JPH05295754A - Working machine manipulating device for hydraulic excavator - Google Patents

Abstract

PURPOSE:To permit a working machine of a hydraulic excavator to make linear motion with normal lever operation as practice according to conventional arrangement and perform simply changing-over from the working machine operating mode, due to the velocity approx. proportional to the lever displacement amount, to the fine operation mode, and vice versa. CONSTITUTION:When a mode changeover switch 8 is turned, which is connected with changeover switch devices 21, 22, 26 of a control device 20, the output signals of lever displacement sensors 3, 4 are fed to a linear mode control part 24, and control command signals emitted therefrom are given to a boom drive system 31, arm drive system 32, and bucket drive system 33 to cause the bucket revolution fulcrum or bucket cutter tip to move linearly. When a fine operation mode switch 10 is turned on, the bucket revolution fulcrum or the bucket cutter tip moves linearly with a super-low speed irrespective of the operating amount of control levers 1, 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine operating device used for a hydraulic excavator.

[0002]

2. Description of the Related Art Generally, as shown in FIG. 4, a hydraulic power shovel has a boom 43 pivotally mounted on an upper revolving structure 41 using a boom pin 42, and a boom 43 pivotally mounted on an end of the boom 43 using an arm pin 44. An arm 45 and a bucket 47 axially attached to the tip of the arm 45 using a bucket pin 46.
And a boom 43 and an arm 45.
Swings around the pins 42 and 44 as fulcrums, respectively.
The bucket 47 is rotatable around the pin 46 as a fulcrum, and the upper swing body 41 swings on the lower traveling body 48. These operations are normally performed by operating the two working machine operating levers provided in the operator's cab 49 provided in the upper swing body 41.

FIG. 5 is a perspective view of a driver's seat provided with a conventional work machine operating lever. An operation lever 1 is attached to the right side of the seat 50, and an operation lever 2 is attached to the left side of the seat 50 substantially vertically. When the operation lever 1 is tilted forward, the boom 43 is lowered, and when it is tilted backward, the boom is raised. When the operation lever 1 is tilted to the left, the bucket 47 is tilted, that is, rotated to the excavation side, and when it is tilted to the right, the bucket is rotated to the dump, that is, the soil discharging side. When the operation lever 2 is tilted forward, the upper swing body 41 turns right, and when tilted backward, the upper swing body 41 turns left. Further, when the operation lever 2 is tilted to the left, the arm 45 swings forward, that is, to the soil discharge side, and when tilted to the right, it swings rearward, that is, the excavation side. The operating speed of these work machines and the turning speed of the upper swing body are substantially proportional to the operation amounts of the operation levers 1 and 2.

Since the boom, the arm, and the bucket each swing about a pin as a fulcrum, the trajectory of the bucket rotation fulcrum or the bucket blade edge is an arc. Therefore, when finishing excavation on a flat ground or a sloping ground in a straight line, or when making a vertical hole, the rotation fulcrum of the bucket or the bucket blade edge moves linearly while adjusting the movements of both the boom and arm. Must be done. For that purpose, a combined operation of the left and right levers 1 and 2 is required, and a skilled driving skill is required. Therefore, in order to facilitate straight line excavation, a control device that automatically controls a boom, an arm or a boom, an arm, and a bucket, and linearly moves a rotation fulcrum of the bucket or a blade edge of the bucket has been put into practical use.
For example, a hydraulic power shovel is provided with a gradient setter and an automatic excavation button, the gradient of the linear excavation is set by the gradient setter, the bucket blade edge is moved to the starting point where the linear excavation is to be performed, and then the automatic excavation button is pressed. And while pressing this button, press any of the control device that can perform straight line excavation along the set slope or the up button, down button, front button, or rear button installed on a separate panel There is known a control device in which the bucket rotation fulcrum linearly moves in that direction.

[0005]

SUMMARY OF THE INVENTION In the above-described automatic linear excavation control apparatus, a gradient setting operation is required, a separate panel needs to be installed, and the working machine speed is restricted during linear excavation. Unlike ordinary arc excavation, the working machine speed that is almost proportional to the displacement of the lever cannot be obtained. In addition, a lifting operation is performed in which a heavy load is lifted using a hydraulic power shovel and moved to a desired location. However, when the heavy load is hung, fine adjustment in each direction is often required. In that case, in order to linearly move in the required direction, it is necessary to reduce the speed of the working machine and perform a lever complex operation that requires skill as in the case of linear excavation. The present invention has been made in view of the above-mentioned conventional problems, and does not require an additional operation system for linear control of the working machine, and linear control of the working machine can be performed by a normal lever operation that is conventionally used. It is an object of the present invention to provide a working machine operating device for a hydraulic excavator that can be operated and that can easily switch between working machine operation at a speed substantially proportional to the amount of lever displacement and working machine operation at a slow speed.

