JP2010203207A - Control device of work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device of a work machine preventing a high stress from being induced in a work apparatus for demolishing. <P>SOLUTION: A work-mode selector switch 20 for selecting an excavation-work mode and a demolishing-work mode, a pressure switch 21 as a crushing-operation-detecting means provided a secondary-pressure port on an extension side of a crusher remote control valve 18, and a pressure sensor 22 as a crushing-load-detecting means for detecting a pressure in the head side of a crushing cylinder 9a of a crusher 6 are connected to an input side of the controller 19. Solenoid-selector valves 23, 24 as an arm-operation-stopping means provided in a secondary pressure circuit of an arm remote control valve 17 for stopping the arm operation and a solenoid-selector valve 25 as a low-pressure selector valve provided in a head side circuit of an arm cylinder 5a for moving the arm are connected to an output side of the controller 19. A low-pressure circuit 35 communicating with the head side of the arm cylinder 5a with the solenoid selector valve 25 in an excited state is connected with the solenoid selector valve 25. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a control device for a work machine provided with a dismantling work device.

  Some dismantling work machines equipped with a crushing attachment allow a good combined operation of the crushing attachment and another hydraulic actuator (see, for example, Patent Document 1).

  As shown in FIG. 3, this type of work machine for dismantling work is a long front for dismantling relatively tall buildings such as structures such as steel reinforced concrete and structures made of reinforced concrete. There is a working machine A provided with a working device. In this work machine A, an upper swing body 2 as a machine body is rotatably attached to a lower traveling body 1, and a dismantling work device (hereinafter simply referred to as “front”) as a front work device mounted on the upper swing body 2. F), a lower boom 3, an upper boom 4, an arm 5 and a crushing attachment (hereinafter referred to as a crusher) 6 are sequentially connected to each other, and these are a lower boom cylinder 3a, an upper boom cylinder 4a, an arm cylinder 5a and a bucket cylinder 6a. Are configured to be rotated respectively.

Japanese Patent Laid-Open No. 8-232301 (page 6-8, FIG. 1)

  Usually, the crusher 6 is heavy in the crushing operation, and therefore pressure is generated on the rod side in the arm cylinder 5a and the bucket cylinder 6a. However, when the crusher 6 falls at the moment when the reinforced concrete is cut and collides with a structure or the like, a peak pressure is instantaneously generated on the head side of the arm cylinder 5a and the bucket cylinder 6a, and high stress is applied to the arm 5 and the upper boom 4. appear.

  In addition, if the arm cylinder 5a is forcibly driven in a state where the reinforced concrete is bitten by the crusher 6, an excessive force is applied to the arm 5 and the upper boom 4 to generate high stress.

  As a countermeasure, it is conceivable to increase the strength of the front F. However, the weight of the front F increases accordingly, and the dismantling work machine with a long reach deteriorates stability and operability. To ensure stability, the work machine must be enlarged.

  This invention is made | formed in view of such a point, and it aims at providing the control apparatus of the working machine which can prevent that a high stress generate | occur | produces in the working apparatus for dismantling.

  The invention described in claim 1 is a crushing operation detection for detecting a crushing operation of a crushing attachment in a work machine including a dismantling work device provided with a crushing attachment that crushes a structure at a tip portion of an arm. A crushing load detecting means for detecting the load of the crushing attachment, an arm operation circuit for operating the arm cylinder for moving the arm, an arm operation stopping means for stopping the arm operation of the arm operation circuit, and a crushing attachment When the load of the crushing attachment reaches a specified value or more, the control device of the work machine includes a controller that outputs a signal to stop the arm operation to the arm operation stop unit.

  The invention described in claim 2 is a crushing operation detection for detecting a crushing operation of a crushing attachment in a work machine including a dismantling work device provided with a crushing attachment for crushing a structure at a tip portion of an arm. Means, a crushing load detecting means for detecting the load of the crushing attachment, a low pressure switching valve provided in the head side circuit of the arm cylinder for moving the arm, and the head side of the arm cylinder in the open state of the low pressure switching valve. When the crushing attachment is broken and the load on the crushing attachment exceeds the specified value, the low pressure switching valve provided in the arm cylinder head side circuit is opened, and the arm cylinder head side is opened. A control device for a work machine including a controller that opens to a low-pressure circuit.

