JP6907779B2

JP6907779B2 - Construction machinery

Info

Publication number: JP6907779B2
Application number: JP2017143066A
Authority: JP
Inventors: 一治但馬
Original assignee: Kobelco Construction Machinery Co Ltd
Current assignee: Kobelco Construction Machinery Co Ltd
Priority date: 2017-07-24
Filing date: 2017-07-24
Publication date: 2021-07-21
Anticipated expiration: 2037-07-24
Also published as: JP2019023409A

Description

本発明は、上部旋回体を有する建設機械に関する。 The present invention relates to a construction machine having an upper swing body.

油圧ショベル等の建設機械では、バケット等を有する作業装置が取り付けられた上部旋回体を備え、該上部旋回体を、旋回用の油圧モータである旋回モータにより旋回させ得るように構成されたものが知られている（例えば特許文献１を参照）。 Construction machines such as hydraulic excavators are provided with an upper swivel body to which a work device having a bucket or the like is attached, and the upper swivel body is configured to be swiveled by a swivel motor which is a hydraulic motor for swivel. It is known (see, for example, Patent Document 1).

この種の建設機械では、斜面での駐車時等に、作業装置に作用する重力等に起因して上部旋回体が旋回してしまうのを防止するために、上部旋回体と一体に、もしくは連動して回転する回転部に摩擦力を付与することで、該上部旋回体の旋回を制動する駐車ブレーキが備えられている。 In this type of construction machine, in order to prevent the upper swivel body from turning due to gravity acting on the work equipment when parking on a slope, etc., it is integrated with or interlocked with the upper swivel body. A parking brake is provided to brake the turning of the upper swinging body by applying a frictional force to the rotating portion that rotates.

実開平５−６２６６号公報Jikkenhei 5-6266 Gazette

上記建設機械が斜面での駐車時等に、旋回モータと油圧ポンプとの間の油通路が旋回モータ用の方向切換弁（中立位置の方向切換弁）により遮断されることに加えて、駐車ブレーキも作動することで、上部旋回体の旋回は制動された状態に保持される。 When the construction machine is parked on a slope, the oil passage between the swivel motor and the hydraulic pump is blocked by the swivel motor direction switching valve (neutral position direction switching valve), and the parking brake. Is also activated to keep the swivel of the upper swivel body in a braked state.

しかし、このとき時間の経過と共に油圧ポンプと旋回モータとの間の方向切換弁などから作動油が徐々に漏れることで油圧モータの保持圧（旋回モータの作動油の入出ポートに作用する圧力）が低下することがある。この状態で上部旋回体を山側に旋回させる（重力に起因して上部旋回体に作用する旋回力の方向と逆方向に旋回させる）ように旋回操作を行って、方向切換弁の駆動を開始すると、上部旋回体もしくは作業装置に作用する重力に起因して駐車ブレーキの解除と同時に上部旋回体が谷側に動いてしまうおそれがある。 However, at this time, the hydraulic oil gradually leaks from the direction switching valve between the hydraulic pump and the swivel motor with the passage of time, and the holding pressure of the hydraulic motor (the pressure acting on the hydraulic oil inlet / outlet port of the swivel motor) increases. May decrease. In this state, when the upper swivel body is swiveled to the mountain side (swivel in the direction opposite to the direction of the swivel force acting on the upper swivel body due to gravity) and the direction switching valve is started to be driven. , The upper swing body may move to the valley side at the same time as the parking brake is released due to the gravity acting on the upper swing body or the working device.

本発明はかかる背景に鑑みてなされたものであり、斜面に位置する建設機械の上部旋回体が駐車ブレーキにより制動された状態で、上部旋回体の旋回操作が行われたときに、駐車ブレーキの解除に応じて該上部旋回体が旋回操作に反して谷側に動いてしまうのを防止し得るように該上部旋回体の旋回動作を行うことができる建設機械を提供することを目的とする。 The present invention has been made in view of this background, and when the upper turning body of the construction machine located on the slope is braked by the parking brake and the turning operation of the upper turning body is performed, the parking brake It is an object of the present invention to provide a construction machine capable of performing a swivel operation of the upper swivel body so as to prevent the upper swivel body from moving to the valley side contrary to the swivel operation in response to the release.

[１]上記目的を達成するため、本発明の建設機械は、
地面を走行可能な下部走行体と、
前記下部走行体に旋回自在に搭載された上部旋回体と、
前記上部旋回体を旋回させる駆動源としての旋回モータと、
前記上部旋回体を制動する駐車ブレーキと、
前記旋回モータの油圧供給源としての油圧ポンプと、
前記旋回モータに前記油圧ポンプから吐出される作動油を供給する方向切換弁と、
前記方向切換弁を駆動させるための操作装置とを備えた建設機械であって、
前記駐車ブレーキの作動の開始当初における前記旋回モータの保持圧の検出値を記憶する記憶部と、
前記駐車ブレーキにより制動された前記上部旋回体を前記操作装置の操作によって旋回させるときに、前記旋回モータの保持圧の検出値が、前記記憶部に記憶した前記旋回モータの保持圧に達したときに、前記駐車ブレーキの解除を行うように前記駐車ブレーキを作動させる制御装置とを備えることを特徴とする。 [1] In order to achieve the above object, the construction machine of the present invention
A lower running body that can run on the ground and
An upper swivel body mounted on the lower traveling body so as to be swivel, and an upper swivel body
A swivel motor as a drive source for swiveling the upper swivel body,
A parking brake that brakes the upper swing body and
A hydraulic pump as a hydraulic supply source for the swivel motor and
A directional control valve that supplies hydraulic oil discharged from the hydraulic pump to the swivel motor,
A construction machine equipped with an operating device for driving the directional control valve.
A storage unit that stores the detected value of the holding pressure of the swivel motor at the beginning of the operation of the parking brake, and a storage unit.
When the detection value of the holding pressure of the swivel motor reaches the holding pressure of the swivel motor stored in the storage unit when the upper swivel body braked by the parking brake is swiveled by the operation of the operating device. The parking brake is provided with a control device for operating the parking brake so as to release the parking brake.

本発明によれば、記憶部は、駐車ブレーキの作動の開始当初における旋回モータの保持圧の検出値を記憶する。斜面での駐車時においては、駐車ブレーキが作動した状態（駐車ブレーキによる上部旋回体の制動状態）では、上部旋回体の旋回位置は保持されるが、時間の経過と共に、旋回モータの保持圧は方向切換弁などの作動油の漏れにより低下する。そこで、制御装置は、操作装置の操作によって駐車ブレーキにより制動された上部旋回体を旋回させるときに、旋回モータの保持圧の検出値が、記憶部に記憶した旋回モータの保持圧に達したときに、駐車ブレーキの解除を行うように駐車ブレーキを作動させる。このため、建設機械を斜面で駐車した後、上部旋回体を山側に動かすように旋回操作をして上部旋回体の駐車ブレーキを解除した際に、上部旋回体が谷側に動くのを防止することができる。 According to the present invention, the storage unit stores the detected value of the holding pressure of the swivel motor at the beginning of the operation of the parking brake. When parking on a slope, the turning position of the upper turning body is maintained when the parking brake is activated (the braking state of the upper turning body by the parking brake), but the holding pressure of the turning motor increases with the passage of time. It decreases due to leakage of hydraulic oil such as the direction switching valve. Therefore, when the control device swivels the upper swivel body braked by the parking brake by operating the operating device, when the detected value of the holding pressure of the swivel motor reaches the holding pressure of the swivel motor stored in the storage unit. In addition, the parking brake is activated so as to release the parking brake. For this reason, after parking the construction machine on a slope, when the parking brake of the upper swing body is released by turning the upper swing body so as to move it to the mountain side, the upper swing body is prevented from moving to the valley side. be able to.

よって、本発明によれば、斜面に位置する建設機械の上部旋回体が駐車ブレーキにより制動された状態で、上部旋回体の旋回操作が行われたときに、駐車ブレーキの解除に応じて該上部旋回体が旋回操作に反して谷側に動いてしまうのを防止し得るように該上部旋回体の旋回動作を行うことができる。 Therefore, according to the present invention, when the upper turning body of the construction machine located on the slope is braked by the parking brake and the turning operation of the upper turning body is performed, the upper part is released according to the release of the parking brake. The swivel operation of the upper swivel body can be performed so as to prevent the swivel body from moving to the valley side contrary to the swivel operation.

[２]また、本発明においては、前記制御装置は、前記駐車ブレーキが作動したときに前記記憶部に記憶した保持圧の検出値が所定の閾値より大きいときは、前記操作装置の操作によって前記上部旋回体を旋回させるときの保持圧の検出値が、前記記憶部に記憶された保持圧に達したときに前記駐車ブレーキの解除を行う。 [2] Further, in the present invention, when the detection value of the holding pressure stored in the storage unit when the parking brake is activated is larger than a predetermined threshold value, the control device is operated by the operation device. The parking brake is released when the detected value of the holding pressure when turning the upper swing body reaches the holding pressure stored in the storage unit.

ここで、平地で停止した際には、記憶部に記憶した保持圧の検出値が所定の閾値より小さくなる。このため、平地で停止した際には、記憶部に記憶された保持圧の検出値によらずに、操作装置の操作に応じて直ちに駐車ブレーキを解除する。このため、上部旋回体の旋回を円滑に開始できる。また、上部旋回体の駐車時にいわゆるこもり圧が残っていても、駐車ブレーキの解除に応じて上部旋回体が急に旋回されるのを防止できる。 Here, when stopped on a flat ground, the detected value of the holding pressure stored in the storage unit becomes smaller than a predetermined threshold value. Therefore, when the vehicle is stopped on a flat ground, the parking brake is immediately released according to the operation of the operating device regardless of the detected value of the holding pressure stored in the storage unit. Therefore, the turning of the upper turning body can be started smoothly. Further, even if so-called muffled pressure remains when the upper swing body is parked, it is possible to prevent the upper swing body from suddenly turning in response to the release of the parking brake.

[３]また、本発明においては、当該建設機械は、前記上部旋回体の傾斜角を検出する傾斜角センサを備えており、前記制御装置は、前記駐車ブレーキの作動の開始当初に前記傾斜角センサで検出された傾斜角と、前記操作装置の操作によって前記上部旋回体の旋回を開始しようとするときに検出された傾斜角との相違に応じて、前記記憶部に記憶された保持圧を補正し、当該補正前の保持圧の代わりに当該補正後の保持圧を用いて前記駐車ブレーキの解除を行うように構成されていることが好ましい。 [3] Further, in the present invention, the construction machine includes an inclination angle sensor for detecting the inclination angle of the upper swing body, and the control device has the inclination angle at the beginning of the operation of the parking brake. The holding pressure stored in the storage unit is stored according to the difference between the tilt angle detected by the sensor and the tilt angle detected when the upper swing body is about to start turning by operating the operating device. It is preferable that the parking brake is released by using the holding pressure after the correction instead of the holding pressure before the correction.

