JP3790033B2 - Operation drive device for 2-piece boom type work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a two-piece boom type work machine having an articulated work front including a two-piece boom, and in particular, a two-piece that determines the shape of the work front by changing the posture of the second boom of the work front. The present invention relates to an operation drive device for a boom type work machine.
[0002]
[Prior art]
A general hydraulic excavator boom is divided into a first boom and a second boom, and the second boom is attached to the first boom so as to be pivotable in the vertical direction. There is a two-piece boom type hydraulic excavator that can be expanded to expand the work range. Conventionally, in this two-piece boom type hydraulic excavator, a dedicated operation lever or operation pedal is provided as an operation means for the second boom. The operator operates the operating lever or the operating pedal immediately before the start of work, drives the second boom cylinder to change the posture of the second boom relative to the first boom, and thus the shape of the work front suitable for the work form Determine and do the work.
[0003]
Further, as described in Japanese Patent Laid-Open No. 9-95966, when the first boom is operated by the first boom operating means without providing the second boom dedicated operating means, the first boom cylinder reaches the stroke end. Then, a method has been proposed in which the second boom cylinder is driven by the same first boom operating means, and the second boom is operated in conjunction with the first boom.
[0004]
[Problems to be solved by the invention]
In the prior art in which a dedicated operation lever or operation pedal is provided as the operation means for the second boom, not only is it cumbersome to operate the dedicated operation lever or operation pedal, but the posture of the second boom is visually determined by the operator. It is set, and it is difficult to set the second boom to an appropriate posture, and it is left to the skill of the operator.
[0005]
In the prior art described in Japanese Patent Laid-Open No. 9-95966, the second boom is operated in conjunction with the first boom only after the first boom cylinder reaches the stroke end. The position of the second boom with respect to the first boom cannot be changed until reaching the position, and there is a problem that the shape of the work front is limited to a predetermined form.
[0006]
The object of the present invention is to change the posture of the second boom relative to the first boom with a simple operation without using a dedicated operation lever or operation pedal, and easily obtain a desired work front shape suitable for the work form. An object of the present invention is to provide an operation drive device for a two-piece boom type work machine.
[0007]
[Means for Solving the Problems]
(1) To achieve the above object, the present invention includes a first boom rotatable in the vertical direction, a working front articulated comprising second boom and the arm, said first boom upper swing The second boom is attached to the body so as to be pivotable in the vertical direction, the second boom is pivotally attached to the first boom, and the arm is pivotally attached to the second boom. A work front provided with a work device; a plurality of hydraulic actuators for driving the first boom, the second boom and the arm; a first operation lever device and a second operation lever device; By operating the second control lever device, the hydraulic actuators for the first boom and the arm are actuated to rotate the first boom and the arm in the vertical direction, respectively. In operation the driving device of the machine, standard work, deep-near work, and manual selecting means for selecting one work form from three working form of aerial-distant work, driving of the second boom hydraulic actuator And the drive control means for controlling the operation direction during stop and drive, and the drive control means is controlled in accordance with the operation of the manual selection means, and the attitude of the second boom with respect to the first boom is selected by the manual selection means. Operation control means for changing to a posture suitable for the work form, and the operation control means, when deep digging / near work is selected as the work form by the manual selection means, the second boom with respect to the first boom. The angle of the second boom with respect to the first boom is set when the angle of the boom is made smaller than the angle at the time of standard work, and when the manual selection means selects high-altitude / distance work as the work form. The assumed to be greater than the angle at the time of standard work.
[0008]
By providing the manual selection means, the drive control means, and the operation control means in this way, when the operator operates the manual selection means to select the work mode, the operation control means performs drive control according to the operation of the manual selection means. The control unit is controlled to change the posture of the second boom with respect to the first boom so that the posture is suitable for the work mode selected by the manual selection unit. For this reason, the operator can change the attitude of the second boom with respect to the first boom with a simple operation without using a dedicated operation lever or operation pedal, and the shape of the work front suitable for the work form can be easily obtained.
[0009]
(2) In the above (1), preferably, the operation control means corresponds to an attitude detection means for detecting an attitude of the second boom with respect to the first boom and an operation mode selected by the manual selection means in advance. A control device that stores a plurality of set postures of the second boom, the control device inputs a signal from the posture detection means and a signal from the manual selection means, and the second boom The drive control means is controlled so as to have a posture corresponding to a signal from the manual selection means among a plurality of postures of the second boom.
