JP7130607B2 - working machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a working machine, and more particularly to a technique for correcting adverse effects caused by installing an exhaust gas purifying device.

In general, in a self-propelled work machine equipped with a work device that processes and discharges the supplied material, light oil is burned to drive the pump used to operate the work device and the traveling body. Equipped with a diesel engine running in

Since this diesel engine generates NOx, which is a nitrogen compound, when burning light oil, it is a problem to remove NOx contained in the exhaust gas.
Therefore, there is a technology to equip work machines with exhaust treatment devices such as SCR (Selective Catalytic Reduction) devices and EGR (Exhaust Gas Recirculation) devices that remove NOx by injecting a reducing agent such as urea solution into the exhaust gas. has been developed (Patent Document 1).

International Publication No. 2016/110955

By the way, it is conceivable that if the work device is stopped while processing the material, the material may remain in the device. In this way, the material solidifies during the period from when the work device is stopped until it is restarted. There is a risk that work to discharge the material to be used will occur.

However, in the technique disclosed in Patent Document 1, no consideration is given to the case where the exhaust treatment device stops due to the exhaustion of the reducing agent, and the working device stops due to the engine stopping accordingly. However, there was room for further improvement.

The present invention has been made in view of such problems, and its object is to provide an exhaust treatment device (exhaust gas treatment device) and an engine (internal combustion engine) due to the exhaustion of the remaining amount of the reducing agent. To provide a working machine capable of easily restarting a working device (working machine) even when stopped.

In order to achieve the above object, the working machine of the present invention comprises a traveling body for traveling the machine body, and a working engine that takes in materials from the supply side, processes the materials, and discharges the processed materials to the discharge side. an internal combustion engine that generates a driving force for the working engine; an exhaust gas purifying device that purifies exhaust gas emitted from the internal combustion engine; A working machine comprising : an agent tank; a reducing agent remaining amount detection unit that detects the remaining amount of the reducing agent stored in the reducing agent tank; and a controller. a supply device for taking the material from the supply side into the processing device; and a discharge device for discharging the material processed by the processing device to the discharge side, wherein the controller controls the working machine. and a work control unit that controls the working engine, wherein the operation mode selection unit selects the supply device when the remaining amount of the reducing agent is equal to or less than a predetermined amount . After stopping or slowing down the operation speed, an operation mode of stopping or slowing down the operation speed of the processing device is selected, and the work control unit controls the work engine according to the operation mode.

Thereby, when the remaining amount of the reducing agent is less than a predetermined amount, the supply device is stopped or the operation speed is slowed down, and then the processing device is stopped or the operation speed is slowed down, thereby preventing or taking in the material into the processing device. It is possible to stop the processing equipment or slow down the operation speed after reducing the amount of material used, and reduce the amount of material remaining in the working machine when the reducing agent runs out and the working machine stops. is allowed.

As another aspect, the operation mode selection unit reduces the output of the internal combustion engine when selecting the operation mode for slowing the operating speed of the work engine, and reduces the operating speed of the work engine according to the degree of decrease in the output. It is preferable to select a mode of operation that slows down.

As a result, when selecting an operating mode in which the operating speed of the working engine is slowed down, the output of the internal combustion engine is reduced, and the operating speed of the working engine is slowed according to the degree of reduction in the output, thereby reducing the fuel consumed by the internal combustion engine. It is possible to reduce the consumption of the reducing agent by reducing the consumption and reducing the emission of the exhaust gas.

In another aspect, the material is earth and sand, and the processing device includes a soil improvement material supplying device for adding the soil improvement material to the earth and sand, and a mixing device for mixing the soil improvement material and the earth and sand. It preferably includes a machine and a.

As a result, after stopping or slowing down the operation speed of the supply device according to the remaining amount of the reducing agent, the soil improvement material supplying device for adding the soil improvement material to the soil is mixed with the soil. By stopping or slowing down the operation speed of the processing equipment including the mixing machine, it is possible to suppress the soil from remaining in the mixer and the excessive supply of the soil conditioning material to the soil by the soil conditioning material supply device. is possible.

