JPH10195915A - Controller of multi-joint construction machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to drive a second boom by means of a second boom operation device as conventionally is and to enable a rise of the front end of the second boom with simple operation when the front end of the second boom is required to rise. SOLUTION: When a first boom angle θ reaches a rising end angle θ1, continuous rising goal pilot pressure Pa2u' of a second boom 5 having the same size as that of first boom rising pilot pressure Pai1 is obtained by a controller 23. The continuous rising pilot pressure of the second boom 5 having the same size as that of the first boom rising pilot pressure Pbi1 produced by a first boom control lever device 16 is produced by a solenoid pressure-reducing valve 19, the continuous rising pilot pressure of the second boom 5 is selected by a pilot operating section 14a of the second boom flow control valve 14 and is switched, and the second boom 5 is also driven in the rising direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an articulated construction machine having an articulated work front including a two-piece boom, and more particularly to a control device for an articulated construction machine which facilitates operation of a second boom. Control device

[0002]

2. Description of the Related Art A conventional control device for an articulated construction machine is disclosed in Japanese Patent Application Laid-Open No. Sho 62-33937. The articulated construction machine to which this control device is applied is the first
A two-piece boom type working machine including a boom, a second boom, an arm, and a bucket. The control device is configured such that when an automatic mode is selected by a switch provided on an operation lever for operating the first boom, the upper revolving unit is turned. The trajectory of the tip of the second boom is controlled without operating the operating lever for operating the first boom, the arm, or the operating pedal for operating the second boom simply by operating the operating lever that operates the Can be performed easily and accurately. When the automatic mode is not selected by the switch, the second boom is driven according to the operation of the operation pedal, and the first boom and the arm are driven according to the operation of the operation lever related thereto.

[0003]

However, the above prior art has the following problems.

A two-piece boom type working machine comprising a first boom, a second boom, an arm, and a bucket is characterized by having a posture such that the angle of the second boom with respect to the first boom is about 90 °. That is, the work near the vehicle body can be easily performed (see FIG. 4). However, if the first boom is raised without changing the posture of the second boom from this state, the height of the bucket cannot be secured even if the arm is dumped (see FIG. 5). Therefore, in order to make the bucket sufficiently high (see FIG. 6), the operator must separately perform a pedal operation for raising the second boom in addition to the lever operation for raising the first boom. An operation for securing the height of the bucket cannot be easily performed.

[0005] Even when the work front is shifted to a so-called minimum turning posture in which the turning radius of the front device is minimized (see FIG. 7), the pedal for raising the second boom is operated after the lever operation for raising the first boom is performed. , And the operation is also troublesome, and the operation of shifting the work front to the minimum turning posture cannot be easily performed.

An object of the present invention is to enable the second boom to be driven by the second boom operating means as in the prior art, and when it is necessary to raise the tip of the second boom, the second boom can be operated by a simple operation.
An object of the present invention is to provide a control device for an articulated construction machine capable of raising the tip of a boom.

[0007]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides a construction machine main body and a first machine rotatably mounted on the construction machine main body.
A boom, a second boom rotatably mounted on the first boom, a work front including an arm rotatably mounted on the second boom, a first boom cylinder for driving the first boom, The second driving the second boom
A boom cylinder, an arm cylinder for driving the arm, first boom operating means for commanding the speed of the first boom, second boom operating means for commanding the speed of the second boom, and the first boom operating means. A first boom flow control valve operated by a command signal to control the driving of the first boom cylinder; and a second boom operated by a command signal of the second boom operating means to control the driving of the second boom cylinder. In a control device for an articulated construction machine having a flow control valve, a first boom detection means for detecting a position of the first boom, and a signal from the first boom detection means, wherein the first boom is When reaching the vicinity of the raising end, a continuous raising command signal of the second boom is generated from the command signal of the first operating means. A configuration and a signal processing means to select one of the command signal of the boom operation means outputting a command signal to the second boom flow control valve.

According to the present invention having the above-described structure, the signal processing for selecting one of the continuous raising command signal of the second boom and the command signal of the second boom operating means and setting it as a command signal for output to the second boom flow control valve. Means, the second
The second boom can be driven by a command from the boom operating means. Also, when the first boom reaches the vicinity of the raising end, the signal processing means does not instruct the speed of the second boom by the second boom operating means, but the signal processing means continuously outputs the second boom from the command signal of the first boom operating means. A raising command signal is generated, and the continuous raising command signal of the second boom is selected and used as an output command signal to the second boom flow control valve, and the second boom is also driven in the raising direction. There is no need to operate the second boom operating means when the tip needs to be raised, and the tip of the second boom can be raised with a simple operation.

(2) In the above (1), preferably,
The signal processing means selects the larger one of the second boom continuous raising command signal and the command signal of the second boom operating means as an output command signal.

