JP4828495B2 - Construction machinery - Google Patents

Description

  The present invention relates to a work machine having a work arm.

  2. Description of the Related Art There is known a double-arm type work machine provided with multi-joint work arms on the left and right sides of an upper swing body. In this work machine, the left and right work arms can be driven independently by driving actuators provided on the left and right work arms (see Patent Document 1).

Japanese Patent Laid-Open No. 11-181815

  However, in a conventional double-arm type work machine, when a gripping object is gripped by a gripping device provided on one work arm, the gripping object is gripped by a gripping device provided on the other work arm. Even so, it was difficult to align the gripping device provided on the other work arm.

(1) A construction machine according to a first aspect of the present invention is a first working tool attached to the first working arm, and first and second working arms rotatably attached to the working machine body. And a second operating tool attached to the second working arm, and a first operating means for accepting a user's operation for changing the posture of the first working arm or the first working tool with respect to the work machine main body. A second operation means for accepting a user's operation for changing the posture of the second work arm or the second work tool with respect to the work implement body, and a user's operation accepted by the first operation means. Based on the first posture determining means for determining the posture of the first work arm or the first work tool with respect to the work machine main body and the user's operation received by the second operation means, the work machine main body Determine the posture of the second work arm or second work tool with respect to The second posture determining means, the posture of the first working arm or the first working tool determined by the first or second posture determining means, or the second working arm or the second working tool. By changing the posture, the first working arm or the first working tool, or the second working arm or the second working force is moved to the movement of the contact object that contacts the first or second working tool and applies an external force. Follow-up enabling means for making the work tool follow, and whether the first work arm or the first work tool, or the second work arm or the second work tool follows the movement of the contact object by the follow-up enabling means. Switching means for switching whether or not.
(2) According to a second aspect of the present invention, in the construction machine according to the first aspect, the follow-up enabling means determines the posture of the first work arm or the first work implement determined by the first posture determining means. The first follow-up enabling means for causing the first work arm or the first work tool to follow the movement of the contact object that contacts the first work tool and applies an external force by changing, and the second posture determination. By changing the posture of the second work arm or the second work tool determined by the means, the second work arm or the second work piece moves to the movement of the contact object that contacts the second work tool and gives an external force. And a second follow-up enabling means for following the work tool.
(3) According to a third aspect of the present invention, in the construction machine according to the second aspect, the switching means follows the first work arm or the first work implement to the movement of the contact object by the first follow-up enabling means. Whether to cause the second work arm or the second work tool to follow the movement of the contact object by the second follow-up enabling means. It can be switched according to the user's operation.
(4) According to a fourth aspect of the present invention, in the construction machine according to the first aspect, the switching means contacts the first work implement based on the user's operation received by the second operation means and applies an external force. The first work arm or the first work tool is switched to follow the movement of the contact object to be applied, and the second work tool is contacted based on the user's operation received by the first operation means. It is characterized by switching whether to make the 2nd work arm or the 2nd work tool follow the movement of the contact thing which gives external force.
(5) According to a fifth aspect of the present invention, in the construction machine according to the fourth aspect, the first work tool is the first gripping tool, the second work tool is the second gripping tool, and the switching means. If it is determined that the first and second work arms have been changed to substantially the same posture based on the user's operation received by the first and second operation means, at least the first work arm The first gripping tool, the second work arm, or the second gripping tool is switched so as to follow the movement of the contact object.
(6) In the construction machine according to claim 1, in the construction machine according to claim 1, the first and second work arms are rotatable in the left-right direction with respect to the work machine body, respectively. The second operation means accepts a user's operation for changing the right and left rotation postures of the first and second work arms with respect to the work implement body, and the first and second posture determination means are: Based on the user's operation received by the first and second operation means, respectively, the right and left rotation postures of the first and second work arms with respect to the work machine body are determined, and the follow-up enabling means is The first and second work tools are contacted by changing the first and second work arms determined by the first and second posture determining means in the left-right direction relative to the work machine body. The first and second movements of the contact that gives external force It is characterized by making the work arm follow.

  According to the present invention, the alignment of the work tool is facilitated.

--- First embodiment ---
A first embodiment of a construction machine according to the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 2, in a double-armed construction machine (work machine) 100 based on a hydraulic excavator, a swinging body 11 is attached to a traveling body 12 so as to be capable of turning. A driver's cab 11 a is attached to the front of the revolving unit 11. A main drive 11b including an engine and a hydraulic pump is provided behind the cab 11a.

  A first bracket 6a is provided in front of the left side of the cab 11a, and a swing type first front work arm A is attached to the first bracket 6a. A second bracket 6b is provided in front of the operator's cab 11a on the right side, and a swing type second front work arm B is attached to the second bracket 6b.

  The first front work arm A includes a mounting body 7a that is swingably movable in the left-right direction around a swing shaft center 8a (FIG. 2) provided on the first bracket 6a, and a vertical movement on the mounting body 7a. A boom 13 that is swingably attached, an arm 15 that is swingably attached to the boom 13 in the up-and-down direction, and a first work tool that is pivotally attached to the tip portion of the arm 15 in the up-and-down direction. This is an articulated arm having a gripping device 110. The first front work arm A includes a swing cylinder 19 (FIG. 2) that swings the mounting body 7a left and right, a boom cylinder 14 that swings the boom 13 up and down, an arm cylinder 16 that swings the arm 15 up and down, And a work tool cylinder 18 for rotating the gripping device 110 up and down.

  The second front work arm B is provided symmetrically with the first front work arm A across the cab 11a. The second front work arm B has the same configuration as the first front work arm A. That is, the second front work arm B is attached to a mounting body 7b that is swingable in the left-right direction around a swing axis 8b (FIG. 2) provided on the second bracket 6b, and to the mounting body 7b. A boom 23 swingably mounted in the direction, an arm 25 swingably mounted on the boom 23 in a vertical direction, and a second work tool mounted on the tip portion of the arm 25 so as to be pivotable in the vertical direction. It is the arm of the articulated structure which has the holding device 120 which is. The second front work arm B includes a swing cylinder 29 (FIG. 2) that swings the mounting body 7b left and right, a boom cylinder 24 that swings the boom 23 up and down, an arm cylinder 26 that swings the arm 25 up and down, And a work tool cylinder 28 for rotating the gripping device 120 up and down.

  FIG. 3 shows the structure of the gripping devices 110 and 120. The gripping device 110 includes a gripping device main body 111 attached to the distal end of the arm 15, a pair of gripping claws 112 provided so as to grip an object on the distal end side, and a cylinder 17 that drives the gripping claws 112 to open and close. And have. Similarly, the gripping device 120 is a gripping device main body 121 attached to the distal end of the arm 25, a pair of gripping claws 122 provided so as to be able to grip an object on the distal end side, and a gripping pawl 122 that opens and closes. And a cylinder 27.

  FIG. 4 is a diagram illustrating a hydraulic circuit that drives the boom cylinders 14 and 24, the arm cylinders 16 and 26, the work tool cylinders 18 and 28, and the swing cylinders 19 and 29 of the work machine 100. In the following description, the hydraulic circuit for driving the boom cylinders 14 and 24 will be described, but the hydraulic circuit for driving the arm cylinders 16 and 26, the work implement cylinders 18 and 28, and the swing cylinders 19 and 29 has the same configuration. The hydraulic circuit is provided with a main pump 31, control valves 301 and 302, a main relief valve 33, a hydraulic oil tank 32, and work load followers 201 and 202. The hydraulic circuit is provided with a controller 36 and operation levers 303 and 304 for controlling the control valves 301 and 302 and the work load following devices 201 and 202.

