion table 32a in FIG. 8. As a result, the electromagnetic proportional pressure reducing valve 33a is fully closed and the boom raising command pilot pressure in the pilot line 10a is reduced to the tank pressure, so the operation of the boom cylinder 3a stops and the boom raising operation stops.

[0042] <In the case of arm limit control> Also, in the case of the arm crowding operation, for example, when the operation lever of the operation lever device 4b for the arm is operated to the arm crowding side, the operation lever device 4b generates an arm crowding command pilot pressure (secondary pressure) corresponding to the operation amount based on the hydraulic pressure (primary pressure) generated by the pilot pump 7. This arm crowding command pilot pressure is led to the hydraulic drive part 21a of the control valve 5b via the pilot line 11a and the electromagnetic proportional pressure reducing valve 33b, and the control valve 5b is switched from the illustrated neutral position to the left position. As a result, the discharge oil of the hydraulic pump 2 is supplied to the bottom side of the arm cylinder 3b via the control valve 5b, and the arm cylinder 3b extends and the arm 103b crowds in.

[0043] When the reference part BP of the front working machine 103 enters the deceleration area A due to the above arm crowding operation, the controller 32 outputs a drive current (in other words, a current that drives the electromagnetic proportional pressure reducing valve 33b in the closing direction. Corresponding to the second command signal) corresponding to the front-rear pressure ratio r according to the distance D (D2 < D ≤ D1) at that time based on the conversion table 32a in FIG. 8. As a result, the electromagnetic proportional pressure reducing valve 33b reduces the arm crowding command pilot pressure in the pilot line 11a, so the deceleration operation of the arm cylinder 3b is performed and the arm crowding operation is restricted.

[0044] Furthermore, when the reference part BP of the front working machine 103 reaches the stop area B beyond the deceleration area A due to the cloud operation of the arm 103b, the controller 32 outputs a drive current (corresponding to the second command signal) corresponding to the front-rear pressure ratio r = 0 based on the conversion table 32a in FIG. 8. As a result, the electromagnetic proportional pressure reducing valve 33b is fully closed and the pilot pressure of the arm cloud command in the pilot line 11a is reduced to the tank pressure, so the operation of the arm cylinder 3b stops and the arm cloud operation stops.

[0045] On the other hand, in the case of the arm dump operation, when the operation lever of the operation lever device 4b for the arm is operated to the arm dump side, the operation lever device 4b generates an arm dump command pilot pressure (secondary pressure) corresponding to its operation amount based on the hydraulic pressure (primary pressure) generated by the pilot pump 7. This arm dump command pilot pressure is guided to the hydraulic drive unit 21b of the control valve 5b via the pilot line 11b and the electromagnetic proportional pressure reducing valve 33c, and the control valve 5b is switched from the illustrated neutral position to the right position. As a result, the discharge oil of the hydraulic pump 2 is supplied to the rod side of the arm cylinder 3b via the control valve 5b, and the arm cylinder 3b contracts and the arm 103b dumps.

[0046] When the reference part BP of the front working machine 103 enters the deceleration area A due to the above arm dump operation, the controller 32 outputs a drive current (in other words, a current that drives the electromagnetic proportional pressure reducing valve 33c in the closing direction. Corresponding to the second command signal) corresponding to the front-rear pressure ratio r corresponding to the distance D (D2 < D ≤ D1) at that time based on the conversion table 32a in FIG. 8. As a result, the electromagnetic proportional pressure reducing valve 33c reduces the pilot pressure of the arm dump command in the pilot line 11b, so the deceleration operation of the arm cylinder 3b is performed and the arm dump operation is restricted.

[0047] Furthermore, when the dumping operation of the arm 103b causes the reference position BP of the front working implement 103 to pass through the deceleration region A and reach the stop region B, the controller 32 outputs a drive current (corresponding to the second command signal) equivalent to the front-to-rear pressure ratio r=0 based on the conversion table 32a in Fig. 8. This causes the electromagnetic proportional pressure reducing valve 33c to fully close and the arm dump command pilot pressure in the pilot line 11b is reduced to the tank pressure, thereby stopping the operation of the arm cylinder 3b and stopping the arm dumping operation.

