JP6649604B2 - Construction machinery - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a construction machine provided with a tip attachment having a pair of arms for holding an object to be processed.

  For example, as described in Patent Literature 1, a construction machine including a body, a work arm having a base end attached to the body, and a tip attachment (crusher) attached to a tip of the work arm. (Dismantling work machine) is known.

  The tip attachment includes a pair of arms for holding the object to be processed, a support member (body) that supports the arms so that the arms can rotate around a predetermined axis, and a direction perpendicular to the axis. A fixed displacement hydraulic motor (rotating motor) for driving the support member to rotate about the shaft with respect to the working arm.

  In the construction machine, the object to be processed can be gripped or crushed by sandwiching the object to be processed by both arms, and further, by operating the hydraulic motor with the object to be processed sandwiched by both arms. Part of an object can be twisted off.

JP 2010-196353 A

  However, in Patent Literature 1, since a fixed displacement hydraulic motor is employed, the torque of the hydraulic motor for rotating the support member cannot be increased.

  For this reason, there is a possibility that a sufficient rotational force for twisting off the object to be processed may not be obtained. There is a risk of rotation.

  On the other hand, when a large-capacity fixed displacement hydraulic motor is employed to obtain a large torque, it is difficult to drive the hydraulic motor (support member) at high speed.

  An object of the present invention is to provide a construction machine that can increase a torque in a situation where a large torque is likely to be required for a hydraulic motor and can rotate a support member at a high speed in other situations. Is to do.

In order to solve the above problems, the present invention is a construction machine, comprising a body, a work arm having a base end attached to the body, and a tip attachment attached to a tip of the work arm. A pair of arms for sandwiching the object to be processed, and a support member for supporting the pair of arms so that at least one of the pair of arms can rotate around a predetermined first axis. A tip attachment having a variable displacement hydraulic motor that rotationally drives the support member with respect to the working arm about a second axis orthogonal to the first axis, and the object to be processed by the pair of arms. When the entrapment condition set in advance as a condition that is likely to be interposed is satisfied, the capacity of the hydraulic motor is adjusted to a large capacity side as compared to when the entrapment condition is not satisfied. Includes a capacity adjusting means for the further comprising an operation means for operating the drive arm, the capacity adjusting means, the operation for operating the drive arm in a direction in which the tip portions of the pair of arms approaches A detector for detecting an operation amount of the means, and a command for adjusting the capacity of the hydraulic motor to a large capacity side when the operation amount of the operation means detected by the detector is equal to or greater than a preset threshold value. And a controller for outputting the construction data.

  According to the present invention, when the preset sandwiching condition is satisfied, the capacity of the variable displacement hydraulic motor is adjusted to the large capacity side by the capacity adjusting means. Thus, the torque of the hydraulic motor can be increased in a situation where the workpiece is assumed to be sandwiched between the two arms, that is, in a situation where a large torque is likely to be required of the hydraulic motor.

  On the other hand, in a situation where the entrapment condition is not satisfied, the capacity of the hydraulic motor is adjusted to a relatively small capacity side by the capacity adjusting means, and therefore, in a situation other than a situation where there is a high possibility that a large torque is required for the hydraulic motor. Can rotate the support member at high speed.

  Therefore, according to the present invention, it is possible to increase the torque in a situation where there is a high possibility that a large torque is required for the hydraulic motor, and to rotate the support member at a high speed in other situations.

In the present invention, the apparatus further comprises operating means for operating the drive arm, wherein the capacity adjusting means adjusts an operation amount of the operating means for operating the drive arm in a direction in which tips of the pair of arms approach. A detector for detecting, and a controller for outputting a command for adjusting the capacity of the hydraulic motor to a large capacity side when an operation amount of the operation means detected by the detector is equal to or larger than a preset threshold value and, and have a.

According to the present invention , a situation in which the drive arm is operated to some extent in a direction in which the distal ends of both arms approach is regarded as a situation in which the workpiece is sandwiched (a situation in which the sandwiching condition is satisfied), and The capacity can be adjusted to the large capacity side.

  Here, when it is considered that the entrapment condition is satisfied when the operation amount of the operation means is equal to or more than the threshold value as described above, the drive arm operates in the closing direction in a state where there is no workpiece between the two arms. Even in such a situation, the capacity of the hydraulic motor is adjusted to the large capacity side, and in this situation, the hydraulic motor cannot be driven at high speed.

Therefore, the present invention is a construction machine, a machine body, a working arm having a base end attached to the machine body, and a tip attachment attached to a distal end of the working arm, wherein the object to be processed is A pair of arms for sandwiching, a support member for supporting the pair of arms such that at least one drive arm of the pair of arms is rotatable about a predetermined first axis; A tip attachment having a variable displacement hydraulic motor that rotationally drives the support member with respect to the working arm about a second axis orthogonal to the work arm, and the workpiece may be sandwiched between the pair of arms; Capacity adjusting means for adjusting the capacity of the hydraulic motor to a larger capacity side when a sandwiching condition set in advance as a condition having a high degree of satisfaction is satisfied as compared with when the sandwiching condition is not satisfied. , Wherein the tip attachment, while the distal end portion of the pair of arms approaches in accordance with the expansion operation, so that the tip portion of the pair of arms away in accordance with the stowage action, driving the drive arm A drive cylinder, wherein the capacity adjusting means includes a detector configured to detect a pressure in the head-side chamber of the drive cylinder, and a pressure set in the head-side chamber of the drive cylinder detected by the detector, the threshold being set in advance. And a controller for outputting a command for adjusting the capacity of the hydraulic motor to the large capacity side when the above is the case .