これによれば、上部旋回体の制動後に建設機械の走行などで上部旋回体の傾斜角が変化し、旋回モータの保持圧が変化した場合であっても、制御装置は、駐車ブレーキの作動の開始当初に傾斜角センサで検出された傾斜角と、操作装置の操作によって上部旋回体の旋回を開始しようとするときに検出された傾斜角との相違に応じて、記憶部に記憶された保持圧を補正することで、操作装置の操作によって上部旋回体の旋回を開始しようとするときの上部旋回体の傾斜角に整合させるように、記憶部に記憶された保持圧を補正することができる。そして、当該補正後の保持圧を用いて駐車ブレーキの解除を行う（旋回モータの保持圧の検出値が当該補正後の保持圧に達したときに駐車ブレーキの解除を行う）ことによって、駐車ブレーキの作動中における建設機械の走行等によって上部旋回体の傾斜状態が変化していても、上部旋回体が旋回操作に反して谷側に動いてしまうのを防止することを適切に実現できる。 According to this, even when the inclination angle of the upper swing body changes due to the running of the construction machine after braking the upper swing body and the holding pressure of the swing motor changes, the control device operates the parking brake. Retention stored in the storage unit according to the difference between the tilt angle detected by the tilt angle sensor at the beginning of the start and the tilt angle detected when the upper swivel body is about to start turning by operating the operating device. By correcting the pressure, the holding pressure stored in the storage unit can be corrected so as to match the inclination angle of the upper swing body when the turning of the upper swing body is to be started by operating the operating device. .. Then, the parking brake is released using the corrected holding pressure (the parking brake is released when the detected value of the holding pressure of the turning motor reaches the corrected holding pressure). Even if the tilted state of the upper swivel body changes due to the running of the construction machine during the operation of the above, it is possible to appropriately prevent the upper swivel body from moving to the valley side against the turning operation.

[４]また、本発明においては、当該建設機械は、作業装置と、当該作業装置の姿勢を検出するための姿勢検出センサとを備えており、前記制御装置は、前記駐車ブレーキの作動の開始当初に前記姿勢検出センサで検出された姿勢と、前記操作装置の操作によって前記上部旋回体の旋回を開始しようとするときに検出された姿勢との相違に応じて、前記記憶部に記憶された保持圧を補正し、当該補正前の保持圧の代わりに当該補正後の保持圧を用いて前記駐車ブレーキの解除を行うように構成されていることが好ましい。 [4] Further, in the present invention, the construction machine includes a work device and a posture detection sensor for detecting the posture of the work device, and the control device starts the operation of the parking brake. It is stored in the storage unit according to the difference between the posture initially detected by the posture detection sensor and the posture detected when the upper swing body is about to start turning by operating the operating device. It is preferable that the holding pressure is corrected and the parking brake is released by using the holding pressure after the correction instead of the holding pressure before the correction.

姿勢検出センサによって作業装置の姿勢を検出することで、上部旋回体の制動後に操作装置の操作などで作業装置の姿勢が変化し、上部旋回体の保持圧が変化した場合であっても、制御装置は、駐車ブレーキの作動の開始当初に姿勢検出センサで検出された姿勢と、操作装置の操作によって上部旋回体の旋回を開始しようとするときに検出された姿勢との相違に応じて、記憶部に記憶された保持圧を補正することで、操作装置の操作によって上部旋回体の旋回を開始しようとするときの作業装置の姿勢に整合させるように、記憶部に記憶された保持圧を補正することができる。そして、当該補正後の保持圧を用いて駐車ブレーキの解除を行う（旋回モータの保持圧の検出値が当該補正後の保持圧に達したときに駐車ブレーキの解除を行う）ことによって、駐車ブレーキの作動中における作業装置の操作等によって作業装置の姿勢が変化していても、上部旋回体が旋回操作に反して谷側に動いてしまうのを防止することを適切に実現できる。 By detecting the posture of the work device with the posture detection sensor, even if the posture of the work device changes due to the operation of the operation device after braking the upper swing body and the holding pressure of the upper swing body changes, control is performed. The device stores the difference between the posture detected by the posture detection sensor at the beginning of the operation of the parking brake and the posture detected when the upper swing body is about to start turning by operating the operating device. By correcting the holding pressure stored in the storage unit, the holding pressure stored in the storage unit is corrected so as to match the posture of the working device when the upper swing body is about to start turning by operating the operating device. can do. Then, the parking brake is released using the corrected holding pressure (the parking brake is released when the detected value of the holding pressure of the turning motor reaches the corrected holding pressure). Even if the posture of the work device is changed due to the operation of the work device during the operation of the above, it is possible to appropriately prevent the upper swivel body from moving to the valley side against the swivel operation.

第１実施形態に係る建設機械としての油圧ショベルの側面図。The side view of the hydraulic excavator as a construction machine which concerns on 1st Embodiment. 第１実施形態の建設機械に備えた油圧システムの回路構成と、その制御に係る構成を示す図。The figure which shows the circuit structure of the hydraulic system provided with the construction machine of 1st Embodiment, and the structure which concerns on the control thereof. 図２に示す制御装置により実行される処理を示すフローチャート。The flowchart which shows the process executed by the control device shown in FIG. 第２実施形態の建設機械に備えた油圧システムの回路構成と、その制御に係る構成を示す図。The figure which shows the circuit structure of the hydraulic system provided with the construction machine of 2nd Embodiment, and the structure which concerns on the control thereof. 第２実施形態に係る建設機械の移動態様を示す図。The figure which shows the moving mode of the construction machine which concerns on 2nd Embodiment. 第２実施形態に係る上部旋回体の傾斜角を説明する図。The figure explaining the inclination angle of the upper swing body which concerns on 2nd Embodiment. 第２実施形態に係る作業装置が折りたたまれた姿勢を示す図。The figure which shows the folded posture of the work apparatus which concerns on 2nd Embodiment. 第２実施形態に係る作業装置が延ばされた姿勢を示す図。The figure which shows the extended posture of the work apparatus which concerns on 2nd Embodiment. 図４に示す制御装置により実行される処理を示すフローチャート。FIG. 5 is a flowchart showing a process executed by the control device shown in FIG.

（第１実施形態）
図を参照して、本発明の実施形態の建設機械１を詳しく説明する。図１に示すように、本実施形態の建設機械１は、例えば油圧ショベルである（以下、建設機械を油圧ショベルという）。この油圧ショベル１は、地面（斜面）６０を走行可能なクローラ式の下部走行体２と、当該下部走行体２上に旋回可能に搭載された上部旋回体３と、当該上部旋回体３に取り付けられた作業装置４とを備える。 (First Embodiment)
The construction machine 1 according to the embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the construction machine 1 of the present embodiment is, for example, a hydraulic excavator (hereinafter, the construction machine is referred to as a hydraulic excavator). The hydraulic excavator 1 is attached to a crawler-type lower traveling body 2 capable of traveling on the ground (slope) 60, an upper rotating body 3 rotatably mounted on the lower traveling body 2, and the upper rotating body 3. It is provided with the work device 4 provided.

上部旋回体３は、下部走行体２に対して、旋回軸心Ｃｚ周りの方向（ヨー方向）に旋回し得るように、該下部走行体２に取り付けられており、後述する旋回モータ２１により旋回駆動される。この上部旋回体３の前部には、作業者が搭乗する運転室５が備えられ、後部には、図示を省略するエンジンや油圧機器（油圧ポンプ、方向切換弁等）等が収容された機械室６が備えられている。上部旋回体３には、水平面に対する上部旋回体３の傾斜角を検出する傾斜角センサ７が備えられている。なお、第１実施形態では、傾斜角センサ７は省略されてもよい。 The upper rotating body 3 is attached to the lower traveling body 2 so as to be able to rotate with respect to the lower traveling body 2 in the direction (yaw direction) around the turning axis Cz, and is swiveled by the swivel motor 21 described later. Driven. The front part of the upper swing body 3 is provided with a driver's cab 5 on which an operator is boarded, and the rear part is a machine in which an engine and hydraulic equipment (hydraulic pump, direction switching valve, etc.) (not shown) are housed. Room 6 is provided. The upper swing body 3 is provided with a tilt angle sensor 7 that detects the tilt angle of the upper swing body 3 with respect to the horizontal plane. In the first embodiment, the tilt angle sensor 7 may be omitted.

作業装置４は、上部旋回体３の前部から延設されたブーム１１と、ブーム１１の先端部から延設されたアーム１２と、アーム１２の先端部に組付けられたアタッチメント１３と、ブーム１１を上部旋回体３に対して揺動させるブームシリンダ１４と、アーム１２をブーム１１に対して揺動させるアームシリンダ１５と、アタッチメント１３をアーム１２に対して揺動させるバケットシリンダ１６とを備える。 The working device 4 includes a boom 11 extending from the front portion of the upper swing body 3, an arm 12 extending from the tip end portion of the boom 11, an attachment 13 attached to the tip end portion of the arm 12, and a boom. It includes a boom cylinder 14 that swings 11 with respect to the upper swing body 3, an arm cylinder 15 that swings the arm 12 with respect to the boom 11, and a bucket cylinder 16 that swings the attachment 13 with respect to the arm 12. ..

なお、アタッチメント１３の先端部は、図示例では、バケットであるが、他の種類のアタッチメントであってもよい。 The tip of the attachment 13 is a bucket in the illustrated example, but may be another type of attachment.

油圧ショベル１には、さらに、図２に示す油圧システムとその動作制御に係る制御システムとが搭載されている。 The hydraulic excavator 1 is further equipped with a hydraulic system shown in FIG. 2 and a control system related to operation control thereof.

具体的には、油圧ショベル１は、上部旋回体３の旋回用の油圧モータである旋回モータ２１と、旋回モータ２１の回転駆動力の出力軸である回転軸２１ｃを摩擦力により制動する駐車ブレーキ２２と、旋回モータ２１を含む油圧アクチュエータの油圧供給源としての油圧ポンプ２３と、旋回モータ２１に油圧ポンプ２３から吐出される作動油を供給する方向切換弁２４と、方向切換弁２４を駆動させるための操作装置２５と、油圧ショベル１の運転制御を行う制御装置５０とを含む。 Specifically, the hydraulic excavator 1 is a parking brake that brakes a swivel motor 21 which is a hydraulic motor for swiveling the upper swivel body 3 and a rotary shaft 21c which is an output shaft of the rotary driving force of the swivel motor 21 by frictional force. 22, a hydraulic pump 23 as a hydraulic supply source for a hydraulic actuator including a swivel motor 21, a direction switching valve 24 for supplying hydraulic oil discharged from the hydraulic pump 23 to the swivel motor 21, and a direction switching valve 24 are driven. The operation device 25 for the purpose and the control device 50 for controlling the operation of the hydraulic excavator 1 are included.

