JP2008101343A - Radio control device for construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive and easy-to-equip radio control device for a construction machine. <P>SOLUTION: The radio control device for a construction machine is provided with: control valves 39, 40, 41 controlling a flow of pressure oil from a hydraulic pump 38 to a hydraulic actuator 16, 21, 22 and controlled by electric signals; operating devices 37L, 37R outputting electric operation signals; and a controller 31 generating drive signals in response to the electric operation signals from the operating devices 37L, 37R or serial signals for operating the hydraulic actuators 16, 21, 22, and outputting them to the control valves 39, 40, 41. There are provided: a transmitter 48 for transmitting a radio signal in response to ON operation of maneuvering switches 47A-47F: a receiver 49 for receiving the radio signal from the transmitter 48 and outputting ON/OFF signals; and a converter 50 for converting the ON/OFF signals from the receiver 49 into the serial signals and outputting them to the controller 31. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a radio control device for a construction machine, and more particularly to a radio control device for a construction machine including a control device that generates and outputs a drive signal in response to a serial signal for operating a hydraulic actuator.

  For example, a hydraulic excavator, which is one of construction machines, includes a lower traveling body, an upper swinging body that is swingably provided on the lower traveling body, and a boom, an arm, and a bucket that are connected to the upper swinging body so as to be able to be lifted and lowered And an articulated work machine including a (work tool). The lower traveling body, the upper swing body, and the work machine constitute a driven member of a hydraulic drive device provided in the hydraulic excavator. This hydraulic drive apparatus generally includes a prime mover such as an engine, at least one hydraulic pump driven by the prime mover, and a boom hydraulic cylinder that drives a boom, an arm, and a bucket by pressure oil discharged from the hydraulic pump, A plurality of hydraulic actuators including a hydraulic cylinder for arm, a hydraulic cylinder for bucket, a traveling hydraulic motor for traveling the lower traveling body, and a turning hydraulic motor for pivoting the upper swinging body with respect to the lower traveling body; Control valve means for controlling the flow of pressure oil supplied to the hydraulic actuator, and a plurality of operation means each provided with an operation lever for operating the control valve means.

  The operation means is roughly classified into a hydraulic pilot system and an electric lever system. In the hydraulic pilot system, a pilot pilot pressure from a hydraulic source (for example, a pilot pump) is reduced by a pressure reducing valve in accordance with the operation amount of the operation lever, thereby converting the operation amount into a hydraulic pilot signal. The control valve means is switched by supplying to the hydraulic drive unit provided in On the other hand, the electric lever method replaces the operation amount of the operation lever with an electric signal and outputs it. For example, the electric lever is connected to a rotary potentiometer sensor to output an electric operation signal. After a predetermined calculation process and amplification are performed on the signal by a controller (control device), the signal is output as a drive signal to a solenoid driving unit provided in the solenoid type control valve means to switch the control valve means.

  By the way, such a hydraulic excavator can be used when the operator wants to move away from the work site rather than the excavator body to avoid danger, for example, when working in a place where there is a risk of cliff collapse. There was also a need to remotely control the hydraulic excavator from outside the cab. Therefore, in order to cope with this, a transmitter that transmits a radio signal according to the operation direction and the operation amount of the control lever, a receiver that receives the radio signal from the transmitter and outputs it as a serial signal, and the receiver Of a construction machine having a controller that generates a drive signal in response to a serial signal from the electric lever or an electric operation signal from an electric lever type operation means and outputs the drive signal to a solenoid drive portion of a control valve means (hydraulic valve and electromagnetic proportional valve) A wireless control device has been proposed (see, for example, Patent Document 1). In this prior art, it is possible to remotely operate the hydraulic actuator at an operation speed corresponding to the operation amount of the control lever.

Japanese Patent No. 3233573

However, the above prior art has room for improvement as follows.
That is, in the above prior art, the hydraulic actuator is remotely operated at an operation speed corresponding to the operation amount of the control lever of the transmitter. Here, for example, when the operator wants to approach the work location rather than the excavator body, such as when carrying out a lifting work with a crane-excavated excavator equipped with a lifting tool at the tip of the work machine, it is wireless from the outside of the cab. There was a need for remote control. However, in such a case, operability until the operating speed of the hydraulic actuator is operated is not necessarily required, and a transmitter having a control lever has a lever displacement detector that detects the operation amount of the control lever. It was expensive and difficult to equip.

  The present invention has been made in view of the above-described matters, and an object thereof is to provide a radio control device for a construction machine that is inexpensive and easy to equip.

