JPH05202532A - Work operating device of articulated construction machine - Google Patents

Abstract

PURPOSE:To provide the above articulated construction machine in which a bucket is being axially fitted at the end of a plurality of arms, and the machine can easily be operated by any unskilled pers on. CONSTITUTION:A horizontal lever 2 and a vertical lever 3 are arranged, and the displacement direction of the levers and the working direction of a working machine are permitted to coincide with each other. A controller 10 provided with a change-over switch with a circular mode 11 for setting the displacement direction of the levers in one-to-one correspondence, and an X-Y mode 12 for permitting the displacement direction of the levers and the movement direction of the rotational fulcrum of a bucket to coincide with each other, is set. By the lever 2, a boom driving gear 20 and an arm driving gear 21 are operated, and the circular mode 11 and the X-Y mode 12 can be switched to each other. By the lever 3, always in a circular mode 13, a bucket driving gear 22 and a swing driving gear 23 are operated. In the case of linear excavation, the X-Y mode 12 is selected, and in the case of simple excavation and loading, if the circular mode 11 is selected, the working machine can be easily operated even by an unskilled worker.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine operating device for a construction machine having an articulated working machine such as a power shovel.

[0002]

2. Description of the Related Art Generally, as shown in FIG. 4, a hydraulic power shovel has a boom 30 pivotally attached to an upper revolving structure 36 by a pin A and an arm 31 pivotally attached to the boom 30 by a pin B as a working machine. And a bucket 32 pivotally attached to the tip of the arm 31 by a pin C. The boom 30, the arm 31, and the bucket 32 are respectively attached to the boom cylinder 3
3, the arm cylinder 34 and the bucket cylinder 35 swing the pins A, B, and C, respectively.
Further, the upper-part turning body 36 turns on the traveling device 37. These operations are normally performed in the cab 3 provided on the upper swing body 36.
It is operated by two working machine operation levers arranged in the inside 8.

FIG. 5 is a perspective view of a driver's seat equipped with a conventional working machine operating lever. A lever 42 is mounted on the right side of the seat 1 and a lever 43 is mounted on the left side of the seat 1 with their axes substantially vertical.
The lever 42 operates the boom 30 and the bucket 32, and the lever 43 operates the arm 31 and the upper swing body 36.

That is, when the lever 42 is displaced forward, the boom 30 is lowered, and when it is displaced rearward, the boom 30 is raised. Further, when the bucket 32 is displaced to the left, the bucket 32 is tilted (rotated to the excavation side), and when it is displaced to the right, the bucket 32 is dumped (rotated to the earth discharging side).

When the lever 43 is displaced forward, the upper swing body 36 turns right, and when it is displaced rearward, it turns left. Also,
When it is displaced to the right, the arm 31 swings in the direction of excavation (reverse rotation), and when it is displaced to the left, the arm 31 dumps (rotates forward). The operating speed of each of the above work is the levers 42, 43.
It is almost proportional to the amount of displacement. The operation mode in which the displacement of the lever and the operation of the working machine correspond to each other in a 1: 1 manner as described above is referred to as an arc mode.

In the arc mode, the boom 30 and the upper swing body 36 are driven by the lever operation in the front-rear direction as seen from the operator, and the displacement direction of the lever and the working direction of the working machine coincide with each other, but the arm 31 and the bucket. 32 is driven by the lever operation in the left-right direction when viewed from the operator, and the lever operation direction of the arm 31 and the bucket 32 does not match the actual operation direction of the working machine. Therefore, there is a problem that it is difficult for an inexperienced operator to drive.

When it is desired to excavate a slope or a flat ground linearly and finish it, the center of the pin C, which is the fulcrum of rotation of the bucket 32, is adjusted while adjusting the movements of both the boom 30 and the arm 31. You have to make a linear movement. For that purpose, a delicate and complicated composite operation of the lever 42 and the lever 43 is required, and skill is required.