  According to a third aspect of the present invention, the low pressure switching valve in the work machine control device according to the second aspect is an electromagnetic switching valve, and the head side of the arm cylinder is communicated with the low pressure circuit in an excited state of the electromagnetic switching valve. The accumulator is provided.

  According to a fourth aspect of the present invention, the low pressure circuit in the work machine control device according to the third aspect includes a relief valve that controls the upper limit of the pressure accumulated in the accumulator to a set value.

  The invention described in claim 5 is a crushing operation detection for detecting a crushing operation of a crushing attachment in a work machine including a dismantling work device provided with a crushing attachment for crushing a structure at a tip portion of an arm. Means, a crushing load detecting means for detecting the load of the crushing attachment, an arm operation circuit for operating the arm cylinder for moving the arm, an arm operation stopping means for stopping the arm operation of the arm operation circuit, and a head side of the arm cylinder An electromagnetic switching valve provided in the circuit, an accumulator in which the head side of the arm cylinder communicates in an excited state of the electromagnetic switching valve, a relief valve that controls the upper limit of the pressure accumulated in the accumulator to a set value, and a crushing attachment When the crushing operation is performed and the load on the crushing attachment exceeds the specified value, the arm operation is stopped. Work that includes a controller that outputs a signal to stop the arm operation to the stage and excites an electromagnetic switching valve provided in the head side circuit of the arm cylinder so that the head side of the arm cylinder communicates with the accumulator and the relief valve It is a machine control device.

  According to the invention described in claim 1, when the crushing attachment of the dismantling work device is crushed and the load of the crushing attachment reaches a specified value or more, the controller stops the operation in the arm operation circuit. Since the arm operation is stopped by the means, the arm cannot be forcibly moved while the structure is bitten by the crushing attachment, so that the high stress generated in the arm can be relieved and the fatigue life can be extended. As a result, it is possible to prevent high stress from being generated in the dismantling work device without increasing the size of the dismantling work machine, the light weight design of the dismantling work device, the compact work machine, and transportation. And disassembly and assembly become easy.

  According to the invention described in claim 2, when the crushing attachment of the dismantling work device is crushed and the load of the crushing attachment reaches a specified value or more, the controller is provided on the head side of the arm cylinder. Open the low pressure switching valve and open the arm cylinder head side to the low pressure circuit so that an excessive load is not applied to the dismantling work device, so the moment when the crushed material of the crushing attachment collides with the structure, etc. As a result, the peak pressure is not instantaneously generated on the head side of the arm cylinder due to the reaction, and the high stress generated in the arm or the like can be relieved and the fatigue life can be extended. As a result, it is possible to prevent high stress from being generated in the dismantling work device without increasing the size of the dismantling work machine, the light weight design of the dismantling work device, the compact work machine, and transportation. And disassembly and assembly become easy.

  According to the invention described in claim 3, when the crushing attachment load of the dismantling work device reaches a specified value or more, the controller excites the electromagnetic switching valve provided on the head side of the arm cylinder, By connecting the cylinder head side to the accumulator, the peak pressure generated on the arm cylinder head side is absorbed by the accumulator, so the peak pressure is instantaneously applied to the head side of the arm cylinder by reaction when the structure is crushed. Can be prevented, and the pressure accumulated in the accumulator can be effectively utilized on the head side of the arm cylinder.

  According to the invention described in claim 4, the relief valve can protect the accumulator of the low pressure circuit from the peak pressure generated on the head side of the arm cylinder.

