JP2011157208A - Working machine of lifting magnet specification - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working machine of the lifting magnet specification which continues the work without increasing the power supply, even when simultaneously executing the compound operation of the attraction work of metal scraps such as iron by a lifting magnet and the turning work of a turning body. <P>SOLUTION: The working machine of the lifting magnet specification includes a working machine having a traveling body, a turning body which is turnably provided on the traveling body, and an electric motor for driving the turning body by the electric energy from a power source, an articulated arm attached to the working machine, and a lifting magnet provided on the fore end of the articulated arm to receive the supply of the electric energy from the power source. The working machine further includes a turning operation control means for limiting the upper limit of the electric energy to be supplied to the electric motor irrespective of the operational amount of the operation lever when the turning operation command signal to the electric motor by an operation lever and the attraction command signal to the lifting magnet by an operation switch are simultaneously received. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

    The present invention relates to a lifting magnet specification working machine provided with a lifting magnet device, and more particularly to a lifting magnet specification working machine in which a lifting magnet device is installed in an electric work machine.

  As a lifting magnet specification working machine equipped with a lifting magnet device, a traveling body, a swiveling body that can be turned on the traveling body, a lifting magnet device installed on the swiveling body, and an electric power to the lifting magnet device There is a power source that supplies energy and a power storage device that stores electric energy from the power source, and the power source is configured by an engine and a generator mounted on a work machine (for example, see Patent Document 1).

International Publication No. WO2006 / 080100 Pamphlet

  This kind of lifting magnet type work machine is used for processing metal scrap such as iron at the scrap processing site where scrap is accumulated. In the above-mentioned prior art document, a lifting magnet and an articulated arm are used. It has been proposed to drive the turning motion of the provided turning body with an electric motor.

  In the processing work of metal scrap using such a lifting magnet working machine, the metal scrap is moved to another type by turning the rotating body of the working machine with an electric motor while adsorbing the metal scrap such as iron by the lifting magnet. The movement to the place is repeated.

  The electric power consumed by the lifting magnet has a peak current primarily when it starts attracting metal scrap such as iron. On the other hand, since the electric power consumed by the revolving structure driving motor that drives the revolving structure requires a large revolving torque at the initial stage of driving the revolving structure, a peak current is generated at the start of revolving.

  Therefore, when the adsorption operation of the scrap metal such as iron by the lifting magnet and the turning operation of the swivel body are combined, the turning timing of the turning body and the start timing of the metal scrap adsorption by the lifting magnet are close to each other In this case, a peak current superposition phenomenon occurs. If the power of the power supply does not have sufficient capacity to cope with such a peak current superposition phenomenon, a large burden is placed on the power storage device and generator that are the power supply, and furthermore, adsorption due to insufficient power supply to the lifting magnet. The problem is that the force is reduced and metal scrap cannot be adsorbed sufficiently.

  The present invention has been made to solve such a problem, and the object of the present invention is to provide a power source even when the adsorption operation of metal scrap such as iron by the lifting magnet and the swivel operation of the swivel body are simultaneously combined. The working machine of the lifting magnet specification which can continue the operation | work, without increasing is provided.

  In order to achieve the above object, a first aspect of the present invention is a work machine having a traveling body, a revolving body provided on the traveling body so as to be able to swivel, and an electric motor that drives the revolving body with electric energy from a power source. A lifting magnet specification working machine comprising: a multi-joint arm mounted on the work implement; and a lifting magnet provided at a tip of the multi-joint arm for receiving electric energy supplied from the power source. Supply of electric energy to be supplied to the electric motor when a turning operation command signal to the electric motor and an adsorption command signal to the lifting magnet by an operation switch are input at the same time. It is assumed that a turning motion control means for limiting the upper limit of the amount is provided.

  In a second aspect based on the first aspect, the turning operation control means is configured to receive a turning operation command signal to the electric motor by the operation lever and an adsorption command signal to the lifting magnet by the operation switch. An input unit that is input, and a calculation unit that calculates a command signal by changing a restriction characteristic according to the presence or absence of the suction command signal of the operation switch with respect to the input turning operation command signal from the operation lever, And an output unit that outputs the command signal calculated by the calculation unit to the electric motor.

