Work Machine

Abstract

To operate an appropriate actuator according to a content of a work without relying on the operator's judgment.SOLUTION: A first actuator 31 is an actuator different from a dual-purpose actuator 33 and is used for a crane work. A second actuator 32 is an actuator different from the dual-purpose actuator 33 and is used for another work. A first actuator stopping unit (61) stops the first actuator 31 when a second mode is selected by a mode selecting unit 50. Second actuator stopping units (62, 65) stop the second actuator 32 when a first mode is selected by the mode selecting unit 50.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work machine that can be used for both crane work and other work. [Background technology]

[0002] For example, Patent Document 1 describes a work machine that can be used for crane work and other work (see Figs. 1 and 5 of the same document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-007052 A Summary of the Invention [Problem to be solved by the invention]

[0004] Such a work machine may be provided with an actuator for crane work and an actuator for other work. Conventionally, an operator of the work machine has determined which actuator to operate depending on the type of work. Therefore, during crane work, an actuator for other work may be operated, and vice versa.

[0005] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, an object of the present invention is to provide a work machine that is capable of operating an appropriate actuator according to the content of the work, without relying on the judgment of the operator. [Means for solving the problem]

[0006] The work machine includes a machine body, a boom, a dual-purpose actuator, a first actuator, a second actuator, a mode selection unit, a first actuator stop unit, and a second actuator stop unit. The boom is attached to the machine body so as to be able to be raised and lowered. The dual-purpose actuator is an actuator for use in both crane work using the boom and another work. The other work is work using the boom and different from the crane work. The first actuator is an actuator different from the dual-purpose actuator and for use in the crane work. The second actuator is an actuator different from the dual-purpose actuator and for use in the other work. The mode selection unit is for selecting one of a plurality of modes including a first mode selected when performing the crane work and a second mode selected when performing the other work. The first actuator stop unit stops the first actuator when the second mode is selected by the mode selection unit. The second actuator stop unit stops the second actuator when the first mode is selected by the mode selection unit. Effect of the Invention

[0007] With the above configuration, it is possible to operate an appropriate actuator depending on the content of the work, without relying on the judgment of the operator. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of the work machine 1. [Diagram 2] FIG. 2 is a block diagram of the work machine 1 shown in FIG. [Diagram 3] 3 is a flowchart showing the process of a controller 80 shown in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The working machine 1 will be described with reference to FIGS.

[0010] As shown in FIG. 1, the work machine 1 is a machine that performs work using a boom 15. The work machine 1 is used for both crane work and "other work." When the work machine 1 performs crane work, a hook (not shown) is hung from the boom 15, a load is hung on the hook, and the load is hoisted up. The work machine 1 in a state performing crane work is a crane (e.g., a mobile crane). The "other work" is work that uses the boom 15 and is different from crane work. The above "other work" is specifically, for example, foundation civil engineering work. When the work machine 1 performs foundation civil engineering work, for example, a leader 17 and a working device 19, which will be described later, are attached to the boom 15, and work is performed by the leader 17 and the working device 19. The foundation civil engineering work may be, for example, excavation work for excavating (boring) the ground, pile driving work for driving piles into the ground, or pile extraction work for pulling piles out of the ground. The work machine 1 in a state performing foundation civil engineering work is a foundation work machine (vehicle-mounted construction machine), and may be, for example, an excavator, a pile driver, or a pile extractor. The "other work" may be work different from crane work and different from foundation civil engineering work. The work machine 1 comprises a machine body 10, a boom 15, a leader 17, a work device 19, and a mode selection control device 20 (see FIG. 2).

[0011] The machine body 10 is a main body portion of the work machine 1. The machine body 10 includes a lower traveling body 11 and an upper rotating body 13.

[0012] The lower traveling body 11 allows the work machine 1 to travel. The lower traveling body 11 may be equipped with crawlers 11a or may be equipped with wheels (not shown). Note that the work machine 1 may be a machine that is not self-propelled (for example, a fixed crane).

[0013] The upper rotating body 13 is mounted on the lower traveling body 11 so as to be able to rotate. The upper rotating body 13 includes a rotating frame 13a and a cab 13b. The rotating frame 13a is a structure to which a boom 15 and the like are attached. The cab 13b is a section where an operator can operate the work machine 1. The work machine 1 may be operated (remotely operated) from a position different from the cab 13b.

[0014] The boom 15 is attached to the machine body 10 (more specifically, the upper rotating body 13) so as to be able to rise and fall. For example, the boom 15 may be a telescopic boom that is telescopic in the longitudinal direction of the boom 15, or may not be telescopic. The boom 15 may have a box-type structure or a lattice structure.

