JP2014202222A - Hydraulic control device of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hydraulic control device of a working machine which can avoid the lowering of work efficiency caused by oil amount shortage when operating a working implement and a working front on one side, in a working machine having two working fronts.SOLUTION: A hydraulic control device of a working machine comprises: an actuator A142a being one of actuators constituting a right actuator group 101A; an actuator B142b being one of actuators constituting a left actuator group 101B; a communication pipe conduit 36 for connecting the actuators; and communication pipe conduit switching means 90 to 92 which are arranged at the communication pipe conduit, and switch a first state that oil pressure from control valves A, B is supplied to the respective actuators A,B, a second state that the oil pressure from the control valves A, B is supplied only to the actuator A, and a third state that the oil pressure from the control valves A, B is supplied only to the actuator B.

Description

  The present invention relates to a hydraulic control device for a work machine used in a structure demolition work, a waste demolition work, a road work, a civil engineering work, and the like, and in particular, a hydraulic pressure of a work machine having two articulated work fronts. The present invention relates to a control device.

  In a double-armed work machine having two work fronts, the pressure oil from the first and second hydraulic pumps 100A and 100B is used as the first oil pressure in order to suppress an oil shortage when performing a combined operation on one work front. And a first state in which the second working front A and B are supplied to the arm cylinders 13a and 13b, respectively, and a second state in which pressure oil from the second hydraulic pump 100B is supplied to the arm cylinder 13a of the first working front A, In addition, there is a hydraulic system for a work machine that uses a selection unit to select a third state in which pressure oil from the first hydraulic pump 100A is supplied to the arm cylinder 13b of the second work front B (see, for example, Patent Document 1).

JP 2009-121097 A

  By the way, there is a case where a cutter working tool for grasping and cutting the object to be disassembled is attached to the front ends of both work fronts of the double-arm type work machine. A cutter working tool for cutting an object requires a high output. For this reason, in a double-arm type work machine that supplies pressure oil from one hydraulic pump to one work tool drive cylinder, the speed of the cutter work may decrease due to insufficient oil amount, resulting in a decrease in work efficiency. is there.

  Therefore, the above-described configuration in which the number of pumps connected to the arm cylinder 13a of the first work front A or the arm cylinder 13b of the second work front B is changed by a selection means (changeover switch) is applied to the work tool drive cylinder. By doing so, one work tool drive cylinder can be driven by two pumps as necessary, so that a reduction in the speed of the cutter work can be prevented.

  However, when both cutter work tools are used alternately in actual work, the operator needs to switch the changeover switch each time, and the operation becomes complicated and the operability is lowered. Further, since the time required for switching is also required, there arises a problem that work efficiency is lowered.

  The present invention has been made on the basis of the above-described matters, and its purpose is to reduce the operability due to insufficient oil amount when operating one side of the work tool and the work front in a work machine having two work fronts. The present invention also provides a hydraulic control device for a work machine that can eliminate a decrease in work efficiency.

  In order to achieve the above object, a first invention includes a work machine main body, a first work device provided in the work machine main body, a first actuator group for driving the first work device, and the work. In a hydraulic control device for a work machine including a second work device provided in a machine main body and a second actuator group that drives the second work device, pressure oil supplied to the first actuator group is controlled. A first control valve group; a first hydraulic pump for supplying pressure oil to the first control valve group; a second control valve group for controlling pressure oil supplied to the second actuator group; and the second control. A second hydraulic pump that supplies pressure oil to the valve group, an actuator A that is one of the actuators constituting the first actuator group, and the first control valve; A first pipe connecting the control valve A corresponding to the actuator A and an actuator B which is one of the actuators constituting the second actuator group and the second control valve group. A second pipe connecting the control valve B corresponding to B, a connecting pipe connecting these pipes, and pressure oil from the control valves A and B is provided in the connecting pipe, respectively. A first state in which A and B are supplied, a second state in which pressure oil from the control valves A and B is supplied only to the actuator A, and a pressure oil from the control valves A and B only in the actuator B Connecting line switching means for switching the third state to be supplied to the driver, provided in the driver's cab, First and second operation means for instructing driving of the actuators A and B, the first and second operation means are connected to the input side, and the control valves A and B and the communication line switching means are connected to the output side If both the first and second operating means are input, the connecting line switching means is made to select the first state, and the control valve A is controlled by the signal from the first operating means. It is assumed that a control device for operating the control valve B by a signal from two operation means is provided.

  In a second aspect based on the first aspect, the control device causes the communication line switching means to select the second state when there is an input only to the first operation means, and The control valves A and B are operated by a signal from one operation means, and when there is an input only to the second operation means, the communication line switching means is made to select the third state, and the second operation means The control valves A and B are operated by a signal of

  Further, according to a third aspect of the present invention, in the first or second aspect, the connecting pipe has a first connecting pipe that connects the actuator A and the actuator B, and the connecting pipe switching means includes: A first opening / closing device that is provided in the first pipe and selects flow / cut-off of the first pipe, and a second open / close that is provided in the second pipe and selects flow / cut-off of the second pipe And a third opening / closing device that is provided in the first communication pipeline and selects distribution / blocking of the first communication pipeline.

  According to a fourth aspect of the present invention, in the first or second aspect of the invention, the communication line includes a second connection line that connects the actuator A and the control valve B, the actuator B, and the control valve A. And a third connecting pipe that connects the control valve A to the first connecting pipe or the third connecting pipe. 4 opening and closing device and a fifth opening and closing device that selectively switches the connection of the control valve B to either the second conduit or the second connecting conduit.

  Furthermore, a fifth invention is characterized in that, in any one of the first to fourth inventions, the actuators A and B are hydraulic cylinders for opening and closing a claw of a work tool.

  ADVANTAGE OF THE INVENTION According to this invention, in the working machine which has two working devices, the fall of operativity accompanying the oil amount shortage at the time of operating the working tool and working device of one side can be eliminated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing an external appearance of a double-armed hydraulic excavator provided with a first embodiment of a hydraulic control device for a work machine according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top view showing an external appearance of a double-armed hydraulic excavator provided with a first embodiment of a hydraulic control device for a work machine according to the present invention. It is a perspective view which shows the operating device provided in the cab of the double arm type hydraulic excavator provided with 1st Embodiment of the hydraulic control apparatus of the working machine of this invention. FIG. 3 is a hydraulic circuit diagram showing an extracted main part of the first embodiment of the hydraulic control device for the work machine according to the present invention. It is a functional block diagram which shows the control apparatus which comprises 1st Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a side view which shows the operation direction of the operating device which comprises 1st Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a side view which shows operation | movement of the work front corresponding to the operation direction of the operating device which comprises 1st Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a flowchart figure which shows the processing flow of the mode selection of the confluence | merging switching control part of the control apparatus which comprises 1st Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a hydraulic circuit diagram which extracts and shows the principal part of 2nd Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a functional block diagram which shows the control apparatus which comprises 2nd Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a hydraulic circuit diagram which extracts and shows the principal part of 3rd Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a functional block diagram which shows the control apparatus which comprises 3rd Embodiment of the hydraulic control apparatus of the working machine of this invention. It is a side view which shows the external appearance of the other example of the double arm type hydraulic excavator provided with the hydraulic control apparatus of the working machine of this invention. It is a perspective view which shows the external appearance of the further another example of the double arm type hydraulic excavator provided with the hydraulic control apparatus of the working machine of this invention.