  Furthermore, a third invention is the above-mentioned second invention, wherein the electric motor is connected to the power source via an inverter, and the command signal is sent to the inverter, whereby an upper limit of the amount of power supplied to the electric motor is reached. Shall be restricted.

  According to a fourth invention, in any one of the first to third inventions, the power source is a generator driven by an engine.

  According to a fifth invention, in any one of the second to fourth inventions, the limiting characteristic can be arbitrarily set by a setting device.

  According to the present invention, even when the adsorption of metal scrap such as iron by the lifting magnet and the turning of the turning body are simultaneously combined, the operation can be continued without increasing the power source. This improves the productivity of sorting work.

It is a front view which shows one Embodiment of the lifting magnet working machine of this invention. It is a block diagram which shows schematic structure of the hydraulic electric system in one Embodiment of the lifting magnet working machine of this invention. It is a block diagram explaining the calculation content of the controller used for schematic structure of the hydraulic electric system in one Embodiment of the lifting magnet working machine of this invention shown in FIG. It is a block diagram explaining the conditional restrictor which comprises the controller shown in FIG. It is a characteristic view which shows an example of the relationship between adsorption | suction of the lifting magnet which concerns on this invention, turning motion of a turning body, and its electric current value. It is a block diagram explaining the conditional restrictor which comprises the controller in other embodiment of the lifting magnet working machine of this invention. It is a block diagram explaining the conditional restrictor which comprises the controller in further another embodiment of the lifting magnet working machine of this invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a lifting machine working machine (hereinafter referred to as a lifting magnet working machine) according to the present invention will be described below with reference to the drawings.
1 to 5 show an embodiment of a lifting magnet working machine according to the present invention. FIG. 1 is a front view showing an embodiment of a lifting magnet working machine according to the present invention. FIG. FIG. 3 is a block diagram showing a schematic configuration of a hydraulic electric system in one embodiment of a lifting magnet working machine, and FIG. 3 is used for a schematic configuration of a hydraulic electric system in one embodiment of the lifting magnet working machine of the present invention shown in FIG. FIG. 4 is a block diagram for explaining a conditional limiter constituting the controller shown in FIG. 3, and FIG. 5 is a diagram illustrating the adsorption of the lifting magnet and the swiveling motion of the swiveling body according to the present invention. It is a characteristic view which shows an example of the relationship with an electric current value.

  In FIG. 1, a lifting magnet working machine of the present invention is provided with a traveling body 1 and a revolving body 3 that is turnable on the traveling body 1 via a revolving device 2. On the swivel body 3, a power source chamber 4 incorporating an engine, a generator, a hydraulic pump, a power storage device, and the like as a power source, and an operation room 5 provided with an operation lever and the like are mounted. A multi-joint arm 6 is installed at the front of the revolving unit 3. The articulated arm 6 includes a boom 8 provided at the front portion of the swing body 3 so as to be lifted and lowered by the boom cylinder 7, an arm 10 provided rotatably at the tip of the boom 8 by the arm cylinder 9, and a link 11 and a lifting magnet 13 rotatably provided at the tip of the arm 10 via a cylinder 12.

Next, the control configuration of an embodiment of the lifting magnet working machine of the present invention will be described with reference to FIG. In FIG. 2, the same reference numerals as those shown in FIG. 1 are the same parts, and detailed description thereof is omitted.
In FIG. 2, the engine 100 is mounted in the power source chamber 4 of the work machine. The engine 100 is connected to a generator 101 as a power source, a main hydraulic pump 102 as a hydraulic oil source, and a pilot hydraulic pump 103. The main hydraulic pump 102 is rotated by the engine 100 to increase the pressure of the hydraulic oil and pressurize the boom cylinder 7, the arm cylinder 9, the cylinder 12 and the traveling hydraulic motor 105 of the traveling body 1 through the control valve 104. Supply oil.

  The pilot hydraulic pump 103 supplies a part of the hydraulic oil to the hydraulic operation lever 106 in the cab 5 as pilot operation pressure oil. The hydraulic operating lever 106 switches the control valve 104 by supplying pilot operating pressure oil to the operating portion of the control valve 104 by operating the lever.

