JP2023066445A - Work machine and shovel - Google Patents

Abstract

To provide a work machine and a shovel, capable of preventing malfunction.SOLUTION: A work machine comprises: a switch for switching over between a first state with the assumption that only a bucket is operated and a second state with the assumption that end attachments different in kind from the bucket is operated; and an operation device for outputting an electric signal corresponding to operation of the end attachments different in kind from the bucket, wherein the operation for the operation device is invalidated in the first state.SELECTED DRAWING: Figure 1

Description

The present invention relates to working machines and excavators.

Conventionally, there is a thumb rotatably attached to the tip of the arm so as to face the bucket. Work machines that grip are known.

JP 2015-203431 A

In the conventional work machine described above, if a slide switch or the like for operating the thumb is mounted on the operation lever, the operator may unintentionally touch the slide switch while operating the lever to operate the thumb. It may get lost. Conventionally, such unintended malfunctions can result in contact and damage to the thumb and bucket.

Therefore, in view of the above circumstances, it is an object of the present invention to prevent malfunction.

The disclosed work machine includes a changeover switch that switches between a first state based on the assumption that only the bucket is operated and a second state that is based on the assumption that an end attachment of a different type from the bucket is operated. and an operating device that outputs an electric signal according to an operation of an end attachment of a type different from that of the bucket, wherein the operation of the operating device is disabled in the first state.

The disclosed excavator has a first state in which an end attachment is operated, and a second state in which another end attachment different in type from the end attachment is operated by an operating device that outputs an electric signal according to the operation. and the operation device, wherein the operation of the operation device is disabled in the first state.

Malfunction can be prevented.

1 is a side view of a working machine according to an embodiment of the present invention; FIG. FIG. 4 is a top view of the interior of the cabin; It is a figure which shows the structural example of the hydraulic circuit mounted in an excavator. It is a figure explaining operation|movement of a shovel.

(embodiment)
Embodiments will be described below with reference to the drawings. In the accompanying drawings, X-axis, Y-axis, and Z-axis are axes perpendicular to each other. Specifically, the X-axis extends along the excavator's longitudinal axis, the Y-axis extends along the excavator's lateral axis, and the Z-axis extends along the excavator's pivot axis. In this embodiment, the X and Y axes extend horizontally and the Z axis extends vertically.

First, a shovel 100 as a working machine according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a side view of a shovel.

In this embodiment, the undercarriage 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a left traveling hydraulic motor 1A and a right traveling hydraulic motor 1B mounted on the lower traveling body 1. As shown in FIG. However, the left travel hydraulic motor 1A and the right travel hydraulic motor 1B may be travel motor generators as electric actuators. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 1A, and the right crawler 1CR is driven by a right traveling hydraulic motor 1B. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.

An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2 . The turning mechanism 2 as a driven body is driven by a turning hydraulic motor 2A mounted on the upper turning body 3 . However, the turning hydraulic motor 2A may be a turning motor-generator as an electric actuator. Since the upper rotating body 3 is driven by the rotating mechanism 2, it functions as a driven body.

A boom 4 as a driven body is attached to the upper revolving body 3 . An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment and a thumb 6A are attached to the tip of the arm 5. As shown in FIG. The boom 4, arm 5, bucket 6, and thumb 6A constitute an excavation attachment, which is an example of an attachment.

Boom 4 is driven by boom cylinder 7 and arm 5 is driven by arm cylinder 8 . Also, the bucket 6 is driven by a bucket cylinder 9 . The thumb 6A is an example of a spare attachment, and is driven (opened/closed) by a spare cylinder 6B.

Note that the spare attachment indicates an end attachment other than the bucket 6 among the end attachments that can be attached to the excavator 100 .

The thumb 6A is used as an aid during the excavation work, and is rotatably attached to the tip of the arm 5 so as to face the bucket 6. As shown in FIG. For example, when excavating a rock or a concrete floor, the shovel 100 grips the excavated rock or concrete block by cooperation between the bucket 6 and the thumb 6A.

