JPH07305375A - Working device for tamping - Google Patents

Abstract

PURPOSE:To enable a high-quality tamped surface to be formed without requiring a difficult job of adjusting the strength at which a bucket is driven by the operation of a control means, and without inconsistency in performance even in the case of an unskilled operator. CONSTITUTION:An operator selects a tamping mode by controlling a control board installed in a driver's seat 17, and then inputs the vertical coordinate Zo of a tamped surface Sb and deceleration starting position adjustment data DELTAd. When a control lever is controlled with a maximum controlled variable, a microcomputer built into a main body computes the coordinates (PX, PZ) of a reference point P in accordance with joint angle data detected by a potentiometer installed at the joint of a working machine 4, the reference point P being set on the back of a bucket 7. Further, the microcomputer determines whether or not the coordinates have been lowered to a deceleration starting height (d), and if the result is YES, the ratio K of the height of the reference point P as measured from an ideal fall stopping surface Sm to a maximum distance (dmax) is transferred, as a deceleration coefficient for multiplication by the control signal of the control lever, to a controller built into the main body, so that a switching valve controlling the flow rate of pressure oil fed to a boom cylinder 8 is switched.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a plurality of arms which are connected in series and a bucket which is connected to the tip of the front end of the arm. The present invention relates to a soil dusting work device typified by a construction machine such as a hydraulic excavator that strikes the soil on the ground.

[0002]

2. Description of the Related Art A hydraulic excavator is a work machine composed of a boom attached to the front of an upper swing body, an arm attached to the tip of the boom, and a bucket attached to the tip of the arm. It has, and the construction work such as excavation and loading work is performed by operating the bending work movement of the working machine. By the way, in the civil engineering work, as a leveling work for leveling the ground horizontally, and as a finishing work performed when forming a slope, a sand hammering work for hitting and compacting the ground may be performed. The dusting work may be performed manually by a worker who hits the ground with a battledore, but is usually performed by a power work that hits the ground on the back surface of a bucket by operating a hydraulic excavator. When performing excavation work by operating a hydraulic excavator, normally adjust the angle between the back of the bucket and the back of the bucket so that the inclined ground is parallel, and then keep the angle between the arm and bucket constant. Keeping the boom up and down, hit the back of the bucket against the ground.

[0003]

When performing a sand hammering operation by operating a hydraulic excavator, the strength at which the back surface of the bucket is struck on the ground is an important factor for determining the quality of the sand hammered surface. For example, if the back surface of the bucket is struck against the soft ground too strongly, the earth and sand may be scattered to form a large depression. On the contrary, if the back surface of the bucket is strongly struck on the solid ground, the front part of the hydraulic excavator may be damaged by the impact when hit. Therefore, when performing sand hammering work by operating a hydraulic excavator, it is necessary to adjust the bucket striking strength every time the back surface of the bucket is struck on the ground. Even a skilled worker who has acquired a hammering strength that can be compacted well cannot easily form a well-finished sand hammer surface, and for unskilled workers who are inexperienced, the above sand hammer work is not possible. It was a difficult and painful task. The present invention has been made to solve the above problems in the prior art, and does not require the difficult operation of adjusting the driving strength of the bucket by operating the operation means, and enables even an unskilled worker to perform well. An object of the present invention is to provide a sandblasting work device capable of forming a high quality sandblasting surface without unevenness.

[0004]

In order to solve the above-mentioned problems, the present invention sets a lumber surface setting means for setting information of a target lumber surface and information of a start position of deceleration descending operation. The deceleration start position setting means and the deceleration start position setting means set the deceleration start position setting means by lowering the bucket based on the information such as the rotation angle detected by the rotation angle detection means for detecting the rotation angle of the arm joint. The deceleration area arrival determining means for determining whether or not the start position of the deceleration lowering operation has been reached, and the deceleration lowering of the bucket when the deceleration area arrival determining means determines that the bucket has reached the start position of the deceleration lowering operation. A deceleration command means for outputting a deceleration command signal according to the distance from the start position of the operation to the control means for controlling the rotary drive mechanism in accordance with the operation amount of the operation means to decelerate the descending speed of the bucket. Have and operate The rotation driving mechanism that drives the arm and the bucket is driven by the step operation to hit the back surface of the bucket against the ground in the work area to control the descending speed of the bucket when performing the sand hammering work. It is a thing.

