Operating system for work equipment used on slopes

Abstract

To provide an operation system of a work machine for slopes which can safely operate the work machine for slopes by a small number of operators.SOLUTION: An operation system 1 of a work machine 2 for slopes includes the self-propelled work machine 2 for slopes, an assistance device 4 for assisting the work machine 2 for slopes to the upper side of a work position, and an operation device 5 for remotely controlling the work machine 2 for slopes and the assistance device 4, wherein the assistance device 4 has a plurality of fixing points 61 to 63 provided above the work position of the work machine 2 for slopes, a winch 7 for giving winding force to a lifting wire 41 stretched between the fixing points 61 to 63 and the work machine 2 for slopes, and winding force data transmission means for detecting winding force data indicating the magnitude of the winding force of the lifting wire 41 by the winch 7, and transmitting the winding force data to the operation device 5, and the operation device 5 has a wireless machine for outputting a control signal to the work machine 2 for slopes and the winch 7, and display means for displaying the winding force data transmitted from the winding force data transmission means.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an operation system for a sloping land working machine that can suitably perform various operations on sloping land such as mountain slopes.

Background Art

[0002] Conventionally, when remotely operating a slope working machine (processing machine) used on a slope such as a mountain slope and moving it on a civil engineering processing surface, a pair of left and right fixed points (anchors) are provided at a position above the working surface, and a lifting wire is stretched between this fixed point and the working machine. By operating a winch installed on a working machine such as a bulldozer or a backhoe, or a winch installed at the fixed point, the lifting wire is wound up or paid out, and a configuration has been proposed in which the movement of the working machine is assisted (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when performing civil engineering work on a sloping land using the working machine disclosed in Patent Document 1, usually, a plurality of fixed points are installed using trees growing naturally on the sloping land, and various operations are performed while assisting the working machine upward by a lifting wire stretched between the fixed point and the working machine to prevent the working machine from tipping over or the like. At this time, if the installation location of the winch and the standing position of the operator who remotely operates the working machine are far apart, the operator cannot accurately recognize the winding force applied to the lifting wire from the winch, so there is a possibility that civil engineering work or the like is performed in a state where an excessive load acts on the lifting wire.

[0005] Therefore, it was necessary to position a supervisor at the winch installation site, separate from the operator remotely controlling the work equipment, and for this supervisor and the operator to communicate using transceivers or similar devices to ensure safety while operating the work equipment. Furthermore, if the trees used as anchor points were not sufficiently thick, excessive loads could be applied to the lifting wire, potentially causing the trees to break or be uprooted. To prevent this, it was necessary to position multiple observers to monitor the load conditions from the lifting wire to each anchor point, which resulted in the need for a large number of workers.

[0006] The object of the present invention is to provide an operating system for a work machine for slopes that enables a small number of workers to safely operate the work machine on slopes such as mountain slopes. [Means for solving the problem]

[0007] This invention encompasses the following inventions.

[0008] (1) Equipped with a movable pulley An operating system for a work machine for slopes, comprising a self-propelled work machine for slopes, an assisting device that assists the work machine for slopes to move upward to the work position, and an operating device for remotely operating the work machine for slopes and the assisting device, wherein the assisting device has a plurality of fixed points provided above the work position of the work machine for slopes, A winch that assists in the movement of the work machine for slopes, and a lifting wire whose tip is fixed to one of the fixed points, whose middle portion is wound around the movable pulley of the work machine for slopes and a fixed pulley provided at the other fixed point, and whose base end is supported by the winch while being wound up. An operating system for a work machine for slopes, comprising: winding force data transmission means for detecting winding force data indicating the magnitude of the winding force of the lifting wire by the winch and transmitting it to the operating device, wherein the operating device comprises a wireless device that outputs control signals to the work machine for slopes and the winch, and a display means for displaying the winding force data transmitted from the winding force data transmission means.