A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

A boom angle sensor S1 detects the rotation angle of the boom 4 . In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the boom angle, which is the rotation angle of the boom 4 with respect to the upper rotating body 3 . The boom angle is, for example, the minimum angle when the boom 4 is lowered, and increases as the boom 4 is raised.

Arm angle sensor S2 detects the rotation angle of arm 5 . In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4 . The arm angle is, for example, the minimum angle when the arm 5 is closed most, and increases as the arm 5 is opened.

A bucket angle sensor S3 detects the rotation angle of the bucket 6 . In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5 . The bucket angle is, for example, the smallest angle when the bucket 6 is closed most, and increases as the bucket 6 opens.

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are each a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary encoder that detects the rotation angle around the connecting pin. , a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.

The upper revolving body 3 is provided with a cabin 10 as an operator's cab, and an engine 11 and the like as a prime mover of the shovel 100 are mounted. The upper rotating body 3 is also provided with a controller 30, an object detection device 70, an imaging device 80, an orientation detection device 85, a body tilt sensor S4, a turning angular velocity sensor S5, and the like. An operating device 26 and the like are provided inside the cabin 10 . In this document, for the sake of convenience, the side of the upper rotating body 3 to which the boom 4 is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

An electric motor may be used instead of the engine 11 as the prime mover. In this case, a power storage device is also mounted to supply electric power to the electric motor. A power storage device is a device for storing electric power, and is, for example, an electric double layer capacitor, a lithium ion battery, a nickel metal hydride battery, or the like. By controlling the electric motor using the inverter, a main pump 14, which will be described later, is rotationally driven by electric power stored in the power storage device.

Controller 30 is a control device for controlling excavator 100 . In this embodiment, the controller 30 is configured by a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads a program corresponding to each functional element from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.

The object detection device 70 is configured to detect objects existing around the excavator 100 . Further, the object detection device 70 may be configured to calculate the distance from the object detection device 70 or the excavator 100 to the recognized object. Objects include, for example, people, animals, vehicles, construction equipment, buildings, holes, and the like. The object detection device 70 includes, for example, an ultrasonic sensor, millimeter wave radar, stereo camera, LIDAR, distance image sensor, infrared sensor, and the like. In this embodiment, the object detection device 70 includes a front sensor 70F attached to the front end of the upper surface of the cabin 10, a rear sensor 70B attached to the rear end of the upper surface of the upper revolving structure 3, and a left end of the upper surface of the upper revolving structure 3. and a right sensor 70R attached to the right end of the upper surface of the upper swing body 3 .

The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the excavator 100 . For example, it may be configured to be able to distinguish between a person and an object other than a person.

The imaging device 80 is configured to image the surroundings of the excavator 100 . In this embodiment, the imaging device 80 includes a rearward camera 80B attached to the rear end of the upper surface of the upper rotating body 3, a left camera 80L attached to the left end of the upper surface of the upper rotating body 3, and an upper surface of the upper rotating body 3. It includes a right camera 80R mounted on the right end. It may also include a front camera.

The rear camera 80B is positioned adjacent to the rear sensor 70B, the left camera 80L is positioned adjacent to the left sensor 70L, and the right camera 80R is positioned adjacent to the right sensor 70R. A forward camera may be positioned adjacent to the forward sensor 70F.

The image captured by the imaging device 80 is displayed on the display device 33 installed inside the cabin 10 . The imaging device 80 may be configured to display a viewpoint-converted image such as a bird's-eye view image on the display device 33 . The bird's-eye view image is generated, for example, by synthesizing images output from the rear camera 80B, the left camera 80L, and the right camera 80R.

The imaging device 80 may function as an object detection device. In this case, the object detection device 70 may be omitted.

