JP2021008716A - Operating machine - Google Patents

Abstract

To provide an operating machine capable of easily restarting an operation of a work machine even when an exhaust gas treatment device and an internal combustion engine are stopped due to run-out of residual quantity of a reducing agent.SOLUTION: An operating machine includes: a machine body; a traveling body; a work machine; an internal combustion engine; an exhaust gas purification device; a reducing agent tank; a reducing agent residual quantity detection section which detects residual quantity of the reducing agent stored in the reducing agent tank; and a controller. The controller has an operation mode selection section which selects an operation mode of the work machine, and a work control section which controls the work machine. The operation mode selection section selects successive stop from a supply side of the work machine or slow-down of working speed (S20, S30) according to the residual quantity of the reducing agent (S10). The work control section controls the work machine according to the operation mode (S70, S90).SELECTED DRAWING: Figure 3

Description

The present invention relates to a work machine, and more particularly to a technique for correcting an adverse effect caused by mounting an exhaust gas purification device.

Generally, in a self-propelled work machine equipped with a work device for processing and discharging the supplied material, light oil is burned in order to drive a pump used for operating the work device and the traveling body. It is equipped with a diesel engine that runs on.

Since this diesel engine produces NOx, which is a nitrogen compound, when burning light oil, it is an issue to remove NOx contained in the exhaust gas.
Therefore, there is a technology to equip the work machine with an exhaust treatment device such as an SCR (Selective Catalytic Reduction) device or an EGR (Exhaust Gas Recirculation) device that injects a reducing agent such as an aqueous urea solution (urea water) into the exhaust gas to remove NOx. It has been developed (Patent Document 1).

International Publication No. 2016/11955

By the way, if the working device is stopped in the middle of processing the material, the material may remain in the device. In this way, the material solidifies between the time when the work equipment is stopped and the time when it is restarted, which may increase the burden on the work equipment when it is restarted, or it remains in the work equipment for restarting. There is a risk that work will occur to discharge the material to be used.

However, in the technique disclosed in Patent Document 1, no consideration is given to the case where the exhaust treatment device is stopped due to the remaining amount of the reducing agent and the working device is stopped due to the engine stopping accordingly. However, there was room for further improvement.

The present invention has been made in view of such a problem, and an object of the present invention is to provide an exhaust gas treatment device (exhaust gas treatment device) and an engine (internal combustion engine) due to the exhaustion of the remaining amount of the reducing agent. An object of the present invention is to provide a work machine capable of easily restarting a work device (work engine) even when the work device (work engine) is stopped.

In order to achieve the above object, the work machine of the present invention is a traveling body for traveling the machine and a working engine that takes in materials from the supply side, processes the materials, and discharges the processed materials to the discharge side. An internal combustion engine that generates the driving force of the work engine, an exhaust gas purification device that purifies the exhaust gas discharged from the internal combustion engine, and a reduction agent that stores the reducing agent used by the exhaust gas purification device to purify the exhaust gas. In a work machine provided with an agent tank, a reducing agent remaining amount detecting unit for detecting the remaining amount of the reducing agent stored in the reducing agent tank, and a controller, the controller determines the operating mode of the working engine. The operation mode selection unit includes a work mode selection unit for selecting and a work control unit for controlling the work engine, and the operation mode selection unit is stopped or stopped in order from the supply side of the work engine according to the remaining amount of the reducing agent. It is characterized in that an operation mode in which the operation speed is slowed down is selected, and the work control unit controls the work engine according to the operation mode.

As a result, the material remains in the work engine when the remaining amount of the reducing agent is exhausted and the work engine is stopped by stopping or slowing down the operation speed in order from the supply side of the work engine according to the remaining amount of the reducing agent. It is possible to alleviate this.

As another aspect, the working engine discharges the processing device for processing the material, the supply device for taking the material from the supply side into the processing device, and the material processed by the processing device to the discharge side. When the remaining amount of the reducing agent is equal to or less than a predetermined amount, the operation mode selection unit stops or slows down the supply device and then stops or operates the processing device. It is preferable to select the operation mode to be slowed down.

As a result, when the remaining amount of the reducing agent is less than a predetermined amount, the material is not taken into the processing device or is taken into the processing device by stopping or slowing down the processing device after stopping or slowing down the operation speed of the supply device. It is possible to reduce the amount of material used and then stop or slow down the processing equipment.

As another aspect, when the operation mode selection unit selects an operation mode for slowing down the operation speed of the work engine, the operation speed on the supply side of the device that requires the most operation load among the work engines is set. It is preferable to select the operation mode to be slowed down.