  Embodiments of a hydraulic control device for a work machine according to the present invention will be described below with reference to the drawings.

  A first embodiment of a hydraulic control device for a work machine according to the present invention will be described with reference to FIGS. FIG. 1 is a side view showing the appearance of a double-arm hydraulic excavator provided with a first embodiment of a hydraulic control device for a work machine according to the present invention, and FIG. 2 is a first view of the hydraulic control device for a work machine according to the present invention. FIG. 3 is a top view showing the appearance of a double-armed hydraulic excavator provided with an embodiment, and FIG. 3 is provided in the cab of the double-armed hydraulic excavator provided with the first embodiment of the hydraulic control device for a work machine according to the present invention. FIG. 4 is a hydraulic circuit diagram showing an extracted main portion of the first embodiment of the hydraulic control device for a working machine according to the present invention.

  1 and 2, a double-arm work machine 200 includes a lower traveling body 2 composed of a traveling body 1 and a lower vehicle body constituted by infinite footwear, and an upper portion provided on the lower traveling body 2 so as to be able to turn. The revolving structure 3, the cab 4 provided in the vicinity of the center line 3c in the left-right direction of the upper revolving structure 3, the right work front A provided on the right front side of the cab 4 with the center line 3c as a boundary, and the cab 4 and a left work front B provided on the front left side. The lower traveling body 2 and the upper swing body 3 constitute a work machine main body.

  The right work front A, which is the first work device, is attached to a swing post 7a that is swingable in the left-right direction on the front right side of the upper swing body 3, and is attached to the swing post 7a so as to be swingable in the vertical direction. A boom 10a, an arm 12a attached to the boom 10a so as to be swingable in the vertical direction, a work tool 14a as a first work tool attached to the arm 12a so as to be rotatable in the vertical direction, and the work tool 14a, which is connected to the work tool pawl 141a that can be freely opened and closed, the swing post 7a, and the upper swing body 3, and is connected to the swing post cylinder 9a that swings the swing post 7a left and right, and the swing post 7a and the boom 10a. The boom cylinder 11a that swings the boom 10a up and down is connected to the boom 10a and the arm 12a, and the arm 12a swings up and down. The arm cylinder 13a is connected to the arm cylinder 12a, the arm 12a is connected to the work tool 14a, the bucket cylinder 15a is rotated up and down, the work tool 14a is connected to the work tool claw 141a, and the work tool claw 141a is opened and closed. A claw opening / closing cylinder 142a which is an actuator A to be operated.

  The left work front B that is the second work device is provided on the left side of the front part of the upper swing body 3. This is configured in the same manner as the right work front A, and the same members are indicated by changing the subscripts from “a” to “b”, and the description is omitted here. The claw opening / closing cylinder 142b for opening and closing the work tool claw 141b corresponds to the actuator B.

  A driver's seat 49 shown in FIG. 3 is installed in the cab 4 of the double-arm work machine 200. An operation device 50a for the right work front A is provided on the right side of the driver seat 49, and an operation device 50b for the left work front B is provided on the left side of the driver seat 49.

  The operating device 50a is provided with an operating arm bracket 51a provided on the right side of the driver's seat 49, and attached to the operating arm bracket 51a so as to be able to swing left and right around the swing center axis 73a. An operating arm 52a to be instructed, a pivotable mounting lever 54a for instructing the operation of the boom 10a, the arm 12a, and the surroundings of the operating lever 54a. In addition, it is rotatably attached around the axis of the operation lever 54a, and is attached to a work tool rotation lever 55a for instructing the rotation of the work tool 14a, and a tip of the operation lever 54a. A work tool operation switch 56a, which is a first operation means for instructing stoppage, is provided.

  The operating device 50a is provided on the operating arm bracket 51a, and is provided with an operating arm displacement detector 57a that detects a swing displacement amount of the operating arm 52a and transmits a signal, and an operating lever 52a. Operation lever vertical displacement detector 581a for detecting a displacement amount in the vertical direction and transmitting a signal, and a longitudinal displacement detector for an operation lever for detecting a displacement amount in the front and rear direction and transmitting a signal in the same manner 582a, a rotation lever displacement detector 59a that detects a rotational displacement amount of the work tool rotation lever 55a and transmits a signal, and a work tool rotation lever 55a. An operation switch displacement detector 60a that detects a displacement amount of the operation switch 56a and transmits a signal is provided.

  The operating device 50 b is provided on the left side of the driver seat 49. This is configured in the same manner as the operation device 50a, and the same member is indicated by changing the subscript from “a” to “b”, and the description is omitted here. The work tool operation switch 56b for instructing start / stop of the work tool 14b corresponds to the second operation means.

  FIG. 4 is a hydraulic circuit diagram showing an extracted main part of the hydraulic circuit provided in the double arm type work machine of the present embodiment. In the present embodiment, a circuit when a load sensing type control valve is used is illustrated. As shown in FIG. 4, the double-arm work machine 200 includes variable displacement first and second hydraulic pumps 100A and 100B driven by a prime mover such as an engine, a fixed displacement pilot pump 105, and a first hydraulic pressure. A right actuator group 101A, which is a first actuator group driven by pressure oil discharged from the pump 100A, a right travel motor 210R, and a second actuator group driven by pressure oil discharged from the second hydraulic pump 100B. A left actuator group 101B, a left traveling motor 210L, and a turning motor 211 are provided.

  The double-arm work machine 200 includes a right control valve group 102A that is a first control valve group that controls pressure oil supplied from the first hydraulic pump 100A to the right actuator group 101A and the right traveling motor 210R, and a second hydraulic pump. The left control valve group 102B, which is a second control valve group for controlling the pressure oil supplied from 100B to the left actuator group 101B, the left travel motor 210L, and the swing motor 211, the hydraulic oil tank 212, and the rotation of the swing motor 211 are rotated. A turning operation lever device 213 for instructing and a traveling operation device 214 for instructing rotation of the traveling motors 210L and 210R are provided.

  The right actuator group 101A includes a boom cylinder 11a, an arm cylinder 13a, and a claw opening / closing cylinder 142a that constitute a part of the right work front A. These are constituted by a hydraulic cylinder provided with a piston, a cylinder and a piston rod. The right actuator group 101A includes a swing post cylinder 9a and a bucket cylinder 15a in addition to the above-described cylinders, but is not shown in FIG.

  The right control valve group 102A is a group of control valves that respectively control the flow of pressure oil supplied from the first hydraulic pump 100A to each actuator, and to the hydraulic cylinders 11a, 13a, 142a and the right traveling motor 210R. Are provided with control valves 63a, 64a, 66a and 68a for controlling the flow of the pressure oil, respectively. In addition to this, a control valve for controlling the flow of pressure oil to the actuator (not shown in FIG. 4) other than the hydraulic cylinders 11a, 13a, 142a related to the operation of the right work front A is included.

  The control valve 68a controls the flow of pressure oil supplied from the first hydraulic pump 100A to the right traveling motor 210R, and a position (neutral position) 682a that blocks the pressure oil supplied from the first hydraulic pump 100A. And three positions (distribution positions) 681a and 683a leading to the traveling motor 210R. The position of the control valve 68a is controlled by a control signal (pilot signal) from the travel operation device 214. When no control signal is input, the control valve 68a returns to the neutral position 682a by the biasing force of the spring.

