WO2010103878A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2010103878A1 WO2010103878A1 PCT/JP2010/051372 JP2010051372W WO2010103878A1 WO 2010103878 A1 WO2010103878 A1 WO 2010103878A1 JP 2010051372 W JP2010051372 W JP 2010051372W WO 2010103878 A1 WO2010103878 A1 WO 2010103878A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- state
- hammer
- hydraulic breaker
- hydraulic
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/966—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of hammer-type tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
Definitions
- the present invention relates to a work machine that automatically drives a hydraulic breaker.
- a hydraulic work machine is equipped with a hydraulic breaker equipped with a hydraulic hammer mechanism that does not require a flow rate adjustment operation on the machine body at the tip of a work device that is movable up and down with respect to the machine body (for example, Patent Documents). 1).
- the operation procedure for crushing the object to be crushed with this type of hydraulic breaker hammer is to first place the tip of the hammer on the object to be crushed, and then place the operation lever that moves the boom of the work equipment up and down. Then, press the hammer against the object to be crushed to relatively lift the aircraft, and then operate the switches to start hammering the hammer while applying the load on the object to be crushed from the tip of the hammer. When the object is crushed, the switch is returned to the neutral position to finish the blow.
- This invention is made in view of such a point, and it aims at providing the working machine provided with the automatic hammer function which can be operated easily and can prevent the danger of hammer damage by emptying.
- the invention described in claim 1 includes an airframe, a working device mounted on the airframe, a hydraulic breaker attached to a tip of the working device, a control valve for controlling hydraulic oil supplied to the hydraulic breaker, A single rod type hydraulic cylinder that operates the working device in the downward direction and presses the hydraulic breaker against the object to be crushed, an operation unit that operates the hydraulic cylinder in the contracting direction and operates the working device in the downward direction, A pressure detector that detects the pressure on the head side and the pressure on the rod side, and a selector switch that can be switched between an auto-hammer disabled state that disables the hydraulic breaker and an auto-hammer enabled state that enables the hydraulic breaker.
- the controller in the work machine according to the first aspect returns to the automatic hammer prohibition state when a certain period of time has elapsed even if the changeover switch is turned on once, and within a certain period of time.
- the changeover switch is turned on again, a function for setting the automatic hammer permission state is provided.
- the invention described in claim 3 is the work machine according to claim 1 or 2, further comprising a monitor for displaying an automatic hammer permission state.
- the controller in the work machine when the controller in the work machine according to any one of the first to fourth aspects stops the pressure on the head side and the pressure on the rod side of the hydraulic cylinder from being in a constant pressing pressure state,
- the hydraulic breaker is provided with a function that enables the hydraulic breaker to be reactivated by a reset operation in which the operating unit that operates the working device in the lowering direction is once returned to the neutral position and then is operated again in the lowering direction.
- the controller is in a state where the automatic hammer is permitted by the changeover switch, and the pressure and rod on the head side of the hydraulic cylinder that operates the working device detected by the pressure detector in the downward direction. Since the control valve of the hydraulic breaker is opened and controlled only when the pressure on the side becomes a constant pressing pressure state, the operator switches the controller to the automatic hammer-permitted state with the changeover switch, and then moves the operation unit in the direction of lowering the work device. Even if the switch for operating or stopping the hydraulic breaker is not operated, the hydraulic breaker can be automatically operated with a predetermined pressing pressure secured, and the operation is simplified and it is possible to An auto hammer function that can prevent the damage of the hammer is obtained.
- the controller is set to the automatic hammer permitting state by turning on the switch twice within a certain time, and automatically when a certain time elapses even if the controller is turned on once. Accordingly, the automatic hammer prohibition state is restored, so that it is possible to prevent malfunction caused by one erroneous operation of the changeover switch.
- the controller is set to the automatic hammer prohibition state by turning on the changeover switch in the automatic hammer permission state, so that it is easy to change the direction by lifting the aircraft. It is possible to switch to the automatic hammer prohibition state.