This makes it possible to reduce the amount of material remaining in the equipment that requires the most operation load by slowing the operation speed on the supply side compared to the equipment that requires the most operation load in the work engine. Will be done.

As another aspect, when the operation mode selection unit selects an operation mode for slowing down the operation speed of the work engine, the output of the internal combustion engine is reduced, and the operation speed of the work engine is reduced according to the degree of decrease in the output. It is preferable to select the operation mode to be slowed down.

As a result, when selecting an operating mode that slows down the operating speed of the working engine, the output of the internal combustion engine is reduced, and the operating speed of the working engine is slowed down according to the degree of reduction in the output, so that the fuel consumed by the internal combustion engine is consumed. It is possible to reduce the amount of reducing agent consumed by reducing the amount of exhaust gas and the amount of exhaust gas emitted.

In another embodiment, the material is earth and sand, and the processing device mixes the soil improvement material supply device for adding the soil improvement material to the earth and sand, and the soil improvement material and the earth and sand. It is preferable to include a machine.

As a result, the soil improving material supply device, which is supplied to add the soil improving material to the soil, and the soil improving material and the earth and sand are mixed after the supply device is stopped or the operation speed is slowed down according to the remaining amount of the reducing agent. By stopping the processing equipment including the mixer and slowing down the operation speed, it is possible to prevent the soil from remaining in the mixer and the soil improvement material supply device from excessively supplying the soil improvement material to the soil. It is possible.

According to the working machine of the present invention, the working engine is stopped or the operating speed is slowed down in order from the supply side of the working engine according to the remaining amount of the reducing agent. It is possible to reduce the amount of material remaining in the material. As a result, even if the exhaust gas treatment device and the internal combustion engine are stopped due to the remaining amount of the reducing agent being exhausted, the working engine can be easily restarted.

It is a side view of a work machine. The block diagram shows the connection configuration of the controller related to the control of the work machine. It is a flowchart which shows the routine of the control procedure of the operation mode determination control which concerns on 1st Embodiment executed by a controller. It is a flowchart which shows the routine of the control procedure of the work engine control part in the 1st operation mode. It is a flowchart which shows the routine of the control procedure of the warning control part in the 1st warning mode. It is a flowchart which shows the routine of the control procedure of the work engine control part in the 2nd operation mode. It is a flowchart which shows the routine of the control procedure of the warning control part in the 2nd warning mode. It is a flowchart which shows the routine of the control procedure of the warning control part in the 3rd warning mode. It is a flowchart which shows the routine of the control procedure of the operation mode determination control which concerns on 2nd Embodiment executed by a controller. It is a flowchart which shows the routine of the control procedure of the work engine control part in the 3rd operation mode. It is a flowchart which shows the routine of the control procedure of the work engine control part in the 4th operation mode.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings.
With reference to FIG. 1, a side view of the work machine 1 is shown. The work machine 1 generates improved soil (processed material) 104 whose hardness and the like are adjusted by mixing the solidifying material (soil improving material) 102 with the earth and sand (material) 101 supplied from the supply side, and discharges the soil. It is a so-called self-propelled soil improvement machine that discharges to the side.

The work machine 1 includes a machine body 2, a traveling body 3, a drive engine 4, and a work engine 5. The machine body 2 is the main body of the work machine 1, and can be driven by, for example, a crawler type running body 3 provided at the lower part. The drive engine 4 is an engine that generates a driving force of a traveling body 3 and a driving force of a work engine 5 described later, and has an engine (internal combustion engine) 6 and a hydraulic pump 7.

The engine 6 is an internal combustion engine that generates driving force by burning light oil stored in a fuel tank (not shown) and operating the engine 6. The hydraulic pump 7 is a hydraulic pump for hydraulic oil that operates by the driving force generated by the engine 6, and can adjust the discharge amount of hydraulic oil by controlling the tilt angle of a swash plate (not shown). It is possible.

The hydraulic pump 7 is connected to each device of the traveling body 3 and the work engine 5 described later so that hydraulic oil can be circulated by an open circuit composed of a hydraulic hose and an on-off valve (not shown). Therefore, by controlling the opening and closing of each on-off valve, it is possible to appropriately control each device of the traveling body 3 and the working engine 5. Hereinafter, for convenience of explanation, the device that controls the drive according to the degree of opening / closing of each on-off valve will be described as directly controlling each device without explaining the on-off valve.

The work engine 5 has a supply device 11, a processing device 13, and a discharge device 15, and is an engine capable of processing the earth and sand supplied from the supply device 11 by the processing device 13 and discharging the earth and sand from the discharge device 15. is there.

