JP3519215B2 - Operation drive of two-piece boom type working machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-piece boom type working machine provided with a multi-joint type front working device including a two-piece boom, and particularly to a two-piece boom type working machine for facilitating operation of a second boom. The present invention relates to an operation drive device for a machine.

[0002]

2. Description of the Related Art Generally, each actuator (hydraulic cylinder) of a front working device of a hydraulic excavator is driven by controlling a switching valve incorporated in a control valve, and the switching valve is directly operated by an operator operating an operating lever. It is operated by a link or cable, or is operated secondarily by a pilot valve. Also, in recent years, a method has been adopted in which an operator's lever input is converted into an electric signal and a solenoid valve drives the switching valve based on the signal.

By the way, in recent years, the use of hydraulic excavators has expanded, and there is a growing demand for further improvement in workability due to the expansion of the work range and the like. As a working machine having a new front structure for that purpose, a conventional boom is divided into a first boom and a second boom, and the second boom is attached to the first boom so as to be rotatable in the vertical direction. There is a two-piece boom type hydraulic excavator that can expand the work range by moving the boom. This hydraulic excavator requires an operating device for operating the actuator of the second boom. Also in this second boom operating device, although there are differences in the link, cable, pilot hydraulic pressure, and electric signal, the operator finally operates the operating lever to input the lever. Further, in an actual two-piece boom type hydraulic excavator, there is an example in which a pedal is used as an operation device for the second boom.

Here, the input by the operation lever and the pedal has a metering from the neutral position to the full position and enables speed control of the actuator (working member).

[0005]

As described above, the conventional 2
In the peace boom type hydraulic excavator, an operation lever or pedal capable of metering is adopted as an operation device for the second boom. However, it was found that most of the usages of the second boom were to operate the second boom just to change the front shape according to the work immediately before the work was started.

That is, when the operator wants to work far away, the operator sets a posture in which the cylinder of the second boom is contracted to the minimum and the second boom is extended to the maximum by operating the lever or the pedal in advance. Then, the work members such as the first boom and the arm are operated to perform the work. Also, if you want to carry out the work at hand, operate the lever or pedal in advance
A posture in which the cylinder of the boom is extended to the maximum and the second boom is held is set, and the work members such as the first boom and the arm are operated in this posture to perform work. However, such operations are accompanied by the following annoyances.

(1) The operation for changing the front shape is the second
Although it was a simple operation to change the position of the boom ON or OFF, it was a lever or pedal operation, so the arm and leg had to be moved greatly.

Here, in the one disclosed in Japanese Patent Laid-Open No. 7-3836, a lift cylinder for a blade of a bulldozer,
An electric switch is provided on the knob of the operation lever so that the tilt cylinder and the angle cylinder can be operated by one operation lever. However, the bulldozer blade lift, tilt, and angle operations are all simple ON / OFF operations.
Although the operation is off, the front working device of the two-piece boom hydraulic excavator performs various complicated works such as excavation work and leveling work. Generally, each of the working members to be operated is operated by levers or pedals capable of metering as described above, and there is no idea to operate the second boom by a switch.

(2) When performing the work at hand in a posture in which the second boom is held, the operator has to visually set the angle formed by the first boom and the second boom appropriately. In other words, if this angle is large, it is meaningless because it is the same as the posture in which the second boom is extended. On the contrary, if the angle is small, the bucket unnecessarily approaches the lower part of the vehicle body when the first boom is lowered to the maximum, which is not desirable.

A first object of the present invention is to provide an operation drive device for a two-piece boom type working machine capable of easily operating the second boom without changing the lever or pedal operation and changing the front shape. is there.

A second object of the present invention is to provide a two-piece boom which can easily set the angle formed by the first boom and the second boom to an appropriate angle when the front shape is changed by operating the second boom. An object of the present invention is to provide an operation drive device for a die working machine.

