JP2000240105A - Second boom operation/motion controller for two-piece boom working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency of a two-piece boom working machine by constructing the machine such that the speed of vertical movement of a second boom is progressively increased or progressively decreased depending on the position of dynamic behavior of a two-piece boom structural mechanism when an ascending motion switch or a descending motion switch is activated. SOLUTION: First and second boom sensors 41, 42 and an arm angle sensor 43 output detection signals indicative of a first boom ground angle α, a second boom hoisting angle β, and an arm hoisting angle γ, respectively, to a controller 31. Then, the controller executes computation of a height position of the front end of an arm of a two-piece boom mechanism with respect to the ground, based on the angles α, β, and γ, and lengths of first and second booms and the arm, respectively. The controller 31 progressively accelerates the speed of the second boom in response to operation of a second boom ascending switch 23 when the front end of the arm is in a position of dynamic behavior in the vertical range between upper and lower set heights with respect to the ground. Further, the controller 31 progressively decelerates the speed of the second boom in response to operation of a second boom descending switch 24. Thus, the working efficiency of the machine can be enhanced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a second boom operation control device of a two-piece boom working machine having an articulated front working device including a two-piece boom.

[0002]

2. Description of the Related Art As a conventional example of a second boom operating motion control device of a two-piece boom working machine having an articulated front working device including a two-piece boom, see, for example,
No. 37232. This Japanese Patent Application Laid-Open No. Hei 10-37
In the technique described in Japanese Patent Publication No. 232, a switch for vertically rotating the second boom out of a two-piece boom consisting of a first boom and a second boom is provided on an operation lever, and a switch of the operation lever is provided. The second boom is driven at a fixed speed by turning on and off. The second boom operation operation control device has speed adjusting means for adjusting the rotation speed. This speed adjusting means uses a proportional solenoid valve as a drive actuator control valve of the second boom and a proportional electromagnetic valve. A variable resistor is provided in the electric circuit that operates the valve, or an electromagnetic proportional pressure reducing valve is provided in the pilot operation circuit of the actuator control valve, and the electric operation of the pressure reducing valve is switched by the variable resistor. Have been.

[0003]

In the above-mentioned prior art, the speed from the start of the operation of the second boom to the stop of the operation is constant, so that a fast or slow movement occurs between the start of the operation and the stop of the operation. And rapid movement to careful movement, or vice versa, cannot be obtained from the start of operation to the stop of operation.

That is, as shown in FIG. 5, in excavation work by pipe work or the like, it is necessary to perform earth retaining by using a sheet pile, a belly, a cutting beam A, etc. so that the excavated side surfaces do not collapse. However, if the driving speed of the second boom is too fast in such a construction, the bucket 6, the arm 5 and the like may come into contact with the cutting beam A and break the cutting beam A or damage the work equipment such as the bucket 6. Will occur. This occurs not only during excavation work, but also when sanding or carrying in materials after excavation.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional disadvantages, and has as its object to control the operation speed of the second boom in accordance with the dynamic position of the two-piece boom construction mechanism. It is possible to improve the operability of the boom, and it is possible to improve the work efficiency while reliably avoiding the danger of a contact accident as described above.
An object of the present invention is to provide a second boom operation motion control device for a piece boom working machine.

[0006]

Means and Effects for Solving the Problems Claim 1
The second boom operating motion control device of the two-piece boom working machine includes a first boom 3 and a second boom 4 that are articulated with respect to the upper revolving unit 1, and further, on a tip end side of the second boom 4,
An articulated front working device 2 formed by articulating an arm 5 equipped with a working machine 6 such as a bucket is attached, and one of operating levers 16 and 18 for operating the articulated front working device and the upper revolving unit 1 The operation lever on the side is provided with a raising operation switch 23 and a lowering operation switch 24 for instructing a raising operation and a lowering operation of the second boom 4, and when the raising operation switch 23 or the lowering operation switch 24 is activated, It is characterized in that it is operated via operation speed control means including an operation speed for gradually increasing and decreasing the vertical operation speed of the second boom 4 according to the dynamic position of the piece boom construction mechanism.