  The control valves 63a, 64a, and 66a control the flow of pressure oil supplied from the first hydraulic pump 100A to the boom cylinder 11a, arm cylinder 13a, and claw opening / closing cylinder 142a, respectively. (Positions for blocking the flow) 632a, 642a, 662a, distribution positions 631a, 641a, 661a, and 633a, 643a, 663a. The positions of the control valves 63a, 64a, 66a are switched according to the operation of the operating device 50a for the right work front A described above. However, strictly speaking, the control valves 63a, 64a, and 66a are electromagnetic proportional valve drive types, and are electromagnetic proportional valves that respectively control the pilot pressure supplied from the pilot pump 105 to the respective pressure receiving portions (symbol marks in FIG. 4 schematically). A signal corresponding to the operation signal from the operation device 50a is input to the pilot position, whereby the pilot pressure is appropriately guided to switch to the flow positions 631a, 641a, 661a, or 633a, 643a, 663a. When there is no operation signal from the operation device 50a, the neutral position 632a, 642a, 662a is returned by the biasing force of the spring.

  On the upstream side of the control valves 63a to 68a of the right control valve group 102A, a plurality of pressure compensation valves 123a to 128a for controlling the differential pressure across the control valves 63a to 68a are provided. The control valves 63a to 68a are each provided with a self-load pressure detection line, and the maximum load pressure among the load pressures detected by these detection lines is detected via the shuttle valves 143a to 148a. It is biased by 152a. Here, the switching valve 152a is an anti-saturation valve, and when the differential pressure across the control valve of the actuator where the maximum load pressure acts cannot be kept constant, it plays the role of uniformly reducing the set pressure of the pressure compensation valve. Yes.

  In addition, load check valves 133a to 138a for preventing backflow of pressure oil from the control valves 63a to 68a to the hydraulic pump 100A are provided between the first hydraulic pump 100A and the pressure compensation valves 123a to 128a, respectively. Yes. Further, the maximum pressure in the discharge line of the first hydraulic pump 100A is limited by the relief valve 150a. The relief pressure of the relief valve 150a is set by a spring provided on the relief valve 150a. The unload valve 151a plays a role of returning the excess oil amount from the first hydraulic pump 100A to the hydraulic oil tank 212.

  The left actuator group 101B and the left control valve group 102B are configured in the same manner as the right actuator group 101A and the right control valve group 102A, respectively, and the same members are denoted by reference numerals “a” to “b”, “A”. From “B” to “B” and from “R” to “L”, the description is omitted here.

  The left control valve group 102B includes a control valve 67b that controls the flow of pressure oil to the swing motor 211 in addition to the control valve. The control valve 67b controls the flow of pressure oil supplied from the second hydraulic pump 100B to the turning motor 211, and a position (neutral position) 672b that blocks the pressure oil supplied from the second hydraulic pump 100B. The three positions (distribution positions) 671b and 673b leading to the turning motor 211 are provided. The position of the control valve 67b is controlled by a control signal (pilot signal) from the turning operation lever device 213. When no control signal is input, the control valve 67b returns to the neutral position 672b by the biasing force of the spring.

  Here, a pressure oil supply system of the first hydraulic pump 100A is provided between the claw opening / closing cylinder 142a which is the actuator A of the right actuator group 101A and the claw opening / closing cylinder 142b which is the actuator B of the left actuator group 101B. And a claw opening / closing cylinder merging pipeline 36, which is a communication pipeline that communicates the pressure oil supply system of the second hydraulic pump 100B with each other. The claw opening / closing cylinder joining pipeline 36 is constituted by pipelines 30 to 32. The pipe 30 that is the first pipe connects the claw opening / closing cylinder 142a of the right actuator group 101A and the control valve 66a that is the corresponding control valve A on the right control valve group 102A side.

  Further, the pipe line 31 which is the second pipe line connects the claw opening / closing cylinder 142b of the left actuator group 101B and the control valve 66b which is the corresponding control valve B on the left control valve group 102B side. And the pipe line 32 which is a 1st connection pipe line connects the pipe line 30 and the pipe line 31, and the pressure oil supply system of the 1st hydraulic pump 100A with respect to claw opening-and-closing cylinder 142a, 142b, and a 2nd hydraulic pump A 100B pressure oil supply system is connected.

  The claw opening / closing cylinder merging pipeline 36 is provided with electromagnetic valves 90 to 92 which are opening / closing devices. By combining the switching positions of the electromagnetic valves, the pressure oil from the control valves 66a, 66b is respectively supplied to the claw opening / closing cylinder. 142a, 142b in a first state, pressure oil from the control valves 66a, 66b is supplied to the claw opening / closing cylinder 142a only, and pressure oil from the control valves 66a, 66b in the claw opening / closing cylinder 142b only. The connecting line switching means for switching to the third state to be supplied to is configured.

  Specifically, the solenoid valve 90 which is a first opening / closing device that switches the communication (distribution) or blocking of the pipe 30 is provided in the pipe 30, and the first switching device that switches the communication (distribution) or blocking of the pipe 31 to the pipe 31 is provided. A solenoid valve 91 which is a two-opening / closing device is provided. In addition, an electromagnetic valve 92 that is a third opening / closing device that switches communication (circulation) or blocking of the pipe 32 to the pipe 32 is provided. Each of the electromagnetic valves 90 to 92 is a 4-port 2-position electromagnetic switching valve, and its position is switched by a control command from a control device 161 described later. In FIG. 4, the solenoid valve 90 to the solenoid valve 92 indicate positions when the control commands are OFF, respectively, and the solenoid valve 90 and the solenoid valve 91 are brought into the communication position by the biasing force of the spring, respectively. 92 is a blocking position.

  Next, a control device for controlling the operations of the right work front A and the left work front B in the first embodiment of the hydraulic control device for a work machine according to the present invention will be described with reference to FIG. FIG. 5 is a functional block diagram showing the control device constituting the first embodiment of the hydraulic control device for the working machine of the present invention. In FIG. 5, the same reference numerals as those shown in FIGS. 1 to 4 are the same parts, and detailed description thereof is omitted. In the figure, the left work front B is shown in parentheses in the figure.

  The control system shown in FIG. 5 is roughly classified into an input system including the above-described displacement detectors provided in the operation devices 50a and 50b in the cab 4, and input signals (operation signals, merges) from these input systems. A control device 161 that performs a predetermined calculation based on the switching signal) and generates and outputs a drive signal, and a control valve that receives the drive signal from the control device 161 and operates each part of the right work front A and the left work front B And an output system composed of groups 102A and 102B.

  As an input system of the control device 161, displacement amounts 57a and 57b for operation arms that detect the swing displacement amounts of the operation arms 52a and 52b and transmit signals, and displacements in the vertical direction of the operation levers 54a and 54b. Operating lever vertical displacement detectors 581a and 581b that detect the respective signals and transmit the signals by detecting the longitudinal displacement amounts of the operating levers 54a and 54b, respectively. 582a and 582b, work tool turning lever displacement detectors 59a and 59b for detecting the rotational displacement amounts of the work tool turning levers 55a and 55b, respectively, and transmitting signals, and work as first and second operation means. Work tool operation switch displacement detectors 60a and 60b for detecting the displacement amounts of the tool operation switches 56a and 56b, respectively, and transmitting signals; Provided, a merging switching ON / OFF switch 162 for switching whether to confluence switching control is provided.

