CN114364844A

CN114364844A - Hydraulic excavator

Info

Publication number: CN114364844A
Application number: CN202080049658.5A
Authority: CN
Inventors: 冈崎耕平
Original assignee: Yanmar Power Technology Co Ltd
Current assignee: Yanmar Power Technology Co Ltd
Priority date: 2019-09-18
Filing date: 2020-09-15
Publication date: 2022-04-15
Also published as: JPWO2021054330A1; WO2021054330A1; JP7324852B2; JP2023134854A; KR20220062449A

Abstract

A hydraulic shovel is provided with: a lower traveling body; an upper revolving structure provided above the lower traveling structure so as to be able to revolve; a working machine supported by the upper slewing body so as to be rotatable in an up-down direction; a soil discharging device supported by the lower traveling structure so as to be rotatable in a vertical direction; a position information acquiring device that is disposed on a discharging plate of the discharging device and acquires current position information related to a current position of the discharging plate; a discharging control device that controls the discharging device based on a deviation between the target position information and the current position information of the discharging plate obtained from design surface data of a construction plan; and a prohibiting device that prohibits the turning of the upper revolving structure and the operation of the working machine.

Description

Hydraulic excavator

Technical Field

The present invention relates to a hydraulic excavator.

Background

The following patent document 1 discloses the following technique: a blade of the bulldozer is provided with a prism, and a total station is used for acquiring position information of the blade and controlling the blade, so that leveling operation is automatically performed.

However, when the technique of patent document 1 is applied to the blade work of the hydraulic excavator, the operator may move or swing the work implement, and the work implement may contact the prism and be damaged. Further, in the case where the prism is of a type capable of transmitting the target ID, for example, the cable for supplying power is connected to the upper revolving structure of the hydraulic excavator, and therefore the cable may be cut by the revolving of the upper revolving structure.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 11-237244

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to provide a hydraulic excavator capable of automatically performing leveling work by a soil discharge device.

The hydraulic excavator according to the present invention includes: a lower traveling body; an upper revolving structure provided above the lower traveling structure so as to be able to revolve; a working machine supported by the upper slewing body so as to be rotatable in an up-down direction; a soil discharging device supported by the lower traveling structure so as to be rotatable in a vertical direction; a position information acquiring device that is disposed on a discharging plate of the discharging device and acquires current position information related to a current position of the discharging plate; a discharging control device that controls the discharging device based on a deviation between the target position information and the current position information of the discharging plate obtained from design surface data of a construction plan; and a prohibiting device that prohibits the turning of the upper revolving structure and the operation of the working machine.

According to this configuration, the soil discharging control device controls the soil discharging device based on a deviation between the target position information of the soil discharging plate obtained from the design surface data of the construction plan and the current position information of the soil discharging plate, thereby automatically performing the leveling work. Further, although the position information acquiring device is disposed on the soil discharging plate, by inhibiting the rotation of the upper revolving structure and the operation of the working machine by the inhibiting device, it is possible to prevent the working machine from being damaged by contact with the position information acquiring device and to prevent the cable connecting the position information acquiring device and the upper revolving structure from being cut.

Drawings

Fig. 1 is a left side view showing a hydraulic excavator according to the present embodiment.

Fig. 2 is a diagram illustrating a hydraulic circuit of the hydraulic excavator according to the present embodiment.

Fig. 3 is a block diagram showing a control system provided in the hydraulic excavator.

Fig. 4 is a block diagram showing a control system according to another embodiment.

Fig. 5 is a block diagram showing a control system according to another embodiment.

Fig. 6 is a block diagram showing a control system according to another embodiment.

Fig. 7A is a block diagram showing a control system according to another embodiment.

Fig. 7B is a block diagram showing a hydraulic circuit according to another embodiment.

Fig. 8 is a schematic perspective view showing a structure around a driver's seat of a hydraulic excavator provided with an inhibit switch.

Fig. 9 is a schematic diagram for explaining the angle operation of the squeegee.

Fig. 10 is a schematic plan view of a blade lever mounted on the hydraulic excavator, as viewed from the rear to the front.

Fig. 11 is a schematic plan view of a blade lever mounted on the hydraulic excavator, as viewed from the front to the rear.

Detailed Description

Embodiments of the present invention will be described with reference to the accompanying drawings.

[ outline of Hydraulic shovel ]

A schematic structure of hydraulic excavator 1 will be described. As shown in fig. 1, a hydraulic excavator 1 includes: a lower traveling structure 2; an upper revolving structure 3 provided above the lower traveling structure 2 so as to be able to revolve; a boom bracket 4 as a swing body supported by the upper swing body 3 so as to be horizontally rotatable; and a working machine 5 supported by the boom bracket 4 so as to be vertically rotatable.