油圧ポンプ２３は、比例弁２３ａを介して吐出量を制御可能な可変容量型のポンプであり、油圧ショベル１に搭載されたエンジン（図示省略）により駆動され、その駆動状態で作動油を吐出する。 The hydraulic pump 23 is a variable displacement pump whose discharge amount can be controlled via a proportional valve 23a, is driven by an engine (not shown) mounted on the hydraulic excavator 1, and discharges hydraulic oil in the driven state. ..

旋回モータ２１は、油圧ポンプ２３から方向切換弁２４を介して作動油を供給することで、回転軸２１ｃから回転駆動力（トルク）を出力する。 The swivel motor 21 outputs a rotational driving force (torque) from the rotary shaft 21c by supplying hydraulic oil from the hydraulic pump 23 via the directional control valve 24.

駐車ブレーキ２２は、旋回モータ２１の回転軸２１ｃ（又は該回転軸２１ｃと一体に、もしくは連動して回転し得る部材）の所定の部位に、該回転軸２１ｃの回転を制動する摩擦力（接触摩擦力）を付与する摩擦係合部２２ａと、該摩擦係合部２２ａを上記所定の部位（以降、制動摩擦力付与部という）に対して進退させるアクチュエータとしてのシリンダ２２ｂとを備える。なお、制動摩擦力付与部は、換言すれば、上部旋回体３と共に回転し得る部位である。 The parking brake 22 has a frictional force (contact) that brakes the rotation of the rotary shaft 21c to a predetermined portion of the rotary shaft 21c (or a member that can rotate integrally with or in conjunction with the rotary shaft 21c) of the swivel motor 21. A friction engaging portion 22a for applying frictional force) and a cylinder 22b as an actuator for advancing and retreating the friction engaging portion 22a with respect to the predetermined portion (hereinafter referred to as a braking frictional force applying portion) are provided. In other words, the braking friction force applying portion is a portion that can rotate together with the upper swivel body 3.

駐車ブレーキ２２の油室２２ｄと図示しないパイロットポンプとの間の油通路３１には、ブレーキ用切換弁２６が介装されている。ブレーキ用切換弁２６は電磁切換弁であり、制御信号（電気信号）が付与されていない状態では、油通路３１を閉弁し、パイロットポンプから油室２２ｄの作動油の供給を遮断する。制御信号（電気信号）を付与することで、ブレーキ用切換弁２６は、パイロットポンプから油室２２ｄに供給するように作動する。 A brake switching valve 26 is interposed in the oil passage 31 between the oil chamber 22d of the parking brake 22 and the pilot pump (not shown). The brake switching valve 26 is an electromagnetic switching valve, and when a control signal (electric signal) is not applied, the oil passage 31 is closed to shut off the supply of hydraulic oil from the pilot pump to the oil chamber 22d. By applying a control signal (electric signal), the brake switching valve 26 operates so as to be supplied from the pilot pump to the oil chamber 22d.

駐車ブレーキ２２のシリンダ２２ｂの筒内には、摩擦係合部２２ａを制動摩擦力付与部に圧接させる方向に付勢するばね２２ｃが内蔵されていると共に、パイロットポンプから作動油が供給されるブレーキ用切換弁２６に油通路３１を介して接続された油室２２ｄが形成されている。そして、油室２２ｄにパイロットポンプから作動油を供給して、該油室２２ｄの圧力を所定値以上の圧力に上昇させることによって、摩擦係合部２２ａがばね２２ｃの付勢力に抗して制動摩擦力付与部から後退して、制動摩擦力付与部への摩擦力の付与が解除されるようになっている。 A spring 22c is built in the cylinder 22b of the parking brake 22 to urge the friction engaging portion 22a into pressure contact with the braking friction force applying portion, and a brake to which hydraulic oil is supplied from the pilot pump. An oil chamber 22d connected to the switching valve 26 via an oil passage 31 is formed. Then, by supplying hydraulic oil from the pilot pump to the oil chamber 22d and raising the pressure of the oil chamber 22d to a pressure equal to or higher than a predetermined value, the friction engaging portion 22a controls the urging force of the spring 22c. The application of the frictional force to the braking frictional force applying portion is released by retreating from the dynamic frictional force applying portion.

また、油室２２ｄの圧力を上記所定値よりも低くすることで、ばね２２ｃの付勢力により、摩擦係合部２２ａが制動摩擦力付与部に圧接される。ひいては、該制動摩擦力付与部に、回転軸２１ｃの回転を制動する摩擦力が付与される。この摩擦力により回転軸２１ｃの回転、ひいては、上部旋回体３の旋回動作が制動されることとなる。 Further, by lowering the pressure of the oil chamber 22d below the above-mentioned predetermined value, the friction engaging portion 22a is pressed against the braking friction force applying portion by the urging force of the spring 22c. As a result, a frictional force for braking the rotation of the rotating shaft 21c is applied to the braking frictional force applying portion. Due to this frictional force, the rotation of the rotating shaft 21c and, by extension, the turning operation of the upper rotating body 3 are braked.

また、油圧ポンプ２３には、油通路３２を介して方向切換弁２４が接続されている。方向切換弁２４のパイロットポートには、右旋回用のパイロット油通路３３及び左旋回用のパイロット油通路３４を介して旋回リモコン弁２７が接続される。当該旋回リモコン弁２７は操作レバー２８で操作される。旋回リモコン弁２７には、図示されないパイロットポンプから作動油が供給される。操作装置２５は、旋回リモコン弁２７と、操作レバー２８をと含み、操作レバー２８の操作方向及び操作量に応じて旋回リモコン弁２７により生成されたパイロット圧は、パイロット油通路３３、３４を介して方向切換弁２４のパイロットに付与される。 Further, a direction switching valve 24 is connected to the hydraulic pump 23 via an oil passage 32. A turning remote control valve 27 is connected to the pilot port of the directional control valve 24 via a pilot oil passage 33 for turning right and a pilot oil passage 34 for turning left. The swivel remote control valve 27 is operated by the operating lever 28. Hydraulic oil is supplied to the swivel remote control valve 27 from a pilot pump (not shown). The operating device 25 includes a swivel remote controller valve 27 and an operating lever 28, and the pilot pressure generated by the swivel remote controller valve 27 according to the operating direction and operating amount of the operating lever 28 is transmitted through the pilot oil passages 33 and 34. It is given to the pilot of the direction switching valve 24.

右旋回用のパイロット油通路３３には、当該右旋回用のパイロット油通路３３の油圧を検出するパイロット圧センサ３３ａが備えられ、左旋回用のパイロット油通路３４には、当該左旋回用のパイロット油通路３４の油圧を検出するパイロット圧センサ３４ａが備えられている。これらのパイロット圧センサ３３ａ、３４ａの出力信号は、制御装置５０に入力される。 The pilot oil passage 33 for turning right is provided with a pilot pressure sensor 33a for detecting the oil pressure of the pilot oil passage 33 for turning right, and the pilot oil passage 34 for turning left is for turning left. The pilot pressure sensor 34a for detecting the oil pressure of the pilot oil passage 34 of the above is provided. The output signals of these pilot pressure sensors 33a and 34a are input to the control device 50.

パイロット圧センサ３３ａ、３４ａは、換言すれば、操作レバー２８の操作量を検出するものである。なお、実施形態では、パイロット圧センサ３３ａ、３４ａを用いたが、ポテンショメータ等で操作レバー２８の操作量を検出してもよい。 In other words, the pilot pressure sensors 33a and 34a detect the operation amount of the operation lever 28. In the embodiment, the pilot pressure sensors 33a and 34a are used, but the operation amount of the operation lever 28 may be detected by a potentiometer or the like.

方向切換弁２４に一端が接続された油通路３５は、他端が旋回モータ２１のＡポート２１ａに接続されている。方向切換弁２４に一端が接続された油通路３６は、他端が旋回モータ２１のＢポート２１ｂに接続されている。Ａポート２１ａは、上部旋回体３の左旋回時（上方から見て反時計回り方向の旋回時）における旋回モータ２１のメータイン側ポート、Ｂポート２１ｂは、上部旋回体３の右旋回時（上方から見て時計回り方向の旋回時）における旋回モータ２１のメータイン側のポートである。 The oil passage 35 having one end connected to the direction switching valve 24 is connected to the A port 21a of the swivel motor 21 at the other end. The oil passage 36, one end of which is connected to the direction switching valve 24, is connected to the B port 21b of the swivel motor 21 at the other end. The A port 21a is the meter-in side port of the turning motor 21 when the upper turning body 3 is turned left (when turning counterclockwise when viewed from above), and the B port 21b is when the upper turning body 3 is turning right (when turning right. This is a port on the meter-in side of the swivel motor 21 when turning clockwise when viewed from above.

方向切換弁２４は、スプール式の位置切換弁である。油通路３２から分岐油通路３８し、分岐油通路３８は方向切換弁２４に接続されている。 The direction switching valve 24 is a spool type position switching valve. The branch oil passage 38 is connected to the oil passage 32, and the branch oil passage 38 is connected to the directional control valve 24.

方向切換弁２４の動作位置Ｃ１は、油圧ポンプ２３からの作動油を油通路３６に流してＢポート２１ｂに送り、Ａポート２１ａからの作動油を油通路３５から油タンク３７に戻す位置である。換言すると、方向切換弁２４の動作位置Ｃ１では、油圧ポンプ２３からの作動油が分岐油通路３８から油通路３６に流れてＢポート２１ｂに送られ、Ａポート２１ａからの作動油が油通路３５から油タンク３７に流れる。 The operating position C1 of the direction switching valve 24 is a position where the hydraulic oil from the hydraulic pump 23 flows through the oil passage 36 and is sent to the B port 21b, and the hydraulic oil from the A port 21a is returned from the oil passage 35 to the oil tank 37. .. In other words, at the operating position C1 of the direction switching valve 24, the hydraulic oil from the hydraulic pump 23 flows from the branch oil passage 38 to the oil passage 36 and is sent to the B port 21b, and the hydraulic oil from the A port 21a is sent to the oil passage 35. Flows into the oil tank 37.

方向切換弁２４の動作位置Ｃ２は、中立位置であり、油圧ポンプ２３から旋回モータ２１側への作動油の流れを止めて作動油を油タンク３７に戻すと共に、Ａポート２１ａ及びＢポート２１ｂから油タンク３７への作動油の流れを止める位置である。換言すると、方向切換弁２４の動作位置Ｃ２では、油圧ポンプ２３からの作動油が、油通路３２から油タンク３７に流れ、油通路３５、３６から油タンク３７への作動油の流れが止められる。 The operating position C2 of the direction switching valve 24 is a neutral position, and the flow of hydraulic oil from the hydraulic pump 23 to the swivel motor 21 side is stopped, the hydraulic oil is returned to the oil tank 37, and the hydraulic oil is returned from the A port 21a and the B port 21b. This is a position where the flow of hydraulic oil to the oil tank 37 is stopped. In other words, at the operating position C2 of the direction switching valve 24, the hydraulic oil from the hydraulic pump 23 flows from the oil passage 32 to the oil tank 37, and the flow of the hydraulic oil from the oil passages 35 and 36 to the oil tank 37 is stopped. ..