  According to the invention described in claim 5, when the crushing attachment of the dismantling work apparatus is crushed and the load of the crushing attachment reaches a specified value or more, the controller is provided on the head side of the arm cylinder. The magnet switching valve is excited, the head side of the arm cylinder is connected to the accumulator, the peak pressure generated on the head side of the arm cylinder is controlled to the set value by the relief valve, and the accumulator absorbs the crushing attachment. When the crushed material is cut and dropped and collides with a structure, etc., the phenomenon that the peak pressure is instantaneously generated on the head side of the arm cylinder due to the reaction can be prevented. By outputting a signal to stop the operation, forcibly with the structure being bitten by the crushing attachment In other words, since an excessive load is not applied to the dismantling work device such as the arm, the high stress generated in the dismantling work device can be relieved and the fatigue life can be extended. it can. As a result, it is possible to prevent high stress from being generated in the dismantling work device without increasing the size of the dismantling work machine, the light weight design of the dismantling work device, the compact work machine, and transportation. And disassembly and assembly become easy.

It is a circuit diagram showing one embodiment of a control device of a work machine concerning the present invention. It is a control block diagram of the controller in the work machine same as the above. It is a side view of a working machine same as the above. It is a side view which shows the attachment for crushing of a working machine same as the above.

  Hereinafter, the present invention will be described in detail with reference to one embodiment shown in FIGS.

  FIG. 3 shows a work machine A for crushing, and an upper swing body 2 as a machine body is rotatably attached to the lower traveling body 1, and a dismantling work apparatus provided as a front work device on the upper swing body 2. F (hereinafter simply referred to as “front”) is mounted.

  The front F is supported by the upper swing body 2 so that the base end of the lower boom 3 is pivotally supported, and the upper boom 4 is pivotally supported at the tip of the lower boom 3, and is supported by the lower boom 3 and the upper boom 4. A shank boom is formed. Further, an arm 5 is pivotally supported at the tip of the upper boom 4, and a crushing attachment (hereinafter referred to as a crusher) 6 instead of a bucket is pivotally supported at the tip of the arm 5. The lower boom 3 is rotated by a lower boom cylinder 3a, the upper boom 4 is rotated by an upper boom cylinder 4a, the arm 5 is rotated by an arm cylinder 5a, and the crusher 6 is rotated by a bucket cylinder 6a.

  FIG. 4 shows the structure of the crusher 6. The crusher 6 includes a pair of crushing cylinders 9a and a turning motor 9b. The crusher 6 serves as a pair of crushing blades that are driven to open and close by the pair of crushing cylinders 9a. A rocker beam 9c is pivotally supported by a turning bracket 9d that can be turned by a turning motor 9b. The swivel joint 9f for supplying

  Then, pressure oil is supplied to the pair of crushing cylinders 9a through the swivel joint 9f to open and close the pair of rocker beams 9c, and the structure B such as reinforced concrete is crushed. Further, pressure oil is supplied to the turning motor 9b to turn the turning bracket 9d to adjust the direction of the rocker beam 9c.

  FIG. 1 shows a hydraulic control device for a work machine. Main pumps 11a and 11b and a pump 12 for driving a swing motor 9b of a crusher 6 are connected to an engine 10 mounted on the upper swing body 2. .

  Lower boom cylinder 3a, upper boom cylinder 4a, arm cylinder 5a, bucket cylinder 6a, traveling motors 7a and 7b for driving the crawler track of the lower traveling body 1, a turning motor 8 for turning the upper turning body, and a pair of crushing cylinders 9a Are respectively connected to corresponding switching valves (spool valves) in the main control valve 13 for direction control and speed control of these.

  For example, an arm switching valve 14 is connected to the arm cylinder 5a, and a crusher switching valve 15 is connected to the crushing cylinder 9a. The turning motor 9b of the crusher 6 is controlled by a crusher turning switching valve 16.

  The arm switching valve 14 is pilot-operated by a manual arm remote control valve 17 provided in an arm pilot circuit 14a, 14b as an arm operation circuit for operating an arm cylinder 5a for moving the arm 5. The remote control valve 17 includes a cylinder extension side remote control valve 17a and a cylinder contraction side remote control valve 17b.

  The crusher switching valve 15 is pilot-operated by a crusher remote control valve 18. The crusher remote control valve 18 includes a cylinder extension side remote control valve 18a and a cylinder contraction side remote control valve 18b.

