JP2885550B2 - Remote control device for crawler type work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for remotely controlling each operation of a crawler-type work machine such as a crane and a work platform.

[0002]

2. Description of the Related Art In a crawler-type working machine, for example, a hydraulic crawler crane, a swing motor, a winch motor, a boom raising / lowering cylinder, a boom telescopic cylinder, and left and right traveling motors are provided as actuators. Work operations such as winch hoisting and unwinding for raising and lowering a load, boom up / down, and expansion / contraction are performed, and traveling operation is performed.

Conventionally, in a remote control device (wireless system and wired system) for remotely controlling each of such operations, as shown in Japanese Utility Model Publication No. 60-16488, an operation unit (a transmitter is used in a wireless system). In the case of a wired system, a separate command switch is provided for each operation in an operation box, and the operation of each actuator is controlled by the operation of each command switch.

[0004]

For example, in a crawler crane, for example, a so-called combined operation of simultaneously performing a plurality of types of operations is often performed.

[0005] Of these, there is no problem with the combined operation of work operations such as turning and boom expansion and contraction, and hoisting and boom raising and lowering, but the combined operation of traveling and each work operation is problematic in that load swings and unloading are likely to occur. Therefore, it is desirable to avoid it.

However, according to the conventional remote control device, separate command switches are provided for each operation including traveling as described above, and both can be operated at the same time. In some cases, a combined operation including traveling such as traveling and boom expansion and contraction, and traveling and unwinding is performed, and measures for this point have been desired.

On the other hand, in a work machine having many types of operations such as a crawler crane, the number of command switches is large, so that the operation section becomes large, which makes it inconvenient to carry and operate.

It is to be noted that the above-mentioned dangerous combined operation is prevented,
In addition, it is conceivable to divide the operation unit into a work system and a traveling system in order to avoid an increase in size of the operation unit. However, in this case, since these two operation units must be used properly, the operation becomes very troublesome as a practical problem.

Accordingly, the present invention provides a remote control device for a working machine which can reliably prevent a combined operation of traveling and working operation, and can reduce the number of switches of the operating unit to downsize the operating unit. To provide.

[0010]

SUMMARY OF THE INVENTION According to the present invention, a crawler-type work machine main body which performs a traveling operation and a plurality of types of operation operations by a plurality of actuators including left and right traveling motors is remotely controlled from an operation unit. And a remote control device for a work machine controlled by the following.

(I) A plurality of command switches for selecting and instructing each of the above-mentioned operations are provided to the operation unit, one of which is used for both the left traveling operation and one work operation instruction, and the other is for the right traveling operation. Provided in a state that is also used as another work operation command.

(II) The operation unit is provided with a mode changeover switch for selecting an operation mode from a traveling mode and a work mode.

(III) In a state in which the traveling mode is selected by the mode changeover switch, only the traveling operation command by the two command switches which are shared among the operation commands by the respective command switches is valid, and the other operation commands are invalid. In the work mode, only the work operation command by each command switch including the work mode by the shared command switch is made valid, and the traveling operation command is made invalid.

(IV) The work machine body is provided with an actuator control section for causing the actuator to perform the command operation validated.

[0015]

According to the above arrangement, when the traveling mode is selected by the mode changeover switch of the operation unit, only the traveling operation is possible and no work operation is performed, and when the operation mode is selected, the traveling operation is not performed. That is, traveling and work operations are always performed separately, and these combined operations are reliably prevented.

Further, since the two command switches are used both for commanding the traveling operation and for commanding the work operation, the number of switches can be reduced. For this reason, only one operation unit is required, and the operation unit is small, convenient to carry, and easy to operate.

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.

First Embodiment (See FIGS. 1 to 4) FIG. 4 shows a main body of a remotely controlled crawler crane.

In FIG. 1, reference numeral 1 denotes left and right crawlers 2 and 3.
The upper revolving unit 4 is mounted on the traveling unit 1, and a telescopic boom 5 is mounted on the upper revolving unit 4 so as to be able to move up and down around a boom foot pin 6.

At the end of the boom 5, a hanging hook 7 is hung by a hanging rope 8, and the hanging rope 8 is
Is driven up and down by a winch 9 provided at the bottom.

The crane body includes a boom retractable cylinder 10, a boom telescopic cylinder, left and right traveling motors for driving the left and right crawlers 2, 3, a swing motor for swinging the upper swing body 4, and a winch 9. Each hydraulic actuator (both not shown) of the hoist motor that drives the hoist is provided, and these are respectively controlled by control valves.