[0015] The leader 17 is a structure that positions the working device 19. The leader 17 is attached to the boom 15 when the work machine 1 performs other work (specifically, foundation civil engineering work). The leader 17 is disposed so as to extend downward from the boom 15 (e.g., the tip or upper end). The leader 17 is columnar. For example, the leader 17 includes an upper leader 17a, a middle leader 17b, and a lower leader 17c.

[0016] The upper leader 17a constitutes the upper part of the leader 17. The upper leader 17a may be provided with a sheave for hoisting, for example, a working device 19. The middle leader 17b extends downward from the upper leader 17a and is columnar. The lower leader 17c constitutes the lower part of the leader 17. The lower leader 17c extends downward from the middle leader 17b and is columnar. The lower leader 17c is supported on the ground.

[0017] The working device 19 is a device that performs work. The working device 19 is attached to the leader 17 and positioned on the leader 17 when the work machine 1 performs other work (specifically, foundation civil engineering work). For example, the working device 19 may be a device that performs excavation work to excavate (bores) the ground. In this case, the working device 19 is an earth auger. In this case, the working device 19 is movable along the leader 17 in the longitudinal direction (up and down direction) of the leader 17. For example, the working device 19 may be a device (pile driving device) that performs pile driving work to drive piles into the ground. For example, the working device 19 may be a device (pulling device) that performs extraction work to pull piles out of the ground. Here, a case where the working device 19 is an earth auger that performs excavation work will be described. The working device 19 includes an auger lifting device 19a, an auger driving device 19b, and an auger drill 19c.

[0018] The auger lifting device 19a moves (raises and lowers) the auger drill 19c in the vertical direction. The auger lifting device 19a is attached to the leader 17 and rises and lowers in the vertical direction along the leader 17. For example, the auger lifting device 19a may be raised and lowered by a foundation civil engineering winch 32a (second actuator 32, second winch) described later. In this case, the auger lifting device 19a may be raised by being lifted by a rope (more specifically, a wire rope) from the tip of the boom 15. The auger lifting device 19a may be lowered by being pulled down by a rope hung on a sheave (not shown) provided on the lower part of the leader 17. The auger lifting device 19a may be raised and lowered relative to the leader 17 without using the power of the foundation civil engineering winch 32a. For example, the auger lifting device 19a may be raised and lowered relative to the leader 17 by driving a pinion provided on the auger lifting device 19a relative to a rack provided on the leader 17.

[0019] The auger driving device 19b drives and rotates the auger drill 19c relative to the leader 17. The auger driving device 19b drives and rotates the auger drill 19c about a central axis of the auger drill 19c extending in the longitudinal direction of the auger drill 19c. The auger driving device 19b (auger reducer) includes a motor and a reducer. The auger drill 19c is a drill that excavates the ground.

[0020] The mode selection control device 20 (see FIG. 2) is a device that controls stopping of the actuators depending on the mode (described later). The mode selection control device 20 includes a first actuator 31, a second actuator 32, and a dual-use actuator 33. As shown in FIG. 2, the mode selection control device 20 includes a second actuator hydraulic source 35, a sensor 40, a mode selection unit 50, a hydraulic control unit 60, a second actuator hydraulic source control unit 65 (second actuator stopping unit), a display unit 70, and a controller 80.

[0021] The first actuator 31 is an actuator different from the dual-use actuator 33 shown in FIG. 1 (details will be described later), and is an actuator for use (assumed to be used) in crane work. The "actuator" is, for example, a hydraulic actuator, and may include a hydraulic cylinder, a hydraulic motor, or a winch equipped with a hydraulic motor (similar to the second actuator 32 and the dual-use actuator 33). The "actuator" may include an actuator driven by something other than hydraulic pressure (e.g., fluid pressure other than hydraulic pressure, electric power, etc.) (similar to the second actuator 32 and the dual-use actuator 33). For example, the first actuator 31 is used only when the first mode (described later) is selected by the mode selection unit 50 (see FIG. 2). Specifically, for example, the first actuator 31 includes a crane winch 31a (first winch). The first actuator 31 may include an actuator other than a winch (similar to the second actuator 32).

[0022] The crane winch 31a (first winch) is a winch (e.g., a hydraulic winch) for use in crane work. The crane winch 31a is a device (hoisting device) that winds up and pays out a rope (the same applies to the foundation construction winch 32a (second winch) described below). Specifically, the crane winch 31a winds up and pays out a rope for hoisting up a hook (not shown). Only one crane winch 31a may be provided, or multiple crane winches 31a may be provided. The crane winch 31a may be mounted on the upper rotating body 13 (the rear of the upper rotating body 13 in the example shown in FIG. 1) or on the boom 15.