[0010]
By configuring the operation control means in this way, the operation control means controls the drive control means in accordance with the operation of the manual selection means as described in (1) above, and changes the attitude of the second boom relative to the first boom. The posture is changed to a posture suitable for the work mode selected by the manual selection means.
[0011]
(3) In the above (2), preferably, the posture detection means is an angle sensor that detects an angle of the second boom with respect to the first boom.
[0012]
(4) In the above (2), the posture detecting means may be a position sensor that detects a stroke of a hydraulic actuator of the second boom.
[0013]
(5) In the above (1), preferably, the manual selection means is provided in a console box around the driver's seat.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS.
[0015]
In FIG. 1, reference numeral 1 denotes a two-piece boom type work machine. The work machine 1 includes an articulated work front 2. The work front 2 includes a first boom 3 attached to the upper swing body 13 so as to be pivotable in the vertical direction, a second boom 4 attached to the first boom 3 so as to be pivotable in the vertical direction, 2 An arm 5 is attached to the boom 4 so as to be pivotable in the vertical direction, and a work device such as a bucket 6 is attached to the arm 5 so as to be pivotable in the vertical direction.
[0016]
The first boom 3 is driven by the first boom cylinder 7, the second boom 4 is driven by the second boom cylinder 8, the arm 5 is driven by the arm cylinder 9, and the bucket 6 is driven by the bucket cylinder 10. . Further, the upper swing body 13 is driven to swing by a swing motor (not shown).
[0017]
The upper swing body 13 is provided with a cab 14. The inside of the cab 14 is shown in FIG. A driver's seat 15 is installed in the driver's cab 14, and first and second operating lever devices 20 and 21 are provided on the front left and right of the driver's seat 14. The first and second operation lever devices 20 and 21 have operation levers 20a and 21a, respectively, and the swing body 13, the first boom 3, the arm 5 and the bucket 6 are operated by moving these operation levers 20a and 21a. The
[0018]
That is, as shown in FIG. 3, the operation levers 20a and 21a can be moved in the front-rear direction and the left-right direction. When the first operation lever 20a is moved in the front-rear direction, the first boom cylinder 7 expands and contracts. 3 is operated in the downward direction and the upward direction, and when the first operation lever 20a is moved in the left-right direction, the bucket cylinder 10 expands and contracts, the bucket 6 is operated in the cloud direction and the dump direction, and the second operation lever 21a is moved in the front-rear direction. When it is moved, a turning motor (not shown) rotates, the turning body 2 turns right and left, and when the second operating lever 21a is moved left and right, the arm cylinder 9 expands and contracts, and the arm 5 moves in the dumping direction. Operated in the cloud direction.
[0019]
Returning to FIG. 1, reference numeral 100 denotes an operation drive device of the present embodiment provided in the two-piece boom type work machine 1 configured as described above. This operation drive device 100 is a hydraulic actuator of the second boom 4. The second boom cylinder 8 includes a drive control device 30 that controls driving, stopping, and an operation direction during driving, and an operation device 31 of the drive control device 30.
[0020]
The drive control device 30 includes a hydraulic pump 32 and a hydraulic pilot type proportional switching valve 33 that controls the flow rate and flow direction of the pressure oil supplied from the hydraulic pump 32 to the second boom cylinder 8.
[0021]
The operating device 30 is provided at the joint portion of the first boom 3 and the second boom 4, and includes an angle sensor 34 that detects an angle formed by both booms, a work mode setting unit 35, and the angle sensor 34 and the work mode setting. A control device 36 for inputting a signal from the generator 35 and performing a predetermined calculation process, and a pair of pilot pipes 37a for guiding the pilot pressure from the pilot hydraulic pressure source 37 to the pilot operating portions 33a and 33b of the proportional switching valve 33. , 37b and proportional electromagnetic pressure reducing valves 38, 39 provided in the pilot pipe lines 37a, 37b, and a signal from the control device 36 is sent to the proportional solenoids 38a, 39a of the proportional electromagnetic valves 38, 39.
[0022]
Here, the angle sensor 34 and the control device 36 control the drive control device 30 according to the operation of the work mode setting device 35, and the work mode setting device 35 selects the posture of the second boom 4 with respect to the first boom 3. Operation control means for changing to a posture suitable for the work mode is configured.