- the operating unit of the work device in order to enable the hydraulic breaker to re-activate when the hydraulic breaker is no longer in the constant pressing pressure state, the operating unit of the work device is once returned to the neutral position. Since the reset operation for re-operating in the work device lowering direction is a condition, it is possible to prevent an unexpected blow of the operator.
- FIG. 1 It is a schematic diagram showing one embodiment of a control circuit for controlling a hydraulic breaker of a work machine according to the present invention. It is a logic circuit diagram which shows the control logic in the controller of a control circuit same as the above. It is a perspective view of a working machine same as the above. It is a perspective view which shows the inside of the cab of a working machine same as the above.
- (A) is a side view showing an example of the operation lever of the work machine
- (b) is a front view of the operation lever
- (c) is an explanatory diagram showing a switching pattern of the auto hammer state by a switch of the operation lever. .
- It is a flowchart which shows the control procedure of a control circuit same as the above.
- FIG. 3 shows a hydraulic excavator-type work machine 10, and a working device that is moved up and down by a boom cylinder 12 bm as a hydraulic cylinder with respect to a machine body 11 in which an upper swing body 11 b is turnable with respect to a lower traveling body 11 a. 13 is mounted, and a hydraulic breaker 14 is attached to the tip of the working device 13.
- the hydraulic breaker 14 includes a hydraulically operated hammer device 15.
- the base end of the boom 13bm is pivotally supported by the upper swing body 11b so as to be pivotable in the vertical direction.
- a stick 13st is pivotally supported at the tip of the boom 13bm, and a hydraulic pressure is provided at the tip of the stick 13st.
- the breaker 14 is pivotally supported, the boom 13bm is rotated by the boom cylinder 12bm, the stick 13st is rotated by the stick cylinder 12st, and the hydraulic breaker 14 is rotated by the bucket cylinder 12bk.
- a cab 16 that protects the operator's work space is mounted on one side of the upper swing body 11b.
- FIG. 4 shows the inside of the cab 16, and consoles 22 are provided on the left and right sides of the driver's seat 21, and operation levers 23 and 24 as operation units are provided on the tops of these consoles 22.
- the operating lever 24 on one side of 23 and 24 is for boom operation, and the push button type switches 25 and 26 as a changeover switch and the thumb operation wheel type (thumbwheel type) as a changeover switch are provided on the upper part thereof.
- a switch 27 is provided, and a foot switch 28 as a changeover switch is provided on one side of the travel operation pedal 29, and a monitor 30 is installed on the other side.
- FIG. 5 (a) and 5 (b) show an operation lever 24 on one side, a push button type switch 25 and a thumb operation ring type switch 27 are provided on the front part of the upper part, and a push button type is provided on the back part.
- the switch 26 is provided.
- One of these switches 25, 26, and 27 is used as a switch for changing the automatic hammer state when the hammer device 15 of the hydraulic breaker 14 is automatically driven.
- FIG. 5 (c) shows a switching pattern of the auto hammer state.
- the auto hammer is prohibited to prevent unintentional hitting, and the push button type switches 25, 26 are used in the auto hammer prohibited state.
- 27 is turned on to enter the automatic hammer standby state, and in this automatic hammer standby state, turning on one of the switches 25, 26, 27 such as a push button again within a predetermined time enables the automatic hammer.
- this auto hammer enabled state one of the push button type switches 25, 26 and 27 is turned on to return to the auto hammer disabled state.
- the auto hammer is disabled.
- the auto hammer standby state is displayed as “auto hammer / standby”, and the auto hammer permission state is displayed as “auto hammer / on”.
- FIG. 1 shows an outline of a control circuit for controlling the hydraulic breaker 14, and is a first for controlling an attachment tool as a control valve for controlling hydraulic oil supplied to the hydraulic breaker 14 from a main pump 32 driven by an in-vehicle engine 31.
- a spool 33 and a second spool 34 are movably provided inside the control valve block 35.
- the control valve block 35 includes a pilot operated left travel motor control spool 36, a right travel motor control spool 37, a swing motor control spool 38, a boom cylinder control first spool 39 and a second spool 40.