[0023] The second actuator 32 is an actuator different from the dual-use actuator 33 (described in detail later) and is an actuator for (assumed to be used for) "other work". For example, the second actuator 32 is an actuator for use in foundation civil engineering work (foundation civil engineering actuator). For example, the second actuator 32 is used only when the second mode (described later) is selected. Only one second actuator 32 may be provided, or multiple second actuators 32 may be provided. Specifically, for example, the second actuator 32 includes a foundation civil engineering winch 32a (second winch). When the working device 19 (for example, at least one of the auger lifting device 19a and the auger driving device 19b) includes an actuator, this actuator corresponds to the second actuator 32.

[0024] The foundation civil engineering winch 32a (second winch) is a winch (e.g., a hydraulic winch) for use in "other work". For example, the foundation civil engineering winch 32a is a winch for use in foundation civil engineering work. Specifically, for example, the foundation civil engineering winch 32a may wind and unwind a rope for raising and lowering the auger lifting device 19a. The foundation civil engineering winch 32a may be mounted on the upper revolving body 13 (the front part of the upper revolving body 13 in the example shown in FIG. 1) or on the boom 15. The first winch (specifically, the crane winch 31a) used for crane work and the second winch (specifically, the foundation civil engineering winch 32a) used for other work have different required performance and applicable regulations. Therefore, when a winch that can be used for both crane work and other work is provided, costs (such as the cost of the winch itself and development costs) may increase compared to when a winch for crane work and a winch for other work are provided separately. In the work machine 1, a first winch (specifically, a crane winch 31a) used for crane work and a second winch (specifically, a foundation construction winch 32a) used for other work are separately provided.

[0025] The dual-purpose actuator 33 is an actuator for use (assumed to be used) for both crane work and "other work." For example, the dual-purpose actuator 33 is an actuator for use for both crane work and civil engineering work. For example, the dual-purpose actuator 33 includes a boom hoisting cylinder 33a and a boom telescopic cylinder 33b.

[0026] The boom hoisting cylinder 33a raises and lowers the boom 15 relative to the machine body 10 (more specifically, the upper rotating body 13). The boom hoisting cylinder 33a is attached to the upper rotating body 13 and the boom 15. The boom hoisting cylinder 33a is an extendable and retractable hydraulic cylinder (the same is true for the boom telescopic cylinder 33b).

[0027] The boom telescopic cylinder 33b extends and retracts the boom 15. The boom telescopic cylinder 33b is disposed inside the boom 15. Only one boom telescopic cylinder 33b may be provided, or multiple boom telescopic cylinders 33b may be provided. When crane work is performed, the position of the hook (not shown) is changed by raising and retracting the boom 15. When foundation civil engineering work is performed, the positions of the leader 17 and the working device 19 are changed by raising and retracting the boom 15, and the force acting from the working device 19 on the ground, piles, etc. is also changed.

[0028] The second actuator hydraulic power source 35 (see FIG. 2) supplies pressure oil to the second actuator 32. The second actuator hydraulic power source 35 is, for example, a hydraulic pump.

[0029] The sensor 40 (see FIG. 2) detects the load acting on the work machine 1. More specifically, the sensor 40 detects information required to calculate the moment (overturning moment) acting on the work machine 1. Specifically, for example, as shown in FIG. 2, the sensor 40 includes a boom angle sensor 41, a boom length sensor 42, and a boom raising and lowering cylinder pressure sensor 43.

[0030] The boom angle sensor 41 detects the hoisting angle (boom angle θ) of the boom 15 with respect to the horizontal direction, as shown in Fig. 1. For example, the boom angle sensor 41 (see Fig. 2) may be an angle sensor that detects the angle of the boom 15 with respect to the upper rotating body 13, or may be an inclination sensor that detects the inclination of the boom 15 with respect to the horizontal plane.

[0031] The boom length sensor 42 (see FIG. 2) detects the length (boom length L) of the boom 15 in the longitudinal direction of the boom 15. For example, the boom length sensor 42 may detect the stroke of the boom telescopic cylinder 33b.

[0032] The boom hoist cylinder pressure sensor 43 (see FIG. 2) detects the pressure (hydraulic pressure, boom hoist cylinder pressure Pb) acting on the boom hoist cylinder 33a.

[0033] The mode selection unit 50 (see FIG. 2) is for selecting (switching) one of a plurality of modes. The mode selection unit 50 shown in FIG. 2 is operated by an operator of the work machine 1. For example, the mode selection unit 50 may be disposed inside the cab 13b (see FIG. 1) or outside the cab 13b. The mode selection unit 50 is, for example, a switch (mode selection switch), and may be a physical switch or a switch displayed on a screen (for example, a switch operated by touch). The modes selected by the mode selection unit 50 include a first mode and a second mode. The first mode is a mode (crane mode) selected when the work machine 1 performs crane work. The second mode is a mode selected when the work machine 1 performs "other work". For example, the second mode is a mode (foundation civil engineering mode) selected when the work machine 1 performs foundation civil engineering work. The mode selection unit 50 does not select both the first mode and the second mode at the same time. When the first mode is selected, the second mode is not selected. When the second mode is selected, the first mode is not selected. The modes selected by the mode selection unit 50 may include modes (e.g., a third mode, a fourth mode, etc.) different from the first mode and the second mode. For example, the modes selected by the mode selection unit 50 may include a disassembly / assembly mode that is selected when disassembly or assembly of the work machine 1 is performed.

