JP2008266976A - Control unit of working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control circuit of a working machine, which enables the setting of a fluid pressure circuit for an attachment to be surely switched depending on the attachment, without imparting identification information to the attachment. <P>SOLUTION: A working arm 17 of the working machine includes piping 51 for the attachment, which supplies a hydraulic fluid to the hydraulic attachment, and the piping 51 has a stop valve 52. A monitor 54 for displaying a machine operation state etc. on a screen is installed in a cab. The screen of the monitor 54 is switched from a display screen for displaying a normal machine operation state, to a display screen for selecting and indicating the attachment, in synchronization with an operation of the stop valve 52. A controller 61 is connected to the monitor 54, and a hydraulic circuit 62 for the attachment is connected to the controller 61. The controller 61 switches the setting of the hydraulic circuit 62 depending on the attachment selected by the monitor 54. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control device for a work machine provided with a stop valve in an attachment pipe.

  If there is no detection means to identify attachments used in hydraulic excavators, the operator must change the settings of the hydraulic system (setting pressure, flow rate, priority with other actuators, etc.) each time the attachment is replaced. is there. If neglected, hydraulic oil may flow in the opposite direction, or hydraulic oil that exceeds the allowable pressure and flow rate of the attachment may flow, damaging the attachment and shortening the life of the hydraulic excavator body.

  In addition, although setting of the hydraulic system is facilitated by a method in which data to be set for the replacement candidate attachment is stored in the memory of the hydraulic excavator body, and one of the candidate attachments is selected. Since rental machines are increasingly used, there are many operators who are unfamiliar with the setting operation, and forgetting to set and erroneous setting also occur.

As countermeasures against these problems, attachment identification information is represented by (1) IC tags, (2) barcodes, (3) harness connectors that comprise bit patterns, etc., which are attached to the attachment body and attached to the hydraulic excavator body. There has been proposed a method of reading information by an automatic identification device such as (1) an antenna, (2) a barcode reader, and (3) a harness connector installed (see, for example, Patent Documents 1, 2, and 3).
Japanese Patent No. 3233793 (5th page, FIG. 1) Japanese Patent Laid-Open No. 11-140911 (page 6, FIG. 1) Japanese Patent No. 3210221 (page 3, FIG. 1)

  However, those using these automatic identification devices have the following problems.

  Sufficient reliability cannot be obtained. For example, (1) IC tags may cause reading errors due to noise or another attachment approach, and (1) IC tags and (2) barcodes may cause unreadableness due to sediment adhesion. ) Bit pattern harness connectors may be unreadable due to intrusion of earth and sand or water.

  In addition, (1), (2), and (3) have a problem that they are vulnerable to vibration during excavation, collision with rocks and earth and sand, and water intrusion.

  Further, (3) the bit pattern harness connector has a problem of troublesome connection.

  In addition, (1) (2) (3) has a problem of high cost, and it is essential that the attachment has hardware for identification, so there is no hardware for identification. For example, when using a rental attachment, it is set manually.

  The present invention has been made in view of the above points, and provides a control device for a work machine that can reliably switch the setting of an attachment fluid pressure circuit in accordance with the attachment without giving identification information to the attachment. The purpose is to do.

  The invention described in claim 1 detects an opening / closing stop valve provided in an attachment pipe for supplying a working fluid to a fluid pressure actuated attachment connected to a work arm, and an opening / closing operation of the stop valve. Setting of the detector, a monitor that displays an instruction screen for selecting an attachment in conjunction with the operation of the stop valve detected by the detector, and a fluid pressure circuit for the attachment that operates the attachment according to the attachment selected by the monitor Is a control device for a work machine including a controller for switching between.

  According to a second aspect of the present invention, the controller of the work machine control device according to the first aspect has a function of suppressing the capability of the attachment fluid pressure circuit until an attachment is selected.

  According to a third aspect of the present invention, the controller in the work machine control device according to the first or second aspect has a function of outputting a notification signal that prompts selection until an attachment is selected. .