According to the working machine of the present invention, when the remaining amount of the reducing agent is less than a predetermined amount, the material is supplied to the processing device by stopping or slowing down the operation speed of the processing device after stopping or slowing down the operation speed of the supply device. It is possible to prevent or reduce the amount of material to be taken in and then stop the processing equipment or slow down the operation speed, so that the material remains in the working machine when the reducing agent runs out and the working machine is stopped. can be reduced. As a result, even when the exhaust gas treatment device and the internal combustion engine are stopped due to the exhaustion of the remaining amount of the reducing agent, the work engine can be easily restarted.

It is a side view of a working machine. FIG. 2 is a block diagram of a connection configuration of a controller related to control of a working machine; 6 is a flow chart showing a routine of control procedure of operating mode determination control according to the first embodiment, executed by a controller. 4 is a flow chart showing a control procedure routine of a work engine control unit in a first operation mode; 4 is a flow chart showing a control procedure routine of a warning control unit in a first warning mode; 7 is a flow chart showing a control procedure routine of a work engine control unit in a second operation mode; 9 is a flow chart showing a control procedure routine of a warning control unit in a second warning mode; FIG. 11 is a flow chart showing a control procedure routine of a warning control unit in a third warning mode; FIG. FIG. 10 is a flow chart showing a control procedure routine of operating mode determination control according to a second embodiment, which is executed by a controller; FIG. 9 is a flow chart showing a routine of a control procedure of the work engine control unit in a third operation mode; FIG. 11 is a flow chart showing a routine of a control procedure of a work engine control unit in a fourth operation mode; FIG.

<First embodiment>
A first embodiment of the present invention will be described below with reference to the drawings.
Referring to FIG. 1, a side view of work machine 1 is shown. The work machine 1 mixes a solidification material (soil improvement material) 102 with earth and sand (material) 101 supplied from the supply side to generate and discharge improved soil (processed material) 104 whose hardness and the like are adjusted. It is a so-called self-propelled soil improvement machine that discharges to the side.

This work machine 1 includes a body 2 , a traveling body 3 , a drive engine 4 and a work engine 5 . The machine body 2 is the main body of the work machine 1, and can run by, for example, a crawler-type running body 3 provided at the bottom. The driving engine 4 is an engine that generates driving force for the traveling body 3 and driving force for the work engine 5 described later, and has an engine (internal combustion engine) 6 and a hydraulic pump 7 .

The engine 6 is an internal combustion engine that operates by burning light oil stored in a fuel tank (not shown) to generate driving force. The hydraulic pump 7 is a hydraulic pump for working oil that is driven by the driving force generated by the engine 6, and the amount of hydraulic oil discharged can be adjusted by controlling the tilt angle of a swash plate (not shown). It is possible.

The hydraulic pump 7 is connected to each device of the traveling body 3 and the work engine 5 to be described later through an open circuit composed of a hydraulic hose and an on-off valve (not shown) so that hydraulic oil can be circulated. Therefore, by controlling the opening and closing of each on-off valve, each device of the traveling body 3 and the work engine 5 can be appropriately controlled. In the following, for convenience of explanation, the device for controlling the drive according to the degree of opening and closing of each on-off valve will not be explained on the on-off valve, but on the assumption that each device is directly controlled.

The work engine 5 has a supply device 11, a processing device 13, and a discharge device 15, and is an engine capable of processing the earth and sand supplied from the supply device 11 by the processing device 13 and discharging it from the discharge device 15. be.

The supply device 11 is provided on the front side in the longitudinal direction of the machine body, that is, on the supply side, and includes a sand hopper 21 , a sand feeder 23 , a rocking gate 25 and a leveling roller 27 . The earth and sand hopper 21 is a hopper that is formed above the supply device 11 and can temporarily receive the earth and sand 101 supplied from the hydraulic excavator 100, for example.

The earth/sand feeder 23 is a conveyor arranged below the earth/sand hopper 21 and can convey the earth/sand 101 temporarily received by the earth/sand hopper 21 toward the rear of the machine in the longitudinal direction, that is, toward the processing device 13 . The rocking gate 25 is a movable wall disposed above the earth and sand feeder 23 in the vertical direction of the machine body and behind the earth and sand hopper 21, that is, on the discharge side. The rocking gate 25 is positioned above the earth/sand feeder 23, and the earth/sand 101 above the lower end of the rocking gate 25 can be pushed back into the earth/sand hopper 21 to cut out the necessary amount of earth and sand 101. .

