JP2011058281A - Hydraulic breaker control device of work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device which prevents a breaker mounted on a working arm from excessively pressing an object to be crushed or from performing a blank shot. <P>SOLUTION: This hydraulic breaker control device includes a breaker operation device 25 for turning on or off breaker control valves 11a, 11b, a pressure oil supply means for selectively supplying a pressure oil under a predetermined pressure to a hydraulic cylinder which presses a breaker, a pressure detector for detecting the pressing hydraulic pressure, a breaker switch for instructing the ON or OFF of the operation of the breaker, and a controller. When the breaker switch is turned on, the pressure oil from the pressure oil supply means is supplied to the hydraulic cylinder. When the breaker operation device is turned off and the pressing hydraulic pressure exceeds a predetermined pressure, the breaker operation device is turned on to operate the breaker. When the breaker operation device is turned on and the pressing hydraulic pressure is equal to or less than the predetermined pressure, the breaker operation device is turned off to stop the breaker. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control device for a hydraulic breaker attached to a work machine.

  2. Description of the Related Art A working machine, for example, a hydraulic excavator as a representative example thereof, attaches a hydraulic breaker to the tip of a working arm, and performs crushing work such as bedrock and concrete. This crushing operation is performed by moving a work arm to position a hitting chisel of a hydraulic breaker on a crushing object, pressing it, and performing a hitting operation (see, for example, Patent Document 1).

Japanese Patent Laying-Open No. 2003-49453 (FIG. 4)

  The work machine hydraulic breaker as described above has the following problems to be solved.

(1) It is difficult to adjust the force for pressing the breaker, and when the pressing force is large, the airframe rises, and the airframe falls at the moment when the object to be crushed, such as the bedrock, is crushed and a large impact occurs. Therefore, operator fatigue is remarkable. In addition, it causes the aircraft to break down.
(2) Since the hardness of the object to be crushed changes softly and softly, the breaker is frequently blown.
(3) If the work arm or the body is moved while the breaker is struck, the object to be crushed will be damaged, causing damage to the breaker and shortening the breaker life.
(4) When performing the breaker work by remote control, it is difficult to check the crushing state, so it is difficult to adjust the pressing force and prevent idling.

  The present invention has been made in view of the above-mentioned facts, and the main technical problem thereof is a work machine that can prevent excessive pressing and blanking of a breaker attached to a work arm of the work machine to an object to be crushed. It is providing the hydraulic breaker control apparatus.

  Another technical problem is to provide a hydraulic breaker control device for work machines that prevents the breaker from damaging the object to be crushed by moving the work arm or the machine body to which the breaker is attached during the hitting work by the breaker. It is to be.

According to the present invention, as a hydraulic breaker control device for a work machine that solves the above technical problem, a breaker operating device that turns ON / OFF a breaker control valve that supplies hydraulic oil to a breaker attached to a work arm of the work machine; , Pressure oil supplying means for switching the pressure oil of a predetermined pressure to the oil chamber of the hydraulic cylinder of the working arm that presses the breaker against the object to be crushed, and pressure detection for detecting the pressure of the hydraulic cylinder A breaker switch for commanding ON / OFF of the operation of the breaker, and a controller,
The controller supplies pressure oil from the pressure oil supply means to the hydraulic cylinder when the breaker switch is ON, and (1) the breaker operating device is OFF and the pressing oil pressure detected by the pressure detector is the predetermined pressure. If the pressure exceeds the specified pressure, the breaker is turned on and the breaker is operated. (2) When the breaker is turned on and the pressing oil pressure detected by the pressure detector is below the specified pressure, the breaker is operated. There is provided a hydraulic breaker control device for a work machine characterized in that the operation of the breaker is stopped by turning off the device.

  Preferably, the pressure oil supply means includes a hydraulic pressure source having a hydraulic pump, an unload valve and an accumulator, a pressure setting device for setting the predetermined pressure, and a pressure of the hydraulic power source based on a signal from the pressure setting device. An electromagnetic proportional valve that adjusts the oil to a predetermined pressure and an electromagnetic switching valve that supplies the hydraulic oil adjusted to the predetermined pressure to the hydraulic cylinder are provided.