  The output system of the control device 161 includes swing post cylinder control valves 62a and 62b for driving the swing post cylinders 9a and 9b, and boom cylinder control valves 63a and 63b for driving the boom cylinders 11a and 11b. Arm cylinder control valves 64a and 64b for driving the arm cylinders 13a and 13b, bucket cylinder control valves 65a and 65b for driving the bucket cylinders 15a and 15b, and claw opening / closing cylinders of the work tools 14a and 14b. Claw opening / closing control valves 66a and 66b to be driven and electromagnetic valves 90 to 92 for switching communication / blocking of the pipe lines 30 to 32 are provided.

  The control device 161 includes a drive signal generation unit 161A that generates drive signals to the swing post cylinder control valves 62a and 62b based on input signals (operation signals) from the operation arm displacement detectors 57a and 57b, and an operation lever. From a drive signal generator 161B that generates a drive signal to the boom cylinder control valves 63a and 63b based on input signals from the vertical displacement detectors 581a and 581b for operation, and from the longitudinal displacement detectors 582a and 582b for operation levers For the bucket cylinder based on the input signals from the drive signal generator 161C for generating the drive signal to the arm cylinder control valves 64a and 64b and the displacement detectors 59a and 59b for the work tool rotation lever. Drive signal generator for generating drive signals to the control valves 65a and 65b 61D, a work tool drive signal generation unit 161E that generates drive signals to the claw opening / closing cylinder control valves 66a and 66b based on input signals from the work tool operation switch displacement detectors 60a and 60b, and a work tool operation switch A confluence switching control unit 161F for a claw opening / closing cylinder that generates a control command signal to the solenoid valves 90 to 92 based on input signals from the displacement detectors 60a and 60b and an input signal from the confluence switching ON / OFF switch 162; have.

  Next, the relationship between the operation device and the operation of the work machine in the first embodiment of the hydraulic control device for the work machine of the present invention will be described with reference to FIGS. 6 and 7. FIG. 6 is a side view showing the operation direction of the operating device constituting the first embodiment of the hydraulic control device for the work machine according to the present invention, and FIG. 7 is the first embodiment of the hydraulic control device for the work machine according to the present invention. It is a side view which shows operation | movement of the work front corresponding to the operation direction of the operating device which comprises a form.

  First, when the operation levers 54a and 54b are displaced in the vertical direction (see Y in FIG. 6), the operation lever vertical displacement detectors 581a and 581b shown in FIG. Send a detection signal. Next, the drive signal generator 161B that has received this detection signal transmits an operation signal to the boom cylinder control valves 63a and 63b. Further, the boom cylinder control valves 63a and 63b which have received this operation signal extend and contract the boom cylinders 11a and 11b. As a result, the booms 10a and 10b are swung (see Y in FIG. 7).

  At this time, the swing speed of the booms 10a and 10b is in a proportional increase relationship with the displacement amount of the operation levers 54a and 54b, for example, and the displacement of the operation levers 54a and 54b causes the booms 10a and 10b to swing. Speed control.

  Similarly, when the operation levers 54a and 54b are displaced in the front-rear direction (see X in FIG. 6), the drive signal generator 161C is based on the detection signals from the operation lever front-rear direction displacement detectors 582a and 582b shown in FIG. Operation signals are transmitted to the arm cylinder control valves 64a and 64b. As a result, the arms 12a and 12b are swung (see X in FIG. 7).

  Further, when the work tool turning levers 55a and 55b are turned around the turning center axes 74a and 74b (see Z in FIG. 6), the work tool turning lever displacement detectors 59a and 59b shown in FIG. Based on the detection signal, an operation signal is transmitted from the drive signal generator 161D to the bucket cylinder control valves 65a and 65b. As a result, the work tools 14a and 14b are rotated in a direction coinciding with the rotation direction of the work tool rotation levers 55a and 55b (see Z in FIG. 7).

  Further, when the operating arms 52a and 52b are swung left and right by the forearm (see W in FIG. 6), from the drive signal generator 161A based on the detection signals from the operating arm displacement detectors 57a and 57b shown in FIG. An operation signal is transmitted to the swing post cylinder control valves 62a and 62b. As a result, the swing posts 7a and 7b are swung in a direction coinciding with the displacement direction of the operation arms 52a and 52b (see W in FIG. 7).

  Returning to FIG. 5, the confluence switching control unit 161 </ b> F for the claw opening / closing cylinder performs the first operation according to the state of the input signals of the work tool operation switch displacement detectors 60 a and 60 b and the input signal of the confluence switching ON / OFF switch 162. One of the two-claw mode L, which is the second state, the right-claw mode M, which is the second state, and the left-claw mode N, which is the third state, is selected, and the solenoid valve 90 corresponds to the selected mode A control command is output to .about.92.

  Further, the merge switching control unit 161F outputs the information on the selected mode described above to the drive signal generation unit 161E for the claw opening / closing cylinders 142a and 142b. In the drive signal generation unit 161E, the claw opening / closing cylinder control valves 66a, 66b are controlled based on the received selection state of the claw modes L, M, N and the input signals from the work tool operation switch displacement detectors 60a, 60b. Operation signals are output to either or both.

  Next, the contents of the mode selection processing of the merging switching control unit 161F in the first embodiment of the hydraulic control device for a work machine according to the present invention will be described with reference to FIG. FIG. 8 is a flowchart showing a process flow of mode selection of the merging switching control unit 161F of the control device constituting the first embodiment of the hydraulic control device for the work machine of the present invention.

  The merge switching control unit 161F determines whether or not the merge switching switch is ON (step S1). More specifically, the input state of the merge switching ON / OFF switch 162 is identified. When the merge switch ON / OFF switch 162 is ON, the process proceeds to (Step S2), and when it is OFF, the process proceeds to (Step S5).

  The merge switching control unit 161F determines whether or not there is a work tool operation signal (step S2). Specifically, the determination is made from detection signals from the work tool operation switch displacement detectors 60a and 60b. If there is a work tool operation signal, the process proceeds to (Step S3), and if not, the process proceeds to (Step S5).

  The merge switching control unit 161F determines whether or not the work tool operation signal is present on both the left and right sides (step S3). Specifically, the determination is made based on whether both the detection signal from the work tool operation switch displacement detector 60a and the detection signal from 60b exist. If both left and right operation signals are present, the process proceeds to (Step S5). Otherwise, the process proceeds to (Step S4).

  The merge switching control unit 161F determines whether or not there is a right work tool operation signal (step S4). Specifically, the presence / absence of a detection signal from the work tool operation switch displacement detector 60a is determined. If there is a work tool operation signal on the right side, the process proceeds to (Step S6). Otherwise, the process proceeds to (Step S7).

  In (Step S1), when the merge switch is OFF, in (Step S2), there is no work tool operation signal, and in (Step S3), the work tool operation signal is both left and right. The junction switching control unit 161F selects the two-claw mode L which is the first state in which the junction switching control is not performed (step S5).