[0048] Although detailed description is omitted, the same applies when the reference part BP enters the deceleration region A or the stop region B due to both the boom raising operation and the arm crowding operation. That is, the electromagnetic proportional pressure reducing valves 33a, 33b operate in response to the drive current (corresponding to the first command signal and the second command signal) from the controller 32 to reduce the boom raising command pilot pressure and the arm crowding command pilot pressure. This causes the boom cylinder 3a and the arm cylinder 3b to decelerate or stop, thereby restricting the boom raising and arm crowding operations. Similarly, when both the boom raising operation and the arm dumping operation are performed and the reference position BP enters the deceleration region A or the stop region B, the electromagnetic proportional pressure reducing valves 33a, 33c operate by the drive current (corresponding to the first command signal and the second command signal) from the controller 32 to reduce the boom raising command pilot pressure and the arm dumping command pilot pressure. As a result, the boom cylinder 3a and the arm cylinder 3b are decelerated or stopped, and the boom raising and arm dumping operations are restricted.

[0049] <Controller processing flow - Part 2> 6, when S25 is completed, in S30, the controller 32 determines whether the height direction position of the reference part BP is equal to or higher than the height direction position of the boundary surface E3 (in other words, whether it is invading the prohibited area C). If the position of the reference part BP is lower than the boundary surface E3, the determination is No, and the process returns to the above-mentioned S5, and the same process is repeated. If the position of the reference part BP is equal to or higher than the boundary surface E3, the determination is Yes, and the process proceeds to S35.

[0050] In S35, the controller 32 switches the ON signal output to the hydraulic lock valve 34 to an OFF signal. In other words, if the reference position BP should exceed the stop region B and enter the prohibited region C, the controller 32 switches the ON signal to the hydraulic lock valve 34 to an OFF signal, thereby switching the hydraulic lock valve 34 to the position on the right side in the figure and setting the pressure (primary pressure) in the pilot pressure supply oil passage 7b to the tank pressure. As a result, even if the operating lever devices 4a to 4f are operated, no command pilot pressure is generated and the control valves 5a to 5f are in the neutral position, which makes the hydraulic drive system inoperable and stops all operations of the hydraulic excavator 1.

[0051] Once S35 is complete, terminate this flow.

[0052] <Effects of the first embodiment> As described above, in this embodiment, when the boom 103a, arm 103b, bucket 103c, etc. are driven by the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, etc. to operate the front working implement 103, the posture of the front working implement 103 is detected by the angle sensors 31a to 31c. When the lid portion 170B of the roof window 170 of the cab 107 is in the open state and the predetermined reference position BP of the front working implement 103 is at or above a predetermined height, the controller 32 restricts the movement of the boom 103a, arm 103b, etc. (S25, S35 in FIG. 6). This allows the controller 32 to control the boom 103a, arm 103b, etc. so that the front working implement 103 is not positioned in a position that would allow a work object to enter through the opening 170C of the open skylight 170, such as a position where part of the front working implement 103 is positioned above the cab 107. As a result, according to this embodiment, it is possible to prevent work from being hindered by the entry of a work object into the cab 107 through the opening 170C of the open skylight 170. 6 may be omitted, and if the reference position BP calculated in S10 is equal to or greater than the boundary surface E3 in S30, the controller 32 may cut off the pilot pressure 35 in S35 to restrict the movement of the boom 103a, arm 103b, etc. In this case, the same effect as above, that is, at least preventing a work object from entering the cab 107 through the opening 170C, can be obtained. In this case, in addition to the roof window opening icon IC1, the control icon IC2 is simultaneously displayed on the display device 190 in S35.