[0006]

In order to achieve the above object, a working machine operating device for a hydraulic excavator according to a first aspect of the present invention is directed to a plurality of arms swingably connected and the plurality of arms. In a hydraulic excavator equipped with a control device that outputs a command signal to each drive system based on an operation command of each work machine operating lever, with respect to each drive system of a work machine with a work tool attached to the tip of A control method in an arc mode that associates the operation direction and operation amount of each of the working machine operating levers with the swing of each element that constitutes the working machine, and a specific working machine of the working machine operating levers. A control device having a linear mode control system for linearly operating the rotation fulcrum of the bucket or the bucket blade edge in the front-back direction or in the vertical direction based on the operation direction and the operation amount of the operation lever; and the two control methods. According to a second aspect of the present invention, there is provided the working machine operating device according to the first aspect, wherein the linear mode control method is a normal mode in which a predetermined working machine speed is substantially proportional to an operation amount of the working machine operating lever. A switching means is provided for switching between the speed of the working machine in the normal mode and the fine operation mode in which the working machine is at a low speed with a predetermined reduction ratio.

[0007]

According to the above construction, the arc mode is made to correspond to the operating direction and the operating amount of the operating lever for giving a drive command to the working machine mounted on the hydraulic excavator, and the swing of each element constituting the working machine. And the operating direction and operation amount of a specific working machine operating lever among the working machine operating levers described above, the bucket pivoting point or the bucket blade edge is actuated linearly in the front-back direction or in the up-down direction. Since there is a switching means for switching between the linear mode control method and the linear mode control method, no additional operation for linear control is required when switching from the arc mode to the linear mode, and the two control methods can be switched by only a simple switching operation. You can Further, in the linear mode control method, a normal mode in which a predetermined work machine speed is approximately proportional to the operation amount of the work machine operation lever, and a low speed work machine having a predetermined reduction ratio with respect to the work machine speed in the normal mode. When the means for switching to the operation mode is provided, if the operation mode is switched to the fine operation mode by a simple operation, the working machine is at a low speed, and the fine operation is possible.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a working machine operating device for a hydraulic excavator according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration example of a control device for controlling the work machine operating device according to claim 1. The operation lever 1 and the operation lever 2 provided on the left and right of the driver's seat are the same as the conventional operation lever shown in FIG. 5, and the operation lever 1 is for boom and bucket operation, and the operation lever 2 is for arm and turning operation. is there. The operation direction and operation amount of these operation levers are detected by the lever displacement sensors 3 and 4, respectively, and the output signals thereof are respectively the switches 21 and 2 in the control device 20.
It is input to the arc mode control unit 23 or the straight line mode control unit 24 and the arc mode control unit 25 via 2.

A boom angle sensor 5 and an arm angle sensor 6 for detecting respective swing angles are attached to the boom and the arm, and a bucket angle sensor 7 for detecting the rotation angle is attached to the bucket. .. The output signals of these angle sensors are all input to the linear mode control unit 24. A mode changeover switch 8 and a mode display section 9 are arranged near the driver's seat, and the mode changeover switch 8 includes the switches 21, 22 and the switch 2 in the control device 20.
6, the mode display unit 9 is connected to the arc mode control unit 23.
And the linear mode control unit 24. The output wiring of the arc mode control unit 23 is the boom drive system 3
1, the arm drive system 32, the bucket drive system 33, and the turning drive system 34, respectively, and the output wiring of the linear mode controller 24 is connected to the boom drive system 31, the arm drive system 32, and the B contact of the switch 26. ing. The output wiring of the arc mode control unit 25 is connected to the turning drive system 34 and the A contact of the switch 26, and the output wiring of the switch 26 is connected to the bucket drive system 33. Each drive system shown in FIG.
As shown in, the proportional solenoid valve 35 that operates by receiving the command signal output by the control device 20, the main valve 36 that operates by receiving the output signal from the proportional solenoid valve 35, the boom cylinder 37, the arm cylinder 38, Bucket cylinder 3
9, a turning hydraulic motor 40.