[0005]

[Operation] Prior to the sand hammering work, the worker sets information on the target sand hammer surface in the sand hammer surface setting means, and sets information on the start position of the deceleration descending operation in the deceleration start position setting means. To do. When the worker operates the operating means to start the sand hammering work, the deceleration area arrival determining means sets the deceleration start position by descending the bucket based on the information such as the rotation angle detected by the rotation angle detecting means. It is determined whether the start position of the deceleration descending operation set by the means has been reached. When the deceleration area arrival determination means determines that the bucket has reached the start position of the deceleration lowering operation, the deceleration command means outputs to the control means a deceleration command signal corresponding to the distance from the start position of the deceleration lowering operation of the bucket. Deceleration control of the descending speed of the bucket.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 2 is a side view of the hydraulic excavator according to the embodiment of the present invention. In the figure, 1 is a hydraulic excavator,
Reference numeral 2 is a lower traveling body, 3 is an upper revolving body which is rotatably installed on the lower traveling body 2, and 4 is a work machine mounted on a front portion of the upper revolving body 3. The work machine 4 is composed of a boom 5, an arm 6, a bucket 7, and a boom cylinder 8, an arm cylinder 9, a bucket cylinder 10 and the like, which are rotational driving means for each of them. The boom 5 is rotatably supported on the front part of the upper swing body 3 by the boom pin connecting portion 11, the arm 6 is rotatably supported on the tip of the boom 5 by the arm pin connecting portion 12, and the bucket 7 is connected by the bucket pin. It is rotatably supported by the tip of the arm 6 at the portion 13. Then, a potentiometer for detecting each rotation angle is installed in each coupling portion. That is, the boom pin connecting portion 11 has a boom potentiometer 1
4 is attached, an arm potentiometer 15 is attached to the arm pin coupling portion 12, and a bucket potentiometer 16 is attached to the bucket pin coupling portion 13. Two operating levers 3 on the driver's seat 17
2 and 33 are provided for the operator to operate the operation lever 32,
By operating 33, the hydraulic excavator 1 is operated. A reference point P was set on the back surface of the bucket 7 to describe the movement of the bucket 7. The arm length LA and the boom length LB are respectively referred to as an arm connecting portion distance between the arm pin connecting portion 12 and the bucket pin connecting portion 13, a boom connecting portion distance between the boom pin connecting portion 11 and the arm pin connecting portion 12, and a reference point radial distance LV1. The point circumferential distance LV2 is the radial distance from the bucket pin connecting portion 13 to the reference point P, the distance from the bucket pin connecting portion 13 to the reference point P in the direction perpendicular to the radial direction of the bucket pin connecting portion 13, and the arm. The angle αA, the boom angle αB, and the bucket angle αV are formed by the line segment connecting the boom connecting portion between the boom pin connecting portion 11 and the arm pin connecting portion 12 and the line segment connecting the arm pin connecting portion 12 and the bucket pin connecting portion 13, respectively. An angle formed by a line segment connecting the boom connecting portion between the boom pin connecting portion 11 and the arm pin connecting portion 12 with the horizontal direction, and the arm pin connecting portion 1 It denotes the angle formed between a line segment connecting the front end of the pawl portion of the line segment and the bucket pin connection portions 13 and the bucket 7 connecting the bucket pin coupling section 13. The origin of the coordinates is set at the center of the ground contact surface of the lower traveling body 2 with the forward direction of the hydraulic excavator 1 as the x axis and the vertically upward direction as the z axis.

