JP2016183447A - Work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine capable of automatically adjusting an attraction surface of a magnet device to a tilt angle suitable for attracting scrap and the like.SOLUTION: An operation determination section 52 determines that a magnet device is in lifting preparation operation while an attraction button 53 is continuously being pressed. A hydraulic control section 51 switches a front cylinder 35 to a communication state when the magnet device is determined to be in the lifting preparation operation, and switches the front cylinder 35 to an operation state when the magnet device is determined to be not in the lifting preparation operation.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a work machine.

  2. Description of the Related Art Conventionally, there is known a work machine including a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, and an attachment that is mounted to be raised on the front side of the upper revolving body (for example, , See Patent Document 1).

  Patent Document 1 includes a load cell that detects a load including an attachment such as a tilt-type fork or a tilt-type lifting magnet and a load, and a hydraulic-free circuit that short-circuits a return circuit of a hydraulic cylinder that rotates the attachment. Only when measuring the load of a load lifted by an attachment, a configuration is described in which the attachment of the hydraulic cylinder is released and the load is free so that only its own weight is applied to the load cell.

JP 2001-89071 A

  By the way, when attracting | sucking a scrap with a magnet apparatus, it is preferable to incline the adsorption | suction surface of a magnet apparatus so that the surface shape of the piled-up scrap may be followed.

  However, in the conventional working machine, when scrap is attracted by the magnet device, the operator has to operate the attachment to adjust the attracting surface to an appropriate inclination angle, and there is a problem that the work becomes complicated. . Moreover, when the inclination angle of the attracting surface of the magnet device is not appropriate, there is a problem that the scrap cannot be sufficiently attracted.

  This invention is made | formed in view of this point, The objective is to enable it to adjust automatically the inclination angle suitable for attracting | sucking a scrap etc. of the adsorption | suction surface of a magnet apparatus.

  The present invention includes a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, and an attachment that is provided with a magnet device and that can be raised and lowered on the front side of the upper revolving body. The following solutions were taken for work machines.

That is, the first invention is a front cylinder that adjusts the inclination angle of the magnet device by swinging the magnet device with the expansion and contraction of the cylinder rod,
An operation state in which the tilt angle of the magnet device can be adjusted by expanding and contracting the cylinder rod by hydraulic pressure, and a cylinder chamber on the head side and the rod side of the front cylinder is connected to a tank to the magnet device. A hydraulic control unit that switches to a communication state that allows the cylinder rod to expand and contract by an external force applied;
An operation determining unit that determines whether the magnet device is in a lifting preparation operation that is an operation until the adsorption object is adsorbed and lifted to a predetermined height while pressing the adsorption surface against the adsorption object;
The hydraulic pressure control unit switches the front cylinder to the communication state when the operation determination unit determines that the lifting preparation operation is in progress, and determines that the lifting preparation operation is not in progress. The front cylinder is switched to the operation state.

  In the first invention, when the magnet device is in the lifting preparation operation, the front surface of the magnet device is automatically inclined so as to follow the surface shape of the object to be attracted by switching the front cylinder to the communication state. Thereby, the operator can automatically adjust the attracting surface of the magnet device to an appropriate inclination angle without operating the attachment, improving workability and sufficiently attracting the object to be attracted. it can.

  Further, when the lifting preparation operation is not being performed, the operator can freely operate the magnet device by switching the front cylinder to the operation state.

According to a second invention, in the first invention,
A push button type adsorption button for switching the magnet device to an excited state or a demagnetized state,
The operation determination unit determines that the lifting preparation operation is being performed while the suction button is continuously pressed.

  In the second invention, while the suction button is kept pressed, it is determined that the lifting preparation operation is being performed, and the front cylinder is switched to the communication state. As a result, when performing a normal operation of pressing the suction button to start the suction of the magnet device, the front cylinder can be switched to the communication state simply by pressing and holding the suction button. Therefore, there is no need to press another button or the like in order to establish a communication state, so that operability is not impaired. Further, when the operator wants to operate the magnet device, the front cylinder can be switched to the operating state simply by releasing the suction button, so that the operability is improved.