  In (step S4), when there is a right-side work implement operation signal, the merging switching control unit 161F determines that only the right nail is operated, and selects the right nail mode M that is the second state ( Step S6).

  In (step S4), when there is no right work implement operation signal, the merging switching control unit 161F determines that only the left nail is operated, and selects the left nail mode N that is the third state ( Step S7).

  In any of (Step S5) to (Step S7), after the processing of that step is completed, the processing returns to the start by the return processing, and the next calculation cycle is started.

  Next, in the first embodiment of the hydraulic control device for a work machine according to the present invention, the merging switching control and the operation of the work tool claws 141a and 141b in each of the selection modes (L, M, and N) described above will be described.

<Both-nail mode L>
When the two-claw mode L which is the first state is selected, the merging switching control unit 161F shown in FIG. 5 outputs an OFF command to the merging circuit switching electromagnetic valves 90 to 92. Accordingly, the electromagnetic valve 90 and the electromagnetic valve 91 shown in FIG. 4 are in the communication position, and the electromagnetic valve 92 is in the cutoff position. As a result, the pressure oil from the control valve 66a is supplied only to the claw opening / closing cylinder 142a, and the pressure oil from the control valve 66b is supplied only to the claw opening / closing cylinder 142b.

On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a, 142b shown in FIG. 5 is based on the detection signal of the work tool operation switch displacement detector 60a provided in the work tool operation switch 56a. The control valve 66a is operated, and the claw opening / closing cylinder control valve 66b is operated based on the detection signal of the work tool operation switch displacement detector 60b provided in the work tool operation switch 56b.
Therefore, the left and right work tool claws 141a and 141b can be independently operated by the work tool operation switches 56a and 56b.

<Right claw mode M>
When the right claw mode M which is the second state is selected, the merging switching control unit 161F shown in FIG. 5 outputs an ON command to the merging circuit switching electromagnetic valves 91 and 92, and Output an OFF command. As a result, the electromagnetic valve 90 and the electromagnetic valve 92 shown in FIG. 4 are in the communication position, and the electromagnetic valve 91 is in the cutoff position. As a result, the pressure oil from the control valve 66a and the pressure oil from the control valve 66b are merged and supplied to the claw opening / closing cylinder 142a.

  On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a, 142b shown in FIG. 5 is based on the detection signal of the work tool operation switch displacement detector 60a provided in the work tool operation switch 56a. Both control valves 66a and 66b are operated. Accordingly, the work tool operation switch 56a causes all of the pressure oil passing through the work tool claw cylinder control valves 66a and 66b, in other words, all of the pressure oil from the first hydraulic pump 100A and the second hydraulic pump 100B to be clawed. It is supplied to the open / close cylinder 142a. As a result, the operating speed of the right work implement claw 141a can be increased.

<Left nail mode N>
When the left claw mode N that is the third state is selected, the merging switching control unit 161F shown in FIG. 5 outputs an ON command to the merging circuit switching electromagnetic valves 90 and 92, and Output an OFF command. As a result, the electromagnetic valve 91 and the electromagnetic valve 92 shown in FIG. 4 are in the communication position, and the electromagnetic valve 90 is in the cutoff position. As a result, the pressure oil from the control valve 66a and the pressure oil from the control valve 66b are merged and supplied to the claw opening / closing cylinder 142b.

  On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a, 142b shown in FIG. 5 is for the claw opening / closing cylinder based on the detection signal of the work tool operation switch displacement detector 60b provided in the work tool operation switch 56b. Both control valves 66a and 66b are operated. Therefore, the work tool operation switch 56b causes all of the pressure oil passing through the work tool claw cylinder control valves 66a and 66b, in other words, all of the pressure oil from the first hydraulic pump 100A and the second hydraulic pump 100B. It is supplied to the open / close cylinder 142b. As a result, the operating speed of the left work tool claw 141b can be increased.

  According to the first embodiment of the hydraulic control device for a work machine of the present invention described above, in the work machine 200 having the two work fronts A and B, the amount of oil when the work tool on one side and the work front are operated. It is possible to eliminate a decrease in operability due to a shortage and a decrease in work efficiency.

  Further, according to the first embodiment of the hydraulic control device for a work machine of the present invention described above, it is possible to supply pressure oil from two hydraulic pumps to an actuator that the operator intends to use. Therefore, the operation speed of the actuator can be increased. This improves work efficiency.

  Further, according to the first embodiment of the hydraulic control device for a work machine of the present invention described above, the actuator to be accelerated is selected based on the detection signal of the operation means, so the selection switch selection operation by the operator As a result, the operability is improved.

  Hereinafter, a second embodiment of a hydraulic control device for a work machine according to the present invention will be described with reference to the drawings. FIG. 9 is a hydraulic circuit diagram showing an essential part of the second embodiment of the hydraulic control device for work machine according to the present invention, and FIG. 10 is a second embodiment of the hydraulic control device for work machine according to the present invention. It is a functional block diagram which shows the control apparatus which comprises. 9 and 10, the same reference numerals as those shown in FIG. 1 to FIG. 8 are the same parts, and detailed description thereof will be omitted.

  In the second embodiment of the hydraulic control device for a work machine according to the present invention, the overall system configuration is substantially the same as that of the first embodiment, but the configuration of the claw opening / closing cylinder merging pipeline 36 and the control device. The configuration of 161 is different from that of the first embodiment.

  FIG. 9 is a hydraulic circuit diagram showing an extracted main part of the hydraulic circuit provided in the double-armed work machine of the present embodiment. In FIG. 9, between the claw opening / closing cylinder 142a of the right actuator group 101A and the claw opening / closing cylinder 142b of the left actuator group 101B, the pressure oil supply system of the first hydraulic pump 100A and the second hydraulic pump 100B are connected. A claw opening / closing cylinder merging pipeline 36 is provided to connect the pressure oil supply system to both sides. The claw opening / closing cylinder merging pipeline 36 includes pipelines 30, 31, 33, and 34.

  The pipe line 30 which is the first pipe line connects the claw opening / closing cylinder 142a of the right actuator group 101A and the corresponding control valve 66a on the right control valve group 102A side. Further, the pipe line 33 which is the second communication pipe line connects the claw opening / closing cylinder 142a and the corresponding control valve 66b on the left control valve group 102B side.

  The pipe line 31 which is the second pipe line connects the claw opening / closing cylinder 142b of the left actuator group 101B and the corresponding control valve 66b on the left control valve group 102B side. Further, the pipe line 34 as the third communication pipe line connects the claw opening / closing cylinder 142b and the corresponding control valve 66a on the right control valve group 102A side.

  The claw opening / closing cylinder merging pipeline 36 is provided with electromagnetic valves 93, 94 which are opening / closing devices. By combining the switching positions of the electromagnetic valves, pressure oil from the control valves 66a, 66b is respectively supplied to the claw opening / closing cylinder. 142a, 142b in a first state, pressure oil from the control valves 66a, 66b is supplied to the claw opening / closing cylinder 142a only, and pressure oil from the control valves 66a, 66b in the claw opening / closing cylinder 142b only. The connecting line switching means for switching to the third state to be supplied to is configured.