FIG. 1 is a drive control circuit diagram for controlling the drive of each cylinder and hydraulic motor constituting the drive mechanism of the hydraulic excavator 1. As shown in the figure, the operation lever 3
Reference numerals 2 and 33 are electric levers, which are operation signals for four channels, that is, left and right swing movements of the upper swing body 3, arm 6 pulling and pushing movements, and boom 5 vertical movement movements, and bucket 7. The operation signals for the pulling and pushing operations are output to the controller 18, respectively. In addition to these operation signals, the controller 18 is provided with a setting device 34 for setting the lumber striking surface, and a setting device having a deceleration position adjusting button for making settings for vertically adjusting the operation speed deceleration start position. The setting signal output from 36 and the detection signal output from the microcomputer (MCMP) 35 are input. The MCMP35 has boom, arm, and bucket potentiometers 14, 1
The angle detection signals detected at 5 and 16 are input. An 8-channel proportional pressure reducing valve drive control signal is output from the controller 18 to the proportional pressure reducing valve unit 31. The proportional pressure reducing valve unit 31 is equipped with eight proportional pressure reducing valves corresponding to eight channels of proportional pressure reducing valve drive control signals, and these proportional pressure reducing valves are supplied from the pilot hydraulic pump 30 in a branched manner into eight systems. Switching valve for pilot pressure oil 22-25
Supply to. The switching valves 22 to 25 are the proportional pressure reducing valve unit 3
Driven by the pilot pressure oil supplied from No. 1, the pressure oil supplied from the hydraulic pump 29 connected to the prime mover 28 is switched and supplied to the arm cylinder 9, the boom cylinder 8, the bucket cylinder 10 and the swing motor 19, respectively. The switching valves 26 and 27 are driven by pilot pressure oil that is supplied and controlled by operating a traveling operation lever (not shown) installed in the driver's seat 17, and the pressure oil supplied from the hydraulic pump 29 is switched to travel to the left and right respectively. Supply to the motors 20 and 21.

Next, the operation of this embodiment will be described. When the operator operates the operation levers 32 and 33 in the driver's seat 17,
An operation signal corresponding to the inclination of each operation lever 32, 33 is output to the controller 18. Boom, arm, and bucket potentiometers 14, 15,
When the boom angle, arm angle, and bucket angle detection signals detected in 16 are input to the MCMP 35, MCMP 35
Reference numeral 35 calculates the coordinates of the reference point P on the back surface of the bucket 7 based on these angle detection signals, and starts deceleration of the operating speed based on the information of the position of the strike surface and the inclination angle set by the setter 34. Calculate the position. Further, after correcting the operation speed deceleration start position by the setting signal for adjusting the operation speed deceleration start position output from the setter 36 up and down, the operation speed deceleration start position is compared with the coordinates of the reference point P, and based on the result, the boom at that time point is adjusted. An operation speed deceleration command signal for the cylinder 8 is output to the controller 18. The controller 18 generates a proportional pressure reducing valve drive control signal based on the operation speed deceleration command signal and an operation signal corresponding to the inclination of the operating levers 32 and 33, and outputs it to the proportional pressure reducing valve unit 31. The proportional pressure reducing valve unit 31 supplies a pilot hydraulic pressure according to the proportional pressure reducing valve drive control signal to the switching valves 22 to 25. The switching valves 22 to 25 driven by the pilot pressure oil supply the pressure oil corresponding to the proportional pressure reducing valve drive control signal by the switching operation to the arm cylinder 9, the boom cylinder 8, and the bucket cylinder 10.
And the rotation motor 19, the posture of the work machine 4, that is, the posture of the bucket 7 and the movement direction and speed are changed, and the upper swing body 3 is swung. Similarly, when a worker operates the traveling operation lever in the driver's seat 17, the switching valves 26 and 27 switch the pressure oil corresponding to the operation signal corresponding to the inclination of the traveling operation lever by the switching operation. , 21 and left and right running motors 2
0 and 21 are rotated at a speed corresponding to the inclination of the traveling operation lever.