  In addition, a working posture selector is provided, and the working posture selector is either a vertical pressing cylinder that presses the breaker vertically against the object to be crushed or a horizontal pressing cylinder that presses horizontally as the hydraulic cylinder of the working arm. The pressing direction is selected, and the controller supplies the pressure oil of the pressure oil supply means to the vertical pressing cylinder in the vertical direction and to the horizontal pressing cylinder in the horizontal direction based on a signal from the work posture selector. .

  The controller further comprises operation detection means for detecting whether or not the actuator of the work machine for moving the position of the breaker and the object to be crushed is relative to each other, and the controller detects when the operation operation of the actuator is detected by the operation detection means. Turn off the controller to stop the operation of the breaker.

  The hydraulic breaker control device for a work machine configured according to the present invention is configured such that when the pressing oil pressure exceeds a predetermined pressure, the breaker operating device is turned on and the breaker is operated, and when the pressing oil pressure falls below a predetermined pressure, The operation unit is turned off and the operation of the breaker is stopped. Therefore, since the breaker is activated when the pressing force against the object to be crushed reaches the specified value, excessive pressing is prevented, and when the pushing force becomes small, such as when the object to be crushed cracks, the breaker operation is stopped. Is prevented from being blown away.

  In addition, when the operation of the actuator of the work machine that moves the position of the breaker and the object to be crushed is detected during the breaker operation, the breaker operation is stopped. Do not strain the object to be crushed by moving the working arm or the machine.

The structure explanatory view of the hydraulic breaker control device of the working machine constituted according to the present invention. The flowchart which shows a part of control procedure of the controller shown in FIG. The flowchart which shows the process after step S3 of the control procedure shown in FIG. 2 determines with NO. The side view of the hydraulic shovel which is a typical example of the working machine which attached the breaker, The figure which showed the attitude | position of (a) Breaker vertical pressing (b) Breaker horizontal pressing.

  Hereinafter, a hydraulic breaker control device for a work machine configured according to the present invention will be described in more detail with reference to the accompanying drawings illustrating a preferred embodiment of a hydraulic excavator that is a typical work machine.

  This will be described with reference to FIG. The hydraulic excavator 50 includes a lower traveling body 1, an upper swinging body 2 mounted on the lower traveling body 1 so as to be swingable in the horizontal direction, and a work arm 3 mounted on the upper swinging body 2 so as to be swingable in the vertical direction. And a breaker 6 is attached to the tip of the work arm 3.

  The working arm 3 includes a boom 4 swingably attached to the upper swing body 2, an arm 5 swingably attached to the tip of the boom 4, and a breaker 6 attached to the tip, and the upper swing body 2 and the boom 4. Boom cylinder 4a which is a vertical pressing cylinder mounted between them, arm cylinder 5a which is a horizontal pressing cylinder mounted between boom 4 and arm 5, and breaker support cylinder 6a mounted between arm 5 and breaker 6 It has. FIG. 4A shows the posture of the breaker vertical pressing, and FIG. 4B shows the posture of the breaker horizontal pressing.

  With reference to FIG. 1, a known hydraulic circuit of a hydraulic excavator 50 will be described first, and then a hydraulic breaker control device according to the present invention will be described.

  The hydraulic excavator 50 is driven by the engine 7 and discharges hydraulic fluid of an actuator such as a cylinder and a motor. The hydraulic excavator 50 and a plurality of hydraulic pumps 50 corresponding to the actuator are supplied to the actuator. A control valve assembly 10 including a control valve is provided. As an actuator, in addition to the breaker 6, the boom cylinder 4a, the arm cylinder 5a, and the breaker support cylinder 6a, a turning motor 14 and a pair of travel motors 13a and 13b are provided.

  The control valve assembly 10 includes a pair of breaker control valves 11a and 11b for the breaker 6, a boom control valve 11c for the boom cylinder 4a, and an arm control valve 11d for the arm cylinder 5a. The breaker control valves 11a and 11b are operated by pilot pressure oil from a breaker electromagnetic valve 25 which is a breaker operating device described later. The boom control valve 11c and the arm control valve 11d are operated by pilot pressure oil from a boom operation device and an arm operation device (not shown) connected to each other.