  (1) In order to achieve the above object, the present invention provides a hydraulic pump, a plurality of hydraulic actuators driven by pressure oil discharged from the hydraulic pump, and a flow of pressure oil from the hydraulic pump to the hydraulic actuator. Control valve means for controlling the electric actuator and controlling the hydraulic actuator, an operating means for outputting an electric operation signal for operating the hydraulic actuator, an electric operation signal from the operating means or for operating the hydraulic actuator from the outside And a control device that generates a drive signal in response to the serial signal and outputs the drive signal to the control valve means. The construction device has a control switch for operating the hydraulic actuator, and an ON operation of the control switch. A transmitter that transmits a radio signal in response to the signal, and receives a radio signal from the transmitter and outputs an ON / OFF signal. Comprising a receiver, a transducer the ON / OFF signal from the receiver is converted into a serial signal and outputs to the control device.

  For example, a radio control device for a construction machine is known to have a transmitter that transmits a radio signal according to an operation direction and an operation amount of a control lever, and a serial signal is received from a receiver that receives the radio signal. Is output. A serial signal from the receiver is input to the control device to generate a corresponding drive signal, and this drive signal is output to the control valve means, whereby the hydraulic actuator is driven. Instead of the transmitter having the control lever in such a configuration, the present invention includes a transmitter having a control switch. Also, the transmitter transmits a radio signal in response to the ON operation of the control switch, and an ON / OFF signal is output from the receiver that has received the radio signal, so the ON / OFF signal is converted into a serial signal. A converter for outputting to the control device is provided. Thus, the serial signal from the converter is input to the control device to generate a corresponding drive signal, and this drive signal is output to the control valve means to drive the hydraulic actuator.

  In this way, in the present invention, the hydraulic actuator can be driven by turning on the control switch of the transmitter. Further, a transmitter having a steering switch can achieve cost reduction as compared with a transmitter having a steering lever, for example. Further, by providing a converter that converts the ON / OFF signal from the receiver into a serial signal, the control device can input the serial signal. For example, when the type of the transmitter is changed (for example, the operation switch) Even when changing from one of the type and the control lever type to the other), it becomes easy to share the control device. Therefore, in the present invention, it is possible to realize a construction machine wireless control device that is inexpensive and easy to equip.

  (2) In the above (1), preferably, the steering switch indicates a moving direction of a predetermined part of a work implement driven by a plurality of hydraulic actuators for the work implement, and the control device In response to the serial signal input from the converter when the steering switch is turned ON, a drive signal is generated to drive the plurality of work implement hydraulic actuators so that a predetermined part of the work implement moves in the indicated direction. Output.

  ADVANTAGE OF THE INVENTION According to this invention, the radio control apparatus of the construction machine which is cheap and easy to equip can be implement | achieved.

Embodiments of the present invention will be described below with reference to the drawings.
A first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a side view showing the entire structure of a crane-excavator that is an example of a construction machine to which the present invention is applied. Hereinafter, when the operator is seated in the driver's seat with the excavator shown in FIG. 1, the front side (left side in FIG. 1), rear side (right side in FIG. 1), left side (paper surface in FIG. 1). The front side) and the right side (back side toward the paper surface in FIG. 1) are simply referred to as front side, rear side, left side, and right side.

  In FIG. 1, this hydraulic excavator includes a lower traveling body 2 provided with left and right endless track footwear (crawlers) 1L and 1R (only 1L is shown in FIG. 1) as traveling means, and the lower traveling body 2 The upper revolving unit 3 mounted on the upper part of the upper revolving unit 3 and the revolving frame 4 forming the basic lower structure of the upper revolving unit 3 are attached so as to be rotatable in the horizontal direction around a vertical pin (not shown). Swing post 5, an articulated working machine 6 rotatably attached to the swing post 5, a so-called canopy-type cab 7 provided on the swing frame 4, and a swing An upper cover 8 that covers most of the frame 4 other than the cab 7 is provided.

  The lower traveling body 2 includes a substantially H-shaped track frame 9 and drive wheels 10L and 10R rotatably supported near the rear ends of the left and right sides of the track frame 9 (only 10L is shown in FIG. 1). Left and right traveling hydraulic motors 11L and 11R (only 11L shown in FIG. 1) for driving the drive wheels 10L and 10R, respectively, and rotatably supported in the vicinity of the left and right front ends of the track frame 9, Driven wheels (idlers) 12L and 12R (only 12L shown in FIG. 1) that are rotated by the driving force of the drive wheels 10L and 10R through the crawler belts 1L and 1R, respectively, are provided on the front side of the track frame 9 so as to be vertically movable. And a blade 14 for earth removal that moves up and down by a hydraulic cylinder 13 for the blade. Further, a swivel bearing (swivel wheel) 15 is arranged at the center of the lower traveling body 2, and a turning hydraulic motor 16 (described later) for turning the turning frame 4 with respect to the lower traveling body 2 near the center of the swirling wheel 15. (See FIG. 2).

  The swing post 5 can be horizontally rotated with respect to the revolving frame 4 via a vertical pin (not shown). The swing post 5 is connected to a swing hydraulic cylinder 17 provided on the revolving frame 4 via a connecting pin (not shown), and the swing post 5 extends and contracts as a whole in the vertical direction. The working machine 6 swings to the left and right by rotating around the axis of the.