With this configuration, the excavator 100 can display the image of the object detected by the object detection device 70 on the display device 33 . Therefore, when the movement of the driven body is restricted or prohibited, the operator of the excavator 100 can immediately confirm what the object is by looking at the image displayed on the display device 33. can.

The orientation detection device 85 is configured to detect information on the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 (hereinafter referred to as "orientation information"). For example, the direction detection device 85 may be composed of a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3 .

Alternatively, the orientation detection device 85 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper swing body 3 . In a configuration in which the upper rotating body 3 is driven to rotate by a rotating motor-generator, the orientation detection device 85 may be configured by a resolver. The orientation detection device 85 may be arranged, for example, at a center joint provided in relation to the revolving mechanism 2 that achieves relative rotation between the lower traveling body 1 and the upper revolving body 3 .

The body tilt sensor S4 detects the tilt of the excavator 100 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the longitudinal axis and the tilt angle of the lateral axis of the upper rotating body 3 with respect to the horizontal plane. It may be composed of a combination of an acceleration sensor and a gyro sensor. For example, the longitudinal axis and the lateral axis of the upper swing body 3 are orthogonal to each other and pass through a shovel center point, which is one point on the swing axis of the shovel 100 .

The turning angular velocity sensor S5 detects the turning angular velocity of the upper turning body 3 . In this embodiment, it is a gyro sensor. It may be a resolver, a rotary encoder, or the like. The turning angular velocity sensor S5 may detect turning velocity. The turning speed may be calculated from the turning angular velocity.

In the following, any combination of boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, fuselage tilt sensor S4 and turning angular velocity sensor S5 are also collectively referred to as attitude sensors.

The interior of the cabin 10 of this embodiment will be described below with reference to FIG. 2 . FIG. 2 is a top view of the interior of the cabin.

In this embodiment, the operating device 26 includes a left operating lever 26A, a right operating lever 26B, a left travel pedal 26C, a right travel pedal 26D, a left travel lever 26E, a right travel lever 26F and a slide switch 26G. The left operating lever 26A, right operating lever 26B, left travel pedal 26C, right travel pedal 26D, left travel lever 26E, and right travel lever 26F are hydraulic operating levers. The slide switch 26G is an operation device that is supplied with power and outputs an electric signal according to the operation.

A driver's seat 110 is installed in the cabin 10 . A driver's seat 110 includes a seat portion 102 on which an operator sits and a backrest 104 . The driver's seat 110 is a reclining seat, and the inclination angle of the backrest 104 is adjustable. A left armrest 106A is arranged on the left side of the driver's seat 110, and a right armrest 106B is arranged on the right side. Left armrest 106A and right armrest 106B are rotatably supported by backrest 104 .

A left console 120A is arranged on the left side of the driver's seat 110, and a right console 120B is arranged on the right side. Left console 120</b>A and right console 120</b>B are provided to extend along the longitudinal direction of driver's seat 110 . Driver's seat 110 is configured to be slidable in the front-rear direction. Driver's seat 110 may be slidable in the front-rear direction together with left console 120A and right console 120B.

A left operating lever 26A is provided on the front portion of the left console 120A. Similarly, a right operating lever 26B is provided on the front portion of the right console 120B. An operator seated in the driver's seat 110 can operate the left operating lever 26A while holding the left operating lever 26A with the left hand, and can operate the right operating lever 26B while holding the right operating lever 26B with the right hand.

Specifically, an operator seated in the driver's seat 110 can operate the left operating lever 26A with the left hand to drive the arm cylinder 8 and the turning hydraulic motor 2A. An operator seated in the driver's seat 110 can drive the boom cylinder 7 and the bucket cylinder 9 by operating the right operating lever 26B with the right hand. A base portion of each of the left operating lever 26A and the right operating lever 26B is covered with a lever boot 27. As shown in FIG.