[0034] The hydraulic control unit 60 controls the actuators (first actuator 31, second actuator 32, and dual-use actuator 33) when they are hydraulic. The hydraulic control unit 60 controls the operation of the actuators (operation speed, operation direction). The hydraulic control unit 60 controls the stopping of the actuators. Specifically, for example, the hydraulic control unit 60 controls the supply of pressure oil to the actuators (flow rate, direction). The hydraulic control unit 60 is configured to be able to stop the supply of pressure oil to the actuators. The hydraulic control unit 60 includes a first actuator control unit 61 (first actuator stopping unit), a second actuator control unit 62 (second actuator stopping unit), and a dual-use actuator control unit 63.

[0035] The first actuator control unit 61 (first actuator stop unit) (crane actuator control unit) controls the first actuator 31. More specifically, the first actuator control unit 61 controls the operation and stop of the first actuator 31 in response to a command input to the first actuator control unit 61. When the second mode is selected by the mode selection unit 50, the first actuator control unit 61 stops the first actuator 31. More specifically, when the second mode is selected by the mode selection unit 50, even if an operation for operating the first actuator 31 is performed by the operator, the first actuator control unit 61 does not operate the first actuator 31 (invalidates the operation). When the second mode is not selected by the mode selection unit 50 (for example, when the first mode is selected), the first actuator control unit 61 operates the first actuator 31 in response to the operator's operation for operating the first actuator 31. At this time, the first actuator control unit 61 does not invalidate (validates) the operator's operation for operating the first actuator 31. However, when a load factor M, which will be described later, exceeds a threshold value MA, the first actuator control section 61 does not operate the first actuator 31 (invalidates the operation) (details will be described later). For example, the first actuator control section 61 includes a crane winch control section 61a.

[0036] The crane winch control unit 61a controls the crane winch 31a. Specifically, for example, the crane winch control unit 61a controls the winding and unwinding of the rope by the crane winch 31a. The crane winch control unit 61a is configured to be able to stop the crane winch 31a.

[0037] The second actuator control unit 62 (second actuator stopping unit) (for example, foundation civil engineering actuator control unit) controls the second actuator 32. More specifically, the second actuator control unit 62 controls the operation and stop of the second actuator 32 in response to a command input to the second actuator control unit 62. When the first mode is selected by the mode selection unit 50, the second actuator control unit 62 stops the second actuator 32. More specifically, when the first mode is selected by the mode selection unit 50, even if an operation for operating the second actuator 32 is performed by the operator, the second actuator control unit 62 does not operate the second actuator 32 (invalidates the operation). When the first mode is not selected by the mode selection unit 50 (for example, when the second mode is selected), the second actuator control unit 62 operates the second actuator 32 in response to the operator's operation for operating the second actuator 32. At this time, the second actuator control unit 62 does not invalidate (validates) the operator's operation for operating the second actuator 32. For example, the second actuator control unit 62 includes a foundation construction winch control unit 62a.

[0038] The foundation construction winch control unit 62a (second winch control unit, second actuator stopping unit) controls the foundation construction winch 32a. Specifically, for example, the foundation construction winch control unit 62a controls the winding and unwinding of the rope by the foundation construction winch 32a. The foundation construction winch control unit 62a is configured to be able to stop the foundation construction winch 32a.

[0039] The dual-use actuator control unit 63 controls the dual-use actuator 33. More specifically, the dual-use actuator control unit 63 controls the activation and deactivation of the dual-use actuator 33 in response to a command input to the dual-use actuator control unit 63. When the first mode is selected by the mode selection unit 50, the dual-use actuator control unit 63 activates the dual-use actuator 33 in response to an operation by the operator for activating the dual-use actuator 33 (does not invalidate the operation). When the second mode is selected by the mode selection unit 50, the dual-use actuator control unit 63 activates the dual-use actuator 33 in response to an operation by the operator for activating the dual-use actuator 33 (does not invalidate the operation). However, when a load rate M, which will be described later, exceeds a threshold value MA, the dual-use actuator control unit 63 does not activate the dual-use actuator 33 (invalidates the operation) (details will be described later). For example, the dual-use actuator control unit 63 includes a boom hoisting control unit 63a and a boom extension / retraction control unit 63b.