According to the second boom operating motion control device of the two-piece boom working machine of the first aspect, the operation speed of the second boom 4 can be controlled according to the dynamic position of the two-piece boom constituting mechanism. The operability of the boom 4 can be improved. Therefore, even in the excavation work such as the pipe work, it is possible to reliably avoid the danger such as the conventional contact accident between the cutting beam A and the work machine 6 such as the bucket.
In addition, when the second boom 4 is operated to excavate and move the working machine underground, when working in a narrow place, the working machine can be carefully moved, interference with obstacles can be avoided, and the working machine can be moved on the ground. When doing so, it is possible to move at a rapid speed and improve work efficiency.

In the second boom operating operation control device for a two-piece boom working machine, the step of gradually increasing and decreasing the operation speed control means of the second boom 4 is such that the tip of the arm 5 of the two-piece boom mechanism is grounded. When the dynamic range is within the vertical range ΔH between the set height in the upward direction and the set depth in the downward direction from the GL, the second boom raising operation gradually increases the speed, and the second boom lowering operation gradually decreases the speed. It is characterized in that it becomes.

According to the second boom operating operation control device of the two-piece boom working machine of the second aspect, the second boom extends over the vertical height and depth setting range ΔH with respect to the ground GL at the tip of the arm 5. 4 can be operated by gradually increasing or decreasing the operation speed. That is, at the time of lowering the second boom, the lowering speed of the second boom 4 is gradually reduced, and a careful operation of moving the work machine 6 such as a bucket for avoiding interference with the underground structure is obtained. In addition, when raising the second boom, the raising speed of the second boom 4 is gradually increased, so that a fast moving operation of the work implement 6 can be obtained, and the operating speed of the second boom 4 continuously changes according to the position. It is possible to improve safety work and work efficiency.

According to a third aspect of the present invention, in the two-piece boom working machine, the second boom operation operation control device is configured such that the gradual increase and decrease of the operation speed control means of the second boom 4 are performed in a downward direction with respect to the ground GL. When the tip of the arm 5 of the two-piece boom mechanism is positioned beyond the set depth range, the up-and-down movement of the second boom 4 is set to an operation speed that moves at a constant low speed that is equal to or less than the above-described gradually decreasing speed, and the ground GL is a boundary. When the movement of the tip of the arm 5 of the two-piece boom mechanism exceeds the set height range in the upward direction, the up-and-down movement of the second boom 4 is set to an operation speed that moves at a constant high speed equal to or higher than the above-described gradually increasing speed. It is characterized by including a range.

According to the second boom operating motion control device of the two-piece boom working machine of the third aspect, the continuous variable movement of the cautious working machine movement and the fast working machine movement can be automatically performed without adding speed adjustment. And the operability can be improved.

According to a fourth aspect of the present invention, there is provided a two-piece boom operating machine, wherein the operating speed control means of the second boom 4 comprises a first boom 3 and a second boom of a two-piece boom mechanism.
Angle sensors 41, 41, 4 provided on boom 4 and arm 5
Detecting means for detecting a height position H in the vertical direction at the tip of the arm 5 from the angle detection signal obtained by 3; a speed table in which operating speeds for raising and lowering the second boom according to the height position H are determined; An output means for converting the data of the speed table into a current value and outputting the current value. The controller 31 controls an operation pilot pressure fluid of the second boom operation actuator control valve, and controls an actuator of the second boom operation actuator control valve. The electromagnetic proportional pressure reducing valves 35 and 36 for raising and lowering the second boom for changing the opening area of the passage of the working fluid are operated in response to the output current value.

According to the second boom operating motion control device of the two-piece boom working machine of the fourth aspect, it is possible to perform the speed control with excellent responsiveness and with a relatively simple structure. .

According to a second aspect of the present invention, there is provided a two-piece boom operating machine, wherein the operation speed control means of the second boom 4 is gradually increased and decreased by the first boom 3 of the two-piece boom mechanism. When the ground angle α is within the set ground angle range close to the ground, and the ground angle α of the first boom 3 becomes smaller, the operation speed of the second boom 4 gradually decreases and decelerates, and 3, the operation speed of the second boom 4 is gradually increased when the ground angle α increases.

