JP2004043168A - Controller of swing type hydraulic shovel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller of a swing type hydraulic shovel capable of safely performing hanging work. <P>SOLUTION: This shovel is provided with a mode switching means 33 capable of selecting a hanging work mode, a swing detector 20 for detecting the swinging state of a working machine 5, an alarm means 30 which gives warning by indicating alarms and/or alarm sound when receiving an alarm command from the outside, and a controller 32, which when inputting the hanging work mode selecting command sent from the mode switching means 33, judges the swinging state of the working machine 5 based on the detection signal of the swing detector 20 and if the working machine 5 is in swinging state, outputs a warning command to inform that the hydraulic shovel is not in the hanging work mode, If the working machine 5 is swinging in the hanging work mode, the controller 32 may send a warning command to inform that the working machine 5 is swinging. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device that has a swing type boom and controls an interlock between a swing and a suspended load operation of a swing type excavator capable of performing a suspended load operation with the boom.
[0002]
[Prior art]
Conventionally, as shown in, for example, FIGS. 1 and 2, a boom 12 connected to each other so as to be swingable in a vertical plane is provided on a front portion of an upper revolving structure 1 which is rotatably mounted on an upper portion of a lower traveling structure 2. A work machine 5 having an arm 14 and a bucket 6 is provided, and the work machine 5 can be freely swung (hereinafter, referred to as a swing) in a horizontal plane about a pin 23 via a bracket 21 on the upper swing body 1. 2. Description of the Related Art A swing type excavator (hereinafter, referred to as a hydraulic excavator) having a structure attached to a hydraulic excavator is widely known. At the rear end of the upper revolving unit 1, a counterweight 7 for balancing with the work machine 5 is mounted. Such a swing type excavator can perform a normal excavation operation of excavating earth and sand with a bucket 6 in a neutral state 5a (see FIG. 2) in which the work machine 5 is straightened in a forward direction of the upper swing body 1. At the same time, the work unit 5 is swung in the opposite direction to the turning from the neutral state 5a at a position where the upper swing body 1 is turned by a predetermined angle from a position facing the front of the vehicle, so that It is also possible to dig a gutter. Hereinafter, these operations are collectively referred to as excavation operations.
[0003]
Furthermore, in recent years, there has been a demand for a swing-type hydraulic excavator capable of hanging a load on the working machine 5 in order to be able to cope with diversification of work. For this purpose, for example, as shown in a detailed view of the bucket mounting portion in FIG. 3, a front link 28 provided between the bucket 6 and the arm 14 and transmitting a swing driving force to the bucket 6; There is a connecting pin 29 that connects the base end of the hook 27 to be rotatable. In this case, the hanging work is lifted by hanging the load on the hook 27 and raising the boom 12 and / or the arm 14 upward.
[0004]
[Problems to be solved by the invention]
However, the conventional technique has the following problems.
In the swing type excavator that can also perform the lifting operation, the work machine 5 is most stable when the weight balance with the counterweight 7 is the best, that is, when the work implement 5 is in the neutral state 5 a with respect to the upper revolving unit 1. Hanging work. Conversely, when the work machine 5 is suspended while swinging left and right from the neutral state 5a, or when the work machine 5 is swinged while suspended in the neutral state 5a, it is difficult to balance. The stability of the swing hydraulic excavator is reduced, and the suspended load is easily shaken.
[0005]
However, there is a case where the operator erroneously carries out the hanging operation without being strongly aware of the above. In the conventional swing type excavator, the operator swings the work machine 5 from the neutral state 5a during the hanging operation, or Even if the work is suspended while the work machine 5 is swinging from the neutral state 5a, there is no way to notify the operator that the vehicle has become unstable due to the work. As a result, the operator continues the lifting work without much awareness of this, and the vehicle becomes unstable and the suspended load shakes, which causes problems such as reduced work efficiency and contact between the suspended load and the outside. May occur.
[0006]
The present invention has been made in view of the above problem, and has as its object to provide a control device for a swing hydraulic excavator that enables stable hanging work.