According to a third invention, in the first invention,
A push button type adsorption button for switching the magnet device to an excited state or a demagnetized state,
The operation determination unit determines that the lifting preparation operation is in progress until a predetermined time elapses after the suction button is pressed.

  In the third aspect of the invention, it is determined that the lifting preparation operation is in progress until a predetermined time elapses after the suction button is pressed, and the front cylinder is switched to the communication state. As a result, the front cylinder can be switched to the communication state only by performing a normal operation of pressing the suction button to start the suction of the magnet device, and the operability is not impaired.

According to a fourth invention, in the first invention,
A hydraulic pressure detection unit for detecting the hydraulic pressure on the head side and the rod side in the front cylinder,
The operation determining unit determines that the lifting preparation operation is being performed when the oil pressure detecting unit detects that the oil pressure in the front cylinder has become larger than a predetermined pressure due to an external force applied to the magnet device. It is characterized by this.

  In the fourth invention, the front cylinder is switched to the communication state when the hydraulic pressure detection unit detects that an external force has been applied to the magnet device by pressing the magnet device against the attracting object.

  Thereby, the operator can automatically adjust the attracting surface of the magnet device to an appropriate inclination angle without performing a special operation for switching the front cylinder to the communication state, thereby improving workability. Further, by simply stopping the pressing operation of the magnet device against the object to be attracted, no external force is applied to the magnet device, the front cylinder can be switched to the operating state, and the operator can freely operate the magnet device. .

According to a fifth invention, in any one of the first to fourth inventions,
There is provided a changeover switch for selectively switching the front cylinder to the operation state or the communication state.

  In the fifth aspect of the invention, the operator can determine the timing for operating the magnet device by selectively switching between the operation state or the communication state of the front cylinder by the changeover switch. That is, even if the magnet device is in the lifting preparation operation, the magnet device can be maintained in an operable state without switching the front cylinder to the communication state.

A sixth invention is any one of the first to fifth inventions,
The center position of the arm top pin that supports the magnet device so as to be swingable with respect to the arm of the attachment and the center of gravity of the magnet device are arranged so as to be aligned in the vertical direction. Is.

  In the sixth invention, the center position of the arm top pin and the gravity center position of the magnet device are arranged side by side in the vertical direction. Therefore, when the front cylinder is switched to the communication state, the magnet device can be swung by its own weight, and the magnet device can be automatically maintained in a horizontal posture.

  According to the present invention, when the magnet device is in preparation for lifting, the operator can automatically adjust the attracting surface of the magnet device to an appropriate inclination angle without operating the attachment. And the adsorption object can be sufficiently adsorbed. Further, when the lifting preparation operation is not being performed, the operator can freely operate the magnet device by switching the front cylinder to the operation state.

It is a side view which shows the structure of the working machine which concerns on this Embodiment 1. FIG. It is a hydraulic-control circuit diagram for adjusting the inclination-angle of a magnet apparatus. It is a side view just before pressing a magnet apparatus to a attracting subject. It is a side view which shows the state which the magnet apparatus inclined so that the surface shape of the adsorption | suction target object might be followed. It is a side view which shows the state which the magnet apparatus which adsorb | sucked the adsorption | suction object became the horizontal posture. It is a timing chart figure which shows the timing which switches a magnet apparatus to a communication state or an operation state. It is a timing chart figure which shows the timing which switches the magnet apparatus which concerns on this Embodiment 2 to a communication state or an operation state. It is a side view which shows the state which pressed the magnet apparatus which concerns on this Embodiment 3 to the adsorption | suction target object.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the following description of the preferred embodiment is merely illustrative in nature and is not intended to limit the present invention, its application, or its use.