Thus, if only the first boom operating means is operated, the signal processing means selects the second boom continuous raising command signal, and as described in (1) above, raises the tip of the second boom. Can be raised.

(3) In the above (1), preferably, the first boom operating means and the second boom operating means are each a hydraulic pilot system for outputting an operating pilot pressure as a command signal, and the signal processing means Receives a signal from the pressure detection means and the first boom detection means for detecting an operation pilot pressure of the first boom operation means, and when the first boom reaches the vicinity of the raising end, A controller for calculating a continuous raising target pilot pressure of the second boom from the operating pilot pressure of the first operating means and outputting an electric signal; and a continuous raising pilot driven by the electric signal and serving as a continuous raising command signal for the second boom. An electromagnetic pressure reducing valve for generating pressure, a continuously increasing pilot pressure of the electromagnetic pressure reducing valve, and an operating pilot of the second boom operating means. It shall have a selection valve for selecting one of.

Thus, the first boom operating means and the second
When the boom operating means is of the hydraulic pilot type, the operation (1) can be obtained.

(4) Further, in the above (1), each of the first boom operating means and the second boom operating means is an electric lever type for outputting an electric signal as a command signal, and the signal processing means comprises An electric signal of the one boom operating means and a signal from the first boom detecting means are inputted, and when the first boom reaches the vicinity of the raising end, a continuous raising target pilot of the second boom is obtained from the electric signal of the first operating means. A controller for calculating the pressure, selecting one of a continuously increasing target pilot pressure of the second boom and a target pilot pressure of the second boom calculated from the electric signal of the second operating means, and outputting an electric signal; An electromagnetic pressure reducing valve that is driven by an electric signal output from the controller and generates a pilot pressure as an output command signal to the second boom flow control valve. It may be the one.

Thus, the first boom operating means and the second
When the boom operating means is an electric lever type,
The effect of the above (1) is obtained.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

First, a first embodiment of the present invention will be described with reference to FIGS. In FIG. 1, the control device of the articulated construction machine according to the present embodiment is provided on a hydraulic shovel 1 having a work front 2, and the work front 2 is an upper revolving unit 3 which is a part of the main body of the hydraulic shovel 1. A first boom 4 is attached to the first boom 4 so as to be rotatable in a vertical direction, and a second boom is attached to the first boom 4 so as to be rotatable in a vertical direction.
A boom 5, an arm 6 attached to the second boom 5 so as to be vertically rotatable, and a working device such as a bucket 7 attached to the arm 6 so as to be vertically rotatable.
It is composed of The first boom 4 is driven by a first boom cylinder 8, the second boom 5 is driven by a second boom cylinder 9, the arm 6 is driven by an arm cylinder 10, and the bucket 7 is driven by a bucket cylinder 11. . Further, the upper swing body 3 is driven by a swing motor (not shown).

The control device for the articulated construction machine according to the present embodiment includes a first boom flow control valve 13 for switching and controlling the flow rate and the flow direction of the pressure oil supplied from the hydraulic source 12 to the first boom cylinder 8. A second boom flow control valve 14 for switching and controlling a flow rate and a flow direction of the pressure oil supplied from the hydraulic pressure source 12 to the second boom cylinder 9;
6a, generates an operation pilot pressure corresponding to the operation amount of the
A first boom operation lever device 16 for instructing the rotation speed and direction of the boom 4 and an operation pilot pressure corresponding to the operation amount of the operation lever 17a are generated to instruct the rotation speed and direction of the second boom 5. A pressure sensor 21 for detecting a first boom raising pilot pressure Pbi1 for instructing the first boom 4 to be raised in the operating pilot pressure generated by the second boom operating lever device 17 and the first boom operating lever device 16 And an angle sensor 22 for detecting a first boom angle θ (see FIG. 1) formed by the first boom 4 with respect to the ground, and signals from the pressure sensor 21 and the angle sensor 22 are input to the first boom raising pilot pressure. A controller 23 for calculating a continuously increasing target pilot pressure of the second boom 5 from Pbi1 and outputting an electric signal;
An electromagnetic pressure reducing valve 19 for generating a continuous raising pilot pressure of the boom 5, and a second boom raising pilot for instructing driving of the second boom 5 in the raising direction among the operating pilot pressures generated by the second boom operating lever device 17. Pressure and electromagnetic pressure reducing valve 1
And a shuttle valve 20 for selecting a high pressure side from among the continuous raising pilot pressures of the second boom 5 from 9 and outputting the selected pressure to the second boom flow control valve 14.

The first boom operation lever device 16 is connected to the pilot hydraulic power source 15 via a pilot line 60. When the operation lever 16a is tilted in the direction A in the drawing, the first boom 4 is driven in the upward direction. The commanded first boom raising pilot pressure is generated, and the operation lever 16a is moved to the position shown in B in FIG.
When tilted in the direction, a first boom lowering pilot pressure for instructing driving of the first boom 4 in the lowering direction is generated.