The leveling roller 27 is arranged above the earth and sand feeder 23 in the vertical direction of the machine body and behind the rocking gate 25, that is, on the discharge side. It is a pressure roller that follows and moves up and down and rotates following the upper surface of the earth and sand 101 . As a result, the earth and sand 101 passing through the leveling roller 27 are appropriately pressed with a predetermined force by the weight of the leveling roller 27, so that the bulk density can be made uniform.

The processing device 13 is provided at the center in the longitudinal direction of the machine body, and includes a solidification material hopper 31 , a solidification material feeder (soil improvement material supply device) 33 and a mixing chamber 35 . The solidifying material hopper 31 is a tank that is disposed on the upper side of the center in the front-rear direction of the fuselage and can store a solidifying material 102 such as quicklime.

The solidifying material feeder 33 is a screw arranged under the solidifying material hopper 31 and discharges the solidifying material 102 located under the solidifying material hopper 31 below the solidifying material feeder 33 by rotating. is possible. As a result, the solidification material feeder 33 can generate the mixed soil 103 by adding the solidification material 102 to the earth and sand 101 conveyed from the supply side toward the processing device 13 by the earth and sand feeder 23 .

The mixing chamber 35 is a housing disposed below the solidifying material feeder 33 and below the sand feeder 23 on the discharge side. The mixing chamber 35 has an inlet for taking in the mixed soil 103 from the sand feeder 23 at the upper end on the supply side. In addition, a paddle mixer (mixer) 37 is arranged in the mixing chamber 35, and by driving the paddle mixer 37, the mixed soil 103 taken into the mixing chamber 35 is evenly mixed to generate improved soil 104. At the same time, it is possible to move from the supply side of the mixing chamber 35 toward the discharge side and discharge it downward. Here, the paddle mixer 37 is a device that requires the most load for its operation among the working machines 5 because it stirs the mixed soil 103 .

The discharging device 15 is a conveying device that extends from below the processing device 13 toward the rear in the longitudinal direction of the machine body, that is, toward the discharging side. This discharge device 15 can temporarily receive the improved soil 104 discharged downward from the mixing chamber 35 and then convey it to the discharge side.

The driving engine 4 of the airframe 2 is provided with exhaust gas cleaning devices such as an SCR device (exhaust gas cleaning device) 41 , a urea water tank (reducing agent tank) 43 and an EGR device 45 .

The SCR device 41 is an exhaust gas purification device capable of reducing and removing NOx contained in the exhaust gas by injecting urea water (reducing agent) into the exhaust gas emitted by the engine 6 burning light oil. The urea water tank 43 is a tank that stores the urea water that the SCR device 41 injects into the exhaust gas. Therefore, the SCR device 41 can purify the exhaust gas while consuming the urea water stored in the urea water tank 43 .

The EGR device 45 is a device that takes in a part of the exhaust gas, reintroduces it into the engine 6, lowers the combustion temperature, and reduces NOx contained in the exhaust gas. Thereby, the EGR device 45 can purify the exhaust gas by suppressing NOx contained in the exhaust gas.

The body 2 is provided with an operation panel 51, a warning light 53, a speaker 55, a remaining amount sensor (reducing agent remaining amount detection unit) 57, and a controller 59. FIG. The operation panel 51 includes operation buttons for various operations of the work machine 1 and a monitor for displaying the state of the work machine 1 .

The warning lights 53 are lamps arranged above the solidifying material hopper 31 and above the drive engine 4, and include a yellow lamp 53a that emits yellow light and a red lamp 53b that emits red light. The speaker 55 is a so-called horn capable of emitting a horn sound, and is arranged above the solidifying material hopper 31, for example.

The remaining amount sensor 57 is, for example, a level sensor provided in the urea water tank 43, and indicates how much amount of urea water stored in the urea water tank 43 remains compared to when the tank is full (residual amount). can be detected.

The controller 59 is a control device for performing comprehensive control including operation control of the engine 6, and includes an input/output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), and the like. is composed of

Referring to FIG. 2, the connection configuration of the controller 59 for controlling the work machine 1 is shown in a block diagram. A remaining amount sensor 57 is electrically connected to the input side of the controller 59, and information regarding the remaining amount of urea water stored in the urea water tank 43 is input.