[0053] In particular, in this embodiment, the controller 32 performs boom limit control or arm limit control. Boom limit control controls the supply and discharge of hydraulic oil to the boom cylinder 3a to limit the boom-raising operation, thereby preventing the entire front work implement 103 from rising excessively. Arm limit control controls the supply and discharge of hydraulic oil to the arm cylinder 3b to limit the arm crowding operation or the arm dumping operation, thereby preventing the arm 103b and the portion of the front work implement 103 further forward from rising to a position higher than the cab 107, for example. As a result, it is possible to prevent soil and sand from the front work implement 103 from entering the cab 107 through the opening 170C of the skylight 170.

[0054] In this embodiment in particular, control valve 5a is a pilot-type control valve operated by a boom-up command pilot pressure and a boom-down command pilot pressure guided via pilot lines 10a, 10b, and an electromagnetic proportional pressure reducing valve 33a is provided in pilot line 10a. When electromagnetic proportional pressure reducing valve 33a is driven in the opening direction, hydraulic oil is supplied to the bottom side of boom cylinder 3a via control valve 5a, and boom 103a moves in the raising direction. In this embodiment, when boom limiting control is performed, the electromagnetic proportional pressure reducing valve 33a is driven in the closing direction by the input of a drive current from the controller 32. As a result, the supply of hydraulic fluid to the bottom side of the boom cylinder 3a via the control valve 5a is reduced, thereby limiting the boom raising operation.

[0055] In particular, in this embodiment, the control valve 5b is a pilot-type control valve that is operated by an arm crowd command pilot pressure and an arm dump command pilot pressure that are guided via pilot lines 11a and 11b, and electromagnetic proportional pressure reducing valves 33b and 33c are provided in the pilot lines 11a and 11b, respectively. When the electromagnetic proportional pressure reducing valve 33b is driven in the opening direction, hydraulic oil is supplied to the bottom side of the arm cylinder 3b via the control valve 5b, and the arm 103b moves in the crowding direction. When the electromagnetic proportional pressure reducing valve 33c is driven in the opening direction, hydraulic oil is supplied to the rod side of the arm cylinder 3b via the control valve 5b, and the arm 103b moves in the dumping direction. In this embodiment, when arm limiting control is executed, a drive current is input from the controller 32, and the electromagnetic proportional pressure reducing valve 33b or the electromagnetic proportional pressure reducing valve 33c is driven in the closing direction. When the electromagnetic proportional pressure reducing valve 33b is driven in the closing direction, the supply of hydraulic oil to the bottom side of the arm cylinder 3b via the control valve 5b is reduced, so that the arm crowding operation can be limited. When the electromagnetic proportional pressure reducing valve 33c is driven in the closing direction, the supply of hydraulic oil to the rod side of the arm cylinder 3b via the control valve 5b is reduced, so that the arm dumping operation can be limited.

[0056] Furthermore, in this embodiment, by providing an opening / closing detection switch 180, the open state of the lid portion 170B of the skylight 170 can be reliably detected, and the controller 32 can reliably restrict the operation of the boom 103a, arm 103b, etc., based on the detection result.

[0057] Furthermore, particularly in this embodiment, when the open / close detection switch 180 detects that the lid portion 170B of the skylight 170 is in the open state, the controller 32 causes the display device 190 to display the corresponding skylight open icon IC1. The operator can clearly recognize from the skylight open icon IC1 displayed on the display device 190 that the lid portion 170B of the skylight 170 is in the open state.

[0058] Furthermore, particularly in this embodiment, when the controller 32 is executing control to restrict the movement of the boom 103a, arm 103b, etc., it simultaneously displays the corresponding control icon IC2 in addition to the skylight open icon IC1 on the display device 190. The operator can clearly recognize that the lid portion 170B of the skylight 170 is open from the skylight open icon IC1 displayed on the display device 190, and can also clearly recognize from the control icon IC2 that the controller 32 is restricting the movement of the boom 103a, arm 103b, etc.