方向切換弁２４の動作位置Ｃ３は、油圧ポンプ２３からの作動油を油通路３５に流してＡポート２１ａに送り、Ｂポート２１ｂからの作動油を油通路３６から油タンク３７に戻す位置である。換言すると、方向切換弁２４の動作位置Ｃ３では、油圧ポンプ２３からの作動油が分岐油通路３８から油通路３５に流れてＡポート２１ａに送られ、Ｂポート２１ｂからの作動油が油通路３６から油タンク３７に流れる。 The operating position C3 of the direction switching valve 24 is a position where the hydraulic oil from the hydraulic pump 23 flows through the oil passage 35 and is sent to the A port 21a, and the hydraulic oil from the B port 21b is returned from the oil passage 36 to the oil tank 37. .. In other words, at the operating position C3 of the direction switching valve 24, the hydraulic oil from the hydraulic pump 23 flows from the branch oil passage 38 to the oil passage 35 and is sent to the A port 21a, and the hydraulic oil from the B port 21b is sent to the oil passage 36. Flows into the oil tank 37.

なお、油通路３２から分岐する分岐油通路３８には、方向切換弁２４から油通路３２への作動油の逆流を防止する逆止弁３９が設けられている。 The branch oil passage 38 branching from the oil passage 32 is provided with a check valve 39 for preventing the backflow of hydraulic oil from the direction switching valve 24 to the oil passage 32.

油通路３５には、旋回モータ２１のＡポート２１ａ側の圧力を検出するＡポート圧検出センサ４１が設けられている。油通路３６には、旋回モータ２１のＢポート２１ｂ側の圧力を検出するＢポート圧検出センサ４２が設けられている。これらのポート圧検出センサ４１、４２の出力信号は、制御装置５０に入力される。 The oil passage 35 is provided with an A port pressure detection sensor 41 that detects the pressure on the A port 21a side of the swivel motor 21. The oil passage 36 is provided with a B port pressure detection sensor 42 that detects the pressure on the B port 21b side of the swivel motor 21. The output signals of these port pressure detection sensors 41 and 42 are input to the control device 50.

制御装置５０には、記憶部５１が備えられている。Ａポート圧検出センサ４１で検出した圧力の検出値及びＢポート圧検出センサ４２で検出した圧力の検出値は、それぞれ記憶部５１に記憶される。 The control device 50 is provided with a storage unit 51. The pressure detection value detected by the A port pressure detection sensor 41 and the pressure detection value detected by the B port pressure detection sensor 42 are stored in the storage unit 51, respectively.

また、油通路３５と油通路３６との間に掛け渡されるようにして油通路４３及び油通路４４が配設され、油通路４３と油通路４４との間に掛け渡されるようにして油通路４５が配設され、当該油通路４５から分岐した油通路４６が油タンク３７に接続されている。油通路４６には逆止弁４６ａが設けられている。 Further, the oil passage 43 and the oil passage 44 are arranged so as to be hung between the oil passage 35 and the oil passage 36, and the oil passage 43 is hung between the oil passage 43 and the oil passage 44. 45 is arranged, and an oil passage 46 branched from the oil passage 45 is connected to an oil tank 37. A check valve 46a is provided in the oil passage 46.

油通路４３には、Ａポート２１ａ側の圧力が所定値以上に高くなった場合に油通路３５の作動油を油通路４５に逃がすリリーフ弁４３ａと、Ｂポート２１ｂ側の圧力が所定値以上に高くなった場合に油通路３６の作動油を油通路４５に逃がすリリーフ弁４３ｂとが備えられている。 In the oil passage 43, a relief valve 43a that releases the hydraulic oil of the oil passage 35 to the oil passage 45 when the pressure on the A port 21a side becomes higher than a predetermined value, and a pressure on the B port 21b side become a predetermined value or more. It is provided with a relief valve 43b that allows the hydraulic oil in the oil passage 36 to escape to the oil passage 45 when it becomes high.

油通路４４には、油通路３５から油通路４５への作動油の流れを防止する逆止弁４４ａと、油通路３６から油通路４５への作動油の流れを防止する逆止弁４４ｂとが備えられている。 The oil passage 44 includes a check valve 44a for preventing the flow of hydraulic oil from the oil passage 35 to the oil passage 45, and a check valve 44b for preventing the flow of hydraulic oil from the oil passage 36 to the oil passage 45. It is equipped.

制御装置５０は、ＣＰＵ、メモリ、インターフェイス回路等を含む電子回路ユニットにより構成され、実装されたハードウェア構成とプログラムとにより実現される処理により各種制御処理を実行する機能を有する。例えば、制御装置５０は、駐車ブレーキ２２により制動された上部旋回体３を操作装置２５の操作によって旋回させるときに、旋回モータ２１の保持圧の検出値が、記憶部５１に記憶した旋回モータ２１の保持圧（以下、記憶保持圧という。）に達したときに、駐車ブレーキ２２の解除を行うように駐車ブレーキ２２を作動させる制御処理を実行する。 The control device 50 is composed of an electronic circuit unit including a CPU, a memory, an interface circuit, and the like, and has a function of executing various control processes by processing realized by the implemented hardware configuration and a program. For example, when the control device 50 turns the upper swivel body 3 braked by the parking brake 22 by the operation of the operating device 25, the swivel motor 21 stores the detected value of the holding pressure of the swivel motor 21 in the storage unit 51. When the holding pressure (hereinafter, referred to as memory holding pressure) is reached, the control process for operating the parking brake 22 is executed so as to release the parking brake 22.

この駐車ブレーキ２２を解除するときの制御処理は、図３のフローチャートに示す如く実行される。 The control process for releasing the parking brake 22 is executed as shown in the flowchart of FIG.

ＳＴＥＰ１で、制御装置５０は、操作装置２５の操作レバー２８の操作（以降、旋回操作という。）が有るか否かをパイロット圧センサ３３ａ、３４ａの検出値に基づいて判断する。旋回操作が有れば（ＳＴＥＰ１でＹＥＳ）、ＳＴＥＰ２に進む。旋回操作が無ければ（ＳＴＥＰ１でＮＯ）、ＳＴＥＰ１の判断処理を繰り返す。 In STEP 1, the control device 50 determines whether or not the operation lever 28 of the operation device 25 is operated (hereinafter referred to as a turning operation) based on the detected values of the pilot pressure sensors 33a and 34a. If there is a turning operation (YES in STEP1), the process proceeds to STEP2. If there is no turning operation (NO in STEP1), the determination process in STEP1 is repeated.

なお、操作装置２５で右旋回の操作をすると、方向切換弁２４が動作位置Ｃ３に動作してＢポート２１ｂから旋回モータ２１に作動油が供給され、上部旋回体３が右旋回する。操作装置２５で左旋回の操作をすると、方向切換弁２４が動作位置Ｃ１に動作してＡポート２１ａから旋回モータ２１に作動油が供給され、上部旋回体３が左旋回する。 When the operating device 25 is operated to turn right, the direction switching valve 24 operates at the operating position C3, hydraulic oil is supplied from the B port 21b to the turning motor 21, and the upper turning body 3 turns right. When the operating device 25 operates to turn left, the direction switching valve 24 operates at the operating position C1, hydraulic oil is supplied from the A port 21a to the turning motor 21, and the upper turning body 3 turns left.

操作装置２５の操作レバー２８が旋回操作無しの状態に維持されて、ＳＴＥＰ１の判断結果が肯定的になると、制御装置５０は、ブレーキ用切換弁２６への制御信号の出力を中止することで、駐車ブレーキ２２のブレーキ状態を解除する。そして、制御装置５０は、ＳＴＥＰ２で、駐車ブレーキ２２がブレーキ状態（上部旋回体３の制動状態）となったか否か判断する。駐車ブレーキ２２が作動していれば（ＳＴＥＰ２でＹＥＳ）、ＳＴＥＰ３に進む。駐車ブレーキ２２が作動してなければ（ＳＴＥＰ２でＮＯ）、ＳＴＥＰ１に戻る。 When the operation lever 28 of the operation device 25 is maintained in the state of no turning operation and the determination result of STEP 1 becomes affirmative, the control device 50 stops the output of the control signal to the brake switching valve 26. The braking state of the parking brake 22 is released. Then, the control device 50 determines in STEP 2 whether or not the parking brake 22 is in the braking state (braking state of the upper turning body 3). If the parking brake 22 is activated (YES in STEP2), the process proceeds to STEP3. If the parking brake 22 is not operating (NO in STEP2), the process returns to STEP1.

ＳＴＥＰ３で、制御装置５０は、駐車ブレーキ２２の作動の開始当初（開始時又はその直後）におけるＡポート圧検出センサ４１で検出された圧力を保持圧の検出値ＳＭＡ１として記憶部５１に記憶し、駐車ブレーキ２２の作動の開始当初におけるＢポート圧検出センサ４２で検出された圧力を保持圧の検出値ＳＭＢ１として記憶部５１に記憶する。建設機械１が斜面などで停止すると上部旋回体３に自重により谷側へ旋回しようとする力が加わる。すると、ＳＭＡ１とＳＭＢ１の一方が高圧になる。上部旋回体３は、駐車ブレーキ２２及び作動油の入出が方向切換弁２４により遮断された旋回モータ２１により旋回が制動されているが、時間経過に伴い方向切換弁２４などから作動油が徐々に漏れ、旋回モータ２１の高圧側の保持圧が低下することがある。 In STEP 3, the control device 50 stores the pressure detected by the A port pressure detection sensor 41 at the beginning of the operation of the parking brake 22 (at the time of the start or immediately after that) in the storage unit 51 as the detection value SMA1 of the holding pressure. The pressure detected by the B port pressure detection sensor 42 at the beginning of the operation of the parking brake 22 is stored in the storage unit 51 as the holding pressure detection value SMB1. When the construction machine 1 stops on a slope or the like, a force is applied to the upper swing body 3 to turn to the valley side due to its own weight. Then, one of SMA1 and SMB1 becomes high pressure. The upper swing body 3 is braked by the parking brake 22 and the swing motor 21 in which the inflow and outflow of hydraulic oil is blocked by the direction switching valve 24, but the hydraulic oil gradually flows from the direction switching valve 24 and the like with the passage of time. Leakage may reduce the holding pressure on the high pressure side of the swivel motor 21.