The first boom raising pilot pressure generated by the first boom operating lever device 16 is controlled by the pilot line 6.
The first boom flow control valve 13 is guided to the pilot operation unit 13a via the first boom flow control valve 13. As a result, the first boom flow control valve 13 switches to a position for supplying pressure oil to the bottom side of the first boom cylinder 8, and the first boom 4 rotates in the upward direction. The first boom lowering pilot pressure generated by the first boom operation lever device 16 is controlled by the pilot line 6.
The first boom flow control valve 13 is guided to the pilot operation unit 13b via the first boom flow control valve 13 through the first boom flow control valve 13. As a result, the first boom flow control valve 13 switches to a position for supplying pressure oil to the rod side of the first boom cylinder 8, and the first boom 4 rotates in the downward direction.

The second boom operation lever device 17 is connected to the pilot hydraulic power source 15 via pilot lines 60 and 61. When the operation lever 17a is tilted in the direction A in the drawing, the second boom 5 is driven in the upward direction. Is generated, and when the operating lever 17a is tilted in the direction B in the drawing, a second boom lowering pilot pressure for commanding the driving of the second boom 5 in the lowering direction is generated.

The electromagnetic pressure reducing valve 19 is connected to the pilot hydraulic pressure source 15
Is provided on a pilot line 62 that branches off from a pilot line 60 connected to the shuttle valve 20.

The second boom raising pilot pressure generated by the second boom operating lever device 17 and the continuous raising pilot pressure of the second boom 5 generated by the electromagnetic pressure reducing valve 19 are transmitted via pilot lines 61a and 62, respectively, to a shuttle valve. 20
The pilot pressure on the high pressure side is selected and guided to the pilot operating section 14 a of the second boom flow control valve 14 via the pilot line 63. As a result, the second boom flow control valve 14 is switched to a position for supplying pressure oil to the rod side of the second boom cylinder 9, and the second boom 5 rotates in the upward direction. Further, the second boom lowering pilot pressure generated by the second boom operation lever device 17 is guided to the pilot operation section 14b of the second boom flow control valve 14 via the pilot line 61b. As a result, the second boom flow control valve 14 is switched to a position for supplying pressure oil to the bottom side of the second boom cylinder 9, and the second boom 5 rotates in the downward direction.

The processing function of the controller 23 will be described with reference to FIG. In FIG. 2, the controller 23 controls the first boom raising pilot pressure Pbi detected by the pressure sensor 21.
1, a first boom angle input unit 201 for inputting a signal of the first boom angle θ detected by the angle sensor 22, and a first boom raising detected by the pressure sensor 21. Pilot pressure Pbi1,
A target pilot pressure calculating section 202 for calculating a continuously increasing target pilot pressure Pa2u 'of the second boom 5 from the first boom angle θ detected by the angle sensor 22, and a second boom 5 calculated by the target pilot pressure calculating section 202. An electric signal for driving the electromagnetic pressure reducing valve 19 is obtained so that the continuous increasing pilot pressure of the second boom 5 having the same magnitude as the continuous increasing target pilot pressure Pa2u ′ is generated by the electromagnetic pressure reducing valve 19. An output section 203 for outputting to the solenoid section 19a.

Next, the processing contents of the controller 23 will be described with reference to the flowchart shown in FIG.

First, a signal is input from the pressure sensor 21 to the pilot pressure input unit 200, and the first boom angle input unit 2
01, a signal is input from the angle sensor 22 (step 100). Next, the target pilot pressure calculation unit 202 determines whether the first boom 4 has reached the raising end, that is, the raising end angle θ1 (the first boom angle θ when the first boom cylinder 8 has reached the cylinder end). For example, 9
It is determined whether or not the first boom angle θ has reached (0 °) (step 101). If the first boom angle θ has not reached the raising end angle θ1, the continuous raising target pilot pressure Pa2u ′ of the second boom 5 is determined. Is set to 0 (step 10
2) If the first boom angle θ has reached the raising end angle θ1, the continuous raising target pilot pressure Pa2 of the second boom 5
u 'is set to a value equal to the first boom raising pilot pressure Pbi1 (step 103). Next, the output unit 203 obtains an electric signal corresponding to the continuously increasing target pilot pressure Pa2u ′ of the second boom 5 obtained by the target pilot pressure calculation unit 202, and outputs it to the solenoid unit 19a of the electromagnetic pressure reducing valve 19 (step). 104).

The operation of this embodiment will be described below with reference to FIGS.