Further, on the output side of the controller 59, the engine 6, the hydraulic pump 7, the SCR device 41, the sand feeder 23, the rocking gate 25, the leveling roller 27, the hardening material feeder 33, the paddle mixer 37, the discharge device 15, the operation panel 51 , a warning light 53 and a speaker 55 are electrically connected to each other, and can be appropriately controlled by a controller 59 as described later.

Here, the controller 59 has a drive control section 61 , an operation mode determination section (operation mode selection section) 63 , a work engine control section (work control section) 65 and a warning control section 67 . The drive control section 61 is a control section that controls the engine 6 , the hydraulic pump 7 and the SCR device 41 .

Therefore, the drive control unit 61 controls the engine 6 to increase or decrease the output to the hydraulic pump 7, adjust the amount of light oil burned by the engine 6 and the amount of exhaust gas discharged, and control the hydraulic pump 7. It is possible to adjust the amount of hydraulic oil supplied to the work engine 5 and control the SCR device 41 to control the amount of urea water injected based on the amount of exhaust gas discharged.

The operation mode determination unit 63 is a determination unit that executes operation mode determination control, which will be described later, based on information about the remaining amount of urea water stored in the urea water tank 43 that is input from the remaining amount sensor 57 . Depending on the result of the determination, the operating mode determination section 63 can also control the engine 6, the hydraulic pump 7, and the SCR device 41 via the drive control section 61. FIG.

The work engine control unit 65 is a control unit that controls the earth and sand feeder 23, the rocking gate 25, the leveling roller 27, the solidification material feeder 33, the paddle mixer 37, and the discharging device 15 according to the determination result of the operation mode determination unit 63. . The warning control unit 67 is a control unit that controls the operation panel 51 , the warning light 53 and the speaker 55 according to the determination result of the operation mode determination unit 63 , similar to the work engine control unit 65 .

Referring to FIG. 3, a routine showing the control procedure of the operating mode determination control according to the first embodiment, which is executed by the controller 59, is shown in a flow chart.

In step S10, it is determined whether or not the remaining amount of urea water stored in the urea water tank 43, which is input from the remaining amount sensor 57, is 10% or less. If the determination result in step S10 is false (No) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is more than 10%, the process proceeds to step S40, and the working mode of the working engine 5 is changed to the normal mode. Determine (select) and terminate this routine. Here, the normal mode is, for example, the operating mode of the working machine 5 in which the working efficiency of the working machine 5 per unit time is the highest.
On the other hand, if the determination result of step S10 is true (Yes) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is 10% or less, the process proceeds to step S20.

In step S20, it is determined whether or not the remaining amount of urea water stored in the urea water tank 43 is 5% or less. If the determination result in step S20 is false (No) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is more than 5%, the process proceeds to step S50. On the other hand, if the determination result of step S20 is true (Yes) and it is determined that the remaining amount of urea water stored in the urea water tank 43 is 5% or less, the process proceeds to step S30.

In step S30, it is determined whether the remaining amount of urea water stored in the urea water tank 43 is 0%, that is, whether the urea water tank 43 is empty. If the determination result in step S30 is false (No) and it is determined that the urea water tank 43 is not empty, the process proceeds to step S90. On the other hand, if the result of determination in step S40 is true (Yes) and it is determined that the urea water tank 43 is empty, the process proceeds to step S110.

As a result, in steps S10 to S30, when the remaining amount of urea water stored in the urea water tank 43 is more than 10% (No in step S10), when it is 5 to 10% (Yes in step S10 and step S20 No in), 0 to 5% (Yes in step S10, Yes in step S20 and No in step S30), and when the urea water tank 43 is empty (Yes in all steps S10 to S30). be able to.

Further, when the remaining amount of urea water is more than 10%, by selecting the normal mode as the working mode of the working machine 5 (step S40), the working efficiency is maintained until the remaining amount of urea water becomes 10% or less. The working machine 5 can be operated in the operation mode of the working machine 5 with the highest . Three cases are described below: when the remaining amount of urea water is 5 to 10% (first stage), when it is 0 to 5% (second stage), and when the urea water tank 43 is empty (third stage). , respectively, will be explained along the flow.