[0040] The boom hoisting control unit 63a controls the raising and lowering of the boom 15 (see FIG. 1). More specifically, the boom hoisting control unit 63a controls the raising and lowering of the boom 15 by controlling the extension and contraction of the boom hoisting cylinder 33a.

[0041] The boom extension / retraction control unit 63b controls the extension and retraction of the boom 15 (see FIG. 1). More specifically, the boom extension / retraction control unit 63b controls the extension and retraction of the boom 15 by controlling the extension and retraction of the boom extension cylinder 33b.

[0042] The second actuator hydraulic source control unit 65 (second actuator stopping unit) controls the supply of pressure oil from the second actuator hydraulic source 35 to the second actuator 32. For example, the second actuator hydraulic source control unit 65 may be configured to be capable of stopping the second actuator hydraulic source 35. In this case, the second actuator hydraulic source control unit 65 stops the second actuator 32 by stopping the second actuator hydraulic source 35 and stopping the supply of pressure oil from the second actuator hydraulic source 35 to the second actuator 32. Also, for example, the second actuator hydraulic source control unit 65 may be configured to be capable of closing the piping from the second actuator hydraulic source 35 to the second actuator 32. In this case, the second actuator hydraulic source control unit 65 closes the above-mentioned piping to stop the supply of pressure oil from the second actuator hydraulic source 35 to the second actuator 32 and stop the second actuator 32. In this case, the second actuator hydraulic source control unit 65 does not need to be stopped. In this case, for example, a switching valve (not shown) provided in the above-mentioned piping may be switched so that the oil discharged by the second actuator hydraulic source 35 is returned to a tank (not shown).

[0043] The display unit 70 displays which mode has been selected by the mode selection unit 50. For example, the display unit 70 may be disposed outside the machine body 10 shown in FIG. 1, may be attached to the machine body 10, or may be disposed inside the machine body 10 (e.g., inside the cab 13b). The display unit 70 may be disposed in a position visible to an operator of the work machine 1, or may be disposed in a position visible to a worker outside the work machine 1 (e.g., a site supervisor or a rigging worker). The display unit 70 shown in FIG. 2 may be an indicator light (light, such as a rotating light). The display unit 70 may display on a screen. The display unit 70 includes a first display unit 71 and a second display unit 72.

[0044] When the first mode (crane mode) is selected in the mode selection unit 50, the first display unit 71 (crane mode display unit) displays that the first mode has been selected (gives a display indicating that the first mode has been selected).

[0045] The second display unit 72 (e.g., a foundation civil engineering mode display unit) displays that the second mode has been selected (provides a display indicating that the second mode has been selected) when the second mode (e.g., foundation civil engineering mode) is selected in the mode selection unit 50.

[0046] The controller 80 is a computer that performs signal input / output, calculation (processing), information storage, etc. For example, the functions of the controller 80 are realized by a calculation unit (not shown) executing a program stored in a memory unit (not shown) of the controller 80. The controller 80 has a function as a safety device (moment limiter) that limits the moment (overturning moment) of the work machine 1. The controller 80 includes a load factor calculation unit 81, a mode discrimination unit 82, and an output unit 83.

[0047] The load factor calculation unit 81 calculates (calculates) the load factor M of the work machine 1. The load factor M is the ratio of the current load to the maximum load allowable in the work machine 1. The load factor calculation unit 81 calculates the load factor M based on the detection value input from the sensor 40.

[0048] The mode discriminator 82 discriminates which mode has been selected by the mode selector 50 .

[0049] The output unit 83 outputs a command (a control command, for example, an electrical signal). For example, the output unit 83 outputs a command to the hydraulic control unit 60, the second actuator hydraulic power source control unit 65, and the display unit .

[0050] (Activation) The controller 80 performs the following process. Each of the following steps (S11 to S32) will be described with reference to FIG.

[0051] In step S11, the load factor calculation unit 81 shown in Fig. 2 reads the boom angle θ (see Fig. 1), boom length L (see Fig. 1), and hoist cylinder pressure Pb detected by the sensor 40. In step S12, the load factor calculation unit 81 calculates the load factor M from the read boom angle θ, boom length L, and hoist cylinder pressure Pb.

[0052] In step S21, the mode discrimination unit 82 reads the mode selected by the mode selection unit 50 ("Sw" in FIG. 3). In step S22, the mode discrimination unit 82 discriminates the read mode (step S22). If the mode selected by the mode selection unit 50 is the first mode (crane mode, "CR" in FIG. 3), the flow proceeds to step S23. If the mode selected by the mode selection unit 50 is the second mode (for example, foundation civil engineering mode, "FO" in FIG. 3), the flow proceeds to step S24.