  The generator 101 is rotated by the engine 100 and outputs AC power that serves as a power source for the turning electric motor 107 and the lifting magnet 13 of the turning body 3. The generator 101 is connected to a bidirectional power converter 108 that converts AC power output from the generator 101 into DC power and also converts DC power output from an inverter 109 and the like described later into AC power. Yes. On the DC side of the bidirectional power converter 108, an inverter 109 that converts the DC power from the bidirectional power converter 108 into AC power, a lifting magnet control device 111 that will be described later, and a power storage device 112 that will be described later are connected. Connected with.

  The inverter 109 supplies AC power to the turning electric motor 107 of the turning body 3. A turning operation command signal corresponding to the amount of lever operation of the electric operation lever 110 in the cab 5 is given to the inverter 109 from a controller 200 as turning operation control means described later, and an alternating current corresponding to this turning operation command signal is provided. Electric power is supplied to the electric motor 107 for turning. Further, the regenerative power generated when the electric motor 107 for turning is decelerated and stopped is sent to the bidirectional power converter 108.

  The lifting magnet 13 is supplied with DC power from the bidirectional power converter 108 via the lifting magnet control device 111. The lifting magnet control device 111 is given a suction / release command signal of the lifting magnet operation switch 113 in the cab 5 from the controller 200 described later, and DC power corresponding to this suction / release command signal is supplied to the lifting magnet 13. / Blocked. Thereby, the adsorption | suction release of the lifting magnet 13 is controlled. The power storage device 112 includes a battery, a capacitor, and the like that temporarily store the power generated by the generator 101.

  A rotation speed sensor (not shown) is attached to the turning electric motor 107, and the detected rotation speed signal of the turning electric motor 107 is sent to the controller 200 via the inverter 109.

Next, the calculation contents of the controller 200 in the embodiment of the lifting magnet working machine of the present invention will be described with reference to FIG. In FIG. 3, the same reference numerals as those shown in FIGS. 1 and 2 are the same parts, and detailed description thereof is omitted.
In FIG. 3, the controller 200 stores a set value in advance, a calculation unit that executes various calculations, an input unit 200A that converts an input signal into a calculation signal, an output unit 200B that converts a calculation signal into an output signal, and the like. It is comprised with the controller unit provided with the memory | storage part (memory) which does not.

  The input unit 200A of the controller 200 includes the above-described suction / release command signal of the lifting magnet operation switch 113 in the cab 5, the signal of the lever operation amount of the electric operation lever 110 in the cab 5, and the turning The rotation speed signal of the electric motor 107 for rotation detected by the rotation speed sensor attached to the electric motor 107 is connected, and each detection signal is converted into input signals I113, I110, and I107 and input to the calculation unit. ing. The rotation speed signal I107 of the turning electric motor 107 is an analog signal, and the lever operation amount signal I110 of the electric operation lever 110 is an analog signal corresponding to the turning operation command signal of the turning electric motor 107. The adsorption / release command signal I113 of the lifting magnet operation switch 113 is a digital signal.

  From the output unit 200B of the controller 200, the calculation signal calculated by the calculation unit is converted into an analog signal, the lifting magnet adsorption command signal C201 is output to the lifting magnet control device 111, and the turning command signal C204 is output to the inverter 109. ing.

  In the calculation unit of the controller 200, 201 is an analog switch, 201a and 201b are signal generators, 202 is a subtractor, 203 is a proportional-integral calculator, 204 is a conditional limiter, and 205 is a gain calculator. The analog switch 201 receives the output signal of the signal generator 201a as a first input, the output signal of the signal generator 201b as a second input, and the input signal I113 from the lifting magnet operation switch 113 as a switching signal. . When the input signal I113 is 1, the analog switch 201 outputs the output value of the signal generator 201b that is the second input as the output signal, and when the input signal I113 is 0, the analog switch 201 generates the signal that is the first input as the output signal. The output value of the container 201a is output. The output of the analog switch 201 is sent from the output unit 200B to the lifting magnet control device 111 as a lifting magnet adsorption command signal C201. In the signal generator 201a, 0 or a negative command signal is set as the non-adsorption command signal, and in the signal generator 201b, a command signal suitable for the lifting magnet control device 111 is set as the adsorption command signal. These set values are stored in the storage unit.

  The gain calculator 205 receives the rotation speed signal I107 of the turning electric motor 107 described above, and outputs a value obtained by multiplying a set value corresponding to the feedback gain of the turning motion control circuit.