  The work implement 6 includes a boom 18, an arm 19 that is rotatably coupled to the boom 18, and a bucket 20 that is pivotally coupled to the arm 19. The boom 18, the arm 19, and the bucket 20 are operated by a boom hydraulic cylinder 21, an arm hydraulic cylinder 22, and a bucket hydraulic cylinder 23, respectively. A hook 26 is provided near the tip of the arm 19 to hang a rope 25 of the suspended load 24 during a suspended load operation described later. However, normally, the bucket hydraulic cylinder 23 is not driven during the hanging work.

  A boom angle sensor 27 (see FIG. 2 described later) for detecting a rotation angle α of the boom 18 with respect to the turning frame 4 is attached to the rotation base of the boom 18. An arm angle sensor 28 (see FIG. 2 described later) for detecting a rotation angle β of the arm 19 with respect to 18 is attached. Further, pressure sensors 29 and 30 (described later) for detecting respective internal pressures Pr and Pb are provided in the rod side (upper in FIG. 1) oil chamber and the bottom (lower in FIG. 1) oil chamber of the boom hydraulic cylinder 21, respectively. 2) is attached. Detection signals such as the rotation angles α and β of the boom 18 and the arm 19 and the internal pressures Pr and Pb on the rod side and the bottom side of the boom hydraulic cylinder 21 are supplied from a controller 31 (control device, which will be described later). (See FIG. 2).

  The driver's cab 7 is provided on the left side of the above-described turning frame 4, and has a seat (driver's seat) 32 on which an operator is seated, a roof 33 provided above the seat 32, and the roof 33. And supporting column 34.

  The left and right traveling hydraulic motors 11L and 11R are driven in front of the seat 32 on which the operator in the driver's cab 7 sits, and can be operated with both hands and feet to drive the hydraulic excavator forward or backward. Left and right traveling operation levers 35L and 35R (only 35L is shown in FIG. 1). Further, a swing operation pedal for driving the swing hydraulic cylinder 17 and swinging the swing post 5 (in other words, the work implement 6 as a whole) to the left and right is further provided on the right foot portion of the right travel operation lever 35R. Not shown).

  On the left side of the seat 32, the swing hydraulic motor 16 is driven by operating the left or right side to rotate the upper swing body 3 to the left or right side, and the arm hydraulic cylinder 22 is operated by operating the front or rear side. Is provided with an operating device 37L (see FIG. 2 described later) provided with a cross operation type swivel / arm manual operation lever 36L for driving the arm 19 to dump (push) or cloud (pull) the arm 19. On the right side of the seat 32, the bucket hydraulic cylinder 23 is driven by operating the left or right side to cause the bucket 20 to be clouded or dumped, and the boom hydraulic cylinder 21 is driven by operating the front or rear side to operate the boom. An operation device 37R (refer to FIG. 2 described later) including a cross-operated bucket / boom manual operation lever 36R (refer to FIG. 2 described later) is provided. The right side of the seat 18 is provided with a blade operation lever (not shown) for operating the blade hydraulic cylinder 13 to move the blade 14 up and down by operating the front or rear side.

  The upper cover 7 includes an engine (not shown), a hydraulic pump 38 (see FIG. 2 described later) driven by the engine, a fuel tank (not shown) for storing engine fuel, and a hydraulic pump. Equipment such as a hydraulic oil tank (not shown) serving as a pressure oil source 38 is accommodated.

  In the configuration described above, the left and right crawler belts 1L and 1R, the upper swing body 3, the swing post 5, the blade 14, the boom 18, the arm 19, and the bucket 20 are driven by a hydraulic drive device provided in the hydraulic excavator. This constitutes a driven member.

  FIG. 2 is a hydraulic circuit diagram illustrating the radio control device of the construction machine according to the present embodiment together with the main configuration of the related hydraulic drive device. FIG. 3 is a schematic diagram showing an external appearance of the transmitter, and FIG. 4 is a diagram showing a functional configuration of the receiver together with a converter.