The supply device 11 is a device provided on the front side in the front-rear direction of the machine body, that is, on the supply side, and includes a sediment hopper 21, a sediment feeder 23, a swing gate 25, and a leveling roller 27. The earth and sand hopper 21 is a hopper formed on the upper side of the supply device 11 and capable of temporarily receiving, for example, the earth and sand 101 supplied from the hydraulic excavator 100.

The earth and sand feeder 23 is a conveyor arranged under the earth and sand hopper 21, and can convey the earth and sand 101 temporarily received by the earth and sand hopper 21 toward the rear in the front-rear direction of the machine body, that is, toward the processing device 13. The swing gate 25 is a movable wall which is above the body of the earth and sand feeder 23 in the vertical direction and is arranged on the rear side of the earth and sand hopper 21, that is, on the discharge side. The rocking gate 25 is located above the earth and sand feeder 23, and it is possible to cut out a required amount of the earth and sand 101 by pushing the earth and sand 101 above the lower end of the rocking gate 25 back to the earth and sand hopper 21. ..

The leveling roller 27 is arranged above the earth and sand feeder 23 in the vertical direction of the machine body, behind the rocking gate 25, that is, on the discharge side, and has unevenness on the upper surface of the earth and sand 101 cut out by the rocking gate 25. It is a pressure roller that rotates following the upper surface of the earth and sand 101 while moving up and down. As a result, the earth and sand 101 passing through the leveling roller 27 is appropriately pressurized by the weight of the leveling roller 27 with a predetermined force, so that the bulk density can be made uniform.

The processing device 13 is a device provided at the center in the front-rear direction of the machine body, and includes a solidifying material hopper 31, a solidifying material feeder (soil improving material supply device) 33, and a mixing chamber 35. The solidifying material hopper 31 is a tank that is arranged on the upper side of the center in the front-rear direction of the machine body and can store the solidifying material 102 such as quicklime.

The solidifying material feeder 33 is a screw arranged on the lower side of the solidifying material hopper 31, and by rotating, the solidifying material 102 located on the lower side of the solidifying material hopper 31 is discharged below the solidifying material feeder 33. Is possible. As a result, the solidifying material feeder 33 can generate the mixed soil 103 by supplying the solidifying material 102 to the earth and sand 101 transported from the supply side toward the processing device 13 by the earth and sand feeder 23.

The mixing chamber 35 is a housing arranged below the solidifying material feeder 33 and below the discharge side of the earth and sand feeder 23. The mixing chamber 35 is formed with an intake port for taking in the mixed soil 103 from the earth and sand feeder 23 at the upper end on the supply side. Further, a paddle mixer (mixer) 37 is arranged in the mixing chamber 35, and by driving the paddle mixer 37, the mixed soil 103 taken into the mixing chamber 35 is evenly mixed to generate the improved soil 104. At the same time, it is possible to move the mixing chamber 35 from the supply side toward the discharge side and discharge the mixture downward. Here, the paddle mixer 37 is a device that requires the most load for operation among the work engines 5 in order to perform the work of stirring the mixed soil 103.

The discharge device 15 is a transport device that extends from below the processing device 13 toward the rear in the front-rear direction of the machine body, that is, toward the discharge side. The discharge device 15 can temporarily receive the improved soil 104 discharged downward from the mixing chamber 35 and then transport it to the discharge side.

The drive engine 4 of the machine body 2 is provided with an exhaust gas purification device such as an SCR device (exhaust gas purification device) 41, a urea water tank (reducing agent tank) 43, and an EGR device 45.

The SCR device 41 is an exhaust gas purification device capable of reducing and removing NOx contained in the exhaust gas by injecting urea water (reducing agent) into the exhaust gas discharged by the engine 6 by burning light oil. The urea water tank 43 is a tank for storing urea water injected into the exhaust gas by the SCR device 41. Therefore, the SCR device 41 can purify the exhaust gas while consuming the urea water stored in the urea water tank 43.

The EGR device 45 is a device that takes in a part of the exhaust gas, sucks it into the engine 6 again, lowers the combustion temperature, and reduces NOx contained in the exhaust gas. As a result, the EGR device 45 can purify the exhaust gas by suppressing NOx contained in the exhaust gas.

The machine body 2 is provided with an operation panel 51, a warning light 53, a speaker 55, a remaining amount sensor (reducing agent remaining amount detecting unit) 57, and a controller 59. The operation panel 51 includes operation buttons for performing various operations of the work machine 1 and a monitor for displaying the state of the work machine 1.