The lower traveling structure 2 receives power from the engine 30 and drives the hydraulic excavator 1 to travel or swing. The lower traveling structure 2 includes a pair of left and right crawler belts 21, and a pair of left and

right traveling motors

22, 22 for driving the

crawler belts

21, 21. The soil discharging device 20 is supported by the lower traveling structure 2 so as to be rotatable in the vertical direction. The soil discharging device 20 includes: a pair of

scraper bars

23, 23; a scraper 24 (corresponding to a soil discharging plate) extending in the left-right direction between the front end portions of the pair of

scraper bars

23, 23; a squeegee elevating cylinder 25 for elevating and lowering the squeegee 24 upward and downward; and a blade tilt cylinder 26 (see fig. 2) for tilting the blade 24. The relative distance between the blade 24 and the ground can be adjusted by raising and lowering the blade 24. The distance between the left or right lower end of the blade 24 and the ground can be adjusted by tilting the blade 24. The blade 24 is provided with an inclination sensor 26a (see fig. 3) for detecting an inclination angle (skew angle).

A GNSS antenna 27 for receiving signals from positioning satellites and performing positioning is attached to the blade 24. The GNSS antenna 27 is fixed to the tip of a support 27a provided upright from the rear surface of the blade 24. Further, the hydraulic excavator 1 of the present embodiment acquires position information of the blade 24 by the RTK-positioning method, and sets a base station, not shown, at a construction site.

The upper slewing body 3 is configured to: the rotary motion can be performed around an axis extending in the vertical direction at the central portion thereof. The upper slewing body 3 is provided with an engine 30, a counterweight 31, a cab 32, a slewing motor 33, and the like. The upper slewing body 3 is slewing via a slewing bearing by the driving force of a slewing motor 33 as a hydraulic motor.

An operator seat 321 on which an operator sits is mounted in an operator portion surrounded by the cab 32. A pair of

work levers

322 and 322 are disposed on the left and right sides of the operator's seat 321, and a pair of

travel levers

323 and 323 are disposed in front of the operator's seat 321. The operator can perform traveling, turning, work, and the like by sitting in the operator's seat 321 and operating the work operation levers 322, the travel levers 323, and the like to control the engine 30, the hydraulic motors, the hydraulic actuators, and the like.

The boom bracket 4 is attached to the tip end portion of the upper slewing body 3 via a strut (stay) 34. The support post 34 is provided with a pivot pin 40 having an axis directed in the vertical direction. The boom bracket 4 is supported to be horizontally rotatable (i.e., swingable to the left and right) about the pivot pin 40. A swing cylinder 41 (see fig. 2) that extends and contracts in the front-rear direction is provided between the upper revolving structure 3 and the boom bracket 4. The boom bracket 4 horizontally pivots in accordance with the expansion and contraction of the swing cylinder 41.

Work implement 5 is driven by receiving power from engine 30, and performs an excavation operation of earth and sand in accordance with an operation of the operator. The work implement 5 is supported by the boom bracket 4 so as to be vertically rotatable. The boom bracket 4 is provided with a pivot pin 50 having an axis directed in the horizontal direction. A base end portion of the work implement 5 (a base end portion of a boom 51 described later) is supported to be vertically rotatable about the pivot pin 50. The working machine 5 rotates on a vertical plane orthogonal to the axis of the pivot pin 50. Further, work implement 5 can perform a swing operation in conjunction with the horizontal rotation of boom bracket 4.

Work implement 5 includes boom 51, arm 52, and bucket 53, and can perform an excavation operation of earth and sand by independently driving these components. The base end portion of the boom 51 is attached to the boom bracket 4 so as to be vertically rotatable. The boom 5 is rotated by a boom cylinder 51a which is movable in an extendable and retractable manner. Further, a base end portion of the arm 52 is supported by a tip end portion of the boom 51, and the arm 52 is rotated by an arm cylinder 52a which is movable in an extendable and retractable manner. The base end of the bucket 53 is supported by the tip end of the arm 52, and the bucket 53 is rotated by a bucket cylinder 53a that is movable in an extending and contracting manner. Boom cylinder 51a, arm cylinder 52a, and bucket cylinder 53a are formed of hydraulic cylinders.

[ Structure of Hydraulic Circuit ]

The hydraulic circuit 6 included in the hydraulic excavator 1 will be described with reference to fig. 2. The hydraulic circuit 6 includes a plurality of hydraulic actuators 60, a variable displacement pump 61, a fixed displacement pump 62, and a pilot pump (pilot pump) 63.

The plurality of hydraulic actuators 60 are configured to include a 1 st travel motor 22a, a 2 nd travel motor 22b (any one of the left travel motor 22 and the right travel motor 22), a boom cylinder 51a, an arm cylinder 52a, a bucket cylinder 53a, a blade lift cylinder 25, a blade tilt cylinder 26, a turning motor 33, and a swing cylinder 41.