According to the present invention, when the preset sandwiching condition is satisfied, the capacity of the variable displacement hydraulic motor is adjusted to the large capacity side by the capacity adjusting means. Thus, the torque of the hydraulic motor can be increased in a situation where the workpiece is assumed to be sandwiched between the two arms, that is, in a situation where a large torque is likely to be required of the hydraulic motor.

On the other hand, in a situation where the entrapment condition is not satisfied, the capacity of the hydraulic motor is adjusted to a relatively small capacity side by the capacity adjusting means, and therefore, in a situation other than a situation where there is a high possibility that a large torque is required for the hydraulic motor. Can rotate the support member at high speed.

Therefore, according to the present invention, it is possible to increase the torque in a situation where there is a high possibility that a large torque is required for the hydraulic motor, and to rotate the support member at a high speed in other situations.

Furthermore, according to the present invention , the capacity of the hydraulic motor is reduced only in a situation in which a predetermined load is applied to the drive cylinder when the distal ends of both arms are close to each other, that is, in a situation in which the workpiece is sandwiched between the arms. It can be adjusted to large capacity. Therefore, while increasing the torque of the hydraulic motor in a state where the object to be processed is sandwiched between the two arms, high-speed driving of the support member can be reliably realized in other situations.

  Here, the capacity adjusting means may include an electronically controlled adjuster capable of adjusting the capacity of the hydraulic motor in response to a command from a controller.

  On the other hand, in the construction machine, the capacity adjusting means is connected to an adjuster for adjusting the capacity of the hydraulic motor to a large capacity side in accordance with a pressure supply by hydraulic oil, and a predetermined hydraulic source, and receives a command from the controller. While the pressure is not input, the hydraulic pressure source is urged to the regulating position that regulates the pressure supply by the hydraulic oil from the hydraulic source to the adjuster, while the command is input from the controller to the hydraulic source. A switching valve that is switched to an allowable position that allows pressure supply by the operating oil to the adjuster.

  According to this aspect, the switching valve is switched from the regulation position to the allowable position in accordance with the command of the control valve, thereby operating the adjuster using the hydraulic oil from the hydraulic source to adjust the capacity of the hydraulic motor to the large capacity side. can do.

  Here, if the hydraulic control type regulator and the electronic control type switching valve coexist as described above, the conversion between the electric command and the command by the hydraulic pressure is required, so that the configuration of the construction machine becomes complicated. There is a problem.

Therefore, the present invention is a construction machine, a machine body, a working arm having a base end attached to the machine body, and a tip attachment attached to a distal end of the working arm, wherein the object to be processed is A pair of arms for sandwiching, a support member for supporting the pair of arms such that at least one drive arm of the pair of arms is rotatable about a predetermined first axis; A tip attachment having a variable displacement hydraulic motor that rotationally drives the support member with respect to the working arm about a second axis orthogonal to the work arm, and the workpiece may be sandwiched between the pair of arms; Capacity adjusting means for adjusting the capacity of the hydraulic motor to a larger capacity side when a sandwiching condition set in advance as a condition having a high degree of satisfaction is satisfied as compared with when the sandwiching condition is not satisfied. , Wherein the tip attachment, while the distal end portion of the pair of arms approaches in accordance with the expansion operation, so that the tip portion of the pair of arms away in accordance with the stowage action, driving the drive arm A drive cylinder, wherein the capacity adjusting means is connected to a regulator for adjusting the capacity of the hydraulic motor to a large capacity side in response to pressure supply by hydraulic oil, and is connected to a predetermined hydraulic source; When the pressure in the chamber is less than a preset threshold value, the pressure in the head side chamber of the drive cylinder is urged to the regulating position for regulating the pressure supply from the hydraulic source to the regulator by the hydraulic oil. When the pressure is equal to or greater than the threshold value, the pressure is switched from the hydraulic pressure source to the adjuster to an allowable position using the pressure in the head-side chamber. Having, and, to provide a construction machine.

According to the present invention, when the preset sandwiching condition is satisfied, the capacity of the variable displacement hydraulic motor is adjusted to the large capacity side by the capacity adjusting means. Thus, the torque of the hydraulic motor can be increased in a situation where the workpiece is assumed to be sandwiched between the two arms, that is, in a situation where a large torque is likely to be required of the hydraulic motor.

On the other hand, in a situation where the entrapment condition is not satisfied, the capacity of the hydraulic motor is adjusted to a relatively small capacity side by the capacity adjusting means, so in a situation other than a situation where there is a high possibility that a large torque is required for the hydraulic motor. Can rotate the support member at high speed.