The warning lamp 53 is a lamp arranged on the upper part of the solidifying material hopper 31 and the upper part of the drive engine 4, and includes a yellow lamp 53a that emits yellow light and a red lamp 53b that emits red light. The speaker 55 is a so-called horn capable of emitting a horn sound, and is arranged above, for example, a solidifying material hopper 31.

The remaining amount sensor 57 is, for example, a level sensor provided in the urea water tank 43, and how much urea water remains in the urea water tank 43 as compared with when the tank is full (remaining amount). Can be detected.

The controller 59 is a control device for performing comprehensive control including operation control of the engine 6, and includes an input / output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), and the like. It is configured to include.

With reference to FIG. 2, the connection configuration of the controller 59 related to the control of the work machine 1 is shown in the block diagram. The remaining amount sensor 57 is electrically connected to the input side of the controller 59, and information on the remaining amount of urea water stored in the urea water tank 43 is input.

Further, on the output side of the controller 59, an engine 6, a hydraulic pump 7, an SCR device 41, an earth and sand feeder 23, a swing gate 25, a leveling roller 27, a solidifying material feeder 33, a paddle mixer 37, a discharge device 15, and an operation panel 51 , The warning light 53 and the speaker 55 are electrically connected to each other, and can be appropriately controlled by the controller 59 as described later.

Here, the controller 59 has a drive control unit 61, an operation mode determination unit (operation mode selection unit) 63, a work engine control unit (work control unit) 65, and a warning control unit 67. The drive control unit 61 is a control unit that controls the engine 6, the hydraulic pump 7, and the SCR device 41.

Therefore, the drive control unit 61 controls the engine 6 to increase or decrease the output to the hydraulic pump 7, adjusts the amount of light oil burned and the amount of exhaust gas discharged from the engine 6, and controls the hydraulic pump 7. The amount of hydraulic oil supplied to the work engine 5 can be adjusted, and the amount of urea water injected can be controlled based on the amount of exhaust gas discharged by controlling the SCR device 41.

The operation mode determination unit 63 is a determination unit that executes the operation mode determination control described later based on the information regarding the remaining amount of urea water stored in the urea water tank 43 input from the remaining amount sensor 57. The operation mode determination unit 63 can also control the engine 6, the hydraulic pump 7, and the SCR device 41 via the drive control unit 61, depending on the determination result.

The work engine control unit 65 is a control unit that controls the earth and sand feeder 23, the swing gate 25, the leveling roller 27, the solidifying material feeder 33, the paddle mixer 37, and the discharge device 15 according to the determination result of the operation mode determination unit 63. .. The warning control unit 67 is a control unit that controls the operation panel 51, the warning light 53, and the speaker 55 according to the determination result of the operation mode determination unit 63, similarly to the work engine control unit 65.

With reference to FIG. 3, a flowchart showing a control procedure of the operation mode determination control according to the first embodiment executed by the controller 59 is shown in a flowchart, which will be described below with reference to the flowchart.

In step S10, it is determined whether or not the remaining amount of urea water stored in the urea water tank 43 input from the remaining amount sensor 57 is 10% or less. If the determination result in step S10 is false (No) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is more than 10%, the process proceeds to step S40, and the work mode of the work engine 5 is set to the normal mode. Judgment (selection) is made, and this routine is terminated. Here, the normal mode is, for example, an operating mode of the work engine 5 having the highest work efficiency of the work engine 5 per unit time.
On the other hand, if the determination result in step S10 is true (Yes) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is 10% or less, the process proceeds to step S20.

In step S20, it is determined whether or not the remaining amount of urea water stored in the urea water tank 43 is 5% or less. If the determination result in step S20 is false (No) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is more than 5%, the process proceeds to step S50. On the other hand, if the determination result in step S20 is true (Yes) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is 5% or less, the process proceeds to step S30.

In step S30, it is determined whether or not the remaining amount of urea water stored in the urea water tank 43 is 0%, that is, whether or not the urea water tank 43 is empty. If it is determined that the determination result in step S30 is false (No) and the urea water tank 43 is not empty, the process proceeds to step S90. On the other hand, when it is determined that the determination result in step S40 is true (Yes) and the urea water tank 43 is empty, the process proceeds to step S110.

As a result, in steps S10 to S30, when the remaining amount of urea water stored in the urea water tank 43 is more than 10% (No in step S10) and 5 to 10% (Yes in step S10 and step S20). No), 0 to 5% (Yes in step S10, Yes in step S20 and No in step S30) and empty urea water tank 43 (Yes in steps S10 to S30). be able to.