なお、ＳＭＡ１とＳＭＢ１の保持圧のうち高い方の保持圧を、高圧側の保持圧とする。上部旋回体３が右側に傾いたときは、Ａポート２１ａ側が高圧側の保持圧となり、Ａポート２１ａ側の保持圧ＳＭＡ１が高くなる。上部旋回体３が左側に傾いたときは、Ｂポート２１ｂ側が高圧側の保持圧となり、Ｂポート２１ｂ側の保持圧ＳＭＢ１が高くなる。 The higher holding pressure of SMA1 and SMB1 is taken as the holding pressure on the high pressure side. When the upper swing body 3 is tilted to the right, the holding pressure on the A port 21a side becomes the holding pressure on the high pressure side, and the holding pressure SMA1 on the A port 21a side becomes high. When the upper swing body 3 is tilted to the left side, the holding pressure on the B port 21b side becomes the holding pressure on the high pressure side, and the holding pressure SMB1 on the B port 21b side becomes high.

ＳＴＥＰ４で、制御装置５０は、再び操作レバー２８の旋回操作がなされたか否か判断する。旋回操作があれば（ＳＴＥＰ４でＹＥＳ）、ＳＴＥＰ５に進む。旋回操作がなければ（ＳＴＥＰ４でＮＯ）、ＳＴＥＰ４の判断処理を繰り返す。 In STEP 4, the control device 50 determines whether or not the turning operation of the operating lever 28 has been performed again. If there is a turning operation (YES in STEP4), the process proceeds to STEP5. If there is no turning operation (NO in STEP4), the determination process in STEP4 is repeated.

ＳＴＥＰ５で、制御装置５０は、建設機械１が平地にあるか否かを判断する。具体的には、制御装置５０は、例えば、ＳＭＡ１＜閾値、且つＳＭＢ１＜閾値、であれば建設機械１が平地にあると判断し（ＳＴＥＰ５でＹＥＳ）、ＳＴＥＰ９に進み駐車ブレーキ２２を解除する。ＳＭＡ１＜閾値、且つＳＭＢ１＜閾値、でなければ建設機械１が平地にないと判断し（ＳＴＥＰ５でＮＯ）、ＳＴＥＰ６に進む。 In STEP 5, the control device 50 determines whether or not the construction machine 1 is on a flat ground. Specifically, for example, if SMA1 <threshold value and SMB1 <threshold value, the control device 50 determines that the construction machine 1 is on a flat ground (YES in STEP5), proceeds to STEP9, and releases the parking brake 22. If SMA1 <threshold value and SMB1 <threshold value are not satisfied, it is determined that the construction machine 1 is not on flat ground (NO in STEP5), and the process proceeds to STEP6.

なお、建設機械１が平地にあるか否かの判断を、傾斜角センサ７で検出された上部旋回体３の傾斜角に基づき判断してもよい。この場合、検出された傾斜角が閾値よりも小さければ、建設機械１が平地にあると判断し（ＳＴＥＰ５でＹＥＳ）、ＳＴＥＰ９に進み駐車ブレーキ２２を解除する。検出された傾斜角が閾値よりも小さくなければ建設機械１が平地にないと判断し（ＳＴＥＰ５でＮＯ）、ＳＴＥＰ６に進む。 It should be noted that the determination as to whether or not the construction machine 1 is on a flat ground may be made based on the inclination angle of the upper swing body 3 detected by the inclination angle sensor 7. In this case, if the detected inclination angle is smaller than the threshold value, it is determined that the construction machine 1 is on a flat ground (YES in STEP 5), the process proceeds to STEP 9, and the parking brake 22 is released. If the detected inclination angle is not smaller than the threshold value, it is determined that the construction machine 1 is not on a flat ground (NO in STEP5), and the process proceeds to STEP6.

ＳＴＥＰ６で、制御装置５０は、操作レバー２８の操作が上部旋回体３を山側に旋回する操作か否かを判断する。具体的には、制御装置５０は、Ａポート２１ａとＢポート２１ｂのうち記憶保持圧が高い側に、作動油を供給するように操作レバー２８が操作されていれば、山側への操作と判断し（ＳＴＥＰ６でＹＥＳ）、ＳＴＥＰ７に進む。Ａポート２１ａとＢポート２１ｂのうち記憶保持圧が高い側に、作動油を供給するように操作レバー２８が操作されていなければ、谷側への操作と判断し（ＳＴＥＰ６でＹＥＳ）、ＳＴＥＰ９に進み駐車ブレーキ２２を解除する。 In STEP 6, the control device 50 determines whether or not the operation of the operation lever 28 is an operation of turning the upper swing body 3 toward the mountain side. Specifically, if the operation lever 28 is operated so as to supply the hydraulic oil to the side of the A port 21a and the B port 21b where the memory retention pressure is high, the control device 50 determines that the operation is to the mountain side. Then (YES in STEP6) and proceed to STEP7. If the operation lever 28 is not operated to supply hydraulic oil to the side of A port 21a and B port 21b where the memory retention pressure is high, it is determined that the operation is to the valley side (YES in STEP 6), and STEP 9 is set. The advance parking brake 22 is released.

ＳＴＥＰ７で、制御装置５０は、山側が左側か否か判断する。具体的には、制御装置５０は、例えば、ＳＭＡ１＞ＳＭＢ１であれば山側が左側と判断し（ＳＴＥＰ７でＹＥＳ）、ＳＴＥＰ８に進む。ＳＭＡ１＞ＳＭＢ１でなければ山側が右側と判断し（ＳＴＥＰ７でＮＯ）、ＳＴＥＰ１０に進む。 In STEP 7, the control device 50 determines whether or not the mountain side is on the left side. Specifically, for example, if SMA1> SMB1, the control device 50 determines that the mountain side is on the left side (YES in STEP7), and proceeds to STEP8. If SMA1> SMB1 is not satisfied, the mountain side is judged to be on the right side (NO in STEP7), and the process proceeds to STEP10.

ＳＴＥＰ８で、左側が山側となっており、制御装置５０は、現在の保持圧の検出値ＳＭＡと記憶保持圧ＳＭＡ１を比較し、保持圧の検出値ＳＭＡが高圧側の記憶保持圧ＳＭＡ１以上（ＳＭＡ≧ＳＭＡ１）であれば（ＳＴＥＰ８でＹＥＳ）、ＳＴＥＰ９に進み駐車ブレーキ２２を解除する。これにより、旋回操作の開始後、ＳＭＡがＳＭＡ１に達したときに駐車ブレーキ２２が解除される。保持圧の検出値ＳＭＡが記憶保持圧ＳＭＡ１以上でなければ（ＳＴＥＰ８でＮＯ）、油圧ポンプ２３によりＡポート２１ａ側が昇圧されるのを待ちつつ、ＳＴＥＰ８の判断処理を繰り返す。 In STEP 8, the left side is the mountain side, and the control device 50 compares the current holding pressure detection value SMA with the storage holding pressure SMA1, and the holding pressure detection value SMA is equal to or higher than the storage pressure SMA1 on the high pressure side (SMA). If ≧ SMA1) (YES in STEP8), the process proceeds to STEP9 and the parking brake 22 is released. As a result, the parking brake 22 is released when the SMA reaches SMA1 after the start of the turning operation. If the detection value SMA of the holding pressure is not equal to or higher than the storage holding pressure SMA1 (NO in STEP8), the determination process of STEP8 is repeated while waiting for the A port 21a side to be boosted by the hydraulic pump 23.

ＳＴＥＰ８で、右側が山側となっており、制御装置５０は、現在の保持圧の検出値ＳＭＢと記憶保持圧ＳＭＢ１を比較し、保持圧の検出値ＳＭＢが記憶保持圧ＳＭＢ１以上（ＳＭＢ≧ＳＭＢ１）であれば（ＳＴＥＰ１０でＹＥＳ）、ＳＴＥＰ９に進み駐車ブレーキ２２を解除する。これにより、旋回操作の開始後、ＳＭＢがＳＭＢ１に達したときに駐車ブレーキ２２が解除される。保持圧の検出値ＳＭＢが記憶保持圧ＳＭＢ１以上（ＳＭＢ≧ＳＭＢ１）でなければ（ＳＴＥＰ１０でＮＯ）、油圧ポンプ２３によりＢポート２１ｂ側が昇圧されるのを待ちつつ、ＳＴＥＰ１０の判断処理を繰り返す。 In STEP 8, the right side is the mountain side, and the control device 50 compares the current holding pressure detection value SMB with the memory holding pressure SMB1, and the holding pressure detection value SMB is the memory holding pressure SMB1 or more (SMB ≧ SMB1). If (YES in STEP 10), the process proceeds to STEP 9 and the parking brake 22 is released. As a result, the parking brake 22 is released when the SMB reaches SMB1 after the start of the turning operation. If the detected value SMB of the holding pressure is not the memory holding pressure SMB1 or more (SMB ≧ SMB1) (NO in STEP10), the determination process of STEP10 is repeated while waiting for the B port 21b side to be boosted by the hydraulic pump 23.

このような制御をすることで、建設機械１を斜面６０で駐車した後、上部旋回体３を山側に動かすように旋回操作をして上部旋回体３の駐車ブレーキ２２を解除した際に、上部旋回体３が谷側に動くのを防止することができる。よって、本実施形態によれば、斜面６０に位置する建設機械１の上部旋回体３が駐車ブレーキ２２により制動された状態で、上部旋回体３の旋回操作が行われたときに、駐車ブレーキ２２の解除に応じて該上部旋回体３が旋回操作に反して谷側に動いてしまうのを防止し得るように該上部旋回体３の旋回動作を行うことができる。 By performing such control, when the construction machine 1 is parked on the slope 60 and then the upper swivel body 3 is swiveled so as to move to the mountain side and the parking brake 22 of the upper swivel body 3 is released, the upper part is operated. It is possible to prevent the swivel body 3 from moving toward the valley side. Therefore, according to the present embodiment, when the upper turning body 3 of the construction machine 1 located on the slope 60 is braked by the parking brake 22 and the turning operation of the upper turning body 3 is performed, the parking brake 22 The upper swivel body 3 can be swiveled so as to prevent the upper swivel body 3 from moving to the valley side contrary to the swivel operation in response to the release of the above.

以上が、制御装置５０の制御処理の詳細である。 The above is the details of the control process of the control device 50.

（第２実施形態）
次に、第２実施形態の建設機械１を図４〜図７に基づいて説明する。なお、第２実施形態の建設機械１において第１実施形態の建設機械１（以下、油圧ショベル１という）と同一の構成については第１実施形態と同じ符号を付して詳しい説明を省略する。 (Second Embodiment)
Next, the construction machine 1 of the second embodiment will be described with reference to FIGS. 4 to 7. The construction machine 1 of the second embodiment has the same configuration as the construction machine 1 of the first embodiment (hereinafter referred to as the hydraulic excavator 1) with the same reference numerals as those of the first embodiment, and detailed description thereof will be omitted.