  The main pump 31 is a pump that supplies pressure oil to each actuator of the work machine 100. When driven by an engine (not shown), the main oil 31 is supplied from the hydraulic oil tank 32 to the boom cylinders 14 and 24 via the control valves 301 and 302. Supply. The pressure oil supplied from the main pump 31 is also supplied to the arm cylinders 16 and 26, the work tool cylinders 18 and 28, the cylinders 17 and 27, and the swing cylinders 19 and 29 through control valves (not shown). The main relief valve 33 defines the maximum pressure of this hydraulic circuit.

  The work load follower 201 is connected to a hydraulic circuit that drives each hydraulic cylinder 14, 16, 18, 19. In the following description, the work load following device 201 connected to the hydraulic circuit that drives the boom cylinder 14 will be described. However, the work load follower 201 that is connected to the hydraulic circuit that drives the other hydraulic cylinders 16, 18, and 19 is also described. It is the same. The workload follower 201 is provided with a control valve 305, an accumulator 306, and a relief valve 307. The workload follower 201 is provided with pressure sensors 401 and 402. The control valve 305 is a valve that switches the connection state between the oil passages 41 and 42 and the oil passages 45 and 46 by switching the position of the spool. The oil passage 41 is an oil passage connected to the bottom side oil chamber 14a of the boom cylinder 14, and the oil passage 42 is an oil passage connected to the rod side oil chamber 14b of the boom cylinder 14.

  The accumulator 306 is connected to the oil passage 45 and absorbs the pressure oil in the oil passage 45 or releases the absorbed pressure oil to the oil passage 45. The relief valve 307 allows the pressure oil in the oil passage 45 to escape to the oil passage 46 when the pressure in the oil passage 45 exceeds the set pressure. The set pressure of the relief valve 307 is set to a pressure lower than the set pressure of the main relief valve 33. The oil passage 46 is connected to the hydraulic oil tank 32.

  The pressure sensor 401 detects the pressure oil pressure in the oil passage 41 (that is, the pressure in the bottom oil chamber 14a), and outputs the detected pressure value to the controller 36 as an electrical signal. Similarly, the pressure sensor 402 detects the pressure oil pressure in the oil passage 42 (that is, the pressure in the rod side oil chamber 14b), and outputs the detected pressure value to the controller 36 as an electrical signal. The controller 36 switches the spool position of the control valve 305 according to the pressure of the oil passages 41 and 42 detected by the pressure sensors 401 and 402, the on / off state of an on / off switch 313 provided on the operation lever 303, which will be described later.

  The work load follower 202 is provided with a control valve 315, an accumulator 316, and a relief valve 317. In addition, the work load follower 202 is provided with pressure sensors 411 and 412. The control valve 315 is a valve that switches the connection state between the oil passages 43 and 44 and the oil passages 47 and 48 by switching the position of the spool. The oil passage 43 is an oil passage connected to the bottom side oil chamber 24a of the boom cylinder 24, and the oil passage 44 is an oil passage connected to the rod side oil chamber 24b of the boom cylinder 24.

  The accumulator 316 is connected to the oil passage 47 and absorbs the pressure oil in the oil passage 47 or releases the absorbed pressure oil to the oil passage 47. The relief valve 317 allows the pressure oil in the oil passage 47 to escape to the oil passage 48 when the pressure in the oil passage 47 exceeds the set pressure. The set pressure of the relief valve 317 is set to a pressure lower than the set pressure of the main relief valve 33. The oil passage 48 is connected to the hydraulic oil tank 32.

  The pressure sensor 411 detects the pressure of the pressure oil in the oil passage 43 and outputs the detected pressure value to the controller 36 as an electrical signal. Similarly, the pressure sensor 412 detects the pressure of the pressure oil in the oil passage 44 and outputs the detected pressure value to the controller 36 as an electrical signal. The controller 36 switches the spool position of the control valve 315 according to the pressure of the oil passages 43 and 44 detected by the pressure sensors 411 and 412, the on / off state of an on / off switch 323 provided on the operation lever 304, which will be described later.

  The operation levers 303 and 304 are electric operation levers and are provided on both sides of the operation seat 3 as shown in FIG. The operation seat 3 is provided in the cab 11a. FIG. 6 is a view of the vicinity of the operation levers 303 and 304 as viewed from above. The operation lever 303 includes a lever grip 310, a grip operation lever 311, a swing operation lever 312, and an on / off switch 313. The lever grip 310 can be operated in the vertical direction centering on the X axis shown in the drawing and in the front-back direction centering on the Y axis (not shown) extending in the direction perpendicular to the paper surface. The lever grip 310 can be rotated about the Z axis shown in the figure.

  When the lever grip 310 is operated in the vertical direction, the boom cylinder 14 is expanded and contracted as will be described later, and the boom 13 swings in the vertical direction. When the lever grip 310 is operated in the front-rear direction, the arm cylinder 16 is expanded and contracted, and the arm 15 swings in the up-down direction. When the lever grip 310 is turned, the work tool cylinder 18 is expanded and contracted, and the gripping device 110 is turned up and down.

  The grip operation lever 311 is an operation lever for opening and closing the grip claw 112 of the grip device 110, and the swing operation lever 312 is an operation lever for swinging the first front work arm A in the left-right direction. The on / off switch 313 is an operation switch for permitting or prohibiting the operation of the workload follower 201 and outputs an operation signal to the controller 36.

  The operation lever 304 includes a lever grip 320, a grip operation lever 321, a swing operation lever 322, and an on / off switch 323. As with the lever grip 310, the lever grip 320 can be operated in the up-down direction and the front-rear direction. Further, the lever grip 320 can be rotated like the lever grip 310.

  When the lever grip 320 is operated in the vertical direction, the boom cylinder 24 is expanded and contracted, and the boom 23 swings in the vertical direction. When the lever grip 320 is operated in the front-rear direction, the arm cylinder 26 is expanded and contracted, and the arm 25 swings in the up-down direction. When the lever grip 320 is rotated, the work tool cylinder 28 is expanded and contracted, and the gripping device 120 is rotated in the vertical direction.

  The grip operation lever 321 is an operation lever for opening and closing the grip claw 122 of the grip device 120, and the swing operation lever 322 is an operation lever for swinging the second front work arm B in the left-right direction. The on / off switch 323 is an operation switch for permitting or prohibiting the operation of the workload follower 202 and outputs an operation signal to the controller 36.

  In the work machine 100 configured as described above, when each operation lever is operated, the spool of each control valve corresponding to each hydraulic cylinder is driven, and each hydraulic cylinder is driven at a speed corresponding to the operation amount of each operation lever. Is done. For example, in the boom cylinder 14, when the lever grip 310 is operated in the vertical direction, the spool of the control valve 301 is driven by the controller 36 in accordance with the operation amount in the vertical direction of the lever grip 310. As a result, the boom cylinder 14 is driven at a speed corresponding to the amount of operation of the lever grip 310 in the vertical direction. The same applies to the arm cylinder 16, the work tool cylinder 18, the cylinder 17, and the swing cylinder 19.

  When pressure oil is supplied to the bottom side oil chamber 14a of the boom cylinder 14, the boom 13 is driven to swing upward with respect to the swing body 11, and when pressure oil is supplied to the rod side oil chamber 14b, the boom is driven. 13 is driven to swing downward with respect to the swing body 11. When pressure oil is supplied to the bottom side oil chamber 16a of the arm cylinder 16, the arm 15 is driven to swing downward with respect to the boom 13, and when pressure oil is supplied to the rod side oil chamber 16b, the arm 15 is driven. Is driven to swing upward with respect to the boom 13.