Therefore, according to the present invention, it is possible to increase the torque in a situation where there is a high possibility that a large torque is required for the hydraulic motor, and to rotate the support member at a high speed in other situations.

Furthermore, according to the present invention , the use of the hydraulic control type regulator and the switching valve eliminates the need to convert between the electric command and the hydraulic command when adjusting the capacity of the hydraulic motor. The configuration of the machine can be simplified.

  In particular, the regulator and the switching valve are provided in the tip attachment, and the pressure by the operating oil in the head side chamber of the drive cylinder is supplied to the regulator in a state where the switching valve is switched to the allowable position. In addition, since the switching valve is connected to the head-side chamber of the drive cylinder, the number of pipes provided along the working arm can be reduced.

  Therefore, according to the above aspect, since the hydraulic pipe for adjusting the capacity of the hydraulic motor can be completed in the distal end attachment, compared with the case where the hydraulic pipe is provided along the work arm, Space can be effectively utilized, and the frequency of contact of the hydraulic piping with surrounding objects can be reduced, thereby suppressing damage to the hydraulic piping.

  According to the present invention, it is possible to increase the torque in a situation where a large torque is likely to be required for the hydraulic motor, and to rotate the support member at a high speed in other situations.

It is a side view showing the whole construction of the construction machine concerning a 1st embodiment of the present invention. It is a front view which expands and shows the crusher provided in FIG. FIG. 3 is a circuit diagram illustrating a drive circuit for driving the crusher of FIG. 2. 4 is a flowchart showing a process executed by the controller of FIG. It is a circuit diagram showing a drive circuit provided in a construction machine according to a second embodiment of the present invention. It is a circuit diagram showing a drive circuit provided in a construction machine according to a third embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are specific examples of the present invention and do not limit the technical scope of the present invention.

<First Embodiment (FIGS. 1 to 4)>
With reference to FIG. 1, a dismantling machine 1 as an example of a construction machine according to a first embodiment of the present invention includes a lower traveling body 2 having a crawler 2a and an upper portion rotatably provided on the lower traveling body 2. It includes a revolving superstructure 3 and an attachment 4 attached to the upper revolving superstructure 3.

  The attachment 4 includes a main boom 6 having a base end rotatably attached to the upper swing body 3, and an inter-boom 7 having a base end rotatably attached to a distal end of the main boom 6. And an arm 8 rotatably attached to the tip of the inter-boom 7 and a crusher (tip attachment) 9 rotatably attached to the tip of the arm 8.

  The attachment 4 includes a main boom cylinder 10 that rotationally drives the main boom 6 with respect to the upper swing body 3, an inter boom cylinder 11 that rotationally drives the inter boom 7 with respect to the main boom 6, An arm cylinder 12 for driving the arm 8 to rotate; and a crusher cylinder 13 for driving the crusher 9 to rotate with respect to the arm 8.

  The lower traveling body 2 and the upper revolving superstructure 3 correspond to an airframe, and the main boom 6, the inter-boom 7 and the arm 8 correspond to a working arm having a base end attached to the airframe.

  Referring to FIG. 2, crusher 9 is provided rotatably with respect to crusher main body 14 attached to the distal end of arm 8 and crusher main body 14 to sandwich an object to be processed such as rubble. The vehicle includes a pair of arms (drive arms) 15 and a pair of drive cylinders 16 that rotationally drive each arm 15.

  The crusher main body 14 includes an attached member 14a detachably attached to the distal end portion of the arm 8, a support member 14b attached rotatably around the second axis J1 to the attached member 14a, A variable displacement hydraulic motor 14c that drives the support member 14b to rotate about the second axis J1 with respect to the mounting member 14a (arm 8).

  The support member 14b supports the arms 15 so that the arms 15 can rotate about the first axis J2. Specifically, the two arms 15 include a support portion rotatably supported by the first shaft J2, a distal end disposed closer to the distal end than the support portion, and a base disposed closer to the proximal end than the support portion. And an end. The head-side end of the drive cylinder 16 is rotatably attached to the base end of the arm 15 by an axis J4 substantially parallel to the first axis J2, and the rod-side end of the drive cylinder 16 is connected to the first axis J2. It is rotatably attached to the support member 14b by an axis J3 substantially parallel to the above. Therefore, while the drive cylinder 16 is extended, as shown in FIG. 2, both arms 15 rotate in a direction in which the distal ends of the arms 15 approach each other. Both arms 15 rotate in a direction in which the distal ends of both arms 15 are separated from each other.

  The hydraulic motor 14c rotationally drives the support member 14b with respect to the attached member 14a (arm 8) about a second axis J1 orthogonal to the first axis J2. Specifically, the hydraulic motor 14c includes a motor main body (not shown) fixed to the mounted member 14a and a rotating shaft (not shown) rotatable about the second axis J1 or an axis parallel to the second main body J1 with respect to the motor main body. (Omitted). The rotating shaft is connected to a supporting member such that power of rotation of the rotating shaft is transmitted to the supporting member (for example, the rotating shaft and the supporting member are connected via a power transmission mechanism such as a gear). ing).

  Hereinafter, the drive circuit 5 provided in the dismantling machine 1 for driving the crusher 9 will be described with reference to FIG.

