JP3779660B2 - Work machine provided with operation pattern switching means - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a working machine that includes an operation pattern switching means that can switch a combination of an operating device and an operated device operated by the operating device, and that is boarded and remotely operated.
[0002]
[Prior art]
For example, a hydraulic excavator that is a typical working machine configured to enable boarding operation and remote operation will be described with reference to a circuit diagram shown in FIG. A plurality of proportional pressure reducing valves 12 (12a to 12d) for output and a plurality of pilot operation valves 5 (5a to 5f) which are operated devices operated by the output pilot pressure oil are provided. The oil discharged from the hydraulic pumps 2 and 3 driven by the engine 1 is intermittently controlled by the pilot operation valves 5 (5a to 5f), and the boom cylinder 6, the arm cylinder 7 and the bucket cylinder 8 which are hydraulic actuators connected to each of them. The turning motor 9 and the traveling motors 10 and 11 are appropriately operated. Discharged oil from the pilot pump 4 driven by the engine 1 is supplied to the inlet port of the proportional pressure reducing valve 12 (12a to 12d).
[0003]
A pilot oil passage connecting the proportional pressure reducing valve 12 and the pilot operation valve 5 is provided with a remote operation valve unit 13. The valve unit 13 includes electromagnetic proportional pressure reducing valves 14a to 14h, which are driven by a controller 19 when a signal from the remote controller 17 is received by a receiver 18, and output pilot pressure oil and a proportional pressure reducing valve 12a of the boarding operator. Shuttle valves 15a to 15h that select the high pressure side of the output pilot pressure oil of ˜12d are provided, and pilot pressure oil is output to the pilot operation valves 5a to 5f of the operated devices. That is, the output of the boarding operation device 12 is sent to the pilot operation valve 5 of the operated device, and the output of the electromagnetic proportional pressure reducing valves 14a to 14h operated by the remote operation device 17 is sent to the operation device.
[0004]
The pilot oil passage connecting the boarding operator 12 and the valve unit 13 is provided with an operation pattern switching valve 16 as an operation pattern switching means. The operation pattern switching valve 16 is formed so as to be able to be switched by a lever. A plurality of types of connections between the proportional pressure reducing valves 12a to 12d of the boarding operation device 12 and the pilot operation valves 5a to 5f of the operated device 5 are illustrated. Switch to two types. For example, the pilot operation valve 5a or another pilot operation valve can be operated by switching with the proportional pressure reducing valve 12a. By this switching, for example, the relationship between the operating lever and the operated actuator can be corrected depending on the manufacturer of the work implement, or the relationship between the operating lever and the operated actuator can be selected in accordance with the work form.
[0005]
[Problems to be solved by the invention]
However, the conventional working machine having the operation pattern switching means in the form as described above has the following problems to be solved.
[0006]
(1) Switching operation pattern:
In the case of a boarding operation by the operation of the boarding operator 12, the operation pattern can be easily switched by the operation pattern switching valve 16, but in the case of a remote operation by the operation of the remote controller 17, the operation pattern can be switched. Not easy. That is, the operation pattern is switched by switching the connection of the electrical wiring connecting the controller 19 and the electromagnetic proportional pressure reducing valves 14a to 14h of the remote operation valve unit 13 to the operation pattern switched by the operation pattern switching valve 16. Must be changed to match. Therefore, switching of the operation pattern is troublesome and time-consuming.
[0007]
(2) Operation pattern mismatch:
When the operation pattern is changed by the operation pattern switching valve 16 in the boarding operation of the work machine, if the connection change of the electrical wiring is forgotten in the remote operation, the operation pattern does not match between the boarding operation and the remote operation.
[0008]
The present invention has been made in view of the above facts, and the technical problem thereof is switching of operation patterns in a work machine provided with operation pattern switching means for switching a combination of an operating device and an operated device operated by the operating device. It is an object of the present invention to provide a work machine provided with an operation pattern switching means that can be easily operated even when a device to be operated is remotely operated, and that there is no inconsistency between operation patterns in boarding operation and remote operation.
[0009]
[Means for Solving the Problems]
In the present invention, as a work machine that solves the above technical problem, an operation pattern switching means that switches and selects a combination of a boarding operation device and an operation device operated by the boarding operation device, and the operation device via the controller. A remote control device for remote control and a position detector for detecting the switching position of the switching means, and the operation pattern of the remote control device and the operated device is controlled by the controller based on the output of the position detector. There is provided a work machine provided with an operation pattern switching means, which is set to be the same as the operation patterns of the boarding operation device and the operated device.