[0009] (2) The operating system for a work machine for slopes as described in (1), wherein the winding force data transmission means comprises a detection unit for detecting the drive power of the winch and a transmitter for transmitting the drive power data of the winch detected by the detection unit to the operating device, and the display means displays the drive power data as the winding force data.

[0010] (3) The operation system for a work machine for slopes as described in (1), wherein the winding force data transmission means comprises a power display unit that detects and displays the drive power of the winch, a camera that captures an image of the power display unit, and a transmitter that transmits the image data from the camera to the operation device, and the display means displays the image data from the camera as the winding force data.

[0011] (4) An operating system for a work machine for slopes according to any one of (1) to (3), further comprising load data transmission means for measuring load data indicating the magnitude of the load acting on the fixed point from the lifting wire and transmitting it to the operating device, wherein the display means has a load data display unit for displaying the load data measured by the load data transmission means. [Effects of the Invention]

[0012] According to the operating system for slope work equipment described in (1), even when the location of the winch and the position of the operator remotely controlling the slope work equipment are far apart, the operator holding the operating device can easily and accurately determine whether or not excessive drive power is being supplied to the winch by looking at the display image on the display means, without having to place a separate monitor at the winch location. Therefore, if the display image on the display means determines that the slope work equipment is in a state where its movement is restricted, such as by contacting an obstacle, and the winch is being driven, applying excessive winding force to the lifting wire, the winch and the slope work equipment can be remotely controlled to correct the position of the slope work equipment, allowing the slope work equipment to be operated safely.

[0013] According to the operating system for work equipment for slopes described in (2), an operator holding the operating device can easily and accurately determine whether or not excessive winding force is being applied to the lifting wire while looking at the display image on the display means, and remotely operate the winch and work equipment for slopes to correct the position of the work equipment for slopes as needed.

[0014] According to the operating system for work machines for slopes described in (3), by using a power display unit consisting of a commercially available ammeter and a commercially available surveillance camera having an imaging camera and a transmitter, winding force data indicating the magnitude of the winding force applied to the lifting wire from the winch can be easily and accurately detected and transmitted to the operating device, and displayed on the display means.

[0015] According to the operating system for work machines on slopes described in (4), it is possible to easily and accurately determine whether an excessive load is being applied to each fixed point without having to arrange for multiple observers to observe the state of the load acting on each fixed point from the lifting wire. Therefore, even in cases where, for example, the trees that serve as fixed points are not sufficiently thick, it is possible for an operator with an operating device to easily and accurately determine whether there is a possibility of the trees breaking or being uprooted by visually checking the load data display unit, and the work machine on slopes can be safely operated by a small number of workers. [Brief explanation of the drawing]

[0016] [Figure 1] This is a front view showing an embodiment of the operating system for a work machine for sloping ground according to the present invention. [Figure 2] This is an explanatory diagram showing the operating status of a work machine for use on slopes. [Figure 3] This is a front view showing the configuration of the winch. [Figure 4] This is a plan cross-sectional view showing the configuration of fixed points. [Figure 5] This is a front view showing the configuration of the operating device. [Figure 6] This is a plan cross-sectional view showing an example in which load data transmission means are provided at a fixed point. [Figure 7] It is a cross-sectional view showing a modified example of a fixed point.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments according to the present invention will be described based on the drawings. In each figure, components denoted by the same reference numerals represent the same components, and their descriptions will be omitted.

[0018] As shown in FIG. 1, an operation system 1 of a slope working machine according to an embodiment of the present invention includes a self-propelled slope working machine 2 that can be remotely operated, a boosting device 4 that boosts the slope working machine 2 above a working surface 3 of a slope composed of a mountain slope or the like, and an operation device 5 composed of a wireless controller or the like that remotely operates the slope working machine 2 and the boosting device 4.

[0019] The slope working machine 2 is, for example, as shown in FIG. 2, a hydraulic excavator or the like including a crawler-type lower traveling part 21 and an upper revolving part 22 provided rotatably on the lower traveling part 21. The slope working machine 2 has a traveling drive part and various hydraulic devices that operate according to a control signal transmitted from an operation device 5 (see FIG. 1) held by an operator, and is configured to freely travel on the working surface 3 by remote operation of the operator and perform various civil engineering works and the like.