<First stage>
In step S50, a warning is displayed on the monitor of the operation panel 51, for example, "work is stopped because the remaining amount of urea water is 10% or less", and the process proceeds to step S60. After repeating, the process moves to step S70.

As a result, for example, when the operator of the work machine 1 is operating the work engine 5 using the operation panel 51, the remaining amount of urea water becomes 10% or less, and the operation of the supply device 11 is stopped by steps S70 and S80, which will be described later. , the reason for stopping the work can be presented to the operator in advance before the warning light 53 lights up.
In step S<b>70 , the work mode of the work engine 5 is determined (selected) as the first work mode, and the work engine control unit 65 controls the sand feeder 23 , swing gate 25 and leveling roller 27 .

Referring to FIG. 4, the routine of the control procedure of the work engine control section 65 in the first operation mode is shown in a flow chart. In step S210, after stopping the operation of the sand feeder 23, the process proceeds to step S220. After stopping the operation of the rocking gate 25, the process proceeds to step S230, in which the operation of the leveling roller 27 is stopped. The control of the working engine control unit 65 ends.

As a result, when the operation mode determination unit 63 determines that the work mode of the work engine 5 is the first work mode, the work engine control unit 65 stops the sand feeder 23, the rocking gate 25, and the leveling roller 27. By stopping the operation of the supply device 11 upstream of the paddle mixer 37, which is the device that requires the most load for its operation among the 5, the urea water tank 43 becomes empty and the engine 6 is stopped so that the paddle mixer 37 is stopped. In such a case, it is possible to prevent the mixed soil 103 from remaining in the mixing chamber 35 .

Returning to FIG. 3, when the control of the work engine control unit 65 in the first operation mode is completed, the process proceeds to step S80. In step S80, the warning mode is determined to be the first warning mode, and the warning control unit 67 controls the warning light 53 and the speaker 55. FIG.

Referring to FIG. 5, the routine of the control procedure of the warning control section 67 in the first warning mode is shown in a flow chart. In step S310, a horn sound is emitted from the speaker 55 for one second, for example, and the process proceeds to step S320. In step S320, the yellow lamp 53a of the warning light 53 is turned on, and the control of the warning control unit 67 in the first warning mode is terminated. do.

As a result, when the operation mode determining unit 63 determines that the warning mode is the first warning mode, the horn is sounded from the speaker 55 (step S310), so that the operator is positioned away from the work machine 1. However, it is possible to warn that the remaining amount of urea water is 10% or less. Also, by turning on the yellow lamp 53a of the warning light 53 (step S320), even if the horn sound from the speaker 55 does not reach the operator's ears, the warning can be given by light.

Thus, in the case of the first stage, the first operation mode of stopping the supply device 11 is executed, and after the first warning mode of warning the operator by means of the warning light 53 and the speaker 55, this routine ends. , this routine is repeatedly executed from step S10.

<Second stage>
When the first stage continues, the urea water in the urea water tank 43 is consumed by the driving of the engine 6, and the remaining amount of urea water becomes 5% or less (Yes in step S10, Yes in step S20, and No in step S30). , the process proceeds to step S90.

Referring to FIG. 6, the routine of the control procedure of the work engine control section 65 in the second operation mode is shown in a flow chart. In step S410, the operation of the solidifying material feeder 33 is stopped, the process proceeds to step S420, the operation of the paddle mixer 37 is stopped, and the process proceeds to step S430.

In step S430, step S430 is repeated until, for example, 6 seconds have elapsed since the operation of the paddle mixer 37 was stopped. End control.

As a result, when the operation mode determination unit 63 determines (selects) that the work mode of the work engine 5 is the second work mode, the work engine control unit 65 stops the solidifying material feeder 33, the paddle mixer 37, and the discharging device 15, that is, the work is performed. By stopping the processing device 13 and the discharging device 15 of the engine 5, all devices of the work engine 5 can be stopped. Therefore, the urea water that is consumed when the traveling body 3 is driven to make the work machine 1 travel can be maintained well.