[0007]
Means for Solving the Problems, Functions and Effects
In order to achieve the above object, a first invention according to the present invention is directed to a swing type excavator control device in which a working machine is attached to an upper revolving body so as to freely swing left and right. Mode switching means for outputting a selection command of a preferred lifting work mode, a swing detector for detecting whether the work implement is in a neutral state facing the front of the upper revolving unit, or a swing state from the neutral state, And a warning means for issuing a warning by displaying an alarm and / or an alarm sound in response to the warning command, and when a command for selecting a suspending work mode is input from a mode switching means, a work is performed based on a detection signal of a swing detector. A controller that determines whether or not the machine is in a swing state, and outputs a warning command to the warning means to notify that the machine is not in the hanging operation mode if the work machine is in a swing state. It has a configuration which includes a door.
[0008]
According to the first invention, even if the suspending operation mode is selected by the mode switching means, if the work implement is in the swinging state, the operating state is not changed to the suspending operation mode. Is notified via an alarm display and / or an audible alarm of the warning means, so that the operator can immediately know this state, and can alert the operator to cancel the alarm state. Accordingly, the operator is prompted to return the work machine from the swing state to the neutral state and perform the hanging operation, so that the hanging operation can be performed in a stable state.
[0009]
According to a second aspect of the present invention, in a control device for a swing type excavator in which a work machine is attached to an upper revolving body so as to freely swing in the left-right direction, a command for selecting a suspending work mode suitable for suspending a load with the work machine is output. Mode switching means, a swing detector for detecting whether the work implement is in a neutral state facing the front of the upper revolving unit, or a swing state from the neutral state, receiving an external warning command, displaying an alarm, And / or the work machine enters the swing state based on the detection signal of the swing detector when the apparatus is in the suspending operation mode by a warning means for issuing a warning by an alarm sound and a suspending operation mode selection command from the mode switching means. And a controller that outputs to the warning means a warning command for notifying that the work machine is swinging when the work machine is in a swing state. It has a configuration.
[0010]
According to the second aspect of the present invention, when the working machine is in a swinging state while in the hanging work mode, the fact that the work machine is swinging is notified via an alarm display and / or a warning sound of the warning means. Can immediately know this condition and alert the operator to release the alarm condition. Accordingly, the operator is prompted to return the work machine from the swing state to the neutral state and perform the hanging operation, so that the hanging operation can be performed in a stable state.
[0011]
In a third aspect based on the first or second aspect, the swing detector is turned on or off with the swing of the work implement, and detects whether the work implement is within a predetermined range representing a neutral state. It is characterized by being a limit switch.
[0012]
According to the third aspect of the present invention, whether the work implement is in the neutral state or the swing state is detected by the limit switch, so that the detection can be performed reliably with a simple configuration at low cost.
[0013]
According to a fourth aspect, in the first or second aspect, the swing detector is a detector that detects a stroke of a swing cylinder that swings the work implement, equivalent to a swing angle of the work implement. And
[0014]
According to the fourth aspect, by detecting the stroke of the swing cylinder corresponding to the swing angle of the work implement, it is possible to determine whether the work implement is in a neutral state or a swing state. At this time, when making this determination, the predetermined swing angle range representing the neutral state can be determined arbitrarily by adapting it to the applicable machine, so that the control device according to the present invention can be applied to any model. Versatility can be enhanced.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
First, a first embodiment will be described with reference to FIGS.
FIG. 1 is a side view of a swing type excavator to which the present invention is applied, and FIG. 2 is a plan view of a main part thereof. In FIGS. 1 and 2, the swing type excavator includes a lower traveling body 2, an upper revolving body 1 provided on an upper portion of the lower traveling body 2, and a working machine 5 provided on a front portion of the upper revolving body 1. have. Hereinafter, the traveling direction of the hydraulic shovel indicated by arrows F (front) -R (rear) in FIG. 1 is referred to as a front-rear direction, and a vehicle width direction orthogonal to the front-rear direction is referred to as a left-right direction.