[0020] As shown in FIG. 1, the boosting device 4 includes a plurality of fixed points 6 provided near the outer edge of the working surface 3, a lifting wire 41 stretched between the fixed points 6 and the slope working machine 2, and a winch 7 that applies a winding force to the lifting wire 41. As shown in FIG. 2 and the like, the fixed point 6 is composed of trees or the like growing on the outer edge of the working surface 3, and has a first fixed point 61 (see FIG. 6) to which the tip of the lifting wire 41 is fixed, and a second fixed point 62 and a third fixed point 63 (see FIG. 4) arranged at intervals from the first fixed point 61.

[0021] As shown in Figure 1, fixed pulleys 42 and 43 are provided at the fixed point 6, which consists of the second and third fixed points 62 and 63, around which the lifting wire 41, which is unfurled from a winch 7 installed below the work surface 3, is wound. The middle section of the lifting wire 41, which is stretched between the first fixed point 61 and the second fixed point 62, is wound around a movable pulley 23 (see Figure 2) provided on the work machine for sloping ground 2. The third fixed point 63 and fixed pulley 43, which are installed below the second fixed point 62, are provided simply to guide the lifting wire 41 toward the winch 7, and can be omitted.

[0022] As shown in Figure 3, the winch 7 includes a drum 71 around which a lifting wire 41 is wound, a drive motor 72 that rotates the drum 71 so as to be switchable between forward and reverse directions, and a power display unit 73 consisting of an ammeter that displays winding force data indicating the magnitude of the winding force of the lifting wire 41 by the winch 7, specifically the current value of a battery or generator (not shown) that supplies constant voltage power to the drive motor 72. Furthermore, the installation part of the winch 7 is provided with a winding force data transmission means 8 having a camera 81 that captures the display image of the power display unit 73, and a transmitter 82 that transmits the captured data from the camera 81 to the operating device 5.

[0023] As shown in Figure 5, the operating device 5 includes a main monitor 51 that displays the working posture of the work machine 2 on slopes based on various data transmitted from a conventional camera and transmitter installed on the work machine 2 on slopes; an operating unit 52 having operating levers and buttons operated by the operator; a display means 53 consisting of a display window that displays the image data from the camera 81 transmitted from the winding force data transmission means 8 as winding force data of the winch 7; and a wireless device 54 that transmits and receives data between the work machine 2 on slopes and the operating device 5.

[0024] In order to perform civil engineering work using the operating system 1 for slope work machines according to the present invention, first, in the setting process, as shown in Figure 1, a plurality of fixed points, namely the first to third fixed points 61 to 63, are set along the outer edge of the work surface 3, and fixed pulleys 42 and 43 are attached to the second and third fixed points 62 and 63 (see Figure 4), and a winch 7 is set below the third fixed point 63. Then, the lifting wire 41 that is unfurled from the winch 7 is guided along the outer edge of the work surface 3 and wrapped around each of the fixed pulleys 42 and 43, and the tip of the lifting wire 41 is fixed to the first fixed point 61 of the work surface 3. Furthermore, the lifting wire 41 stretched between the first fixed point 61 and the second fixed point 62 is unfurled toward the work surface 3, and the middle portion is wrapped around the movable pulley 23 of the slope work machine 2 to support the slope work machine 2 in a suspended manner.

[0025] Next, in the work process, an operator positioned in a safe location where the work machine for sloping ground 2 can be seen uses the control device 5 to remotely operate the winch 7 to prevent the lifting wire 41 from slackening, thereby assisting the work machine for sloping ground 2 to move upwards on the work surface 3. The operator moves the work machine for sloping ground 2 vertically and horizontally on the work surface 3, and remotely operates the hydraulic equipment of the work machine for sloping ground 2 while viewing the main monitor 51 of the control device 5 to perform the prescribed civil engineering work on the work surface 3.