According to the second boom operating motion control device of the two-piece boom working machine of the fifth aspect, the raising / lowering operation speed of the second boom 4 is gradually increased corresponding to the ground angle α of the first boom 3. It can operate faster or slower. For example, the first
A cautious work machine 6 for reducing the ground angle α of the boom 3 and slowing down the second boom 4 when moving the work machine 6 from the ground surface to the underground so as to avoid interference with the underground structure. Is obtained. In addition, by increasing the ground angle α of the first boom 3 to increase the speed of raising the second boom 4 when shifting the work machine 6 from the underground to the surface, a fast moving operation of the work machine 6 is obtained. The operation speed of the second boom 4 that continuously changes in speed according to the position can be adjusted, so that safe operation and improvement in operation efficiency can be expected.

According to a second aspect of the present invention, there is provided a two-piece boom operating machine, wherein the operation speed control means of the second boom 4 is gradually increased and decreased.
When the ground angle α of the boom 3 is in the ground angle range exceeding the set ground angle range or less, the second boom up-and-down operation is set to an operation speed that moves at a constant low speed equal to or lower than the above-mentioned gradually decreasing speed. In the case of a dynamic state in which the ground angle α of the first boom 3 is located in the ground angle range exceeding the set ground angle range or more, the speed at which the second boom up / down operation is set to the operation speed that moves at a constant high speed that is equal to or higher than the above-described gradually increasing speed is set. It is characterized by including a range.

According to the second boom operating motion control device of the two-piece boom working machine of the sixth aspect, the continuous variable movement of the cautious working machine movement and the fast working machine movement can be automatically performed without adding speed adjustment. And the operability can be improved.

According to a seventh aspect of the present invention, the operation speed control means of the second boom 4 is controlled by an angle sensor 41 provided on the first boom 3 of the two-piece boom mechanism. First boom 3 from angle detection signal
Detecting means for detecting the ground angle α of the first boom, a speed table in which the operation speeds of the second boom raising and the second boom lowering according to the ground angle α of the first boom 3 are determined, and the data in the speed table are converted into current values. And a controller 31 for controlling the pilot pressure fluid of the second boom operation actuator control valve 34 to change the opening area of the second boom operation actuator control valve 34 through which the actuator operation fluid passes. It is characterized in that the electromagnetic proportional pressure reducing valves 35, 36 for raising the second boom and lowering the second boom are operated in response to the output current value.

According to the second boom operating motion control device of the two-piece boom working machine of the above-described claim, it is possible to perform excellent speed response and reliable speed control with a relatively simple structure. .

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) An embodiment of the present invention will be described below with reference to the drawings. FIG. 5 is a configuration diagram of a construction vehicle provided with the articulated front working device 2 for the upper swing body 1. This front work device 2
A first boom 3 whose base is rotatably connected to the upper swing body 1, a second boom 4 that is rotatably connected to the tip of the first boom 3, and a second boom 4 Arm 5 rotatably connected to the tip of the arm 5;
And a bucket 6 rotatably connected to the tip of the head. The bucket 6 is an example of a working machine, and a working machine other than the bucket 6 may be used. Also, the first boom cylinder 10 controls the first boom 3.
The second boom cylinder 11 is provided between the base side of the second boom 4 and the first boom 3, and the second boom cylinder 11 controls the second boom 4. Up / down undulation control is performed. The rotation of the arm 5 is controlled by the arm cylinder 12, and the rotation of the bucket 6 is controlled by the bucket cylinder 13.

The cab 15 shown in FIG. 5 is provided with two operation levers as shown in FIG. In this case, the right side is the first operation lever 16, and the left side is the second operation lever 1.
8 is assumed. The bucket 6 can be crowded or dumped by operating the grip portion 17 of the first operation lever 16 in the left-right direction and the front-back direction, and the first boom 3 can be raised / lowered. It has become. By operating the second operation lever 18 in the left-right direction and the front-back direction, the arm 5 can be crowded or dumped, and the upper swing body 1 can be turned left and right.