  In FIG. 2, the hydraulic pump 38, the boom hydraulic cylinder 21 driven by the hydraulic oil discharged from the hydraulic pump 38, the arm hydraulic cylinder 22, the turning hydraulic motor 16, and the hydraulic pump 38 are connected to them. For example, a boom control valve 39 of an electro-hydraulic conversion valve type, an arm control valve 40, and a swing that control the flow of pressure oil to the boom hydraulic cylinder 21, the arm hydraulic cylinder 22, and the swing hydraulic motor 16, respectively. A valve unit 42 including a control valve 41, an electric lever type operating device 37L provided with the cross operation type operating lever 36L for instructing the bending operation of the arm 19 and the turning operation of the upper swing body 3, and the upper and lower sides of the boom 18 The above-described cross operation type manual operation lever 36R for instructing the operation and the like A work unit 37R, are provided with the controller 31. In addition, the boom angle sensor 27, the arm angle sensor 28, the rod side and bottom side pressure sensors 29 and 30 of the boom hydraulic cylinder 21, and the excavation mode in which the operator performs excavation work or the suspended load work. A monitor having a mode switch 43 for selecting one of the suspended load modes and outputting a selection signal to the controller 31, a display unit 44 for performing various displays (display of the position of the suspended load 24, the rated load, the suspended load, etc.) An apparatus 45 and an alarm device (for example, an alarm lamp, an alarm buzzer, etc.) 46 that is activated and issues an alarm when the suspension load becomes equal to or higher than the rated load are provided.

  The operating device 37L includes the operating lever 36L that can be displaced in the front-rear direction and the left-right direction, and a lever displacement detector (not shown) that detects the displacement, and the lever displacement detector operates the operating lever 36L. The direction and the operation amount are detected, respectively, and an electric operation signal corresponding to this is output to the controller 31. Similarly, the operation device 37R includes the operation lever 36R that can be displaced in the front-rear direction and the left-right direction, and a lever displacement detector (not shown) that detects the displacement, and the lever displacement detector is an operation lever. The operation direction and the operation amount of 36R are detected, respectively, and an electric operation signal corresponding to this is output to the controller 31.

  As a first function, the controller 31 performs predetermined arithmetic processing on the electric operation signals from the operation devices 37L and 37R (specifically, the output value of the electromagnetic proportional pressure reducing valve that varies according to the operation amount of the operation lever). And the generated drive signal is converted into an electromagnetic proportional pressure reducing valve 39a, 39b of the boom control valve 39, an electromagnetic proportional pressure reducing valve 40a, 40b of the arm control valve 40, and an electromagnetic proportional pressure reducing valve 41 of the turning control valve 41. Output to valves 41a and 41b, respectively.

  The boom electromagnetic proportional pressure reducing valves 39a and 39b, the arm electromagnetic proportional pressure reducing valves 40a and 40b, and the turning electromagnetic proportional pressure reducing valves 41a and 41b are hydraulic pressures such as pilot pumps in accordance with the drive signals from the controller 31. A primary pilot pressure from a source (not shown) is reduced to generate an operating pilot pressure, and a pilot operating portion of the boom control valve 39, a pilot operating portion of the arm control valve 40, and a turning control valve, respectively. 41, the boom control valve 39, the arm control valve 40, and the turning control valve 41 are switched.

  Further, as the second function, when the suspended load mode is selected by the mode switch 43, the controller 31 has the boom angle α from the boom angle sensor 27, the arm angle β from the arm angle sensor 28, and the boom hydraulic pressure. Predetermined calculation processing is performed based on the rod-side internal pressure Pr and the bottom-side internal pressure Pb from the pressure sensors 29 and 30 of the cylinder 21 (specifically, the holding force of the boom hydraulic cylinder 21 from the rod-side internal pressure Pr and the bottom-side internal pressure Pb) The moment is calculated, and the moment of the work implement 6 and the horizontal distance of the suspended load 24 are calculated from the boom angle α, the arm angle β, etc. The difference between the holding force moment and the moment of the implement 6 is the moment of the suspended load 24. From this moment, the weight of the suspended load 24 is calculated.

  The calculated position of the suspended load 24, the rated load (the predetermined maximum allowable load determined according to the position of the suspended load 24, which is preset and stored in the storage unit such as the internal memory), the suspended load, and the like Is output as a display signal and displayed on the display unit 44 of the monitor device 45. Further, the suspension load is compared with a predetermined limit load (for example, the rated load or a load set based on the rated load), and when the suspension load exceeds the predetermined limit load, a drive signal is output to the alarm device 46. Alarms.

  Here, as major features of the present embodiment, the operation mode (up / down) of the boom 18, the operation mode (pull / push) of the arm 19, and the operation mode (left-turning / right-turning) of the upper swing body 3, respectively. Corresponding, for example, momentary control switches 47A to 47F, a transmitter 48 that transmits a radio signal in response to an ON operation of these control switches 47A to 47F, and a radio signal from the transmitter 48 is received and turned ON A receiver 49 that outputs a / OFF signal and a converter 50 that converts the ON / OFF signal from the receiver 49 into a serial signal and outputs the serial signal to the controller 31 are provided.

  The transmitter 48 includes the control switches 47A to 47F, a transmission circuit (not shown) that transmits a radio signal when any one of the control switches 47A to 47F is pressed, and a radio signal that is transmitted. A pilot lamp 51 that is lit, and a power switch 52 that switches the power supply ON / OFF of the transmitter 48 are provided.