The variable displacement pump 61 and the fixed displacement pump 62 are driven by the engine 30, and discharge the hydraulic oil supplied to the hydraulic actuator 60. Variable displacement pump 61 supplies and drives hydraulic oil to 1 st travel motor 22a, 2 nd travel motor 22b, boom cylinder 51a, arm cylinder 52a, and bucket cylinder 53 a. The fixed displacement pump 62 supplies and drives the blade lift cylinder 25, the blade tilt cylinder 26, the swing motor 33, and the swing cylinder 41 with hydraulic oil.

The plurality of hydraulic actuators 60 are provided with corresponding direction switching valves, which are: a pilot-operated directional control valve capable of switching the direction and the volume of the hydraulic oil pumped from the variable displacement pump 61 and the fixed displacement pump 62 to the hydraulic actuator 60.

In the present embodiment, there are provided: a 1 st travel direction switching valve 64a corresponding to the 1 st travel motor 22a, a 2 nd travel direction switching valve 64b corresponding to the 2 nd travel motor 22b, a boom direction switching valve 64c corresponding to the boom cylinder 51a, an arm direction switching valve 64d corresponding to the arm cylinder 52a, a bucket direction switching valve 64e corresponding to the bucket cylinder 53a, a blade up-down direction switching valve 64f corresponding to the blade up-down cylinder 25, a blade tilt direction switching valve 64g corresponding to the blade tilt cylinder 26, a rotation direction switching valve 64h corresponding to the rotation motor 33, and a swing direction switching valve 64i corresponding to the swing cylinder 41. These directional control valves are collectively referred to as control valves 64.

The pilot pump 63 mainly discharges pilot oil as a command input to the control valve 64. However, in fig. 2, a part of the oil passage from the pilot pump 63 to the control valve 64 is omitted. The pilot pump 63 is driven by the engine 30 to discharge pressure oil so that a pilot pressure is generated in the oil passage.

The hydraulic circuit 6 includes a boom operation device 71, an arm operation device 72, and a turning operation device 73. Boom operation device 71, arm operation device 72, and turning operation device 73 are constituted by a pair of work levers 322 and 322. The hydraulic circuit 6 includes a blade elevation operation device 74 and a blade inclination operation device 75. The blade elevation operation device 74 and the blade inclination operation device 75 are constituted by blade operation levers, not shown. Although not shown in fig. 2, the hydraulic circuit 6 includes a bucket operating device and a swing operating device.

The boom operation device 71 includes: and a boom remote control valve 710 for switching the direction and pressure of the pilot pressure oil supplied to the boom direction switching valve 64 c. The pressure oil discharged from the pilot pump 63 is supplied to the boom remote control valve 710. The boom remote control valve 710 generates a pilot pressure in accordance with the operation direction and the operation amount of the boom operation device 71.

The arm operating device 72 includes: and an arm remote control valve 720 for switching the direction and pressure of the pilot pressure oil supplied to the arm direction switching valve 64 d. The pressure oil discharged from the pilot pump 63 is supplied to the arm remote control valve 720. The arm remote control valve 720 generates a pilot pressure in accordance with the operation direction and the operation amount of the arm operation device 72.

The turning operation device 73 includes: a turning remote control valve 730 for switching the direction and pressure of the pilot pressure oil supplied to the turning direction switching valve 64 h. The pressure oil discharged from the pilot pump 63 is supplied to the turning remote control valve 730. The turning remote control valve 730 generates a pilot pressure in accordance with the operation direction and the operation amount of the turning operation device 73.

The blade lifting operation device 74 includes: and a remote control valve 740 for blade lift for switching the direction and pressure of the pilot pressure oil supplied to the direction switching valve 64f for blade lift. The pressurized oil discharged from the pilot pump 63 is supplied to the remote control valve 740 for blade lift. The squeegee elevation remote control valve 740 generates a pilot pressure in accordance with the operation direction and the operation amount of the squeegee elevation operation device 74.

The 1 st mechanical control oil passage 740d is connected to the 1 st oil passage 740a between the remote control valve 740 for blade lift and the direction switching valve 64f for blade lift via the 1 st shuttle valve 740 c. The 2 nd mechanical control oil passage 740f is connected to the 2 nd oil passage 740b between the remote control valve 740 for blade lift and the direction switching valve 64f for blade lift via a 2 nd shuttle valve 740 e. Pilot pressure oil is supplied from pilot pump 63 to 1 st machine control oil passage 740d and 2 nd machine control oil passage 740 f.