[0016]
The lower traveling body 2 includes a pair of left and right crawler traveling devices 4, and a traveling drive unit 11 that drives the traveling device 4 by a hydraulic motor is provided on one side in the front-rear direction of each crawler traveling device 4. Have been. An upper revolving unit 1 is rotatably mounted substantially at the upper center of the lower traveling unit 2, and a working machine 5 having a bucket 6 is provided at a substantially central portion of a front part of the upper revolving unit 1.
[0017]
A bracket 21 is connected to a work implement mounting portion 24 provided at a front end portion of the upper revolving unit 1 by a pin 23 (see FIG. 2) so as to be swingable in a horizontal direction in a horizontal plane. By the expansion and contraction of a swing cylinder 22 attached between the bracket 21 and the upper swing body 1, a swing is made in the left-right direction about the pin 23. The base end of the boom 12 is connected to the front end of the bracket 21 so as to be swingable in the vertical direction, and the base end of the arm 14 is connected to the front end of the boom 12 so as to be swingable in the front-rear direction. Further, the bucket 6 is swingably connected to the tip of the arm 14. The boom 12, the arm 14, and the bucket 6 swing by the expansion and contraction of the boom cylinder 13, the arm cylinder 15, and the bucket cylinder 17, respectively. These constitute the working machine 5. Here, the horizontal swing angle from the neutral state 5a of the work machine 5 in a plan view is referred to as a swing angle θ. The operation of contracting the bucket cylinder 17 and swinging the bucket 6 forward is referred to as a dump operation.
[0018]
A projection 25 is projected from a rear portion of the bracket 21. When the bracket 21 is in a neutral position facing the front of the vehicle, a limit switch is provided on the upper revolving body 1 side frame near the projection 25. 26 are attached. The limit switch 26 is provided such that when the bracket 21 is at the neutral position, the operating piece 26a of the limit switch 26 is pushed by the projection 25 to operate, and the bracket 21 is moved right and left from the neutral position. When swinging in the direction by a predetermined angle (for example, ± 5 °) or more, the operation of the operating piece 26a is turned off, and it is detected that the swing has been performed from the vicinity of the neutral position, and this detection signal is transmitted to a controller described later. Hereinafter, a state in which the bracket 21, that is, the boom 12 is swinging a predetermined angle or more from the neutral position is referred to as a swinging state or a swing state.
[0019]
FIG. 3 shows a detailed view of the bucket mounting portion. As shown in FIG. 3, a base end of a hook 27 is pivotally connected to a pin 29 connecting the bucket 6 and a front link 28 that transmits the driving force of the bucket cylinder 17 to the bucket 6 and swings. (Not shown in FIGS. 1 and 2).
[0020]
FIG. 4 is a block diagram showing a hardware configuration of a control device for a swing hydraulic excavator according to the present invention.
In FIG. 4, the control device includes a controller 32 that performs automatic control of a lifting operation, a swing detector 20 that detects that the work implement 5 is in a neutral state, a display that displays an operating state and an alarm message, and A monitor device 30 having a mode switch 33, a rotation warning light 31, a first solenoid valve 35 for driving the swing of the bucket 6, and a second solenoid valve 36 for increasing / decreasing the speed of the traveling drive units 11, 11. And a motor 37 for controlling the number of revolutions of the engine. The swing detector 20, the monitor device 30, the rotation warning light 31, the solenoid valves 35 and 36, and the motor 37 are all electrically connected to the controller 32. The swing detector 20 has the limit switch 26 in the present embodiment.
[0021]
The controller 32 is mainly composed of a high-speed arithmetic device such as a microcomputer, and performs control processing to be described later based on a detection signal of the swing detector 20, and executes various types of hanging work automatic control or hanging work warning processing.
The rotation warning lamp 31 is turned on and turned on in response to a command from the controller 32 during the suspension work automatic control, and notifies an operator or the like that the suspension work automatic control is being performed. The rotation warning light 31 is installed at a position in front of the driver's seat where the operator can easily see it, for example, near the monitor device 30 shown in FIG.
[0022]
The first solenoid valve 35 drives the expansion and contraction of the bucket cylinder 17 based on a command from the controller 32 to cause the bucket 6 to perform a dumping operation (forward swing) or a scooping operation. Further, the second solenoid valve 36 controls the flow rate, that is, the number of revolutions of the hydraulic motors of the traveling drive units 11, 11 based on a command from the controller 32, and increases or decreases the speed of the traveling device 4 according to the speed stage. Do.