[0023]
As shown in FIG. 4, the work mode setting unit 35 has an operation dial 35 a that can select three positions of a standard work, a deep digging / near work, and a high place / far work by an operator's operation. A signal corresponding to each is sent to the control device 36. The operation dial 35a is provided in the vicinity of the operator in the cab 14 and is provided in the console box 40 located on the side of the driver's seat 15 in the example shown in FIG. The operation dial 35a may be provided at other positions around the driver's seat, for example, the monitor box 41 located at the front side of the driver's seat 15.
[0024]
The control device 36 determines that the attitude of the second boom 4 with respect to the first boom 3 set in advance corresponding to the three-position work form selected by the operation dial 35 a of the work form setter 35 is the second with respect to the first boom 3. Stored as angles α ₀ , α ₁ , α ₂ of the boom 4, a signal from the angle sensor 34 and a signal from the work mode setting unit 35 are input, and a signal from the work mode setting unit 35 is input to the second boom 4. Are output to the solenoids 38a and 39a of the proportional electromagnetic pressure reducing valves 38 and 39.
[0025]
FIG. 5 shows the shape of the work front 2 when the operation dial 35a of the work mode setting device 35 is operated to select the position of the standard work. The second boom cylinder 8 is set near the intermediate position of the entire stroke, the angle of the second boom 4 with respect to the first boom 3 is set to α ₀ , and the first boom 3 and the second boom 4 are integrated. It has a shape similar to the work front of a general hydraulic excavator, and a work range almost equivalent to that of a general hydraulic excavator can be secured.
[0026]
FIG. 6 shows the shape of the work front 2 when the operation dial 35a of the work mode setting device 35 is operated to select the position of deep digging / near work. The second boom cylinder 8 extends to near the maximum stroke, and the angle of the second boom 4 with respect to the first boom 3 is set to α ₁ (<α ₀ ). It can be seen that work in the vicinity is possible.
[0027]
FIG. 7 shows the shape of the work front 2 when the operation dial 35a of the work type setting device 35 is operated to select the position of the high place / far work. The second boom cylinder 8 contracts to near the minimum stroke, and the angle of the second boom 4 with respect to the first boom 3 is set to α ₂ (> α ₀ ), so that work in a high place or work in a distant place is possible. It has become.
[0028]
FIG. 8 is a flowchart showing processing functions of the control device 36. First, a signal from the work mode setting device 35 and a signal from the angle sensor 34 are input (step S100). Next, it is determined whether the signal from the work mode setting device 35 is a signal of any of the three positions of standard work, deep digging / near work and high / distant work (step S101). For example, the angle α ₀ is read out as the posture of the second boom and the angle α detected by the angle sensor 34 is compared with the set angle α ₀ (step S102). If α> α ₀ , the proportional electromagnetic pressure reducing valve 39 ON the solenoid 39a, and outputs a signal to turn OFF the solenoid 38a of the proportional solenoid pressure reducing valve 38 (Step S103), OFF the solenoid 39a of the alpha <alpha ₀ in the case when the proportional solenoid pressure reducing valve 39, the solenoid of the proportional solenoid pressure reducing valve 38 outputs a signal to turn ON the 38a (Step S104), alpha = both solenoid 38a of the proportional solenoid pressure reducing valves 38 and 39 if alpha _0, and outputs a signal to turn OFF the 39a (Step S105).
[0029]
If the signal from the work mode setting device 35 is a position signal for deep digging / near work, the angle α ₁ read out as the attitude of the second boom and detected by the angle sensor 34 and the set angle α ₁ comparing (steps S 111), ON the solenoid 39a of the proportional solenoid pressure reducing valve 39 if α> α _1, and outputs a signal to turn OFF the solenoid 38a of the proportional solenoid pressure reducing valve 38 (Step S112), α <α ₁ OFF solenoid 39a of the proportional solenoid pressure reducing valve 39 as long as, and outputs a signal to turn ON the solenoid 38a of the proportional solenoid pressure reducing valve 38 (Step S113), both of the proportional solenoid pressure reducing valves 38 and 39 if alpha = alpha ₁ A signal for turning off the solenoids 38a and 39a is output (step S105).