Generally, in a two-piece boom type working machine including a first boom, a second boom, an arm, and a bucket, as shown in FIG. When the posture of the second boom 5 with respect to the first boom 4 is set to about 90 °, and the first boom 4 is raised without changing the posture of the second boom 5 from this state, the arm as shown in FIG. Since the height of the bucket 7 cannot be ensured even if the dump truck 6 is dumped, FIG.
In order to make the bucket 7 high enough as shown in
It is necessary to drive the first boom 4 and the second boom 5 in the raising direction. Also, as shown in FIG. 7, even when the work front is shifted to a so-called minimum turning posture in which the turning radius of the work front is minimized, the first boom 4 and the second boom are similarly moved.
It is necessary to drive the boom 5 in the raising direction.

When the height of the bucket 7 is secured or the operation front is shifted to the minimum turning posture as described above, in the present embodiment, the operation lever 16a of the first boom operation lever device 16 is moved to the position indicated by A in FIG. Operate in the direction 1
When the drive of the raising direction of the boom 4 is commanded, the first boom operation lever device 16 controls the first boom raising pilot pressure P.
The bi1 is generated, and guided to the pilot operation section 13a of the first boom flow control valve 13, the first boom flow control valve 13 is switched, and the first boom 4 is driven in the upward direction. When the first boom angle θ reaches the raising end angle θ1,
The controller 23 controls the first boom raising pilot pressure Pbi
A continuous raising target pilot pressure Pa2u 'of the second boom 5 having the same size as that of the first boom 5 is obtained, and the electromagnetic pressure reducing valve 19 controls the second boom 5 having the same size as the first boom raising pilot pressure Pbi1.
Is generated, and the shuttle valve 20
Thus, the continuous raising pilot pressure of the second boom 5 is selected, and the pilot operating portion 14 of the second boom flow control valve 14 is selected.
The second boom flow control valve 14 is switched by being guided by a, and the second boom 5 is also driven in the raising direction. Therefore, the first boom 4 and the second boom 5 can be driven in the raising direction only by operating the first boom operation lever device 16 so as to drive the first boom 4 in the raising direction.

Further, when the second boom operation lever device 17 is operated in the direction A in the figure to command the driving of the second boom 5 in the raising direction, the second boom operation lever device 17 generates the second boom raising pilot pressure. , With shuttle valve 20,
The pilot pressure on the high pressure side is selected from the second boom raising pilot pressure and the continuous raising pilot pressure of the second boom 5 generated by the electromagnetic pressure reducing valve 19, and is transmitted to the pilot operating section 14 a of the second boom flow control valve 14. Then, the second boom flow control valve 14 is switched, and the second boom 5 is driven in the upward direction. On the other hand, the second boom operation lever device 17 is
When the second boom 5 is operated in the lower direction to command the lowering of the second boom 5, a second boom lowering pilot pressure is generated by the second boom operating lever device 17, and the second boom flow control valve 1 is turned on.
The second boom flow control valve 14 is switched by being guided by the pilot operation unit 14a of No. 4 and the second boom 5 is driven in the downward direction. For this reason, the second boom operation lever device 1
7, the second boom 5 can be driven.

As described above, according to the present embodiment, the first boom 4 and the second boom 5 need to be driven in the raising direction in order to raise the bucket 7 high or shift to the minimum turning posture as described above. When the first boom angle θ reaches the raising end angle θ1, even if the second boom operating lever device 17 does not instruct the driving of the second boom 5 in the raising direction,
Since the second boom 5 is automatically driven in the raising direction,
There is no need to operate the boom operation lever device 17,
The first boom 4 and the second boom 5 can be driven in the raising direction by a simple operation.

Further, the first boom 4 and the second boom 5 can be driven in the raising direction only by the command of the first boom operation lever device 16, so that the operator can operate the second boom 4 in the same sense as operating the first boom 4. The boom 5 can be operated.

Further, since the second boom 5 can be driven by the second boom operation lever device 17 as in the prior art, the operator can easily become accustomed to the operation method using the control device.

In this embodiment, the controller 23
The first boom angle θ
Of the second boom 5 is determined according to whether or not the first boom angle θ has reached the vicinity of the raising end angle θ1. Alternatively, the continuously increasing target pilot pressure Pa2u 'of the second boom 5 may be obtained.

A second embodiment of the present invention will be described with reference to FIGS. In the figure, members and procedures equivalent to those shown in FIGS. 1 and 3 are denoted by the same reference numerals, and description thereof will be omitted.

This embodiment is different from the control device of the first embodiment in that the processing content of the controller 23 is changed. Specifically, in FIG. The first boom angle θ increases the end angle θ
When it reaches 1, the first boom raising pilot pressure Pbi is calculated using Pa2u '= αPbi1 + β (1) (α and β are arbitrary constants), that is, using the relationship shown in FIG.
1 to 2nd boom 5 continuous raising target pilot pressure Pa2u '
Is provided, but the other configuration such as the circuit configuration is the same as that of the first embodiment.