As a method for solving the above problems, there is the invention of Japanese Patent Application No. 2-74259. FIG. 6 is a perspective view of the driver's seat of the invention, in which the lever 2 is mounted on the right side of the seat 1 with the axis of the left and right being substantially horizontal, and the lever 3 is mounted on the left side of the seat with the axis being substantially vertical. .. When the lever 3 is displaced forward, the bucket 32 dumps, and when it is displaced backward, the bucket 32 is dumped.
Is tilted, and when it is displaced to the right, the upper swing body 36 turns to the right, and when it is displaced to the left, it turns to the left. That is, the displacement direction of the lever 3 and the working direction of the working machine coincide.

The lever 2 can be displaced in any direction on the xy plane. The present invention is provided with an angle detection sensor for a boom and an arm (not shown) and a control device, and as shown in FIG.
When the control device is displaced in the direction of L with respect to the axis,
As shown in (a), the operation of the boom 30 and the arm 31 is controlled so that the center of the pin C moves in the direction M that matches the displacement direction L of the lever 2. Therefore, the center of the pin C can be moved extremely easily including the linear movement. The operation mode as described above will be referred to as an XY mode.

[0010]

However, although the straight line excavation work is extremely easy in the XY mode as described above, there is a problem that the simple excavation and loading work is difficult to perform as compared with the conventional arc mode.

The present invention has been made by paying attention to the above problems, and the articulated construction in which the displacement direction of the lever and the working direction of the working machine coincide with each other and the straight line excavation work, the simple excavation and the loading work are easy to perform. It is an object of the present invention to provide a work machine operating device for a machine.

[0012]

[Means for Solving the Problems] To achieve the above object,
In a working machine operating device for an articulated construction machine according to the present invention
Is a bucket attached to the tip of multiple swingable arms.
Of the articulated construction machine equipped with
The work equipment operating lever that gives an operation command is
A vehicle that can be displaced two-dimensionally on a plane that is almost parallel to the plane containing the frame
Attached to the body, operating command of the work machine operating lever
Receiving a control device that sends a signal to the drive system of each arm
In a working machine operating device provided with the control device,
The bucket is moved in a direction that matches the displacement direction of the work machine operating lever.
To move the pivot fulcrum of the
Control system for controlling the operation of the work machine and the operating machine operation lever
The displacement of the arm and the operation of each of the plurality of arms.
Equipped with switching means for switching to a control system
Is characterized by.

[0013]

According to the above construction, a control device for a working machine operating device, in which a working machine operating lever for giving an operation command to a plurality of arms is displaceably mounted on a plane substantially parallel to a plane including the plurality of arms, is provided. , A straight line is provided because a switching method is provided between a control system in which the pivot of the bucket moves in the same direction as the displacement direction of the work implement operating lever and a control system in which the displacement of the work implement operating lever corresponds to the operation of each arm. It is possible to switch between a control method suitable for excavation work and a control method suitable for simple excavation work, and moreover, the displacement direction of the work machine operating lever and the arm operation direction coincide with each other.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a working machine operating device for an articulated construction machine according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a driver's seat. A lever 2 for operating a working machine is mounted on the right side of the seat 1 with its axis centered horizontally in the left-right direction, and a lever 3 is mounted on the left side of the lever 3 substantially vertically. It has been installed. A control method changeover switch 4 and a mode display unit 5 are arranged near the lever 2.

FIG. 2 is a diagram showing the displacement directions of the levers 2 and 3 and their respective functions. When the lever 2 is displaced forward, the arm 31 dumps, and when it is displaced rearward, the arm 31 swings in the direction of excavation. Move. When the lever 2 is displaced upward, the boom 30 is raised, and when it is displaced downward, the boom 30 is lowered. Further, the lever 2 also controls the xy direction, and as shown in FIG. 7, the pin C of the rotation fulcrum of the bucket 32 moves in the direction that coincides with the displacement of the lever 2.

When the lever 3 is displaced forward, the bucket 3
2 is dumped, and the bucket 32 is tilted when it is displaced rearward. When the lever 3 is displaced to the right, the upper swing body 36 turns to the right, and when it is displaced to the left, it turns to the left.