[0030]
Further, if the signal from the work mode setting device 35 is a position signal for high / distant work, the angle α ₂ is read as the attitude of the second boom and detected by the angle sensor 34 and the set angle α ₂ comparing (steps S121), ON the solenoid 39a of the proportional solenoid pressure reducing valve 39 if α> α _2, and outputs a signal to turn OFF the solenoid 38a of the proportional solenoid pressure reducing valve 38 (Step S122), α <α ₂ OFF solenoid 39a of the proportional solenoid pressure reducing valve 39 as long as, and outputs a signal to turn ON the solenoid 38a of the proportional solenoid pressure reducing valve 38 (Step S123), both of the proportional solenoid pressure reducing valves 38 and 39 if alpha = alpha ₂ A signal for turning off the solenoids 38a and 39a is output (step S105).
[0031]
In the present embodiment configured as described above, when the operation dial 35a of the work mode setting device 35 is in the position of the standard work and the work front 2 is in the shape shown in FIG. It has a shape similar to the work front of a general hydraulic excavator in which 3 and the second boom 4 are integrated, and a work range substantially equivalent to that of a general hydraulic excavator can be secured.
[0032]
From this state, when the operation dial 35a of the work configuration setting unit 35 is operated to select the position of deep drilling / near work, the control device 36 determines that α> α ₁ and turns on the solenoid 39a of the proportional electromagnetic pressure reducing valve 39. Then, a signal for turning off the solenoid 38a of the proportional electromagnetic pressure reducing valve 38 is output (step S112 in FIG. 8), and the proportional electromagnetic pressure reducing valve 39 is driven. For this reason, the position of the proportional switching valve 33 is switched to the left side in the figure, and the pressure oil from the hydraulic pump 32 is guided to the bottom side of the second boom cylinder 8, so that the second boom cylinder extends and the second boom 4 lowers. Rotate in the direction. During this time, the control device 36 monitors the angle α formed by the first boom 3 and the second boom 4, and when the set angle α ₁ is reached, that is, when the second boom cylinder 8 is extended to the vicinity of the maximum stroke, the proportional electromagnetic pressure reducing valve. A signal for turning off both solenoids 38a and 39a of 38 and 39 is output, the proportional switching valve 33 is set to the neutral position, and the driving of the second boom cylinder 8 is stopped. As a result, the angle of the second boom 4 with respect to the first boom 3 is set to α _1, and the shape of the work front 2 is in the state shown in FIG. 6, enabling deeper excavation work and work near the vehicle body than the standard work setting state. It becomes.
[0033]
On the other hand, when the operation dial 35a of the work mode setting device 35 is selected as a position for high altitude / distant work, the control device 36 determines that α <α ₂ , turns off the solenoid 39a of the proportional electromagnetic pressure reducing valve 39, and A signal for turning on the solenoid 38a of 38 is output (step S123 in FIG. 8), and the proportional electromagnetic pressure reducing valve 38 is driven. For this reason, the position of the proportional switching valve 33 is switched to the right side in the figure, and the pressure oil from the hydraulic pump 32 is guided to the rod side of the second boom cylinder 8, so that the second boom cylinder contracts and the second boom 4 is raised. Rotate in the direction. During this time, the control device 36 monitors the angle α formed by the first boom 3 and the second boom 4, and when the set angle α ₂ is reached, that is, when the second boom cylinder 8 is contracted near the minimum stroke, the proportional electromagnetic pressure reducing valve. A signal for turning off both solenoids 38a and 39a of 38 and 39 is output, the proportional switching valve 33 is set to the neutral position, and the driving of the second boom cylinder 8 is stopped. As a result, the angle of the second boom 4 with respect to the first boom 3 is set to α ₂ , the shape of the work front 2 becomes the state shown in FIG. 7, and the first boom 3 and the second boom 4 are extended to the maximum. It becomes possible to work at a high place or far away.
[0034]
As described above, according to the present embodiment, it is possible to easily change the shape of the work front simply by operating the operation dial 35a of the work mode setting device 35, and it is possible to reduce the troublesome operation of the operator. . Further, since the posture of the second boom 4 is determined based on the preset angles α ₀ , α ₁ , α ₂ , the work front 2 has an appropriate shape corresponding to a desired work form, and the operator's skill is increased. Regardless of this, it is possible to easily obtain an appropriate work front shape with high work efficiency.
[0035]
In the above embodiment, the angle sensor 34 is used to detect the posture of the second boom 4 with respect to the first boom 3, but a position sensor for detecting the stroke of the second boom cylinder 8 is provided, and this stroke position is provided. The posture of the second boom 4 may be detected by detecting.
