JP2864426B2 - Construction machine pattern controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pattern control device for a working machine mounted on a construction machine such as a hydraulic shovel or a working vehicle.

2. Description of the Related Art FIG. 4 is a main part circuit diagram showing a conventional hydraulic circuit of a working machine for a hydraulic shovel. In the figure, 1 is a body of a hydraulic shovel, 2 is a working machine, 3 is a boom of the working machine 2, 4 is an arm, 5 is a bucket which is a working tool, 6, 7, 8
Is a pin connecting portion which is a bending portion of the working machine, 12 is a boom cylinder, 13 is an arm cylinder, and 14 is a bucket cylinder.
15 is a pilot switching valve for switching the operating direction of the arm cylinder 13, 16 and 17 are pilot pressure receiving parts on the left and right of the pilot switching valve 15, 18 is a main pump, 19 is an oil tank, 20 is a remote control valve, and 21 is a remote control valve 20. An operation lever, 22 and 23 are pilot valves, 24 is a pilot pressure source, and 25 is a relief valve.

Next, a conventional hydraulic circuit and an embodiment thereof will be described with reference to FIG. In the hydraulic excavator, a boom 3, an arm 4, and a bucket 5 are connected to a front portion of a vehicle body 1 so as to be able to perform a bending operation.

Next, a case where the work machine 2 is operated will be described. For ease of explanation, a case where the arm 4 is used as the work machine will be described. When the operation lever 21 of the remote control valve 20 is operated from the neutral position to the position A or position B, the pilot pressure from the pilot pressure source 24
It acts on the pilot pressure receiving portion 16 or 17 of the pilot switching valve 15 via 22 or 23 and the oil passage 27 or 28. The pilot switching valve 15 switches to the C position or the D position. Then, the pressure oil from the main pump 18 is supplied to the rod-side oil chamber or the head-side oil chamber of the arm cylinder 13 through the C-position or the D-position of the pilot switching valve 15 and the oil path 29 or 30, where the arm cylinder 13 Performs a reducing operation or an extending operation. In the above case, when the operation lever 21 is repeatedly operated left and right (that is, in the direction of the position A and the direction of the position B), the arm cylinder 13 repeatedly performs the expansion and contraction operation. As shown in FIG. 4, the arm 4 is repeatedly rotated at an amplitude angle of θ1, θ2 in the front-rear direction with respect to the amplitude neutral angle α (the boom 3 is fixed and the boom 3 is a reference). Perform the action.

Therefore, for example, a skeleton bucket (not shown) can be attached to the work machine as a work tool, and the debris work can be performed by repeatedly rotating the arm 4 in the front-rear direction.

Problems to be Solved by the Invention In a hydraulic excavator, a working machine mounted on a front portion of the excavator excavates a hard soil, drives a sheet pile, removes debris, removes a slope (road surface,
(Including the upper surface of the backfill groove), or work to remove mud from the bucket. In the work described above, either the boom arm or the bucket cylinder mounted on the working machine is repeatedly extended and retracted to move the boom, arm, bucket, etc. of the working machine within a required amplitude angle range. This was a simple operation of manually rotating the vehicle repeatedly in the front-rear direction at the required rotation speed.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a hydraulic circuit that can automatically and repeatedly operate the hydraulic cylinder repeatedly instead of manually.

Means for Solving the Problems A construction machine in which a work machine such as a boom, an arm, and a work tool is connected to a front portion of a vehicle body so as to be able to bend and rotate, and the work machine is driven to rotate by a hydraulic actuator for the work machine. , Comprising a controller and pattern switching means connected to the controller, wherein the pattern switching means is capable of selectively setting a plurality of operation patterns of a work machine set in advance, and the work machine hydraulic actuator The controller can automatically and repeatedly rotate the work machine at the expansion speed, the contraction speed and the amplitude angle set by the pattern switching means. I made it.

Furthermore, a pilot switching valve for controlling the operation of the working machine hydraulic actuator, an oil passage communicating a pilot pressure receiving portion provided on the pilot switching valve with a pilot pressure source, and an oil passage provided in the oil passage. An electromagnetic switching valve, and an electromagnetic proportional pressure reducing valve disposed in the oil passage, wherein the electromagnetic switching valve is switched by a pattern command signal from the controller, so that the pilot pressure receiving portion and the pilot pressure Switching the state of oil passage communication with the source in the opposite direction to automatically and repeatedly rotate the work machine,
The electromagnetic proportional pressure reducing valve, by increasing or decreasing the amount of pressurized oil supplied from the pilot pressure source to the pilot pressure receiving unit by a pattern command signal from the controller,
The extension speed and the contraction speed of the hydraulic actuator are set.

Further, the pattern switching means sets a pattern operation switch for selecting an operation pattern of the work machine, a turning speed setting device for setting a turning speed of the work machine, and sets an amplitude angle of the work machine. And an amplitude angle setting device.