  The drive circuit 5 includes a first hydraulic pump 17 of a variable displacement type that supplies hydraulic oil to a drive cylinder 16 (only one is shown in FIG. 5), and an opening / closing control valve that controls supply and discharge of hydraulic oil to and from the drive cylinder 16 18, an opening / closing operation means (operating means) 19 for operating the opening / closing control valve 18 (arm 15), and a pilot pressure applied to the pilot port of the opening / closing control valve 18 in response to the operation of the opening / closing operation means 19. It has a pilot pump 20 to be supplied, and a relief valve 22 provided between the first hydraulic pump 17 and the opening / closing control valve 18. The relief valve 22 is normally closed and opened at a predetermined relief pressure to protect the hydraulic circuit by guiding the hydraulic oil from the first hydraulic pump 17 to the tank.

  The opening / closing control valve 18 supplies hydraulic oil to the head side chamber of the drive cylinder 16 and guides hydraulic oil from the rod side chamber of the drive cylinder 16 to the tank to close the arm 15 in the neutral position (center position in the figure). And the opening for supplying the operating oil from the head side chamber of the driving cylinder 16 to the tank and driving the arm 15 in the opening direction. Position (right position in the figure). Further, the opening / closing control valve 18 is biased to a neutral position in a state where the opening / closing operation means 19 is not operated, and hydraulic oil is supplied to one of the two pilot ports in accordance with the operation of the opening / closing operation means 19. This switches to the open or closed position. Further, the opening / closing control valve 18 is operated to the right position or the left position with a stroke corresponding to the magnitude of the operation amount of the opening / closing operation means 19 (the magnitude of the pilot pressure).

  The opening / closing operation means 19 includes a control lever (reference numeral omitted) and a remote control valve (reference numeral) for guiding hydraulic oil from the pilot pump 20 to one of two pilot ports of the opening / closing operation means 19 in response to operation of the operation lever. (Omitted).

  Further, the drive circuit 5 includes a second hydraulic pump 23 for supplying hydraulic oil to the hydraulic motor 14c, a rotation control valve 24 for controlling supply and discharge of hydraulic oil to and from the hydraulic motor 14c, and a rotation control valve 24 (hydraulic motor 14 c), a pilot pump 26 for supplying a pilot pressure to the pilot port of the rotation control valve 24 in accordance with the operation of the rotation operation means 25, a rotation control valve 24, A relief valve 27 provided between the second hydraulic pump 23 and the rotation control valve 24; a relief valve 27 provided between the second hydraulic pump 23 and the rotation control valve 24; And The relief valve 32 is normally closed, opened at a predetermined relief pressure, and guides the hydraulic oil from the second hydraulic pump 23 to the tank to protect the hydraulic circuit.

  The rotation control valve 24 is switchable between a neutral position (center position in the figure), a left rotation position (left position in the figure), and a right rotation position (right position in the figure). The left rotation position supplies the hydraulic oil from the second hydraulic pump 23 to a passage (hereinafter, simply referred to as a left passage) connected to a left port of the hydraulic motor 14c and is connected to a right port of the hydraulic motor 14c. This is a position for guiding hydraulic oil from a passage (hereinafter, simply referred to as a right passage) to a tank. The right rotation position is a position for supplying the hydraulic oil from the second hydraulic pump 23 to the right passage and guiding the hydraulic oil from the left passage to the tank. The rotation control valve 24 is biased to a neutral position in a state where the rotation operation means 25 is not operated, and hydraulic oil is supplied to one of the two pilot ports in accordance with the operation of the rotation operation means 25. Thus, the position is switched to the right rotation position or the left rotation position. Further, the rotation control valve 24 is operated to the right rotation position or the left rotation position with a stroke corresponding to the magnitude of the operation amount of the rotation operation means 25 (the magnitude of the pilot pressure).

  The rotation operating means 25 includes an operation lever (reference number omitted) and a remote control valve (reference number) for guiding hydraulic oil from the pilot pump 26 to one of two pilot ports of the rotation control valve 24 in response to operation of the control lever. (Omitted).

  The relief valves 27 and 28, the counter balance valve 29, and the check valves 30 and 31 allow supply and discharge of hydraulic oil to and from the hydraulic motor 14c in a state where the rotation control valve 24 is switched to the right rotation position or the left rotation position. On the other hand, this is for applying a braking force to the hydraulic motor 14c when the rotation control valve 24 returns to the neutral position.

  Specifically, the check valve 30 is provided in the left passage, while the check valve 31 is provided in the right passage. The check valves 30 and 31 allow the flow of the hydraulic oil from the rotation control valve 24 to the hydraulic motor 14c, while restricting the flow in the opposite direction.

  The relief valves 27 and 28 are provided in each of two communication passages that connect the right passage and the left passage. The relief valve 27 opens when the pressure in the left passage becomes equal to or higher than a predetermined relief pressure, and allows the flow of hydraulic oil from the left passage to the right passage. On the other hand, when the pressure in the right passage becomes equal to or higher than a predetermined relief pressure, the relief valve 28 opens to allow the flow of the hydraulic oil from the right passage to the left passage.