The blade-tilting operation device 75 includes: and a blade-tilting remote control valve 750 for switching the direction and pressure of the pilot pressure oil supplied to the blade-tilting direction switching valve 64 g. The pressurized oil discharged from the pilot pump 63 is supplied to the blade-tilting remote control valve 750. The blade-tilt remote control valve 750 generates a pilot pressure in accordance with the operation direction and the operation amount of the blade-tilt operation device 75.

The 3 rd mechanical control oil passage 750d is connected to the 3 rd oil passage 750a between the blade tilt remote control valve 750 and the blade tilt direction switching valve 64g via the 3 rd shuttle valve 750 c. Further, the 4 th mechanical control oil passage 750f is connected to the 4 th oil passage 750b between the blade tilt remote control valve 750 and the blade tilt direction switching valve 64g via a 4 th shuttle valve 750 e. Pilot pressure oil is supplied from pilot pump 63 to 3 rd mechanical

control oil passage

750d and 4 th mechanical control oil passage 750 f.

Electromagnetic proportional valves 103 are provided in the 1 st machine control oil passage 740d, the 2 nd machine control oil passage 740f, the 3 rd machine control oil passage 750d, and the 4 th machine control oil passage 750f, respectively. The electromagnetic proportional valve 103 can adjust the pilot pressure in accordance with a control command from the machine control controller 102 described later. Thus, the machine control controller 102 can control the driving of the squeegee elevation cylinder 25 and the squeegee tilt cylinder 26 by operating the squeegee elevation direction switching valve 64f and the squeegee tilt direction switching valve 64 g.

An electromagnetic valve 104 as a prohibition device is provided in an oil passage between the pilot pump 63 and the boom remote control valve 710, the arm remote control valve 720, and the turning remote control valve 730. Further, an electromagnetic valve 104 is also provided in an oil passage between the pilot pump 63 and the bucket remote control valve and the swing remote control valve, not shown. The solenoid valve 104 controls the pilot 1-time pressure from the pilot pump 63 in accordance with a control command from the integrated controller 100 described later. Specifically, the solenoid valve 104 blocks the pilot pressure 1 time by cutting off the release signal from the integrated controller 100. Accordingly, since the pressure oil from the pilot pump 63 cannot be supplied to the boom remote control valve 710, the arm remote control valve 720, the turning remote control valve 730, the bucket remote control valve, and the swing remote control valve, the turning of the upper turning body 3 and the operation of the working machine 5 by the operation of the boom operation device 71, the arm operation device 72, the turning operation device 73, the bucket operation device, and the swing operation device are prohibited.

[ control System for Hydraulic shovel ]

An example of a control system provided in hydraulic excavator 1 will be briefly described. The hydraulic excavator 1 includes an integrated controller 100 as a control device. The integrated controller 100 outputs a control instruction to the engine 30 and the hydraulic pump as a main control unit for performing drive control of the hydraulic excavator 1.

The hydraulic excavator 1 further includes a soil discharge control device 101, and the soil discharge control device 101 controls the soil discharge device 20 including the blade 24, the blade lift cylinder 25, and the blade tilt cylinder 26. The soil discharge control device 101 is provided with a control valve 64 for machine control (a direction switching valve 64f for blade elevation and a direction switching valve 64g for blade inclination), a machine control controller 102, and an electromagnetic proportional valve 103, and automatically operates the soil discharge device 20.

The machine control controller 102 controls the earth-moving device 20 based on a deviation between target position information of the blade 24 obtained from design surface data of the construction plan and current position information of the blade 24.

The design surface data is: electronic data for making the height of the finished surface three-dimensionally at each horizontal coordinate position in the construction section on which the construction plan is executed is input to the machine control controller 102 in advance. The design surface data is stored in the design surface data storage device 102 a. The target position of the squeegee 24 can be set based on the design surface data.

In the present embodiment, the information on the current position of the blade 24 is acquired by the inclination sensor 26a and the GNSS antenna 27. Specifically, by combining the coordinate information of the blade 24 acquired by the GNSS antenna 27 and the inclination angle information of the blade 24 detected by the inclination sensor 26a, the current position information including the position and the posture of the blade 24 can be acquired. The machine control controller 102 can also store information on the width of the blade 24, the mounting position of the GNSS antenna 27 to the blade 24, and the like in advance, and can accurately calculate the current position information of the blade 24.

The machine control controller 102 includes a blade control command calculation unit 102 b. The blade control command calculation unit 102b reads target position information of the blade 24 from the design surface data stored in the design surface data storage device 102a, and compares the target position information with the current position information of the blade 24 to calculate a control command value to be transmitted to the electromagnetic proportional valve 103 so that the blade 24 is at the target position.

The electromagnetic proportional valve 103 controls the driving of the squeegee elevation cylinder 25 and the squeegee tilt cylinder 26 by adjusting the pilot pressure applied to the squeegee elevation direction switching valve 64f and the squeegee tilt direction switching valve 64g in accordance with a control command from the machine control controller 102.