- the first and second spools 41 and 42 for controlling the stick cylinder and the spool 43 for controlling the bucket cylinder are provided so as to be freely displaceable.
- the boom cylinder 12bm is a single rod type hydraulic cylinder that operates the working device 13 in the downward direction and presses the hydraulic breaker 14 against the object to be crushed, and the operation lever 24 operates the boom cylinder 12bm in the extending direction.
- An operation unit that operates the working device 13 in the upward direction and operates the boom cylinder 12bm in the contracting direction to operate the working device 13 in the downward direction.
- a pressure reducing valve that outputs a pilot pressure for spool displacement control is a so-called remote control valve. Built-in.
- a pressure detector 44 for detecting the pressure on the head side (namely, boom head pressure Ph) is provided on the head side of the boom cylinder 12bm, and the pressure on the rod side (namely, boom rod) is provided on the rod side of the boom cylinder 12bm.
- a pressure detector 45 for detecting the pressure Pr) is provided, and a boom lowering pilot that is drawn from the remote control valve of the operation lever 24 and communicates with the boom lowering pilot pressure acting portion of the first boom cylinder control spool 39.
- the line 46 is provided with a pressure detector 47 that detects the pilot pressure for lowering the boom (that is, the boom lowering pilot pressure Pp) output from the remote control valve of the operation lever 24.
- the operation lever 24 has a push button type switch 25 on the front side as a changeover switch capable of switching between an automatic hammer disabling state in which the hydraulic breaker 14 cannot be operated and an automatic hammer enabling state in which the hydraulic breaker 14 can be operated. Further, a push button type switch 26 or a thumb wheel type (thum wheel type) switch 27 on the back side is provided. Any one of these switches 25, 26 and 27 is used as a changeover switch for hydraulic breaker operation.
- the pressure detector 44 for the boom head pressure Ph, the pressure detector 45 for the boom rod pressure Pr, and the pressure detector 47 for the boom lowering pilot pressure Pp are included in the controller (electronic control module ECM) 51.
- the output unit of the controller 51 is connected to the solenoids of the electromagnetic proportional valves 52 and 53.
- These electromagnetic proportional valves 52 and 53 control the hammer device 15 of the hydraulic breaker 14 by converting the pilot primary pressure supplied from the pilot pump 54 into the pilot secondary pressure corresponding to the control signal from the controller 51.
- This is a pressure reducing valve that acts on the pilot pressure acting portions of the first spool 33 and the second spool 34 for controlling the attachment tool.
- the controller 51 is in an automatic hammer permitting state by one switching operation of the switches 25, 26, and 27, and the pressure detector 44 on condition that the boom lowering pilot pressure Pp detected by the pressure detector 47 is equal to or higher than the set pressure.
- a function of opening and controlling the 33 and the second spool 34 is provided.
- the first spool 33 and the second spool 34 for controlling the attachment tool for controlling the hydraulic breaker 14 are pilot-operated by the pilot pressure supplied from the pedal-operated remote control valve 55 operated by the pedal via the shuttle valves 56 and 57. Is also possible.
- the controller 51 Even if one of the switches 25, 26 and 27 is turned on once as shown in FIG. 5 (c), the controller 51 returns to the automatic hammer prohibition state when a certain period of time elapses.
- a function for setting the automatic hammer permission state by turning on one of the switches 25, 26, and 27 again is provided.
- the controller 51 has a function of setting one of the switches 25, 26, and 27 to an automatic hammer prohibition state by turning on one of the switches 25, 26, and 27 in the automatic hammer permission state.
- the controller 51 temporarily operates the operation lever 24 for operating the work device 13 in the boom lowering direction.
- the hydraulic breaker 14 is provided with a function that enables the hydraulic breaker 14 to be re-activated by a reset operation in which the hydraulic breaker 14 is reset again in the downward direction after returning to the neutral position.
- FIG. 2 shows a control logic circuit in the controller 51.