図４に示すように、油圧ショベル１は、水平面に対する上部旋回体３の傾斜角を検出する傾斜角センサ７と、第１の姿勢検出センサ１７と、第２の姿勢検出センサ１８と、第３の姿勢検出センサ１９とを備える。これらの検出信号が制御装置５０に入力される。また、制御装置５０は、その機能として、作業装置４の姿勢を演算する姿勢演算部８を備える。 As shown in FIG. 4, the hydraulic excavator 1 includes an inclination angle sensor 7 for detecting the inclination angle of the upper swing body 3 with respect to a horizontal plane, a first attitude detection sensor 17, a second attitude detection sensor 18, and a third. The posture detection sensor 19 is provided. These detection signals are input to the control device 50. Further, the control device 50 includes a posture calculation unit 8 for calculating the posture of the work device 4 as its function.

第１の姿勢検出センサ１７、第２の姿勢検出センサ１８及び第３の姿勢検出センサ１９は、角度センサであり、第１の姿勢検出センサ１７で上部旋回体３に対するブーム１１の回転角を検出し、第２の姿勢検出センサ１８でブーム１１に対するアーム１２の回転角を検出し、第３の姿勢検出センサ１９でアーム１２に対するアタッチメント１３の回転角を検出する。姿勢演算部８は、上部旋回体３に対するブーム１１の回転軸からアタッチメント１３への距離を、作業装置４の姿勢を表す指標として、第１〜第３の姿勢検出センサ１７、１８、１９の検出値に基づいて算出する。 The first posture detection sensor 17, the second posture detection sensor 18, and the third posture detection sensor 19 are angle sensors, and the first posture detection sensor 17 detects the rotation angle of the boom 11 with respect to the upper swing body 3. Then, the second posture detection sensor 18 detects the rotation angle of the arm 12 with respect to the boom 11, and the third posture detection sensor 19 detects the rotation angle of the attachment 13 with respect to the arm 12. The posture calculation unit 8 detects the first to third posture detection sensors 17, 18, and 19 using the distance from the rotation axis of the boom 11 to the attachment 13 with respect to the upper swing body 3 as an index indicating the posture of the work device 4. Calculate based on the value.

なお、実施形態では、第１の姿勢検出センサ１７、第２の姿勢検出センサ１８及び第３の姿勢検出センサ１９として角度センサを用いたが、これに限定されず、例えば作業装置４が伸縮する形態であれば、その伸縮部の変位量を検出する。また、ブーム１１、アーム１２、アタッチメント１３をそれぞれ駆動する油圧シリンダの伸縮量を検出するセンサを作業装置４の姿勢を検出するセンサとすることもできる。さらには、作業装置４の形態によらず当該作業装置４の姿勢を検出できればセンサの種類は問わない。 In the embodiment, angle sensors are used as the first posture detection sensor 17, the second posture detection sensor 18, and the third posture detection sensor 19, but the present invention is not limited to this, and for example, the work device 4 expands and contracts. If it is a form, the amount of displacement of the telescopic portion is detected. Further, the sensor that detects the amount of expansion and contraction of the hydraulic cylinder that drives the boom 11, the arm 12, and the attachment 13 can be used as a sensor that detects the posture of the work device 4. Furthermore, the type of sensor does not matter as long as the posture of the working device 4 can be detected regardless of the form of the working device 4.

次に、油圧ショベル１の傾斜角が変化した際の保持圧（ＳＭＡ１、ＳＭＢ１）の補正について説明する。
図５Ａに示すように、図左に示す油圧ショベル１は、傾斜した地面６０（以下、斜面６０という）で停止している。駐車ブレーキ２２（図４参照）を作動させ上部旋回体３を制動する。ここで油圧ショベル１を、上部旋回体３を制動させた状態で図右に示す位置に移動させる。そうすると、斜面６０の変化に伴い、上部旋回体３の傾斜角も変化し、駐車ブレーキ２２が解除された状態で上部旋回体３を制動するために必要な旋回モータ２１の高圧側の保持圧が変化する。 Next, the correction of the holding pressure (SMA1, SMB1) when the inclination angle of the hydraulic excavator 1 changes will be described.
As shown in FIG. 5A, the hydraulic excavator 1 shown on the left side of the figure is stopped on an inclined ground 60 (hereinafter, referred to as a slope 60). The parking brake 22 (see FIG. 4) is activated to brake the upper swing body 3. Here, the hydraulic excavator 1 is moved to the position shown on the right side of the figure while the upper swing body 3 is braked. Then, as the slope 60 changes, the inclination angle of the upper swing body 3 also changes, and the holding pressure on the high pressure side of the swing motor 21 required to brake the upper swing body 3 with the parking brake 22 released is increased. Change.

図５Ｂに示すように、水平面に対する上部旋回体３の傾斜角をθとする。制御装置５０は、駐車ブレーキ２２の作動の開始当初に傾斜角センサ７で検出された傾斜角θ１と、例えば油圧ショベル１が移動することで斜面６０が変化し、その後の操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに検出された傾斜角θとの相違（例えば、偏差）に応じて、記憶保持圧を補正する。 As shown in FIG. 5B, the inclination angle of the upper swing body 3 with respect to the horizontal plane is θ. The control device 50 changes the slope 60 by moving the tilt angle θ1 detected by the tilt angle sensor 7 at the beginning of the operation of the parking brake 22 and, for example, the hydraulic excavator 1, and then by the operation of the operating device 25. The storage holding pressure is corrected according to the difference (for example, deviation) from the inclination angle θ detected when the upper rotating body 3 is about to start turning.

次に、作業装置４の姿勢が変化した際の保持圧（ＳＭＡ１、ＳＭＢ１）の補正について説明する。
図６Ａに示すように、図左に示す油圧ショベル１は、作業装置４が折りたたまれた姿勢で停止している。駐車ブレーキ２２（図４参照）を作動させ上部旋回体３を制動する。ここで図６Ｂに示すように、上部旋回体３を制動させた状態で作業装置４を作動させ、作業装置４が伸ばされた姿勢にする。そうすると、作業装置４の姿勢の変化に伴い、作業装置４を含めた上部旋回体３の旋回の慣性モーメントも変化し、駐車ブレーキ２２が解除された状態で上部旋回体３を制動するために必要な旋回モータ２１の高圧側の保持圧が変化する。 Next, the correction of the holding pressure (SMA1, SMB1) when the posture of the working device 4 changes will be described.
As shown in FIG. 6A, in the hydraulic excavator 1 shown on the left side of the drawing, the working device 4 is stopped in a folded posture. The parking brake 22 (see FIG. 4) is activated to brake the upper swing body 3. Here, as shown in FIG. 6B, the working device 4 is operated in a state where the upper swivel body 3 is braked so that the working device 4 is in an extended posture. Then, as the posture of the work device 4 changes, the moment of inertia of the turn of the upper swing body 3 including the work device 4 also changes, which is necessary to brake the upper swing body 3 with the parking brake 22 released. The holding pressure on the high pressure side of the swivel motor 21 changes.

作業装置４が伸ばされた姿勢における斜面６０に沿った方向の作業装置４の突出量（姿勢）をＬとする。制御装置５０は、駐車ブレーキ２２の作動の開始当初に、第１〜第３の姿勢検出センサ１７、１８、１９による検出値に基づいて姿勢演算部８で算出された突出量Ｌ１と、例えば作業装置４のブーム１１、アーム１２、アタッチメント１３を回動させることで作業装置４の突出量が変化し、その後の操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに第１〜第３の姿勢検出センサ１７、１８、１９による検出値に基づいて姿勢演算部８で算出された突出量Ｌとの相違（例えば、偏差）に応じて記憶保持圧を補正する。 Let L be the amount of protrusion (posture) of the work device 4 in the direction along the slope 60 in the posture in which the work device 4 is extended. The control device 50 has a protrusion amount L1 calculated by the posture calculation unit 8 based on the values detected by the first to third posture detection sensors 17, 18 and 19 at the beginning of the operation of the parking brake 22, and the work, for example. The protrusion amount of the working device 4 is changed by rotating the boom 11, the arm 12, and the attachment 13 of the device 4, and when the operation of the operating device 25 is to start the turning of the upper swivel body 3, the first The storage holding pressure is corrected according to the difference (for example, deviation) from the protrusion amount L calculated by the posture calculation unit 8 based on the values detected by the third posture detection sensors 17, 18, and 19.

本実施形態では、駐車ブレーキ２２を解除するときの制御処理は、図７のフローチャートに示す如く実行される。 In the present embodiment, the control process for releasing the parking brake 22 is executed as shown in the flowchart of FIG.

ＳＴＥＰ１１で、制御装置５０は、操作装置２５の操作レバー２８の操作（以降、旋回操作という。）が有るか否かをセンサの検出値に基づいて判断する。旋回操作が有れば（ＳＴＥＰ１１でＹＥＳ）、ＳＴＥＰ１２に進む。旋回操作が無ければ（ＳＴＥＰ１１でＮＯ）、ＳＴＥＰ１１の判断処理を繰り返す。 In STEP 11, the control device 50 determines whether or not the operation lever 28 of the operation device 25 is operated (hereinafter referred to as a turning operation) based on the detection value of the sensor. If there is a turning operation (YES in STEP 11), the process proceeds to STEP 12. If there is no turning operation (NO in STEP 11), the determination process in STEP 11 is repeated.

操作装置２５の操作レバー２８が旋回操作無しの状態に維持されて、ＳＴＥＰ１１の判断結果が肯定的になると、制御装置５０は、ブレーキ用切換弁２６への制御信号の出力を中止することで、駐車ブレーキ２２のブレーキ状態を解除する。そして、制御装置５０は、ＳＴＥＰ１２で、駐車ブレーキ２２がブレーキ状態（上部旋回体３の制動状態）となったか否か判断する。駐車ブレーキ２２が作動していれば（ＳＴＥＰ１２でＹＥＳ）、ＳＴＥＰ１３に進む。駐車ブレーキ２２が作動してなければ（ＳＴＥＰ１２でＮＯ）、ＳＴＥＰ１１に戻る。 When the operation lever 28 of the operation device 25 is maintained in the state of no turning operation and the determination result of STEP 11 becomes affirmative, the control device 50 stops the output of the control signal to the brake switching valve 26. The braking state of the parking brake 22 is released. Then, in STEP 12, the control device 50 determines whether or not the parking brake 22 is in the braking state (braking state of the upper turning body 3). If the parking brake 22 is activated (YES in STEP 12), the process proceeds to STEP 13. If the parking brake 22 is not operating (NO in STEP12), the process returns to STEP11.