A slide switch 26G is arranged on the left operating lever 26A. An operator seated in the driver's seat 110 can operate the slide switch 26G with the left thumb or the like while gripping the left operating lever 26A. Specifically, an operator seated in the driver's seat 110 can operate the slide switch 26G with the left hand to drive the auxiliary cylinder 6B.
The slide switch 26</b>G functions as an operation device that outputs an electric signal according to the operation of an end attachment of a type different from that of the bucket 6 .

A left travel pedal 26C and a right travel pedal 26D are arranged on the floor in front of the driver's seat 110 . An operator seated in the driver's seat 110 can operate the left travel pedal 26C with the left foot to drive the left travel hydraulic motor 1A. An operator seated in the driver's seat 110 can operate the right travel pedal 26D with the right foot to drive the right travel hydraulic motor 1B.

A left travel lever 26E extends upward from the vicinity of the left travel pedal 26C. An operator seated in the driver's seat 110 can drive the left travel hydraulic motor 1A by operating the left travel lever 26E while gripping it with the left hand, in the same manner as the operation via the left travel pedal 26C. A right travel lever 26F extends upward from the vicinity of the right travel pedal 26D. An operator seated in the driver's seat 110 can drive the right travel hydraulic motor 1B by operating the right travel lever 26F while gripping it with the right hand, in the same manner as the operation via the right travel pedal 26D.

A display device 33 for displaying information such as working conditions or operating conditions of the shovel 100 is arranged in the front right portion inside the cabin 10 . An operator seated in the driver's seat 110 can work with the excavator 100 while checking various information displayed on the display device 33 . The display device 33 is also provided with a switch 34 .

A gate lock lever 140 is provided on the left side of the driver's seat 110 (that is, on the side where the passenger door is located). When the gate lock lever 140 is pulled up (unlocked), the hydraulic actuator becomes operable and the operator can operate the excavator 100 . When the gate lock lever 140 is pushed down (locked), the hydraulic actuator becomes inoperable and the operator cannot operate the excavator 100 .

Thus, unless the operator sits on the driver's seat 110 and pulls up the gate lock lever 140, the excavator 100 does not operate, and the safety of workers working around the excavator 100 is maintained.

A window side console 120C is installed on the right side of the right side console 120B of the driver's seat 110 . In FIG. 2, the window side console 120C extends over the entire length of the cabin 10 in the front-rear direction and is provided parallel to the right side console 120B. The display device 33 is installed in the front part of the window side console 120C. An ignition switch 42, a radio 43, and the like are installed on the window-side console 120C. The ignition switch 42, radio 43, etc. may be installed on the left console 120A or the right console 120B.

Left armrest 106A is positioned above left console 120A. Also, the right armrest 106B is arranged on the right console 120B. Specifically, the left armrest 106A is arranged such that at least a portion of the left armrest 106A covers a portion of the left console 120A when viewed from above. The same is true for the right armrest 106B.

A switch panel 41 is arranged between the right armrest 106B and the right operating lever 26B in the right console 120B. The switch panel 41 includes switches 41 a to 41 f and a dial 32 . A switch 35 is provided on the dial 32 .

The switches 41a to 41f arranged on the switch panel 41 are assigned functions that are frequently used while the excavator 100 is in operation. For example, the switches 41a to 41f include a travel changeover switch, an operation mode changeover (attachment changeover) switch, a crane mode changeover switch, and a wiper switch as an ON/OFF switch for equipment. Including light switches and window washer switches.

In the excavator 100 of the present embodiment, when the switch panel 41 is operated to select the preliminary operation mode, the operation of the slide switch 26G is enabled. Further, in this embodiment, when an operation to cancel the selection of the preliminary operation mode is performed, the operation of the slide switch 26G is disabled. In this embodiment, when the selection of the preliminary operation mode is canceled, the operation mode of the excavator 100 is switched to the bucket mode.