  The receiver 49 receives a radio signal from the transmitter 48, and a radio signal received by the receiver circuit 53 (specifically, any one of the steering switches 47A to 47F of the transmitter 48 is turned on) And an output circuit 54 that outputs an ON / OFF signal with any one of the contacts 54a to 54f closed according to the operation. The converter 50 converts the ON / OFF signal from the receiver 49 into serial data as shown in FIG. 5 (specifically, it corresponds to the ON / OFF signals from the contacts 54a to 54f, respectively, and represents the ON signal " 0 "or data D0 to D5 containing" 1 "indicating an OFF signal and blank data D6 and D7) and output to the controller 31.

  As a third function, the controller 31 performs predetermined arithmetic processing on the serial signal from the converter 50 (specifically, among the operation switches 47A to 47F) when the hanging load mode is selected by the mode switch 43. In response to any ON operation, a predetermined output value of an electromagnetic proportional pressure reducing valve set in advance is read), and the generated drive signal is sent to the electromagnetic proportional pressure reducing valves 39a and 39b of the boom control valve 39 and the arm. Outputs are made to the electromagnetic proportional pressure reducing valves 40a and 40b of the control valve 40 and the electromagnetic proportional pressure reducing valves 41a and 41b of the turning control valve 41, respectively.

  Next, the control procedure of the controller 31 will be described. FIG. 6 is a flowchart showing the contents of control processing of the controller 31.

  In FIG. 6, first, at step 100, it is determined by the selection signal from the mode switch 43 whether or not it is the suspended load mode. For example, when the suspended load mode is selected with the mode switch 43, the determination at Step 100 is satisfied, and the routine goes to Step 110. In step 110, as described above, the predetermined load is calculated based on the boom angle α, the arm angle β, the rod-side internal pressure Pr and the bottom-side internal pressure Pb of the boom hydraulic cylinder 21, and the suspension load is calculated. Are output as display signals and displayed on the display unit 44 of the monitor device 45. At this time, for example, if the suspension load is larger than a predetermined limit load, a drive signal is output to the alarm device 46 to issue an alarm.

  Thereafter, the process proceeds to step 120, and it is determined based on the serial signal from the converter 50 whether any one of the operation switches 47 </ b> A to 47 </ b> F of the transmitter 48 has been turned ON. For example, when any one of the control switches 47A to 47F of the transmitter 48 is turned ON, the determination in step 120 is satisfied, and the routine proceeds to step 130. In step 130, as described above, predetermined arithmetic processing is performed on the serial signal from the converter 50, and the generated drive signal (specifically, a predetermined output value set in advance) is output. When step 130 ends, the process returns to step 100 and the same procedure is repeated.

  On the other hand, if the excavation mode is selected by the mode switch 43 at step 100, the determination is not satisfied and the routine goes to step 140. If it is determined in step 120 that the control switches 47A to 47F of the transmitter 48 are not turned on, the determination is not satisfied and the routine proceeds to step 140. In step 140, as described above, predetermined calculation processing is performed on the electric operation signals from the operation devices 37L and 37R, and the generated drive signal (specifically, an output value that varies depending on the operation amount of the operation lever). Is output. When step 140 ends, the process returns to step 100 and the same procedure is repeated.

  In the above description, the boom control valve 39, the arm control valve 40, and the turning control valve 41 are controlled by electrical signals by controlling the flow of pressure oil from the hydraulic pump to the hydraulic actuator described in the claims. The control valve means is configured. The operation devices 37L and 37R constitute an operation means for outputting an electric operation signal for operating the hydraulic actuator.

  Next, the operation and effect of this embodiment will be described.

  For example, when performing a suspended work, the operator selects the mode switch 43 to the suspended load mode, and then moves to the vicinity of the hook 26 of the work machine 6. For example, when the operator operates the control switch 47A of the transmitter 48 in order to raise the boom 18, the wireless signal is transmitted from the transmitter 48, and is turned ON / OFF from the receiver 49 that has received the wireless signal. An OFF signal is output. The converter 50 converts the ON / OFF signal into a serial signal, which is input to the controller 31 to generate a corresponding drive signal (specifically, a predetermined output value set in advance). It is output to the proportional pressure reducing valve 39a. The boom control valve 39 is switched by the operation pilot pressure from the electromagnetic proportional pressure reducing valve 39a. As a result, the boom hydraulic cylinder 21 is driven and the boom 18 is raised.

  In this way, in the present embodiment, the boom hydraulic cylinder 21, the arm hydraulic cylinder 22, and the turning hydraulic motor 16 can be driven by the ON operation of the steering switches 47A to 47F of the transmitter 48. Further, the transmitter 48 having the control switches 47A to 47F can achieve cost reduction as compared with a transmitter having a control lever, for example. Further, by providing the converter 50 that converts the ON / OFF signal from the receiver 49 into a serial signal, the controller 31 can input the serial signal. For example, when the type of the transmitter is changed (for example, Even in the case of changing from one of the control switch type and control lever type to the other), the controller 31 can be used easily. Therefore, in the present embodiment, it is possible to realize a construction machine radio control device that is inexpensive and easy to equip.