[0053] In step S23, when the mode selected by the mode selection unit 50 is the first mode (crane mode), the controller 80 stops the second actuator 32 and causes the first display unit 71 to display. More specifically, the output unit 83 may output a signal to the second actuator control unit 62 to stop the second actuator 32. Specifically, for example, the output unit 83 may output a signal to the foundation construction winch control unit 62a to stop the foundation construction winch 32a. The output unit 83 may output a signal to the second actuator hydraulic power source control unit 65 to stop the second actuator hydraulic power source 35. The controller 80 may stop both the foundation construction winch 32a and the second actuator hydraulic power source 35, or may stop only one of them. When the mode selected by the mode selection unit 50 is the first mode, the controller 80 allows the operation of the first actuator 31 (sets the stop state to be released). When the mode selected by the mode selection unit 50 is the first mode, the controller 80 allows the operation of the dual-use actuator 33. When the mode selected by the mode selection unit 50 is the first mode, the output unit 83 outputs a signal to the first display unit 71 to cause it to display an indication that the first mode has been selected.

[0054] In step S24, when the mode selected by the mode selection unit 50 is the second mode (for example, foundation civil engineering mode), the controller 80 stops the first actuator 31 and causes the second display unit 72 to display. More specifically, in this case, the output unit 83 outputs a signal to the first actuator control unit 61 to stop the first actuator 31. Specifically, for example, the output unit 83 outputs a signal to the crane winch control unit 61a to stop the crane winch 31a. When the mode selected by the mode selection unit 50 is the second mode, the controller 80 allows the operation of the second actuator 32 (resets the stop). When the mode selected by the mode selection unit 50 is the second mode, the controller 80 allows the operation of the dual-purpose actuator 33. When the mode selected by the mode selection unit 50 is the second mode, the output unit 83 outputs a signal to the second display unit 72 to display an indication that the second mode is selected.

[0055] In step S31, the controller 80 determines whether the load factor M has exceeded the threshold value MA. As a result, the controller 80 determines whether the overturning moment of the work machine 1 has exceeded the threshold value related to the overturning moment. The threshold value MA is set in advance (before this determination is made) in the controller 80. If the load factor M does not exceed the threshold value MA (NO in step S31), the controller 80 ends the current series of processes and starts the next series of processes (returns to start). If the load factor M has exceeded the threshold value MA (YES in step S31), the flow proceeds to step S32.

[0056] In step S32, when the load factor M exceeds the threshold value MA, the controller 80 stops the first actuator 31 and the dual-purpose actuator 33 (executes the function of a moment limiter). More specifically, in this case, the output unit 83 outputs a signal to the first actuator control unit 61 (specifically, the crane winch control unit 61a) to stop the first actuator 31 (specifically, the crane winch 31a). The output unit 83 outputs a signal to the dual-purpose actuator control unit 63 to stop the dual-purpose actuator 33. Specifically, the output unit 83 outputs a signal to the boom hoisting control unit 63a to stop the boom hoisting cylinder 33a. The output unit 83 outputs a signal to the boom extension and contraction control unit 63b to stop the boom extension and contraction cylinder 33b. Then, the controller 80 ends the current series of processes and starts the next series of processes (returns to start).

[0057] The controller 80 may stop the second actuator 32 in response to some condition other than the first mode being selected by the mode selection unit 50 (for example, a condition related to the load on the work machine 1 or the work implement 19 (see FIG. 1)).

[0058] (Effects of the first invention) The effects of the work machine 1 shown in FIG. 1 are as follows. The work machine 1 includes a machine body 10, a boom 15, a dual-purpose actuator 33, a first actuator 31, and a second actuator 32. As shown in FIG. 2, the work machine 1 includes a mode selection unit 50, a first actuator control unit 61 (first actuator stopping unit), and a second actuator stopping unit (second actuator control unit 62, second actuator hydraulic power source control unit 65). As shown in FIG. 1, the boom 15 is attached to the machine body 10 so as to be capable of being raised and lowered. The dual-purpose actuator 33 is an actuator for use in both crane work using the boom 15 and "other work" that is work using the boom 15 but different from the crane work. The first actuator 31 is an actuator different from the dual-purpose actuator 33 and is for use in crane work. The second actuator 32 is an actuator different from the dual-purpose actuator 33 and is for use in other work.

[0059] [Configuration 1] The mode selection unit 50 shown in Fig. 2 is for selecting one of a plurality of modes. The plurality of modes include a first mode selected when performing crane work, and a second mode selected when performing other work. The first actuator control unit 61 stops the first actuator 31 when the second mode is selected by the mode selection unit 50. The second actuator stopping unit (at least one of the second actuator control unit 62 and the second actuator hydraulic power source control unit 65) stops the second actuator 32 when the first mode is selected by the mode selection unit 50.