[0012]

[Means for Solving the Problems]

(1) In order to achieve the first object, the present invention drives an articulated front working device including a first boom, a second boom, and an arm, and drives the first boom, the second boom, and the arm. And a first operating lever and a second operating lever. By operating the first operating lever and the second operating lever, the hydraulic cylinders of the first boom and the arm are operated, and In an operation drive device for a two-piece boom type working machine that rotates a first boom and an arm in a vertical direction, a switch means provided on either one of the first and second operation levers and operable by a finger of an operator. And drive control means for controlling the driving and stopping of the hydraulic cylinder of the second boom and the operating direction at the time of driving according to the operation of the switch means.

According to the present invention having the above-described structure, when the switch means is operated by the operator's finger, the hydraulic cylinder of the second boom is driven in response to the operation, so that the operation can be easily performed without operating the lever or the pedal. 2 The boom can be operated to change the front shape.

(2) Further, in order to achieve the above-mentioned second object, according to the present invention, in the above-mentioned (1), the drive control means detects the attitude of the second boom with respect to the first boom. And the attitude detected by the attitude detecting means reaches a preset attitude, the hydraulic cylinder of the second boom is driven according to the operation of the switch means, and the detected attitude reaches the preset attitude. Then, it has stop control means for stopping the hydraulic cylinder of the second boom.

In the present invention configured as described above, when the switch cylinder is operated to drive the hydraulic cylinder of the second boom, the stop control means causes the hydraulic cylinder of the second boom to move when the detected posture reaches the set posture. Since it is stopped, the second boom automatically stops in the setting state, and when operating the second boom to change the front shape, the angle between the first boom and the second boom can be easily set to an appropriate angle. Can be set.

(3) In the above item (2), preferably,
The stop control means controls the drive and stop of the hydraulic cylinder of the second boom when the switch means is operated to rotate the second boom in the lowering direction.

With this, when the second boom is held and the front shape is set so that the work at hand can be easily performed, the front shape having the optimum angle can be easily set as in the above (2).

(4) Further, in the above (1), preferably, the switch means includes a first position, a second position, and a third position.
Is operable in any of the positions, and the drive control means is configured to operate the second means when the switch means is in the first position.
When the boom is stopped and the switch means is operated to the second position, the second boom is rotated in the upward direction, and when the switch means is operated to the third position, the second boom is rotated in the downward direction. The hydraulic cylinder of the second boom is driven so as to move.

As a result, the action (1) is obtained.

(5) Further, in the above (4), preferably, the drive control means detects the attitude of the second boom with respect to the first boom, and the second means by operating the switch means. And a stop control means for stopping the hydraulic cylinder of the second boom when the attitude detected by the attitude detecting means reaches a preset attitude while the boom is rotating in the lowering direction.

As a result, the actions (2) and (3) are obtained.

(6) Further, in the above (2) or (5), preferably, the drive control device has a setting changing means capable of changing the setting posture by an operator's operation.

As a result, when the second boom is automatically stopped and the front shape is set as described above, the angle of the second boom can be set to an optimum angle according to the work content by operating the setting changing means. .

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIG.
~ It demonstrates by FIG.

In FIG. 1, 1 is a two-piece boom type working machine, and the working machine 1 is provided with an articulated front working device 2. The front working device 2 includes a first boom 3 attached to the upper swing body 13 so as to be vertically movable,
A second boom 4 rotatably attached to the first boom 3 in the vertical direction, an arm 5 rotatably attached to the second boom 4 in the vertical direction, and an arm 5 attached to the arm 5 in the vertical direction. It is composed of a work device movably mounted, for example, a bucket 6. Also, the first boom 3 is the first
The second boom 4 is driven by the second boom cylinder 8, and the arm 5 is driven by the boom cylinder 7.
The bucket 6 is driven by the bucket cylinder 10. Further, the upper swing body 13 is driven to swing by a swing motor (not shown).

First and second operation levers 20 and 21 as shown in FIG.
3, the first boom 3, the arm 5, and the bucket 6 are operated by moving these operation levers 20 and 21. That is, the operation levers 20 and 21 can be respectively moved in the front-rear direction and the left-right direction as illustrated, and when the first operation lever 20 is moved in the front-rear direction, the first boom cylinder 7 expands and contracts, and the first boom 3 moves. Is operated downward and upward,
When the first operation lever 20 is moved in the left-right direction, the bucket cylinder 10 expands and contracts, the bucket 6 is operated in the cloud direction and the dump direction, and when the second operation lever 21 is moved in the front-rear direction, a swing motor (not shown) rotates. Then, the swing body 2 swings rightward and leftward, and when the second operation lever 21 is moved leftward and rightward, the arm cylinder 9 expands and contracts, and the arm 5 is operated in the dump direction and the cloud direction.