An activation switch 105 for activating the soil discharge control device 101 is connected to the machine control controller 102. The start switch 105 is disposed in front of the driver seat 321, and automatic control of the squeegee 24 can be performed by turning on the start switch 105.

When the machine control controller 102 is activated, the integrated controller 100 of the present embodiment receives a signal from the machine control controller 102, transmits a control command to the electromagnetic valve 104, and cuts off the pilot pressure from the pilot pump 63 for 1 time. Thus, the turning of upper revolving structure 3 and the operation of work implement 5 by the operations of boom manipulation device 71, arm manipulation device 72, turning manipulation device 73, bucket manipulation device, and swing manipulation device are prohibited.

As described above, hydraulic excavator 1 of the present embodiment includes: a lower traveling structure 2; an upper revolving structure 3 provided above the lower traveling structure 2 so as to be able to revolve; a working machine 5 supported by the upper slewing body 3 so as to be rotatable in the vertical direction; a soil discharging device 20 supported by the lower traveling structure 2 so as to be rotatable in the vertical direction; a GNSS antenna 27 and an inclination sensor 26a that are disposed on the blade 24 of the earth moving device 20 and that acquire current position information on the current position of the blade 24; a soil discharge control device 101 that controls the soil discharge device 20 based on a deviation between the target position information of the blade 24 obtained from the design surface data of the construction plan and the current position information; and an electromagnetic valve 104 that prohibits the rotation of the upper slewing body 3 and the operation of the work implement 5.

According to this configuration, the soil discharge control device 101 controls the soil discharge device 20 based on the deviation between the target position information of the blade 24 obtained from the design surface data of the construction plan and the current position information of the blade 24, and can automatically perform the leveling work. Furthermore, although GNSS antenna 27 and inclination sensor 26a are disposed on blade 24, by prohibiting the rotation of upper revolving unit 3 and the operation of work implement 5 by solenoid valve 104, it is possible to prevent work implement 5 from contacting GNSS antenna 27 and inclination sensor 26a and being damaged, and to prevent cables connecting GNSS antenna 27 and inclination sensor 26a to upper revolving unit 3 from being cut.

As another embodiment, the hydraulic excavator 1 may be provided with an omnidirectional prism 28 instead of the GNSS antenna 27 as shown in fig. 4. The omnidirectional prism 28 is automatically tracked by a total station 29, which is otherwise located at the construction site. The total station 29 can measure the distance and angle with respect to the omnidirectional prism 28, and acquire coordinate information of the blade 24 from the measured data. The coordinate information of the blade 24 is wirelessly transmitted from the total station 29 to the blade control instruction calculation section 102 b. The other structures are the same as those of the above-described embodiments.

As shown in fig. 5, hydraulic excavator 1 may further include a prohibition switch 104a for activating the prohibition device (solenoid valve 104). According to this configuration, since the operator can activate the prohibition device by himself, the position of the work implement 5 can be set to a position at which the operator can easily confirm the leveling state before the hydraulic excavator 1 is switched to the automatic leveling operation.

The prohibition switch 104a may be a push-button switch or a seesaw switch, and when a signal from the prohibition switch 104a is input to the integrated controller 100, a command signal is input from the integrated controller 100 to the electromagnetic valve 104, and the turning of the upper turning body 3 and the operation of the working machine 5 are prohibited. The prohibition switch 104a may be disposed in front of the driver seat 321, may be disposed adjacent to the start switch 105, or may be used in combination with the start switch 105.

The hydraulic excavator 1 further includes a connection confirmation unit that confirms the connection between the GNSS antenna 27 and the upper revolving structure 3, and the prohibition device can be activated when the connection confirmation unit confirms the connection. Specifically, when it is detected that the coordinate information is transmitted from the GNSS antenna 27 to the machine control controller 102, it is confirmed that the GNSS antenna 27 and the upper revolving structure 3 are connected by the cable, and the integrated controller 100 receives a signal from the machine control controller 102 and transmits a control command for cutoff to the solenoid valve 104.

Further, when hydraulic excavator 1 includes omnidirectional prism 28 having the target ID, omnidirectional prism 28 requires electric power for transmitting the target ID by infrared light. At this time, by monitoring the electric power supplied to the omnidirectional prism 28, it can be confirmed that the omnidirectional prism 28 and the upper revolving structure 3 are connected by the cable. Further, by monitoring the power supplied to the tilt sensor 26a as a gyro sensor, it can be confirmed that the tilt sensor 26a and the upper slewing body 3 are connected by a cable.