  The subtractor 202 inputs the input signal I110 of the lever operation amount of the electric operation lever 110 as a first input and the output signal of the gain calculator 205 as a second input, and calculates a difference value between the first input and the second input. Output.

  The proportional-integral calculator 203 receives the output of the subtractor 202 and outputs a value O203 obtained by proportional-integral calculation.

  The conditional limiter 204 receives the output signal O203 of the proportional-integral calculator 203, and receives the input signal I113 from the lifting magnet operation switch 113 as a switching signal. Although details will be described later, the limit value is changed according to the state of the input signal I113, and a value obtained by limiting the output signal of the proportional-plus-integral calculator 203 is output. The output of the conditional limiter 204 is sent from the output unit 200B to the inverter 109 as a turn command signal C204.

  The above-described input unit 200A, output unit 200B, and calculation unit constitute a turning operation control means.

Next, the operation of the turning motion control means will be described with reference to FIGS.
When an adsorption operation is selected with the lifting magnet operation switch 113 in the cab 5, an ON signal of the input signal I113 is input to the controller 200. In the calculation unit, the analog switch 201 and the conditional limiter 204 are switched. As a result, the lifting magnet adsorption command signal C201 is sent to the lifting magnet control device 111, and the turning command signal C204 is restricted.

  When the electric operation lever 110 in the cab 5 is operated, an input signal I110 is input to the controller 200. Since this I110 corresponds to a turning operation command signal of the turning electric motor 107, a value obtained by multiplying the rotation speed detection signal I107 of the turning electric motor 107 by a feedback gain and a deviation are obtained, and the deviation is proportionally integrated and controlled. By using the controlled value as the turn command signal C204, appropriate turning operation control of the turning electric motor 107 is realized.

  For example, when the deviation between the input signal I110 of the lever operation amount of the electric operation lever 110 and the rotation speed detection signal I107 of the turning electric motor 107 is large and the turning command signal C204 is large, the turning electric signal is supplied from the inverter 109. A large current is supplied to the motor 107. As a result, the turning electric motor 107 generates a high torque, and the turning mode of the turning body 3 is abruptly raised. On the other hand, when the deviation between the lever operation amount input signal I110 of the electric operation lever 110 and the rotation speed detection signal I107 of the turning electric motor 107 is small and the turning command signal C204 is small, the turning electric motor 107 is turned from the inverter 109. Is supplied with a small current. As a result, the torque generated by the turning electric motor 107 is reduced, and the turning mode of the turning body 3 gradually rises.

  Next, with reference to FIG. 4, the conditional limiter 204 constituting the controller of the embodiment of the lifting magnet working machine of the present invention will be described. In FIG. 4, the same reference numerals as those shown in FIGS. 1 to 3 are the same parts, and detailed description thereof is omitted.

  The conditional limiter 204 shown in FIG. 4 includes the following internal arithmetic elements. When the input signal I113 from the lifting magnet operation switch 113 is 1, the switch unit 204a outputs 0 to the output α connected to the first multiplication unit 204b and 1 to the output β connected to the second multiplication unit 204c. , I113 is 0, 1 is output to the output α connected to the first multiplier 204b, and 0 is output to the output β connected to the second multiplier 204c.

  The first multiplier 204b and the second multiplier 204c each receive the output signal O203 of the proportional-plus-integral calculator 203 as a first input, and use the output signals α and β from the switch unit 204a as second inputs, respectively. You are typing. The first multiplication unit 204b multiplies the value of O203 that is the first input by the value of α that is the second input, and outputs the value. The output of the first multiplication unit 204b is sent to the first limiting unit 204d. Similarly, the second multiplication unit 204c multiplies the value of O203 that is the first input by the value of β that is the second input, and outputs the value. The output of the second multiplication unit 204c is sent to the second limiting unit 204e.

  The first limiting unit 204d and the second limiting unit 204e receive the output of the first multiplication unit 204b and the second multiplication unit 204c, respectively. The first limiter 204d outputs an output value Y1 for the input value I1 according to a preset limit function. The output of the first limiting unit 204d is sent to the adding unit 204f. Similarly, the second restriction unit 204e outputs an output value Y2 with respect to the input value I2 according to a preset restriction function. The output of the second limiting unit 204e is sent to the adding unit 204f.