Further, the rotation angle of the motor 37 is controlled by a command from the controller 32, and controls the swing angle of an engine throttle lever (not shown) connected to its output shaft, that is, the engine speed.
[0023]
FIG. 5 shows the monitor device 30. The monitor device 30 includes a display 34 for displaying an operation state and an alarm message, and a mode switch 33 as mode switching means for switching and setting a work mode such as a hanging work mode or an excavation work mode. In response to an instruction from the operator, the operating state, an alarm message, and the like are displayed on the display unit 34, and the mode switch 33 is operated by the operator to change the operation mode to the excavation operation mode for performing the excavation operation and the lifting operation. It is possible to switch between the hanging operation mode and the hanging operation mode. Here, the display device 34 is configured by a character display device such as a liquid crystal display device capable of displaying a message, a plasma display device, or a graphic display device, or an LED display device capable of displaying an alarm code (alphanumeric characters or the like). The mode switch 33 is constituted by a momentary switch (for example, a touch switch or a push button switch). The monitor device 30 may be configured to include, as a warning unit, the display unit 34 for displaying an alarm, a buzzer that emits an alarm sound, or both.
[0024]
Hereinafter, the operation of the swing hydraulic excavator when performing a lifting operation will be described.
When a key switch (not shown) is turned on, the controller 32 is in an excavation operation mode as an initial state. When performing the hanging operation, the operator operates the mode switch 33 of the monitor device 30 to select the hanging operation mode. At this time, when the work implement 5 is in the neutral state 5a, the controller 32 enters the hanging work mode.
[0025]
In the hanging operation mode, the controller 32 performs the following hanging operation automatic control. That is,
(A) The suspension load amount is calculated, the calculated load amount value is compared with the maximum allowable value, and an alarm is displayed on the display 34 of the monitor device 30 when the load amount exceeds the calculated value.
(B) The load value during the suspension operation is displayed on the display 34 of the monitor device 30.
(C) Turn on the rotation warning lamp 31 during the automatic control of the suspended load operation.
(D) The first solenoid valve 35 is controlled to prohibit the dump operation (forward swing operation) of the bucket 6.
(E) The second solenoid valve 36 is controlled to limit the number of revolutions of the hydraulic motor of the traveling drive unit 11 so as not to exceed the range of the first speed (low speed range).
(F) The motor 37 is controlled so that the engine speed does not exceed a predetermined upper limit.
[0026]
By performing these controls, the operator can easily know the amount of the suspended load and the state of the load overload alarm at the time of the suspending operation, and is alerted when a heavy load exceeding the allowable value is suspended. In addition, during the suspended load operation, the operation of destabilizing the suspended load state (load swing, etc.) such as dumping operation, increasing the traveling speed, and increasing the speed of the work equipment is limited, so that the stable lifting operation is performed. Can be maintained. In principle, these lifting operations are performed in a neutral state where the boom 12 is not swung.
[0027]
Next, a description will be given of a case where the operator attempts to perform a lifting operation while swinging the boom 12 from the neutral position by a predetermined angle or more when the operation mode is the excavation operation mode. As described in the section of the related art, if the lifting operation is performed while the boom 12 is swung from the neutral position, the stability of the vehicle body of the swing hydraulic excavator may decrease and the load may shake. In order to prevent this, the controller 32 does not enter the suspending operation mode even when the operator operates the mode switch 33 so as to switch to the suspending operation mode when the boom 12 swings from the neutral position.
[0028]
FIG. 6 is a flowchart showing a control procedure of the controller 32 when the operator operates the mode switch 33 to switch from the excavation work mode to the hanging work mode.