First operating lever 20 and second operating lever 21
On the other hand, for example, the grip 20a on the upper portion of the first operation lever 20
2 which can be operated by the operator's finger as shown in FIG.
Two push button type switches 22 and 23 are provided. The switch 22 is for raising the second boom 4,
The switch 23 is for lowering the second boom 4, and when the switch 22 is pressed (turned on), the second boom cylinder 8 contracts, the second boom 4 is operated in the raising direction, and the switch 23 is pressed (turned on). ) And the second boom cylinder 8 extends, and the second boom 4 is operated in the lowering direction. In this way, the switches 22 and 23 are both turned OFF, and the switch 22 and the switch 22 are set to the O position.
The switch 23 is turned off when N, and the position where the raising operation of the second boom 4 is instructed and the switch 2 is turned off when the switch 2 is turned on.
3 is turned on, and has three positions for instructing the lowering operation of the second boom 4.

The switches 22 and 23 may be momentary operation switches that are activated (ON) only while they are pressed, or they may be alternate switches that maintain their positions when pressed once and return to their original positions when pressed again. . Also,
The example using two switches 22 and 23 has been shown, but with one button, pressing and releasing once activates the extension direction, and when the same operation is performed next, it stops, or it continues to press and release twice rapidly (double quick). ), The contraction direction is activated, and when the same operation is performed next, it may be stopped. Further, it may be a seesaw type switch that alternately turns on and off.

Further, in FIG. 1, 30 is a second boom drive device, 31 is a second boom operation device, and the drive device 30 of the second boom 4 is the above-mentioned second boom cylinder 8 and
It has a hydraulic pilot type proportional switching valve 33 for controlling the flow rate and the flow direction of the pressure oil supplied from the hydraulic pump 32 to the second boom cylinder 8.

The operation device 31 of the second boom 4 includes the above-mentioned switches 22 and 23, and an angle sensor 34 which is provided at a joint connecting portion between the first boom 3 and the second boom 4 and detects an angle formed by both booms. , The control unit 36 for inputting signals from the operating unit 35 for changing the set angle, the switches 22, 23, the angle sensor 34, and the operating unit 35, and the pilot pressure from the pilot hydraulic pressure source 37 are proportional to each other. Switching valve 3
A pair of pilot conduits 37a, 37b for guiding to the pilot operation parts 33a, 33b of the three, and the proportional electromagnetic pressure reducing valves 38, 3 provided in the pilot conduits 37a, 37b.
9 and a signal is sent from the control device 36 to the proportional solenoids 38a and 39b of the proportional electromagnetic pressure reducing valves 38 and 39.

The arithmetic processing function of the control device 36 is shown in the flow chart of FIG.

The control device 36 inputs signals from the switches 22 and 23 and the angle sensor 34 (step 100),
If the switch 22 is pressed and turned on, the proportional solenoid pressure reducing valve 38
Is turned on and the proportional electromagnetic pressure reducing valve 39 is turned off (Step 1
10 → 120), the proportional electromagnetic pressure reducing valve 38 is energized. As a result, the proportional switching valve 33 is switched to the position on the right side in the drawing, and the pressure oil from the hydraulic pump 32 is transferred to the second boom cylinder 8
The second boom cylinder 8 contracts and the second boom 4 rotates in the raising direction because the second boom cylinder 8 is contracted.