Here, the operation mode (state) of the excavator 100 of this embodiment will be described. In this embodiment, the state in which only the bucket 6 is selected as the end attachment by the operator is expressed as a bucket mode (first mode). In other words, the bucket mode is based on the premise that the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motors 1A and 1B, and the turning hydraulic motor 2A are driven, and only the bucket 6 as the end attachment is operated. (first state).

Further, in this embodiment, a state in which the operator selects the bucket 6 and the thumb 6A as end attachments is referred to as a preliminary operation mode (second mode). In other words, in the preliminary operation mode, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the spare cylinder 6B, the left traveling hydraulic motor 1A, the right traveling hydraulic motor 1B, and the turning hydraulic motor 2A are driven to operate the bucket. This state (second state) is based on the assumption that an end attachment other than 6 will be operated. In the preliminary operation mode, the bucket 6 can be operated in addition to the end attachments other than the bucket 6, as shown in FIG.

In this embodiment, when the excavator 100 is in the bucket mode, the operation of the slide switch 26G is disabled. Therefore, in this embodiment, even if the operator unintentionally touches the slide switch 26G in the bucket mode, the spare cylinder 6B is not driven and the thumb 6A operates against the operator's intention. can be prevented.

Next, with reference to FIG. 3, a configuration example of a hydraulic circuit mounted on the excavator 100 of FIG. 1 will be described. FIG. 3 is a diagram showing a configuration example of a hydraulic circuit mounted on an excavator. In FIG. 3, a high-pressure hydraulic line, a pilot line, and an electric control system are indicated by a solid line, a broken line, and a one-dot chain line, respectively.

The main pumps 14L, 14R are variable displacement hydraulic pumps driven by the engine 11 . In this embodiment, the main pump 14L circulates hydraulic oil to the hydraulic oil tank T through the center bypass oil passage 21L passing through each of the control valves 171L to 175L forming the control valve 17. FIG. Further, the main pump 14L can supply working oil to each of the control valves 172L to 175L through a parallel oil passage 22L extending parallel to the center bypass oil passage 21L. Similarly, the main pump 14R circulates hydraulic oil to the hydraulic oil tank T through a center bypass oil passage 21R passing through each of the control valves 171R to 175R forming the control valve 17. FIG. Further, the main pump 14R can supply working oil to each of the control valves 172R to 175R through a parallel oil passage 22R extending parallel to the center bypass oil passage 21R. Hereinafter, the main pump 14L and the main pump 14R may be collectively referred to as the "main pump 14". The same applies to other components configured as a left and right pair.

The control valve 171L is a spool valve that switches the flow of hydraulic fluid in order to supply the hydraulic fluid discharged from the main pump 14L to the left-travel hydraulic motor 1A when the left-travel lever is operated.

The control valve 171R is a spool valve as a straight travel valve. In this embodiment, the control valve 171R has a first valve position and a second valve position. The first valve position has a flow path connecting the main pump 14L and the parallel oil passage 22L and a flow path connecting the main pump 14R and the control valve 172R. The second valve position has a flow path connecting the main pump 14R and the parallel oil passage 22L and a flow path connecting the main pump 14L and the control valve 172R.

The control valve 172L controls the flow of hydraulic fluid to supply the hydraulic fluid discharged from the main pump 14L to the auxiliary cylinder 6B when the slide switch 26G is operated in a state where the operation of the slide switch 26G is valid. It is a switching spool valve.

The control valve 172R is a spool valve that switches the flow of hydraulic fluid to supply hydraulic fluid discharged from the main pump 14 to the right-travel hydraulic motor 1B when the right-travel lever is operated.

The control valve 173L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the main pump 14 to the hydraulic motor 2A for turning when the turning operation lever is operated.

The control valve 173R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 when the bucket control lever is operated.

The control valves 174L and 174R are spool valves that switch the flow of hydraulic fluid to supply the hydraulic fluid discharged from the main pump 14 to the boom cylinder 7 when the boom control lever is operated. The control valve 174L additionally supplies hydraulic oil to the boom cylinder 7 when the boom operating lever is operated in the boom raising direction by a predetermined lever operation amount or more.