[0010]
Then, in the case of remote operation, the operation pattern of the boarding operation is automatically set and there is no mismatch.
[0011]
In the present invention, as another embodiment of the working machine that solves the above technical problem, a combination of the boarding operation device and the operated device operated by the boarding operation device, and the remote operation device and the operated device operated by the remote operation device. A controller having operation pattern switching means for setting the combination to be the same and the combination being switchable, and the controller selects one of the operation signals from the boarding controller and the remote controller; And an operation pattern switching means for setting an operation pattern for the selected operation signal, and an operation pattern selector for selecting the set operation pattern. A working machine is provided.
[0012]
Then, in the case of remote operation, the operation pattern of the boarding operation is automatically set and there is no mismatch.
[0013]
In a preferred embodiment, a boarding-side indicator that displays the selected operation pattern on the boarding operator side is provided. Further, an operation pattern transmitter that transmits the selected operation pattern to the remote controller, and a remote display that displays the transmitted operation pattern on the remote controller side are provided.
[0014]
The operator can grasp the operation pattern in both the boarding operation and the remote operation.
[0015]
In another embodiment, an operation pattern input device for inputting an operation pattern selection signal to the remote controller is provided, and the controller is operated remotely by the operation pattern set in the boarding controller and the operation pattern input device. And an operation pattern collator that enables the remote controller to operate the operated device when the operation patterns input to the device match.
[0016]
Then, when the setting of the operation pattern selector on the remote controller side does not match the operation pattern on the boarding operator side, the work machine is stopped so that the operator can be sure to recognize the mismatch of the operation patterns.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a working machine having an operation pattern switching unit configured according to the present invention will be described in more detail with reference to the accompanying drawings illustrating a preferred embodiment of a hydraulic excavator that is a typical working machine. 1 to 7, substantially the same parts as those in FIG. 8 are denoted by the same reference numerals. The explanation is omitted in principle.
[0018]
A first embodiment will be described with reference to FIGS. 1 and 2. Referring first to the circuit diagram of FIG. 1, the working machine is an operation for switching an operation pattern which is a combination of a proportional pressure reducing valve 12 as a boarding operation device and a pilot operation valve 5 as an operated device operated thereby. An operation pattern switching valve 16 as a pattern switching means, a remote controller 17 for remotely operating the operated device 5 via the receiver 18 and the controller 21, and a switching position of the operation pattern switching means 16 for the selected operation pattern. And a position detector 20 for detecting by the above.
[0019]
The operation will be described with reference to FIG. The controller 21 calculates the operation signal of the remote controller 17 for the combination of the operation pattern A by the signal setting units 27a to 27h, and calculates the combination of the different operation patterns B by the signal setting units 28a to 28h. The control arithmetic unit 28 to be set, the signal switching unit 29 which is switched by the detection signal of the position detector 20 and selects either the control arithmetic unit 27 or the output of the control arithmetic unit 28, and the control arithmetic unit 27 or the control arithmetic unit 28 Electromagnetic proportional valve drivers 30a to 30h for driving the electromagnetic proportional pressure reducing valves 14a to 14h based on the output are provided.
[0020]
The controller 21 is connected to a boarding side display 22 that displays the selected operation pattern on the boarding operation unit 12 side, and a transmitter 23 that transmits the selected operation pattern.
[0021]
The operation of the working machine provided with the operation pattern switching means as described above will be described with reference to FIGS.
[0022]
When the operation pattern switching valve 16 is switched in FIG. 1, the switching position selected by the position detector 20 is detected, and the signal is input to the controller 21.
[0023]
(2) In FIG. 2, the operation signal from the remote controller 17 is input to the control arithmetic unit 27 and the control arithmetic unit 28, and the control signal of the operation pattern A is transmitted to the signal setting units 28a to 28h by the signal setting units 27a to 27h. Thus, the control signal for the operation pattern B is set.
[0024]
(3) The signal switch 29 selects either the output of the control arithmetic unit 27 or the output of the control arithmetic unit 28 by the signal of the position detector 20 and outputs it to the electromagnetic proportional valve drivers 30a to 30h for remote operation. The electromagnetic proportional pressure reducing valves 14a to 14h of the valve unit 13 are driven.
[0025]
(4) The operation pattern selected by the signal from the position detector 20 is also displayed on the boarding-side display 22 and further transmitted to the receiver 24 on the remote controller 17 side by the transmitter 23 and received. Is displayed on the remote display 25.