Similarly, the switch 23 is pressed (O
In the case of N), the proportional electromagnetic pressure reducing valve 38 is turned off, the proportional electromagnetic pressure reducing valve 39 is turned on (step 110 → 130), and the proportional electromagnetic pressure reducing valve 39 is energized. As a result, the proportional switching valve 3
3 is switched to the position on the left side in the drawing, and the pressure oil from the hydraulic pump 32 is guided to the bottom side of the second boom cylinder 8, so that the second boom cylinder 8 extends and the second boom 4 rotates in the lowering direction. To do. Also, during this time, the first boom 3 and the second boom 3
The angle α formed by the boom 4 is monitored (step 140), and before the angle α reaches the set angle α ₀ , the second boom 4 continues to rotate in the lowering direction (step 140 → 130 → 140),
When the angle α reaches the set angle α ₀ , the proportional electromagnetic pressure reducing valve 3
Turn off both 8 and 39 (step 140 → 15
0). As a result, the proportional switching valve 33 is returned to the neutral position,
The second boom 4 stops.

In the above processing, the operator can freely change the set angle α ₀ by operating the operation unit 35.

An example of the operating section 35 is shown in FIG. Operation part 3
5 has, for example, a dial 35a provided on the operation panel in the driver's cab, and the set angle α ₀ can be changed by turning the dial 35a. This operation unit 35
May be a lever type or the like.

In FIG. 5, the second boom cylinder 8 is contracted to the minimum and the second boom 4 is raised to the maximum, so that the second boom 4
FIG. 6 shows the front shape and the working range of the front shape when the second boom 4 is extended to the maximum, and the second boom 4 is lowered to the maximum by extending the second boom cylinder 8 to the maximum. The front shape and the working range with this front shape are shown.

When the front shape is set as shown in FIG. 5, it is advantageous when working far or high.
On the other hand, work near the vehicle body is disadvantageous because there is an area * where the bucket does not reach, as shown in Fig. 7. Further, when the front shape is set as shown in FIG. 6, work near the vehicle body is easy, but work far away is naturally impossible. Further, when performing the work at hand in the posture of holding the second boom 4 shown in FIG. 6, it is necessary to appropriately set the angle α formed by the first boom 3 and the second boom 4. In other words, if this angle α is large, the posture is the same as when the second boom 4 is raised to the maximum and extended, which is meaningless. On the contrary, if the angle α is small, the bucket 6 unnecessarily approaches the lower part of the vehicle body when the first boom 3 is lowered to the maximum, which is not desirable. In addition, the excavation depth is extremely low. However, since this may be advantageous for other work such as deep digging, the second angle should be set with an appropriate angle α in the position work example.
The extension stroke end of the boom cylinder 8 cannot be set.

In this embodiment, by pushing the switch 22 as described above, the second boom 4 is rotated in the raising direction, and when the second boom cylinder 8 reaches the stroke end, the second boom is stopped. A front shape in which the second boom 4 is extended to the maximum as shown in 5 is set.

By pressing the switch 23, the second
The boom 4 rotates in the lowering direction, and when the angle α formed by the first boom 3 and the second boom 4 reaches the set angle α ₀ , the second boom 4 automatically stops, and the second boom 4 as shown in FIG. The front shape that holds the boom 4 is set. At this time, the angle α at which the second boom 4 stops can be set to an optimum angle according to the work content by operating the operation unit 35.

Therefore, according to the present embodiment, by operating the second boom, which has conventionally been operated by the lever or the foot-operated pedal, by the switches 22 and 23, the operator can easily operate the front shape by operating the fingertips of the operator. Can be changed, and the operator's operational trouble can be reduced.

Further, when the operator holds the second boom and takes a work posture in which the work at hand is easy to perform, conventionally, the operator visually checks the second boom so that the first boom 3 and the second boom 4 have an optimum angle. Although the boom cylinder 8 was operated, in this embodiment, the switch 23 is automatically pressed to stop at the target optimum angle, so that the front shape of the optimum angle can be easily set.

Further, since the switches 22 and 23 have a simpler structure than the conventional lever or pedal system, the cost can be kept low.

Although the angle sensor 34 is used to detect the attitude of the second boom 4 with respect to the first boom 3 in the above embodiment, a position sensor for detecting the stroke of the second boom cylinder 8 is provided. The attitude of the second boom 4 may be detected by detecting the stroke position.