  When pressure oil is supplied to the bottom side oil chamber 18a of the work tool cylinder 18, the gripping device 110 is driven to swing downward with respect to the arm 15, and when pressure oil is supplied to the rod side oil chamber 18b, The gripping device 110 is driven to swing upward with respect to the arm 15. When pressure oil is supplied to the bottom side oil chamber (not shown) of the cylinder 17, the pair of gripping claws 112 are driven in the gripping direction, and when pressure oil is supplied to the rod side oil chamber (not shown), the pair of gripping claws 112. Is driven in the opening direction. When pressure oil is supplied to the bottom side oil chamber 19a of the swing cylinder 19, the first front work arm A is driven to swing leftward about the swing axis 8a, and pressure oil is supplied to the rod side oil chamber 19b. Is supplied, the first front work arm A is driven to swing rightward about the swing axis 8a.

  Note that the hydraulic cylinders of the second front work arm B are the same as those of the first front work arm A described above, and thus the description thereof is omitted.

--- About operation | movement of the workload tracking apparatus 201 ---
When the on / off switch 313 is off, the operation of all the work load follower devices 201 connected to the hydraulic circuits that drive the respective hydraulic cylinders 14, 16, 18, and 19 is prohibited. That is, when the on / off switch 313 is off, the controller 36 demagnetizes all the solenoids of the control valves 305. Therefore, the spool position of the control valve 305 is stopped at the neutral position, and the oil passages 41, 42 and the oil passages 45, 46 are shut off, so that the bottom side oil chambers 14a, The pressure oil in 16a, 18a, 19a and the rod side oil chambers 14b, 16b, 18b, 19b does not flow downstream of the control valve 305. Therefore, the behavior of each hydraulic cylinder 14, 16, 18, 19 is not affected by the accumulator 306. As a result, for example, as described above, the boom 13 is driven to swing upward with respect to the revolving structure 11 when pressure oil is supplied to the bottom side oil chamber 14a in accordance with the operation of the operation lever 303. When pressure oil is supplied to the oil chamber 14b, it is driven to swing downward with respect to the revolving structure 11.

  For example, when the gripping claws 112 come into contact with the work object and the swing of the boom 13 is stopped while the lever grip 310 is operated in the vertical direction, the pressure oil supplied to the boom cylinder 14 is stopped. The pressure rises to a pressure defined by the main relief valve 33. When the gripping claw 19 comes into contact with the work object, for example, when the arm 15 is swung in a state where the lever grip 310 is not operated in the vertical direction, the pressure in one of the oil chambers 14a and 14b of the boom cylinder 14 is gripped. It rises according to the contact force (work load) between the claw 112 and the work object. In a state where the lever grip 310 is not operated in the vertical direction, the control valve 301 and the control valve 305 block the outflow of the pressure oil in the oil chambers 14a and 14b of the boom cylinder 14 and thus the boom 13 does not swing. Absent.

  As described above, the work load follower 201 does not affect the operation of the hydraulic cylinders 14, 16, 18, 19 by blocking the oil passages 41, 42 and the oil passages 45, 46 with the control valve 305. When the front work arm A is not allowed to follow the movement of the work subject to which the load is applied, the on / off switch 313 may be turned off.

  When the on / off switch 313 is on, the operation of each workload follower 201 is permitted. Specifically, in the work load following device 201 connected to the hydraulic circuit that drives the boom cylinder 14, the boom cylinder 14 is not expanded and contracted, and the oil passages 41 and 42 detected by the pressure sensors 401 and 402 are used. Is operated when the absolute value of the pressure difference (that is, the pressure difference between the bottom side oil chamber 14a and the rod side oil chamber 14b) is equal to or greater than the threshold value ΔP1. The threshold value ΔP1 is a predetermined value set in advance. The work load follower 201 connected to the hydraulic circuit that drives the arm cylinder 16 is configured so that the arm cylinder 16 does not expand and contract, and the pressure difference between the oil passages 41 and 42 detected by the pressure sensors 401 and 402 ( That is, the operation is performed when the absolute value of the pressure difference between the bottom oil chamber 16a and the rod oil chamber 16b is equal to or greater than the threshold value ΔP1.

  The work load follower 201 connected to the hydraulic circuit that drives the work tool cylinder 18 is configured so that the work tool cylinder 18 is not expanded and contracted and the pressure of the oil passages 41 and 42 detected by the pressure sensors 401 and 402 is detected. It operates when the absolute value of the difference (that is, the pressure difference between the bottom side oil chamber 18a and the rod side oil chamber 18b) is equal to or greater than the threshold value ΔP1. The work load follower 201 connected to the hydraulic circuit that drives the rocking cylinder 19 is configured so that the rocking cylinder 19 is not expanded and contracted and the pressure in the oil passages 41 and 42 detected by the pressure sensors 401 and 402 is detected. It operates when the absolute value of the difference (that is, the pressure difference between the bottom side oil chamber 19a and the rod side oil chamber 19b) is equal to or greater than the threshold value ΔP1.

  That is, in the work load following device 201 connected to the hydraulic circuit that drives the boom cylinder 14, when the on / off switch 313 is turned on, the controller 36 controls the lever grip based on the operation signal output from the operation lever 303. It is determined whether or not 310 is operated in the vertical direction. Further, the controller 36 calculates the pressure difference between the oil passages 41 and 42 (that is, the pressure difference between the bottom side oil chamber 14a and the rod side oil chamber 14b) based on the pressure of the oil passages 41 and 42 detected by the pressure sensors 401 and 402. It is calculated and it is determined whether or not the absolute value of the calculated pressure difference is greater than or equal to a threshold value ΔP1.

  When both the above determinations are affirmative, the controller 36 connects the higher oil path to the oil path 45 based on the pressure of the oil paths 41 and 42 detected by the pressure sensors 401 and 402. The spool position is switched by exciting the solenoid of the control valve 305 so that the lower pressure oil path is connected to the oil path 46. As a result, the accumulator 306 absorbs the pressure oil in the oil chamber (hereinafter referred to as the high-pressure side oil chamber) communicating with the higher-pressure oil passage of the oil chambers 14a and 14b. Thereby, since the accumulator 306 acts as a spring element with respect to the work load acting on the boom cylinder 14, it is possible to prevent a sudden increase in the work load acting on the boom cylinder 14. That is, the behavior of the boom cylinder 14 is affected by the accumulator 306.

  Similarly, in the work load follower 201 connected to the hydraulic circuit that drives the arm cylinder 16, when the on / off switch 313 is turned on, the controller 36 controls the lever based on the operation signal output from the operation lever 303. It is determined whether or not the grip 310 is operated in the front-rear direction. Further, the controller 36 calculates the pressure difference between the oil passages 41 and 42 (that is, the pressure difference between the bottom side oil chamber 16a and the rod side oil chamber 16b) based on the pressures of the oil passages 41 and 42 detected by the pressure sensors 401 and 402. It is calculated and it is determined whether or not the absolute value of the calculated pressure difference is greater than or equal to a threshold value ΔP1.

  When both the above determinations are affirmative, the controller 36 connects the higher oil path to the oil path 45 based on the pressure of the oil paths 41 and 42 detected by the pressure sensors 401 and 402. The spool position is switched by exciting the solenoid of the control valve 305 so that the lower pressure oil path is connected to the oil path 46. As a result, the pressure oil in the oil chamber 16 a or the oil chamber 16 b that is the high-pressure side oil chamber is absorbed by the accumulator 306. Thereby, since the accumulator 306 acts as a spring element with respect to the work load acting on the arm cylinder 16, it is possible to prevent a sudden increase in the work load acting on the arm cylinder 16. That is, the behavior of the arm cylinder 16 is affected by the accumulator 306.

  The same applies to the work load follower 201 connected to the hydraulic circuit that drives the work implement cylinder 18 and the work load follower 201 connected to the hydraulic circuit that drives the swing cylinder 19.