FIG. 3 shows a hydraulic control circuit of each actuator.

11 is a hoisting motor, 12 is a left running motor,
13 is a right running motor, 14 is a boom telescopic cylinder, 15
Reference numeral denotes a swing motor, and these six types of actuators including the boom hoist cylinder 10 are individually controlled by electromagnetic switching type control valves (hereinafter, referred to as first to sixth control valves) 16, 17, 18, 19, 20, 21. The operation is controlled. Reference numeral 22 denotes a hydraulic pump as a hydraulic pressure source.

S11 and S12 are solenoids on both sides of the first control valve 16, S21 and S22 are solenoids on both sides of the second control valve 17, S31 and S32 are solenoids on both sides of the third control valve 18, S41 and S41.
S42 is a solenoid on both sides of the fourth control valve 19, S51 and S52 are solenoids on both sides of the fifth control valve 20, S61 and S62 are solenoids on both sides of the sixth control valve 21, and shows the configuration of the actuator control unit 23 including these. FIG. 1 shows the configuration of a transmitter 24 as an operation unit for remotely operating the actuator control unit 23 by a wireless method.

The transmitter 24 includes a power switch 25 and first to fourth command switches (selection switches having operation positions A and B) 26 and 27 for selecting and instructing the traveling of the crane main body and each work operation. , 28, 29, and a mode changeover switch 30, and operation signals of these switches 26 to 30 are sent from the antenna 32 of the transmission unit 31 to the actuator control unit 23 of FIG.

Of the command switches 26 to 29, the first command switch 26 is used exclusively for the boom up / down command in the work operation, and the fourth command switch 29 is used exclusively for the turning command.

On the other hand, the second command switch 27 is used for winding and left running commands, and the third command switch 28 is also used for boom expansion and contraction and right running commands.
When 0 is switched between the work mode position A and the travel mode position B, only one of these travel operation and work operation commands is validated in the actuator control unit 23.

When the work mode is selected by the mode changeover switch 30, the work mode indicator 3
When the traveling mode is selected, the traveling mode indicator lamp 34 is lit to clearly indicate the selected mode to the operator.

Next, the configuration of the actuator control unit 23 will be described.

In FIG. 2, a receiving unit 35 receives an operation command signal from the transmitter 24 via a receiving antenna 36, and ten relays 37 to 46 are selected according to the command signal received by the receiving unit 35. Operate.

The transmitting unit 3 in the transmitter 24 shown in FIG.
1 and terminals corresponding to the corresponding ones of the receiving unit 35 in the actuator control unit 23 in FIG.
7, 38, one of the relays 39, 40 is operated by operating the second command switch 27, one of the relays 41, 42 is operated by operating the third command switch 28, and the relay 43, 42 is operated by operating the fourth command switch 29. One of the 44 operates.

When the mode changeover switch 30 is operated to the operation mode position A, the relay 45 is operated, and when the mode changeover switch 30 is operated to the traveling mode position B, the relay 46 is operated.

The contacts which are closed by the operation of each of the relays 37 to 46 have branch codes "1" or "2" as relay codes.
The relation between the operation of each switch, the relay operated by the switch, and the contact to be closed is shown in Table 1.

[0034]

[Table 1]

Table 2 shows the relationship between the operation mode selected by the mode changeover switch 30, the solenoid that can be energized by operating the command switch at this time, and the possible crane operation.

[0036]

[Table 2]

As shown in the above tables, when the operation mode is selected by the mode changeover switch 30, the first, second, and second control valves 16 to 21 are controlled based on the operation of the command switches 26 to 29. Only the fifth and sixth control valves 16, 17, 20, 21 can be operated, and only the work operations of boom up / down, hoisting / lowering, boom expansion / contraction, and turning can be performed.

On the other hand, when the driving mode is selected,
Only the second and third control valves 18 and 19 can be operated, and only the left or right traveling operation can be performed.

That is, the combined operation of the traveling operation and the work operation can be reliably prevented while only one operation unit 24 is provided.

Since the second and third command switches 27 and 28 of the command switches 26 to 29 are used both for commanding a traveling operation and for commanding a work operation, separate dedicated switches are provided for each operation. Compared to the case where a command switch is provided,
The number of command switches can be reduced by two, and the total number of switches is reduced by one with the addition of the mode switch 30. For this reason, the operation unit 24 is downsized, which is convenient for carrying and operating.

Second Embodiment (See FIG. 5) In the second embodiment, a wired remote control device is shown.