  The counter balance valve 29 is switchable between a neutral position (center position in the figure), a right bypass position (left position in the figure), and a left bypass position (right position in the figure). The right bypass position is a position for forming a bypass passage that bypasses the check valve 31 in the right passage. On the other hand, the left detour position is a position for forming a detour passage bypassing the check valve 30 in the left passage. The neutral position is a position for blocking both of the bypass paths. The counter balance valve 29 is normally biased to the neutral position, and is switched to the left bypass position when the pressure in the right passage is higher than the pressure in the left passage, and the pressure in the left passage is changed to the pressure in the right passage. When it is higher than the above, it is switched to the right bypass position.

  Therefore, when the rotation control valve 24 is switched to the left rotation position, the pressure in the left passage becomes high, so that the counterbalance valve 29 is switched to the right bypass position. In this state, the hydraulic oil from the second hydraulic pump 23 is supplied to the left port of the hydraulic motor 14c through the check valve 30, while the hydraulic oil derived from the right port of the hydraulic motor 14c is supplied to the counterbalance valve. It is guided to the tank via the right bypass position 29 and the rotation control valve 24.

  When the control valve for rotation 24 is switched to the right rotation position, the pressure in the right passage becomes high, so that the counterbalance valve 29 is switched to the left bypass position. In this state, the hydraulic oil from the second hydraulic pump 23 is supplied to the right port of the hydraulic motor 14c through the check valve 31, while the hydraulic oil derived from the left port of the hydraulic motor 14c is supplied to the counterbalance valve. It is led to the tank via the left bypass position 29 and the rotation control valve 24.

  For example, when the rotation control valve 24 returns from the left rotation position to the neutral position, the right passage and the left passage are connected to the tank via the rotation control valve 24 at the neutral position, whereby the counter balance valve 29 is set to the neutral position. Return to. On the other hand, in this state, since the upper swing body 3 (hydraulic motor 14c) continues to rotate due to its inertia, the hydraulic oil derived from the port on the right side of the hydraulic motor 14c opens the relief valve 28 to release the hydraulic pressure. It is led to the left port of the motor 14c. At this time, the energy consumed to open the relief valve 28 is used as energy for braking the upper swing body 3 (the hydraulic motor 14c). Similarly, when the rotation control valve 24 returns from the right rotation position to the neutral position, the energy consumed to open the relief valve 27 is used as energy for braking the upper swing body 3 (the hydraulic motor 14c). Used.

  The work using the crusher 9 driven by the drive circuit 5 described above includes the work of sandwiching the object to be processed between the two arms 15 and the work of sandwiching the object between the two arms 15. The operation includes twisting the workpiece by driving the hydraulic motor 14c. If the torque of the hydraulic motor 14c is insufficient when performing such an operation, the hydraulic motor 14c (the support member 14b) rotates due to the weight of the workpiece while the workpiece is sandwiched between the two arms 15. Alternatively, the force for twisting the object to be processed may be insufficient.

  Therefore, the drive circuit 5 sets the hydraulic pressure when the preset entrapment condition is satisfied as a condition that the object to be processed is likely to be interposed between the two arms 15 compared to when the entrapment condition is not satisfied. A capacity adjusting means 32 for adjusting the capacity of the motor 14c to a large capacity is further provided.

  Specifically, the capacity adjusting unit 32 includes a pressure sensor 21 that detects a pilot pressure for the opening / closing control valve 18, an adjuster 33 that adjusts the capacity of the hydraulic motor 14 c to a large capacity side in accordance with a pressure supply by hydraulic oil. , A switching valve 34 connected to the pilot pump 26 (oil pressure source), and a controller 35 for outputting a command to the switching valve 34 based on the detection result of the pressure sensor 21.

  The pressure sensor 21 detects a pilot pressure for operating the opening / closing control valve 18 to the closed position, and thereby operates the opening / closing operating means 19 for operating the arm 15 in a direction in which the tip of the arm 15 approaches. Is detected.

  The switching valve 34 regulates the pressure supply of the operating oil from the pilot pump 26 to the adjuster 33, and restricts the supply of the operating oil from the adjuster 33 to the tank. The solenoid valve is configured to allow switching between an allowable position for permitting the supply of the hydraulic oil from the hydraulic oil and restricting the hydraulic oil from the regulator 33 to the tank. The switching valve 34 is urged to the regulation position when no command is input from the controller 35, and is switched to the allowable position when a command is input from the controller 35.

  The controller 35 outputs a command for adjusting the capacity of the hydraulic motor 14c to the large capacity side when the operation amount of the opening / closing operation means 19 detected by the pressure sensor 21 is equal to or larger than a preset threshold value. The threshold value is a value (for example, a pressure corresponding to an operation amount of about 50% of a full lever) set as an operation amount that has a high possibility that a processing object is sandwiched.

  Further, the controller 35 outputs to the solenoid of the switching valve 34 a command to set the capacity of the hydraulic motor 14c to the preset first capacity when the value detected by the pressure sensor 21 is less than the threshold value. On the other hand, when the value detected by the pressure sensor 21 is equal to or greater than the threshold value, the controller 35 outputs a command for setting the capacity of the hydraulic motor 14c to the preset second capacity to the solenoid of the switching valve 34. The second capacity is set as a capacity larger than the first capacity.