[0026] In this case, the upward movement of the work machine 2 for slopes is achieved by both the movement driven by the travel unit of the work machine 2 for slopes and the winding force of the lifting wire 41 by the winch 7. On the other hand, the downward movement of the work machine 2 for slopes is achieved by releasing the brake of the winch 7 to extend the lifting wire 41 while operating the travel unit of the work machine 2 for slopes. Furthermore, when moving the work machine 2 for slopes in the left-right direction on the work surface 3, this is done, for example, by applying a certain tension to the lifting wire 41 to prevent the work machine 2 from tipping over, and by rotating the work machine 2 in the direction of travel, similar to movement on flat ground.

[0027] As described above, when remotely operating the work machine 2 for slopes, the operator can remotely operate the winch 7 and the work machine 2 for slopes while checking the winding force data of the lifting wire 41 displayed on the display means 53 of the operating device 5, specifically the drive power of the winch 7 captured by the camera 81 of the winding force data transmission means 8. This effectively prevents excessive winding force from being applied to the lifting wire 41 from the winch 7, allowing the work machine 2 for slopes to be operated safely by a small number of workers.

[0028] In other words, even when the location where the winch 7 is installed and the position of the operator remotely controlling the work machine 2 for sloping ground are far apart, the operator with the control device 5 can easily and accurately determine whether or not excessive drive power is being supplied to the winch 7 by looking at the display image on the display means 53, without having to place a separate monitor at the installation site of the winch 7. Therefore, if, for example, the work machine 2 for sloping ground is stuck in a depression or comes into contact with an obstacle, and the display image on the display means 53 indicates that the movement of the work machine 2 is restricted and excessive winding force is being applied to the lifting wire 41 from the winch 7, the winch 7 and the work machine 2 for sloping ground can be remotely controlled to correct the position of the work machine 2. As a result, it is possible to easily and effectively prevent situations such as the lifting wire 41 breaking or the work machine 2 falling from the work surface 3 when civil engineering work is forcibly carried out using the work machine 2 while the movement of the work machine 2 is restricted.

[0029] In the above-described embodiment, the winding force data transmission means 8 is configured to include a power display unit 73 consisting of an ammeter that detects and displays the drive power of the winch 7, a camera 81 that captures the display image of the power display unit 73, and a transmitter 82 that transmits the image data from the camera 81 to the operating device 5. Therefore, by using a commercially available power display unit 73 consisting of an ammeter, a commercially available surveillance camera etc. having a camera 81 for capturing images and a transmitter 82, it is possible to easily and accurately detect the image data from the camera 81 as winding force data indicating the magnitude of the winding force of the lifting wire 41 by the winch 7 and transmit it to the operating device 5.

[0030] Alternatively, instead of the above-described embodiment, the winding force data transmission means 8 may be configured to include, for example, a detection unit consisting of an ammeter or the like for detecting the drive power of the winch 7, and a transmitter 82 that converts the detected value into a digital signal and transmits it to the operating device 5. In this configuration as well, the drive power data of the winch 7 is displayed on the display means 43 as winding force data indicating the magnitude of the winding force of the lifting wire 41 by the winch 7. This has the advantage that an operator with the operating device 5 can easily and accurately determine whether or not excessive winding force is being applied to the lifting wire 41 by looking at the display image on the display means 53, and remotely operate the winch 7 and the work machine for slopes 2 to correct the position of the work machine for slopes 2 as necessary.

[0031] As shown in Figure 5, instead of the above embodiment in which a display means 53 consisting of a display window that displays winch 7 winding force data is provided on a part of the main monitor 51 that displays the working posture of the work machine 2 for slopes, a configuration in which the main monitor 51 and the display means 53 consisting of a sub-monitor that displays winch 7 winding force data is provided separately may be used. Alternatively, the system may be configured to display the working posture of the work machine 2 for slopes and the winch 7 winding force data alternately at regular intervals, or sequentially according to the operator's actions, on a single monitor.