[0026]
(5) Therefore, when the operation pattern switching valve 16 which is the operation pattern switching means is switched, a control signal corresponding to the switched operation pattern is automatically set by the controller 21 and the selected operation pattern is set on the boarding side. Since the information is displayed on the display 22 and the remote display 25, the operator can know that the operation pattern has been switched, and know the switched operation pattern.
[0027]
Then, every time the operation pattern is changed by switching the operation pattern switching valve 16, it is possible to eliminate the troublesome and troublesome switching operation by changing the connection of the electric wiring. Further, since the switched operation pattern is displayed on both the work machine side and the remote controller side, the operator can grasp the operation pattern in both the boarding operation and the remote operation. Therefore, switching of operation patterns can be easily performed, and inconsistencies in operation patterns between boarding operation and remote operation can be eliminated.
[0028]
A second embodiment will be described with reference to FIGS. First, a description will be given with reference to the circuit diagram of FIG. The working machine in this embodiment includes a controller 34 that switches an operation pattern that is a combination of the boarding operation device 31 and the remote operation device 17 and the operated device 5 operated by the operation. The boarding operation device 31 includes a plurality of electric joysticks 31a to 31d which are electric operation devices that output an electric signal corresponding to the operation.
[0029]
The work machine also has electromagnetic proportional valves 35a to 35h and is operated by the output of the boarding operation unit 31 via the controller 34. The remote control unit 34 inputs the boarding operation and the remote operation to the switching controller 34. / Boarding operation switch 32, operation pattern selector 33 for selecting the set operation pattern, boarding side display 22 for displaying the set operation pattern, transmitter 23 for transmitting the set operation pattern, remote controller 17 includes a receiver 24 that is provided on the 17 side and receives transmission from the transmitter 23, and a remote display 25 that displays an operation pattern received by the receiver 24. The pilot operation valves 5 a to 5 f of the operated device 5 are operated by the output pilot pressure oil of the electromagnetic proportional valves 35 a to 35 h of the electromagnetic proportional valve unit 35.
[0030]
The operation will be described with reference to FIG. The controller 34 selects either an operation signal of the electric joysticks 31 a to 31 d of the boarding operation device 31 or an operation signal sent from the remote operation device 17 based on the signal of the remote / boarding operation switching device 32. The control arithmetic unit 38 composed of signal setting units 38 a to 38 h for operation pattern A, the control arithmetic unit 39 composed of signal setting units 39 a to 39 h for different operation patterns B, and the output signal of operation pattern selector 33. And a signal switching unit 40 for selecting either the output of the control arithmetic unit 38 or the control arithmetic unit 39, and an electromagnetic proportionality for driving the electromagnetic proportional pressure reducing valves 35a to 35h based on the output of the control arithmetic unit 38 or the control arithmetic unit 39. Valve drivers 41a to 41h are provided.
[0031]
The operation of the second embodiment of the working machine provided with the operation pattern switching means as described above will be described with reference to FIGS. 3 and 4.
[0032]
(1) When the remote / boarding operation switching device 32 is switched to the remote operation in FIG. 3, the operation signal of the remote operation device 17 is selected by the signal switching device 42 of the controller 34.
[0033]
(2) The operation signal is input to the control arithmetic unit 38 and the control arithmetic unit 39, and the control signals of the operation pattern A and the operation pattern B are set by the signal setting units 38a to 38h and the signal setting units 39a to 39h.
[0034]
(3) With the output signal of the operation pattern selector 33, either the output of the control arithmetic unit 38 or the output of the control arithmetic unit 39 is selected by the signal switching unit 40 and output to the electromagnetic proportional valve drivers 41a to 41h. Remote operation is performed by driving the electromagnetic proportional pressure reducing valves 35a to 35h.
[0035]
(4) The operation pattern selected by the signal of the operation pattern selector 33 is also displayed on the boarding side display 22, and further transmitted to the receiver 24 on the remote controller 17 side by the transmitter 23 and received. The pattern is displayed on the remote display 25.
[0036]
(5) In the boarding operation, when the remote / boarding operation switch 32 is switched to the boarding operation and the operation pattern selector 33 is set to the pattern desired by the operator, the operation pattern is automatically switched by the same operation as described above.
[0037]
(6) Therefore, when the operation pattern selector 33 provided in the work machine is switched, a control signal corresponding to the operation pattern automatically switched by the controller 34 is set, and the operation pattern is displayed on the boarding side display 22. Since the display is displayed on the remote display 25, the operator can know that the operation pattern has been switched, and know the switched operation pattern.