  According to the first aspect of the invention, the instruction screen for selecting the attachment in conjunction with the operation of the stop valve is detected by detecting the opening / closing operation of the stop valve provided in the attachment pipe by the detector. Since the controller switches the setting of the attachment fluid pressure circuit according to the attachment displayed on the monitor and selected by the monitor, the attachment selection operation can be facilitated by the monitor and the attachment operated by the attachment fluid pressure circuit can be selected. Since the opening operation of the stop valve is indispensable for operation, the attachment selection instruction screen is displayed on the monitor in conjunction with this stop valve operation, and the attachment fluid pressure circuit is controlled according to the attachment selected by the monitor. Even an inexperienced operator may be forgotten or mistaken It is possible to prevent the work. Thereby, the setting of the fluid pressure circuit for attachment can be switched reliably according to the attachment without giving identification information to the attachment.

  According to the invention described in claim 2, since the controller suppresses the capability of the attachment fluid pressure circuit until the attachment is selected, even if the operation is forgotten and the operation is started, the attachment is made. Can be prevented, and when the operator immediately notices an abnormality, the selection of an attachment can be prompted again.

  According to the invention described in claim 3, since the controller outputs a notification signal that prompts selection until an attachment is selected, the selection of the attachment can be ensured.

  Hereinafter, the present invention will be described in detail with reference to one embodiment shown in FIGS.

  As shown in FIG. 2, the work machine 11 includes a lower traveling body 12 in which an upper swing body 13 is turnably provided. The upper swing body 13 includes a cab 14 that forms an operator's cab, a work device 15, A power unit 16 such as an engine is mounted on each. The engine drives a hydraulic source pump as a fluid pressure source, and the lower traveling body 12, the upper swing body 13 and the work device 15 are driven and controlled by a hydraulic circuit as a fluid pressure circuit. Operated by.

  The working device 15 has a bucket 19 as an attachment (working tool) detachably attached to the tip of the work arm 17 via a hydraulic quick coupler (hereinafter referred to as “quick coupler 18”) as an attachment detaching device. In the working arm 17, an arm 24 rotated by an arm cylinder 23 is pivotally supported at the tip of a boom 22 rotated by a boom cylinder 21, and a bucket cylinder 25 and a link are connected to the tip of the arm 24. A quick coupler 18 that is rotated by a plate 26 is provided. In the quick coupler 18, a coupler main body 33 is rotatably connected by shafts 31 and 32 to the tip of an arm 24 and the tip of a link plate 26, respectively.

  FIG. 3 shows an example of the quick coupler 18. A fixed engagement portion 34 is integrally provided on one lower side of the coupler main body 33, and a movable engagement portion 36 whose tip is movable is provided on the other side of the lower portion of the shaft 37. Thus, the base end is pivotally supported by the coupler main body 33 so as to be rotatable.

  In the coupler main body 33, the base end of the detachable cylinder 41 is rotatably supported by a shaft 38, and the tip of the piston rod 42 is rotatably connected to an intermediate portion of the movable engagement portion 36 by a shaft 43. ing. The desorption cylinder 41 is switched between a non-excited lock position and an excited unlock position by controlling the direction of the hydraulic oil supplied from the hydraulic pump 44 by the electromagnetic switching valve 45.

  As shown in FIG. 2, the quick coupler 18 has a fixed engaging portion 34 engaged with one pin 47 provided in the bracket 46 of the bucket 19 from the inside, and the coupler around the one pin 47. The main body 33 is rotated clockwise to insert the movable engagement portion 36 inside the other pin 48 provided in the bracket 46 of the bucket 19, and the electromagnetic switching valve 45 is moved from the left chamber position to the right chamber position. By switching and extending the piston rod 42 of the detachable cylinder 41 and rotating the movable engagement portion 36 counterclockwise to engage the other pin 48 from the inside, the fixed engagement portion 34 and the movable engagement portion 36 The quick coupler 18 and the bucket 19 are integrated with each other by the engagement with the pair of pins 47 and 48.

  The bucket 19 connected to the work arm 17 in this way is an attachment that does not include an actuator inside, but a hydraulically actuated breaker, a hydraulically actuated crusher, a hydraulically actuated grapple, etc. (not shown) It is an attachment provided with a hydraulically actuated actuator as a pressure actuated actuator.