  For example, when the gripping claw 112 comes into contact with the work object in a state where the lever grip 310 is not operated in the vertical direction, for example, the arm 15 is swung, for example, one of the oil chambers 14a, The pressure of 14b rises according to the work load. When the lever grip 310 is not operated in the vertical direction, the pressure oil in the high-pressure side oil chamber does not flow outside through the control valve 301. However, since the oil passages 41, 42 and the oil passages 45, 46 are communicated by the control valve 305, the pressure oil in the high-pressure side oil chamber flows into the accumulator 306 through the control valve 305 as described above.

  As a result, the pressure oil in the high-pressure side oil chamber is absorbed and accumulated by the accumulator 306 according to the work load, so that the boom cylinder 14 expands and contracts and the boom 13 swings according to the amount of pressure oil accumulated by the accumulator 306. . When the work load is reduced, the pressure oil accumulated in the accumulator 306 returns to the high-pressure side oil chamber, so that the boom cylinder 14 expands and contracts. Therefore, the boom 13 swings according to the size of the work load. That is, the boom 13 swings by absorbing, accumulating, and releasing the pressure oil in the high-pressure side oil chamber according to the work load, so that the work object that contacts the gripping claws 112 and applies an external force The gripping device 110 follows this movement.

  If the pressure in the oil passage 45 when the work load is applied is equal to or lower than the set pressure of the relief valve 307, the pressure oil in the high-pressure side oil chamber has not returned to the hydraulic oil tank 32 via the relief valve 307. In this case, when the work load is no longer applied and the pressure oil accumulated in the accumulator 306 returns to the high pressure side oil chamber, the cylinder rod of the boom cylinder 14 returns to the telescopic position before the work load is applied.

  If the pressure in the oil passage 45 during the operation of the work load exceeds the set pressure of the relief valve 307, the pressure oil in the high pressure side oil chamber returns to the hydraulic oil tank 32 via the relief valve 307. In this case, when the work load no longer acts and the pressure oil accumulated in the accumulator 306 returns to the high-pressure side oil chamber, the cylinder rod of the boom cylinder 14 returns to approach the expansion / contraction position before the work load acts. The return amount is reduced by the amount of pressure oil returned to the hydraulic oil tank 32.

  Whether the boom cylinder 14, the arm cylinder 16, the work tool cylinder 18, and the swinging cylinder 19 can follow the movement of the work subject to which the work load is applied is set collectively by the on / off switch 313. Is done. That is, the operation of each work load follower 201 connected to the hydraulic circuit that drives each hydraulic cylinder 14, 16, 18, 19 is permitted or prohibited by the on / off switch 313 at once.

  Since the operation of the work load follower 202 for each hydraulic cylinder of the second front work arm B is the same as that of the first front work arm A described above, the description thereof is omitted.

  FIG. 7 is a diagram illustrating an operation of gripping the gripping target object 801 by the work machine 100 according to the present embodiment. When gripping an object to be grasped by a conventional double-arm type work machine not provided with the work load following devices 201 and 202, when grasping the object to be grasped by a grasping device provided on one work arm Even if the gripping object is to be gripped by the gripping device provided on the other work arm, it is difficult to align the gripping device provided on the other work arm.

  On the other hand, in the work machine 100 according to the present embodiment, the work load following device 201 determines the difference in the positions of the gripping devices 110 and 120 due to the difference in posture between the first front work arm A and the second front work arm B. 202, the gripping devices 110 and 120 can be easily aligned when the gripping object 801 is gripped. In addition, when the gripping object 801 is moved after the gripping object 801 is gripped by the left and right gripping devices 110 and 120, there is a difference in posture between the first front work arm A and the second front work arm B. In addition, since the difference in position between the gripping devices 110 and 120 can be absorbed by the work load following devices 201 and 202, it is possible to suppress an excessive load on the front work arms A and B and the gripping object 801.

  Further, since the influence of the accumulators 306 and 316 can be eliminated by prohibiting the operation of the work load following devices 201 and 202, a delay in response of the working force applied to the grasped object can be prevented and the operability is not deteriorated. A reduction in efficiency can be prevented.

---- Work example ---
In the work machine 100 according to the present embodiment, when the gripping object 801 is gripped by the left and right gripping devices 110 and 120 as shown in FIG. 7, at least one of the workload tracking device 201 and the workload tracking device 202 is used. By operating, it is possible to absorb the difference in the positions of the gripping devices 110 and 120 due to the difference in posture between the first front work arm A and the second front work arm B.

  For example, the operation of the workload follower 201 is prohibited by turning off the on / off switch 313, and the operation of the workload follower 202 is permitted by turning on the on / off switch 323. In this state, the gripping object 801 is first gripped by the gripping device 110 of the first front work arm A, and then the gripping object 801 is gripped by the gripping device 120 of the second front work arm B. When the gripping object 120 is gripped by the gripping device 120, the work load following device 202 operates even if the gripping device 120 is slightly deviated from the gripping target object 801 gripped by the gripping device 110. Thus, the posture of the second front work arm B is appropriately changed.

  Even when a difference occurs between the postures of the first front work arm A and the second front work arm B when the gripping object 801 is moved after the gripping object 801 is gripped by the left and right gripping devices 110 and 120, The work load follower 202 can absorb the difference between the positions of the gripping devices 110 and 120.

  Further, for example, by turning on the on / off switches 313 and 323, the operation of both the workload followers 201 and 202 is permitted. In this state, the gripping object 801 is first gripped by the gripping device 110 of the first front work arm A, and then the gripping object 801 is gripped by the gripping device 120 of the second front work arm B. When the gripping object 120 is gripped by the gripping device 120, the work load following device 201 and / or the work can be performed even if the gripping device 120 is slightly displaced from the gripping target object 801 gripped by the gripping device 110. The posture of the first front work arm A and / or the second front work arm B is appropriately changed by the operation of the load following device 202.

  Even when a difference occurs between the postures of the first front work arm A and the second front work arm B when the gripping object 801 is moved after the gripping object 801 is gripped by the left and right gripping devices 110 and 120, Differences in the positions of the gripping devices 110 and 120 can be absorbed by the work load following devices 201 and 202.

  For example, when the gripping object 801 gripped by both gripping devices 110 and 120 is bent, the second front work arm B is rotated in the front-rear direction without moving the first front work arm A as shown in FIG. Since the gripping object 801 is bent, the distance between the gripping devices 110 and 120 in the left-right direction is shortened. That is, the distance between the gripping devices 110 and 120 in the left-right direction is changed by bending the gripping object 801. However, in the work machine 100 of the present embodiment, the front work arms A and B are swung in the left and right directions by the work load followers 201 and 202 connected to the hydraulic circuit that drives the rocking cylinders 19 and 29. By allowing, the change in the separation distance can be absorbed.

  The work tools are not limited to the gripping devices 110 and 120, and other types of work tools may be used. For example, when the work tool of the first front work arm A is a bucket instead of the gripping device 110, it is possible to cause the bucket to follow a wall surface, a floor surface, etc., and the leveling with the bucket becomes easy. .

  For example, as shown in FIG. 15, when the work tool of the second front work arm B is replaced with the cutter 130 instead of the gripping device 120, the work machine 100 can be used for cutting a reinforcing bar in a dismantling work. In this case, the object to be cut may be grasped by the grasping device 110 of the first front work arm A, and the object to be cut may be cut by the cutter 130 of the second front work arm B. For example, when it is not desired to move the object to be cut at the time of cutting, the operation of the work load following device 201 on the first front work arm A side is prohibited, so that the object to be cut is held by the gripping device 110 at the time of cutting. Fixed and stuck. In addition, by permitting the operation of the work load following device 202 on the second front work arm B side, the angle of contact of the blade of the cutter 130 is appropriately corrected when the cutting object is cut. That is, even when only one of the blades of the pair of cutters first hits the object to be cut, the posture of the second front work arm B is appropriately changed so that both the blades of the pair of cutters hit the object to be cut. Become. Thereby, for example, even when cutting a reinforcing bar or the like at a position that is difficult to be seen by the user (operator) of the work machine 100, the contact state of the cutter blade is appropriately corrected. Thereby, in addition to preventing an overload on the cutter and the object to be cut, an overload on each of the front work arms A and B can also be prevented.