ＳＴＥＰ１３で、制御装置５０は、駐車ブレーキ２２の作動の開始当初におけるＡポート圧検出センサ４１で検出された圧力を保持圧の検出値ＳＭＡ１として記憶部５１に記憶し、駐車ブレーキ２２の作動の開始当初におけるＢポート圧検出センサ４２で検出された圧力を保持圧の検出値ＳＭＢ１として記憶部５１に記憶する。 In STEP 13, the control device 50 stores the pressure detected by the A port pressure detection sensor 41 at the beginning of the operation of the parking brake 22 as the holding pressure detection value SMA1 in the storage unit 51, and starts the operation of the parking brake 22. The pressure detected by the B port pressure detection sensor 42 at the beginning is stored in the storage unit 51 as the holding pressure detection value SMB1.

ＳＴＥＰ１４で、制御装置５０は、駐車ブレーキ２２の作動の開始当初に傾斜角センサ７で検出された上部旋回体３の傾斜角θ１を記憶部５１に記憶（以下、記憶傾斜角という）する。 In STEP 14, the control device 50 stores the inclination angle θ1 of the upper swing body 3 detected by the inclination angle sensor 7 at the beginning of the operation of the parking brake 22 in the storage unit 51 (hereinafter, referred to as a storage inclination angle).

ＳＴＥＰ１５で、制御装置５０は、駐車ブレーキ２２の作動の開始当初に姿勢検出センサ１７、１８、１９で検出された角度に基づいて姿勢演算部８で作業装置４の突出量Ｌ１を算出し、作業装置４全体の姿勢として記憶部５１に記憶（以下、記憶突出量という）する。 In STEP 15, the control device 50 calculates the protrusion amount L1 of the work device 4 by the posture calculation unit 8 based on the angles detected by the posture detection sensors 17, 18 and 19 at the beginning of the operation of the parking brake 22, and works. The posture of the entire device 4 is stored in the storage unit 51 (hereinafter, referred to as a storage protrusion amount).

ＳＴＥＰ１６で、制御装置５０は、記憶部５１に記憶された記憶傾斜角θ１及び記憶突出量Ｌ１と、操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに検出された傾斜角θ及び突出量Ｌとがそれぞれ同じか確認する。傾斜角θ及び突出量Ｌの両方とも記憶傾斜角θ１及び記憶突出量Ｌ１とそれぞれ同じ場合（ＳＴＥＰ１６でＹＥＳ）は、ＳＴＥＰ１８に進む。傾斜角θ及び突出量Ｌの一方でも異なる場合（ＳＴＥＰ１６でＮＯ）は、ＳＴＥＰ１７に進む。 In STEP 16, the control device 50 has the storage tilt angle θ1 and the storage protrusion amount L1 stored in the storage unit 51, and the tilt angle detected when the upper swivel body 3 is about to be swiveled by the operation of the operating device 25. Check if θ and the protrusion amount L are the same. When both the inclination angle θ and the protrusion amount L are the same as the storage inclination angle θ1 and the storage protrusion amount L1 (YES in STEP 16), the process proceeds to STEP 18. If either the inclination angle θ or the protrusion amount L is different (NO in STEP 16), the process proceeds to STEP 17.

ＳＴＥＰ１７で、制御装置５０は、記憶傾斜角θ１と操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに検出された傾斜角θとの相違（偏差）と、記憶突出量Ｌ１と操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに姿勢検出センサ１７、１８、１９で検出された角度に基づいて姿勢演算部８で算出された突出量Ｌとの相違（偏差）とに応じて、制御装置５０に格納した補正マップ又は２パラメータの演算式によって補正量を求め、補正量によって記憶部５１に記憶された保持圧（ＳＭＡ１、ＳＭＢ１）を補正し、ＳＴＥＰ１３に戻る。 In STEP 17, the control device 50 has a difference (deviation) between the storage tilt angle θ1 and the tilt angle θ detected when the upper swivel body 3 is about to turn by the operation of the operating device 25, and the storage protrusion amount L1. The difference from the protrusion amount L calculated by the posture calculation unit 8 based on the angles detected by the posture detection sensors 17, 18 and 19 when the upper swing body 3 is about to start turning by the operation of the operation device 25. The correction amount is obtained from the correction map stored in the control device 50 or the calculation formula of two parameters according to the (deviation), and the holding pressures (SMA1, SMB1) stored in the storage unit 51 are corrected by the correction amount, and STEP13 is performed. Return to.

ＳＴＥＰ１８で、制御装置５０は、再び操作装置２５の旋回操作がなされたか否か判断する。旋回操作があれば（ＳＴＥＰ１８でＹＥＳ）、ＳＴＥＰ１９に進む。旋回操作がなければ（ＳＴＥＰ１８でＮＯ）、ＳＴＥＰ１６に戻る。 In STEP 18, the control device 50 determines whether or not the turning operation of the operating device 25 has been performed again. If there is a turning operation (YES in STEP18), the process proceeds to STEP19. If there is no turning operation (NO in STEP18), the process returns to STEP16.

ＳＴＥＰ１９で、制御装置５０は、建設機械１が平地にあるか否かを判断する。制御装置５０は、傾斜角θが所定の閾値より小さければ建設機械１が平地にあると判断し（ＳＴＥＰ１９でＹＥＳ）、ＳＴＥＰ２４に進み駐車ブレーキ２２を解除する。傾斜角θが所定の閾値以上であれば建設機械１が平地にないと判断し（ＳＴＥＰ１９でＮＯ）、ＳＴＥＰ２０に進む。 In STEP 19, the control device 50 determines whether or not the construction machine 1 is on a flat ground. If the inclination angle θ is smaller than a predetermined threshold value, the control device 50 determines that the construction machine 1 is on a flat ground (YES in STEP 19), proceeds to STEP 24, and releases the parking brake 22. If the inclination angle θ is equal to or greater than a predetermined threshold value, it is determined that the construction machine 1 is not on a flat ground (NO in STEP 19), and the process proceeds to STEP 20.

なお、実施形態では、建設機械１が平地にあるか否かの判断を制御装置５０が傾斜角θに基づき行ったが、これに限定されず、保持圧に基づき判断してもよい。すなわち、制御装置５０は、補正後の補正圧ＳＭＡ１’＜閾値、且つ補正後の補正圧ＳＭＢ１’＜閾値、であれば建設機械１が平地にあると判断し（ＳＴＥＰ１９でＹＥＳ）、ＳＴＥＰ２４に進み駐車ブレーキ２２を解除する。補正後の保持圧ＳＭＡ１’＜閾値、且つ補正後の保持圧ＳＭＢ１’＜閾値、でなければ建設機械１が平地にないと判断し（ＳＴＥＰ１９でＮＯ）、ＳＴＥＰ２０に進む。 In the embodiment, the control device 50 determines whether or not the construction machine 1 is on a flat ground based on the inclination angle θ, but the determination is not limited to this, and the determination may be made based on the holding pressure. That is, if the corrected correction pressure SMA1'<threshold value and the corrected correction pressure SMB1'<threshold value, the control device 50 determines that the construction machine 1 is on a flat ground (YES in STEP 19), and proceeds to STEP 24. Release the parking brake 22. If the corrected holding pressure SMA1'<threshold value and the corrected holding pressure SMB1'<threshold value are not satisfied, it is determined that the construction machine 1 is not on flat ground (NO in STEP19), and the process proceeds to STEP20.

ＳＴＥＰ２０で、制御装置５０は、操作装置２５の操作が山側への操作か判断する。具体的には、制御装置５０は、Ａポート２１ａとＢポート２１ｂの補正後の保持圧が高い側に、作動油を流すように操作装置２５が操作されていれば、山側への操作と判断し（ＳＴＥＰ２０でＹＥＳ）、ＳＴＥＰ２１に進む。Ａポート２１ａとＢポート２１ｂの保持圧が低い側に、作動油を流すように操作装置２５が操作されていなければ、谷側への操作と判断し（ＳＴＥＰ２０でＹＥＳ）、ＳＴＥＰ２４に進み駐車ブレーキ２２を直ちに解除する。 In STEP 20, the control device 50 determines whether the operation of the operation device 25 is an operation to the mountain side. Specifically, the control device 50 determines that the operation is to the mountain side if the operation device 25 is operated so as to flow the hydraulic oil to the side where the corrected holding pressure of the A port 21a and the B port 21b is high. (YES in STEP20) and proceed to STEP21. If the operating device 25 is not operated to flow hydraulic oil to the side where the holding pressure of A port 21a and B port 21b is low, it is judged that the operation is to the valley side (YES in STEP 20), and the parking brake proceeds to STEP 24. 22 is released immediately.

ＳＴＥＰ２１で、制御装置５０は、山側が左側か否か判断する。具体的には、制御装置５０は、傾斜角センサ７による検出値によって判断し、山側が左側と判断すれば（ＳＴＥＰ２１でＹＥＳ）、ＳＴＥＰ２２に進む。山側が右側と判断すれば（ＳＴＥＰ２１でＮＯ）、ＳＴＥＰ２３に進む。 In STEP 21, the control device 50 determines whether or not the mountain side is on the left side. Specifically, the control device 50 determines based on the value detected by the tilt angle sensor 7, and if it determines that the mountain side is on the left side (YES in STEP 21), the process proceeds to STEP 22. If it is judged that the mountain side is on the right side (NO in STEP21), the process proceeds to STEP23.

なお、補正後の保持圧で判断し、制御装置５０は、ＳＭＡ１’＞ＳＭＢ１’あれば山側が左側と判断し（ＳＴＥＰ２１でＹＥＳ）、ＳＴＥＰ２２に進み、ＳＭＡ１’＞ＳＭＢ１’でなければ山側が右側と判断し（ＳＴＥＰ２１でＮＯ）、ＳＴＥＰ２３に進む制御処理を行ってもよい。 Judging by the holding pressure after correction, the control device 50 determines that the mountain side is on the left side if SMA1'> SMB1'(YES in STEP21), proceeds to STEP22, and if SMA1'> SMB1', the mountain side is on the right side. (NO in STEP21), and the control process for proceeding to STEP23 may be performed.

ＳＴＥＰ２２で、左側が山側となっており、制御装置５０は、現在の保持圧の検出値ＳＭＡと記憶した保持圧ＳＭＡ１を比較し、保持圧の検出値ＳＭＡが補正後の保持圧ＳＭＡ１’以上（ＳＭＡ≧ＳＭＡ１’）であれば（ＳＴＥＰ２２でＹＥＳ）、ＳＴＥＰ２４に進み駐車ブレーキ２２を解除する。保持圧の検出値ＳＭＡが補正後の保持圧ＳＭＡ１’以上（ＳＭＡ≧ＳＭＡ１’）でなければ（ＳＴＥＰ２２でＮＯ）、油圧ポンプ２３によりＡポート２１ａ側が昇圧されるのを待ちつつ、現在の保持圧の検出値ＳＭＡと補正後の保持圧ＳＭＡ１を比較に戻る（ＳＴＥＰ２２に戻る）。 In STEP 22, the left side is the mountain side, and the control device 50 compares the current holding pressure detection value SMA with the stored holding pressure SMA1, and the holding pressure detection value SMA is greater than or equal to the corrected holding pressure SMA1'(. If SMA ≥ SMA1') (YES in STEP22), the process proceeds to STEP24 and the parking brake 22 is released. If the detected value SMA of the holding pressure is not equal to or higher than the corrected holding pressure SMA1'(SMA ≧ SMA1') (NO in STEP22), the current holding pressure is waited for the A port 21a side to be boosted by the hydraulic pump 23. Return to the comparison between the detected value SMA and the corrected holding pressure SMA1 (return to STEP22).