  On the input side of the controller 19, there is a work mode changeover switch 20 for switching between the excavation work mode and the dismantling work mode, and a pressure as a crushing operation detection means provided in the secondary pressure port on the extension side of the remote control valve 18 for crusher. The switch 21 is connected to a pressure sensor 22 as a crushing load detecting means for detecting the pressure on the head side of the crushing cylinder 9a of the crusher 6. The pressure switch 21 is a detector that detects the crushing operation of the crusher 6, and the pressure sensor 22 is a detector that detects the load of the crusher 6.

  On the output side of the controller 19, there are electromagnetic switching valves 23 and 24 as arm operation stop means for stopping the arm operation provided in the secondary pressure circuit of the arm remote control valve 17, and the head of the arm cylinder 5a for moving the arm 5 An electromagnetic switching valve 25 as a low pressure switching valve provided in the side circuit is connected.

  The non-excitation position of the electromagnetic switching valve 25 is provided with a check valve that stops the hydraulic oil from flowing out from the head side of the arm cylinder 5a, and the hydraulic oil can flow out from the head side of the arm cylinder 5a at the exciting position. A passage is provided.

  Connected to the electromagnetic switching valve 25 is a low-pressure circuit 35 that communicates with the head side of the arm cylinder 5a when the electromagnetic switching valve 25 is excited. The low-pressure circuit 35 includes a low-pressure accumulator 26 as an accumulator that communicates with the head side of the arm cylinder 5a in an excited state of the electromagnetic switching valve 25, and a passage drawn from between the electromagnetic switching valve 25 and the low-pressure accumulator 26 is The pressure is stored in the low-pressure accumulator 26 and connected to the tank 28 via a relief valve 27 that controls the upper limit of the pressure accumulated in the set value.

  A pilot pressure source 29 is connected to primary pressure circuits of the arm remote control valve 17 and the crusher remote control valve 18.

  FIG. 2 shows a control block diagram of the controller 19. The controller 19 includes a work mode changeover switch 20, a pressure switch 21 provided at the secondary pressure port on the extension side of the crusher remote control valve 18, and a crushing cylinder of the crusher 6. A signal from the pressure sensor 22 for detecting the pressure on the head side (locker beam closing side) 9a is input. On the other hand, drive signals for the electromagnetic switching valves 23, 24, 25 are output from the controller 19.

  The controller 19 includes a signal determination unit 30 that outputs an on / off signal based on a signal from the pressure sensor 22, an AND operation unit 31, an off signal setting unit 32, and a signal switching unit that switches a signal using a work mode changeover switch 20. 33 and 34.

  When the crusher 6 is detected by the pressure switch 21 and the load of the crusher 6 detected by the pressure sensor 22 exceeds the specified value, the controller 19 stops the arm operation on the electromagnetic switching valves 23 and 24. Similarly, when there is a crushing operation of the crusher 6 and the load of the crusher 6 reaches a specified value or more, the electromagnetic switching valve 25 provided in the head side circuit of the arm cylinder 5a is excited. The arm cylinder 5a has a function of opening the head side to the low pressure circuit 35 and communicating with the low pressure accumulator 26 and the relief valve 27.

  Next, the operation will be described based on the control block diagram of the hydraulic control device shown in FIG. 1 and the controller 19 shown in FIG.

(1) Excavation work When excavation work is performed, the work mode changeover switch 20 is set to the “excavation” side. Therefore, in FIG. 2, the signal switching units 33 and 34 select the signal of the off signal setting unit 32, and the electromagnetic switching valves 23, 24 and 25 are all set to off, and normal operation can be performed.

  That is, since the electromagnetic switching valves 23 and 24 are off, when the arm remote control valve 17 is operated by the lever, the pilot pressure corresponding to the operation direction and the operation amount is switched through the arm pilot circuits 14a and 14b. Since it is supplied to the valve 14, the arm cylinder 5a can be arbitrarily operated by the arm switching valve 14, and the electromagnetic switching valve 25 is off, so that the head side of the arm cylinder 5a does not communicate with the low pressure circuit 35. Can be excavated at high pressure.

(2) Dismantling work When performing dismantling work, set the work mode switch 20 to the "dismantling" side.