  In the case where the object to be cut may move during cutting, if the operation of the work load following device 201 on the first front work arm A side is permitted, the work load following device on the second front work arm B side is permitted. Regardless of whether or not the operation 202 is permitted, the angle of contact of the cutter blade is appropriately corrected when the cutting object is cut.

--- Flow chart ---
FIG. 9 is a flowchart showing the operation of the control process of the control valve 305 in the work load following devices 201 and 202. When an ignition switch (not shown) of the work machine 100 is turned on, a program for performing the processing shown in FIG. 9 is started and executed by the controller 36. In the following description, the control of the work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14 will be described. However, each control connected to the hydraulic circuit that drives the other hydraulic cylinders 16, 18, 19 is described. The same applies to the control of the workload follower 201. The same applies to the control of each work load follower 202 for the second front work arm B.

  In step S1, information on the state of each part of the work machine 100 is acquired. Specifically, at least the on / off state of the on / off switch 313, the amount of operation of the lever grip 310 in the vertical direction, and the pressure of the oil passages 41 and 42 detected by the pressure sensors 401 and 402 are acquired. If step S1 is performed, it will progress to step S3 and it will be judged whether the on-off switch 313 is turned on based on the information acquired by step S1.

  If an affirmative determination is made in step S3, the process proceeds to step S5, and it is determined whether or not there is an operation in the vertical direction of the lever grip 310 based on the information acquired in step S1. In step S5, as to the control of the work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14, whether or not the lever grip 310 is operated in the vertical direction is determined as described above. In step S5, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the arm cylinder 16, it is determined whether or not the lever grip 310 is operated in the front-rear direction.

  Similarly, in step S <b> 5, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the work tool cylinder 18, it is determined whether or not the lever grip 310 is rotated. In step S <b> 5, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the swing cylinder 19, it is determined whether or not the swing operation lever 312 is operated.

  If an affirmative determination is made in step S5, the process proceeds to step S7, and it is determined whether or not the absolute value of the pressure difference between the oil passages 41 and 42 is greater than or equal to a threshold value ΔP1 based on the information acquired in step S1. . If an affirmative determination is made in step S7, the process proceeds to step S9, and based on the information acquired in step S1, the higher pressure oil passage is connected to the oil passage 45, and the lower pressure oil passage is connected to the oil passage 46. The solenoid of the control valve 305 is excited so as to be connected, and the process returns.

  If a negative determination is made in step S3, a negative determination is made in step S5, or a negative determination is made in step S7, the process proceeds to step S11, the solenoid of the control valve 305 is demagnetized, and the process returns.

The work machine 100 according to the first embodiment has the following operational effects.
(1) The work load followers 201 and 202 are provided in the hydraulic circuit that drives the hydraulic cylinders of the first front work arm A and the second front work arm B. As a result, the difference in position between the gripping devices 110 and 120 due to the difference in posture between the first front work arm A and the second front work arm B can be absorbed by the work load following devices 201 and 202. When gripping, the positioning of the gripping devices 110 and 120 is facilitated. In addition, when the gripping object 801 is moved after the gripping object 801 is gripped by the left and right gripping devices 110 and 120, there is a difference in posture between the first front work arm A and the second front work arm B. In addition, since the difference in position between the gripping devices 110 and 120 can be absorbed by the work load following devices 201 and 202, an excessive load on the gripping object 801 can be suppressed. Thus, it is not necessary to strictly align the gripping devices 110 and 120, and the operation when the first front work arm A and the second front work arm B are rocked cooperatively becomes easy. In addition to improving efficiency, it can contribute to reducing operator fatigue.

(2) The operation of the work load following devices 201 and 202 can be permitted or prohibited by an on / off operation of the on / off switches 313 and 323. Thereby, since the influence of the accumulators 306 and 316 can be eliminated by prohibiting the operation of the work load following devices 201 and 202, it is possible to prevent a delay in response of the working force applied to the grasped object, and the operability is not deteriorated. A reduction in work efficiency can be prevented.

(3) The operation of both the workload followers 201 and 202 can be permitted by a combination of on / off operations of the on / off switches 313 and 323. Further, the operation of either one of the work load following devices 201 and 202 can be permitted and the other can be prohibited by a combination of on / off operations of the on / off switches 313 and 323. Further, the operation of both the workload followers 201 and 202 can be prohibited by a combination of on / off operations of the on / off switches 313 and 323. Thereby, according to the work content and work environment, operation | movement of the workload follower 201,202 can be permitted or prohibited suitably, Therefore Work efficiency can be improved.

(4) The work load followers 201 and 202 are provided in the hydraulic circuit that drives the rocking cylinders 19 and 29. As a result, even when the first front work arm A and the second front work arm B swing in the left-right direction, the grip caused by the difference in posture between the first front work arm A and the second front work arm B Since the difference in position between the devices 110 and 120 can be absorbed by the work load following devices 201 and 202, the operability is improved.

(5) The control valves 305 and 315, the accumulators 306 and 316, the relief valves 307 and 317, and the pressure sensors 401, 402, 411, and 412 constitute the work load following devices 201 and 202, and the controller 36 controls the control valve. 305 and 315 were controlled. Thereby, since the work load followers 201 and 202 can be configured by a simple hydraulic circuit, it is possible to suppress an increase in cost of the work load followers 201 and 202 and the work machine 100.

--- Second Embodiment ---
A second embodiment of the construction machine according to the present invention will be described with reference to FIGS. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and different points will be mainly described. Points that are not particularly described are the same as those in the first embodiment. In the present embodiment, the work load follower 201 is mainly operated according to the presence / absence of the operation of the second front work arm B, and the work load follower 202 is changed according to the presence / absence of the operation of the first front work arm A. It differs from the first embodiment in that it operates.

  FIG. 10 is a diagram illustrating a hydraulic circuit that drives the boom cylinders 14 and 24, the arm cylinders 16 and 26, the work implement cylinders 18 and 28, and the swing cylinders 19 and 29 of the work machine 100. In the following description, the hydraulic circuit for driving the boom cylinders 14 and 24 will be described, but the hydraulic circuit for driving the arm cylinders 16 and 26, the work implement cylinders 18 and 28, and the swing cylinders 19 and 29 has the same configuration. This hydraulic circuit is different from the hydraulic circuit of the first embodiment in that an on / off switch 351 is connected to the controller 36. In the present embodiment, the operation levers 303 and 304 are not provided with the on / off switches 313 and 323.

--- About operation | movement of the workload follower 201,202 ---
When the on / off switch 351 is turned off, the operation of all the work load follower devices 201 connected to the hydraulic circuits that drive the oil cylinders 14, 16, 18, 19 is prohibited. That is, when the on / off switch 351 is turned off, the controller 36 demagnetizes all the solenoids of the control valves 305 as in the case where the on / off switch 313 is turned off in the first embodiment.

  Therefore, the spool position of the control valve 305 is stopped at the neutral position, and the oil passages 41, 42 and the oil passages 45, 46 are shut off, so that the bottom side oil chambers 14a, The pressure oil in 16a, 18a, 19a and the rod side oil chambers 14b, 16b, 18b, 19b does not flow downstream of the control valve 305. Therefore, the behavior of each hydraulic cylinder 14, 16, 18, 19 is not affected by the accumulator 306. Similarly, all the work load following devices 202 provided on the second front work arm B side do not operate, and the behavior of each hydraulic cylinder 24, 26, 28, 29 is not affected by the accumulator 316.