ＳＴＥＰ２１で、右側が山側となっており、制御装置５０は、現在の保持圧の検出値ＳＭＢと記憶した保持圧ＳＭＢ１’を比較し、保持圧の検出値ＳＭＢが補正後の保持圧ＳＭＢ１’以上（ＳＭＢ≧ＳＭＢ１’）であれば（ＳＴＥＰ２３でＹＥＳ）、ＳＴＥＰ２４に進み駐車ブレーキ２２を解除する。保持圧の検出値ＳＭＢが補正後の保持圧ＳＭＢ１以上（ＳＭＢ≧ＳＭＢ１’）でなければ（ＳＴＥＰ２３でＮＯ）、油圧ポンプ２３によりＢポート２１ｂ側が昇圧されるのを待ちつつ、現在の保持圧の検出値ＳＭＢと補正後の保持圧ＳＭＢ１’を比較に戻る（ＳＴＥＰ２３に戻る）。 In STEP 21, the right side is the mountain side, and the control device 50 compares the current holding pressure detection value SMB with the stored holding pressure SMB1', and the holding pressure detection value SMB is equal to or higher than the corrected holding pressure SMB1'. If (SMB ≧ SMB1') (YES in STEP23), the process proceeds to STEP24 and the parking brake 22 is released. If the detected value SMB of the holding pressure is not the corrected holding pressure SMB1 or more (SMB ≧ SMB1') (NO in STEP23), the current holding pressure is increased while waiting for the hydraulic pump 23 to boost the B port 21b side. Return to the comparison between the detected value SMB and the corrected holding pressure SMB1'(return to STEP23).

ＳＴＥＰ２４で制御装置５０は、駐車ブレーキ２２の解除を行い、上部旋回体３の旋回を制動する前の状態となる。 In STEP 24, the control device 50 releases the parking brake 22 and is in a state before braking the turning of the upper turning body 3.

以上が、制御装置５０の処理の詳細である。 The above is the details of the processing of the control device 50.

以上に説明した実施形態によれば、傾斜角センサ７によって上部旋回体３の傾斜角を検出することで、上部旋回体３の制動後に建設機械１の走行などで姿勢が変化し、上部旋回体３の保持圧が変化した場合であっても、制御装置５０は、駐車ブレーキ２２の作動の開始当初に傾斜角センサ７で検出された傾斜角と、操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに検出された傾斜角との相違に応じて、記憶部５１に記憶された保持圧を補正し、補正した保持圧を用いて駐車ブレーキ２２の解除を行うことができる。 According to the embodiment described above, by detecting the tilt angle of the upper swivel body 3 by the tilt angle sensor 7, the posture changes due to the running of the construction machine 1 after the braking of the upper swivel body 3 and the like, and the upper swivel body 3 Even when the holding pressure of 3 is changed, the control device 50 keeps the tilt angle detected by the tilt angle sensor 7 at the beginning of the operation of the parking brake 22 and the operation of the operating device 25 to control the upper swing body 3. The holding pressure stored in the storage unit 51 can be corrected according to the difference from the inclination angle detected when the vehicle is about to start turning, and the parking brake 22 can be released using the corrected holding pressure. ..

姿勢検出センサ１７、１８、１９によって作業装置４の姿勢を検出することで、上部旋回体３の制動後に操作装置２５の操作などで作業装置４の姿勢が変化し、上部旋回体３の保持圧が変化した場合であっても、制御装置５０は、駐車ブレーキ２２の作動の開始当初に姿勢検出センサ１７、１８、１９で検出された姿勢と、操作装置２５の操作によって上部旋回体３の旋回を開始しようとするときに検出された姿勢との相違に応じて、記憶部５１に記憶された保持圧を補正し、補正した保持圧を用いて駐車ブレーキ２２の解除を行うことができる。 By detecting the posture of the work device 4 by the posture detection sensors 17, 18 and 19, the posture of the work device 4 is changed by operating the operation device 25 after braking the upper swing body 3, and the holding pressure of the upper swing body 3 is changed. Even when is changed, the control device 50 turns the upper swing body 3 by the posture detected by the posture detection sensors 17, 18 and 19 at the beginning of the operation of the parking brake 22 and the operation of the operation device 25. The holding pressure stored in the storage unit 51 can be corrected according to the difference from the posture detected when trying to start the operation, and the parking brake 22 can be released using the corrected holding pressure.

なお、以上説明した実施形態では、建設機械の一例として油圧ショベル１を例示したが、本発明における建設機械は、他の構造の建設機械であってもよい。例えば、旋回体が取り付けられた基体は、車輪式の走行体、あるいは、脚式の移動体であってもよい。 In the embodiment described above, the hydraulic excavator 1 is illustrated as an example of the construction machine, but the construction machine in the present invention may be a construction machine having another structure. For example, the substrate to which the swivel body is attached may be a wheel-type traveling body or a leg-type moving body.

１建設機械
２下部走行体
３上部旋回体
４作業装置
７傾斜角センサ
１７第１の姿勢検出センサ
１８第２の姿勢検出センサ
１９第３の姿勢検出センサ
２１旋回モータ
２２駐車ブレーキ
２３油圧ポンプ
２４方向切換弁
２５操作装置
５０制御装置
５１記憶部 1 Construction machine 2 Lower traveling body 3 Upper swivel body 4 Working device 7 Tilt angle sensor 17 First posture detection sensor 18 Second posture detection sensor 19 Third posture detection sensor 21 Swing motor 22 Parking brake 23 Hydraulic pump 24 direction Switching valve 25 Operating device 50 Control device 51 Storage unit

Claims

A lower running body that can run on the ground and
An upper swivel body mounted on the lower traveling body so as to be swivel, and an upper swivel body
A swivel motor as a drive source for swiveling the upper swivel body,
A parking brake that brakes the upper swing body and
A hydraulic pump as a hydraulic supply source for the swivel motor and
A directional control valve that supplies hydraulic oil discharged from the hydraulic pump to the swivel motor,
A construction machine equipped with an operating device for driving the directional control valve.
Pressure detecting means provided at each of the plurality of ports where the swivel motor is connected to the direction switching valve, and
A storage unit that stores the detected value of the holding pressure of each of the pressure detecting means at the beginning of the operation of the parking brake, and a storage unit.
When the upper swivel body braked by the parking brake is swiveled by the operation of the operating device, the detection value of the holding pressure of the swivel motor corresponding to the operating direction of the operating device is stored in the storage unit. A construction machine including a control device that activates the parking brake so as to release the parking brake when the holding pressure of the swivel motor is reached.

A lower running body that can run on the ground and
An upper swivel body mounted on the lower traveling body so as to be swivel, and an upper swivel body
A swivel motor as a drive source for swiveling the upper swivel body,
A parking brake that brakes the upper swing body and
A hydraulic pump as a hydraulic supply source for the swivel motor and
A directional control valve that supplies hydraulic oil discharged from the hydraulic pump to the swivel motor,
A construction machine equipped with an operating device for driving the directional control valve.
A storage unit that stores the detected value of the holding pressure of the swivel motor at the beginning of the operation of the parking brake, and a storage unit.
When the detection value of the holding pressure of the swivel motor reaches the holding pressure of the swivel motor stored in the storage unit when the upper swivel body braked by the parking brake is swiveled by the operation of the operating device. to, Bei example a control device for actuating the parking brake so as to release the said parking brake,
The control device has a predetermined threshold value for determining whether or not the construction machine is on a flat ground.
When the detected value of the holding pressure stored in the storage unit is larger than a predetermined threshold value when the parking brake is activated, the control device operates the operating device to rotate the upper swing body. When the detected value of is reached the holding pressure stored in the storage unit, the parking brake is released.
When the detected value of the holding pressure stored in the storage unit is smaller than the threshold value when the parking brake is activated, the operation of the operating device is performed regardless of the detected value of the holding pressure stored in the storage unit. A construction machine characterized in that it is configured to release the parking brake immediately in response.

A lower running body that can run on the ground and
An upper swivel body mounted on the lower traveling body so as to be swivel, and an upper swivel body
A swivel motor as a drive source for swiveling the upper swivel body,
A parking brake that brakes the upper swing body and
A hydraulic pump as a hydraulic supply source for the swivel motor and
A directional control valve that supplies hydraulic oil discharged from the hydraulic pump to the swivel motor,
A construction machine equipped with an operating device for driving the directional control valve.
A storage unit that stores the detected value of the holding pressure of the swivel motor at the beginning of the operation of the parking brake, and a storage unit.
When the detection value of the holding pressure of the swivel motor reaches the holding pressure of the swivel motor stored in the storage unit when the upper swivel body braked by the parking brake is swiveled by the operation of the operating device. Also provided with a control device that activates the parking brake so as to release the parking brake .
The construction machine is provided with an inclination angle sensor that detects the inclination angle of the upper swing body.
The control device has a tilt angle detected by the tilt angle sensor at the beginning of the operation of the parking brake and a tilt angle detected when the upper swing body is about to start turning by operating the operating device. According to the difference from the above, the holding pressure stored in the storage unit is corrected, and the parking brake is released by using the holding pressure after the correction instead of the holding pressure before the correction. construction machine according to claim that you are.

A lower running body that can run on the ground and
An upper swivel body mounted on the lower traveling body so as to be swivel, and an upper swivel body
A swivel motor as a drive source for swiveling the upper swivel body,
A parking brake that brakes the upper swing body and
A hydraulic pump as a hydraulic supply source for the swivel motor and
A directional control valve that supplies hydraulic oil discharged from the hydraulic pump to the swivel motor,
A construction machine equipped with an operating device for driving the directional control valve.
A storage unit that stores the detected value of the holding pressure of the swivel motor at the beginning of the operation of the parking brake, and a storage unit.
When the detection value of the holding pressure of the swivel motor reaches the holding pressure of the swivel motor stored in the storage unit when the upper swivel body braked by the parking brake is swiveled by the operation of the operating device. Also provided with a control device that activates the parking brake so as to release the parking brake .
The construction machine is provided with a work device and a posture detection sensor for detecting the posture of the work device.
The control device has a posture detected by the posture detection sensor at the beginning of the operation of the parking brake and a posture detected when the upper swing body is about to start turning by operating the operation device. According to the difference, the holding pressure stored in the storage unit is corrected, and the parking brake is released by using the holding pressure after the correction instead of the holding pressure before the correction. A construction machine that features.