Returning to FIG. 3, when the control of the work engine control unit 65 in the second operation mode is completed, the process proceeds to step S100. In step S100, the warning mode is determined to be the second warning mode, and the warning control unit 67 controls the warning light 53 and the speaker 55. FIG.

Referring to FIG. 7, the routine of the control procedure of the warning control section 67 in the second warning mode is shown in a flow chart. In step S510, a horn sound is emitted from the speaker 55 once every four seconds for one second, and the process proceeds to step S520. Move to S530.

Then, in step S530, an alert such as "Urgently replenish urea water" is flashed on the monitor of the operation panel 51, and the control of the warning control section 67 in the second warning mode ends.

As a result, when the operating mode determining unit 63 determines that the warning mode is the second warning mode, the horn is sounded from the speaker 55 more than in the first warning mode (step S510), so that the operator can switch to the first warning mode. Even if the user does not notice it, the fact that the remaining amount of urea water is 5% or less can be emphasized by the first warning mode. Further, by turning on the yellow lamp 53a and the red lamp 53b of the warning light 53 (step S520), the warning can be given with light more emphasized than in the first warning mode.

Thus, in the case of the second step, the second operation mode is executed to stop all the devices of the working machine 5, and the warning light 53 and the speaker 55 warn the operator more emphatically than the first warning mode. After executing the warning mode, this routine is terminated, and the routine is repeatedly executed from step S10.

<Third stage>
When the second stage continues, the urea water in the urea water tank 43 is further consumed by the driving of the engine 6, and the urea water tank 43 becomes empty (steps S10 to S30 are all Yes), and the process proceeds to step S110.

Referring to FIG. 8, the routine of the control procedure of the warning control section 67 in the third warning mode is shown in a flow chart. As for the third warning mode, the description of the configuration and effects common to those of the second warning mode will be omitted, and the differences from the second warning mode will be described here.

In step S515, the horn is sounded from the speaker 55, for example, once every two seconds for one second, and the process proceeds to step S520. As a result, the horn sound is emitted from the speaker 55 more frequently than in the second warning mode (step S515). A certain thing can be warned more emphatically than the second warning mode.

After executing the third warning mode in step S110, in step S120, the engine 6 is forcibly stopped, and this routine ends.

In this way, when the remaining amount of urea water is 10% or less, by appropriately executing each operation mode and each warning mode in stages 1 to 3, the storage amount of urea water in the urea water tank 43 is The working engine 5 can be stopped in stages accordingly. In particular, by stopping in order from the supply side, the urea water tank 43 becomes empty and the engine 6 is forcibly stopped (step S120). When restarting the operation, it is possible to prevent the mixed soil 103 and the improved soil 104 before being discharged from the mixing chamber 35 from solidifying and making it impossible to restart the working machine 5 .

As described above, the working machine according to the first embodiment includes the traveling body 3 that makes the machine body 2 travel, and the working machine that takes in the earth and sand 101 from the supply side and discharges the improved soil 104 processed from the earth and sand 101 to the discharge side. 5, an engine 6 that generates driving force for the work engine 5, an SCR device 41 that purifies exhaust gas discharged from the engine 6, and a urea water tank that stores urea water used when the SCR device 41 purifies the exhaust gas. 43, a remaining amount sensor 57 for detecting the remaining amount of urea water stored in the urea water tank 43, and a controller 59 for controlling the working machine 1.

The controller 59 includes an operation mode determination unit 63 that determines (selects) the operation mode of the work engine 5, and a work engine control unit 65 that controls the work engine 5. The operation mode determination unit 63 determines the residual urea water. According to the quantity, the first work mode and the second work mode to be stopped in order from the supply side of the work engine 5 are determined (selected), and the work engine control unit 65 performs the work according to the first work mode and the second work mode. It controls the engine 5.

Therefore, since the work engine 5 is stopped in order from the supply side according to the remaining amount of urea water, the earth and sand 101 remaining in the work engine 5 when the remaining amount of urea water is exhausted and the work engine 5 is stopped can be reduced. can do.