In the present embodiment, the same operation as in the first embodiment is performed, and the same effect is obtained. In addition, the continuous raising target pilot pressure of the second boom 5 is obtained by using the above equation (1). By obtaining Pa2u ', the following effects can be obtained.

As shown in FIGS. 10 and 11, there is a characteristic different from the relationship between the first boom cylinder speed with respect to the first boom raising pilot pressure and the relationship between the second boom cylinder speed with respect to the second boom raising pilot pressure. In case,
When the continuous raising pilot pressure Pa2u 'of the second boom 5 is set to the same magnitude as the first boom raising pilot pressure Pbi1, the first boom cylinder 8 and the second boom cylinder 9 are driven even at the same pilot pressure due to the difference in the characteristics described above. Since the speeds are different, a dead zone where the second boom cylinder 9 is not driven occurs even after the first boom cylinder 8 reaches the cylinder end, or even if the second boom cylinder 9 is driven, the speed of the first boom cylinder 8 is reduced. Or too late,
The shock when the first boom angle θ reaches the raising end angle θ1 and the second boom 5 starts driving increases. For this reason, if the first boom raising pilot pressure Pbi1 is appropriately corrected as shown in the above equation (1) and is set to the continuous raising target pilot pressure Pa2u 'of the second boom 5, such a problem can be solved and an appropriate The second boom 5 can be driven at a speed.

FIGS. 12 to 14 show a third embodiment of the present invention.
This will be described below. In the drawing, members that are the same as the members illustrated in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

In FIG. 12, the control device of the present embodiment is different from the control device of the first embodiment in that a hydraulic pilot type first boom operation lever device 16 and a second boom operation lever device 17 are used instead of an operation lever. An electric lever type first boom electric lever device 30 and a second boom electric lever device 3 that generate an electric signal according to an operation amount
1 is provided. Accordingly, instead of the pressure sensor 21, the electromagnetic pressure reducing valve 19, the shuttle valve 20, and the controller 23 provided in the control device of the first embodiment, an electric signal from the first boom electric lever device 30, A controller 23A that receives an electric signal from the boom electric lever device 31 and a signal from the angle sensor 22, calculates a target pilot pressure and outputs an electric signal, and is driven by the electric signal to generate a first boom raising pilot pressure. An electromagnetic pressure reducing valve 32 for generating a second boom raising pilot pressure, an electromagnetic pressure reducing valve 34 for generating a first boom lowering pilot pressure, and an electromagnetic pressure reducing valve 35 for generating a second boom lowering pilot pressure. Have been. Other configurations are the same as those of the first embodiment.

The electromagnetic pressure reducing valve 32 is connected to the pilot hydraulic pressure source 15
The first boom raising pilot pressure generated by the electromagnetic pressure reducing valve 32 is provided on a pilot line 65a branched from a pilot line 64 connected to the first boom flow control valve 13 and connected to the pilot driving portion 13a of the first boom flow control valve 13. The first boom 4 is guided by the driving unit 13a and is driven in the raising direction as in the first embodiment.

The electromagnetic pressure reducing valve 33 is connected to a pilot line 64
Is provided on a pilot line 66a connected to the pilot drive section 14a of the second boom flow control valve 14, and the second boom raising pilot pressure generated by the electromagnetic pressure reducing valve 33 is guided to the pilot drive section 14a. The second boom 5 is driven in the raising direction as in the first embodiment.
The electromagnetic pressure reducing valve 34 is provided on a pilot line 65 b branched from the pilot line 64 and connected to the pilot drive section 13 b of the first boom flow control valve 13, and the first boom lowering pilot pressure generated by the electromagnetic pressure reducing valve 34 is provided. Is guided to the pilot drive unit 13b, and the first boom 4 is driven in the lowering direction as in the first embodiment. The electromagnetic pressure reducing valve 35 is provided on a pilot line 66 b branched from the pilot line 64 and connected to the pilot drive unit 14 b of the second boom flow control valve 14.
The second boom lowering pilot pressure generated in Step 5 is guided to the pilot drive unit 14b, and the second boom lowering pilot pressure is used as in the first embodiment.
The boom 5 is driven in the lowering direction.