The sand hammer operation of the hydraulic excavator 1 will be described in more detail based on a specific example. In order to facilitate the description, an example in which the hydraulic excavator 1 is located on the horizontal ground and the direction of the strike surface is also horizontal will be described below. Figure 3
FIG. 4 is a view for explaining a sand piling operation when the hydraulic excavator 1 is viewed from the side, and FIGS. 4 and 5 are flow charts of the sand piling processing. The dusting operation of the hydraulic excavator 1 will be described with reference to these drawings. First, when a worker operates the operation panel (not shown) installed in the driver's seat 17 to select the sand hammer mode, the controller 18 starts the control operation of the sand hammer processing. Following the selection of the sand hammering mode by the worker, the vertical coordinate Zo of the sand hammering surface Sb with respect to the reference surface So.
, Input deceleration start position adjustment data Δd. When it is confirmed that these values have been input (S-1), these input data are stored in the RAM incorporated in the controller 18 (S-2). Next, it is determined whether or not the dirt-moving operation stop signal is input (S-3), and the result is Yes.
If this is the case, and if the result of the determination is No, then in the next step S-4 it is determined whether or not the input signal for resetting the vertical coordinates Zo of the sand hammer surface Sb and the deceleration start position adjustment data Δd has been input. If the result is Yes, the process returns to the first step S-1. If the result is No, the deceleration coefficient K is set to the initial value 1 (S-5). Next, each potentiometer 1 for boom, arm, and bucket
Arm angle α A, boom angle α detected at 4, 15 and 16
The data of B and the bucket angle αV are taken into the RAM (S-6). Then, the MCMP 35 reads out these joint angle data from the RAM and calculates the coordinate values (PX, PZ) of the reference point P based on these data. The arithmetic expression is stored in the ROM incorporated in the MCMP 35, and is operated according to the program of the arithmetic expression read from this ROM. The calculation formula for calculating the coordinate value (PX, PZ) of the reference point P based on the joint angle data, the arm length LA, the boom length LB, the reference point radial direction distance LV1, and the reference point circumferential direction distance LV2 is the boom pin connecting portion 11. With the center coordinate of (x ₀ , z ₀ ), the following equation is obtained. PX = LV1 × cos (αB + αA + αV) + LV2 × sin (αB + αA + αV) + LAcos (αB + αA) + LB × cos (αB) + x ₀ (1) PZ = −LV1 × sin (αB +) αA + αV) + LV2 × cos (αB + αA + αV) -LA × sin (αB + αA) -LB sin (αB) + z ₀ ...... (2) As mentioned above, the hydraulic excavator 1 has a horizontal ground (reference plane). So
), The back surface of the bucket 7 is vertical to the horizontal soil surface Sb, that is, the back surface of the bucket 7 is perpendicular to the horizontal soil surface Sb due to the sand hammer operation of the hydraulic excavator 1. , The vertical position of the reference point P, that is, the Z coordinate P, is considered when considering the speed at which the back surface of the bucket 7 hits the dirt hitting surface Sb.
Only Z needs to be considered. The bucket angle αV
The controller 18 supplies the pilot hydraulic pressure to the switching valve 24 so that the back surface becomes a horizontal surface when the bucket 7 hits the dirt hitting surface Sb.
A proportional pressure reducing valve drive control signal is output to.