  In the dismantling operation, when the structure B such as reinforced concrete is crushed by the crusher 6, in FIG. 2, a pressure is applied to the secondary pressure port on the extension side of the crusher remote control valve 18 and the pressure switch 21 is turned on. Further, when the load on the crushing cylinder 9a of the crusher 6 increases, a signal from the pressure sensor 22 is raised and an ON signal is output from the signal determiner 30. Accordingly, the output of the AND operator 31 is turned on, and the electromagnetic switching valves 23, 24, and 25 are excited via the signal switching units 33 and 34.

  With the above action, the pilot pressure of the arm switching valve 14 is released to the tank 28 by the electromagnetic switching valves 23 and 24 provided in the secondary pressure circuit of the arm remote control valve 17, and the operation of the arm cylinder 5a is stopped.

  At the same time, the head side of the arm cylinder 5 a is guided to the low pressure accumulator 26 by the electromagnetic switching valve 25. Therefore, the impact force in the direction in which the arm cylinder 5a is contracted is absorbed, and it is possible to prevent the peak pressure from being instantaneously generated on the head side by the reaction at the moment when the reinforced concrete is cut.

  In short, when the crusher 6 is crushing, the arm operation is prohibited and the head side of the arm cylinder 5a is opened to the low pressure circuit 35 so that an excessive load is not applied to the front F.

  Next, effects of the above embodiment will be described.

  When the front F crusher 6 is crushed and the load on the crusher 6 reaches a specified value or more, the controller 19 switches the electromagnetic switching valves 23 and 24 provided in the arm pilot circuits 14a and 14b to operate the arm. Therefore, the arm 5 cannot be forcibly moved with the structure B being bitten by the crusher 6, the high stress generated in the arm 5 or the like can be relieved, and the fatigue life can be extended. As a result, it is possible to prevent high stress from being generated on the front F without increasing the size of the work machine A for dismantling work, the front F can be designed to be lightweight, the work machine A can be made compact, and transportation and disassembly can be performed. Assembling becomes easy.

  When the crusher 6 of the front F is crushed and the load of the crusher 6 reaches a specified value or more, the controller 19 excites the electromagnetic switching valve 25 provided on the head side of the arm cylinder 5a, and the arm cylinder 5a Since the head side is opened to the low-pressure circuit 35 so that an excessive load is not applied to the front F, the crushing material of the crusher 6 instantly moves to the head side of the arm cylinder 5a by the reaction when the crushed material collides with the structure B or the like. Therefore, it is possible to prevent the peak pressure from being generated, to relieve high stress generated in the arm 5 and the like, and to extend the fatigue life. As a result, it is possible to prevent high stress from being generated on the front F without increasing the size of the work machine A for dismantling work, the front F can be designed to be lightweight, the work machine A can be made compact, and transportation and disassembly can be performed. Assembling becomes easy.

  For example, it is possible to prevent the peak pressure from being instantaneously generated on the head side of the arm cylinder 5a due to the reaction at the moment when the reinforced concrete is cut, and forcibly the arm cylinder while the structure B such as the reinforced concrete is bitten by the crusher 6. Since the arm 5 cannot be moved by 5a, the high stress generated in the arm 5 provided with the arm cylinder 5a or the upper boom 4 is relieved, and the fatigue life can be extended. Further, the front F can be designed to be lightweight, the work machine A can be made compact, and transportation, disassembly and assembly are facilitated.

  When the load on the crusher 6 reaches a specified value or more, the controller 19 excites the electromagnetic switching valve 25 provided on the head side of the arm cylinder 5a and communicates the head side of the arm cylinder 5a with the accumulator 26. Since the accumulator 26 absorbs the peak pressure generated on the head side of the arm cylinder 5a, it is possible to prevent the phenomenon that the peak pressure is instantaneously generated on the head side of the arm cylinder 5a due to the reaction when the structure B is crushed. The pressure accumulated in the accumulator 26 can be effectively used on the head side of the arm cylinder 5a. Furthermore, the relief valve 27 can protect the accumulator 26 of the low pressure circuit from the peak pressure generated on the head side of the arm cylinder 5a.