When the hanging operation mode is selected (step S1), the controller 32 first determines whether or not the boom 12 has swung left and right from a predetermined range including the neutral position based on the output of the limit switch 26 (step S1). S2). If the swing is not being performed in step S2, the suspension work mode is entered, and the above-described suspension work automatic control (a) to (f) is executed (step S4). If the swing is being performed in step S2, the excavation operation mode is continued, and an alarm message such as "swinging" is displayed on the display 34 of the monitor device 30 (step S3). At this time, a warning buzzer may be sounded. The determination as to whether or not a swing is being made is made based on the signal of the limit switch 26 as described above. When the boom 12 is within a predetermined angle (± 5 °) from the neutral state, it is determined that the swing is not being made. judge. In the above flowchart, it does not matter whether the load is actually hung on the work machine 5 or not.
[0029]
Therefore, even if the operator attempts to set the hanging operation mode while swinging, the rotation warning lamp 31 does not light, the load amount value is not displayed on the monitor device 30, and an alarm message is displayed. Notice that you do not enter work mode. Thereafter, the boom 12 is returned from the swing state to the neutral state, and the suspension operation is performed again, so that a stable suspension operation is possible.
[0030]
Next, a case will be described in which the operator attempts to perform a swing operation after entering the hanging operation mode in step S4 in the above flowchart. In this case, the controller 32 notifies the operator that he or she is swinging in the hanging operation mode.
[0031]
That is, in FIG. 6, when the suspension work mode is entered in step S4, the controller 32 monitors whether or not the boom 12 is in a swing state based on the signal of the limit switch 26 (step S5). When it is determined that the swing state has been reached, the display of the load amount value on the display 34 of the monitor device 30 in (b) of the automatic control of the hanging operation is stopped, and the display 34 indicates that the swing is in progress. A message is displayed (step S6), and the process proceeds to step S7. At this time, a warning buzzer may be sounded. If it is determined in step S5 that the vehicle is not in the swing state, the process proceeds to step S7. In step S7, it is determined whether or not the excavation work mode is selected by the mode selection switch 33. If it is not selected, the process returns to step S4 to repeat the above processing. If it is selected, the excavation work mode is entered (step S8), and the process returns to step S1.
[0032]
Therefore, even if the operator attempts to swing the boom 12 by mistake in the suspending operation mode, the load amount value is not displayed on the monitor device 30, an alarm message is displayed, and a warning buzzer sounds. You notice that you are swinging during work, and you are warned. In order to avoid this, the operator returns the boom 12 from the swinging state to the non-swinging state (neutral state) so that the hanging operation can be stably performed.
[0033]
As described above, according to the first embodiment, the limit switch 26 is provided as the swing detector 20 that detects whether the boom 12 is swinging from the neutral state. Thus, the swing state of the boom 12 can be reliably detected at a low cost with a simple configuration. Note that, instead of the mechanical limit switch 26, a non-contact type detector such as a magnetic proximity switch may be used as the swing detector 20, for example.
[0034]
Then, based on the determination of the swing state, when the mode switch 33 is operated to shift from the excavation operation mode to the suspension operation mode, if the apparatus is in the swing state, the operation is not shifted to the suspension operation mode. Accordingly, the above-described suspension work automatic control (a) to (f) is not performed, and thus the rotation warning lamp 31 is not lit and the load amount value is not displayed on the monitor device 30, and an alarm message is displayed. The operator can immediately and easily know that the suspending operation mode has been selected during the swing of the boom 12, and is alerted. Then, by returning to the non-swing state and then entering the suspending operation mode again, it is possible to perform a stable suspending operation.
[0035]
In addition, when in the suspending operation mode, it is constantly monitored whether or not a swing state has occurred. When a swing that deviates from the neutral state is performed, a warning to that effect is given by a display on the monitor device 30 and / or a warning by a buzzer or the like. You can immediately and easily know that this has happened, and be alerted. In this case, other suspension work automatic control is executed except for displaying an alarm message instead of the load amount value on the display 34 of the monitor device 30. Therefore, these automatic controls are performed during the suspension work. It is possible to prevent instability without interruption. Then, the suspension operation is continued after returning the boom 12 to the non-swing state, so that a stable suspension operation can be performed.
[0036]
Next, a second embodiment will be described with reference to FIG. The hardware configuration of the control device according to the second embodiment is the same as that shown in FIG. 4, and among them, another example of the swing detector 20 that detects the swing state of the work implement 5 will be described here.