In the present embodiment, when the back surface of the bucket 7, that is, the reference point P reaches a substantially predetermined height (deceleration start standard height do) from the dirt hitting surface Sb, deceleration of the descending speed is started,
The speed of the bucket 7 is controlled to stop when the back surface of the bucket 7 moves by the maximum moving distance dmax reaching the virtual descending stop surface Sm. The deceleration start standard height do that starts deceleration of the descending speed of the bucket 7 can be adjusted within a predetermined range, and this adjustment value is the deceleration start position adjustment data Δd, and the adjusted deceleration start height is d. Therefore, step S-
At 8, it is determined whether or not the operation lever signal output from the operation lever 32 is a signal in the direction of lowering the boom 5, and if the result is Yes, the back surface of the bucket 7 is in the deceleration region (Zo ≤ PZ ≤ d + Zo). ) Is determined (S-9). Further, if the result is Yes, the deceleration coefficient K according to the height of the reference point P in the deceleration region is calculated,
The result is set as the deceleration coefficient K and stored in the RAM incorporated in the MCMP 35 (S-10). The deceleration coefficient K is a virtual descending stop surface S of the reference point P with respect to the maximum movement distance dmax.
Defined as the ratio of height from m. That is, K = [PZ- {Zo- (dmax-do) + [Delta] d}] / dmax = 1- (Zo + do + [Delta] d-PZ) / dmax (0≤K≤1) (3) Maximum moving distance dmax, deceleration Starting standard height do is working machine 4
Is stored in the ROM incorporated in the MCMP 35 in advance together with the program of the formula (3) for the deceleration coefficient K. The maximum movement distance dmax is set to a value larger than the distance over which the bucket 7 can be decelerated and stopped with the maximum braking force when the operator operates the operation lever 32 for lowering the boom 5 with the maximum operation amount. The calculated deceleration coefficient K is read from the RAM and transferred to the RAM incorporated in the controller 18. When performing a sandblasting operation, the operator determines the operation procedure so that the operator operates the operation lever 32 with the maximum operation amount.
The bucket lowering operation signal output from 2 to the controller 18 is an operation signal for lowering the bucket 7 at the maximum speed.

Therefore, the controller 18 has a built-in R
This operation signal is multiplied by the deceleration coefficient K read out from AM, and the proportional pressure reducing valve drive control signal for decelerating and lowering the bucket 7 at a speed according to the deceleration coefficient K is sent to the proportional pressure reducing valve unit 31.
Output to. The proportional pressure reducing valve unit 31 controls the opening amount Q by outputting the pilot hydraulic pressure corresponding to the input proportional pressure reducing valve drive control signal to the switching valve 23, and limits the amount of pressure oil supplied to the boom cylinder 8 ( S-1
1). Next, returning to step S-6, the coordinate value of the reference point P and the deceleration coefficient K at that height are calculated to further decelerate and lower the bucket 7. After that, an operator who confirms that the bucket 7 that has decelerated and descended hits the ground, reversely operates the operation lever 32, and
When the operation of raising is performed, the determination result in step S-8 is No, and therefore, the process returns to step S-3, and it is determined whether or not a sand hammering operation stop signal is input. Step S
If the determination result of -3 is Yes, the dusting process is ended, but if the determination result is No, the determination result of step S-8 is Yes while the coordinate value of the reference point P is calculated.
That is, the operator waits for the operator to switch the operating lever 32 to the direction in which the boom 5 and hence the bucket 7 are lowered in order to perform the dusting operation again. Note that when the boom 5 is rising, the deceleration coefficient K is set to 1 even when the reference point P passes through the deceleration area, so that the boom 5 is lifted when the sand hammer mode is not selected. Has become.
When the operation lever 32 is switched to the direction in which the boom 5 is lowered, it is determined whether or not the above-mentioned reference point P is within the deceleration region, the deceleration coefficient K is calculated, and the bucket 7 is decelerated and lowered to move the bucket 7. Next, hit the back surface of No. 7 against the ground to perform the next dusting operation. Hereinafter, the above-mentioned dusting operation is repeated until the sanding operation stop signal is input.