  The hydraulic breaker control device 52 (hereinafter sometimes simply referred to as the breaker control device 52) includes the breaker electromagnetic valve 25 for turning on and off the breaker control valves 11a and 11b for supplying hydraulic oil to the breaker 6, and the breaker 6 The hydraulic oil supply means 54 for switching the pressure oil of a predetermined pressure to the pressing side oil chambers of the boom cylinder 4a and the arm cylinder 5a, which are hydraulic cylinders that press the oil onto the object to be crushed, and the hydraulic cylinders 4a and 5a, respectively. A boom cylinder pressure sensor 26 and an arm cylinder pressure sensor 27 which are pressure detectors for detecting the pressure oil pressure, a breaker switch 31 for commanding ON / OFF of the operation of the breaker 6, and a controller 30.

  The pressure oil supply means 54 is a hydraulic pressure source 56 having a third pump 19 driven by the engine 7, an unload valve 20 and an accumulator 21 as a hydraulic pump, and a pressing pressure setting device for setting a predetermined pressure. An electromagnetic proportional valve 22 that adjusts the discharge oil from the third pump 19 to a predetermined pressure based on the signals of the pressing force dial 33 and the pressing force dial 33, and the pressure oil adjusted to the predetermined pressure is supplied to the boom cylinder 4a and the arm. A boom solenoid valve 23 and an arm solenoid valve 24 which are electromagnetic switching valves to be supplied to the pressing side oil chambers of the cylinders 5a are provided.

  When there is no signal from the pressing force dial 33, the electromagnetic proportional valve 22 closes the inlet port from the third pump 19, releases the outlet port to the tank 12, and sets the outlet port according to the signal from the pressing force dial 33. Adjust to the prescribed pressure.

  The breaker control device 52 also includes a work posture selector 32. The work posture selector 32 presses the breaker 6 of the work arm 3 against the object to be crushed in the vertical direction by the boom cylinder 4a (FIG. 3 (a)) or in the horizontal direction by the arm cylinder 5a (FIG. 3 ( b)) is selected and input to the controller 30.

  The controller 30 controls the boom solenoid valve 23 to supply pressure oil to the rod side oil chamber of the boom cylinder 4a when in the vertical pressing posture, and controls the arm solenoid valve 24 to control the arm cylinder 5a when in the horizontal pressing posture. Pressure oil is supplied to the head side oil chamber.

  The breaker control device 52 further includes an actuator of a hydraulic excavator 50 that relatively moves the position of the breaker 6 and the object to be crushed, such as a boom cylinder 4a, an arm cylinder 5a, a breaker support cylinder 6a, a swing motor 14, and travel motors 13a and 13b. Operation detecting means 34 for detecting presence / absence of an operation and inputting it to the controller 30 is provided. The operation detection means 34 can detect the movement of the operation lever for operating the actuator, for example, by a known appropriate means. Therefore, detailed description and illustration are omitted.

  The control procedure of the controller 30 will be described with reference to FIGS. 2 and 3 together with FIG.

  When the controller 30 starts up, initialization is performed in step S1. In the initial setting, the boom solenoid valve 23, the arm solenoid valve 24, and the breaker solenoid valve 25 are turned off, the solenoid proportional valve 22 is set to the minimum value, and the process proceeds to step S2.

  In step S2, the input data is read and the process proceeds to step S3. In step S3, it is determined whether the breaker solenoid valve 25 is ON or OFF. If OFF, the process proceeds to step S4, and if ON, the process proceeds to step S14.

  In step S4, it is determined whether the breaker switch 31 is ON or OFF. If it is ON, the process proceeds to step S5. If it is OFF, the process returns to step S2.

  In step S5, it is determined whether the detection result of the operation detection means 34 is in operation or neutral in which operation is not performed. If neutral, the process proceeds to step S6, and if not neutral, the process returns to step S2.

  In step S6, it is determined whether the strike is vertical or horizontal based on the output of the work posture selector 32. If the strike is vertical, the process proceeds to step S7, the boom solenoid valve 23 is turned on, and the process proceeds to step S8. When leveling, the process proceeds to step S10, the arm solenoid valve 24 is turned on, and the process proceeds to step S11.

  In step S8, the pressure of the electromagnetic proportional valve 22 is set based on the output of the pressing force dial 33, and the process proceeds to step S9. In step S9, the pressing pressure of the boom cylinder 4a is predetermined based on the signal of the boom cylinder pressure sensor 26. If the pressure exceeds the predetermined pressure, the process proceeds to step S13. If the pressure exceeds the predetermined pressure, the process returns to step S2.