  As shown in FIG. 4, the output value Y2 in the limiting function of the second limiting unit 204e is set to be close to 0 in both the upper and lower limits than the output value Y1 of the first limiting unit 204d, and the lifting magnet operation switch 113 is set. The limit value of the turn command signal when the suction operation is selected is determined. On the other hand, the output value Y1 in the limiting function of the first limiting unit 204d defines the limiting value of the turning command signal when the opening operation of the lifting magnet operation switch 113 is selected or not operated.

  The adding unit 204f inputs the output Y1 of the first limiting unit 204d as a first input and the output Y2 of the second limiting unit 204e as a second input, adds the value of the first input and the value of the second input, The value is output. As described above, the output of the adding unit 204f is sent from the output unit 200B as the output of the conditional limiter 204 to the inverter 109 as the turning command signal C204.

Next, the operation of the conditional limiter 204 will be described with reference to FIGS.
First, when the suction operation of the lifting magnet operation switch 113 in the cab 5 is selected, an ON signal of the input signal I113 is input to the controller 200, and the switch unit 204a of the conditional limiter 204 has α = 0, β = 1 is output.

  In the first and second multipliers 204b and 204c to which the output signal O203 of the proportional-plus-integral operation unit 203 is input, the above-described values of α and β are multiplied by the input value. The output becomes 0 and is sent to the first limiting unit 204d, and the output of the second multiplier 204c becomes the same value as the output signal O203 of the proportional-plus-integral computing unit 203 and is sent to the second limiting unit 204e.

  The output value Y2 in the limiting function of the second limiting unit 204e and the output value Y1 in the limiting function of the first limiting unit 204d that is 0 are added by the adding unit 204f and output as the command signal O204. That is, when the suction operation is selected, the command signal O204 in which the upper and lower limits are further suppressed by the second restriction unit 204e is output.

  Next, when the opening operation of the lifting magnet operation switch 113 is selected or not operated, an OFF signal of the input signal I113 is input to the controller 200, and the switch unit 204a of the conditional limiter 204 has α = 1, β = 0 is output.

  In the first and second multipliers 204b and 204c to which the output signal O203 of the proportional-plus-integral operation unit 203 is input, the above-described values of α and β are multiplied by the input value. The output becomes 0 and is sent to the second limiter 204e, and the output of the first multiplier 204b becomes the same value as the output signal O203 of the proportional-plus-integral calculator 203 and is sent to the first limiter 204d.

  The output value Y1 in the limiting function of the first limiting unit 204d and the output value Y2 in the limiting function of the second limiting unit 204e that are 0 are added by the adding unit 204f and output as a command signal O204. That is, when the opening operation is selected or not operated, the command signal O204 corresponding to the normal operation in which the upper and lower limits are suppressed by the first limiting unit 204d is output.

  By the way, for example, when the lever operation amount of the electric operation lever 110 is near the maximum speed, the output of the subtractor 202 shown in FIG. 3 increases. As a result, the output O203 of the proportional-plus-integral operation unit 203 is also in the vicinity of the maximum value. It is input to the limiter 204. Here, when the suction operation of the lifting magnet operation switch 113 is selected, the ON signal of the input signal I113 is input, and the second restriction unit 204e shown in FIG. A signal O204 is output.

  As a result, the turn command signal C204 sent to the inverter 109 is limited to be significantly lower than when the opening operation of the lifting magnet operation switch 113 is selected or not operated.

  FIG. 5 shows an example of the relationship between the attracting operation of the lifting magnet 13 according to the present invention, the swiveling operation of the revolving structure 3, and the current value thereof. In FIG. 5, the part indicated by the alternate long and short dash line of the electric current value of the electric motor 107 for turning represents the electric current value when the opening operation of the lifting magnet operation switch 113 is selected or not operated. It represents the peak current. The portion indicated by the straight line on the time axis represents the current value of the electric motor 107 for turning when the suction operation of the lifting magnet operation switch 113 is selected.

Next, the operation of the above-described embodiment of the lifting magnet working machine of the present invention will be described with reference to FIGS.
In FIG. 2, when the engine 100 of the lifting magnet working machine is started, the main hydraulic pump 102, the pilot hydraulic pump 103, and the generator 101 are driven by the engine 100. The AC power that is the output of the generator 101 is converted to DC power by the bidirectional power converter 108, and this DC power is supplied to the inverter 109, the lifting magnet control device 111, and the power storage device 112, respectively.