FIG. 7 is a perspective view of the base end of the boom 12 of the swing hydraulic excavator according to the second embodiment, and shows a mounting portion of the swing detector 20. FIG. 7 shows a state in which the upper swing body 1, the bracket 21, and the boom 12 are separated from each other.
[0037]
In FIG. 7, as a swing detector 20, a potentiometer 41 for detecting a swing angle θ of the boom 12 is provided on an axis of a pin 23 for swingably connecting the work implement mounting portion 24 of the upper swing body 1 and the bracket 21. It is provided in.
The potentiometer 41 is connected by a connecting member 42 to a pin 43 mounted on the upper part of the work implement mounting portion 24. Thereby, the angle of the bracket 21 in the horizontal plane with respect to the work machine mounting portion 24, that is, the swing angle θ of the boom 12 can be accurately detected. The detected angle is input to the controller 32, and the controller 32 determines whether it is in a swing state (swings a predetermined angle or more from the neutral position) or a non-swing state (a range within a predetermined angle from the neutral position) based on the detected angle. Is possible.
[0038]
When determining whether the swing state is the swing state or the non-swing state, the range of the predetermined angle is not limited to ± 5 °, but may be based on an appropriate angle range such as ± 6 ° or ± 10 ° depending on the applied machine. Can do it. Further, for example, by displaying the swing angle θ as well as the determination result of the swing state on the monitor device 30, the operation becomes easy when the operator returns the work implement 5 to the neutral position.
[0039]
Next, a third embodiment will be described with reference to FIG. Here, the hardware configuration of the control device is the same as in FIG.
FIG. 8 shows another example of the swing detector 20 of the swing type excavator according to the third embodiment. In FIG. 8, the swing type excavator has a detector that detects the stroke length of the swing cylinder 22 as the swing detector 20. That is, the reel 44 urged in the wire winding direction is attached to the outside of the tube of the swing cylinder 22, and the wire attachment portion 40 is provided at the tip of the piston of the swing cylinder 22 connected to the bracket 21. A wire 38 is stretched freely between the reel 44 and an encoder 39 for detecting the rotation angle of the reel 44. Then, the feed amount of the wire 38, that is, the stroke length of the swing cylinder 22 is detected by the encoder 39 as the rotation angle of the reel 44, and this detection signal is input to the controller 32.
[0040]
The stroke length of the swing cylinder 22 depends on the relationship between the tube end mounting position of the swing cylinder 22 and the position of the swing center (pin 23) of the bracket 21, the position of the wire mounting portion 40 at the piston tip, and the position of the bracket 21. The swing angle θ can be converted based on a relational expression determined from a mechanical structure based on the relationship with the swing center position and the like. It should be noted that the swing angle θ may be obtained from a data table corresponding to the stroke length of the swing cylinder 22 and the swing angle θ, which is obtained based on the relational expression determined from the above mechanical structure.
[0041]
According to the present embodiment, since the swing angle θ is equivalently detected by the encoder 39, a range representing the neutral state of the work machine 5 can be easily set in conformity with the applied machine similarly to the second embodiment. , It is possible to expand the applicable range of the present control device.
[0042]
Although the hydraulic shovel having the crawler type traveling device has been described as an example of a machine to which the present invention is applied, the present invention is not limited to this, and may be a wheel type, for example.
[0043]
As described above, the following effects can be obtained by the present invention.
The swing state of the working machine and the above-mentioned hanging work mode are provided in a swing type excavator in which a hanging work mode in which various auxiliary functions are added to automatically perform the hanging work in order to perform the hanging work stably can be selected. When this occurs at the same time, the operator is notified of the swing state by the warning means. That is, when the hanging operation mode is selected in the swinging state or when the swinging operation is performed in the hanging operation mode, the operator is notified of the swinging state by an alarm display and / or a buzzer alarm sound. . Thereby, the operator can immediately and easily know that the alarm state is present, and the operator is alerted. Therefore, the operation of returning the work machine to the neutral state and canceling the alarm state is performed. It will be easier. Therefore, the hanging operation can be performed while the vehicle body is stable.