  In step S11, the pressure of the electromagnetic proportional valve 22 is set based on the output of the pressing force dial 33, and the process proceeds to step S12. In step S12, the pressing pressure of the arm cylinder 5a is predetermined based on the signal of the arm cylinder pressure sensor 27. If the pressure exceeds the predetermined pressure, the process proceeds to step S13. If the pressure exceeds the predetermined pressure, the process returns to step S2.

  In step S13, the breaker solenoid valve 25 is turned on to switch the breaker control valves 11a and 11b, the hydraulic oil is supplied to the breaker 6 to operate, and the process returns to step S2.

  In step S14, it is determined whether the breaker switch 31 is ON or OFF. If ON, the process proceeds to step S15, and if OFF, the process proceeds to step S19.

  In step S15, it is determined whether the detection result of the operation detection means 34 is in operation or neutral in which operation is not performed. If neutral, the process proceeds to step S16, and if not neutral, the process proceeds to step S19.

  In step S16, it is determined based on the output of the work posture selector 32 whether vertical hitting or horizontal hitting. If vertical hitting, the process proceeds to step S17. If horizontal hitting, the process proceeds to step S18.

  In S17, it is determined based on the signal of the boom cylinder pressure sensor 26 whether the pressing pressure of the boom cylinder 4a has decreased below a predetermined pressure. If not, the process returns to step S2, and if it has decreased, Proceed to step S19.

  In S18, based on the signal from the arm cylinder pressure sensor 27, it is determined whether the pressing pressure of the arm cylinder 5a has decreased below a predetermined pressure. If not, the process returns to step S2, and if it has decreased, Proceed to step S19.

  In S19, the boom electromagnetic switching valve 23, the arm electromagnetic valve 24, and the breaker electromagnetic switching valve 25 are turned OFF, the electromagnetic proportional valve 22 is minimized, the breaker 6 is stopped, and the process returns to Step S2.

  The effect of the hydraulic breaker control device 52 for the working machine as described above will be described.

(1) The hydraulic breaker control device 52 supplies the pressure oil from the pressure oil supply means 54 to the hydraulic cylinder 4a (5a) when the breaker switch 31 is ON, and the breaker solenoid valve 25, which is a breaker operating device, is OFF. When the pressing oil pressure detected by the pressure detector 26 (27) exceeds a predetermined pressure, the breaker solenoid valve 25 is turned on to operate the breaker 6, the breaker solenoid valve 25 is turned on, and the pressure detector When the pressing oil pressure detected by 26 (27) is below a predetermined pressure, the breaker solenoid valve 25 is turned off to stop the operation of the breaker 6.

  Therefore, since the breaker 6 is operated when the pressing force to the object to be crushed reaches a specified value, excessive pressing is prevented, and the operation of the breaker 6 is performed when the pressing force becomes small, for example, the object to be crushed cracks. Is stopped to prevent empty shots.

  Then, the pressing force of the breaker 6 can be optimally adjusted, and the breaker 6 is automatically stopped when crushing is completed, so that the breaker operation is simplified and the operator's fatigue can be reduced. In addition, workability is improved. Further, since the pressing force of the breaker 6 can be adjusted optimally, the impact applied to the airframe can be alleviated and the failure of the airframe is reduced.

(2) The pressure oil supply means 54 is based on a hydraulic pressure source 56 having the hydraulic pump 19, the unload valve 20 and the accumulator 21, and signals of the pressing pressure setting device 33 and the pressing pressure setting device 33 for setting a predetermined pressure. An electromagnetic proportional valve 22 for adjusting the pressure oil of the hydraulic source 56 to a predetermined pressure, and an electromagnetic switching valve 23 (24) for supplying the pressure oil adjusted to the predetermined pressure to the hydraulic cylinder 4a (5a). Yes.

  Therefore, the pressing force of the breaker 6 can be set appropriately according to the object to be crushed. Further, since the main pumps 8 and 9 supply the flow rate only to the breaker 6 during the breaker operation, the prescribed flow rate can be supplied to the breaker 6 and the work efficiency is increased. And since the excessive flow rate is not supplied, the failure of the breaker 6 is reduced.