When the mode selector switch 8 is not operated,
The output signals of the lever displacement sensors 3 and 4 are input to the arc mode control unit 23 via the A contact of the switch 21 or 22, and each element of the working machine swings corresponding to the displacement amount of the operation levers 1 and 2. The control is in arc mode. When the mode changeover switch 8 is operated by one step to bring it into the linear mode, the switches 21 and 22 are connected to the B contact and the switch 26 is switched to the state of being connected to the A contact. Therefore, the output signals of the lever displacement sensors 3 and 4 are input to the linear mode control unit 24 and the circular arc mode control unit 25 via the B contact of the switch 21 or 22. The linear mode control unit 24 calculates the speeds of the boom cylinder and the arm cylinder for linearly moving the rotation fulcrum of the bucket based on the output signals of the boom angle sensor 5 and the arm angle sensor 6, and outputs a command signal corresponding thereto. Is output to the boom drive system 31 and the arm drive system 32. Due to these command signals, the main valve 36 of the boom drive system 31 and the arm drive system 32 sends the necessary flow rate to each cylinder based on the signal from the proportional solenoid valve 35, so that the rotation fulcrum of the bucket is the lever. Moves linearly at a speed commensurate with the operation amount. The mode switching state is displayed on the mode display portion 9 each time.

In the case of the linear mode, the operation of the working machine is converted as follows with respect to the operating direction of the operating levers 1, 2. (1) When the boom is operated to the raising side, the rotation fulcrum of the bucket linearly moves upward. (2) When the boom is operated to the lower side, the rotation fulcrum of the bucket moves linearly downward. (3) When the arm is operated toward the excavation side, the rotation fulcrum of the bucket linearly moves backward. (4) When the arm is operated to the dump side, the rotation fulcrum of the bucket linearly moves forward. The up-and-down movement of the bucket swing fulcrum is a movement parallel to the swing center axis of the upper swing body, and the back-and-forth movement of the bucket swing fulcrum is a movement in a direction perpendicular to the swing center axis of the upper swing body. The speed at which the bucket rotation fulcrum moves depends on the operating lever 1,
It is almost proportional to the manipulated variable of 2. Further, when the operating lever 1 is operated to the bucket excavation side or the dumping side and the operating lever 2 is operated to the left turning or the right turning side, the switch 26 is connected to the A contact, so the lever displacement sensor 3 ,. The output signal of No. 4 is input to the circular arc mode control unit 25 via the B contact of the switch 21 or 22, and then to the bucket drive system 33 and the swing drive system 34. It remains in mode.

When the mode selector switch 8 is operated in two steps, the switches 21, 22, and 26 are all connected to the B contact, so that the output signals of the lever displacement sensors 3 and 4 are the switches 21 and 22. Is input to the linear mode control unit 24 and the circular arc mode control unit 25 via.
The linear mode control unit 24 calculates the speeds of the boom cylinder, the arm cylinder, and the bucket cylinder for linearly moving the bucket blade edge based on the output signals of the boom angle sensor 5, the arm angle sensor 6, and the bucket angle sensor 7. , The command signal corresponding to it, the boom drive system 3
1 is output to the arm drive system 32 and the bucket drive system 33. Therefore, when the operation levers 1 and 2 are operated in the boom raising / lowering direction and the arm excavating / dumping direction, the bucket blade edge can be driven to move linearly. it can. In addition,
In the straight line mode, if the boom up / down operation amount and the arm excavation / dump operation amount are set to a predetermined ratio, the slope excavation work can be performed at an angle according to the ratio. Also,
When the mode selector switch 8 is turned off, the switch 2
All of 1, 2, 22 and 26 are switched to the arc mode control unit side and all are connected to the A contact, so that the arc mode is restored. When the mode changeover switch 8 is installed on the upper surface of the grip of one of the left and right operation levers, the changeover operation becomes extremely easy.

FIG. 3 is a block diagram of the control device in the embodiment of claim 2, wherein the fine operation mode switch 10 is connected to the control device of claim 1 shown in FIG. The fine operation mode switch 10 provided near the driver's seat is
A switch for switching between the normal mode and the fine operation mode for the working machine speed, which is connected to the linear mode control unit 24 in the control device 20. When the mode changeover switch 8 is operated by one step and the fine operation mode switch 10 is turned on, the output signals of the lever displacement sensors 3 and 4 input to the linear mode control unit 24 via the B contacts of the switches 21 and 22. Is reduced at a predetermined ratio by the signal of the fine operation mode switch 10 to change the boom drive system 31 and the arm drive system 3.
2 is output. On the other hand, the output signals of the lever displacement sensors 3 and 4 input to the circular arc mode control unit 25 are also reduced by a predetermined ratio by the signal of the fine operation mode switch 10 and output to the bucket drive system 33 and the swing drive system 34. The bucket rotation fulcrum can be finely operated in the linear mode, and the bucket and the turning motion can be finely operated in the circular arc mode.