Action b. Before operating the pattern operation switch constituting the pattern switching means, the required rotation speed and amplitude angle of the work machine are similarly set by the rotation speed setting device and the amplitude angle setting device constituting the pattern switching device, respectively. Keep it. With it,
The work machine is held at the position of the required amplitude neutral angle. In the above state, the pattern operation switch is turned on. From the controller, a command current that is a rotation speed command signal to the electromagnetic proportional pressure reducing valve, a command voltage that is a pattern command signal to the electromagnetic switching valve, and a pattern command signal to the electromagnetic switching valve. The command current is output at the same time. Therefore, the electromagnetic switching valve is first switched to one of the left and right positions. The pilot pressure from the pilot pressure source passes through the electromagnetic switching valve and acts on one of the left and right pilot pressure receiving portions of the pilot switching valve. Since the pilot switching valve performs the switching operation, the hydraulic cylinder, which is the hydraulic actuator for the work implement, performs the extension or contraction operation.

B. When the working machine, for example, an arm is rotated by the hydraulic cylinder in the above paragraph c and reaches a required angle from the set amplitude neutral angle, the controller outputs the next command voltage to the electromagnetic switching valve. Since the electromagnetic switching valve switches to the other position on the opposite side, the pilot switching valve also switches, and the arm operates by reversing the direction of rotation. In this case, the current value from the controller to the electromagnetic proportional pressure reducing valve (this current value is a current value for making the front-rear rotation speed of the working machine substantially equal during the reciprocation of the hydraulic cylinder) changes. In response to the change in the value, the proportional pressure reducing valve operates to adjust the pilot pressure from the pilot pressure source. Therefore, the extension speed and the contraction speed of the hydraulic cylinder are adjusted, and the rotational speed of the arm in the front-rear direction can be made equal, for example.

C. To stop the repetitive rotation of the arm, the pattern operation switch is turned off.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a pattern control device 31 according to the present invention.
FIG. In the figures, the same reference numerals are given to components using the same components as the prior art. Reference numerals 9, 10, and 11 denote angle sensors as angle detecting means attached to the pin coupling portions 6, 7, and 8, respectively, 32 denotes an electromagnetic switching valve, L and R denote solenoids on the left and right sides of the electromagnetic switching valve 32, and 33 denotes an electromagnetic switching valve. Proportional pressure reducing valve,
34 is a solenoid of the electromagnetic proportional pressure reducing valve 33, 35 is a controller, 37, 38, and 39 are pattern operation switches as pattern switching means, a rotation speed setting device (a so-called volume type device), and an amplitude angle setting device. , 40 and 41 are shuttle valve respectively. FIG. 2 is a flowchart showing a control function of the controller 35 in the embodiment for operating the arm of the working machine. FIG. 3 is a table showing a command current, which is a rotation speed command means, outputted from the controller 35, a command voltage, which is a pattern command signal, and an angle of the arm 4 within a rotation range.

Next, the configuration and function of the pattern control device 31 according to the present invention will be described with reference to FIGS. As an embodiment of the present invention in which the angle sensors 9, 10, 11 are attached to the pin coupling portions 6, 7, 8 of the work machine 2, a case where the arm 4 is operated will be described. An electromagnetic switching valve 32 and an electromagnetic proportional pressure reducing valve 33 are provided in an oil passage that communicates the pilot pressure receiving portions 16 and 17 of the pilot switching valve 15 with the pilot pressure source 24. Also, the controller 35 has a pattern operation switch 37
And setting devices 38 and 39 for setting the rotation speed and the amplitude angle θ of the arm 4 respectively. The command signal is output to the electromagnetic switching valve 32 and the electromagnetic proportional pressure reducing valve 33 in accordance with the angle detected by the controller 35 when the pattern operation switch 37 is operated, whereby the arm 4 is set to the set rotation speed. And the pattern operation is performed at the amplitude angle.
Therefore, before operating the pattern operation switch 37, first, the required rotation speed and the amplitude angle (referred to as θ) of the arm 4 are set in the setting devices 38 and 39, respectively. At the same time, the posture of the arm 4 is maintained at a position of a required amplitude neutral angle (α ′). In this state, the operation lever 21 of the remote control valve 20 is kept at the neutral position, and the pattern operation switch 37 is turned on. The controller 35 outputs a command current to the electromagnetic proportional pressure reducing valve 33 and a command voltage to the electromagnetic switching valve 32 at the same time. Therefore, first, one of the solenoids (for example, L) of the electromagnetic switching valve 32 is energized, and the electromagnetic switching valve 32 switches to the position E. The pilot pressure from the pilot pressure source 24 is controlled by the oil passages 26 and 42, the electromagnetic proportional pressure reducing valve 33, the oil passage 43, the position of the electromagnetic switching valve 32, the oil passage 4
4. Acts on the pilot pressure receiving unit 17 via the shuttle valve 41. Since the pilot switching valve 15 operates to switch to the two positions, the arm cylinder 13 performs the extending operation. When the arm 4 reaches a required angle, for example, θ / 2 from the set amplitude neutral angle α ′, the controller 35 sends the electromagnetic switching valve 32
, The next command voltage is output. The electromagnetic switching valve 32
The position is switched to the opposite F position. The pilot pressure from the pilot pressure source 24 is supplied to the oil passages 26 and 42, the electromagnetic proportional pressure reducing valve 33,
43, acts on the pilot pressure receiving unit 16 via the position of the electromagnetic switching valve 32, the oil passage 45, and the shuttle valve 40. Since the pilot switching valve 15 performs the switching operation to the position C, the arm cylinder 13 performs the reducing operation. That is, the arm 4 operates by reversing its rotation direction. As described above, after the pattern operation switch 37 is turned on, the arm 4 starts to move in one of the front and rear directions, and when it reaches half the amplitude angle θ, the arm 4 moves in the opposite direction to the one direction. Reversing rotation in the direction. Then, when it has moved by the angle θ from the reverse rotation start point, it reversely rotates again and repeats this movement automatically.