  First, when the opening operation of the lifting magnet operation switch 113 in the cab 5 is selected or not operated, when the electric operation lever 110 in the cab 5 is operated, the lifting magnet control device 111 includes The controller 200 receives a lifting magnet suction command signal C201 which is a zero or negative command signal set in advance as a non-adsorption command signal.

  The lifting magnet control device 111 converts (increases) the DC power supplied from the bidirectional power converter 108 into DC power corresponding to the lifting magnet adsorption command signal C <b> 201 and supplies the DC power to the lifting magnet 13. Since the lifting magnet adsorption command signal C201 is a 0 or negative command signal set in advance as a non-adsorption command signal, no attracting force is generated in the lifting magnet 13.

  On the other hand, the inverter 109 receives a turning command signal C204 that is restricted from the controller 200 in accordance with the normal operation. The rotation command signal C204 is large because the deviation between the rotation speed detection signal I107 of the electric motor 107 for turning and the input signal I110 of the lever operation amount of the electric operation lever 110 is large and is a restriction corresponding to normal operation. .

  The inverter 109 converts the DC power supplied from the bidirectional power converter 108 into AC power corresponding to the turning command signal C 204 and supplies the AC power to the turning electric motor 107. Since the turning command signal C204 is large and a large turning torque is required at the initial stage of driving of the turning body 3, a peak current is generated when the turning electric motor 107 is started. The portion indicated by the alternate long and short dash line in the current value of the electric motor 107 for turning shown in FIG. 5 is the starting current, and the portion indicated by the symbol A represents this peak current.

  Next, when the electric operation lever 110 in the cab 5 is operated when the suction operation of the lifting magnet operation switch 113 in the cab 5 is selected, the lifting magnet control device 111 receives the controller 200 from the controller 200. A lifting magnet suction command signal C201, which is a command signal suitable for the lifting magnet control device 111 set in advance as the suction command signal, is input.

  The lifting magnet control device 111 converts (increases) the DC power supplied from the bidirectional power converter 108 into DC power corresponding to the lifting magnet adsorption command signal C <b> 201 and supplies the DC power to the lifting magnet 13. As a result, an attractive force is generated in the lifting magnet 13. Note that the power consumed by the lifting magnet 13 has a peak current when the metal scrap such as iron starts to be attracted. In the current value of the lifting magnet 13 shown in FIG. 5, the part indicated by the symbol B represents this peak current.

  On the other hand, to the inverter 109, a turning command signal C204 that further restricts the upper and lower limits of the limit value corresponding to the normal operation is input from the controller 200. Although the deviation between the rotation speed detection signal I107 of the turning electric motor 107 and the input signal I110 of the lever operation amount of the electric operation lever 110 is large, the turning command signal C204 is small because the limit value is severe.

  The inverter 109 converts the DC power supplied from the bidirectional power converter 108 into AC power corresponding to the turning command signal C 204 and supplies the AC power to the turning electric motor 107. Since the turning command signal C204 is small, it is possible to prevent the peak current from being generated when the turning electric motor 107 is started. The straight line portion of the current value of the electric motor 107 for turning shown in FIG. 5 represents the prevention of the generation of this peak current.

  As described above, since the generation of the peak current at the start of the turning electric motor 107 can be prevented, the timing for starting the turning operation of the turning body 3 and the timing for starting the adsorption operation of the metal scrap by the lifting magnet 13 are close. However, the occurrence of the peak current superposition phenomenon can be prevented.

  According to the above-described embodiment of the present invention, even when the metal magnet such as iron is attracted by the lifting magnet 13 and the swiveling body 3 is swung simultaneously, the operation is continued without increasing the power source. Therefore, the workability can be improved and the productivity of the sorting work can be increased.

  In addition, according to the embodiment of the present invention, when the suction operation of the lifting magnet operation switch 113 is selected, the controller 200 becomes effective in the second restricting unit 204e, and therefore the turn command signal sent to the inverter 109. C204 is restricted to be significantly lower than when the opening operation of the lifting magnet operation switch 113 is selected or not operated. As a result, for example, even when the timing of the swing operation start of the swing body 3 and the timing of the metal scrap adsorption operation start by the lifting magnet 13 approach, the peak current superposition phenomenon does not occur. Combined work can be continued.