The control valves 175L and 175R are spool valves that switch the flow of hydraulic fluid to supply the hydraulic fluid discharged from the main pump 14 to the arm cylinder 8 when the arm control lever is operated. The control valve 175R additionally supplies hydraulic oil to the arm cylinder 8 when the arm operation lever is operated by a predetermined lever operation amount or more.

Hydraulic fluid flowing out from each of the left traveling hydraulic motor 1A, the spare cylinder 6B, the turning hydraulic motor 2A, and the arm cylinder 8 is discharged to the hydraulic fluid tank T through the return oil passage 23L. Similarly, hydraulic fluid flowing out from each of the right traveling hydraulic motor 1B, the bucket cylinder 9, and the boom cylinder 7 is discharged to the hydraulic fluid tank T through the return oil passage 23R. A portion of the hydraulic fluid flowing out from the arm cylinder 8 may be discharged to the hydraulic fluid tank T through the return oil passage 23R.

The center bypass oil passages 21L, 21R are provided with negative control throttles 20L, 20R between the most downstream control valves 175L, 175R and the hydraulic oil tank T, respectively. The negative control is abbreviated as "negative control" below. The negative control throttles 20L and 20R restrict the flow of hydraulic oil discharged from the main pumps 14L and 14R to generate negative control pressure upstream of the negative control throttles 20L and 20R. The controller 30 performs negative control using this negative control pressure. Specifically, the lower the negative control pressure generated by the negative control throttles 20L, 20R, the greater the discharge amount of the main pumps 14L, 14R. When the negative control pressure generated by the negative control throttles 20L, 20R exceeds a predetermined pressure, the discharge amounts of the main pumps 14L, 14R are reduced to a predetermined lower limit.

The relief valve 50 is a valve that controls the pressure in the bottom-side oil chamber of the spare cylinder 6B to a predetermined closing relief pressure or less.

The load check valve 51 is a valve that prevents the working oil in the spare cylinder 6B from flowing back to the parallel oil passage 22L.

The slide switch 26G is one of the operating devices 26 and generates pilot pressure acting on the right pilot port of the control valve 172L and pilot pressure acting on the left pilot port of the control valve 172L.

Further, the slide switch 26G of the present embodiment is supplied with power from the power supply controller 45, and outputs a control signal corresponding to the operation to the power supply controller 45 upon receiving an operator's operation. The slide switch 26G of this embodiment is an example of an operating device controlled by an electrical signal.

The power controller 45 is electrically connected to the power source IGN via the power switch 46, and supplies power to the slide switch 26G. Further, the power supply controller 45 generates a control current corresponding to a control signal output according to the operation amount (sliding amount) of the slide switch 26G, and outputs the control current to the pressure reducing valve 55A.

In this embodiment, when the operator slides the slide switch 26G in one direction from the neutral position, the thumb 6A is driven in the closing direction, and when the operator slides in the other direction, the thumb 6A is driven in the opening direction. Thus, in this embodiment, the driving direction and driving speed of the corresponding actuator can be controlled based on the sliding direction and operation amount (sliding amount) of the slide switch 26G.

In this embodiment, when the power switch 46 is turned on, the power controller 45 and the power source IGN are electrically connected, and power is supplied to the power controller 45 and the slide switch 26G. Then, the slide switch 26G can output a control signal corresponding to the operation to the power supply controller 45, and the power supply controller 45 can output a control current corresponding to the control signal to the pressure reducing valve 55A. It becomes possible.

Further, in this embodiment, when the power switch 46 is turned off, the connection between the power controller 45 and the power source IGN is cut off, and power supply to the power controller 45 and the slide switch 26G is stopped.

Therefore, the slide switch 26G does not output a control signal even if the operation is accepted, and the operation to the slide switch 26G becomes invalid.