  Hereinafter, the processing executed by the controller 35 will be described with reference to FIG.

  When the process is started, first, the controller 35 acquires a value detected by the pressure sensor 21 (Step S1), and determines whether the detected value is equal to or larger than a threshold (Step S2).

  When it is determined in step S2 that the detection value of the pressure sensor 21 is equal to or greater than the threshold, the controller 35 outputs a command (a high-capacity-side switching command) for setting the capacity of the hydraulic motor 14c to the second capacity. (Step S3).

  As described above, in a situation where the value detected by the pressure sensor 21 is equal to or greater than the threshold, that is, in a situation where there is a high possibility that the object to be processed is sandwiched between the two arms 15, the capacity of the hydraulic motor 14c is adjusted to a large capacity. Thus, the torque of the hydraulic motor 14c can be increased. Accordingly, a sufficient holding force for preventing the rotation of the hydraulic motor 14c (the support member 14b) can be obtained in a state where the object to be processed is sandwiched between the two arms 15, and the object to be clamped between the two arms 15 can be obtained. It is possible to obtain a sufficient force for twisting the processed object.

  On the other hand, when it is determined in step S2 that the detection value of the pressure sensor 21 is less than the threshold, the controller 35 issues a command (a low-dose-side switching command) for setting the capacity of the hydraulic motor 14c to the first capacity. Output (Step S4).

  Adjusting the capacity of the hydraulic motor 14c to a lower capacity in a situation where the value detected by the pressure sensor 21 is less than the threshold value, that is, in a situation where there is a low possibility that the workpiece is sandwiched between the two arms 15 Thereby, the hydraulic motor 14c (support member 14b) can be driven at high speed.

  As described above, when the preset sandwiching condition is satisfied, the capacity of the variable displacement hydraulic motor 14c is adjusted to the large capacity side (second capacity) by the capacity adjusting means 32. Thus, the torque of the hydraulic motor 14c can be increased in a situation where the workpiece is assumed to be sandwiched between the two arms 15, that is, in a situation in which a large torque is required for the hydraulic motor 14c. .

  On the other hand, when the entrapment condition is not satisfied, the capacity of the hydraulic motor 14c is adjusted to a relatively small capacity side (first capacity) by the capacity adjusting means 32, so that a large torque may be required for the hydraulic motor 14c. In a situation other than a situation of high performance, the support member 14b can be rotated at a high speed.

  Therefore, the torque can be increased in a situation where a large torque is likely to be required for the hydraulic motor 14c, and the support member 14b can be rotated at a high speed in other situations.

  Further, according to the first embodiment, the following effects can be obtained.

  The situation in which the arms 15 are operated to some extent in the direction in which the ends of the arms 15 approach each other is regarded as a situation in which the workpiece is sandwiched (a situation in which the sandwiching condition is satisfied), and the capacity of the hydraulic motor 14c is increased. Can be adjusted to the side.

  By switching the switching valve 34 from the regulated position to the allowable position in accordance with a command from the controller 35, the adjuster 33 is operated using the hydraulic oil from the pilot pump 26 to adjust the capacity of the hydraulic motor 14c to the large capacity side. be able to.

<Second embodiment (FIG. 5)>
In the first embodiment, the capacity of the hydraulic motor 14c is adjusted based on the operation amount of the opening / closing operation means 19, but a condition in which there is a high possibility that an object to be processed is sandwiched between the arms 15 (sandwich condition). Is not limited to the operation amount of the opening / closing operation means 19.

  The drive circuit 5 according to the second embodiment shown in FIG. 5 determines whether or not the entrapment condition is satisfied based on the pressure in the head-side chamber of the drive cylinder 16. In FIG. 5, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  Specifically, in the second embodiment, the pressure sensor 21 is provided in a head-side passage connecting the head-side chamber of the drive cylinder 16 and the control valve 18 for opening and closing, and detects the pressure in the head-side passage.

  Further, the controller 35 adjusts the capacity of the hydraulic motor 14c to the large capacity side (second capacity) when the pressure in the head side chamber of the drive cylinder 16 detected by the pressure sensor 21 is equal to or higher than a preset threshold value. Output a command to do so. On the other hand, when the pressure in the head-side chamber of the drive cylinder 16 detected by the pressure sensor 21 is less than the threshold value, the controller 35 issues a command for adjusting the capacity of the hydraulic motor 14c to the low dose side (first capacity). Is output. The processing executed by the controller 35 is the same as the processing (FIG. 4) executed by the controller 35 of the first embodiment, and a description thereof will be omitted.

  Note that the threshold value is preset as a pressure generated in the head-side chamber when the object to be processed is sandwiched between the arms 15 (for example, a pressure higher than a pressure at which the arm 15 is operating free). is there.