As described above, in the present embodiment, the operation lever 32 is operated so that the bucket 7 descends at the maximum speed until the back surface of the bucket 7 reaches the deceleration area, so that the sand hammer finishing operation is performed. The speed at which the back surface of the bucket 7 hits the ground, and therefore the hitting strength at that time, is only the distance [Zo − (dmax −do) + Δd] between the virtually descending stop surface Sm and the sand hitting surface Sb. Therefore, as long as the vertical coordinate Zo of the dirt hitting surface Sb and the deceleration start position adjustment data .DELTA.d do not change, the hitting strength of the back surface of the bucket 7 on the ground is substantially constant. Therefore, the operator operates the adjustment button of the setter 36 in consideration of the soil quality, hardness, finishing conditions, etc. of the ground to be rubbed, and sets the deceleration start position adjustment data Δd. You can get the best finishing surface. As described above, since the strength of sanding can be adjusted only by operating the adjusting button of the setting device 36, it is possible to always obtain a high quality sanding finish regardless of the skill of the worker. For example, the maximum movement distance dmax and the deceleration start standard height do are set to 1.0 m and 0.7 m, respectively, and the vertical coordinate Z
o and the set value of deceleration start position adjustment data Δd-
When set to 0.1 m and −0.1 m, the value of the deceleration coefficient K when the back surface of the bucket 7, that is, the reference point P descends to a height of 0.2 m, is K = 1 from the arithmetic expression (3). -(-0.1 +0.7 -0.1 -0.2) /1.0 = 0.7, and the descending speed of the back surface of the bucket 7 descended from the reference surface So to a height of 20 cm is 70% of the maximum descending speed commanded by the operation of the operating lever 32. It can be decelerated to%. As described above, the excavation operation when the hydraulic excavator 1 is located on the horizontal ground and the direction of the sand blasting surface Sb is also a horizontal plane has been described. The inclination sensor (not shown) provided in the shovel 1 can detect the posture of the hydraulic excavator 1, that is, the angle formed by the ground plane of the lower traveling body 2 and the horizontal plane. Therefore, the detected data is transferred to the MCMP 35 and the coordinate of the reference point P is transferred. It suffices to calculate the correct coordinate value (PX, PZ) of the reference point P by a calculation formula that corrects the formulas (1) and (2) for calculating the values (PX, PZ). In addition, when the soil surface Sb is not horizontal, the design inclination angle of the soil surface Sb is input by a setting device (not shown), or the bucket 7 is lowered to contact the finished surface of the soil surface Sb. The hydraulic pressure in the bucket cylinder 10 is set to 0, and the inclination angle of the back surface of the bucket 7 which is rotatable around the bucket pin coupling portion 13 is read by each of the potentiometers 14 to 16 and the sand hammer surface S.
Detecting b and setting the deceleration area between the debris striking surface Sb and the deceleration start surface parallel to
It is possible to perform an automatic power sandblasting operation using the same formula as in (3).

In the present embodiment, the vertical coordinate Z of the strike surface Sb
o, the deceleration start position adjustment data Δd is set by the setter 34,
Although it was set by operating the adjustment button of 36,
When the automatic power sandblasting operation by the work implement 4 is performed from the beginning of the sandblasting work, the set value of the deceleration start position adjustment data Δd obtained from experience can be incorporated into the program and automatically set. Since the sand hammer strength according to the compaction state of the ground in the work area is automatically set, the workability of the sand hammer operation can be further improved. The present invention is not limited to the above-described embodiments, but can be applied to various types of hydraulic excavators. For example, the operation levers 32 and 33 may be ones that use pilot hydraulic pressure instead of electric levers, and the joint angle of the working machine 4 is not the potentiometers 14 to 16,
A rotary encoder or a cylinder stroke sensor may be used. Further, the setting device 34,
36 may be composed of a single one. As described in the present embodiment, when the automatic power sand blasting operation is performed only by the vertical movement operation of the bucket 7 by the rotation operation of the boom 5, the arm potentiometer 15 and the bucket potentiometer 16 are unnecessary. By omitting these parts, the cost can be reduced.