[0059] Second Embodiment A second embodiment of the present invention will be described with reference to FIGS. 9 to 11. Parts equivalent to those in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted or simplified as appropriate. In the first embodiment, the boom raising and arm crowding / dumping operations were restricted as the height position of the reference position BP approached the height position of the skylight 170, and the front work implement 103 was prevented from moving upwards into the cab 107, thereby preventing the work from invading the cab 107. In contrast, in the second embodiment, the bucket dumping operation is restricted as the height position of the reference position BP approached the height position of the skylight 170, thereby preventing the work from spilling out of the bucket 103c even if the front work implement 103 moves upwards into the cab 107, thereby preventing the work from invading the cab 107.

[0060] <Hydraulic circuit of hydraulic drive system> Fig. 9 is a hydraulic circuit diagram showing the hydraulic drive system of the hydraulic excavator 1 in this embodiment, and corresponds to Fig. 3 of the first embodiment. In Fig. 9, the electromagnetic proportional pressure reducing valves 33a, 33b, and 33c in Fig. 3 are omitted, and instead, an electromagnetic proportional pressure reducing valve 33d (electromagnetic proportional valve for bucket) driven by a drive current (command signal) output from the controller 32 is newly provided in the pilot line 12b.

[0061] The electromagnetic proportional pressure reducing valve 33d reduces the bucket dump command pilot pressure generated by the operating lever device 4c in accordance with the drive current from the controller 32. When the electromagnetic proportional pressure reducing valve 33d is driven in the opening direction, the reduced bucket dump command pilot pressure is guided to the hydraulic drive unit 22b of the control valve 5c via the pilot line 12b, and the control valve 5c supplies hydraulic oil to the rod side of the bucket cylinder 3c.

[0062] <Controller Functions> The function of the controller 32 in this embodiment will be described with reference to FIGS. 10 and 11, which correspond to FIGS. 5 and 6 of the first embodiment, respectively.

[0063] 10 shows inputs and outputs of the controller 32 in this embodiment. As shown in the figure, the controller 32 references a conversion table 32a and outputs drive currents to an electromagnetic proportional pressure reducing valve 33d, which reduces the bucket dump command pilot pressure, and to a hydraulic lock valve 34, in accordance with the rotation angles of the boom 103a and the arm 103b detected by the angle sensors 31a and 31b.

[0064] Figure 11 is a flowchart showing the processing of the controller 32 in this embodiment. In Figure 11, S25' is newly provided in place of S25 in the flowchart of Figure 6 of the first embodiment described above. That is, if the position of the reference part BP is determined to be greater than or equal to the interface surface E1 in S20, the process proceeds to S25'.

[0065] In S25', similarly to S25, the controller 32 refers to the conversion table 32a shown in FIG. 8, for example, to convert the front-to-rear pressure ratio r corresponding to the height direction distance D between the reference position BP and the top surface 107b of the cab box 107A (in other words, the roof window 170) into a drive current for the electromagnetic proportional pressure reducing valve 33d, and outputs the drive current to the electromagnetic proportional pressure reducing valves 33a, 33b, 33d.

[0066] As a result of the pressure reduction control at S25', when the front work machine 103 operates and the reference part BP enters the deceleration area A, the controller 32 drives the electromagnetic proportional pressure reducing valve 33d to reduce the command pilot pressure, and gradually reduces the operating speed of the corresponding bucket cylinder 3c to gradually decelerate the operation of the front work machine 103.

[0067] <Bucket control restriction> That is, when the bucket dump operation is performed, the operation lever of the operation lever device 4c for the bucket is operated to the arm dump side, so that the operation lever device 4c generates a bucket dump command pilot pressure (secondary pressure) corresponding to its operation amount based on the hydraulic pressure (primary pressure) generated by the pilot pump 7. This bucket dump command pilot pressure is guided to the hydraulic drive part 22b of the control valve 5c via the pilot line 12b and the electromagnetic proportional pressure reducing valve 33d, and the control valve 5c is switched from the illustrated neutral position to the right position. As a result, the discharge oil of the hydraulic pump 2 is supplied to the rod side of the bucket cylinder 3c via the control valve 5c, and the bucket cylinder 3c contracts to dump the bucket 103c.