In order to prevent theft during automatic leveling work and to prevent damage due to contact of the work implement 5 during normal excavation work, it is necessary to perform work of attaching the GNSS antenna 27 and the omnidirectional prism 28 detached from the hydraulic excavator 1 to the blade 24. By using this operation as a trigger for prohibiting the rotation of the upper revolving structure 3 and the operation of the working machine 5, it is possible to reliably prevent the GNSS antenna 27 and the omnidirectional prism 28 from being damaged and the cable from being cut.

In addition, in the hydraulic excavator 1, the prohibiting device may be activated when the soil discharge control device 101 is activated. Specifically, as shown in fig. 6, a signal from the start switch 105 may be simultaneously input to the machine control controller 102 and the integrated controller 100.

According to this configuration, since the prohibiting device can be activated at the same time as the soil discharge control device 101 is activated, it is possible to reliably prevent the GNSS antenna 27 and the omnidirectional prism 28 from being damaged and the cable from being cut.

As shown in fig. 7A, hydraulic excavator 1 may further include: a prohibition release switch 106 as a prohibition release unit that releases the prohibition device. The prohibition release switch 106 is, for example, a push button switch disposed at a position adjacent to the prohibition switch 104a, and when the prohibition release switch 106 is pressed, a prohibition release signal is input to the integrated controller 100, and a signal for releasing the function of the prohibition device (the solenoid valve 104) is input from the integrated controller 100 to the prohibition device.

The inhibitor switch 104a itself may have an inhibitor release function, and for example, a state in which the inhibitor switch 104a is turned off may be set as a release state of the inhibitor switch 104a, and a signal for releasing the function of the inhibitor device may be input from the integrated controller 100 to the inhibitor device.

Further, hydraulic excavator 1 may be provided with a limiting device 107, and limiting device 107 may limit the intrusion of work implement 5 into an intrusion prevention area set around the position information acquisition device when cancellation switch 106 is prohibited from being activated. With this configuration, even when the operator activates the cancel prohibition switch 106 to confirm the leveling state during the automatic leveling operation, for example, the work implement 5 can be safely moved.

An example of the restricting device 107 is a solenoid valve shown in fig. 7B. The intrusion prevention area of work implement 5 is, for example: a circular area is set around the GNSS antenna 27 or the omnidirectional prism 28. When it is detected that work implement 5 has entered a boundary area of the intrusion-prohibited area, integrated controller 100 transmits a control command to corresponding limiting device 107, and thereby blocks the pilot 2-time pressure input to the direction switching valves (boom direction switching valve 64c, arm direction switching valve 64d, bucket direction switching valve 64e, turning direction switching valve 64h, and turning direction switching valve 64i) of the hydraulic actuators (boom cylinder 51a, arm cylinder 52a, bucket cylinder 53a, turning motor 33, and swing cylinder 41) that are driven in the direction to approach the intrusion-prohibited area, and can limit the turning of upper turning body 3 and the operation of work implement 5. Position information of work implement 5 is acquired by a plurality of acceleration sensors, not shown, attached to work implement 5, and rotation angle information of upper revolving unit 3 is acquired by a rotation angle sensor, not shown, and these pieces of information are input to integrated controller 100.

When the prohibition release signal is input from the prohibition release switch 106 to the integrated controller 100, the integrated controller 100 inputs a signal for releasing the function of the prohibition device to the prohibition device and transmits the restriction signal to the restriction device 107. When the prohibition switch 104a has the prohibition release function, a limit switch is separately provided, and after the GNSS antenna 27 and the omnidirectional prism 28 are removed after the automatic leveling work is finished, the limit switch is turned off to release the limit device 107, thereby enabling the normal excavation work.

The inhibitor switch 104a shown in fig. 5 and 7A will be described in more detail. Fig. 8 is a schematic perspective view showing the configuration around the operator's seat 321 of the hydraulic excavator 1 provided with the prohibition switch 104 a. As shown in fig. 8, an operator's seat 321 on which an operator sits and a case member 324 are provided on the upper revolving structure 3. The case member 324 is disposed around the driver seat 321. An operating lever 325 operated by an operator protrudes from the housing member 324. In the present example, the operator's seat 321 is not surrounded by an operator's cab, but may be surrounded by an operator's cab.

In this example, the case member 324 is positioned on the opposite side of the driver's seat 321 from the passenger compartment 326. The boarding opening 326 is a portion that enables an operator to board the driver seat 321. By disposing the case member 324 in this manner, the landing opening 326 can be enlarged, and the operator can easily get on and off the hydraulic excavator 1. The riding mount 326 is located on the left side of the driver seat 321, and more specifically, is located on the front left side of the driver seat 321.

Specifically, the case member 324 is disposed on the right side of the driver seat 321. More specifically, one of the pair of work levers 322 disposed at a distance in the left-right direction is disposed on the right side of the driver seat 321. The case member 324 is disposed adjacent to the work operation lever 322 disposed on the right side of the operator's seat 321. Specifically, the case member 324 is disposed adjacent to the right side of the right-side work lever 322 of the operator's seat 321.