  Further, for example, when the converter 50 is not provided and the ON / OFF signal from the transmitter 49 is input to the controller 31 as it is, the signal lines as many as the number of control switches 47A to 47F must be provided. On the other hand, in this embodiment, since it converts into a serial signal by the converter 50, the signal line between the converter 50 and the controller 31 can be simplified. In addition, since the operation switching by the operation devices 37L and 37R or the transmitter 48 is automatically processed by the controller 31, it is not necessary to provide an input means such as a changeover switch. Thereby, the installation space can be reduced.

  In the first embodiment, the transmitter 48 has been described by taking as an example the case where the operation switches 47A to 47F corresponding to the operation modes of the boom 18, the arm 19, and the upper swing body 4 are provided. It is not limited to this. That is, for example, an operation device having left / right traveling operation levers 35L, 35R, a swing operation pedal, or a blade operation lever is a so-called electric lever system, and the transmitter includes left / right crawler tracks 1L, 1R, swing You may provide the steering switch corresponding to the operation | movement aspect of the post | mailbox 5, the blade 14, or the bucket 20, respectively. Also in this case, the same effect as the first embodiment can be obtained.

  A second embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the moving direction of the tip of the arm 19 is instructed by the ON operation of the control switch of the transmitter.

  FIG. 7 is a schematic diagram illustrating the appearance of the transmitter according to the present embodiment. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  In the present embodiment, the transmitter 48 ′ is, for example, momentary-type control switches 55A to 55D for instructing vertical up / down / horizontal pull / horizontal push of the tip of the arm 19, and the same as the control switches 47E and 47F. For example, momentary-type control switches 55E and 55F for instructing the left and right turn of the upper swing body 3 are provided, and radio signals are transmitted in response to the ON operations of these control switches 55A to 55F. . Then, as in the first embodiment, an ON / OFF signal is output from the receiver 49 that has received the radio signal from the transmitter 48 ′, and the ON / OFF signal is converted into a serial signal by the converter 50. To 31 '.

  When the hanging load mode is selected by the mode switch 43 and the control switch 55E or 55F is turned ON, the controller 31 ′ performs predetermined arithmetic processing (specifically, the control switch 55E on the serial signal from the converter 50). Alternatively, a predetermined output value of a preset electromagnetic proportional pressure reducing valve is read in response to an ON operation of 55F), and the generated drive signal is output to the electromagnetic proportional pressure reducing valves 41a and 41b of the turning control valve 41, respectively. To do. Further, when the suspended load mode is selected by the mode switch 43 and any one of the control switches 55A to 55D is turned ON, the tip position of the boom 18 and the arm 19 are set based on the boom angle α and the arm angle β. Each tip position is calculated, and a predetermined calculation process is performed on the serial signal from the converter 50 based on a control table (details will be described later) according to the calculated tip position of the boom 18 or the tip position of the arm 19 to generate These drive signals are output to the electromagnetic proportional pressure reducing valves 39a and 39b of the boom control valve 39 and the electromagnetic proportional pressure reducing valves 40a and 40b of the arm control valve 40, respectively. Details will be described below.

(1) Vertical raising / lowering of the tip of the arm 19 FIG. 8 is a diagram showing a control table when the tip of the arm 19 is raised / lowered vertically.

  For example, when the control switch 55A of the transmitter 48 ′ is turned ON with the intention of raising the tip of the arm 19 vertically, the controller 31 ′ causes a drive signal (in detail to raise the boom 18 to the serial signal). Generates a preset output value) and outputs it to the electromagnetic proportional pressure reducing valve 39a. At the same time, it is determined whether the tip position of the boom 18 is above or below the starting position of the boom 18. For example, when the tip position of the boom 18 is above the starting position of the boom 18, the arm 19 is set. Drive signal (specifically, an output value set in advance so as to be smaller than the output value of the drive signal for raising the boom 18 described above) and output it to the electromagnetic proportional pressure reducing valve 40a, For example, when the tip position of the boom 18 is below the start position of the boom 18, the drive signal for performing the pulling operation of the arm 19 (specifically, the output value of the drive signal for raising the boom 18 described above is set to be smaller). A preset output value) is generated and output to the electromagnetic proportional pressure reducing valve 40b. Thereby, the boom control valve 39 and the arm control valve 40 are respectively switched, and the boom hydraulic cylinder 21 and the arm cylinder 22 are driven. As a result, the tip of the arm 19 is raised almost vertically.