[0068] When the reference part BP of the front work machine 103 enters the deceleration area A due to operations such as boom raising, arm crowding, and arm dumping as described in the first embodiment, the controller 32 of this embodiment outputs a drive current corresponding to the front-back pressure ratio r according to the distance D (D2 < D ≤ D1) at that time based on the conversion table 32a in FIG. 8 (in other words, the current for driving the electromagnetic proportional pressure reducing valve 33d in the closing direction. Corresponding to the third command signal). As a result, since the electromagnetic proportional pressure reducing valve 33d reduces the bucket dump command pilot pressure in the pilot line 12b, the deceleration operation of the bucket cylinder 3c is performed and the bucket dump operation is restricted.

[0069] Furthermore, when the reference position BP of the front working implement 103 exceeds the deceleration region A and reaches the stop region B due to the boom raising, arm crowding, arm dumping operation, etc., the controller 32 outputs a drive current (corresponding to the third command signal) equivalent to the front-to-rear pressure ratio r=0 based on the conversion table 32a in Fig. 8. This causes the electromagnetic proportional pressure reducing valve 33d to fully close and the bucket dump command pilot pressure in the pilot line 12b is reduced to the tank pressure, thereby stopping the operation of the bucket cylinder 3c and stopping the bucket dump operation.

[0070] During the execution of the pressure reduction control of S25', as in the first embodiment, the display device 190 simultaneously displays both the skylight opening icon IC1 (first image) shown in Figure 7(b) and the control icon IC2 (second image) indicating that pressure reduction control is being executed.

[0071] When S25' is completed, the process proceeds to S30, which is the same as in the first embodiment, and thereafter, the same processing as described above is carried out.

[0072] <Effects of the second embodiment> This embodiment also achieves the same effects as the first embodiment. That is, when the boom 103a, arm 103b, bucket 103c, etc. are driven by the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, etc. to operate the front working implement 103, the posture of the front working implement 103 is detected by the angle sensors 31a to 31c. Then, when the lid portion 170B of the roof window 170 of the cab 107 is in the open state and the predetermined reference position BP of the front working implement 103 is at or above a predetermined height, the controller 32 restricts the operation of the bucket 103c (S25', S35 in FIG. 11). This allows the controller 32 to control the attitude of the bucket 103c so that the front working implement 103 is not positioned in a position that would cause a work object to intrude through the opening 170C of the open skylight 170, such as a position where part of the front working implement 103 is positioned above the cab 107. As a result, according to this embodiment, it is possible to prevent work from being hindered by the intrusion of a work object into the cab 107 through the opening 170C of the open skylight 170. 11 may be omitted, and if the reference position BP calculated in S10 is equal to or greater than the boundary surface E3 in S30, the controller 32 may cut off the pilot pressure 35 in S35 to restrict the movement of the bucket 103c. In this case, the same effect as above, that is, at least preventing the work object from entering the cab 107 through the opening 170C, can be obtained. In this case, as in the above case, the control icon IC2 is simultaneously displayed on the display device 190 in addition to the roof window opening icon IC1 in S35.

[0073] Furthermore, particularly in this embodiment, the controller 32 performs bucket limit control, and can limit the bucket dump operation by controlling the supply and discharge of hydraulic oil to the bucket cylinder 3c. This prevents soil and sand in the bucket 103c from spilling out of the bucket 103c and entering the cab 107 through the opening 170C of the skylight 170, even if the bucket 103c is raised to a position higher than the cab 107, for example.

[0074] Furthermore, particularly in this embodiment, the control valve 5c is a pilot-type control valve that is operated by a bucket crowd command pilot pressure and a bucket dump command pilot pressure that are guided via pilot lines 12a and 12b, and an electromagnetic proportional pressure reducing valve 33d is provided in the pilot line 12b. When the electromagnetic proportional pressure reducing valve 33d is driven in the opening direction, hydraulic oil is supplied to the rod side of the bucket cylinder via the control valve 5c, and the bucket moves in the dump direction. In this embodiment, when bucket limiting control is performed, a drive current is input from the controller 32, which drives the electromagnetic proportional pressure reducing valve 33d in the closing direction. As a result, the supply of hydraulic fluid to the rod side of the bucket cylinder 3c via the control valve 5c is reduced, thereby limiting the bucket dumping operation.