When the remaining amount of urea water is more than 10%, the work mode of the work engine 5 is selected as the normal mode (step S40), and the work efficiency is increased until the remaining amount of urea water becomes 10% or less. The working engine 5 can be operated in the operating mode of the working engine 5 having the highest operating mode. Hereinafter, there are three cases: when the remaining amount of urea water is 5 to 10% (first stage), when it is 0 to 5% (second stage), and when the urea water tank 43 is empty (third stage). , Each will be explained according to the flow.

<First stage>
In step S50, a warning display such as "Work is stopped because the remaining amount of urea water is 10% or less" is displayed on the monitor of the operation panel 51, and the process proceeds to step S60. After repeating the process, the process proceeds to step S70.

As a result, for example, when the operator of the work machine 1 is operating the work engine 5 by the operation panel 51, the remaining amount of urea water becomes 10% or less, and the operation of the supply device 11 is stopped by steps S70 and S80 described later. , The reason for stopping the work can be presented to the operator in advance before the warning light 53 is turned on.
In step S70, the work mode of the work engine 5 is determined (selected) as the first work mode, and the work engine control unit 65 controls the earth and sand feeder 23, the swing gate 25, and the leveling roller 27.

With reference to FIG. 4, the routine of the control procedure of the work engine control unit 65 in the first operation mode is shown in the flowchart. In step S210, after stopping the operation of the earth and sand feeder 23, the process proceeds to step S220, after stopping the operation of the swing gate 25, the process proceeds to step S230, and the operation of the leveling roller 27 is stopped in the first operation mode. The control of the work engine control unit 65 is terminated.

As a result, when the operation mode determination unit 63 determines that the work mode of the work engine 5 is the first work mode, the work engine control unit 65 stops the earth and sand feeder 23, the swing gate 25, and the leveling roller 27, that is, the work engine. By stopping the operation of the supply device 11 upstream of the paddle mixer 37, which is the device that requires the most load for operation, the urea water tank 43 is emptied, the engine 6 is stopped, and the paddle mixer 37 is stopped. In such a case, it is possible to prevent the mixed soil 103 from remaining in the mixing chamber 35.

Returning to FIG. 3, when the control of the work engine control unit 65 in the first operation mode is completed, the process proceeds to step S80. In step S80, the warning mode is determined to be the first warning mode, and the warning light 53 and the speaker 55 are controlled by the warning control unit 67.

With reference to FIG. 5, the routine of the control procedure of the warning control unit 67 in the first warning mode is shown in the flowchart. In step S310, a horn sound is emitted from the speaker 55 for, for example, 1 second to move to step S320, and in step S320, the yellow lamp 53a of the warning lamp 53 is turned on to end the control of the warning control unit 67 in the first warning mode. To do.

As a result, when the operation mode determination unit 63 determines that the warning mode is the first warning mode, the speaker 55 emits a horn sound (step S310), so that the operator is located at a location away from the work machine 1. Even so, it is possible to warn that the remaining amount of urea water is 10% or less. Further, by turning on the yellow lamp 53a of the warning lamp 53 (step S320), even if the horn sound emitted from the speaker 55 does not reach the operator's ear, a warning by light can be given.

As described above, in the case of the first stage, the first operation mode for stopping the supply device 11 is executed, the first warning mode for warning the operator by the warning light 53 and the speaker 55 is executed, and then this routine is terminated. , This routine is repeatedly executed from step S10 again.

<Second stage>
When the first stage is continued, the urea water in the urea water tank 43 is consumed by driving the engine 6 and the remaining amount of urea water becomes 5% or less (Yes in step S10, Yes in step S20 and No in step S30). , Step S90.

With reference to FIG. 6, the routine of the control procedure of the work engine control unit 65 in the second operation mode is shown in the flowchart. In step S410, after stopping the operation of the solidifying material feeder 33, the process proceeds to step S420, and the operation of the paddle mixer 37 is stopped and the process proceeds to step S430.

In step S430, step S430 is repeated until, for example, 6 seconds have elapsed since the operation of the paddle mixer 37 was stopped, and then the process proceeds to step S440, the discharge device 15 is stopped, and the work engine control unit 65 in the second operation mode is used. End control.

As a result, when the operation mode determination unit 63 determines (selects) the work mode of the work engine 5 as the second work mode, the work engine control unit 65 stops the solidifying material feeder 33, the paddle mixer 37, and the discharge device 15, that is, the work. By stopping the processing device 13 and the discharging device 15 of the engine 5, all the devices of the working engine 5 can be stopped. Therefore, the urea water consumed when driving the traveling body 3 for traveling the work machine 1 can be kept good.

Returning to FIG. 3, when the control of the work engine control unit 65 in the second operation mode is completed, the process proceeds to step S100. In step S100, the warning mode is determined to be the second warning mode, and the warning light 53 and the speaker 55 are controlled by the warning control unit 67.