[0038]
Then, it is possible to eliminate the conventional troublesome and troublesome switching operation of changing the connection of the electric wiring every time the operation pattern is changed. Further, since the switched operation pattern is displayed on both the work machine and the remote controller, the operator can grasp the operation pattern in both the boarding operation and the remote operation. Therefore, switching of operation patterns can be easily performed, and inconsistencies in operation patterns between boarding operation and remote operation can be eliminated.
[0039]
In the second embodiment, since the operation pattern switching valve 16 in the first embodiment is unnecessary, piping can be simplified.
[0040]
A third embodiment will be described with reference to FIGS. In the third embodiment, as shown in the circuit diagram of FIG. 5 with respect to the above-described second embodiment (FIGS. 3 and 4), an operation pattern selector 43 that selects and inputs an operation pattern to the remote controller 17. And a controller 44 in place of the controller 34. When the remote operation is selected by the remote / boarding operation switch 32, the operation pattern selected by the operation pattern selector 43 connected to the remote controller 17 and the operation pattern selector 33 on the work machine side. Only when they match, the controller 44 can be operated by the controller 44.
[0041]
The operation will be described with reference to FIG. The controller 44 selects the operation signal of the electric joystick 31 or the operation signal of the remote controller 17 based on the signal of the remote / boarding operation switch 32 similarly to the controller 34 described above. , Control arithmetic unit 38 composed of signal setting units 38a to 38h for operation pattern A, control arithmetic unit 39 composed of signal setting units 39a to 39h for different operation pattern B, output of control arithmetic unit 38, or control arithmetic unit 39, or a signal switch 45 for selecting either one of the stop signal setting devices 51a to 51h, and an electromagnetic proportional valve driver 41a for driving the electromagnetic proportional pressure reducing valves 35a to 35h based on the output of the signal switch 45. ~ 41h.
[0042]
The controller 44 further includes an operation pattern collator 46. Signals from the operation pattern selector 33, the operation pattern selector 43, and the remote / boarding operation switching device 32 are input to the operation pattern collator 46. The output of the operation pattern collator 46 is the transmitter 23 and the boarding side display 22. The signal switch 45 is connected. Based on the output signal of the operation pattern collator 46, the signal switcher 45 selects one of the control arithmetic unit 38, the control arithmetic unit 39, or stop signal setting units 51a to 51h with zero output.
[0043]
The operation pattern collator 46 will be described with reference to FIG. 7. An AND operation unit 47, a stop signal setting unit 49, and an AND operation unit 47 for obtaining the logical product of the operation pattern selector 33 and the operation pattern selector 43. The signal switch 48 for selecting either the stop signal setting unit 49 or the operation pattern selector 33 based on the output, and the signal switch 48 or the operation pattern selector 33 based on the signal of the remote / boarding operation switch 32 A signal switching device 50 for selecting and outputting either one is provided.
[0044]
The operation of the third embodiment of the working machine provided with the operation pattern switching means as described above will be described with reference to FIGS.
[0045]
(1) When the remote / boarding operation switching unit 32 is switched to the remote operation, the signal switching unit 42 selects the operation signal of the remote control unit 17.
[0046]
(2) The operation signal of the remote controller 17 is input to the control arithmetic unit 38 and the control arithmetic unit 39, and the control signals of the operation patterns A and B are set by the signal setting units 38a to 38h and the signal setting units 39a to 39h. The
[0047]
(3) The signals of the operation pattern selector 33 and the operation pattern selector 43 are input to the operation pattern collator 46, and the logical product is obtained by the logical product calculator 47.
[0048]
(4) If both match, “1” is output, and the output of the operation pattern selector 33 is selected by the signal switch 48. If the two do not match, “zero” is output and the stop signal setter 49 is selected.
[0049]
(5) Based on the signal from the remote / boarding operation switching unit 32, the signal switching unit 50 selects the output of the signal switching unit 48 when remote and the output of the operation pattern selector 33 when boarding.
[0050]
(6) The output of the operation pattern collator 46 is input to the signal switch 45, and the signal switch 45 outputs any of the output of the control calculator 38, the output of the control calculator 39, and the stop signal setting units 51a to 51h. It is selected and output to the electromagnetic proportional valve drivers 41a to 41h, and the electromagnetic proportional pressure reducing valves 35a to 35h are driven to perform remote operation.