A horn switch 22, a second boom raising switch (raising operation switch) 23, and a second boom lowering switch (lowering operation switch) 24 are provided on the upper end surface of the gripping boom 17 of the first operating lever 16. . By operating the second boom raising switch 23, the second boom 4 can be driven in the upward direction, and by pressing the second boom lowering switch 24, the second boom 4 can be driven in the downward direction. Can be. A bucket vibration switch 26 for vibrating the bucket 6 and a one-touch decel switch 27 are provided on the upper end surface of the grip portion 19 of the second operation lever 18.

FIG. 1 is a block diagram relating to the present invention. A controller 31 for performing overall control has a speed table (A, B) in which the speed of raising / lowering the second boom 4 is stored in advance. Is provided. Further, the controller 31 receives a second boom raising signal and a second boom lowering signal from the second boom raising switch 23 and the second boom lowering switch 24. Further, the controller 31 receives a first boom-to-ground angle α detection signal, a second boom undulation angle β detection signal from a first boom angle sensor 41, a second boom angle sensor 42, and an arm angle sensor 43, respectively.
An arm elevation angle γ detection signal is input. The first boom-to-ground angle α is the angle formed by the first boom 3 to the ground (the angle formed with the horizontal plane of the vehicle body), the second boom undulation angle β is the angle formed by the second boom 4 to the first boom 3, and the arm undulation Angle γ
Is the angle that the arm 5 makes with the second boom 4 (see FIG. 3C). Then, in the controller 31, based on the angles α, β, γ and the respective lengths of the first boom 3, the second boom 4, and the arm 5, the tip of the arm 5 and the ground height position H are set.
Is calculated and grasped, and a speed electric signal corresponding to the ground height position H is output from the speed tables (A, B).

In FIG. 1, the rotation speed of the second boom 4 in the raising or lowering direction is controlled by a flow proportional switching valve (second boom operation actuator) for controlling the pressure fluid flow for driving the second boom cylinder 11 to expand and contract. The opening area of the flow rate proportional switching valve 34 is controlled by the magnitude of the pilot fluid pressure that applies an opening operation to the flow rate proportional switching valve 34 through the proportional electromagnetic pressure reducing valves 35 and 36, The magnitude of the fluid pressure is determined by pilot fluid pressure control proportional to the electromagnetic force commanded by the speed electrical signal from the speed table applied to the proportional electromagnetic pressure reducing valves 35,36. The speed table stores A according to an operation command from the second boom raising operation switch 23.
A pilot fluid pressure magnitude signal which comprises a current output and a B current output according to an operation command from the second boom lowering operation switch 24, and controls the opening of the flow proportional switching valve 34 which determines the expansion and contraction speed of the second boom cylinder 11. As a control signal for the proportional electromagnetic pressure reducing valve 35 or 36. 33 is a hydraulic pump.

Here, the speed at which the second boom 4 is raised / lowered is changed according to the height H of the tip of the arm 5 in consideration of safety and work efficiency (FIG. 3).
(See (a) and (b)). As shown in FIG. 3, when the tip of the arm 5 of the two-piece boom mechanism is in a dynamic state in which it is located within a vertical range ΔH between an upper set height and a lower set depth bordering the ground GL, the second When the boom raising operation is performed, the speed is gradually increased, and when the second boom lowering operation is performed, the speed is gradually reduced. That is, the operation speed of raising / lowering the second boom 4 is gradually increased or decreased over the set range ΔH of the height and the depth in the vertical direction from the ground GL at the tip of the arm 5 so that the operation can be performed. is there. When the tip of the arm 5 is located beyond the set depth range below the ground GL, the up-and-down movement of the second boom 4 is set to an operation speed that moves at a constant low speed equal to or lower than the above-described gradually decreasing speed. , Arm 5 beyond the set height range above the ground GL
When the tip is in a dynamic state, the undulating operation of the second boom 4 is set to an operation speed at which the second boom 4 moves at a constant high speed equal to or higher than the above-described gradually increasing speed.