[0044]
At this time, if a limit switch is used as a swing detector for detecting the swing state of the work implement, the configuration can be simple and inexpensive. Also, by detecting the swing angle as an angle around the work machine swing center axis, or the stroke of the swing cylinder, etc., even if the detection range of the swing state is set to a range suitable for the applicable machine, the determination reference data is set. Since it can be easily dealt with simply by changing the value, the versatility of the control device can be improved.
[Brief description of the drawings]
FIG. 1 is a side view of a swing type excavator to which the present invention is applied.
FIG. 2 is a plan view of a main part of FIG.
FIG. 3 is a detailed view of a bucket according to the embodiment.
FIG. 4 is a block diagram of a hardware configuration of a control device according to the embodiment.
FIG. 5 is a perspective view of the monitor device according to the embodiment.
FIG. 6 is a control flowchart according to the embodiment.
FIG. 7 is a perspective view of a mounting portion of a swing detector according to a second embodiment.
FIG. 8 shows another example of the swing detector according to the third embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Upper revolving superstructure, 2 ... Lower traveling body, 4 ... Crawler type traveling device, 5 ... Work implement, 5a ... Neutral state, 6 ... Bucket, 11 ... Traveling drive unit, 12 ... Boom, 13 ... Boom cylinder, 14 ... Arm, 15: Arm cylinder, 17: Bucket cylinder, 20: Swing detector, 21: Bracket, 22: Swing cylinder, 23: Pin, 24: Work implement mounting part, 25: Projecting part, 26: Limit switch, 27 ... Hook, 28 front link, 29 pin, 30 monitor device, 31 rotation warning light, 32 controller, 33 mode switch, 34 indicator, 35 first solenoid valve, 36 second solenoid valve, 37 ... motor, 38 ... wire, 39 ... encoder, 40 ... wire mounting part, 41 ... potentiometer, 42 ... connection member, 43 ... pin, 44 ... Lumpur.

Claims (4)

In a control device of a swing type excavator in which a work machine (5) is attached to an upper swing body (1) so as to freely swing in the left-right direction,
Mode switching means (33) for outputting a selection command of a suspending work mode suitable for suspending a load by the work machine (5);
A swing detector (20) for detecting whether the work machine (5) is in a neutral state (5a) facing the front of the upper swing body (1) or in a swing state from the neutral state;
A warning means (30) for receiving a warning command from the outside and issuing a warning with an alarm display and / or a warning sound;
When a command to select a hanging work mode is input from the mode switching means (33), it is determined whether the work machine (5) is in a swing state based on a detection signal of the swing detector (20), and the work machine (5) is determined. And a controller (32) for outputting, to the warning means (30), a warning command for notifying that the vehicle does not enter the hanging operation mode when the swing state is set to 5). . In a control device of a swing type excavator in which a work machine (5) is attached to an upper swing body (1) so as to freely swing in the left-right direction,
Mode switching means (33) for outputting a selection command of a suspending work mode suitable for suspending a load by the work machine (5);
A swing detector (20) for detecting whether the work machine (5) is in a neutral state (5a) facing the front of the upper swing body (1) or in a swing state from the neutral state;
A warning means (30) for receiving a warning command from the outside and issuing a warning with an alarm display and / or a warning sound;
It is monitored whether the work implement (5) is in a swing state based on a detection signal of the swing detector (20) when the suspending work mode is selected by the selection command of the suspending work mode from the mode switching means (33). And a controller (32) for outputting, to the warning means (30), a warning command for notifying that the work machine (5) is swinging when the work machine (5) is in a swing state. Control device for hydraulic excavators. A limit switch (26) for turning on or off the swing detector (20) with the swing of the work machine (5) and detecting whether the work machine (5) is within a predetermined range representing a neutral state; The control device for a swing hydraulic excavator according to claim 1 or 2, wherein: The swing detector (20) is a detector (39) that detects a stroke of a swing cylinder (22) that swings the work machine (5), equivalent to the swing angle (θ) of the work machine (5). The control device for a swing type hydraulic excavator according to claim 1 or 2, wherein:

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