The processing function of the controller 23A will be described with reference to FIG. In FIG. 13, the controller 23A
A signal input unit 210 for inputting a signal from the first boom electric lever device 30 and a second boom electric lever device 31
A signal input unit 211 for inputting a signal from the first boom angle θ, a first boom angle input unit 212 for inputting a signal of the first boom angle θ detected by the angle sensor 22, and a signal from the first boom electric lever device 30. A calculation unit 213a for obtaining a first boom raising target pilot pressure Pa1u, a calculation unit 213b for obtaining a first boom lowering target pilot pressure Pa1d based on a signal from the first boom electric lever device 30, and a second boom electric lever device 31 Calculating section 214b for calculating the second boom lowering target pilot pressure Pa2d from the signal
And the signal from the second boom electric lever device 31,
The operation of the second boom 5 based on the calculation unit 214a for obtaining the second boom raising target pilot pressure Pa2u and the first boom angle θ detected by the angle sensor 22 and the first boom raising target pilot pressure Pa1u obtained by the calculation unit 213a. A calculating unit 215 for calculating the raising target pilot pressure Pa2u ';
The first boom raising target pilot pressure Pa1u obtained in 13a
An output unit 216 for obtaining an electric signal for driving the electromagnetic pressure reducing valve 32 so that the first boom raising pilot pressure having the same magnitude as that of the electromagnetic pressure reducing valve 32 is generated, and outputting the signal to the solenoid unit 32a of the electromagnetic pressure reducing valve 32; The first calculated by the calculation unit 213b
The first of the same size as the boom lowering target pilot pressure Pa1d
An output unit 21 that obtains an electric signal for driving the electromagnetic pressure reducing valve 34 so that the boom lowering pilot pressure is generated by the electromagnetic pressure reducing valve 34 and outputs the signal to the solenoid unit 34a of the electromagnetic pressure reducing valve 34
7 and the electromagnetic pressure reducing valve 3 so that the electromagnetic pressure reducing valve 35 generates a second boom lowering pilot pressure having the same magnitude as the second boom lowering target pilot pressure Pa2d obtained by the calculation unit 214b.
An output unit 218 for obtaining an electric signal for driving the solenoid valve 5 and outputting it to the solenoid unit 35a of the electromagnetic pressure reducing valve 35;
a of the second boom raising target pilot pressure Pa2u obtained in step a and the continuous raising target pilot pressure Pa2u 'of the second boom 5 obtained in the calculating section 215, the maximum value selecting section for setting the high pressure side as the second boom raising target pilot pressure Pa2u. 219 and the second boom raising target pilot pressure P obtained by the maximum value selecting unit 219.
An electric signal for driving the electromagnetic pressure reducing valve 33 is obtained so that the second boom raising pilot pressure having the same size as a2u is generated by the electromagnetic pressure reducing valve 33, and the solenoid unit 33 of the electromagnetic pressure reducing valve 33 is obtained.
a output unit 220 for outputting the data to the output terminal a.

Next, the processing contents of the controller 23A will be described with reference to the flowchart shown in FIG.

First, a signal is inputted from the first boom electric lever device 30 to the input section 210, a signal is inputted from the second boom electric lever apparatus 31 to the input section 211, and the angle sensor 22 is inputted to the first boom angle input section 212. (Step 110), and the calculation units 213a to 214b
A first boom raising target pilot pressure Pa1u, a first boom lowering target pilot pressure Pa1d, a second boom raising target pilot pressure Pa2u, and a second boom lowering target pilot pressure Pa2d are obtained. Next, the first boom angle θ is calculated by the calculation unit 215.
Is determined to have reached the previously stored raising end angle θ1 (step 112). If the first boom angle θ has not reached the raising end angle θ1, the continuous raising target pilot pressure Pa2u ′ of the second boom 5 is determined. Is set to 0 (step 113), and if the first boom angle θ has reached the raising end angle θ1, the continuous raising target pilot pressure Pa2u ′ of the second boom 5 is set to a value equal to the first boom raising target pilot pressure Pa1u. Is performed (step 114). Then, the maximum value selection unit 219 determines the high-pressure side of the second boom raising target pilot pressure Pa2u obtained by the calculation unit 214a and the continuous raising target pilot pressure Pa2u 'of the second boom 5 obtained by the calculation unit 215 as the second boom. The increase target pilot pressure Pa2u is set (step 115). Finally, the output units 216 to 218, 220
Thus, these target pilot pressures Pa1u, Pa1d, Pa2u, Pa
An electric signal for driving the electromagnetic pressure reducing valves 32-35 is obtained and output so that a pilot pressure of the same magnitude as 2d is obtained (step 116).

The bucket 7 as described in the first embodiment
In the present embodiment, when the operation of ensuring the height of the vehicle or shifting the work front to the minimum turning posture is performed, the first boom electric lever device 30 is operated to instruct the first boom 4 to be driven in the raising direction. , The controller 23A, the first
A target boom raising pilot pressure Pa1u is obtained, a first boom raising pilot pressure of this magnitude is generated by the electromagnetic pressure reducing valve 32, and guided to the pilot operating portion 13a of the first boom flow control valve 13 for the first boom flow rate. The control valve 13 is switched, and the first boom 4 is driven in the raising direction. Then, when the first boom angle θ reaches the raising end angle θ1, the controller 23A controls the first boom raising target pilot pressure Pa1.
A continuous raising target pilot pressure Pa2u 'of the second boom 5 having the same size as u is obtained, and a second boom raising pilot pressure of this magnitude is generated by the electromagnetic pressure reducing valve 33, and the second boom flow control valve 14 is controlled by the electromagnetic pressure reducing valve 33. The second boom flow control valve 14 is switched by being guided by the pilot operation unit 14a, and the second boom 5 is also driven in the upward direction.