  Specifically, the connection between the control valve 66b and the electromagnetic valve 93, which is a fourth opening / closing device that selectively switches the connection to the control valve 66a to either the pipe line 30 or 34, and the control valve 66b is the pipe line 31 or the pipe line. An electromagnetic valve 94 that is a fifth opening / closing device that selectively switches to any one of 33 is provided. The electromagnetic valves 93 and 94 are 6-port 2-position electromagnetic switching valves, and their positions are switched by a control command from the control device 161. In FIG. 9, the electromagnetic valve 93 and the electromagnetic valve 94 indicate positions when the control command is OFF, respectively, and the electromagnetic valve 93 connects the control valve 66 a and the pipe line 30 by the urging force of the spring, respectively. The electromagnetic valve 94 is in a position where the control valve 66b and the pipe line 31 are connected to each other.

  Next, a control device for controlling the operations of the right work front A and the left work front B in the second embodiment of the hydraulic control device for the work machine according to the present invention will be described with reference to FIG. The confluence switching control unit 161F for the claw opening / closing cylinder is in the first state depending on the state of the input signals of the work tool operation switch displacement detectors 60a and 60b and the input signal of the confluence switching ON / OFF switch 162. Select one of the claw mode L, the right claw mode M which is the second state, and the left claw mode N which is the third state, and control commands to the solenoid valves 93 and 94 so as to correspond to the selected mode. Is output.

  Further, the merge switching control unit 161F outputs the information on the selected mode described above to the drive signal generation unit 161E for the claw opening / closing cylinders 142a and 142b. In the drive signal generation unit 161E, the claw opening / closing cylinder control valves 66a, 66b are controlled based on the received selection state of the claw modes L, M, N and the input signals from the work tool operation switch displacement detectors 60a, 60b. Operation signals are output to either or both.

  In the present embodiment, the mode selection process of the merging switching control unit 161F is the same as that in the first embodiment described above.

  Next, the merging switching control and the operation of the work tool claws 141a and 141b in each selection mode (L, M, N) in the second embodiment of the hydraulic control device for a work machine according to the present invention will be described.

<Both-nail mode L>
When the two-claw mode L which is the first state is selected, the merging switching control unit 161F shown in FIG. 10 outputs an OFF command to the merging circuit switching electromagnetic valves 93 and 94. Accordingly, the electromagnetic valve 93 shown in FIG. 9 is in a position where the control valve 66a and the pipe line 30 are connected, and the electromagnetic valve 94 is in a position where the control valve 66b and the pipe line 31 are connected. As a result, the pressure oil from the control valve 66a is supplied only to the claw opening / closing cylinder 142a, and the pressure oil from the control valve 66b is supplied only to the claw opening / closing cylinder 142b.

  On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a and 142b shown in FIG. 10 is for the claw opening / closing cylinder based on the detection signal of the work tool operation switch displacement detector 60a provided in the work tool operation switch 56a. The control valve 66a is operated, and the claw opening / closing cylinder control valve 66b is operated based on the detection signal of the work tool operation switch displacement detector 60b provided in the work tool operation switch 56b. Therefore, the left and right work tool claws 141a and 141b can be independently operated by the work tool operation switches 56a and 56b.

<Right claw mode M>
When the right claw mode M which is the second state is selected, the merging switching control unit 161F shown in FIG. 10 outputs an OFF command to the merging circuit switching electromagnetic valve 93 and turns on the electromagnetic valve 94. Outputs a command. Accordingly, the electromagnetic valve 93 shown in FIG. 9 is in a position where the control valve 66a and the pipe line 30 are connected, and the electromagnetic valve 94 is in a position where the control valve 66b and the pipe line 33 are connected. As a result, the pressure oil from the control valve 66a and the pressure oil from the control valve 66b are merged and supplied to the claw opening / closing cylinder 142a.

  On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a and 142b shown in FIG. 10 is for the claw opening / closing cylinder based on the detection signal of the work tool operation switch displacement detector 60a provided in the work tool operation switch 56a. Both control valves 66a and 66b are operated. Accordingly, the work tool operation switch 56a causes all of the pressure oil passing through the work tool claw cylinder control valves 66a and 66b, in other words, all of the pressure oil from the first hydraulic pump 100A and the second hydraulic pump 100B to be clawed. It is supplied to the open / close cylinder 142a. As a result, the operating speed of the right work implement claw 141a can be increased.

<Left nail mode N>
When the left claw mode N that is the third state is selected, the merging switching control unit 161F illustrated in FIG. 10 outputs an ON command to the merging circuit switching electromagnetic valve 93 and is turned OFF to the electromagnetic valve 94. Outputs a command. Accordingly, the electromagnetic valve 93 shown in FIG. 9 is in a position where the control valve 66a and the pipe line 34 are connected, and the electromagnetic valve 94 is in a position where the control valve 66b and the pipe line 31 are connected. As a result, the pressure oil from the control valve 66a and the pressure oil from the control valve 66b are merged and supplied to the claw opening / closing cylinder 142b.

  On the other hand, the drive signal generator 161E for the claw opening / closing cylinders 142a and 142b shown in FIG. 10 is for the claw opening / closing cylinder based on the detection signal of the work tool operation switch displacement detector 60b provided in the work tool operation switch 56b. Both control valves 66a and 66b are operated. Therefore, the work tool operation switch 56b causes all of the pressure oil passing through the work tool claw cylinder control valves 66a and 66b, in other words, all of the pressure oil from the first hydraulic pump 100A and the second hydraulic pump 100B. It is supplied to the open / close cylinder 142b. As a result, the operating speed of the left work tool claw 141b can be increased.

  According to the second embodiment of the hydraulic control device for a working machine of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

  Hereinafter, a third embodiment of a hydraulic control device for a work machine according to the present invention will be described with reference to the drawings. FIG. 11 is a hydraulic circuit diagram showing an essential part of a hydraulic control device for a working machine according to a third embodiment of the present invention. FIG. 12 shows a hydraulic control device for the working machine according to a third embodiment of the present invention. It is a functional block diagram which shows the control apparatus which comprises. 11 and 12, the same reference numerals as those shown in FIGS. 1 to 10 are the same parts, and detailed description thereof is omitted.

  The third embodiment of the hydraulic control device for work machine according to the present invention is different from the first and second embodiments applied to the load sensing type hydraulic circuit, whereas the open center type hydraulic circuit. The point applied to is different. Therefore, the hydraulic circuit and the control device are different from the first embodiment.

  FIG. 11 is a hydraulic circuit diagram showing an extracted main part of the hydraulic circuit provided in the double-armed work machine of the present embodiment. In this embodiment, a circuit when an open center type control valve is used is illustrated.

  As shown in FIG. 11, the dual-arm work machine 200 includes variable displacement first and second hydraulic pumps 100A and 100B driven by a prime mover such as an engine, a fixed displacement pilot pump 105, and a first hydraulic pump. Right actuator group 101A driven by pressure oil discharged from 100A, right traveling motor 210R, left actuator group 101B driven by pressure oil discharged from second hydraulic pump 100B, left traveling motor 210L, swing motor 211 And.