  When attaching an attachment having such a hydraulically operated actuator to the quick coupler 18 at the tip of the work arm 17, as shown in FIGS. 4 and 5, the hydraulic operation inside the attachment is performed along the arm 24. Attachment piping 51 that supplies hydraulic fluid as a working fluid to the actuator must be installed up to the end of the arm. At the distal end of this attachment piping 51, hydraulic fluid leaks when the hose is replaced when the attachment is replaced. In order to prevent this, a stop valve 52 for opening and closing the pipeline is provided.

  The stop valve 52 includes an open / close operation lever 52L and an open position detection switch 53a and a closed position detection switch that are installed opposite to the open / close operation position of the lever 52L and detect the open / close operation of the stop valve 52. 53b.

  The stop valve 52 is operated as follows.

Hereinafter, an attachment that does not require an attachment hydraulic circuit represented by the bucket 19 is referred to as a “bucket”, and an attachment that includes a hydraulically operated actuator and requires an attachment hydraulic circuit is referred to as a “hydraulic attachment”. )
When changing from a bucket to another bucket, the stop valve 52 remains closed and is not operated.

  In the change from the bucket to the hydraulic attachment, the closed stop valve 52 is opened after the hydraulic attachment is attached.

  In the change from the hydraulic attachment to the bucket, the stop valve 52 is closed before removing the hydraulic attachment.

  In changing from a hydraulic attachment to another hydraulic attachment, the open stop valve 52 is once closed and then opened again.

  FIG. 1 shows a monitor 54 that is installed near an operator seat (not shown) in the cab 14 and normally displays on-screen machine operating conditions such as fuel level.

  This monitor 54 is linked to the operation of operating the stop valve 52 detected by the open position detection switch 53a and the closed position detection switch 53b from the closed position to the open position, from a display screen that displays a normal machine operating state, Switches to the display screen for selecting and instructing the hydraulic attachment. For example, a hydraulically actuated breaker 55 as a hydraulic attachment, a hydraulically actuated crusher 56, a hydraulically actuated grapple 57, and the like, and a bucket 19 as a non-hydraulically actuated attachment are displayed.

  In this selection operation method on the monitor 54, an attachment is selected by a button switch 58 assigned to each touch panel or each attachment. The monitor 54 also has a speaker function that warns an emergency situation with a buzzer sound and guides notification items by voice.

  The monitor 54 shown in FIG. 1 includes a button switch 58 assigned to each hydraulic attachment, but attachment selection is not limited to such an assigned button operation method. The hydraulic attachment may be selected using a selection button including a button and a down button, and the selection of the hydraulic attachment may be determined using a determination button.

  A controller 61 is connected to the monitor 54, and an attachment hydraulic circuit 62 as an attachment fluid pressure circuit for operating the hydraulic attachment is connected to the controller 61.

  The controller 61 includes a storage device that stores data for changing the setting conditions of the attachment hydraulic circuit 62 in accordance with the selected hydraulic attachment. The storage device of the controller 61 includes a memory for storing the selected hydraulic attachment, so that it is not necessary to select the hydraulic attachment again at the time of restart. As this memory, it is desirable to use a non-volatile memory that retains the stored contents even when the power is turned off unless a clear operation is performed.

  When the controller 61 selects the hydraulic attachment by the monitor 54, the controller 61 appropriately switches the setting of the attachment hydraulic circuit 62 that operates the selected hydraulic attachment in accordance with the hydraulic attachment. For example, the set pressure, flow rate, priority with other actuators (boom cylinder 21, arm cylinder 23, etc.) of hydraulic oil supplied to the hydraulic attachment are switched.

  The controller 61 has a function of leaving a selection instruction display until an attachment is selected, a function of suppressing the capacity of the attachment hydraulic circuit 62, and a function of outputting a notification signal for prompting the selection until the attachment is selected. And.

  Next, setting switching control of the controller 61 will be described with reference to the flowchart shown in FIG.

(Step S1)
Based on the stop valve opening / closing signal detected by the open position detection switch 53a and the closed position detection switch 53b, it is determined whether or not the stop valve 52 has been operated from the closed position to the open position.