The power switch 46 of this embodiment is controlled to be turned on and off according to a signal from the controller 30 . Specifically, the power switch 46 is turned on by the controller 30 when an operation to select the preliminary operation mode is performed on the switch panel 41, and turned off by the controller 30 when the selection of the preliminary operation mode is canceled and the bucket mode is entered. be done.

In this embodiment, for example, when the switch 41b provided on the switch panel 41 is pressed in the bucket mode, the preliminary operation mode may be selected. Further, in the present embodiment, when the switch 41b is pressed again while the preliminary operation mode is selected, the selection of the preliminary operation mode may be canceled. The switch 41b of this embodiment is an example of a changeover switch that switches between the bucket mode and the preliminary selection mode.

55 A of pressure-reduction valves are valves which adjust the pilot pressure which acts on 172 L of control valves according to the magnitude|size of the control current output from the power supply controller 45. FIG. The magnitude of the control current output from the power controller 45 corresponds to the amount of operation of the slide switch 26G.

The pressure sensors S1L and S1R detect negative control pressures generated upstream of the negative control throttles 20L and 20R, and output the detected values to the controller 30 as electrical negative control pressure signals.

The pressure sensors S2L and S2R are examples of pump state detectors that detect the load of the hydraulic pumps. In this embodiment, the pressure sensors S2L and S2R detect the discharge pressure of the main pumps 14L and 14R and output the detected values to the controller 30 as electrical discharge pressure signals.

Pressure sensor S6 is an example of a state detector that detects the state of bucket 6 . In this embodiment, the pressure sensor S6 detects the pressure of the bottom-side oil chamber of the spare cylinder 6B (hereinafter referred to as "thumb bottom pressure"), and sends the detected value to the controller 30 as an electric thumb bottom pressure signal. output.

The pressure sensor S7 is one of the pressure sensors 29, and measures the pilot pressure (hereinafter referred to as " ) is detected, and the detected value is output to the controller 30 as an electrical boom raising pilot pressure signal.

The controller 30 receives outputs from the pressure sensor 29, S1L, S1R, S2L, S2R, S6, S7, etc., and executes a program for adjusting the discharge amount of each of the main pumps 14L, 14R, a program for adjusting the bucket closing pilot pressure, and the like. Let the CPU execute.

When both the hydraulic actuator (eg, spare cylinder 6B) associated with the main pump 14L and the hydraulic actuator (eg, boom cylinder 7) associated with the main pump 14R are continuously operated with full lever/full pedal, the controller 30 The discharge amount L1 of the main pump 14L and the discharge amount L2 of the main pump 14R are made the same. Hereinafter, this method will be referred to as a "discharge amount tuning method". Full lever/full pedal means that the operation amount is 80% or more when the operation amount in the neutral state of the lever/pedal is 0% and the operation amount in the maximum operation state is 100%. do.

As described above, in this embodiment, in the bucket mode, the operation of the slide switch 26G is disabled and the spare cylinder 6B is not driven. Therefore, the bucket mode in this embodiment can be said to be a state in which the end attachment is operated only by the hydraulic operating lever.

Further, in the present embodiment, hydraulic oil is not supplied to the spare cylinder 6B in the bucket mode. In other words, the flow rate of hydraulic oil supplied to the actuators (boom cylinder 7, arm cylinder 8, bucket cylinder 9, traveling hydraulic motor 1A, right traveling hydraulic motor 1B, turning hydraulic motor 2A) driven in the bucket mode is No limitation, therefore, in this embodiment, the operability in the bucket mode can be improved.

Further, in this embodiment, in the preliminary operation mode, the operation of the slide switch 26G is enabled, and the preliminary cylinder 6B is also driven. Therefore, the preliminary operation mode of the present embodiment can also be said to be a state in which the end attachment is operated using the hydraulic operation lever and the operation device that outputs an electric signal according to the operation. In other words, in the preliminary operation mode of the present embodiment, an end attachment different from the bucket 6 is operated using an operation device prepared separately from the boom 4, the arm 5, the bucket 6, and the operation lever that operates the swing. It can be called a state.