  The double-arm work machine 200 includes a right actuator group 101A from the first hydraulic pump 100A, a right control valve group 102A that controls pressure oil supplied to the right traveling motor 210R, and a left actuator group 101B from the second hydraulic pump 100B. A left control valve group 102B that controls the pressure oil supplied to the left traveling motor 210L and the turning motor 211, and a right branch valve that splits the pressure oil from the first hydraulic pump 100A into two systems and supplies them to the right actuator group 101A. 303a, a left diversion valve 303b that divides pressure oil from the second hydraulic pump 100B into two systems and supplies it to the left actuator group 101B, a hydraulic oil tank 212, and a turning operation lever device that instructs rotation of the turning motor 211 213 and the traveling operation device 21 for instructing the rotation of the traveling motors 210L and 210R. It is equipped with a door.

  The right actuator group 101A includes a boom cylinder 11a, an arm cylinder 13a, and a claw opening / closing cylinder 142a that constitute a part of the right work front A. The right actuator group 101A includes a swing post cylinder 9a in addition to the above-described cylinders, but is not shown in FIG.

  In FIG. 11, the first hydraulic pump 100A is provided with a regulator 395a, and the second hydraulic pump 100B is provided with a regulator 395b. The regulators 395a and 395b respectively control increase / decrease of the discharge flow rates of the first hydraulic pump pump 100A and the second hydraulic pump 100B based on a signal from a control device 461 described later.

  The right control valve group 102A is a group of control valves that respectively control the flow of pressure oil supplied from the first hydraulic pump 100A to each actuator, and to the hydraulic cylinders 11a, 13a, 15a, 142a and the traveling motor 210R. Are provided with control valves 63a to 66a, 68a for controlling the flow of the pressure oil. In addition to this, other than the hydraulic cylinders 11a, 13a, 15a related to the operation of the right work front 101A, a control for controlling the flow of pressure oil to the actuators not shown in FIG. 11, that is, the swing post cylinder 9a and others. Includes valves.

  The inside of the right control valve group 102A is roughly divided into two, and has two pump ports 334a and 335a for inputting pressure oil. Pressure oil is supplied to the two pump ports 334a and 335a from the first hydraulic pump 100A via the right branch valve 303a.

  The right diversion valve 303a includes one input port and two output ports for internally dividing the flow rate by 1: 1. One input side of the pump output hydraulic line 336a is connected to the input port of the right branch valve 303a, and the other end side of the pump output hydraulic line 336a is connected to the discharge port of the first hydraulic pump 100A. One output port of the right branch valve 303a is connected to one end side of a C / V input hydraulic line 337a, and the other end side of the C / V input hydraulic line 337a is a pump port of the right control valve group 102A. 334a. The other output port of the right branch valve 303a is connected to one end side of a C / V input hydraulic line 338a, and the other end side of the C / V input hydraulic line 338a is connected to the right control valve group 102A. It is connected to the pump port 335a.

  Two center bypass pipes 352a and 353a connected to the two pump ports 334a and 335a are provided inside the right control valve group 102A. The right control valve group 102A includes two groups, a group of control valves 63a, 64a, 66a connected in series to the center bypass pipe 352a and a group of control valves 65a, 68a connected in series to the center bypass pipe 353a. Divided into two groups.

  The center bypass pipe 352a is connected to one end of the parallel pipe 355a at the upstream portion, and the other end of the parallel pipe 355a is connected to the tank 212 via a relief valve 150a as a safety valve. The parallel pipe line 355a has a branch portion, and each branch portion is connected to a return port of each of the control valves 63a, 64a, and 66a.

  Similarly, the center bypass pipe 353a is connected to one end of the parallel pipe 356a in the upstream portion, and the other end of the parallel pipe 356a is connected to the tank 212 via a relief valve 150a as a safety valve. Yes. The parallel pipe line 356a has a branch portion, and each branch portion is connected to the control valve 65a, 68a return port.

  The control valve 68a controls the flow of pressure oil supplied from the first hydraulic pump 100A to the right traveling motor 210R, and a position (neutral position) for blocking the pressure oil supplied from the first hydraulic pump 100A. The three positions (circulation positions) for guiding the pressure oil to the traveling motor 210R are provided. The position of the control valve 68a is controlled by a control signal (pilot signal) from the travel operation device 214. When no control signal is input, the control valve 68a returns to the neutral position 682a by the biasing force of the spring.

  The control valves 63a to 66a control the flow of pressure oil supplied from the first hydraulic pump 100A to the boom cylinder 11a, arm cylinder 13a, bucket cylinder 15a, and claw opening / closing cylinder 142a, respectively. The oil flow position) and the distribution position. Each position of the control valves 63a to 68a changes according to a drive signal output from a control device 461 described later.

  The left actuator group 101B and the left control valve group 102B are configured in the same manner as the right actuator group 101A and the right control valve group 102A, respectively, and the same members are denoted by reference numerals “a” to “b”, “A”. Will be changed to “B” and will not be described here.

  The left control valve group 102B includes a control valve 67b for controlling the flow of pressure oil to the swing motor 211 in addition to the control valve, and a claw opening / closing cylinder 142a in the right actuator group 101A. And the claw opening / closing cylinder 142b in the left actuator group 101B, the claw opening / closing cylinder merging pipeline connecting the pressure oil supply system of the first hydraulic pump 100A and the pressure oil supply system of the second hydraulic pump 100B to both. 36, the claw opening / closing cylinder merging pipeline 36 is provided with solenoid valves 90 to 92. By combining the switching positions of the solenoid valves, the pressure oil from the control valves 66a and 66b is supplied. The first state of supplying to the claw opening / closing cylinders 142a and 142b, the control valves 66a and 66, respectively. The connecting line switching means is configured to switch to the second state in which the pressure oil from the claw opening / closing cylinder 142a is supplied only and the third state in which the pressure oil from the control valves 66a, 66b is supplied only to the claw opening / closing cylinder 142b. This is the same as in the first embodiment.

Next, a control device for controlling the operations of the right work front A and the left work front B in the third embodiment of the hydraulic control device for the work machine according to the present invention will be described with reference to FIG.
In the control device 461 shown in FIG. 12, each control valve and merging circuit switching are switched based on input signals (operation signals and merging switching signals) from the displacement detectors provided in the operating devices 50a and 50b in the cab 4. The part that generates and outputs the drive signal to the electromagnetic valve for the motor is the same as in the first embodiment.

  In addition to the control device 161 in the first embodiment, the control device 461 in the present embodiment sends command signals to pump regulators 395a and 395b that control the discharge flow rates of the first hydraulic pump 100A and the second hydraulic pump 100B. A regulator drive signal generation unit 161G for output is provided.

  The regulator drive signal generator 161G receives the control valve drive signals from the drive signal generators 161A to 161E and calculates the discharge flow rate of each pump based on the input drive signals. Then, a regulator drive signal is output to the pump regulators 395a and 395b. For example, when the drive signal output to each control valve increases, the regulator drive signal is output to the pump regulators 395a and 395b so that the discharge flow rate of the corresponding pump increases.

  The configuration of the claw opening / closing cylinder merging pipeline 36 and the operation of the merging switching control are the same as those in the first embodiment.

  According to the third embodiment of the hydraulic control device for a work machine of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

  In each of the embodiments of the present invention, a double-arm work machine including a lower traveling body and an upper swinging body that is pivotably attached to the lower traveling body has been described as an example of the working machine. It is not limited. For example, as shown in FIG. 13, it may be a double-arm work machine having a structure in which the upper swing body 3 is pivotably attached to the lower post P fixed to the ground. FIG. 13 is a side view showing the appearance of another example of a double-armed hydraulic excavator equipped with a hydraulic control device for a work machine according to the present invention.