- the boom lowering pilot pressure Pp detected by the pressure detector 47 is input to the hysteresis characteristic unit 61 having the auto hammer permission threshold value Pz and the auto hammer prohibition threshold value Pz ⁇ z. To do.
- the boom head pressure Ph detected by the pressure detector 44 is input to a hysteresis characteristic unit 62 having an auto hammer permission threshold value Px and an auto hammer prohibition threshold value Px + ⁇ x.
- the boom rod pressure Pr detected by the pressure detector 45 is input to a hysteresis characteristic unit 63 having an auto hammer permission threshold value Py and an auto hammer prohibition threshold value Py ⁇ y.
- the boom lowering operation determination signal (ON / OFF) detected by the pressure detector 47 is input to NO ⁇ 64.
- the output sections of the hysteresis characteristic sections 62 and 63 are connected to the input section of the AND 65, the output section of the hysteresis characteristic section 61 and the output section of the AND 65 are connected to the input section of the AND 66, and the output section of the AND 66 is connected to the switch 67.
- the 0 input unit 68 is connected to the 1 side of the switch 67, and the output unit of the AND 66 is further connected to the valid side of the switch 69 for switching the reset prohibition flag valid / invalid.
- the output part of 67 is connected to the invalid side of the switcher 69, and the output part of the switcher 69 is connected to the permission side of the switcher 71 that is switched by the automatic hammer permission determination permission / prohibition or standby via the buffer 70.
- the 0 input section 72 is connected to the prohibition or standby side of the switch 71, and the output section of the switch 71 is connected to the solenoids of the electromagnetic proportional valves 52 and 53 shown in FIG.
- the output part of AND65 is connected to one input part of AND74 via NO ⁇ 73, the output part of AND74 is connected to the set input part S of RS flip-flop 75, and the output part of NO ⁇ 64 is connected to RS flip-flop 75.
- the output section Q of the RS flip-flop 75 is connected to the switching signal input section of the switch 67, and the output section of the switch 67 passes through the previous value application section 76 that applies the previous value.
- AND65 determines the pressure condition of the boom cylinder 12bm.
- the boom head pressure Ph detected by the pressure detector 44 is equal to or lower than the auto hammer permission threshold value Px, and the boom rod pressure Pr detected by the pressure detector 45 is set to allow the automatic hammer. It is required to be greater than or equal to the threshold value Py.
- the boom lowering operation must be returned to neutral when the auto hammer has stopped due to the lighter lifting load being reduced.However, if the reset prohibition flag is enabled, the aircraft Even if the auto hammer stops due to a light lifting load, if the boom lifting operation is not neutral once as a condition for restarting the auto hammer, the auto hammer will remain The boom lowering operation can be specially omitted.
- Step 1 The controller 51 reads the auto hammer state (prohibited state, standby state, permitted state) shown in FIG.
- Step 2 The controller 51 determines whether or not the auto hammer state is an auto hammer permission state. If it is in the automatic hammer permitting state, the process proceeds to Step 3.
- Step 3 The controller 51 determines whether or not the operation lever 24 has been operated to the lower side by the pressure detector 47 that detects the boom lowering pilot pressure, and when determining that the operation lever 24 has been operated to the lower side, Go to step 4.
- Step 4 The controller 51 monitors the head pressure Ph and rod pressure Pr of the boom cylinder and the boom lowering pilot pressure Pp by the pressure sensors 44, 45 and 47, and the head pressure Ph is lower than the auto hammer permission threshold value Px. Then, it is detected whether or not the rod pressure Pr is higher than the automatic hammer permission threshold value Py and the boom lowering pilot pressure Pp is higher than the automatic hammer permission threshold value Pz. When all the pressure conditions are satisfied, go to Step 5.
- Step 5 When all of the pressure conditions in Step 4 are satisfied, the controller 51 determines that the machine is in a lifted state where a sufficient load is applied to the tip of the hammer, and controls the electromagnetic proportional valves 52 and 53 to control the attachment tool. The first spool 33 and the second spool 34 are opened, hydraulic oil is supplied to the hammer device 15 and hammering is automatically performed (hammer operation).