When the on / off switch 351 is turned on, the work load followers 201 and 202 are permitted to operate and operate when all of the following conditions are met.
The work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14 operates when all of the following conditions (a) to (d) are met.
(A) The on / off switch 351 is turned on.
(B) One of the hydraulic cylinders 24, 26, 27, 28, and 29 for the second front work arm B including the cylinder 27 is expanding and contracting.
(C) The boom cylinder 14 is not telescopic.
(D) The absolute value of the pressure difference between the oil passages 41 and 42 detected by the pressure sensors 401 and 402 (that is, the pressure difference between the bottom side oil chamber 14a and the rod side oil chamber 14b) is equal to or greater than the threshold value ΔP1. .

The work load follower 201 connected to the hydraulic circuit that drives the arm cylinder 16 operates when all of the following conditions (a), (b), (e), and (f) are met.
(A) The on / off switch 351 is turned on.
(B) One of the hydraulic cylinders 24, 26, 27, 28, and 29 for the second front work arm B including the cylinder 27 is expanding and contracting.
(E) The arm cylinder 16 is not telescopic.
(F) The absolute value of the pressure difference between the oil passages 41 and 42 detected by the pressure sensors 401 and 402 (that is, the pressure difference between the bottom side oil chamber 16a and the rod side oil chamber 16b) is equal to or greater than the threshold value ΔP1. .

The work load follower 201 connected to the hydraulic circuit that drives the work implement cylinder 18 operates when all of the following conditions (a), (b), (g), and (h) are met.
(A) The on / off switch 351 is turned on.
(B) One of the hydraulic cylinders 24, 26, 27, 28, and 29 for the second front work arm B including the cylinder 27 is expanding and contracting.
(G) The work tool cylinder 18 is not expanded or contracted.
(H) The absolute value of the pressure difference between the oil passages 41 and 42 detected by the pressure sensors 401 and 402 (that is, the pressure difference between the bottom side oil chamber 18a and the rod side oil chamber 18b) is equal to or greater than the threshold value ΔP1. .

The work load follower 201 connected to the hydraulic circuit that drives the swing cylinder 19 operates when all of the following conditions (a), (b), (i), and (j) are met.
(A) The on / off switch 351 is turned on.
(B) One of the hydraulic cylinders 24, 26, 27, 28, and 29 for the second front work arm B including the cylinder 27 is expanding and contracting.
(I) The swing cylinder 19 is not expanded or contracted.
(J) The absolute value of the pressure difference between the oil passages 41 and 42 detected by the pressure sensors 401 and 402 (that is, the pressure difference between the bottom side oil chamber 19a and the rod side oil chamber 19b) is greater than or equal to the threshold value ΔP1. .

The work load follower 202 connected to the hydraulic circuit that drives the boom cylinder 24 operates when all of the following conditions (k) to (n) are met.
(K) The on / off switch 351 is turned on.
(L) Any of the hydraulic cylinders 14, 16, 17, 18, 19 including the cylinder 17 is extending and contracting.
(M) The boom cylinder 24 is not telescopic.
(N) The absolute value of the pressure difference between the oil passages 43 and 44 detected by the pressure sensors 411 and 412 (that is, the pressure difference between the bottom side oil chamber 24a and the rod side oil chamber 24b) is equal to or greater than the threshold value ΔP1. .

The work load follower 202 connected to the hydraulic circuit that drives the arm cylinder 26 operates when all of the following conditions (k), (l), (o), and (p) are met.
(K) The on / off switch 351 is turned on.
(L) Any of the hydraulic cylinders 14, 16, 17, 18, 19 including the cylinder 17 is extending and contracting.
(O) The arm cylinder 26 is not expanded or contracted.
(P) The absolute value of the pressure difference between the oil passages 43 and 44 detected by the pressure sensors 411 and 412 (that is, the pressure difference between the bottom side oil chamber 26a and the rod side oil chamber 26b) is greater than or equal to the threshold value ΔP1. .

The work load follower 202 connected to the hydraulic circuit that drives the work implement cylinder 28 operates when all of the following conditions (k), (l), (q), and (r) are met.
(K) The on / off switch 351 is turned on.
(L) Any of the hydraulic cylinders 14, 16, 17, 18, 19 including the cylinder 17 is extending and contracting.
(Q) The work tool cylinder 28 does not expand and contract.
(R) The absolute value of the pressure difference between the oil passages 43 and 44 detected by the pressure sensors 411 and 412 (that is, the pressure difference between the bottom side oil chamber 28a and the rod side oil chamber 28b) is equal to or greater than the threshold value ΔP1. .

The work load follower 202 connected to the hydraulic circuit that drives the swing cylinder 29 operates when all of the following conditions (k), (l), (s), and (t) are met.
(K) The on / off switch 351 is turned on.
(L) Any of the hydraulic cylinders 14, 16, 17, 18, 19 including the cylinder 17 is extending and contracting.
(S) The swinging cylinder 29 is not expanded or contracted.
(T) The absolute value of the pressure difference between the oil passages 43 and 44 detected by the pressure sensors 411 and 412 (that is, the pressure difference between the bottom side oil chamber 29a and the rod side oil chamber 29b) is equal to or greater than the threshold value ΔP1. .

  That is, the controller 36 reads the on / off state of the on / off switch 351, the operation state of the operation levers 303 and 304, the detected pressure of the pressure sensors 401, 402, 411, and 412, and the conditions (a) to (t) described above. It is determined whether or not it matches. And about the work load following devices 201 and 202 which satisfy the above-mentioned operation conditions, the controller 36 is connected to the oil passage 45, 47 where the pressure is higher, and the oil passage 46, the oil passage where the pressure is lower. The solenoid of the control valve 305 is excited so as to be connected to 48 and the spool position is switched. As a result, the pressure oil in the high pressure side oil chamber is absorbed by the accumulators 306 and 316.

  As described above, in the work machine 100 according to the second embodiment, when the on / off switch 351 is turned on, each work load following device is operated according to the work state, that is, the operation state and load of each front work arm A, B. 201 and 202 operate.

--- Flow chart ---
FIG. 11 is a flowchart showing the control processing operation of the control valve 305 in the work load following apparatuses 201 and 202 according to the second embodiment. When an ignition switch (not shown) of the work machine 100 is turned on, a program for performing the processing shown in FIG. 11 is started and executed by the controller 36. In the following description, the control of the work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14 will be described. However, each control connected to the hydraulic circuit that drives the other hydraulic cylinders 16, 18, 19 is described. The same applies to the control of the workload follower 201. The same applies to the control of each work load follower 202 for the second front work arm B.

  In step S101, information on the state of each part of the work machine 100 is acquired. Specifically, at least the on / off state of the on / off switch 351, the operation state of the operation lever 304, the amount of operation of the lever grip 310 in the vertical direction, and the pressure of the oil passages 41 and 42 detected by the pressure sensors 401 and 402 are determined. get. If step S101 is performed, it will progress to step S103 and it will be judged whether the on-off switch 351 is turned on based on the information acquired by step S101.

  If an affirmative determination is made in step S103, the process proceeds to step S104, and it is determined whether there is an operation of the operation lever 304 based on the information acquired in step S101. If an affirmative determination is made in step S104, the process proceeds to step S105, where it is determined whether or not the lever grip 310 is operated in the vertical direction based on the information acquired in step S101. In step S105, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14, it is determined whether or not the lever grip 310 is operated in the vertical direction as described above. In step S105, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the arm cylinder 16, it is determined whether or not the lever grip 310 is operated in the front-rear direction.