When the fine operation mode switch 10 is turned on after operating the mode changeover switch 8 in two steps, all the switches 21, 22 and 26 are connected to the B contacts, so that the linear mode control section 24 is provided. The output signals of the lever displacement sensors 3 and 4 reduced by a predetermined ratio in step 3 are output to the boom drive system 31, the arm drive system 32, and the bucket drive system 33, and the lever displacement sensors reduced in the arc mode control unit 25 at a predetermined ratio. Since the output signals of 3 and 4 are also output to the swing drive system 34, the bucket blade edge is in the linear mode,
The turning motion can be finely controlled by the arc mode.
If the mode changeover switch 8 and the fine operation mode switch 10 are respectively installed on the upper surfaces of the grips of the left and right operation levers, the operation is extremely easy. Further, as a specific means for switching to the fine operation mode, the fine operation mode switching device previously filed by the present inventor in Japanese Patent Application No. 3-86381 may be used, or a mechanism for lowering the engine speed may be used. Good. Further, if the set pressure of the relief valve arranged in the boom drive system, the arm drive system, etc. is made variable and the set pressure is raised as needed, a more effective work can be performed.

[0015]

As described above, according to the present invention, a conventional hydraulic system equipped with a control device for outputting a command signal to each drive system of a working machine based on an operation command of a working machine operating lever. Based on the control method of the arc mode in which the operating direction and operation amount of the work implement operating lever and the swing of each element that constitutes the work implement correspond to the excavator, and the operating direction and operating amount of the work implement operating lever. A control device having a linear mode control system for linearly operating the rotation fulcrum of the bucket or the bucket blade tip in the up-down direction and the front-back direction, and a mode changeover switch for switching the two control systems,
Since the control method can be switched only by operating the mode selector switch, an additional operating system for linear control of the working machine is not required, and linear control of the working machine can be performed by the normal lever operation that is familiar to the user. be able to. Also,
In the linear mode according to the present invention, the bucket rotation fulcrum or the bucket blade edge moves in the vertical direction or the front-back direction based on the normal work machine operation, that is, the operation direction and the operation amount of the two specific work machine operation levers in the arc mode. Therefore, there is no discomfort in the operation, and the working machine speed can be adjusted steplessly by the lever operation amount. Therefore, it is possible to easily cope with horizontal excavation and vertical excavation that frequently use the straight line mode with extremely simple operation,
It is possible to improve work efficiency.

Further, when a heavy object is lifted for accurate alignment, the alignment can be facilitated by the linear mode, and the fine operation mode can be temporarily switched to finely operate the working machine. Further, it is possible to deal with the situation easily and accurately. Further, by providing the mode changeover switch and the fine operation mode switch as described above,
It is extremely easy and easy to switch between the normal mode in which the working machine speed is approximately proportional to the displacement amount of the lever and the fine operation mode in which the working machine is at a low speed with a predetermined reduction ratio with respect to the working machine speed in the normal mode. A hydraulic excavator having excellent machine operability and versatility can be obtained.

[Brief description of drawings]

FIG. 1 is a control block diagram of an embodiment of a working machine operating apparatus according to claim 1 of the present invention.

FIG. 2 is an explanatory diagram showing a schematic configuration of a work machine drive system.

FIG. 3 is a control block diagram of an embodiment of the working machine operating device according to claim 2 of the present invention.

FIG. 4 is a schematic side view of a hydraulic excavator.

FIG. 5 is a perspective view of a conventional driver's seat in a hydraulic excavator.

[Explanation of symbols]

1, 2 Operation lever 43 Boom 8 Mode selection switch 45 Arm 10 Fine operation mode switch 47 Bucket 20 Control device 21, 22, 26 switch 23, 25 Arc mode control unit 24 Linear mode control unit 31 Boom drive system 32 Arm drive system 33 Bucket drive system 34 Slewing drive system

Claims (2)

[Claims] 1. A plurality of arms swingably connected to each other and drive systems of a working machine having working tools attached to the ends of the plurality of arms, based on an operation command of each working machine operating lever. In a hydraulic excavator including a control device that outputs a command signal to each of the drive systems, the operating direction and operating amount of each of the working machine operating levers are made to correspond to the swing of each element that constitutes the working machine. Based on the control method in the arc mode and the operation direction and operation amount of a specific work machine operation lever among the above-mentioned work machine operation levers, the rotation fulcrum of the bucket or the bucket blade edge is linearly moved in the front-rear direction or the up-down direction. 2. A working machine operating device for a hydraulic excavator, comprising: a control device having a linear mode control system to be operated in accordance with the above; and means for switching the two control systems. 2. The working machine operating device according to claim 1, wherein the linear mode control method includes a normal mode in which a predetermined working machine speed is substantially proportional to an operation amount of a working machine operating lever, and a working machine speed in the normal mode. On the other hand, a working machine operating device for a hydraulic excavator, characterized in that it is provided with a switching means for switching to a fine operation mode in which a working machine having a predetermined reduction gear ratio becomes low speed.