[0051]
(7) Therefore, when the remote operation is selected by the remote / boarding operation switching unit 32, the operation patterns of the operation pattern selector 43 of the remote controller 17 and the operation pattern selector 33 for boarding provided in the work machine are The work implement can be operated with the operation pattern set when they match, and cannot be operated when they do not match. In the boarding operation, when the remote / boarding operation switching unit 32 is switched to the boarding operation and the operation pattern selector 33 is set to a pattern desired by the operator, the operation pattern is automatically switched by the same operation as described above.
[0052]
(8) Thus, when the setting of the operation pattern selector 43 of the remote controller 17 does not match the operation pattern of the operation pattern selector 33 for boarding, the work machine is stopped, so that the operator can be surely recognized the operation pattern. Can do.
[0053]
(9) In the third embodiment, an operation pattern selector 43 is additionally connected to the remote controller 17 of the second embodiment, and a controller 44 provided with an operation pattern collator 46 in the controller 34. The operation pattern selector 43 is additionally connected to the remote controller 17 of the first embodiment, and the signal from the position detector 20 and the signal from the operation pattern selector 43 are connected to the controller 21. You may comprise and comprise the operation pattern collator to collate.
[0054]
【The invention's effect】
According to the working machine provided with the operation pattern switching means configured according to the present invention, the operation pattern switching in the working machine provided with the operation pattern switching means for switching the combination of the operating device and the operated device operated by the operating device is performed. It is possible to easily perform the operation of the operation device remotely, and it is possible to prevent a mismatch in operation patterns between the boarding operation and the remote operation.
[Brief description of the drawings]
FIG. 1 is a circuit diagram showing a first embodiment of a working machine provided with an operation pattern switching means configured according to the present invention.
FIG. 2 is an arithmetic circuit diagram of the controller shown in FIG.
FIG. 3 is a circuit diagram showing a second embodiment of a work machine provided with operation pattern switching means configured according to the present invention.
4 is an arithmetic circuit diagram of the controller shown in FIG. 2. FIG.
FIG. 5 is a circuit diagram showing a third embodiment of a working machine provided with operation pattern switching means configured according to the present invention.
6 is an arithmetic circuit diagram of the controller shown in FIG.
7 is an arithmetic circuit diagram of the operation pattern collator shown in FIG. 6;
FIG. 8 is a circuit diagram of a conventional working machine provided with operation pattern switching means.
[Explanation of symbols]
5: Pilot operated valve (operated device)
12: Proportional pressure reducing valve (boarding controller)
16: Operation pattern switching valve (operation pattern switching means)
17: Remote controller 20: Position detector 21: Controller 22: Boarding side display 23: Operation pattern transmitter 25: Remote side display 31: Electric joystick (boarding controller)
33: Operation pattern selector 34: Controller 38: Operation pattern setting unit 42: Signal switching unit 43: Operation pattern input unit 44: Controller 46: Operation pattern collator

Claims (5)

An operation pattern switching means for switching and selecting a combination of a boarding operation device and an operated device operated thereby, a remote operation device for remotely operating the operated device via a controller, and detecting a switching position of the switching device And a position detector that
The operation pattern of the remote controller and the operated device is set by the controller to be the same as the operation pattern of the boarding controller and the operated device based on the output of the position detector. A work machine having pattern switching means. A controller having an operation pattern switching means for setting a combination of a boarding operation device and an operated device operated by the same and a remote operation device and a combination of the operated devices operated by the same so that the combination can be switched. With
The controller is set with a signal switching unit for selecting one of the operation signals from the boarding operation unit and the remote control unit, an operation pattern setting unit for setting an operation pattern for the selected operation signal, and A work machine having an operation pattern switching means, comprising: an operation pattern selector for selecting an operation pattern. The work machine provided with the operation pattern switching means according to claim 1 or 2, further comprising a boarding side display for displaying the selected operation pattern on the boarding operation device side. 4. An operation pattern transmitter that transmits a selected operation pattern to the remote controller, and a remote display that displays the transmitted operation pattern on the remote controller side. A working machine comprising the operation pattern switching means according to any one of the above. An operation pattern input device for inputting an operation pattern selection signal to the remote controller;
The controller enables operation of the operated device by the remote controller when the operation pattern set in the boarding controller matches the operation pattern input to the remote controller by the operation pattern input device. A work machine comprising the operation pattern switching means according to any one of claims 1 to 4, further comprising an operation pattern collator for performing the operation.

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