[0075] In the above, hydraulic pilot-operated control valves 5a to 5f were used, and limiting control was performed by outputting a drive current from the controller 32 to the electromagnetic proportional pressure reducing valves 33a, 33b, 33c, and 33d installed in the pilot lines 10a, 11a, 11b, and 12b. However, the present invention is not limited to this. That is, for example, the method of the present invention may be applied to a configuration in which the controller outputs a control signal to the electromagnetic drive unit (solenoid) of the control valve to control the supply and discharge of hydraulic fluid based on an electrical operation signal from an operating lever of a so-called electric lever type as described in Japanese Patent Application Publication No. 2007-315126.

[0076] When applying the method of the first embodiment, if the lid portion 170B of the skylight 170 of the cab 107 is open, and the predetermined reference portion BP of the front work implement 103 is above a predetermined height, the controller controls the control signal to the electromagnetic drive unit for at least one of the boom control valve and the arm control valve, thereby restricting the extension operation of the boom cylinder 3a, the extension or retraction operation of the arm cylinder 3b, etc. This makes it possible to restrict boom raising operation, arm cloud operation, or dump operation so that part of the front work implement 103 does not end up in a position above the cab 107. When the technique of the second embodiment is applied, if the lid portion 170B of the roof window 170 of the cab 107 is in the open state and the predetermined reference position BP of the front working implement 103 is at or above a predetermined height, the controller controls the control signal to the electromagnetic drive unit for the bucket control valve, thereby limiting the retraction and contraction operation of the bucket cylinder 3c. This makes it possible to limit the bucket dump operation so that the soil in the bucket 103c does not spill into the opening 170C of the roof window 170.

[0077] <About the problem to be solved and the effects of the invention> The problems to be solved by the invention and the effects of the invention are not limited to those described above. That is, the present invention may solve problems or achieve effects not described above, or may solve only some of the problems or achieve only some of the effects described above.

[0078] <About shape, numbers, structure, and time series> The components illustrated in the embodiments and drawings may be modified and improved as desired within the scope of the technical concept of the present invention in terms of shape, numerical value, or the structure or chronological relationship of multiple components.

[0079] <Other> In the above description, the "open / close detection switch" is described as using a sensor that detects the actual open / close state, but this is not necessarily limited to this. For example, an operator may input open / close information to an open / close detection device via an operation button or the like, and the open / close detection device may acquire the input open / close information to indirectly detect the open / close state. Furthermore, as a sensor for detecting the actual open / closed state, the rotation angle of the hinge 170A of the skylight 170 may be detected by an angle sensor.

[0080] In the above, the arrows shown in each of the drawings such as FIG. 5 and FIG. 10 indicate an example of the flow of signals, and do not limit the direction of the signal flow.

[0081] Furthermore, the flowcharts shown in Figures 6 and 11 do not limit the present invention to the procedures shown in the above flows, and steps may be added or deleted or the order may be changed within the scope that does not deviate from the spirit and technical idea of ​​the invention.

[0082] In addition to the above, the methods according to the above embodiments and their modifications may be used in combination as appropriate. For example, the method according to the first embodiment may be executed in combination with the method according to the second embodiment. Alternatively, the method may be executed by switching between a mode in which the method according to the first embodiment is executed and a mode in which the method according to the second embodiment is executed.