The work engine 5 includes a processing device 13 for processing the earth and sand 101, a supply device 11 for taking the earth and sand 101 from the supply side into the processing device 13, and a discharge for discharging the earth and sand 101 processed by the processing device 13 to the discharge side. device 15, and the operation mode determination unit determines that the first work mode is to stop the supply device 11 when the remaining amount of urea water is, for example, 10% or less as a predetermined amount, and then stops the processing device 13. Since it is determined that there are two work modes, the processing device 13 can be stopped after the earth and sand 101 are not taken into the processing device 13 .

In particular, the processing device 13 includes a solidifying material feeder 33 that supplies the solidifying material 102 to the earth and sand 101 and a paddle mixer 37 that mixes the solidifying material 102 and the earth and sand 101 .
Therefore, the processing device 13 including the solidifying material feeder 33 and the paddle mixer 37 is stopped after the feeding device 11 is stopped according to the remaining amount of the urea water. , the excessive supply of the solidifying material 102 to the earth and sand 101 by the solidifying material feeder 33 can be suppressed.

<Second embodiment>
The second embodiment will be described below with reference to FIGS. 9 to 11. FIG. Note that the description of the configuration and effects common to those of the first embodiment will be omitted, and the portions different from those of the first embodiment will be described here.

Referring to FIG. 9, a routine of the control procedure of the operating mode determination control according to the second embodiment, which is executed by the controller 59, is shown in a flowchart. In the second embodiment, when the remaining amount of urea water is 5 to 10% (Yes in step S10 and No in step S20, first step), step S60 continues until 1 second elapses from the warning display in step S50. is repeated, the work mode of the work engine 5 is determined (selected) as the third operation mode, and the process proceeds to step S670.

Referring to FIG. 10, the routine of the control procedure of the work engine control section 65 in the third operation mode is shown in a flow chart. In step S710, the driving speed of the sand feeder 23 is set low (for example, 1/3 of the normal mode), and then the process proceeds to step S720. After lowering the driving speed of the roller 27, the process proceeds to step S740. That is, in steps S710 to S730, the driving speed of each device of the supply device 11 is lowered, and the process proceeds to step S740.

In step S740, after setting the driving speed of the solidifying material feeder 33 to medium (for example, two-thirds of the normal mode), the process proceeds to step S750. After setting the driving speed of the paddle mixer 37 to medium, the process proceeds to step S760. 15, the control of the work engine control unit 65 in the third operation mode is terminated.

Here, specifically, by reducing the rotation speed of the engine 6 via the drive control unit 61, the driving speed of each device in the work engine 5 is slowed according to the degree of decrease in the output of the engine 6, and the supply device 11 is further slowed down by controlling each control valve (not shown).

As a result, even in the first stage, by slowing down the driving speed without stopping the operation of the work engine 5, the consumption of the urea water stored in the urea water tank 43 can be reduced. You can continue working.
Further, when the remaining amount of urea water is 0 to 5% (Yes in step S10, Yes in step S20 and No in step S30, second stage), the working mode of the working engine 5 is determined to be the fourth operating mode (selection ), and the process proceeds to step S690.

Referring to FIG. 11, a flow chart shows the routine of the control procedure of the work engine control section 65 in the fourth operation mode. In step S810, after stopping the operation of the sand feeder 23, the process proceeds to step S820, after stopping the operation of the rocking gate 25, the process proceeds to step S830, the operation of the leveling roller 27 is stopped, and the process proceeds to step S840. .

That is, in steps S810 to S830, the operation of the supply device 11 is stopped in the same manner as the control procedure of the work engine control section 65 in the first operation mode according to the first embodiment, and the process proceeds to step S840.

In step S840, the driving speed of the solidifying material feeder 33 is reduced, and then the process proceeds to step S850. The control of the work engine control unit 65 in the operating mode is ended.

Here, specifically, by reducing the rotation speed of the engine 6 from the third operation mode via the drive control unit 61, the drive speed of each device in the work engine 5 is changed according to the degree of decrease in the output of the engine 6. It slows down and also stops the operation of the supply device 11 . As a result, even in the second stage, the operation of the processing device 13 and the discharge device 15 of the work engine 5 is not stopped, and the drive speed is made slower than in the third operation mode, so that the urea water tank 43 It is possible to suppress the mixed soil 103 and the improved soil 104 from remaining in the processing device 13 and the discharging device 15 while reducing the consumption of the stored urea water.