With reference to FIG. 7, the routine of the control procedure of the warning control unit 67 in the second warning mode is shown in the flowchart. In step S510, the horn sound is emitted from the speaker 55 once every 4 seconds for 1 second, and the process proceeds to step S520. In step S520, the yellow lamp 53a and the red lamp 53b of the warning lamp 53 are turned on. Move to S530.

Then, in step S530, an alert such as "Please replenish urea water immediately" is blinked and displayed on the monitor of the operation panel 51, and the control of the warning control unit 67 in the second warning mode is terminated.

As a result, when the operation mode determination unit 63 determines that the warning mode is the second warning mode, the speaker 55 emits more horn sound than in the first warning mode (step S510), so that the operator switches to the first warning mode. Even if it is not noticed, it is possible to emphasize and warn that the remaining amount of urea water is 5% or less from the first warning mode. Further, by turning on the yellow lamp 53a and the red lamp 53b of the warning lamp 53 (step S520), it is possible to give a warning by light with emphasis from the first warning mode.

As described above, in the case of the second stage, the second operation mode in which all the devices of the work engine 5 are stopped is executed, and the warning light 53 and the speaker 55 warn the operator with emphasis from the first warning mode. After executing the warning mode, this routine is terminated, and this routine is repeatedly executed from step S10 again.

<Third stage>
When the second stage is continued, the urea water in the urea water tank 43 is further consumed by driving the engine 6, the urea water tank 43 is emptied (all steps S10 to S30 are Yes), and the process proceeds to step S110.

With reference to FIG. 8, the routine of the control procedure of the warning control unit 67 in the third warning mode is shown in the flowchart. Regarding the third warning mode, the description of the configuration and the action and effect common to the second warning mode will be omitted, and here, the parts different from the second warning mode will be described.

In step S515, the process proceeds to step S520 so that the horn sound is emitted from the speaker 55, for example, once every two seconds for one second. As a result, the horn sound is emitted from the speaker 55 more frequently than in the second warning mode (step S515), so that the urea water tank 43 is empty even when the operator does not notice the second warning mode. It is possible to warn that there is something by emphasizing it from the second warning mode.

After executing the third warning mode in step S110, in step S120, the engine 6 is forcibly stopped to end this routine.

In this way, when the remaining amount of urea water is 10% or less, the amount of urea water stored in the urea water tank 43 can be increased by appropriately executing each operation mode and each warning mode in the first to third stages. The working engine 5 can be stopped in stages accordingly. In particular, by stopping in order from the supply side, the urea water tank 43 becomes empty and the engine 6 is forcibly stopped (step S120). After the paddle mixer 37 is stopped, the urea water tank 43 is replenished with urea water and the working engine 5 It is possible to prevent the mixed soil 103 and the improved soil 104 before being discharged from the mixing chamber 35 from solidifying and making it impossible to restart the working engine 5 when the working engine 5 is restarted.

As described above, the work machine according to the first embodiment is a work engine that takes in the traveling body 3 that runs the machine body 2 and the earth and sand 101 from the supply side and discharges the improved earth 104 that is processed from the earth and sand 101 to the discharge side. 5, the engine 6 that generates the driving force of the work engine 5, the SCR device 41 that purifies the exhaust gas discharged from the engine 6, and the urea water tank that stores the urea water used when the SCR device 41 purifies the exhaust gas. The work machine 1 includes a 43, a remaining amount sensor 57 that detects the remaining amount of urea water stored in the urea water tank 43, and a controller 59 that controls the work machine 1.

The controller 59 includes an operation mode determination unit 63 that determines (selects) the operation mode of the work engine 5 and a work engine control unit 65 that controls the work engine 5, and the operation mode determination unit 63 is a residue of urea water. The first work mode and the second work mode to be stopped in order from the supply side of the work engine 5 are determined (selected) according to the amount, and the work engine controller 65 works according to the first work mode and the second work mode. Control engine 5.

Therefore, since the operation was stopped in order from the supply side of the work engine 5 according to the remaining amount of urea water, it was possible to reduce the amount of earth and sand 101 remaining in the work engine 5 when the remaining amount of urea water was exhausted and the work engine 5 was stopped. can do.

Then, the work engine 5 discharges the processing device 13 for processing the earth and sand 101, the supply device 11 for taking the earth and sand 101 into the processing device 13 from the supply side, and the earth and sand 101 processed by the processing device 13 to the discharge side. The operation mode determination unit has the device 15, and when the remaining amount of urea water is, for example, 10% or less, the operation mode determination unit stops the processing device 13 after determining that the first work mode is to stop the supply device 11. Since it is determined that there are two working modes, the processing device 13 can be stopped after the earth and sand 101 is not taken into the processing device 13.