The operation of the shovel 100 of this embodiment will be described below with reference to FIG. FIG. 4 is a diagram for explaining the operation of the excavator.

When the excavator 100 of the present embodiment receives an operation to select the preliminary operation mode through the switch panel 41 in the bucket mode (step S401), it starts supplying power to the slide switch 26G (step S402).

Specifically, the excavator 100 turns on the power switch 46, connects the power controller 45 and the power source IGN, supplies power to the slide switch 26G via the power controller 45, and enables the operation of the slide switch 26G. do.

When the switch panel 41 receives an operation to cancel the selection of the preliminary operation mode (step S403), the excavator 100 returns to the bucket mode and cuts off the power supply to the slide switch 26G (step S404).

As described above, in this embodiment, when the excavator 100 is in the bucket mode, power supply to the slide switch 26G for operating the thumb 6A is stopped to disable the operation. Therefore, according to the present embodiment, it is possible to prevent the thumb 6A from malfunctioning when the operator unintentionally touches the slide switch 26G during operation in the bucket mode.

In the present embodiment, the end attachment of the excavator 100 is a thumb bucket including the bucket 6 and the thumb 6A, but it is not limited to this. End attachments may be, for example, breakers, grapples, tiltrotators, etc., and are examples of auxiliary attachments.

For example, a shovel 100 to which a grapple is attached as an end attachment will be described. In this excavator 100, the grapple is rotated by the bucket cylinder 9 in the bucket mode. In the preliminary operation mode, the claws of the grapple are opened and closed by the preliminary cylinder 6B.

The grapple claw may be operated, for example, by a spare pedal as a grapple open/close pedal, and the grapple open/close pedal, like the slide switch 26G of the present embodiment, receives a command corresponding to operation when power is supplied. It may output the value as an electrical signal.

In such an excavator 100, power supply to the grapple open/close pedal may be stopped in the bucket mode, and power may be supplied to the grapple open/close pedal only when the preliminary operation mode is selected. By doing so, it is possible to disable the operation of the grapple opening/closing pedal in the bucket mode, and enable the operation of the grapple opening/closing pedal only in the preliminary operation mode.

Therefore, in the bucket mode, it is possible to prevent the grapple claw from malfunctioning when the operator erroneously operates the grapple opening/closing pedal. In addition, it is possible to improve the operability of the grapple operation in the bucket mode.

Although preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. can be added.

11 Engine 14 Main Pump 26G Slide Switch 30 Controller 45 Power Controller 46 Power Switch 100 Excavator

Claims (7)

a changeover switch for switching between a first state on the assumption that only the bucket is operated and a second state on the assumption that an end attachment of a different type from the bucket is operated;
an operation device that outputs an electric signal according to an operation on an end attachment of a type different from the bucket;
A working machine, wherein in the first state, the operation of the operating device is disabled. 2. The working machine according to claim 1, wherein the changeover switch enables the operation of the operating device when the first state is switched to the second state. 3. The working machine according to claim 1, wherein when the first state is switched to the second state, power is supplied to the operating device to enable the operation of the operating device. . 4. The operating device according to any one of claims 1 to 3, wherein when the second state is switched to the first state, the operation of the operating device is disabled by stopping power supply to the operating device. work machine described in paragraph 1. The working machine according to any one of claims 1 to 4, wherein the operating device is a slide switch or a spare pedal. The working machine according to any one of claims 1 to 5, further comprising a power controller that controls supply and stop of power supply to said operating device according to an operation on said changeover switch, and a power switch. A changeover switch for switching between a first state in which an end attachment is operated and a second state in which another end attachment different in type from the end attachment is operated by an operating device that outputs an electric signal according to the operation. and,
and the operation device,
An excavator that disables an operation to the operating device in the first state.

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