The case member 324 is made of, for example, resin. The housing member 324 extends in the front-rear direction. The housing member 324 is mounted for various operating devices required for the hydraulic excavator 1. Monitor 327 for displaying operation information of hydraulic excavator 1 is attached to the distal end portion of case member 324 in a state where the display screen is exposed. The operation lever 325 protrudes upward from the upper surface of the case member 324 behind the monitor 327. The operation lever 325 is located at the front right as viewed from the operator sitting in the driver seat 321. The operation lever 325 is disposed behind the grip portion of the operation lever 322. Therefore, the operator can operate the operation lever 325 without being obstructed by the work operation lever 322.

The inhibitor switch 104a is mounted to the housing member 324. With this configuration, the inhibitor switch 104a can be disposed at a position where the operator can easily see the field of view and the hand can easily reach the inhibitor switch. As a result, the following possibility can be reduced: before starting the automatic leveling operation by pressing the start switch 105 (see, for example, fig. 5 and 11), the user forgets to press the prohibition switch 104a for prohibiting the turning of the upper turning body 3 and the operation of the work implement 5.

In this example, the operation lever 325 is a blade operation lever that operates the blade 24 (a soil discharging plate). That is, in the configuration of this example, the prohibition switch 104a can be disposed in the vicinity of the squeegee operation lever 325. Therefore, the presence of the prohibition switch 104a is easily recognized before the automatic leveling work is performed using the squeegee 24, and the possibility of forgetting to press the prohibition switch 104a can be further reduced.

Specifically, the prohibition switch 104a is disposed behind the squeegee operation lever 325. With this configuration, the prohibition switch 104a is prevented from being hardly seen by the operator due to the presence of the squeegee operation lever 325, and the operator can smoothly operate the prohibition switch 104 a.

The prohibition switch 104a is, for example, a seesaw switch, and is disposed on the upper surface of the case member 324. In this example, a plurality of switches are arranged on the upper surface of the case member 324 in the front-rear direction behind the squeegee operation lever 325. The disable switch 104a is one of the switches described above. It is possible to appropriately determine which of the plurality of switches is set as the disable switch 104 a. In the example shown in fig. 8, the switch closest to the squeegee operation lever 325 is the prohibition switch 104 a.

As described above, the squeegee operation lever 325 constitutes the squeegee elevation operation device 74 and the squeegee inclination operation device 75. That is, the squeegee 24 can be moved up and down and tilted by the squeegee operation lever 325. In this example, the blade lever 325 also constitutes a device for angular operation of the blade 24.

Fig. 9 is a schematic diagram for explaining the angular operation of the squeegee 24. Fig. 9 is a view of the front portion of hydraulic excavator 1 as viewed from above. The blade 24 is supported by the blade arm 23A so as to be rotatable about a shaft pin 201 extending vertically. The blade 24 is rotated about the shaft pin 201 by operating a pair of angle cylinders 202 disposed on the left and right sides of the blade arm 23A. The blade 24 shown by a one-dot chain line in fig. 9 shows a state in which the blade 24 is swung by the operation of the pair of angle cylinders 202. The angle operation is: the operation of swinging both ends of the blade 24 in the left-right direction in the front-rear direction.

The operator can raise and lower the squeegee 24 by grasping the grip portion 325a of the squeegee operation lever 325 and moving the squeegee operation lever 325 in the front-rear direction. The blade lever 325 is provided with an operation portion capable of performing a tilting operation and an angle operation of the blade 24.

Fig. 10 is a schematic plan view of a blade lever 325 mounted on the hydraulic excavator 1 as viewed from the rear to the front. As shown in fig. 10, the grip portion 325a is provided on the tip end side of the arm portion 325b protruding from the case member 324. A selector switch 3251 and an operation roller 3252 are attached to the upper surface side of the distal end of the grip portion 325a so as to be arranged in the left-right direction. The positional relationship between the selector switch 3251 and the operation roller 3252 can be changed as appropriate.

The selector switch 3251 is a switch for switching between a tilt operation and an angle operation. The changeover switch 3251 is, for example, a seesaw switch. The operation roller 3252 is a rotating body for performing a tilting operation or an angle operation. A part of the side surface (outer circumferential surface) of the operation roller 3252 protrudes from the surface of the grip portion 325a, and the operator can perform a rotation operation. By rotating the operation roller 3252 in a state where the tilt operation is selected by the selector switch 3251, the tilt amount of the blade 24 can be changed. Further, by rotating the operation roller 3252 in a state where the angle operation is selected by the selector switch 3251, the position of the left and right end portions of the blade 24 in the front-rear direction can be changed.