FIG. 3 shows an example of the structure of the control drive system.
The levers 2 and 3 are provided with a lever displacement detector 6 that detects the amount of displacement of the lever and sends a signal to the control device 10. The changeover switch 4 for switching between the XY mode and the arc mode of the control device 10 and the mode display section 5 are connected, and the control device 10 can change the mode by the changeover switch 4. The control device 10 is connected to a boom drive system 20, an arm drive system 21, a bucket drive system 22, and a turning drive system 23, respectively. A boom angle sensor 24 is provided on the boom and is connected to the boom drive system 20 and the control device 10. An arm angle sensor 25 is provided on the arm and is connected to the arm drive system 21 and the control device 10.

Next, the operation will be described. The operator selects a mode according to the type of work. That is, when the control switch 10 is set to the XY mode by the changeover switch 4 when performing the straight line excavation work, the signal of the lever 2 passes through the XY mode control unit 12, and the mode display unit 5 displays that it is the XY mode. When the lever 2 is displaced, the control device 10
Receives signals from the boom angle sensor 24 and the arm angle sensor 25, performs a necessary calculation, and sends a control signal to the boom drive system 20 and the arm drive system 21 to operate the boom and the arm to rotate the bucket fulcrum. The pin C is controlled so as to move in a direction coinciding with the displacement direction of the lever 2. The speed is determined by the signal of the displacement amount of the lever 2 from the lever displacement detector 6 and is proportional to the displacement amount.

When the work is simple excavation or loading work, the control switch 10 is set to the arc mode by the changeover switch 4. The mode display unit 5 displays that the arc mode is set. When the lever 2 is displaced, the control device 10 individually operates the boom and the arm at a speed corresponding to the lever displacement amount in response to a signal from the lever displacement detector 6.

The operation mode of the lever 3 is always the arc mode 13 regardless of the changeover switch 4, and the control device 10 receives the displacement amount of the lever 3 as a signal from the lever displacement detector 6, and the control signal of the corresponding speed. Is transmitted from the arc mode control unit 13 to the bucket drive system 22 and the turning drive system 23 to drive them.

[0021]

As described above, according to the present invention, the operating levers for the boom and the arm of the working machine operating device for the articulated construction machine are arranged substantially horizontally, and the bucket and the swing operating levers are arranged substantially vertically. Therefore, the direction of displacement of the operating lever and the operating direction of the work machine coincide with each other, and even an unskilled person can easily get used to the operation. Further, since the control device having the changeover switch for switching the operation of the boom and the arm between the XY mode and the arc mode is provided, in the case of straight line excavation, the XY mode is selected depending on the type of work to perform simple excavation and loading. In this case, the arc mode can be selected, and a working machine operating device that can be easily operated by an unskilled person can be obtained.

[Brief description of drawings]

FIG. 1 is a perspective view of a driver's seat according to the present invention.

FIG. 2 is an explanatory diagram of an operation pattern of a working machine operation lever of the present invention.

FIG. 3 is a block diagram showing a configuration of a control system of the operating device of the present invention.

FIG. 4 is an overall view of a hydraulic power shovel.

FIG. 5 is a perspective view of a conventional driver's seat.

FIG. 6 is a perspective view of a conventional driver's seat improvement plan.

FIG. 7 is an explanatory diagram of a correspondence relationship between a movement of a working machine operation lever and a movement of a bucket rotation fulcrum.

[Explanation of symbols]

 2, 3 Lever 4 Changeover switch 5 Mode display unit 6 Lever displacement detector 10 Control device 11, 13 Arc mode control unit 12 XY mode control unit 20 Boom drive system 21 Arm drive system 22 Bucket drive system 23 Swing drive system 24 Boom angle Sensor 25 Arm angle sensor

Claims (1)

[Claims] 1. A working machine operating lever for giving an operation command to the plurality of arms of a multi-joint construction machine in which buckets are attached to the ends of a plurality of swingably connected arms, the plurality of arms being included. In a working machine operating device, which is mounted on a vehicle body such that it can be two-dimensionally displaced on a plane substantially parallel to the plane, and which receives a command for operating the working machine operating lever and sends a signal to a drive system of each arm. A control system that controls the operation of the plurality of arms so as to move the rotation fulcrum of the bucket in a direction coinciding with the displacement direction of the working machine operating lever; A work implement operating device for an articulated construction machine, comprising: switching means for switching between a control system corresponding to the operation of each of the plurality of arms and a control system corresponding to each of the plurality of arms.