(Step S2)
When the stop valve 52 remains closed (in the case of replacement from a bucket to another bucket), or changes from open to closed (in the case of replacement from a hydraulic attachment to a bucket), the attachment hydraulic circuit 62 Stop supplying hydraulic oil to

(Step S3)
When the stop valve 52 is operated from the closed position to the open position (when changing from a bucket or hydraulic attachment to a hydraulic attachment), the monitor 54 screen is changed from the normal fuel remaining amount display screen to the attachment display screen. Automatically switched to a screen display instructing to select a mounting attachment from among a plurality of candidate attachments such as a hydraulically operated breaker 55, a hydraulically operated crusher 56, and a hydraulically operated grapple 57.

(Step S4)
Since the hydraulic attachment can be selected by the button switch 58 assigned to each touch panel or attachment of the monitor 54 or the selection button and the determination button, it is determined whether or not the attachment has been selected.

(Step S5)
When the attachment is selected, the hydraulic setting of the attachment hydraulic circuit 62 is automatically switched according to the selected hydraulic attachment. For example, it automatically adjusts the set pressure, flow rate, priority with other actuators, etc. of the hydraulic fluid supplied to the hydraulic attachment.

(Step S6)
If it is determined in step S4 that the hydraulic attachment is not selected, the function of the attachment hydraulic circuit 62 is lowered until the hydraulic attachment is selected. That is, by not supplying hydraulic oil to the hydraulic attachment, or by keeping the pressure and flow rate of the hydraulic oil supplied to the hydraulic attachment extremely low, it is easy for the operator to forget to select the attachment when trying to operate the attachment. Make you notice.

  For example, automatic control is performed such as lowering the set pressure of the relief valve used as the hydraulic pressure source of the attachment hydraulic circuit 62, opening the bypass valve, or not moving the spool of the flow control valve.

(Step S7)
At the same time, selection is prompted by a notification signal such as a buzzer or voice. Until the attachment is selected in step S4, the function of the attachment hydraulic circuit 62 is reduced, a notification signal is output, and a selection display is left on the monitor screen.

  Next, operations and effects of the illustrated embodiment will be described.

  As shown in FIG. 2, the attachment is replaced by the quick coupler 18 attached to the tip of the work arm 17.

  At this time, when changing from the bucket 19 to another bucket, the stop valve 52 is closed and is not opened, and when changing from a hydraulic attachment to a bucket, the stop valve 52 remains closed before removing the hydraulic attachment. Since the opening operation is not performed, the monitor display screen is not automatically switched.

  On the other hand, when changing from the bucket 19 to the hydraulic attachment, the closed stop valve 52 is opened after the hydraulic attachment is attached, and when changing from the hydraulic attachment to another hydraulic attachment, the stop valve 52 is temporarily closed and then opened again. Therefore, the monitor display screen is automatically switched.

  In short, in conjunction with the operation of the stop valve 52, the monitor 54 in the cab 14 displays the attachment candidates as shown in FIG. 1, and instructs the monitor 54 to select the attachment.

  In this case, when the operator selects the hydraulic attachment using the monitor 54, the controller 61 connected to the monitor 54 adjusts the attachment hydraulic circuit 62 to the flow rate and pressure corresponding to the replaced hydraulic attachment.

  That is, according to the hydraulic attachment such as the hydraulically actuated breaker 55, the hydraulically actuated crusher 56, the hydraulically actuated grapple 57, etc., the pressure regulating valve (relief valve, pressure reducing valve, etc.), flow regulating valve ( Control the pilot pressure of the main spool for attachment, etc.) to automatically switch the set oil pressure and oil amount supplied to the hydraulic attachment, or prioritize other actuators to the hydraulic attachment Switch accordingly.

  In this way, the opening / closing operation of the stop valve 52 provided in the attachment pipe 51 is detected by the open position detection switch 53a and the closed position detection switch 53b, and the hydraulic attachment is linked to the operation of the stop valve 52. The instruction screen to be selected is displayed on the monitor 54, and the controller 61 switches the setting of the attachment hydraulic circuit 62 in accordance with the hydraulic attachment selected by the monitor 54. Therefore, the monitor 54 can easily select the hydraulic attachment. In addition, since the opening operation of the stop valve 52 is indispensable for the operation of the hydraulic attachment operated by the attachment hydraulic circuit 62, the attachment selection instruction screen is displayed on the monitor 54 in conjunction with the stop valve operation. Attachment according to the hydraulic attachment selected by And it controls the hydraulic circuit 62, thereby preventing the forgetting or incorrect operation even unskilled operators for the first time operating the work machine 11. Thereby, the setting of the attachment hydraulic circuit 62 can be reliably switched according to the hydraulic attachment without giving identification information to the attachment.