[0083] Although not specifically illustrated, the present invention can be implemented with various modifications within the scope of the invention. [Explanation of symbols]

[0084] 1. Hydraulic excavator (construction machinery) 3a Boom cylinder (hydraulic actuator) 3b Arm cylinder (hydraulic actuator) 3c Bucket cylinder (hydraulic actuator) 5a Control valve (boom control valve) 5b Control valve (arm control valve) 5c Control valve (bucket control valve) 10a Pilot line (boom pilot line) 10b Pilot line (boom pilot line) 11a Pilot line (pilot line for first arm) 11b Pilot line (pilot line for second arm) 12a Pilot line (bucket pilot line) 12b Pilot line (bucket pilot line) 31a Angle sensor (attitude detection device) 31b Angle sensor (attitude detection device) 31c Angle sensor (attitude detection device) 32 Controller 33a Electromagnetic proportional pressure reducing valve (electromagnetic proportional valve for boom) 33b Electromagnetic proportional pressure reducing valve (electromagnetic proportional valve for first arm) 33c Solenoid proportional pressure reducing valve (Solenoid proportional valve for second arm) 33d Electromagnetic proportional pressure reducing valve (electromagnetic proportional valve for bucket) 101 Undercarriage 102 Upper rotating body 103 Front work equipment 103a Boom 103b Arm 103c Bucket 107 Cab 107A Cab Box 107a Front part 107b Top section 170 Skylight 170B Lid part 170C aperture 180 Open / close detection switch (open / close detection device) 190 Display device BP connecting pin (reference part) IC1 Skylight Opening Icon (1st Icon) IC2 Control Icon (Second Icon)

Claims

1. a lower running body; an upper rotating body rotatably provided on the lower traveling body; A cab provided on the upper rotating body; a front working machine attached to the upper rotating body so as to be able to move up and down; a posture detection device that detects posture information of the front working implement; a controller that controls an operation of the front working implement based on the posture information detected by the posture detection device; Equipped with The cab is a cab box having a front surface, a rear surface, and a top surface, and having a driver's cab formed therein; an openable and closable roof window provided on the top surface of the cab box; In construction machinery having An open / close detection device is provided to detect the open / close state of the skylight, The construction machine is characterized in that the controller restricts the operation of the front working implement when the open / close detection device detects that the skylight is open and the posture detection device detects that the height of a reference portion of the front working implement is equal to or greater than a predetermined height.

2. 2. The construction machine according to claim 1, The front working machine is a boom provided on the upper rotating body so as to be capable of being raised and lowered; an arm connected to the tip side of the boom so as to be able to move up and down, The controller When the open / close detection device detects that the skylight is open and the height of the reference portion of the front working implement is equal to or greater than a predetermined height based on the posture information detected by the posture detection device, the raising operation of the boom or the crowding or dumping operation of the arm is restricted. Construction machinery characterized by:

3. 2. The construction machine according to claim 1, The front working machine is a boom provided on the upper rotating body so as to be capable of being raised and lowered; an arm connected to the tip side of the boom so as to be able to move up and down; a bucket rotatably connected to a tip end of the arm; Including, The controller When the roof window is in an open state and the height of the reference portion of the front working implement is equal to or greater than a predetermined height based on the posture information detected by the posture detection device, Limiting the dumping operation of the bucket Construction machinery characterized by:

4. 2. The construction machine according to claim 1, The front working machine is a boom provided on the upper rotating body so as to be capable of being raised and lowered; an arm connected to the tip side of the boom so as to be able to move up and down; a bucket rotatably connected to a tip end of the arm; Including, the reference portion of the front working implement is a connecting pin between the bucket and the arm, The controller limits the operation of the front working implement when the open / close detection device detects that the skylight is open and the posture detection device detects that the connecting pin is in a position higher than the top surface of the cab.

5. 2. The construction machine according to claim 1, The open / close detector is attached to at least one of the skylight and the top surface, and outputs a signal corresponding to the open state of the skylight to the controller. Construction machinery characterized by:

6. 6. The construction machine according to claim 5, A display device provided in the driver's cab, The controller When the open / close detection device detects that the skylight is in an open state, a first image indicating that the skylight is in an open state is displayed on the display device.

7. 7. The construction machine according to claim 6, The controller When the open / close detection device detects that the skylight is open and the posture detection device detects that the height of the reference portion of the front working machine is equal to or greater than the predetermined height, a second image indicating that control is being executed to limit the operation of the front working machine is simultaneously displayed on the display device together with the first image.

Images