[0032] Furthermore, as shown in Figure 6, a load data transmission means 9 consisting of a tension meter or the like is provided to measure load data indicating the magnitude of the load acting on each fixed point 61-63 from the lifting wire 41 and transmit it to the operating device 5. The operating device 5 may also be provided with a load data display unit (not shown) that displays the load data measured by this load data transmission means 9. With this configuration, it is possible to easily and accurately determine whether or not an excessive load is acting on each fixed point 61-63 without having to arrange multiple observers to observe the state of the load acting on each fixed point 61-63 from the lifting wire 41. Therefore, even if the trees that make up each fixed point 61-63 are not sufficiently thick, the operator of the operating device 5 can easily and accurately determine whether or not there is a possibility of the trees breaking or being pulled out by visually checking the load data display unit, and the slope work machine 2 can be safely operated by a small number of workers.

[0033] In the above-described embodiment, an example was given in which trees growing on the slope near the work surface 3 were used as the fixing points 61 to 63. However, if suitable trees are not growing near the work surface 3, as shown in Figure 7, a pair of holes 90 about 2 to 3 m deep are formed at regular intervals in the slope where the fixing points 61 to 63 are installed, and concrete 92 is poured in with the anchor bolts 91 set in the holes 90 to fix the pair of anchor bolts 91 embedded in the slope at regular intervals from each other. A connecting plate 93 connecting the upper ends of both anchor bolts 91 is fixed to the slope approximately parallel to it, and the lifting wire 41 is fixed by inserting it through the mounting holes 94 formed in the connecting plate 93. [Explanation of symbols]

[0034] 1. Operating system for work equipment used on slopes 2 Slope work equipment 3 Work surface 4 Assistive device 5 Operating device 6 fixed points 7. Winch 8. Winding force data transmission means 9. Load data transmission means 21 Lower running section 22 Upper rotating section 23 Moving pulley 41 Lifting wire 42,43 Fixed pulley 51 Main Monitor 52 Control panel 53 Display means 54 Radio 61 First fixed point 62 Second fixed point 63 Third fixed point 71 Drums 72 Drive motor 73 Power display section 81 Camera 82 Transmitter

Claims

1. An operating system for a work machine for slopes, comprising: a self-propelled work machine for slopes equipped with a movable pulley; an assisting device for assisting the work machine for slopes to move upward to the work position; and an operating device for remotely operating the work machine for slopes and the assisting device, The assisting device comprises a plurality of fixed points provided above the working position of the work machine for slopes, a winch that assists in the movement of the work machine for slopes, a lifting wire whose tip is fixed to one of the fixed points, whose middle portion is wound around the movable pulley of the work machine for slopes and fixed pulleys provided at the other fixed points, and whose base end is supported by the winch, and a winding force data transmission means that detects winding force data indicating the magnitude of the winding force of the lifting wire by the winch and transmits it to the operating device. The operating device is an operating system for a work machine for slopes, comprising a wireless device that outputs control signals to the work machine for slopes and the winch, and a display means that displays winding force data transmitted from the winding force data transmission means.

2. The winding force data transmission means includes a detection unit for detecting the drive power of the winch, and a transmitter for transmitting the drive power data of the winch detected by the detection unit to the operating device. The operating system for a work machine for slopes according to claim 1, wherein the display means displays the drive power data as the winding force data.

3. The winding force data transmission means includes a power display unit that detects and displays the drive power of the winch, a camera that captures the display image of the power display unit, and a transmitter that transmits the captured data from the camera to the operating device. The operating system for a work machine for slopes according to claim 1, wherein the display means displays the image data of the camera as the winding force data.

4. The system further comprises load data transmission means for measuring load data indicating the magnitude of the load extending from the lifting wire to the fixed point and transmitting it to the operating device, The operating system for a work machine for slopes according to any one of claims 1 to 3, wherein the display means has a load data display unit that displays load data measured by the load data transmission means.

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