  Similarly, in step S105, regarding the control of the work load follower 201 connected to the hydraulic circuit that drives the work tool cylinder 18, it is determined whether or not the lever grip 310 is rotated. In step S <b> 105, it is determined whether or not the swing operation lever 312 is operated with respect to the control of the work load following device 201 connected to the hydraulic circuit that drives the swing cylinder 19.

  If an affirmative determination is made in step S105, the process proceeds to step S107, and it is determined whether or not the absolute value of the pressure difference between the oil passages 41 and 42 is greater than or equal to the threshold value ΔP1 based on the information acquired in step S101. . If an affirmative determination is made in step S107, the process proceeds to step S109. Based on the information acquired in step S101, the higher pressure oil passage is connected to the oil passage 45, and the lower pressure oil passage is connected to the oil passage 46. The solenoid of the control valve 305 is excited so as to be connected, and the process returns.

  If step S103 is negatively determined, step S104 is negatively determined, step S105 is negatively determined, or step S107 is negatively determined, the process proceeds to step S111 to demagnetize the solenoid of the control valve 305. Return.

The work machine 100 according to the second embodiment has the following operational effects in addition to the operational effects of the first embodiment.
(1) The presence / absence of the operation of one front work arm is determined. If it is determined that one front work arm is operating, the operation of the work load following device for the other front work arm is permitted. It was configured as follows. Thus, when the on / off switch 351 is turned on, if one front work arm is operating when working using both the first and second front work arms A and B, the other front work arm A and B is operated. The other front work arm follows in accordance with the load applied to the work arm. If one front work arm is not operating, the other front work arm is not affected by the accumulators 306 and 316, and a response delay of the work force applied to the grasped object can be prevented. Therefore, for example, when there are many operations to be performed while simultaneously grasping the object to be grasped by both the grasping devices 110 and 120, the number of switch operations for permitting or prohibiting the operation of the work load following devices 201 and 202 is set to the first. Compared to the embodiment, the operability can be improved.

--- Third embodiment ---
A third embodiment of the construction machine according to the present invention will be described with reference to FIG. In the following description, the same components as those in the first and second embodiments are denoted by the same reference numerals, and different points will be mainly described. Points that are not particularly described are the same as those in the first and second embodiments. In the present embodiment, the operation of the work load following devices 201 and 202 is mainly permitted when the operation levers 303 and 304 are operated so that the first and second front work arms A and B swing similarly. This is different from the first and second embodiments. That is, in the work machine 100 according to the third embodiment, when the operation levers 303 and 304 are operated so that the moving direction and the moving distance of the gripping devices 110 and 120 are substantially equal, the parallel moving work of the gripping object 801 is performed. Therefore, the accumulators 306 and 316 absorb the pressure oil in the high-pressure side oil chambers for the hydraulic cylinders with increased work load.

  For example, when the gripping object 801 gripped by the gripping devices 110 and 120 is moved in parallel, the operator operates the operation levers 303 and 304 so that the operation amounts of the operation lever 303 and the operation lever 304 are exactly the same. Is difficult. For this reason, when moving the gripping object gripped by the left and right gripping devices in parallel in the conventional double-arm type work machine, there is a difference in the amount of operation of the left and right operation levers. There was a risk of burden.

  On the other hand, in the work machine 100 according to the present embodiment, as described below, if it is determined that the gripping object 801 is a parallel movement work based on the operation state of the operation levers 303 and 304, the work load is large. For the hydraulic cylinder that has become, the pressure oil in the high pressure side oil chamber is absorbed by the accumulators 306 and 316. Thereby, when the operation levers 303 and 304 are operated so as to move the grasped object 801 in parallel, it is possible to suppress overloading the front work arms A and B.

  The configuration of the work machine 100 according to the third embodiment is the same as the configuration of the work machine 100 according to the second embodiment, including the hydraulic circuit. The controller 36 performs the same control as the control of each workload follower 201, 202 in the second embodiment described above, and controls each workload follower 201, 202 as follows. That is, when the controller 36 determines that the movement direction and the movement distance of the gripping devices 110 and 120 are substantially equal from the operation state of the operation levers 303 and 304 when the on / off switch 351 is turned on, Sensors 401, 402, 411, and 412 detect the pressures in the oil passages 41 to 43. Then, if there is a hydraulic cylinder in which the absolute value of the pressure difference between the oil passages 41 and 42 is greater than or equal to the threshold value ΔP1, the controller 36 determines that the oil passage with the higher pressure connected to the hydraulic cylinder is oiled. The solenoid of the control valve 305 is excited so that the oil passage connected to the passage 45 and the lower pressure oil passage is connected to the oil passage 46.

  Similarly, if there is a hydraulic cylinder in which the absolute value of the pressure difference between the oil passages 43 and 44 is greater than or equal to the threshold value ΔP1, the controller 36 determines the higher-pressure oil passage connected to the hydraulic cylinder. The solenoid of the control valve 305 is excited so that the oil passage 47 connected to the oil passage 47 and the oil passage having the lower pressure is connected to the oil passage 48. As a result, when the operating levers 303 and 304 are operated so as to move the object to be grasped 801 in parallel, the accumulators 306 and 316 absorb the pressure oil in the high-pressure side oil chambers for the hydraulic cylinders that have increased the work load. Is done.

--- Flow chart ---
FIG. 12 is a flowchart showing the control processing operation of the control valve 305 in the work load following apparatuses 201 and 202 according to the third embodiment. When an ignition switch (not shown) of the work machine 100 is turned on, a program for performing the processing shown in FIG. 13 is started and executed by the controller 36. In the following description, the control of the work load follower 201 connected to the hydraulic circuit that drives the boom cylinder 14 will be described. However, each control connected to the hydraulic circuit that drives the other hydraulic cylinders 16, 18, 19 is described. The same applies to the control of the workload follower 201. The same applies to the control of each work load follower 202 for the second front work arm B.

  The operation from step S101 to step S103 and the operation from step S104 to step S111 show the operation of the control process of the control valve 305 in the work load following devices 201 and 202 of the second embodiment shown in FIG. This is the same as the case of the flowchart.

  If an affirmative determination is made in step S103, the process proceeds to step S201. Based on the information acquired in step S101, whether or not the operation levers 303 and 304 are operated to move the gripping object 801 in parallel, that is, the gripping device. It is determined whether or not the operation levers 303 and 304 are operated so as to be moved in parallel. If a positive determination is made in step S201, the process proceeds to step S107. If a negative determination is made in step S201, the process proceeds to step S104.

The work machine 100 according to the third embodiment has the following operational effects in addition to the operational effects of the first and second embodiments.
(1) When the operating levers 303 and 304 are operated so that the moving direction and the moving distance of the gripping devices 110 and 120 are substantially equal when the on / off switch 351 is turned on, the hydraulic cylinder whose work load is increased The accumulators 306 and 316 absorb the pressure oil in the high pressure side oil chamber. Thereby, when the operation levers 303 and 304 are operated so as to move the grasped object 801 in parallel, it is possible to suppress overloading the front work arms A and B. Therefore, for example, even an inexperienced operator can easily translate the gripping object 801 gripped by both gripping devices 110 and 120.

---- Modified example ---
(1) In the above description, the operation levers 303 and 304 are so-called electric levers, but the present invention is not limited to this. For example, as shown in FIG. 13, by using a pilot pump (not shown), an operating device 901 that directly controls the pressure oil of the pilot pump, and a control valve 902 whose spool drive amount is controlled by the pilot pressure oil, The same effect as the effect of each embodiment mentioned above is produced. In this case, the same control as described above can be performed by detecting the operation amount of the operating device 901 by the potentiometer 903.