- Step 6 If the controller 51 is not in the automatic hammer permitting state as determined in step 2, the pressure at the tip of the hammer is lightened by the pressure sensors 44, 45, 47 when the operating lever 24 is not operated to the lower side such as being returned to the neutral position. When it is detected, the electromagnetic proportional valves 52 and 53 are controlled to close the attachment tool control first spool 33 and the second spool 34, and the hammer operation is automatically terminated (hammer stop).
- FIG. 7 is a flowchart showing a procedure for switching the auto hammer state shown in FIG. 5. Normally, the auto hammer is prohibited (step 11), and a push button type switch is used in the auto hammer prohibited state. By turning on one of 25, 26, and 27 (step 12 YES), the automatic hammer standby state is set (step 13).
- step 14 By turning on one of the switches 25, 26, 27 such as a push button again within a predetermined time after entering the auto hammer standby state (YES in step 14), the buzzer provided in the monitor 30 or the like is sounded (step 15) The auto hammer is allowed (step 16).
- step 17 When one of the pushbutton type switches 25, 26, 27 is turned on in this automatic hammer enabled state (YES in step 17), the automatic hammer disabled state in step 11 is restored. Even in the case where one of the push button type switches 25, 26, 27 is not turned on again within a predetermined time in step 14 (NO in step 14), the state returns to the automatic hammer prohibition state.
- FIG. 8 shows a state when the automatic hammer is operated.
- the boom rod pressure Pr of the boom cylinder 12bm detects the lifting state of the airframe, and when the airframe 11 is lifted, the boom head pressure Ph decreases.
- "1" is output to the proportional valves 52 and 53, and the hydraulic oil is automatically supplied to the hydraulic breaker 14 to perform the hammer operation.
- FIG. 9 shows the state when the aircraft is no longer in the lifted state.
- “1” is input to the set signal input section of the RS flip-flop 75 and the switching is performed. Since “1” is output to the switch 67 and the switch 67 is switched to the 1 side, the switch 69 and the buffer 70 in which “0” is input from the 0 input unit 68 and the reset prohibition flag is “invalid” are displayed. Then, even if the automatic hammer permission determination in FIG. 7 is “permitted”, the output from the switch 71 to the electromagnetic proportional valves 52 and 53 becomes “0”, and the hammer operation of the hydraulic breaker 14 is stopped.
- FIG. 10 shows a state at the time of reset operation.
- FIG. 11 shows a state when the automatic hammer is re-actuated. Like the state shown in FIG. 8, when the three pressure conditions are satisfied, the switch 71 sets “1” to the electromagnetic proportional valves 52 and 53. Is output and the hydraulic breaker 14 is automatically restarted.
- the controller 51 is in an auto hammer enabled state by one of the switches 25-28, and the pressure Ph and rod on the head side of the boom cylinder 12bm that operates the working device 13 detected by the pressure detectors 44 and 45 in the downward direction. Since the first spool 33 and the second spool 34 for controlling the attachment tool of the hydraulic breaker 14 are opened and controlled only when the pressure Pr on the side becomes a constant pressing pressure state, the operator can control the controller by one of the switches 25-28. After 51 is switched to the automatic hammer permitting state, the aircraft can be lifted only by operating the operation lever 24 in the boom lowering direction without performing the switch operation for operating or stopping the hydraulic breaker 14. The hydraulic breaker 14 can be operated automatically with the pressing pressure of Automatic hammering function is obtained which can prevent les.
- the operator can hit by simply operating the operation lever 24 to the lower side, and the operation becomes simple. Further, since the hammering is automatically stopped when the load at the tip of the hammer is lightened, it is possible to prevent the hammering from being lost and damage to the hammer. In particular, the operator does not have to pay attention so as not to be idle, and the operation becomes easier.
- the controller 51 is set to the auto hammer enabled state by turning on the switch 25-28 twice within one fixed time, and even if it is turned on once, the automatic hammer is automatically disabled after a fixed time. Since it is returned, it is possible to prevent malfunction due to one erroneous operation of the switch 25-28.