Reference numeral 47 denotes an operation unit, and reference numeral 48 denotes an actuator control unit on the crane main body side, which is connected by a cable 49, and signals are transmitted and received through the cable 49.

As in the first embodiment, the operation unit 47 is provided with a power switch 50, first to fourth command switches 51 to 54, a mode changeover switch 55, a work mode indicator 56 and a running mode indicator 57. ing.

The second and third command switches 52 and 53 of the command switches 51 to 54 have two contact mechanisms 52a and 52b and 53a and 53b, respectively. It has become.

One of the contact mechanisms 52a, 53a
Are connected to the working mode position A of the mode changeover switch 55 together with the first and fourth command switches 51 and 54, and the other contact mechanisms 52b and 53b are connected to the running mode position B of the switch 55, respectively.

On the other hand, the actuator control unit 48
When the operation mode is selected by the mode changeover switch 55, each of the command switches 51 to 5 is constituted by only the solenoid of each of the control valves 16 to 21.
4, the solenoids S11, S12, S2
1, S22, S51, S52, S61, and S62 become operable, and when the traveling mode is selected, S3
Only S1, S32, S41, and S42 become operable.

As a result, as in the case of the first embodiment,
The running operation and the work operation are always performed separately from each other, so that the combined operation is prevented.

In the case of the second embodiment, the number of contact mechanisms of the second and third command switches 52 and 53 which are used both for the command of the traveling operation and the command of the work operation is increased. Since the increase is negligible, unlike the case where the number of command switches is increased, there is no possibility that the entire operation unit 47 becomes large.

The present invention is not limited to the crawler crane exemplified in the above embodiment, but can be applied to all types of crawler-type work machines such as a crawler-type aerial work vehicle and excavator.

[0050]

As described above, according to the present invention, the operation mode of the work machine is switched between the travel mode and the work mode by the mode changeover switch. When the travel mode is selected, only the travel operation is possible. The operation is not performed, and when the work mode is selected, the running operation is not performed. Therefore, the running and the working operation are always performed separately, and the combined operation thereof is reliably prevented.

Further, since the two command switches are used for both the run command and the work command, the number of switches can be reduced. For this reason, only one operation unit is required, and the operation unit is small, convenient to carry, and easy to operate.

[Brief description of the drawings]

FIG. 1 is a circuit configuration diagram of an operation unit in a remote control device according to a first embodiment of the present invention.

FIG. 2 is a circuit configuration diagram of an actuator control unit in the device.

FIG. 3 is a hydraulic circuit diagram of a crawler crane main body remotely controlled by the same device.

FIG. 4 is a perspective view of the crane main body.

FIG. 5 is a circuit configuration diagram showing a remote control device according to a second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Boom raising / lowering cylinder 11 Hoisting motor 12 Left running motor 13 Right running motor 14 Boom telescopic cylinder 15 Rotating motor 16-21 Control valve 23,48 Actuator controller 24,47 Operating part 26,52 First command for boom raising / lowering command Switches 27, 53 Second command switch for hoisting / unwinding and left running command 28, 54 Third command switch 29, 55 for boom expansion / contracting and right running command Fourth command switch for turning command 30, 56 Mode switching switch

──────────────────────────────────────────────────続 き Continued on the front page (56) References JP-A-61-235397 (JP, A) JP-A 51-111670 (JP, U) JP-A 60-90289 (JP, U) JP-A 60-90289 16488 (JP, U) Jikken 48-22939 (JP, Y1) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 13/40 B66C 23/88 B66F 9/00-11/04

Claims (1)

(57) [Claims] 1. A crawler-type work machine in which a crawler-type work machine main body that performs a travel operation and a plurality of types of work operations by a plurality of actuators including left and right travel motors and controls each of the above-mentioned operations by remote control from an operation unit. A remote control device for a crawler-type work machine, comprising the following configuration. (I) A plurality of command switches for selecting and instructing each of the above operations are provided to the operation unit, one of which is used both for the left traveling operation and the one work operation command, and the other for the right traveling operation and the other one. It should be provided in a state that is also used for two work operation commands. (II) The operation unit is provided with a mode switch for selecting an operation mode from the traveling mode and the work mode. (III) In a state in which the traveling mode is selected by the mode changeover switch, of the operation commands by the respective command switches, only the traveling operation command by the above two shared command switches is valid, and the other operation commands are invalidated, and In the mode, only the work operation command by each command switch including the work mode by the shared command switch is made valid and the traveling operation command is made invalid. (IV) The work machine main body is provided with an actuator control unit for causing the actuator to perform the validated command operation.