According to the second boom operation control device, the lowering speed of the second boom 4 is gradually increased when the bucket 6 is lowered closer to the ground GL and further lowered from the ground GL. Careful movement of the bucket 6 can be obtained so as to be slow and avoid interference with the underground structure. When raising the bucket 6 from a position deeper than the ground GL and further raising the ground 6 from the ground GL, the raising speed of the second boom 4 is gradually increased so that a quick operation of moving the bucket 6 is obtained. As a result, the operating speed of the second boom 4 that continuously changes in speed can be adjusted, and it is possible to improve safe work and work efficiency. Therefore, even in the excavation work such as the pipe work, it is possible to reliably avoid the danger such as the conventional contact accident between the cutting beam A and the bucket 6. In addition, since the operation speed of the second boom 4 is not unnecessarily reduced, the working efficiency can be improved. In addition, continuous variable movement of careful and quick movement of the working machine can be automatically obtained without any speed adjustment, so that operability can be improved.

(Second Embodiment) In the above embodiment, the speed at which the second boom 4 is raised / lowered is changed in accordance with the ground height position H at the tip of the arm 5; Sensor 42 and arm angle sensor 43
May be omitted, and the speed when raising / lowering the second boom 4 may be changed according to the ground angle α of the first boom 3 as shown in FIG. That is, as shown in FIG. 4, the ground angle α is −10 degrees to 10 degrees, 10 degrees to 40 degrees,
Raise the second boom 4 in the case of 40 degrees to 112 degrees /
Change the speed of the lowering. Specifically, as shown in FIGS. 4A and 4B, the ground angle α is −1.
The speed is slightly low (constant) between 0 ° and 10 °, high speed (constant) between 40 ° and 112 °, and further 10 ° -4
During 0 degrees, the operation speed is controlled so as to increase or decrease gradually in proportion to the ground angle α. Thus, when the value of the ground angle α of the first boom 3 is small, the raising / lowering speed of the second boom 4 is made slow, and when the ground angle α is large, the raising / lowering speed is made faster. Work efficiency can be improved while maintaining safety. Note that the other control configuration is completely the same as that of the first embodiment, and the description thereof is omitted here.

As described above, the second boom raising switch 23
Alternatively, when the second boom lowering switch 24 is operated, in the case of lowering, the speed of the second boom 4 gradually decreases as the first boom 3 moves down to the surface of the ground, and the second boom 4 moves to a constant low speed to move. In a narrow place where there is a risk of interference between the building and the work machine, the speed becomes effective for work safety. In the case of raising, the second boom 4 gradually moves as the first boom 3 rises to the ground surface side. Then, the speed is increased and the speed is switched to a constant high speed, so that the movement of the work machine to the next work point can be speeded up, and work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a construction vehicle according to a first embodiment of a second boom operation motion control device of a two-piece boom working machine of the present invention.

FIG. 2 is a perspective view of left and right operation levers of the embodiment.

FIGS. 3 (a) to 3 (c) show a state in which the speed at the time of raising / lowering the second boom is changed according to the ground height position H of the first boom in the first embodiment. FIG.

FIGS. 4A to 4C show a state in which the speed of raising / lowering the second boom is changed according to the ground angle α of the first boom in the second embodiment of the present invention. FIG.

FIG. 5 is a configuration diagram of a construction vehicle provided with the articulated front working device according to the embodiment of the present invention.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 upper revolving unit 2 articulated front working device 3 first boom 4 second boom 5 arm 6 bucket (working machine) 16 first operation lever 18 second operation lever 23 second boom up switch 24 second boom down switch 31 Controller 34 Flow proportional switching valve (second boom operation actuator control valve) 35 Proportional electromagnetic pressure reducing valve 36 Proportional electromagnetic pressure reducing valve 41 First boom angle sensor (angle sensor) 42 Second boom angle sensor (angle sensor) 43 Arm angle sensor ( Angle sensor)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Goshu Ando 23, Tsutsucho-cho, Komatsu-shi, Ishikawa Pref.

Claims (7)