- the auto hammer is disabled, the auto hammer permitting state in which the hydraulic breaker 14 can be operated is displayed on the monitor 30, and when starting the auto hammer, a warning is given to the monitor 30 as shown in FIG. Since it is displayed, it is possible to prevent a blow caused by an operator's careless operation.
- the controller 51 By turning on one of the switches 25-28 in the auto hammer enabled state, the controller 51 is set to the auto hammer disabled state. Therefore, when changing the direction by lifting the aircraft, etc., the auto hammer disabled state is easily set. Can be switched.
- the boom lowering operation is canceled by returning the operation lever 24 of the work device 13 to the neutral position once. Since the reset operation for re-operating in the boom lowering direction is a condition, the operator can be prevented from hitting unexpectedly.
- the present invention is suitable for a hydraulic excavator type work machine provided with a hydraulic breaker, but can also be used for a wheel type work machine as long as the work machine has a work device protruding from the machine body.
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Abstract
Description
コントローラ51は、図5に示されたオートハンマ状態(禁止状態、待機状態、許可状態)を読込む。
コントローラ51は、オートハンマ状態がオートハンマ許可状態であるか否かを判定する。オートハンマ許可状態であれば、ステップ3へ進む。
コントローラ51は、ブーム下げパイロット圧を検出している圧力検出器47により、操作レバー24が下げ側に操作されたか否かを判定し、操作レバー24が下げ側に操作されたと判定したときは、ステップ4へ進む。
コントローラ51は、各圧力センサ44,45,47により、ブームシリンダのヘッド圧Phおよびロッド圧Pr、ブーム下げパイロット圧Ppの各圧力を監視し、ヘッド圧Phがオートハンマ許可閾値Pxより低く、かつ、ロッド圧Prがオートハンマ許可閾値Pyより高く、かつ、ブーム下げパイロット圧Ppがオートハンマ許可閾値Pzより高いか否かを検知する。全ての圧力条件が整ったときは、ステップ5へ進む。
コントローラ51は、ステップ4の圧力条件が全て整っているときは、ハンマの先端に十分な負荷がかかっている機体持上げ状態と判定して、電磁比例弁52,53を制御してアタッチメントツール制御用第1スプール33および第2スプール34を開き、ハンマ装置15に作動油を供給して、自動的に打撃を行なう(ハンマ作動)。
コントローラ51は、ステップ2の判断でオートハンマ許可状態でない場合、操作レバー24が中立位置に戻されるなど下げ側に操作されていないとき、各圧力センサ44,45,47によりハンマ先端の負荷が軽くなったことを検知したときは、電磁比例弁52,53を制御してアタッチメントツール制御用第1スプール33および第2スプール34を閉じ、ハンマ作動を自動的に終了する(ハンマ停止)。
11 機体
12bm 油圧シリンダとしてのブームシリンダ
13 作業装置
14 油圧ブレーカ
24 操作部としての操作レバー
25,26,27,28 切替スイッチとしてのスイッチ
30 モニタ
33,34 制御弁としてのアタッチメントツール制御用第1スプールおよび第2スプール
44,45 圧力検出器
51 コントローラ
Claims (5)
- 機体と、
機体に搭載された作業装置と、
作業装置の先端部に装着された油圧ブレーカと、
油圧ブレーカに供給される作動油を制御する制御弁と、
作業装置を下げ方向に作動して油圧ブレーカを破砕対象物に押付ける片ロッド型の油圧シリンダと、
油圧シリンダを縮み方向に作動して作業装置を下げ方向に操作する操作部と、
油圧シリンダのヘッド側の圧力およびロッド側の圧力を検出する圧力検出器と、
油圧ブレーカを作動不能とするオートハンマ禁止状態と油圧ブレーカを作動可能とするオートハンマ許可状態とを切替可能な切替スイッチと、
切替スイッチによりオートハンマ許可状態にあるとき圧力検出器で検出した油圧シリンダのヘッド側の圧力およびロッド側の圧力が一定の押付圧力状態となる場合のみ油圧ブレーカの制御弁を開き制御する機能を備えたコントローラと
を具備した作業機械。 - コントローラは、
切替スイッチを1度オン操作しても、そのまま一定時間経過した場合はオートハンマ禁止状態に戻され、一定時間内に切替スイッチを再度オン操作することで、オートハンマ許可状態に設定される機能を備えた