[0044]

According to the present invention, it is possible to easily change the shape of the front by operating the fingertip of the operator without depending on the operation of the lever or the pedal, and to reduce the troublesomeness of the operation of the operator.

Since the structure is simple as compared with the conventional lever or pedal system, the cost can be kept low.

Further, according to the present invention, when the second boom is held and the work posture is easy to carry out, it is possible to automatically stop at the target optimum angle only by operating the switch means. You can easily set the optimum front shape.

[Brief description of drawings]

FIG. 1 is a diagram showing an operation drive device of a two-piece boom type working machine according to an embodiment of the present invention.

FIG. 2 is a diagram showing an appearance of an operation lever and an operation method.

FIG. 3 is a flowchart showing processing functions performed by a control device.

FIG. 4 is a diagram illustrating an example of an operation unit that changes a set angle.

FIG. 5 is a diagram showing a front shape when the second boom is extended to the maximum extent and a work range in the front shape.

FIG. 6 is a diagram showing a front shape when the second boom is maximally held and a work range in this front shape.

FIG. 7 is a diagram showing a region where a bucket cannot reach in a work range when a front shape in which the second boom is extended to the maximum is set.

[Explanation of symbols]

1-2 piece boom type working machine 2 Front working device 3 first boom 4 second boom 5 arms 6 buckets 7 First boom cylinder 8 Second boom cylinder 9 arm cylinder 10 bucket cylinders 20,21 Operation lever 22,23 switch 30 Second boom drive 31 Second boom operating device 33 Proportional switching valve 34 Angle sensor 35 Operation unit for changing the set angle 36 Controller 38, 39 Proportional solenoid pressure reducing valve

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Claims (6)

(57) [Claims] 1. A multi-joint type front working device including a first boom, a second boom and an arm, hydraulic cylinders for driving the first boom, the second boom and the arm, a first operating lever and a first operating lever. Two operating levers are provided, and by operating the first operating lever and the second operating lever, the hydraulic cylinders of the first boom and the arm are operated, and the first boom and the arm are respectively rotated in the vertical direction. Two
In an operation drive device for a piece boom type working machine, a switch means provided on either one of the first and second operation levers and operable by a finger of an operator, and the second boom according to an operation of the switch means. 2. An operation drive device for a two-piece boom type working machine, comprising: a drive control means for controlling the drive and stop of the hydraulic cylinder and the operation direction during the drive. 2. The operation drive device for a two-piece boom type work machine according to claim 1, wherein the drive control means is the first drive device.
Attitude detecting means for detecting the attitude of the second boom with respect to the boom, and before the attitude detected by the attitude detecting means reaches a preset attitude, the hydraulic cylinder of the second boom is operated according to the operation of the switch means. And a stop control unit that stops the hydraulic cylinder of the second boom when the detected posture reaches a set posture, the operation drive device for the two-piece boom type working machine. 3. The operation drive device for a two-piece boom type working machine according to claim 2, wherein the stop control means is operated when the switch means is operated to rotate the second boom in a lowering direction. An operation drive device for a two-piece boom type working machine, which controls driving and stopping of a hydraulic cylinder of the second boom. 4. The operation drive device for a two-piece boom type working machine according to claim 1, wherein the switch means is operable to any one of a first position, a second position and a third position,
The drive control means stops the second boom when the switch means is in the first position, and rotates the second boom in the raising direction when the switch means is operated to the second position, When the switch means is operated to the third position, the hydraulic cylinder of the second boom is driven so as to rotate the second boom in the lowering direction.
Operation drive device for piece boom type working machine. 5. The operation drive device for a two-piece boom type working machine according to claim 4, wherein the drive control means is the first drive device.
A posture detecting means for detecting the posture of the second boom with respect to the boom, and a posture detected by the posture detecting means when the second boom is rotated in the lowering direction by operating the switch means are preset. An operation drive device for a two-piece boom type working machine, comprising: stop control means for stopping the hydraulic cylinder of the second boom when the posture is reached. 6. The operation drive device for a two-piece boom type work machine according to claim 2 or 5, wherein the drive control device has a setting changing means capable of changing the setting posture by an operator's operation. An operation drive device for a two-piece boom type work machine.