[0060] The above [Configuration 1] provides the following effects. When the first mode is selected by the mode selection unit 50, the second actuator 32 stops. When the second mode is selected by the mode selection unit 50, the first actuator 31 stops. Therefore, it is possible to operate an appropriate actuator according to the mode selected by the mode selection unit 50. Therefore, it is possible to operate an appropriate actuator according to the content of the work, without relying on the judgment of the operator.

[0061] The above [Configuration 1] may provide the following effects. For example, consider a case where the second actuator 32 operates when the first mode (crane mode) is selected by the mode selection unit 50. In this case, the second actuator 32, which is not normally used in crane work, is used in crane work. Then, the accuracy of the safety device (controller 80) of the work machine 1 as a crane may not be guaranteed. As a result, the operation of the work machine 1 by the safety device may not be appropriately restricted. Similarly, when the second mode (for example, foundation civil engineering mode) is selected by the mode selection unit 50, it may not be appropriate for the first actuator 31 to operate. Therefore, the content of the work and the actuator to be used must appropriately correspond to each other. Conventionally, the actuator to be used was determined according to the content of the work by the judgment (selection) of the operator. On the other hand, the work machine 1 of this embodiment includes the above [Configuration 1], and therefore can operate an appropriate actuator according to the mode (content of the work) selected by the mode selection unit 50 without relying on the judgment of the operator. As a result, the accuracy of the safety device and compliance with regulations can be guaranteed.

[0062] In addition, in the above [Configuration 1], when the first mode is selected by the mode selection unit 50, even if the operator performs an operation to activate the second actuator 32, the second actuator 32 does not operate. Therefore, the operator can easily notice the mistake of operating the second actuator 32 while selecting the first mode. Similarly, the operator can easily notice the mistake of operating the first actuator 31 while selecting the second mode. Therefore, the operator can easily notice the mismatch (mistake) between the mode selected by the mode selection unit 50 and the operation performed by the operator.

[0063] (Effects of the second invention) [Configuration 2] The above-mentioned "other work" is foundation civil engineering work.

[0064] The above [Configuration 2] provides the following effects. Since the performance required of actuators and applicable regulations differ between crane work and civil engineering work, it is important to operate an actuator appropriate for the type of work. By providing the above [Configuration 1] and [Configuration 2], it is possible to operate an actuator appropriate for each of the crane work and civil engineering work.

[0065] (Effects of the third invention) [Configuration 3] The first actuator 31 includes a first winch (crane winch 31a) for use in crane work. The second actuator 32 includes a second winch (for example, a foundation construction winch 32a) for use in other work.

[0066] In the above [Configuration 3], the first actuator 31 and the second actuator 32 each include a winch. Therefore, if the above [Configuration 1] is not provided, there is a risk that the second winch for other work (for example, foundation construction winch 32a) will be used during crane work, or the first winch for crane work (crane winch 31a) will be used during other work. On the other hand, since the work machine 1 includes the above [Configuration 1] and [Configuration 3], it is possible to operate an appropriate winch according to the mode (content of work) selected by the mode selection unit 50.

[0067] (Effect of the fourth invention) [Configuration 4] The work machine 1 is provided with a second actuator hydraulic power source 35 that supplies pressure oil to the second actuator 32. A second actuator control unit 62 (second actuator stopping unit) stops the second actuator 32 by stopping the second actuator hydraulic power source 35 when the first mode is selected by the mode selection unit 50.

[0068] In the above [Configuration 4], the second actuator 32 is stopped by stopping the second actuator hydraulic power source 35 and stopping the supply of pressure oil to the second actuator 32. Therefore, when the first mode is selected by the mode selection unit 50, the second actuator 32 can be reliably stopped.

[0069] (Effect of the fifth aspect of the invention) [Configuration 5] The work machine 1 is provided with a second actuator hydraulic source 35 that supplies pressure oil to the second actuator 32. A second actuator stopping unit (second actuator control unit 62 or second actuator hydraulic source control unit 65) stops only one of the second actuator 32 and the second actuator hydraulic source 35 when the first mode is selected by the mode selection unit 50.

[0070] The above [Configuration 5] provides the following effects. Compared to the case where both the second actuator 32 and the second actuator hydraulic power source 35 are stopped, the cost required for the second actuator stopping section (the second actuator control section 62 or the second actuator hydraulic power source control section 65) can be reduced. Specifically, for example, when the second actuator 32 is stopped without stopping the second actuator hydraulic power source 35, it is not necessary to provide a means for stopping the second actuator hydraulic power source 35. When the second actuator hydraulic power source 35 is stopped without stopping the second actuator 32, it is not necessary to provide a means for stopping the second actuator 32.