In particular, the processing apparatus 13 includes a solidifying material feeder 33 that is supplied to add the solidifying material 102 to the earth and sand 101, and a paddle mixer 37 that mixes the solidifying material 102 and the earth and sand 101.
Therefore, depending on the remaining amount of urea water, after the supply device 11 is stopped, the processing device 13 including the solidifying material feeder 33 and the paddle mixer 37 is stopped, so that the earth and sand 101 remains in the paddle mixer 37. It is possible to prevent the solidifying material 102 from being excessively supplied to the earth and sand 101 by the solidifying material feeder 33.

<Second Embodiment>
Hereinafter, the second embodiment will be described with reference to FIGS. 9 to 11. The configuration and effects common to the first embodiment will not be described, and the parts different from the first embodiment will be described here.

With reference to FIG. 9, a flowchart shows a routine of the control procedure of the operation mode determination control according to the second embodiment executed by the controller 59. In the second embodiment, when the remaining amount of urea water is 5 to 10% (Yes in step S10 and No in step S20, the first step), step S60 from the warning display in step S50 until 1 second elapses. After repeating the above, the work mode of the work engine 5 is determined (selected) as the third operation mode, and the process proceeds to step S670.

With reference to FIG. 10, the routine of the control procedure of the work engine control unit 65 in the third operation mode is shown in the flowchart. In step S710, the drive speed of the earth and sand feeder 23 is reduced (for example, one-third of the normal mode) and then the process proceeds to step S720. The drive speed of the swing gate 25 is reduced and then the process proceeds to step S730. After lowering the driving speed of the roller 27, the process proceeds to step S740. That is, in steps S710 to S730, the drive speed of each device of the supply device 11 is reduced, and the process proceeds to step S740.

In step S740, the drive speed of the solidifying material feeder 33 is set to medium (for example, two-thirds of the normal mode) and then the process proceeds to step S750. The drive speed of the paddle mixer 37 is set to medium and then the process proceeds to step S760. The control of the work engine control unit 65 in the third operation mode is terminated with the drive speed of 15 set to the middle.

Here, specifically, by reducing the rotation speed of the engine 6 via the drive control unit 61, the drive speed of each device in the work engine 5 is slowed down according to the degree of decrease in the output of the engine 6, and the supply device is supplied. Each control valve (not shown) is controlled to further slow down the operating speed of 11.

As a result, even in the first stage, the operation speed of the work engine 5 is slowed down without stopping the operation, thereby reducing the consumption of urea water stored in the urea water tank 43, while reducing the consumption. You can continue working.
When the remaining amount of urea water is 0 to 5% (Yes in step S10, Yes in step S20 and No in step S30, second stage), the working mode of the work engine 5 is determined to be the fourth operating mode (selection). ), And the process proceeds to step S690.

With reference to FIG. 11, the routine of the control procedure of the work engine control unit 65 in the fourth operation mode is shown in the flowchart. In step S810, after stopping the operation of the earth and sand feeder 23, the process proceeds to step S820, after stopping the operation of the swing gate 25, the process proceeds to step S830, and the operation of the leveling roller 27 is stopped to proceed to step S840. ..

That is, in steps S810 to S830, the operation of the supply device 11 is stopped and the process proceeds to step S840 in the same manner as the control procedure of the work engine control unit 65 in the first operation mode according to the first embodiment.

In step S840, the drive speed of the solidifying material feeder 33 is reduced and then the process proceeds to step S850, the drive speed of the paddle mixer 37 is reduced and then the process proceeds to step S860, and the drive speed of the discharge device 15 is reduced to the fourth step. The control of the work engine control unit 65 in the operating mode is terminated.

Here, specifically, by reducing the rotation speed of the engine 6 from the third operation mode via the drive control unit 61, the drive speed of each device in the work engine 5 is adjusted according to the degree of decrease in the output of the engine 6. It is slowed down and the operation of the supply device 11 is stopped. As a result, even in the second stage, the operation of the processing device 13 and the discharge device 15 of the work engine 5 is not stopped, and the drive speed is made slower than that of the third operation mode, so that the urea water tank 43 can be reached. While reducing the consumption of stored urea water, it is possible to prevent the mixed soil 103 and the improved soil 104 from remaining in the processing device 13 and the discharge device 15.