[0036]
Further, although the angle α is set as the posture of the second boom 4 with respect to the first boom 3, the stroke of the second boom cylinder 8 may be set.
[0037]
【The invention's effect】
According to the present invention, the shape of the work front can be easily changed by the operation of the manual selection means, and the troublesomeness of the operator's operation can be reduced.
[0038]
Further, since the posture of the second boom is determined based on a preset posture value, an appropriate work front shape can be easily obtained regardless of the skill of the operator.
[Brief description of the drawings]
FIG. 1 is a diagram showing an operation driving device of a two-piece boom type work machine according to an embodiment of the present invention.
FIG. 2 is a diagram showing a state in a cab.
FIG. 3 is a diagram illustrating an appearance and an operation method of an operation lever device.
FIG. 4 is a diagram showing an operation dial of a work mode setting device.
FIG. 5 is a diagram showing the shape of the work front when the operation dial of the work type setting device is set to the standard work position and the work range in this work front shape.
FIG. 6 is a diagram showing the shape of the work front when the operation dial of the work mode setting device is set to the deep digging / near work position and the work range in this work front shape.
FIG. 7 is a diagram showing the shape of the work front when the operation dial of the work mode setting device is set at a high place / distant work position and the work range in this work front shape.
FIG. 8 is a flowchart showing processing functions of the control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 2 piece boom type working machine 2 Work front 3 1st boom 4 2nd boom 5 Arm 6 Bucket 7 1st boom cylinder 8 2nd boom cylinder 9 Arm cylinder 10 Bucket cylinder 14 Driver's cab 15 Driver's seat 20, 21 Operation lever device 20a, 21a Operation lever 30 Drive control device 31 Operation device 32 Hydraulic pump 33 Proportional switching valve 34 Angle sensor 35 Work mode setting device 35a Operation dial 36 Control devices 37a, 37b Pilot pipes 38, 39 Proportional electromagnetic pressure reducing valve 40 Console box 41 Monitor box 100 Operation drive device

Claims (5)

An articulated work front including a first boom, a second boom, and an arm that can pivot in the vertical direction, wherein the first boom is attached to an upper swing body so as to be pivotable in the vertical direction. A work front including a work device having a boom attached to the first boom so as to be rotatable in the vertical direction and the arm attached to the second boom so as to be rotatable in the vertical direction ; the first boom; the second boom; A plurality of hydraulic actuators for driving the boom and the arm, a first operation lever device, and a second operation lever device, and operating the first operation lever device and the second operation lever device, the first boom and In an operation drive device for a two-piece boom type work machine that operates a hydraulic actuator of an arm to rotate the first boom and the arm in the vertical direction,
Manual selection means for selecting one work form from three work forms : standard work, deep digging / near work, high place / far work ,
Drive control means for controlling the operation direction during driving and stopping of the hydraulic actuator of the second boom; and
Operation control means for controlling the drive control means in accordance with the operation of the manual selection means, and changing the attitude of the second boom relative to the first boom to an attitude suitable for the work mode selected by the manual selection means ,
When the manual selection means selects deep digging / near work as the work mode, the operation control means makes the angle of the second boom with respect to the first boom smaller than the angle at the time of standard work, A two-piece boom type working machine characterized in that, when a high place / distant work is selected as a work form by the selection means, an angle of the second boom with respect to the first boom is made larger than an angle in a standard work. Operation drive device.   2. The operation driving apparatus for a two-piece boom type work machine according to claim 1, wherein the operation control means is an operation mode selected by an attitude detection means for detecting an attitude of the second boom with respect to the first boom and the manual selection means. And a control device that stores a plurality of second boom postures set in advance corresponding to the signal, the control device inputs a signal from the posture detection means and a signal from the manual selection means, An operation drive device for a two-piece boom type work machine, wherein the drive control means is controlled so that the second boom is in an attitude corresponding to a signal from the manual selection means among the attitudes of the plurality of second booms.   3. The two-piece boom working machine according to claim 2, wherein the posture detecting means is an angle sensor that detects an angle of the second boom with respect to the first boom. Operation drive device.   3. The operation driving device for a two-piece boom type working machine according to claim 2, wherein the posture detecting means is a position sensor that detects a stroke of a hydraulic actuator of the second boom. Operation drive device.   2. The operation drive device for a two-piece boom type work machine according to claim 1, wherein the manual selection means is provided in a console box around a driver's seat.

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