[0071] In this embodiment, the means for stopping the second actuator 32 is also used as the means for controlling the second actuator 32 (second actuator control unit 62), but may be provided separately from the second actuator control unit 62. In this embodiment, the means for stopping the second actuator hydraulic power source 35 is also used as the means for controlling the second actuator hydraulic power source 35 (second actuator hydraulic power source control unit 65), but may be provided separately from the second actuator hydraulic power source control unit 65.

[0072] (Effect of the sixth aspect of the invention) [Configuration 6] The work machine 1 includes a first display unit 71 and a second display unit 72. When the first mode is selected by the mode selection unit 50, the first display unit 71 displays that the first mode has been selected. When the second mode is selected by the mode selection unit 50, the second display unit 72 displays that the second mode has been selected.

[0073] The above [Configuration 6] enables a person who views first display unit 71 or second display unit 72 to understand the mode selected in mode selection unit 50.

[0074] Specifically, for example, when the first display unit 71 and the second display unit 72 are disposed in positions visible to the operator of the work machine 1, the following effects can be obtained. When the first mode is selected by the mode selection unit 50, even if the operator performs an operation to activate the second actuator 32, the second actuator 32 does not operate (see [Configuration 1] above). At this time, the operator can understand the reason why the second actuator 32 does not operate (the first mode has been selected) by checking the display of the first display unit 71. Similarly, when the second mode is selected by the mode selection unit 50, the operator can understand the reason why the first actuator 31 does not operate (the second mode has been selected) by checking the display of the second display unit 72.

[0075] Furthermore, for example, when the first display unit 71 and the second display unit 72 are arranged in positions visible to a worker outside the work machine 1 (for example, a site supervisor or a rigging worker), the following effect can be obtained. In this case, the worker outside the work machine 1 can know the mode selected by the mode selection unit 50. As a result, the worker outside the work machine 1 can know what machine the work machine 1 is operating as (for example, as a crane, as a foundation construction machine, etc.).

[0076] (Modification) The above embodiment may be modified in various ways. For example, the connections between the components of the above embodiment shown in FIG. 2 may be changed. For example, the order of the steps in the flow chart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, the number of components may be changed, or some of the components may not be provided. For example, the components may be fixed or connected directly or indirectly. For example, what has been described as multiple different members or parts may be treated as one member or part. For example, what has been described as one member or part may be provided as multiple different members or parts. For example, each component may have only a part of its features (function, arrangement, shape, manufacturing method, operation, etc.).

[0077] For example, when the actuators (first actuator 31, second actuator 32, dual-use actuator 33) include electric actuators, the controller 80 may perform operations corresponding to the hydraulic control unit 60. In this case, the controller 80 serves as the first actuator stopping unit and the second actuator stopping unit. [Explanation of symbols]

[0078] 1. Work Machinery 10 Machine body 15. Boom 31 First actuator 31a Crane winch (1st winch) 32 Second actuator 32a Foundation civil engineering winch (second winch) 33 Dual-purpose actuator 35 Second actuator hydraulic source 50 Mode selection section 61 First actuator control section (first actuator stopping section) 62 second actuator control section (second actuator stop section) 65 Second actuator hydraulic power source control section (second actuator stop section) 71 1st display section 72 2nd display section

Claims

1. The machine body, A boom attached to the machine body in a hoistable manner; a dual-use actuator that is an actuator for use in both a crane operation using the boom and another operation using the boom that is different from the crane operation; a first actuator for use in the crane operation, the first actuator being different from the dual-use actuator; a second actuator that is different from the dual-use actuator and is used for the other task; a mode selection unit for selecting one of a plurality of modes including a first mode selected when performing the crane work and a second mode selected when performing the other work; a first actuator stopping unit that stops the first actuator when the second mode is selected by the mode selection unit; a second actuator stopping unit that stops the second actuator when the first mode is selected by the mode selection unit; Equipped with Working machinery.

2. 2. A work machine according to claim 1, The other work is foundation civil engineering work. Working machinery.

3. A work machine according to claim 1 or 2, The first actuator includes a first winch that is a winch for use in the crane operation, The second actuator includes a second winch which is a winch for use in the other work. Working machinery.

4. A working machine according to any one of claims 1 to 3, a second actuator hydraulic source that supplies pressure oil to the second actuator; the second actuator stopping unit stops the second actuator by stopping the second actuator hydraulic power source when the first mode is selected by the mode selection unit; Working machinery.

5. A work machine according to any one of claims 1 to 3, a second actuator hydraulic source that supplies pressure oil to the second actuator; the second actuator stopping unit stops only one of the second actuator and the second actuator hydraulic source when the first mode is selected by the mode selection unit; Working machinery.

6. A working machine according to any one of claims 1 to 5, a first display unit that displays, when the first mode is selected by the mode selection unit, that the first mode is selected; a second display unit that displays, when the second mode is selected by the mode selection unit, that the second mode is selected; Equipped with Working machinery.

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