  Further, for example, when the control switch 55B of the transmitter 48 ′ is turned on with the intention of vertically lowering the tip of the arm 19, the controller 31 ′ causes the drive signal ( Specifically, a preset output value) is generated and output to the electromagnetic proportional pressure reducing valve 39b. At the same time, it is determined whether the tip position of the boom 18 is above or below the starting position of the boom 18. For example, when the tip position of the boom 18 is above the starting position of the boom 18, the arm 19 is set. Drive signal (specifically, an output value set in advance so as to be smaller than the output value of the drive signal for lowering the boom 18 described above) and output it to the electromagnetic proportional pressure reducing valve 40b, For example, when the tip position of the boom 18 is lower than the start position of the boom 18, the drive signal for performing the pushing operation of the arm 19 (specifically, the output value of the drive signal for lowering the boom 18 described above is made smaller). A preset output value) is generated and output to the electromagnetic proportional pressure reducing valve 40a. Thereby, the boom control valve 39 and the arm control valve 40 are respectively switched, and the boom hydraulic cylinder 21 and the arm cylinder 22 are driven. As a result, the tip of the arm 19 is lowered substantially vertically.

(2) Horizontal pulling / horizontal pushing of the tip of the arm 19 FIG. 9 is a diagram showing a control table at the time of horizontal pulling / horizontal pushing of the tip of the arm 19.

  For example, when the steering switch 55C of the transmitter 48 ′ is turned ON with the intention of horizontally pulling the tip of the arm 19, the controller 31 ′ drives a drive signal (for pulling the arm 19 in response to the serial signal). Specifically, a preset output value) is generated and output to the electromagnetic proportional pressure reducing valve 40b. At the same time, it is determined whether the tip position of the arm 19 is before or after the starting position of the arm 19. For example, when the tip position of the arm 19 is before the starting position of the arm 19, the boom 18. A drive signal (in detail, an output value set in advance so as to be smaller than the output value of the drive signal for performing the pulling operation of the arm 19 described above) is generated and output to the electromagnetic proportional pressure reducing valve 40a. For example, when the tip position of the arm 19 is later than the starting position of the arm 19, the drive signal for lowering the boom 19 (specifically, the output value of the drive signal for performing the pulling operation of the arm 19 is smaller than the output value). Are output in advance to the electromagnetic proportional pressure reducing valve 40b. Thereby, the boom control valve 39 and the arm control valve 40 are respectively switched, and the boom hydraulic cylinder 21 and the arm cylinder 22 are driven. As a result, the tip of the arm 19 is pulled substantially horizontally.

  Further, for example, when the steering switch 55D of the transmitter 48 ′ is turned on with the intention of horizontally pushing the tip of the arm 19, the controller 31 ′ drives the arm 19 to push the serial signal. A signal (specifically, a preset output value) is generated and output to the electromagnetic proportional pressure reducing valve 40a. At the same time, it is determined whether the tip position of the arm 19 is before or after the starting position of the arm 19. For example, when the tip position of the arm 19 is before the starting position of the arm 19, the boom 18. Drive signal (specifically, an output value set in advance so as to be smaller than the output value of the drive signal for pushing the arm 19 described above) is output to the electromagnetic proportional pressure reducing valve 40b. For example, when the tip position of the arm 19 is later than the starting position of the arm 19, the drive signal for raising the boom 19 (specifically, the output value of the drive signal for performing the pushing operation of the arm 19 is smaller than the output value). Are output in advance to the electromagnetic proportional pressure reducing valve 40a. Thereby, the boom control valve 39 and the arm control valve 40 are respectively switched, and the boom hydraulic cylinder 21 and the arm cylinder 22 are driven. As a result, the tip of the arm 19 is pushed almost horizontally.

  Also in the present embodiment configured as described above, as in the first embodiment, the boom hydraulic cylinder 21, the arm hydraulic cylinder 22, and the turning hydraulic cylinder 21 are turned on by operating the control switches 55A to 55F of the transmitter 48 ′. The hydraulic motor 16 can be driven, and a wireless control device for a construction machine that is inexpensive and easy to equip can be realized. In this embodiment, regardless of the skill level of the operator, the tip of the arm 19 (that is, the suspended load 24) is vertically raised, vertically lowered, horizontally pulled, and horizontally pushed by turning on the control switches 55A to 55D of the transmitter. Can be easily performed.

  Although not particularly described in the second embodiment, for example, the controller 31 ′ is configured so that the tip of the arm 19 (or the hook 26) may not be removed from the control target area. You may have the locus | trajectory control function which prohibits operation | movement. Details of such a modification will be described below.