In the above case, the command current output from the controller 35 acts on the solenoid 34 of the electromagnetic proportional pressure reducing valve 33.
The electromagnetic proportional pressure reducing valve 33 operates in accordance with the change in the command current, and adjusts the pilot pressure from the pilot pressure source 24. Therefore, the extension speed and the contraction speed of the arm cylinder 13 are adjusted, and the rotation speed of the arm 4 can be made the same.
When stopping the repetitive rotation of the arm 4,
The pattern operation switch 37 is turned off.

The pattern control device according to the present invention can be applied not only to the arm 4 of the work machine but also to the boom 3 and the bucket 5. Further, the present invention can be applied to a construction machine having an electric remote control valve (not shown).

EFFECTS OF THE INVENTION In the pattern control device according to the present invention, a working machine excavates a hard soil, drives a sheet pile, removes gravel, presses a slope (including a road surface, an upper surface of a backfill groove, etc.), or performs a work of dropping a bucket. When the operation is performed, the working machine hydraulic actuator for operating the working machine, for example, a hydraulic cylinder, for example, is repeatedly extended and contracted by operating the pattern switching means, so that it can be automatically rotated according to the intended use.

Therefore, in the construction machine having the pattern control device according to the present invention, the required rotation speed and amplitude angle are set,
Since the working machine can be automatically rotated repeatedly,
It reduces driver fatigue and improves workability and work efficiency such as hard soil excavation, sheet pile driving, slope pressing and debris work.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a circuit diagram showing a pattern control device according to the present invention, FIG. 2 is a flowchart showing a control function of a controller, and FIG. FIG. 4 is a main part circuit diagram showing a conventional hydraulic circuit of the working machine. 2… Work machine · 4… Arm 9,10,11… Angle sensor 13… Arm cylinder 15… Pilot switching valve 24… Pilot pressure source 31… Pattern controller 32 …… Electromagnetic switching valve 33… … Electromagnetic proportional pressure reducing valve 35 …… Controller 37 …… Pattern operation switch 38,39 …… Setting unit range

Claims (3)

(57) [Claims] 1. A construction machine wherein a work machine such as a boom, an arm, and a work tool is connected to a front portion of a vehicle body such that the work machine can be bent and rotated, and the work machine is driven to rotate by a hydraulic actuator for the work machine. A controller and a pattern switching unit connected to the controller, wherein the pattern switching unit is capable of selecting and setting a plurality of operation patterns of the working machine set in advance, and extending the hydraulic actuator for the working machine. The speed, the reduction speed, and the amplitude angle of the work machine can be set, and the controller automatically and repeatedly rotates the work machine at the expansion speed, the reduction speed, and the amplitude angle set by the pattern switching unit. A pattern control device for a construction machine. 2. A pilot switching valve for controlling the operation of the hydraulic actuator for a working machine, an oil passage communicating a pilot pressure receiving portion provided on the pilot switching valve with a pilot pressure source, and an oil passage interposed in the oil passage. A solenoid-operated switching valve, and an electromagnetic proportional pressure-reducing valve disposed in the oil passage, wherein the solenoid-operated switching valve is switched by a pattern command signal from the controller, and the pilot pressure receiving portion is By switching the oil passage communication state with the pilot pressure source in the opposite direction to automatically and repeatedly rotate the work machine, the electromagnetic proportional pressure-reducing valve receives the pilot pressure from the pilot pressure source according to a pattern command signal from the controller. By increasing or decreasing the amount of pressurized oil supplied to the pressure receiving section,
The pattern control device for a construction machine according to claim 1, wherein an extension speed and a contraction speed of the hydraulic actuator are set. 3. A pattern operating switch for selecting an operation pattern of the working machine, a turning speed setting device for setting a turning speed of the working machine, and an amplitude angle of the working machine. 3. The pattern control device for a construction machine according to claim 1, further comprising an amplitude angle setting device for setting.