Then, if the urea water tank 43 is empty (Yes in all steps S10 to S30, third step), the working mode of the working engine 5 is determined (selected) as the second operating mode, and the process proceeds to step S90. A detailed description of step S90 is omitted because it is the same as in the first embodiment.

As a result, after the driving speeds of the solidifying material feeder 33, the paddle mixer 37 and the discharging device 15 are lowered (steps S840 to S860), the solidifying material feeder 33, the paddle mixer 37 and the discharging device 15 are driven in the second operation mode (step S90). By stopping the driving of the engine 6, the operation of the engine 6 for operating the work engine 5 can be prevented.

As described above, in the work machine 1 according to the second embodiment, when the operation mode determination unit 63 determines (selects) the operation mode in which the operating speed of the work engine 5 is slowed down, Since the third operation mode is determined (selected), which is an operation mode in which the operation speed of the device that requires a load on the supply side is slower than the paddle mixer 37, it is possible to reduce the amount of earth and sand 101 remaining in the paddle mixer 37. can.

When determining (selecting) an operation mode for slowing down the operating speed of the work engine 5, the operation mode determination unit 63 reduces the output of the engine 6 and slows down the operation speed of the work engine 5 according to the degree of decrease in the output. As a result, the amount of fuel consumed by the engine 6 can be reduced, and the amount of exhaust gas emitted can be reduced, thereby reducing the amount of urea water consumed.

Although the description of the working machine according to the present invention is finished above, the present invention is not limited to the above-described embodiment, and can be modified without departing from the gist of the invention.

For example, in the present embodiment, a self-propelled soil improvement machine has been described as an example, but a crusher that finely crushes solid materials such as stones supplied, and a wood crusher that chips supplied wood. machine, a screen that sorts out various large and small pebbles contained in the supplied earth and sand according to their size, and a twin-screw shear that shears the supplied metal into chips. The working machine may be any machine that performs some kind of work (processing) on the supplied material.

Also, in the present embodiment, the control modes have been described using the flows of FIGS. 3 to 11, but the order of the flows is an example, and the order may be changed to the extent that the present invention can be implemented.

1 working machine 2 body 3 traveling body 5 working engine 6 engine (internal combustion engine)
11 supply device 13 processing device 15 discharge device 33 solidification material feeder (soil improvement material supply device)
37 paddle mixer
41 SCR device (exhaust gas purification device)
43 Urea water tank (reducing agent tank)
57 remaining amount sensor (reducing agent remaining amount detection unit)
59 controller 63 operation mode determination unit (operation mode selection unit)
65 work engine control unit (work control unit)
101 Earth and Sand (Material)
102 Solidification material (soil improvement material)
104 Improved soil (processed material)

Claims (3)

a running body for running the machine body;
a working unit that takes in materials from a supply side, processes the materials, and discharges the processed materials to a discharge side;
an internal combustion engine that generates driving force for the working engine;
an exhaust gas purification device for purifying exhaust gas emitted from the internal combustion engine;
a reducing agent tank for storing a reducing agent used when the exhaust gas purification device purifies the exhaust gas;
a reducing agent remaining amount detection unit that detects the remaining amount of the reducing agent stored in the reducing agent tank;
A work machine comprising a controller,
The work machine includes a processing device that processes the material, a supply device that takes the material from the supply side into the processing device, and a discharge device that discharges the material processed by the processing device to the discharge side. has
The controller is
an operating mode selection unit that selects an operating mode of the working machine;
a work control unit that controls the work engine;
The operation mode selection unit selects an operation mode of stopping or slowing down the operation speed of the processing device after stopping or slowing down the operation speed of the supply device when the remaining amount of the reducing agent is equal to or less than a predetermined amount ,
The working machine, wherein the work control unit controls the working engine according to the operation mode. The operation mode selection unit reduces the output of the internal combustion engine when selecting an operation mode for slowing the operating speed of the work engine, and selects an operation mode for slowing the operation speed of the work engine according to the degree of reduction in the output. The work machine of claim 1, selecting. The material is earth and sand,
The processing device is
a soil improvement material supplying device for adding a soil improvement material to the soil;
The working machine according to claim 1 , further comprising a mixer for mixing the soil improvement material and the earth and sand.

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