Embodiment 1
FIG. 1 is a side view showing the configuration of the work machine according to the first embodiment. As shown in FIG. 1, the work machine 10 includes a crawler-type lower traveling body 11 and an upper revolving body 12 that is turnably mounted on the lower traveling body 11. A cab 15 is disposed in front of the left side of the upper swing body 12. An attachment 20 is mounted in the center front of the upper swing body 12 so as to be raised and lowered.

  The attachment 20 has a base 21 pivotably attached to the upper swing body 12, an arm 25 pivotally attached to the distal end of the boom 21, and pivotable to the distal end of the arm 25. And a magnet device 30 attached to the.

  The boom 21 is rotated in the vertical direction of the upper swing body 12 around a boom foot pin (not shown) by expanding and contracting the boom cylinder 22. The arm 25 is rotated in the front-rear direction of the upper swing body 12 around the boom top pin 24 by expanding and contracting the arm cylinder 26. The magnet device 30 is rotated in the front-rear direction of the arm 25 about the arm top pin 28 by expanding and contracting the front cylinder 35.

  The center position of the arm top pin 28 and the gravity center position G of the magnet device 30 are arranged so as to be aligned in the vertical direction (see FIG. 3). Thereby, when the front cylinder 35 is switched to a communication state to be described later, the magnet device 30 is swung by its own weight, and the magnet device 30 can be automatically maintained in a horizontal posture.

  The magnet device 30 includes a main body portion 31 and a magnet portion 32 attached to the lower end portion of the main body portion 31. The main body 31 is supported so as to be swingable around an arm top pin 28 provided at the tip of the arm 25. The main body 31 and the arm 25 are connected through a link 34. The link portion 34 is connected to the tip of the cylinder rod 36 of the front cylinder 35. The inclination angle of the magnet device 30 is adjusted by swinging through the link portion 34 as the cylinder rod 36 expands and contracts.

  The magnet unit 32 can be switched to an excited state or a demagnetized state by pressing a push button type adsorption button 53 (see FIG. 2). Specifically, when the attracting button 53 is pressed while the magnet device 30 is in the demagnetized state, the magnet device 30 is switched to the excited state. Further, when the adsorption button 53 is pressed while the magnet device 30 is in the excited state, the magnet device 30 is switched to the demagnetized state. When the magnet device 30 is in the excited state, the attracting object S such as scrap is attracted to the attracting surface of the magnet unit 32.

  FIG. 2 is a hydraulic control circuit diagram for adjusting the tilt angle of the magnet device. A solid line shown in FIG. 2 indicates a hydraulic oil path, and a dotted line shown in FIG. 2 indicates a path of signals input to and output from the mechatronics controller 50.

  As shown in FIG. 2, the control valve 40 extends and contracts the front cylinder 35 by switching the supply / discharge direction of the hydraulic oil discharged from the main pump 41. Here, the control valve 40 is switched to the neutral position when not in operation, and the front cylinder 35 is not expanded or contracted.

  The pilot valve 42 switches the supply / discharge direction of the pilot oil discharged from the pilot pump 44 by operating the operation lever 43. The pilot valve 42 and the control valve 40 are connected by a pilot line 45.

  Here, when pilot oil is supplied from the left pilot line 45 in FIG. 2, the control valve 40 supplies hydraulic oil to the cylinder chamber on the head side (right side in FIG. 2) of the front cylinder 35 and the rod. The hydraulic oil in the cylinder chamber on the side (left side in FIG. 2) is switched to a position where it returns to the tank 49. Thereby, since the cylinder rod 36 extends, the magnet device 30 swings so that the attracting surface of the magnet portion 32 faces rearward.

  On the other hand, when pilot oil is supplied from the right pilot line 45 in FIG. 2, the control valve 40 is supplied with hydraulic oil to the cylinder chamber on the rod side of the front cylinder 35 and hydraulic oil in the cylinder chamber on the head side. Is switched back to the tank 49. As a result, the cylinder rod 36 contracts, and the magnet device 30 swings so that the attracting surface of the magnet portion 32 faces forward.