ことを特徴とする請求項1記載の作業機械。 - オートハンマ許可状態を表示するモニタ
を具備したことを特徴とする請求項1または2記載の作業機械。 - コントローラは、
切替スイッチをオートハンマ許可状態でオン操作することで、オートハンマ禁止状態に設定される機能を備えた
ことを特徴とする請求項1乃至3のいずれか記載の作業機械。 - コントローラは、
油圧シリンダのヘッド側の圧力およびロッド側の圧力が一定の押付圧力状態でなくなったときは、作業装置を下げ方向に操作する操作部をいったん中立位置に戻してから下げ方向に再操作するリセット操作により油圧ブレーカの再作動を可能とする機能を備えた
ことを特徴とする請求項1乃至4のいずれか記載の作業機械。
Priority Applications (3)
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CN201080011303.3A CN102348855B (zh) | 2009-03-12 | 2010-02-02 | 作业机 |
EP10750634.7A EP2407599B1 (en) | 2009-03-12 | 2010-02-02 | Working machine |
US13/255,656 US9309649B2 (en) | 2009-03-12 | 2010-02-02 | Work machine |
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JP2009059481A JP4953325B2 (ja) | 2009-03-12 | 2009-03-12 | 作業機械 |
JP2009-059481 | 2009-03-12 |
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WO2010103878A1 true WO2010103878A1 (ja) | 2010-09-16 |
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PCT/JP2010/051372 WO2010103878A1 (ja) | 2009-03-12 | 2010-02-02 | 作業機械 |
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US (1) | US9309649B2 (ja) |
EP (1) | EP2407599B1 (ja) |
JP (1) | JP4953325B2 (ja) |
CN (1) | CN102348855B (ja) |
WO (1) | WO2010103878A1 (ja) |
Cited By (1)
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CN113126552A (zh) * | 2021-05-08 | 2021-07-16 | 雷沃工程机械集团有限公司 | 一种智能破碎控制方法及挖掘机 |
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JP7033938B2 (ja) * | 2018-01-26 | 2022-03-11 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
CN113106829B (zh) * | 2020-12-25 | 2022-12-23 | 铁正检测科技有限公司 | 一种工程施工用道路破碎锤 |
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JP2023072113A (ja) | 2021-11-12 | 2023-05-24 | ヤンマーホールディングス株式会社 | 作業機械の制御方法、作業機械用制御プログラム、作業機械用制御システム及び作業機械 |
CN115305985B (zh) * | 2022-07-22 | 2023-10-31 | 三一重机有限公司 | 破碎锤作业控制方法、系统及作业机械 |
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- 2010-02-02 EP EP10750634.7A patent/EP2407599B1/en not_active Not-in-force
- 2010-02-02 WO PCT/JP2010/051372 patent/WO2010103878A1/ja active Application Filing
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CN113126552A (zh) * | 2021-05-08 | 2021-07-16 | 雷沃工程机械集团有限公司 | 一种智能破碎控制方法及挖掘机 |
Also Published As
Publication number | Publication date |
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EP2407599B1 (en) | 2017-06-21 |
CN102348855B (zh) | 2014-04-30 |
EP2407599A1 (en) | 2012-01-18 |
EP2407599A4 (en) | 2014-12-31 |
JP4953325B2 (ja) | 2012-06-13 |
CN102348855A (zh) | 2012-02-08 |
JP2010209641A (ja) | 2010-09-24 |
US20110315415A1 (en) | 2011-12-29 |
US9309649B2 (en) | 2016-04-12 |
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