(1) Vertically Raising / Lowering Vertically of the Tip of the Arm 19 FIG. 10 is a schematic diagram showing a control target area at the time of vertically raising / lowering the tip of the arm 19. For example, when the control switch 55A or 55B of the transmitter 48 ′ is turned on with the intention of vertically raising or lowering the tip of the arm 19, the controller 31 ′ starts the ON operation of the control switch 55A or 55B. The operation permission area X1 is set with reference to the reference vertical plane P1 including the tip position of the arm 19 at the same time, and the operation suppression areas Y1 and Z1 are respectively set before and after the operation permission area X1. Then, when the distal end of the arm 19 deviates from the operation permission region X1 and enters the operation suppression region Y1 or Z1, control is performed so as to prohibit the operation of the arm 19 in a direction away from the operation permission region X1. . That is, for example, when the tip of the arm 19 enters the operation suppression region Y1, the pushing operation of the arm 19 is prohibited. For example, when the tip of the arm 19 enters the operation suppression region Z1, the pulling operation of the arm 19 is prohibited. To control.

(2) Horizontal pulling / horizontal pushing of the tip of the arm 19 FIG. 11 is a schematic diagram showing a control target area when the tip of the arm 19 is horizontally pulled / pressed horizontally. For example, when the control switch 55C or 55D of the transmitter 48 ′ is turned on with the intention of horizontally pulling or pushing the tip of the arm 19, the controller 31 ′ starts the ON operation of the control switch 55C or 55D. The operation permission area X2 is set with reference to the reference horizontal plane P2 including the tip position of the arm 19 at the same time, and the operation suppression areas Y2 and Z2 are set above and below the operation permission area X2, respectively. Then, when the tip of the arm 19 moves out of the operation permission region X2 and enters the operation suppression region Y2 or Z2, control is performed so as to prohibit the operation of the boom 18 in the direction in which the tip of the arm 19 moves away from the operation permission region X2. . That is, for example, when the front end of the arm 19 enters the operation suppression area Y2, the raising operation of the boom 18 is prohibited. For example, when the front end of the arm 19 enters the operation suppression area Z2, the lowering operation of the boom 18 is prohibited. To control.

  Also in the modified example as described above, the same effect as in the second embodiment can be obtained.

It is a side view showing the whole structure of the crane combined hydraulic excavator which is an example of the construction machine used as the application object of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a circuit diagram illustrating a first embodiment of a radio control device for a construction machine according to the present invention, together with a configuration of main parts of a related hydraulic drive device. It is the schematic showing the external appearance of the transmitter which comprises 1st Embodiment of the radio control apparatus of the construction machine of this invention. It is a circuit diagram showing the functional structure of the receiver which comprises 1st Embodiment of the radio control apparatus of the construction machine of this invention with a converter. It is a figure showing the detail of the serial data output from the converter which comprises 1st Embodiment of the radio control apparatus of the construction machine of this invention. It is a flowchart showing the control processing content of the controller which comprises 1st Embodiment of the radio control apparatus of the construction machine of this invention. It is the schematic showing the external appearance of the transmitter which comprises 2nd Embodiment of the radio control apparatus of the construction machine of this invention. It is a figure showing the detail of the control table of the controller which comprises 2nd Embodiment of the radio control apparatus of the construction machine of this invention. It is a figure showing the detail of the control table of the controller which comprises 2nd Embodiment of the radio control apparatus of the construction machine of this invention. It is the schematic showing the detail of the control object area | region of the controller which comprises the modification of the radio control apparatus of the construction machine of this invention. It is the schematic showing the detail of the control object area | region of the controller which comprises the modification of the radio control apparatus of the construction machine of this invention.

Explanation of symbols

6 Working machine 16 Turning hydraulic motor 21 Boom hydraulic cylinder 22 Arm hydraulic cylinder 31 Controller (control device)
37L operating device (operating means)
37R operating device (operating means)
38 Hydraulic pump 39 Control valve for boom (control valve means)
40 Arm control valve (control valve means)
41 Control valve for turning (control valve means)
47A to 47F Switch 48 Transmitter 49 Receiver 50 Converter

Claims (2)

A hydraulic pump, a plurality of hydraulic actuators driven by pressure oil discharged from the hydraulic pump, control valve means for controlling the flow of pressure oil from the hydraulic pump to the hydraulic actuator and controlled by an electrical signal, An operation means for outputting an electric operation signal for operating the hydraulic actuator, and a drive signal is generated and output to the control valve means in response to the electric operation signal from the operation means or a serial signal for operating the hydraulic actuator. A wireless control device for a construction machine with a control device for
A transmitter having a steering switch for steering the hydraulic actuator, and transmitting a radio signal in response to an ON operation of the steering switch;
A receiver that receives a radio signal from the transmitter and outputs an ON / OFF signal;
A radio control device for a construction machine, comprising: a converter that converts an ON / OFF signal from the receiver into a serial signal and outputs the serial signal to the control device.   2. The construction machine according to claim 1, wherein the steering switch instructs a moving direction of a predetermined part of a work machine driven by a plurality of hydraulic actuators for the work machine, and the control device Generate and output a drive signal for driving the plurality of hydraulic actuators for the work implement so that a predetermined part of the work implement moves in a designated direction in accordance with a serial signal input from the converter when the ON operation is performed. A wireless control device for construction machinery.

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