Further, when the second boom electric lever device 31 is operated to command the driving of the second boom 5 in the raising direction, the controller 23A obtains the second boom raising target pilot pressure Pa2u and sets the first boom raising target. Pilot pressure Pa
The target pilot pressure on the high pressure side is selected by comparing with the continuous raising target pilot pressure Pa2u 'of the second boom 5 obtained according to 1u, and the second boom raising pilot pressure of this magnitude is selected by the electromagnetic pressure reducing valve 33. The second boom flow control valve 14 is generated and guided to the pilot operation section 14 a of the second boom flow control valve 14 to switch the second boom flow control valve 14, and the second boom 5 is driven in the upward direction. On the other hand, when the second boom 5 is operated by operating the second boom electric lever device 31, the controller 23A causes the controller 23A to lower the second boom lowering target pilot pressure P.
a2d is obtained, and the electromagnetic pressure reducing valve 35 controls the second
The boom lowering pilot pressure is generated, and guided to the pilot operation section 14b of the second boom flow control valve 14, to switch the second boom flow control valve 14, and the second boom 5 is driven in the lowering direction.

As described above, also in the present embodiment, the first
The same effect as that of the embodiment can be obtained.

A fourth embodiment of the present invention will be described with reference to FIG. In the drawing, members that are the same as the members illustrated in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

In FIG. 15, the control device of this embodiment uses a pilot line 61a and a pilot line 63 by an electric signal from the controller 23B instead of the shuttle valve 20 of the control device of the first embodiment.
And a second position communicating the pilot line 62 and the pilot line 63. The electromagnetic switching valve 40 is provided to switch between the first position communicating the first line and the second position communicating the pilot line 62 and the pilot line 63.
A pressure sensor 41 for detecting the pressure of the second boom raising pilot pressure generated by the second boom operation lever device 17 is further provided in the control device of the embodiment.
Other configurations are the same as those of the first embodiment.

In the controller 23B, the electric signal of the electromagnetic pressure reducing valve 19 is obtained by the same processing procedure as in the first embodiment.
It outputs to the solenoid part 19a of the electromagnetic pressure reducing valve 19. In addition, a signal of the second boom raising pilot pressure Pbi2 is input from the pressure sensor 41, and the second boom raising pilot pressure Pbi2 is calculated by the target pilot pressure calculating unit 202.
When the continuous raising target pilot pressure Pa2u 'of the boom 5 is higher, the electromagnetic switching valve 40 is switched to the first position, and conversely,
When the second boom raising pilot pressure Pbi2 is lower than the second boom raising target pilot pressure Pa2u 'obtained by the target pilot pressure calculating section 202, an electric signal for switching the electromagnetic switching valve 40 to the second position is obtained, and the electromagnetic switching is performed. The signal is output to the solenoid 40a of the valve 40.

In this embodiment, the same effects as in the first embodiment can be obtained.

The electric signal for switching the electromagnetic switching valve 40 required by the controller 23B is not instructed by the second boom operating lever device 17 to drive the second boom 5 in the raising direction, that is, when the second boom is raised. Only when the pilot pressure Pbi2 is 0, the electromagnetic switching valve 40 is switched to the second position.
May be an electrical signal such that the first position is set to the first position.
In this case as well, the same effect as that of the first embodiment can be obtained, and the command of the second boom operation lever device 16 can be prioritized, and the degree of freedom in operation of the second boom 5 increases.

In the present embodiment, the switching of the electromagnetic switching valve 40 is automatically performed by an electric signal from the controller 23B. However, a switch or the like may be provided so that the operator can switch arbitrarily.

[0054]

According to the present invention, the second boom can be driven by the second boom operating means as before, and when it is necessary to raise the tip of the second boom, the second boom can be used.
Even if the second boom is not driven by the boom operating means, the second boom is automatically driven in the raising direction when the first boom reaches the vicinity of the raising end. The end of the second boom can be raised with a simple operation without troublesome operation.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a control device of an articulated construction machine according to a first embodiment of the present invention.

FIG. 2 is a functional block diagram illustrating a control function of a controller.

FIG. 3 is a flowchart showing control contents of a controller.

FIG. 4 is a diagram showing a posture of a front device for easily performing work near the vehicle body.

FIG. 5 shows a state in which the second boom is moved from the state shown in FIG.
It is a figure showing a posture of a front device at the time of raising a boom.