  At that time, an instruction screen for selecting the mounting attachment from among a plurality of candidate attachments is displayed on the monitor 54, and the hydraulic switch attachment is made by the button switch 58 assigned to the touch panel of the monitor 54 or each attachment, or the selection button and the determination button. If this is selected, the setting of the attachment hydraulic circuit 62 can be switched with a single touch, almost the same as the conventional automatic selection system.

  Then, according to the hydraulic attachment selected by the monitor 54, the controller 61 automatically switches the hydraulic setting of the attachment hydraulic circuit 62 under the conditions set in advance for each attachment. And the oil amount can be reliably supplied at an appropriate timing.

  In addition, the controller 61 leaves a selection instruction display until the selection of the hydraulic attachment is completed, and does not supply hydraulic fluid to the attachment hydraulic circuit 62 or keeps the pressure and flow rate extremely low, whereby the attachment hydraulic circuit 62 Since the ability is suppressed, even if the operation is started without forgetting the selection, it is possible to prevent the hydraulic attachment from being damaged, and it is possible to prompt the operator again to select the hydraulic attachment when the operator immediately notices an abnormality.

  In addition, the controller 61 outputs a notification signal such as a buzzer or a voice prompting selection until a hydraulic attachment is selected, thus preventing the operator from forgetting to select and ensuring the selection of the hydraulic attachment. Can do. In the system of the quick coupler 18, when a buzzer is sounded as a warning when the attachment is out of the locked state, an announcement by voice is functionally desirable to prevent confusion with this.

  There is no need to attach anything to the attachment, and the stop valve 52 is located slightly on the front side of the arm tip, which is advantageous for vibration, sediment and water intrusion.

  The parts to be newly added are only the detection switches 53a and 53b and the harness, and the system configuration can be formed at a low cost.

  Note that the present invention is not essential to use the hydraulic quick coupler 18, and can be realized regardless of the presence or absence of the hydraulic quick coupler 18. Further, even when the hydraulic quick coupler 18 is installed, all the problems in the work machine 11 that does not have the automatic identification device and the problems in the conventional automatic identification device can be solved.

  The present invention can be used for a work machine 11 such as a hydraulic excavator capable of performing a plurality of attachment operations.

It is a schematic diagram showing one embodiment of a control device for a work machine according to the present invention. It is a side view of a working machine same as the above. It is a perspective view which shows the attachment removal | desorption apparatus of a working machine same as the above. It is a top view which shows the working arm of a working machine same as the above. It is a side view of a working arm same as the above. It is a flowchart which shows the procedure of the setting switching control by a control apparatus same as the above.

Explanation of symbols

11 work machines
17 Working arm
19 Bucket as an attachment
51 Piping for attachment
52 Stop valve
53a, 53b Open position detection switch and closed position detection switch as detectors
54 Monitor
55 Hydraulically actuated breaker as attachment
56 Hydraulically actuated crusher as attachment
57 Hydraulically actuated grapple as an attachment
61 controller
62 Hydraulic circuit for attachment as fluid pressure circuit for attachment

Claims (3)

A stop valve for opening and closing provided in an attachment pipe for supplying a working fluid to a fluid pressure actuated attachment connected to a work arm;
A detector for detecting opening and closing operation of the stop valve;
A monitor that displays an instruction screen for selecting an attachment in conjunction with the operation of the stop valve detected by the detector;
A controller for switching the setting of an attachment fluid pressure circuit that operates the attachment in accordance with the attachment selected by the monitor. The controller
The work machine control device according to claim 1, further comprising a function of suppressing the capability of the attachment fluid pressure circuit until an attachment is selected. The controller
The work machine control device according to claim 1, further comprising a function of outputting a notification signal that prompts selection until an attachment is selected.

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