  According to the second embodiment, the hydraulic motor is operated only when a predetermined load is applied to the drive cylinder 16 when the distal ends of the arms 15 are close to each other, that is, when the workpiece is sandwiched by the arms 15. The capacity of 14c can be adjusted to the large capacity side. Therefore, the torque of the hydraulic motor 14c can be increased in a state where the object to be processed is sandwiched between the two arms 15, and the high-speed driving of the support member 14b can be reliably realized in other situations.

<Third embodiment (FIG. 6)>
In the first and second embodiments, the capacity of the hydraulic motor 14c is adjusted using an electric command from the controller 35, but as shown in the drive circuit 5 of the third embodiment shown in FIG. The capacity adjusting means 36 may control the hydraulic pressure of the hydraulic motor 14c. In FIG. 6, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  Specifically, the capacity adjusting means 36 according to the third embodiment has the adjuster 33 and a switching valve 37 connected to the head-side passage of the drive cylinder 16. The adjuster 33 and the switching valve 37 are provided in the crusher 9.

  The switching valve 37 is urged to a regulating position that regulates the supply of pressure from the head-side passage to the adjuster with hydraulic oil when the pressure in the head-side chamber of the drive cylinder 16 is less than a preset threshold. On the other hand, when the pressure in the head-side chamber of the drive cylinder 16 is equal to or higher than the threshold value, the switching valve 37 uses the pressure in the head-side chamber to allow the supply of pressure from the head-side chamber to the adjuster 33 by operating oil. Is switched to. Note that the threshold value is a pressure set in advance as a pressure generated in the head-side chamber when the object to be processed is sandwiched between the arms 15 as in the threshold value of the second embodiment.

  Further, the switching valve 37 is connected to the head-side chamber of the driving cylinder 16 so that the pressure of the operating oil in the head-side chamber of the driving cylinder 16 is supplied to the regulator 33 in a state where the switching valve 37 is switched to the allowable position. They are connected via side passages. That is, the first hydraulic pump 17 corresponds to a hydraulic pressure source connected to the switching valve 37 to supply the pressure by the operating oil to the regulator 33.

  When the switching valve 37 is switched to the restriction position, the capacity of the hydraulic motor 14c is adjusted to the first capacity. Specifically, the urging force of a spring (symbol omitted) for urging the adjuster 33 to the small capacity side and the holding force for holding the adjuster 33 at a position corresponding to the first capacity (the switching valve 37 and the adjuster At least one of the urging force and the holding force (the urging force of the spring and the opening characteristics of the switching valve 37, etc.) is adjusted so as to balance with the pressure in the passageway between the spring 33 and the valve 33.

  On the other hand, by switching the switching valve 37 to the allowable position, the capacity of the hydraulic motor 14c is adjusted to the second capacity. Specifically, a biasing force of a spring (symbol omitted) for biasing the adjuster 33 to the small amount side and a holding force for holding the adjuster 33 at a position corresponding to the second capacity (the switching valve 37 and the adjuster At least one of the holding force and the urging force (the urging force of the spring and the opening characteristics of the switching valve 37, etc.) is adjusted so as to balance with the pressure in the passageway between the spring 33 and the switching valve 37.

  According to the third embodiment, when the capacity of the hydraulic motor 14c is adjusted by using the hydraulic control regulator 33 and the switching valve 37, there is no need to convert between an electrical command and a hydraulic command. Therefore, the configuration of the dismantling machine 1 can be simplified.

  In particular, in the third embodiment, the regulator 33 and the switching valve 34 are provided in the crusher 9, and the pressure caused by the hydraulic oil in the head-side chamber of the drive cylinder 16 in a state where the switching valve 34 is switched to the allowable position. Since the switching valve is connected to the head-side chamber of the drive cylinder 16 so that is supplied to the adjuster 33, the piping provided along the working arm can be reduced.

  Therefore, since the hydraulic piping for adjusting the capacity of the hydraulic motor 14c can be completed in the crusher 9, the space around the working arm can be effectively used as compared with the case where the hydraulic piping is provided along the working arm. The hydraulic pipe can be utilized, and damage to the hydraulic pipe can be suppressed by reducing the frequency of contact of the hydraulic pipe with surrounding objects.

  Note that the present invention is not limited to the above embodiment, and for example, the following aspects can be adopted.

  In the above embodiment, the crusher 9 that rotationally drives both arms 15 has been described. However, one arm is fixed to the crusher main body 14 and only the other arm is rotationally driven relative to the crusher main body 14. Crusher 9 can be employed.

  In the first embodiment, the pressure sensor 21 that detects the pilot pressure has been described. However, a sensor that detects the operation amount of the operation lever based on the displacement amount of the operation lever instead of the pilot pressure may be employed.

  Although the example in which the second capacity larger than the first capacity is a constant value has been described, the second capacity may be set to a larger value as the operation amount or the pressure in the head-side chamber increases.