  A hydraulic pipe 46 connecting the control valve 40 and the front cylinder 35 is branched in the middle of the pipe and connected to the switching valve 47. The switching valve 47 can be switched so as to permit or block the hydraulic oil in the front cylinder 35 and the hydraulic piping 46 from returning to the tank 49 in response to a control signal from the mechatronics controller 50.

  Specifically, when the control signal is not output from the mechatronics controller 50 to the switching valve 47, the switching valve 47 is in a position where the hydraulic oil in the front cylinder 35 and the hydraulic piping 46 is blocked from returning to the tank 49. Can be switched. As a result, the front cylinder 35 is brought into an operation state in which the cylinder rod 36 is expanded and contracted by hydraulic pressure and the inclination angle of the magnet device 30 can be adjusted.

  On the other hand, when a control signal is output from the mechatronics controller 50 to the switching valve 47, the switching valve 47 is switched to a position that permits the hydraulic oil in the front cylinder 35 and the hydraulic piping 46 to return to the tank 49. As a result, the front cylinder 35 is in a communication state that allows the cylinder rod 36 to expand and contract by an external force applied to the magnet device 30.

  Note that the switching timing of the operation state or the communication state of the magnet device 30 accompanying the switching of the switching valve 47 will be described later.

  The mechatronics controller 50 includes a hydraulic control unit 51 and an operation determination unit 52. The hydraulic control unit 51 controls the operation of the magnet device 30 by controlling the supply and discharge of hydraulic oil to and from the front cylinder 35.

  The operation determination unit 52 determines whether the magnet device 30 is performing a lifting preparation operation. Here, the lifting preparation operation is an operation until the attracting object S is attracted and lifted to a predetermined height while the attracting surface of the magnet device 30 is pressed against the attracting object S. In the present embodiment, the operation determination unit 52 determines that the lifting preparation operation is in progress while the suction button 53 is being pressed.

  By the way, in the attachment 20 having the magnet device 30, when the magnet object 30 attracts the attracting object S, the attracting surface of the magnet device 30 is inclined so as to follow the surface shape of the attracted object S stacked. Is preferred. Therefore, in the present embodiment, the attracting surface of the magnet device 30 can be automatically adjusted to an appropriate inclination angle for attracting the attracting object S.

  Specifically, as shown in FIG. 3, the magnet device 30 is brought close to the attracting object S, and immediately before the attracting button 53 is pressed, the magnet device 30 is pressed long. In the mechatronics controller 50, the operation determination unit 52 determines that the magnet device 30 is in the lifting preparation operation while the suction button 53 is being pressed. When it is determined that the magnet device 30 is in the lifting preparation operation, the hydraulic control unit 51 of the mechatronics controller 50 outputs a control signal to the switching valve 47. As a result, the front cylinder 35 is switched to the communication state, and the magnet device 30 can freely swing around the arm top pin 28.

  As shown in FIG. 4, when the magnet device 30 in communication is pressed against the attracting object S, the attracting surface of the magnet device 30 automatically follows the surface shape of the attracting object S by an external force applied to the magnet device 30. Inclined. Thereby, the operator can automatically adjust the attracting surface of the magnet device 30 to an appropriate inclination angle without operating the attachment 20, thereby improving workability and sufficiently attracting the attracting object S. can do.

  As shown in FIG. 5, when the attracting object S attracted by the magnet device 30 is lifted to a predetermined height, the magnet device 30 in the connected state is arm-topped by the weight of the magnet device 30 and the load of the attracting object S. By swinging around the pin 28, the suction surface is maintained in a horizontal posture. After that, when the operator releases the long-pressed state by releasing the suction button 53, the operation determination unit 52 determines that the magnet device 30 is not in a lifting preparation operation. When it is determined that the magnet device 30 is not in the lifting preparation operation, the hydraulic control unit 51 of the mechatronics controller 50 does not output a control signal to the switching valve 47. Thereby, the front cylinder 35 is switched to the operation state, and the operator can freely operate the magnet device 30.