Then, when the urea water tank 43 is empty (all steps S10 to S30 Yes, the third stage), the working mode of the working engine 5 is determined (selected) as the second operating mode, and the process proceeds to step S90. The detailed description of step S90 will be omitted because it is the same as that of the first embodiment.

As a result, the drive speed of the solidifying material feeder 33, the paddle mixer 37, and the discharging device 15 is reduced (steps S840 to S860), and then the solidifying material feeder 33, the paddle mixer 37, and the discharging device 15 are set in the second operation mode (step S90). By stopping the drive of the engine 6, it is possible to prevent the engine 6 for operating the work engine 5.

As described above, in the work machine 1 according to the second embodiment, when the operation mode determination unit 63 determines (selects) the operation mode for slowing down the operation speed of the work engine 5, it operates most of the work engines 5. Since the third operation mode, which is the operation mode in which the operation speed on the supply side is slower than that of the paddle mixer 37, is determined (selected), it is possible to reduce the residual sediment 101 on the paddle mixer 37. it can.

Then, when the operation mode determination unit 63 determines (selects) the operation mode for slowing down the operation speed of the work engine 5, the output of the engine 6 is reduced, and the operation speed of the work engine 5 is slowed down according to the degree of decrease in the output. Therefore, it is possible to reduce the fuel consumption of the engine 6 and the exhaust gas emission amount to reduce the urea water consumption amount.

The description of the work machine according to the present invention is completed above, but the present invention is not limited to the above embodiment and can be changed without departing from the gist of the invention.

For example, in the present embodiment, a self-propelled soil improvement machine has been described as an example, but a crusher for finely crushing solids such as supplied stones and a wood crusher for crushing supplied wood into chips. Machines, screens for sorting gravel of various sizes contained in the supplied earth and sand according to size, biaxial shearing machines for shearing the supplied metal, etc. into chips, etc. The work machine may be a machine that performs some work (processing) on the supplied material.

Further, in the present embodiment, the control mode has been described using the flows of FIGS. 3 to 11, but the order of the flows is an example, and the order may be changed to the extent that the present invention can be implemented.

1 Work machine 2 Machine 3 Traveling body 5 Work engine 6 Engine (internal combustion engine)
11 Supply device 13 Processing device 15 Discharge device 33 Solidifying material feeder (Soil improvement material supply device)
37 Paddle mixer (mixer)
41 SCR device (exhaust gas purification device)
43 Urea water tank (reducing agent tank)
57 Remaining amount sensor (reducing agent remaining amount detection unit)
59 Controller 63 Operation mode determination unit (operation mode selection unit)
65 Work engine control unit (work control unit)
101 Sediment (material)
102 Solidifying material (soil improving material)
104 Improved soil (processed material)

Claims (5)

The running body that runs the aircraft and the running body
A work engine that takes in materials from the supply side, processes the materials, and discharges the processed materials to the discharge side.
An internal combustion engine that generates the driving force of the work engine,
An exhaust gas purification device that purifies the exhaust gas emitted from the internal combustion engine,
A reducing agent tank for storing the reducing agent used by the exhaust gas purifying device to purify the exhaust gas, and a reducing agent tank.
A reducing agent remaining amount detecting unit that detects the remaining amount of the reducing agent stored in the reducing agent tank,
In a work machine equipped with a controller,
The controller
An operation mode selection unit that selects the operation mode of the work engine,
Including a work control unit that controls the work engine,
The operation mode selection unit selects an operation mode in which the operation mode is stopped or the operation speed is slowed down in order from the supply side of the work engine according to the remaining amount of the reducing agent.
The work control unit is a work machine that controls the work engine according to the operation mode. The working organization
A processing device that processes the material and
A supply device that takes in the material from the supply side into the processing device, and
It has a discharge device that discharges the material processed by the processing device to the discharge side.
When the remaining amount of the reducing agent is equal to or less than a predetermined amount, the operation mode selection unit selects an operation mode in which the processing device is stopped or the operation speed is slowed down after the supply device is stopped or the operation speed is slowed down. Item 1. The work machine according to item 1. When selecting an operation mode for slowing down the operation speed of the work engine, the operation mode selection unit sets an operation mode for slowing down the operation speed on the supply side of the device that requires the most load for operation among the work engines. The work machine according to claim 1 to be selected. When selecting an operating mode for slowing down the operating speed of the working engine, the operating mode selection unit reduces the output of the internal combustion engine and slows down the operating speed of the working engine according to the degree of decrease in the output. The work machine according to claim 1 to be selected. The material is earth and sand
The processing device
A soil improving material supply device for adding a soil improving material to the earth and sand,
The work machine according to claim 2, further comprising a mixer for mixing the soil improving material and the earth and sand.

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