(3) Further, the boom solenoid valve 23 or the arm solenoid valve 24 is operated on the basis of the signal from the work posture selector 32 so that the pressure oil supplied from the pressure oil supply means 54 is horizontal to the boom cylinder 4a in the vertical direction. When it is in the direction, it is supplied to the arm cylinder 5a. Therefore, the breaker 6 can be appropriately operated according to the working posture.

(4) When the breaker solenoid valve 25, which is a breaker operating device, is ON, the operation detecting means 34 detects the operation of the actuator that relatively moves the position of the breaker 6 and the object to be crushed. The electromagnetic valve 25 is turned off to stop the operation of the breaker 6.

  Therefore, when the operation of the actuator of the work machine that moves the breaker 6 and the position of the object to be crushed is detected during the breaker operation, the operation of the breaker 6 is stopped. The work arm 3 or the machine body to which the breaker 6 is attached is not moved and the object to be crushed is not twisted. The breaker 6 is less blown and the breaker 6 is stopped when the operation of the working arm, turning, running, etc. is performed during the breaker operation, so that a lateral load does not act on the breaker 6 and the life of the breaker 6 is extended. be able to.

4a: Boom cylinder (vertical pressing cylinder, hydraulic cylinder)
5a: Arm cylinder (horizontal pressing cylinder, hydraulic cylinder)
6: Breaker 11a, 11b: Breaker control valve 19: Third pump (hydraulic pump)
20: Unload valve 21: Accumulator 22: Proportional solenoid valve 23: Boom solenoid valve (electromagnetic switching valve)
24: Arm solenoid valve (electromagnetic switching valve)
25: Breaker solenoid valve (breaker actuator)
26: Boom cylinder pressure sensor (pressure detector)
27: Arm cylinder pressure sensor (pressure detector)
31: Breaker switch 32: Work posture selector 33: Pressing force dial (pressing pressure setting device)
34: Operation detection means 50: Hydraulic excavator (work machine)
52: Hydraulic breaker control device 54: Pressure oil supply means 56: Hydraulic source

Claims (4)

A breaker operating device for ON / OFF operation of a breaker control valve for supplying hydraulic oil to a breaker attached to a work arm of a work machine;
Pressure oil supply means for switching the pressure oil of a predetermined pressure to the pressing side oil chamber of the hydraulic cylinder of the working arm that presses the breaker against the object to be crushed;
A pressure detector for detecting the pressing oil pressure of the hydraulic cylinder;
A breaker switch for commanding ON / OFF of the operation of the breaker;
A controller, and
The controller
When the breaker switch is ON, the pressure oil from the pressure oil supply means is supplied to the hydraulic cylinder,
(1) When the breaker operating device is OFF and the pressing oil pressure detected by the pressure detector exceeds the predetermined pressure, the breaker operating device is turned ON to operate the breaker.
(2) When the breaker operating device is ON and the pressing oil pressure detected by the pressure detector is equal to or lower than the predetermined pressure, the breaker operating device is turned OFF to stop the operation of the breaker.
A hydraulic breaker control device for a working machine. Pressure oil supply means
A hydraulic source having a hydraulic pump, an unloading valve and an accumulator;
An electromagnetic proportional valve that adjusts the pressure oil of the hydraulic pressure source to a predetermined pressure based on a signal of the pressing pressure setting device that sets the predetermined pressure and the pressing pressure setting device;
An electromagnetic switching valve that supplies pressure oil adjusted to a predetermined pressure to the hydraulic cylinder,
The hydraulic breaker control device for a work machine according to claim 1. Equipped with a working posture selector,
The working posture selector selects either the pressing direction of the vertical pressing cylinder that presses the breaker vertically against the object to be crushed and the horizontal pressing cylinder that presses horizontally as the hydraulic cylinder of the working arm,
The controller
Based on the signal of the work posture selector, the pressure oil of the pressure oil supply means is supplied to the vertical pressing cylinder in the vertical direction and to the horizontal pressing cylinder in the horizontal direction.
The hydraulic breaker control device for a working machine according to claim 1 or 2, Comprising an operation detecting means for detecting the presence or absence of operation of an actuator of a work machine that relatively moves the position of the breaker and the object to be crushed;
The controller
When the operation operation of the actuator is detected by the operation detection means when the breaker operating device is ON, the breaker operating device is turned OFF to stop the operation of the breaker.
The hydraulic breaker control device for a work machine according to any one of claims 1 to 3, wherein

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