  Further, as shown in FIG. 2, a changeover switch 54 is connected to the mechatronics controller 50. The change-over switch 54 is for selectively switching whether the front cylinder 35 is in an operation state or a communication state, and an operator can determine the timing for operating the magnet device 30. That is, even if the magnet device 30 is in the lifting preparation operation, the magnet device 30 can be maintained in an operable state without switching the front cylinder 35 to the communication state.

  FIG. 6 is a timing chart showing the timing for switching the magnet device to the communication state or the operation state. As shown in FIG. 6, while the suction button 53 is kept pressed, the switching valve 47 is switched so that the front cylinder 35 is in a communication state. At this time, the magnet device 30 is in an excited state, and the attracting object S is attracted to the magnet device 30. When the suction button 53 is released to release the long-pressed state, the switching valve 47 is switched so that the front cylinder 35 is in the operating state.

  After the suction object S is transported to a predetermined transport position by operating the attachment 20, when the suction button 53 is pressed, the magnet device 30 enters a demagnetized state and the suction of the suction object S is released. Thereafter, when the magnet button 30 is pressed for a long time when the magnet device 30 is in the demagnetized state, the magnet device 30 can be brought into the communication state again.

  As described above, when the normal operation of pressing the suction button 53 to start the suction of the magnet device 30 is performed, the front cylinder 35 can be switched to the communication state only by long-pressing the suction button 53. Therefore, there is no need to press another button or the like in order to establish a communication state, so that operability is not impaired. Further, when the operator wants to operate the magnet device 30, the front cylinder 35 can be switched to the operating state simply by releasing the suction button 53, so that the operability is improved.

<< Embodiment 2 >>
FIG. 7 is a timing chart showing the timing for switching the magnet device according to the second embodiment to a communication state or an operation state. Hereinafter, the same portions as those in the first embodiment are denoted by the same reference numerals, and only differences will be described.

  As shown in FIG. 7, when the attracting button 53 is pressed while the magnet device 30 is in a demagnetized state, the magnet device 30 is in an excited state. The operation determination unit 52 determines that the lifting preparation operation is in progress until a predetermined time elapses after the suction button 53 is pressed. Therefore, when the suction button 53 is pressed, the switching valve 47 is switched so that the front cylinder 35 is in communication.

  When a predetermined time elapses after the suction button 53 is pressed, the switching valve 47 is switched so that the front cylinder 35 is in the operating state.

  After the suction object S is transported to a predetermined transport position by operating the attachment 20, when the suction button 53 is pressed, the magnet device 30 enters a demagnetized state and the suction of the suction object S is released. Thereafter, when the attracting button 53 is pressed when the magnet device 30 is in the demagnetized state, the magnet device 30 can be brought into the communication state again until a predetermined time elapses.

  As described above, the front cylinder 35 can be switched to the communication state only by performing a normal operation of pressing the suction button 53 to start the suction of the magnet device 30, and the operability is not impaired.

<< Embodiment 3 >>
FIG. 8 is a side view illustrating a state in which the magnet device according to the third embodiment is pressed against the object to be attracted. Hereinafter, the same portions as those in the first embodiment are denoted by the same reference numerals, and only differences will be described.

  As shown in FIG. 8, the front cylinder 35 is provided with a pressure sensor 56 as a hydraulic pressure detection unit that detects the hydraulic pressure in the cylinder chambers on the head side and the rod side.

  Here, when the magnet device 30 is pressed against the attracting object S, the external force applied to the magnet device 30 causes the cylinder rod 36 of the front cylinder 35 to expand and contract, and the hydraulic pressure in the front cylinder 35 increases. Then, when the pressure sensor 56 detects that the hydraulic pressure in the front cylinder 35 has become larger than the predetermined pressure, the operation determination unit 52 determines that the magnet device 30 is performing a lifting preparation operation.