J1 2nd axis J2 1st axis 1 Demolition machine (an example of construction machinery)
2 Undercarriage (example of aircraft)
3 Upper revolving superstructure (example of airframe)
6. Main boom (example of working arm)
7 Inter boom (example of working arm)
8 arm (example of working arm)
9 Crusher (example of tip attachment)
14b Support member 14c Hydraulic motor 15 Arm (an example of a drive arm)
16 Drive cylinder 17 Hydraulic pump (an example of hydraulic source)
19 Opening / closing operation means (an example of operation means)
21 Pressure sensor (example of detector)
26 Pilot pump (an example of hydraulic source)
32, 36 Capacity adjusting means 33 Regulator 34, 37 Switching valve 35 Controller

Claims (5)

A construction machine,
The fuselage,
A work arm having a proximal end attached to the aircraft;
A tip attachment attached to a tip portion of the working arm, wherein a pair of arms for sandwiching an object to be processed and at least one drive arm of the pair of arms are rotatable about a predetermined first axis. A supporting member that supports the pair of arms, and a variable displacement hydraulic motor that rotationally drives the supporting member with respect to the working arm about a second axis orthogonal to the first axis. A tip attachment having
When a sandwiching condition set in advance as a condition having a high possibility that the workpiece is sandwiched by the pair of arms is satisfied, the capacity of the hydraulic motor is reduced as compared with a case where the sandwiching condition is not satisfied. Capacity adjusting means for adjusting to a large capacity side ,
Operating means for operating the drive arm,
The capacity adjustment unit includes a detector that detects an operation amount of the operation unit for operating the drive arm in a direction in which the distal ends of the pair of arms approach, and an operation of the operation unit detected by the detector. And a controller that outputs a command for adjusting the capacity of the hydraulic motor to a larger capacity when the amount is equal to or greater than a preset threshold . A construction machine,
The fuselage,
A working arm having a proximal end attached to the aircraft;
A tip attachment attached to a tip portion of the working arm, wherein a pair of arms for sandwiching an object to be processed and at least one drive arm of the pair of arms are rotatable about a predetermined first axis. A supporting member that supports the pair of arms, and a variable displacement hydraulic motor that rotationally drives the supporting member with respect to the working arm about a second axis orthogonal to the first axis. A tip attachment having
When a sandwiching condition set in advance as a condition having a high possibility that the workpiece is sandwiched by the pair of arms is satisfied, the capacity of the hydraulic motor is reduced as compared with a case where the sandwiching condition is not satisfied. Capacity adjusting means for adjusting to a large capacity side,
The tip attachment further includes a drive cylinder that drives the drive arm such that the tip ends of the pair of arms approach in response to the extension operation, while the tip ends of the pair of arms move apart in accordance with the contraction operation. Prepared,
The capacity adjusting unit includes a detector that detects a pressure in a head-side chamber of the driving cylinder, and a pressure detection unit that detects a pressure in the head-side chamber of the driving cylinder that is equal to or higher than a predetermined threshold value. A controller that outputs a command for adjusting the capacity of the hydraulic motor to a large capacity side. The construction machine according to claim 1 or 2 ,
The capacity adjusting means is connected to a regulator for adjusting the capacity of the hydraulic motor to a large capacity side in accordance with the pressure supply by the hydraulic oil, and is connected to a predetermined hydraulic power source, and when a command is not input from the controller. Hydraulic oil from the hydraulic source to the regulator when a command is input from the controller while being urged to a regulation position that regulates pressure supply by hydraulic oil from the hydraulic source to the regulator. And a switching valve that is switched to an allowable position that allows pressure supply by the construction machine. A construction machine,
The fuselage,
A working arm having a proximal end attached to the aircraft;
A tip attachment attached to a tip portion of the working arm, wherein a pair of arms for sandwiching an object to be processed and at least one drive arm of the pair of arms are rotatable about a predetermined first axis. A supporting member that supports the pair of arms, and a variable displacement hydraulic motor that rotationally drives the supporting member with respect to the working arm about a second axis orthogonal to the first axis. A tip attachment having
When a sandwiching condition set in advance as a condition having a high possibility that the workpiece is sandwiched by the pair of arms is satisfied, the capacity of the hydraulic motor is reduced as compared with a case where the sandwiching condition is not satisfied. Capacity adjusting means for adjusting to a large capacity side,
The tip attachment further includes a drive cylinder that drives the drive arm such that the tip ends of the pair of arms approach in response to the extension operation, while the tip ends of the pair of arms move apart in accordance with the contraction operation. Prepared,
The capacity adjusting means is connected to a regulator for adjusting the capacity of the hydraulic motor to a large capacity side in accordance with the pressure supply by the hydraulic oil, and is connected to a predetermined hydraulic source, and the pressure in the head side chamber of the drive cylinder is set in advance. When the pressure is less than the threshold value, the pressure in the head-side chamber of the drive cylinder is equal to or greater than the threshold value while being biased to the regulation position that regulates the supply of pressure from the hydraulic pressure source to the regulator by the operating oil. A switching valve that is sometimes switched to an allowable position that allows the supply of pressure from the hydraulic pressure source to the regulator using the pressure in the head-side chamber. The construction machine according to claim 4 , wherein
The regulator and the switching valve are provided on the tip attachment,
The switching valve is connected to the head-side chamber of the driving cylinder so that the pressure by the hydraulic oil in the head-side chamber of the driving cylinder is supplied to the regulator when the switching valve is switched to the allowable position. Have construction machinery.

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