A start switch 105 for starting control of the soil discharge control device 101 is provided to the grip portion 325a of the blade lever 325. Accordingly, since the start switch 105 for starting the automatic leveling work by the squeegee 24 is disposed close to the prohibition switch 104a, the presence of the prohibition switch 104a is easily recognized before the automatic leveling work is performed, and the possibility of forgetting to press the prohibition switch 104a can be further reduced.

Fig. 11 is a schematic plan view of a blade lever 325 mounted on the hydraulic excavator 1 as viewed from the front to the rear. As shown in fig. 11, in this example, a start switch 105 is attached to the lower surface side of the distal end of the grip portion 325 a. That is, the start switch 105 is provided with: the grip portion 325a has a surface opposite to the surface on which the selector switch 3251 and the operation roller 3252 are provided. The start switch 105 is, for example, a seesaw switch. The operator who grips the grip portion 325a with the right hand can operate the start switch 105 with the index finger and the change-over switch 3251 and the operation roller 3252 with the thumb, for example.

Further, the above is formed as follows: the case member 324 on which the operating lever 325 is projected is disposed on the opposite side of the driver's seat 321 from the passenger compartment 326 side. However, this is merely exemplary. For example, a case member in which an operation lever is projected may be disposed on the passenger compartment 326 side with respect to the driver seat 321. In this case, for example, the case member in which the operation lever is protrudingly provided may be a case member in which the work operation lever 322 is protrudingly provided. Further, even when the case member in which the operation lever is provided in a protruding manner is disposed on the opposite side of the driver's seat 321 from the passenger compartment 326 side, the case member may be a case member in which the operation lever 322 is provided in a protruding manner.

The present invention is not limited to any of the above embodiments, and various modifications and changes can be made without departing from the scope of the present invention.

Description of the reference numerals

1 Hydraulic excavator

2 lower traveling body

3 upper slewing body

4 Movable arm bracket

5 working machine

6 hydraulic circuit

20 dumping device

24 scraper

25 scraper lifting cylinder

26 scraper inclined cylinder

26a tilt sensor

27 GNSS antenna

28 Omnidirectional prism

29 Total station

100 integrated controller

101 dumping control device

103 electromagnetic proportional valve

104 solenoid valve

104a disable switch

105 starting switch

106 inhibit release switch

107 restriction device

321 driver's seat

324 housing part

325 scraper operating lever (operating lever)

325a holding part

326 lap joint

Claims

1. A hydraulic excavator is characterized in that a hydraulic excavator body is provided with a hydraulic excavator body,

the hydraulic excavator is provided with:

a lower traveling body;

an upper revolving structure provided above the lower traveling structure so as to be able to revolve;

a working machine supported by the upper slewing body so as to be rotatable in an up-down direction;

a soil discharging device supported by the lower traveling structure so as to be rotatable in a vertical direction;

a position information acquiring device that is disposed on a discharging plate of the discharging device and acquires current position information related to a current position of the discharging plate;

a discharging control device that controls the discharging device based on a deviation between the target position information and the current position information of the discharging plate obtained from design surface data of a construction plan; and

and a prohibiting device that prohibits rotation of the upper slewing body and operation of the work machine.

2. The hydraulic excavator of claim 1 wherein,

the hydraulic excavator is provided with a prohibition switch for activating the prohibition device.

3. The hydraulic excavator of claim 2 wherein,

the upper slewing body is provided with: a driver seat for an operator to sit on; and a case member disposed around the driver seat, from which an operation lever operated by the operator protrudes,

the inhibitor switch is mounted to the housing member.

4. The hydraulic excavator of claim 3 wherein,

the case member is positioned on the opposite side of the driver's seat from the boarding gate, and the boarding gate enables the operator to board the driver's seat.

5. The hydraulic excavator according to claim 3 or 4,

the operation lever is a blade operation lever for performing an operation of the earth discharging plate.

6. The hydraulic excavator of claim 5 wherein,

the prohibition switch is disposed behind the squeegee operation lever.

7. The hydraulic excavator according to claim 5 or 6,

a start switch for starting control of the soil discharge control device is provided at the grip portion of the blade lever.

8. The hydraulic excavator of claim 1 wherein,

the hydraulic excavator is provided with: a connection confirming unit that confirms connection between the position information acquiring device and the upper slewing body,

the prohibiting means is activated when the connection confirming unit confirms the connection.

9. The hydraulic excavator of claim 1 wherein,

the prohibiting means is activated when the soil discharge control means is activated.

10. The hydraulic shovel according to any one of claims 1 to 9,

the hydraulic excavator is provided with:

a prohibition releasing unit that releases the prohibition device during activation of the soil discharge control device and the prohibition device; and

and a limiting device that limits the work implement from entering an entrance-prohibited area set around the position information acquiring device when the prohibition cancelling unit is activated.