  When it is determined that the magnet device 30 is in the lifting preparation operation, the hydraulic control unit 51 of the mechatronics controller 50 outputs a control signal to the switching valve 47. As a result, the front cylinder 35 is switched to the communication state, and the magnet device 30 can freely swing around the arm top pin 28.

  Here, since the magnet device 30 is pressed against the attracting object S, when the front cylinder 35 is in communication, the attracting surface of the magnet device 30 is automatically inclined so as to follow the surface shape of the attracting object S. To do. Thereby, the operator can automatically adjust the attracting surface of the magnet device 30 to an appropriate inclination angle without operating the attachment 20 or performing a special operation for switching the front cylinder 35 to the communication state. it can.

  When the pressing operation of the magnet device 30 on the attracting target S is stopped, no external force is applied to the magnet device 30, and the hydraulic pressure detected by the pressure sensor 56 becomes smaller than a predetermined pressure. At this time, since the operation determination unit 52 determines that the magnet device 30 is not in the lifting preparation operation, the front cylinder 35 is switched to the operation state. Thereby, the operator can operate the magnet apparatus 30 freely.

  As described above, the present invention is extremely useful and industrial because it has a highly practical effect that the attracting surface of the magnet device can be automatically adjusted to an appropriate inclination angle for attracting scraps and the like. The above availability is high.

DESCRIPTION OF SYMBOLS 10 Work machine 11 Lower traveling body 12 Upper turning body 20 Attachment 25 Arm 28 Arm top pin 30 Magnet device 35 Front cylinder 36 Cylinder rod 49 Tank 51 Hydraulic control part 52 Operation determination part 53 Adsorption button 54 Changeover switch 56 Pressure sensor (Hydraulic detection) Part)
G Center of gravity S Suction object

Claims (6)

A working machine comprising a lower traveling body, an upper swinging body that is turnably mounted on the lower traveling body, and an attachment that is provided with a magnet device and that can be raised and lowered on the front side of the upper swinging body. And
A front cylinder that adjusts an inclination angle of the magnet device by swinging the magnet device in accordance with the expansion and contraction of the cylinder rod;
An operation state in which the tilt angle of the magnet device can be adjusted by expanding and contracting the cylinder rod by hydraulic pressure, and a cylinder chamber on the head side and the rod side of the front cylinder is connected to a tank to the magnet device. A hydraulic control unit that switches to a communication state that allows the cylinder rod to expand and contract by an external force applied;
An operation determining unit that determines whether the magnet device is in a lifting preparation operation that is an operation until the adsorption object is adsorbed and lifted to a predetermined height while pressing the adsorption surface against the adsorption object;
The hydraulic pressure control unit switches the front cylinder to the communication state when the operation determination unit determines that the lifting preparation operation is in progress, and determines that the lifting preparation operation is not in progress. A work machine that switches the front cylinder to the operation state. In claim 1,
A push button type adsorption button for switching the magnet device to an excited state or a demagnetized state,
The working machine is characterized in that the operation determining unit determines that the lifting preparation operation is being performed while the suction button is continuously pressed. In claim 1,
A push button type adsorption button for switching the magnet device to an excited state or a demagnetized state,
The operation machine determines that the lifting preparation operation is in progress until a predetermined time elapses after the suction button is pressed. In claim 1,
A hydraulic pressure detection unit for detecting the hydraulic pressure on the head side and the rod side in the front cylinder,
The operation determining unit determines that the lifting preparation operation is being performed when the oil pressure detecting unit detects that the oil pressure in the front cylinder has become larger than a predetermined pressure due to an external force applied to the magnet device. A working machine characterized by that. In any one of claims 1 to 4,
A work machine comprising a changeover switch for selectively switching the front cylinder to the operation state or the communication state. In any one of claims 1 to 5,
The center position of the arm top pin that supports the magnet device so as to be swingable with respect to the arm of the attachment and the center of gravity of the magnet device are arranged so as to be aligned in the vertical direction. Work machine.

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