FIG. 6 is a diagram showing a posture of the front device when a bucket has a sufficient height.

FIG. 7 is a diagram illustrating a minimum turning posture that minimizes a turning radius of the front device.

FIG. 8 is a flowchart showing control contents of a controller according to the second embodiment of the present invention.

FIG. 9 is a diagram showing a relationship between a first boom raising pilot pressure and a second boom raising target pilot pressure.

FIG. 10 is a diagram showing a relationship between a first boom raising pilot pressure and a first boom cylinder speed.

FIG. 11 is a diagram showing a relationship between a second boom raising pilot pressure and a second boom cylinder speed.

FIG. 12 is a diagram illustrating a control device for an articulated construction machine according to a third embodiment of the present invention.

FIG. 13 is a functional block diagram showing a control function of a controller.

FIG. 14 is a flowchart showing control contents of a controller.

FIG. 15 is a diagram showing a control device for an articulated construction machine according to a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Work front 3 Upper revolving unit 4 1st boom 5 2nd boom 6 Arm 7 Bucket 8 1st boom cylinder 9 2nd boom cylinder 10 Arm cylinder 11 Bucket cylinder 12 Hydraulic power source 13 1st boom flow control valve 14th 2 Boom flow control valve 15 Pilot hydraulic pressure source 16 First boom operation lever device 17 Second boom operation lever device 19 Electromagnetic pressure reducing valve 20 Shuttle valve 21 Pressure sensor 22 Angle sensor 23, 23A, 23B Controller 30 First boom electric lever device 31 Second boom electric lever device 32 to 35 Electromagnetic pressure reducing valve 40 Electromagnetic switching valve 41 Pressure sensor 60 to 64 Pilot line 60a to 66a Pilot line 60b to 66b Pilot line

Continuing on the front page (72) Inventor Toichi Hirata 650 Kandamachi, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant (72) Inventor Mitsuo Sonoda 650 Kandate-cho, Tsuchiura-shi, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd.

Claims (4)

[Claims] 1. A construction machine main body, a first boom rotatably mounted on the construction machine main body, a second boom rotatably mounted on the first boom, and a rotatable rotation on the second boom. A work front including an attached arm; a first boom cylinder for driving the first boom;
A second boom cylinder for driving the boom, an arm cylinder for driving the arm, first boom operating means for commanding the speed of the first boom, and second boom operating means for commanding the speed of the second boom; A first boom flow control valve that is operated by a command signal of a first boom operating means and controls driving of the first boom cylinder; and a first boom flow control valve that is operated by a command signal of the second boom operating means to drive the second boom cylinder A control device for an articulated construction machine, comprising: a second boom flow control valve for controlling the position of the first boom; and a signal from the first boom detection means for detecting a position of the first boom. , The first
When the boom reaches the vicinity of the raising end, a continuous raising command signal of the second boom is generated from the command signal of the first operating means, and the continuous raising command signal of the second boom and the command signal of the second boom operating means are generated. And a signal processing means for selecting one of the two as a command signal for output to the second boom flow control valve. 2. The control device for an articulated construction machine according to claim 1, wherein said signal processing means outputs a larger one of a continuous raising command signal of said second boom and a command signal of said second boom operating means. A control device for an articulated construction machine, which is selected as a command signal. 3. The control device for an articulated construction machine according to claim 1, wherein the first boom operating means and the second boom operating means are each a hydraulic pilot system that outputs an operating pilot pressure as a command signal. The processing means receives a signal from the pressure detection means and the first boom detection means, and a pressure detection means for detecting an operation pilot pressure of the first boom operation means.
When the boom reaches the vicinity of the raising end, a controller that calculates a continuous raising target pilot pressure of the second boom from an operating pilot pressure of the first operating means and outputs an electric signal; An electromagnetic pressure reducing valve for generating a continuous raising pilot pressure as a boom continuous raising command signal, and a selection valve for selecting one of the continuous raising pilot pressure of the electromagnetic reducing valve and the operating pilot pressure of the second boom operating means. A control device for an articulated construction machine. 4. The control device for an articulated construction machine according to claim 1, wherein said first boom operating means and said second boom operating means are each an electric lever type that outputs an electric signal as a command signal. Means for inputting an electric signal of the first boom operation means and a signal from the first boom detection means,
When the boom reaches the vicinity of the raising end, the continuous raising target pilot pressure of the second boom is calculated from the electric signal of the first operating means, and the continuous raising target pilot pressure of the second boom and the electric power of the second operating means are calculated. The second calculated from the signal
A controller that selects one of the target pilot pressures of the boom and outputs an electric signal; and an electromagnetic drive that is driven by the electric signal output from the controller and generates a pilot pressure as an output command signal to the second boom flow control valve. A control device for an articulated construction machine, comprising: a pressure reducing valve.