  Next, another embodiment of the lifting magnet working machine of the present invention will be described with reference to FIG. FIG. 6 is a block diagram for explaining a conditional limiter that constitutes a controller in another embodiment of the lifting magnet working machine of the present invention. In FIG. 6, the same reference numerals as those shown in FIG. 1 to FIG. 5 are the same or corresponding parts, and the description of those parts is omitted.

  The second limiter 204e of the conditional limiter 204 in the present embodiment is such that the slope Y2 / I2 of the limit function is set lower than in the above-described one embodiment.

  According to another embodiment of the lifting magnet working machine of the present invention, the same effect as that of the above-described embodiment can be obtained.

  Next, still another embodiment of the lifting magnet working machine of the present invention will be described with reference to FIG. FIG. 7 is a block diagram for explaining a conditional restrictor constituting a controller in still another embodiment of the lifting magnet working machine of the present invention. In FIG. 7, the same reference numerals as those shown in FIGS. 1 to 6 are the same or corresponding parts, and the description thereof is omitted.

  For example, the conditional limiter 204 in the present embodiment connects the personal computer or the like to the controller 200 and accesses the CPU and the storage unit of the controller 200 so that the user can limit the first and second limiting units 204d and 204e. It is configured so that the function can be adjusted.

  According to still another embodiment of the lifting magnet working machine of the present invention, the same effects as those of the above-described embodiment can be obtained, and on-site maintainability and workability are improved.

  In the present embodiment, the turning operation control that performs speed feedback using the turning operation lever input as a turning operation command signal (speed signal) has been described as an example, but the present invention is not limited thereto. For example, turning operation control by torque control using a turning operation lever input as a torque signal may be used.

  Further, in the present embodiment, the case where the power source is driven by the engine 100 as the generator 101 is described as an example where the output from the generator 101 is supplied to the work machine via the bidirectional power converter 108. Not limited to. For example, so-called commercial power may be supplied from the outside of the work machine via a cable.

DESCRIPTION OF SYMBOLS 1 Traveling body 2 Turning apparatus 3 Revolving body 4 Power source room 5 Driver's cab 6 Articulated arm 7 Boom cylinder 8 Boom 9 Arm cylinder 10 Arm 11 Link 12 Cylinder 13 Lifting magnet 100 Engine 101 Generator 102 Main hydraulic pump 107 Electric for turning Motor 108 Bidirectional power converter 109 Inverter 110 Electric operation lever 111 Lifting magnet control device 113 Lifting magnet operation switch 200 Controller (turning motion control means)
204 Conditional limiter

Claims (5)

A working body having a traveling body, a swiveling body provided on the traveling body so as to be capable of swiveling, an electric motor that drives the swiveling body with electric energy from a power source, an articulated arm mounted on the working machine, In a lifting magnet specification working machine provided with a lifting magnet provided at the tip of a joint arm and receiving electric energy supplied from the power source,
When the turning operation command signal to the electric motor by the operation lever and the suction command signal to the lifting magnet by the operation switch are input simultaneously,
A lifting-magnet working machine characterized by comprising a turning motion control means for limiting the upper limit of the amount of electric energy supplied to the electric motor regardless of the amount of operation of the operation lever. In the working machine of the lifting magnet specification according to claim 1,
The turning operation control means includes an input unit for inputting a turning operation command signal to the electric motor by the operation lever and an adsorption command signal to the lifting magnet by the operation switch;
In response to the input turning operation command signal from the operation lever, a calculation unit that calculates a command signal by changing a restriction characteristic according to the presence or absence of the suction command signal of the operation switch;
An output unit that outputs a command signal calculated by the calculation unit to the electric motor. In the working machine of the lifting magnet specification according to claim 2,
The electric motor is connected to the power source via an inverter,
The upper limit of the amount of power supplied to the electric motor is limited by sending the command signal to the inverter. A working machine with a lifting magnet specification. In the working machine of the lifting magnet specification of any one of Claims 1 thru | or 3,
The power source is a generator driven by an engine. A working machine with a lifting magnet specification. In the working machine of the lifting magnet specification of any one of Claims 2 thru | or 4,
The restriction characteristic can be arbitrarily set by a setting device. A working machine with lifting magnet specifications.

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