  Furthermore, in each embodiment of the present invention, a double-arm work machine in which a right work front A is installed on the front right side of the upper swing body 2 and a left work front B is installed on the left front side of the upper swing body 3 is used as the work machine. As described in the example, the work front may be installed at an arbitrary position of the upper swing body 3. For example, as shown in FIG. 14, a double-arm work machine having a structure in which a first work front A is arranged at the center of the upper swing body and a second work front B is arranged on the front left side of the upper swing body. FIG. 14 is a perspective view showing the appearance of still another example of a double-armed hydraulic excavator provided with a hydraulic control device for a work machine according to the present invention.

  In each of the embodiments of the present invention described above, the claw opening / closing cylinders 142a and 142b have been described as examples of the actuator A and the actuator B provided with the communication pipeline, but the present invention is not limited to this. It can also be applied to other actuators. Further, the present invention is not limited to one type of actuator, and may be applied to a plurality of types of actuators such as a boom cylinder and a claw opening / closing cylinder.

  Further, in each of the above-described embodiments of the present invention, the work machine having a configuration in which the upper swing body 3 can be swung with respect to the lower traveling body 2 has been described as an example, but the present invention is not limited thereto. The present invention can also be applied to a work machine having an upper portion fixed to the lower traveling body 2.

A right work front B left work front 1 traveling body 2 lower traveling body 3 upper turning body 3a turning center line 3c longitudinal center line 4 cab 7a, 7b swing post 9a, 9b swing post cylinder 10a, 10b boom 11a, 11b boom Cylinders 12a and 12b Arms 13a and 13b Arm cylinders 14a and 14b Work tools 141a and 141b Work tool claws 142a and 142b Claw opening and closing cylinders 15a and 15b Bucket cylinders 30 to 34 Pipe line 36 Claw opening and closing cylinder merged pipe line 49 Driver's seat 50a and 50b Operating devices 51a and 51b Operating arm brackets 52a and 52b Operating arms 53a and 53b Armrests 54a and 54b Operating levers 55a and 55b Working tool turning levers 56a and 56b Working tool operating switches 57a and 57b Operating arm displacement detector 58 a, 581b Vertical displacement detectors for operating levers 582a, 582b Displacement detectors for operating levers for front / rear direction 59a, 59b Displacement detectors for working tool turning levers 60a, 60b Cylinder control valves 63a, 63b Boom cylinder control valves 64a, 64b Arm cylinder control valves 65a, 65b Work tool cylinder control valves 66a, 66b Work tool control valves 67b Swing motor control valves 68a, 68b Travel control valves 73a, 73b Oscillation center axis (operation arm)
74a, 74b Rotation center axis (control lever)
75a, 75b Longitudinal extension line (operator gripping point)
77a, 77b Elbow joint support portions 78a, 78b Elbow joint position adjusting devices 90-94 (for switching the junction circuit) Solenoid valve 100A First hydraulic pump 100B Second hydraulic pump 101A Right actuator group 101B Left actuator group 102A Right control valve group 102B Left control valve group 123a-128a, 123b-128b Pressure compensation valve 143a-148a, 143b-148b Shuttle valve 150a, 150b Relief valve 151a, 151b Unload valve 152a, 152b Anti-saturation valve 161 Controller 161A Drive signal generator (swing) Post system)
161B Drive signal generator (boom system)
161C Drive signal generator (arm system)
161D Drive signal generator (bucket system)
161E Drive signal generator (work tool claw drive system)
161F Junction switching controller (claw opening / closing cylinder)
161G Regulator drive signal generator 162 Junction switching ON / OFF switch 200 Dual-arm work machine 210R, 210L Traveling motor 212 Hydraulic oil tank 303a, 303b Split valve 334a, 334b, 335a, 335b Pump port 336a, 336b Pump output hydraulic line 337a, 337b, 338a, 338b C / V input hydraulic lines 352a, 352b, 353a, 353b Center bypass lines 355a, 355b, 356a, 356b Parallel lines 395a, 395b Pump regulator 461 Controller

Claims (5)

A work machine main body, a first work device provided in the work machine main body, a first actuator group for driving the first work device, a second work device provided in the work machine main body, and the second In a hydraulic control device for a work machine comprising a second actuator group for driving the work device,
A first control valve group for controlling the pressure oil supplied to the first actuator group;
A first hydraulic pump for supplying pressure oil to the first control valve group;
A second control valve group for controlling the pressure oil supplied to the second actuator group;
A second hydraulic pump for supplying pressure oil to the second control valve group;
A first pipe line connecting the actuator A, which is one of the actuators constituting the first actuator group, and the control valve A constituting the first control valve group and corresponding to the actuator A, and the second actuator group A second pipe that connects the actuator B that is one of the actuators and the control valve B that constitutes the second control valve group and corresponds to the actuator B; and a communication pipe that connects these pipes;
A first state is provided in the communication pipe and supplies pressure oil from the control valves A and B to the actuators A and B, respectively, and pressure oil from the control valves A and B is supplied only to the actuator A. Connecting line switching means for switching the second state to be switched and a third state in which the pressure oil from the control valves A and B is supplied only to the actuator B;
First and second operating means provided in the operator's cab and instructing the driver to drive the actuators A and B;
When the first and second operating means are connected to the input side, the control valves A and B and the communication line switching means are connected to the output side, and both the first and second operating means have inputs, A control device for causing the communication line switching means to select the first state and operating the control valve A by a signal from the first operation means and operating the control valve B by a signal from the second operation means; A hydraulic control device for a working machine. The hydraulic control device for a work machine according to claim 1,
When there is an input only to the first operating means, the control device causes the connecting line switching means to select the second state and operates the control valves A and B according to a signal from the first operating means. Let
When there is an input only to the second operating means, the connecting pipe switching means is made to select the third state, and the control valves A and B are operated by a signal from the second operating means. Hydraulic control device for working machines. The hydraulic control device for a work machine according to claim 1 or 2,
The connecting pipe has a first connecting pipe that connects the actuator A and the actuator B;
The communication pipeline switching means includes a first opening / closing device that is provided in the first pipeline and selects circulation / blocking of the first pipeline, and a circulation / circulation of the second pipeline that is provided in the second pipeline. A hydraulic control for a working machine, comprising: a second opening / closing device that selects blocking; and a third opening / closing device that is provided in the first communication pipe and selects distribution / cut-off of the first communication pipe. apparatus. The hydraulic control device for a work machine according to claim 1 or 2,
The connecting pipe has a second connecting pipe that connects the actuator A and the control valve B, and a third connecting pipe that connects the actuator B and the control valve A,
The communication line switching means is configured to connect the control valve B to the fourth opening / closing device that selectively switches the connection to the control valve A to either the first pipe line or the third communication pipe line. A hydraulic control device for a work machine, comprising: a fifth opening / closing device that selectively switches to either the second pipeline or the second communication pipeline. The hydraulic control device for a work machine according to any one of claims 1 to 4,
The actuators A and B are hydraulic cylinders for opening and closing a claw of a work tool.

Images