[0014]

As described above, according to the first aspect of the present invention, the bucket is lowered and set by the deceleration start position setting means based on the information such as the turning angle detected by the turning angle detecting means. When it is determined that the bucket has reached the start position of the deceleration lowering operation, it is determined whether the bucket has reached the start position of the deceleration lowering operation, and the deceleration command according to the distance from the start position of the deceleration lowering operation of the bucket. Since the signal is output to the control means to control the deceleration of the bucket's descending speed, just by setting the start position of the decelerating descending operation, the back surface of the bucket hits the ground with a constant strength. Since the operation is performed, it is not necessary to adjust the striking strength of the bucket, which is difficult by operating the operating means, and even an unskilled worker has a uniform workmanship and forms a high-quality hitting surface. To do Kill. According to the second aspect of the present invention, the distance between the back surface of the bucket and the start position of the deceleration descending operation, and the stop target newly set below the sand blast surface set by the sand blast surface setting means. Since the deceleration command signal with the ratio of the distance between the position and the start position of the deceleration descending motion as the deceleration ratio is output, the start position of the deceleration descending motion and the deceleration ratio of the descending speed of the bucket should correspond as they are. You can According to the third aspect of the invention, since the deceleration start position change setting for changing and setting the start position of the deceleration descending operation set by the deceleration start position setting means is provided, the soil quality and hardness of the ground in the work area are determined. It is possible to change and set the start position of the deceleration descent operation corresponding to the deceleration rate that seems to be optimal. According to the fourth aspect of the present invention, the back surface of the bucket is brought to the ground in the work area by operating the operation means for rotating the first arm, which is connected to the main body of the work apparatus in which the rotation drive mechanism is installed, downward. Since the work is performed by hitting against the sand, the rotation drive mechanism can be easily controlled, and the number of rotation angle detecting means can be minimized, so that the cost can be reduced accordingly.

[Brief description of drawings]

FIG. 1 is a drive control circuit diagram of a hydraulic excavator according to an embodiment of the present invention.

FIG. 2 is a side view of the hydraulic excavator according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram for explaining a sand hammer operation when the hydraulic excavator is viewed from the side.

[Fig. 4] Flow chart of dusting process

FIG. 5 is a flow chart of the dusting process following FIG.

[Explanation of symbols]

 1 hydraulic excavator 4 working machine 5 boom 6 arm 7 bucket 8 boom cylinder 14 boom potentiometer 18 controller 22-27 switching valve 29 hydraulic pump 30 pilot hydraulic pump 31 proportional pressure reducing valve unit 32, 33 operating lever 34, 36 setter 35 micro Computer (MCMP)

Claims (4)

[Claims] 1. A plurality of arms connected to each other via joints, a bucket rotatably connected to the tip of the tip arm, and driving each of the arms and the bucket. A rotary drive mechanism for rotating the rotary actuator, a control means for controlling the rotary drive mechanism in accordance with an operation amount of the operating means, and a rotary angle for detecting a rotary angle at the joint portion of at least one of the arms. In a sand blasting work device that includes a detection means, drives the rotation drive mechanism by operating the operation means, and strikes the back surface of the bucket against the ground in the work area to perform sand blasting work. In the information such as the rotation angle and the like detected by the rotation angle detection means, the debris setting means for setting the information of the fluffing surface, the deceleration start position setting means for setting the information of the start position of the deceleration descending operation. Based on the bucket descending The deceleration area arrival determination means for determining whether or not the deceleration descent operation start position set by the deceleration start position setting means has been reached, and the deceleration area arrival determination means for the bucket to reach the deceleration descent operation start position. And a deceleration command means for controlling the deceleration speed of the bucket by outputting a deceleration command signal to the control means according to the distance from the start position of the deceleration and descending operation of the bucket. A sandblasting device. 2. The deceleration command means is a distance between the back surface of the bucket and the start position of the deceleration descending operation, and a stop target position newly set below the sand blast surface set by the sand blast surface setting means. 2. The sand hammer work device according to claim 1, wherein a deceleration command signal having a ratio of a distance between the start position of the deceleration and descent operation as a deceleration rate is output. 3. The earthmoving work apparatus according to claim 1, further comprising a deceleration start position change setting for changing and setting a start position of the deceleration descending operation set by the deceleration start position setting means. 4. The soil according to claim 1, wherein the operation of the operation means is an operation of rotating a first arm, which is connected to a main body of the working apparatus in which the rotation drive mechanism is installed, downwardly. Quilling work device.