(2) In the above description, the threshold value ΔP1 is the same value in the workload follower 201 and the workload follower 202. However, in the workload follower 201 and the workload follower 202, The threshold value ΔP1 may be a different value. Further, with respect to the first front work arm A, a work load follower 201 is attached to each of the hydraulic cylinders 14, 16, 18, and 19, but a threshold value ΔP1 that is different for each of the work load followers 201. May be set. The same applies to the workload follower 202.

(3) In the above description, the threshold value ΔP1 is a predetermined value that is determined in advance, but may be configured so that it can be appropriately changed by the operator.

(4) In the above description, the sizes of the first front work arm A and the second front work arm B are not particularly mentioned, but the first front work arm A and the second front work arm B are the same size. It may be a different size. That is, the left and right front work arms may not be symmetrical.

(5) In the first embodiment described above, the on / off switch 313 collectively permits / inhibits the operation of all the work load follower devices 201 attached to the respective hydraulic cylinders 14, 16, 18, and 19. However, the present invention is not limited to this. For example, an on / off switch for individually permitting / prohibiting the operation for each workload follower 201 may be provided, and the operation of each workload follower 201 may be individually permitted / prohibited by this on / off switch. . The same applies to the workload follower 202.

(6) In the above description, the work load following devices 201 and 202 are provided in the left and right front work arms A and B, respectively, but the present invention is not limited to this. For example, as shown in FIG. 14, a work load follower 201 is provided for each hydraulic cylinder 14, 16, 18, 19 of the first front work arm A, and each hydraulic cylinder 24, 26, You may comprise so that 28 and 29 may not provide the workload follower 202. FIG.

(7) In the above description, the work load follower 201 is provided in each of the hydraulic circuits for driving the hydraulic cylinders 14, 16, 18, 19 of the first front work arm A. It is not limited. For example, the work load follower 201 may be provided in at least one of the hydraulic circuits that drive the respective hydraulic cylinders 14, 16, 18, and 19, and the same operational effects as the above-described operational effects are achieved. The same applies to the workload follower 202.
(8) You may combine each embodiment and modification which were mentioned above, respectively.

  In the above-described embodiment and its modifications, for example, the working arm is the first front working arm A and the second front working arm B, the working tool and the gripping tool are the gripping devices 110 and 120, and the operating means is the operating lever 303. , 304 and the operation device 901 respectively. The first and second posture determining means correspond to the hydraulic cylinders 14, 16, 18, 19, 24, 26, 28, and 29, and the follow-up enabling means corresponds to the work load following devices 201 and 202, respectively. The switching means is realized by on / off switches 313, 323, 351, pressure sensors 401, 402, 411, 412, the controller 36, and a program executed by the controller 36. The above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the above embodiment and the items described in the claims.

1 is a diagram showing an appearance of a construction machine (work machine) 100 that is a construction machine according to the present invention. 1 is a plan view of a work machine 100. FIG. It is a figure which shows the structure of the holding | grip apparatus 110,120. 1 is a diagram showing a hydraulic circuit of work machine 100. FIG. 3 is a perspective view of an operation seat 3. FIG. It is the figure which looked at the vicinity of the operation levers 303 and 304 from upper direction. FIG. 5 is a diagram showing a work of gripping a gripping object 801 by the work machine 100. It is a schematic diagram showing the state of the gripping devices 110 and 120 and the gripping object 801 when the second front work arm B is rotated in the front-rear direction without moving the first front work arm A. 5 is a flowchart showing an operation of control processing of the control valve 305 in the work load following devices 201 and 202. It is a figure which shows the hydraulic circuit of the working machine 100 of 2nd Embodiment. It is the flowchart which showed the operation | movement of the control processing of the control valve 305 in the workload tracking apparatus 201,202 of 2nd Embodiment. It is the flowchart which showed the operation | movement of the control processing of the control valve 305 in the workload tracking apparatuses 201 and 202 of 3rd Embodiment. It is a figure which shows the modification of a hydraulic circuit. It is a figure which shows the modification of a hydraulic circuit. It is a figure which shows a work example.

Explanation of symbols

14, 24 Boom cylinder 16, 26 Arm cylinder 18, 28 Work tool cylinder 19, 29 Swing cylinder 36 Controller 100 Construction machine (work machine)
110, 120 Grasping device 201, 202 Work load following device 304, 305 Operation lever 313, 323, 351 On / off switch 401, 402, 411, 412 Pressure sensor A First front work arm B Second front work arm

Claims (6)

A first work arm and a second work arm that are pivotally attached to the work machine body;
A first working tool attached to the first working arm;
A second working tool attached to the second working arm;
First operating means for receiving a user's operation for changing a posture of the first working arm or the first working tool with respect to the working machine body;
A second operation means for accepting a user operation for changing the posture of the second work arm or the second work tool with respect to the work implement main body;
First posture determining means for determining a posture of the first work arm or the first work tool with respect to the work implement main body based on the operation of the user received by the first operation means;
Second posture determining means for determining the posture of the second work arm or the second work tool with respect to the work implement main body based on the operation of the user received by the second operation means;
The posture of the first working arm or the first working tool determined by the first or second posture determining means, or the posture of the second working arm or the second working tool is changed. Thus, the first working arm or the first working tool, or the second working arm or the second working force is applied to the movement of the contact object that contacts the first or second working tool and applies an external force. Follow-up enabling means for making the work implement follow,
Switching for switching whether the first work arm or the first work tool, or the second work arm or the second work tool is made to follow the movement of the contact object by the follow-up enabling means. A construction machine comprising: means. The construction machine according to claim 1,
The follow-up enabling means changes the posture of the first work arm or the first work tool determined by the first posture determination means, thereby contacting the first work tool and applying an external force. A first follow-up enabling means for causing the first work arm or the first work tool to follow the movement of the contact object that provides the second work arm or the second work arm determined by the second posture determining means. By changing the posture of the second work tool, the second work arm or the second work tool is caused to follow the movement of a contact object that contacts the second work tool and applies an external force. A construction machine characterized by having a follow-up enabling means. The construction machine according to claim 2,
The switching means can switch whether or not the first work arm or the first work tool is made to follow the movement of the contact object by the first follow-up enabling means according to a user operation. In addition, it is possible to switch whether or not the second work arm or the second work tool is made to follow the movement of the contact object by the second follow-up enabling means according to a user operation. Construction machinery characterized by that. The construction machine according to claim 1,
The switching means is configured to move the first work arm or the first to the movement of a contact object that contacts the first work tool and applies an external force based on the user's operation received by the second operation means. The second operation tool is switched to move the contact object to apply an external force by touching the second work tool based on the user's operation received by the first operation means. A construction machine that switches whether to follow the work arm or the second work tool. The construction machine according to claim 4,
The first working tool is a first gripping tool;
The second working tool is a second gripping tool;
When the switching means determines that the first and second work arms have been changed to substantially the same posture based on the user's operation received by the first and second operation means, At least one of the first work arm, the first gripping tool, the second work arm, or the second gripping tool is switched to follow the movement of the contact object. Construction machinery. The construction machine according to claim 1,
The first and second work arms are rotatable in the left-right direction with respect to the work implement body,
The first and second operation means accept a user's operation for changing the rotation posture of the first and second work arms in the left-right direction with respect to the work implement body,
The first and second posture determining means are respectively arranged on the left and right sides of the first and second work arms with respect to the work implement main body based on the user's operation received by the first and second operation means. Determine the rotational orientation in the direction,
The follow-up enabling means is configured to change the rotation posture of the first and second working arms determined in the first or second posture determining means in the left-right direction with respect to the work implement body, A construction machine, wherein the first and second work arms are caused to follow the movement of a contact object that contacts the first or second work tool and applies an external force.

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