[Claims] 1. A first boom (3) and a second boom (4) are articulated to an upper revolving structure (1), and a work such as a bucket is provided on the tip end side of the second boom (4). Machine (6)
A multi-joint type front working device (2), which is formed by articulating an arm (5) equipped with an arm, is attached, and an operation lever (16) ( 18), an operation switch (23) and a lowering operation switch (24) for instructing the raising operation and the lowering operation of the second boom (4) are provided on one of the operation levers, and the raising operation switch (23) is provided. ) Or when the lowering operation switch (24) is actuated, the operation speed control including an operation speed for gradually increasing and decreasing the up-and-down operation speed of the second boom (4) according to the dynamic position of the two-piece boom construction mechanism. A second boom operation motion control device for a two-piece boom working machine, wherein the second boom operation motion control device is operated via a means. 2. The gradual increase and decrease of the operation speed control means of the second boom (4) means that the tip of the arm (5) of the two-piece boom mechanism has an upward set height with respect to a ground (GL). When the dynamic range is within the vertical range (ΔH) with the set height in the downward direction, the second boom raising operation is gradually increased and the second boom lowered operation is gradually decreased and decelerated. The second boom operating motion control device for a two-piece boom working machine according to claim 1, wherein 3. The gradual increase and decrease of the operating speed control means of the second boom (4) is performed by exceeding the set depth range below the ground (GL) with the arm (5) of the two-piece boom mechanism. )
When the tip is in a dynamic state, the undulating movement of the second boom (4) is set to a movement speed that moves at a constant low speed that is equal to or lower than the above-mentioned gradually decreasing speed, and exceeds a set height range above the ground (GL). In the case of a dynamic state in which the tip of the arm (5) of the two-piece boom mechanism is located, a speed range in which the undulating operation of the second boom (4) moves at a constant high speed equal to or higher than the above-mentioned gradually increasing speed is included. The second boom operating motion control device for a two-piece boom working machine according to claim 2, wherein 4. The operation speed control means of the second boom (4) includes an angle sensor (41) provided on the first boom (3), the second boom (4), and the arm (5) of the two-piece boom mechanism.
(42) Arm (5) from the angle detection signal from (43)
Detecting means for detecting a vertical height position (H) at the tip, and raising and lowering a second boom according to the height position (H);
A controller (31) comprising a speed table that determines the operating speed of the boom lowering and output means for converting the data in the speed table into a current value and outputting the current value; and an operating pilot for the second boom operation actuator control valve (34). A second boom operation actuator control valve for controlling the pressurized fluid (34)
Second changing the opening area of the actuator working fluid passage
Electromagnetic proportional pressure reducing valve for boom raising and second boom lowering (35)
The second boom operation motion control device for a two-piece boom working machine according to any one of claims 1 to 3, wherein (36) operates in response to the output current value. 5. The gradual increase and decrease of the operating speed control means of the second boom (4) is based on a set ground angle range in which the ground angle (α) of the first boom (3) of the two-piece boom mechanism approaches the ground. When the ground angle (α) of the first boom (3) becomes smaller when the dynamics are located within, the operation speed of the second boom (4) gradually decreases and decelerates, and the ground angle of the first boom (3) decreases. The second boom operation control device for a two-piece boom working machine according to claim 1, wherein the operation speed of the second boom (4) gradually increases when (α) increases. 6. The gradual increase and decrease of the operating speed control means of the second boom (4) is such that the ground angle (α) of the first boom (3) of the two-piece boom mechanism exceeds a set ground angle range or less. In the case of a movement located in the ground angle range, the second boom up / down operation is set to an operation speed moving at a constant low speed equal to or lower than the above-described gradually decreasing speed, and the ground angle (α) of the first boom (3) of the two-piece boom mechanism is set. 6. A speed range in which the second boom undulating operation is an operation speed that moves at a constant high speed that is equal to or higher than the above-mentioned gradually increasing speed, when the dynamic state is located in a ground angle range exceeding the ground angle range or more. The second boom operating motion control device of the two-piece boom working machine of (1). 7. The operating speed control means of the second boom (4) is configured to control the operation of the first boom (3) based on an angle detection signal from an angle sensor (41) provided on the first boom (3) of the two-piece boom mechanism. Detecting means for detecting the ground angle (α), a speed table defining operating speeds of the second boom raising and the second boom lowering according to the ground angle (α) of the first boom (3), and data of the speed table A controller for controlling the pilot pressure fluid of the second boom operation actuator control valve (34), and a second boom operation actuator control valve (3).
A second boom raising and a second boom lowering electromagnetic proportional pressure reducing valve (3) that changes the opening area of the actuator working fluid passage of (4).
The second boom operating motion control device for a two-piece boom working machine according to claim 5 or 6, wherein (36) is operated in response to the output current value.