  When the crusher 6 of the front F is crushed and the load of the crusher 6 reaches a specified value or more, the controller 19 excites the electromagnetic switching valve 25 provided on the head side of the arm cylinder 5a, and the arm cylinder 5a The structure where the head side is connected to the accumulator 26, the peak pressure generated on the head side of the arm cylinder 5a is controlled by the relief valve 27 and absorbed by the accumulator 26, and the structure separated from the structure body by the crusher 6 Since the moment when B falls and collides with another structure or the like, the phenomenon that the peak pressure is instantaneously generated on the head side of the arm cylinder 5a due to the reaction can be prevented. Since the arm 5 cannot be forcibly moved with the structure B being bitten by the crusher 6 by outputting a signal to stop the arm operation at To, because an excessive load was not allowed to participate in the front F, such as the arm 5, high stress that occurs in the front F can be relaxed, it is possible to extend the fatigue life. As a result, it is possible to prevent high stress from being generated on the front F without increasing the size of the work machine A for dismantling work, the front F can be designed to be lightweight, the work machine A can be made compact, and transportation and disassembly can be performed. Assembling becomes easy.

  INDUSTRIAL APPLICABILITY The present invention can be used for a work machine that can switch between a dismantling operation and another operation.

A Work machine B Structure F Front 5 arm as dismantling work device
5a Arm cylinder 6 Crusher as crushing attachment
14a, 14b Pilot circuit for arm as arm operation circuit
19 Controller
21 Pressure switch as a crushing operation detection means
22 Pressure sensor as crushing load detection means
23, 24 Electromagnetic switching valve as arm operation stop means
25 Solenoid switching valve as low pressure switching valve
26 Low pressure accumulator as an accumulator
27 Relief valve
35 Low pressure circuit

Claims (5)

In a working machine equipped with a dismantling work device provided with a crushing attachment for crushing a structure at the tip of an arm,
A crushing operation detecting means for detecting a crushing operation of the crushing attachment;
Crushing load detection means for detecting the load of the crushing attachment;
An arm operation circuit for operating an arm cylinder for moving the arm;
Arm operation stopping means for stopping arm operation of the arm operation circuit;
When the crushing attachment is crushed and the load of the crushing attachment reaches a specified value or more, the arm operation stop means includes a controller that outputs a signal to stop the arm operation. apparatus. In a working machine equipped with a dismantling work device provided with a crushing attachment for crushing a structure at the tip of an arm,
A crushing operation detecting means for detecting a crushing operation of the crushing attachment;
Crushing load detection means for detecting the load of the crushing attachment;
A low-pressure switching valve provided in a head side circuit of an arm cylinder for moving the arm;
A low pressure circuit communicating with the head side of the arm cylinder when the low pressure switching valve is open;
When the crushing attachment is crushed and the load of the crushing attachment reaches a specified value or more, the low pressure switching valve provided in the arm cylinder head side circuit is opened to open the arm cylinder head side to the low pressure circuit. A control device for a work machine, comprising: a controller. The low pressure switching valve is an electromagnetic switching valve,
The low pressure circuit
The work machine control device according to claim 2, further comprising an accumulator that communicates with the head side of the arm cylinder in an excited state of the electromagnetic switching valve. The low pressure circuit
4. The work machine control device according to claim 3, further comprising a relief valve that controls an upper limit of pressure accumulated in the accumulator to a set value. In a working machine equipped with a dismantling work device provided with a crushing attachment for crushing a structure at the tip of an arm,
A crushing operation detecting means for detecting a crushing operation of the crushing attachment;
Crushing load detection means for detecting the load of the crushing attachment;
An arm operation circuit for operating an arm cylinder for moving the arm;
Arm operation stopping means for stopping arm operation of the arm operation circuit;
An electromagnetic switching valve provided in the head side circuit of the arm cylinder;
An accumulator in which the head side of the arm cylinder communicates with the electromagnetic switching valve excited;
A relief valve that controls the upper limit of the pressure accumulated in the accumulator to a set value;
When the crushing attachment is crushed and the load of the crushing attachment reaches the specified value or more, a signal to stop the arm operation is output to the arm operation stop means, and the electromagnetic switching provided in the head side circuit of the arm cylinder A control device for a work machine, comprising: a controller that excites a valve to communicate the head side of an arm cylinder with an accumulator and a relief valve.

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