Working machinery

Abstract

To provide a work machine that allows for easy attachment of attachments. [Solution] The work machine 1 comprises a work machine body 2 and a processor 41. The processor 41 can be attached to the work machine body 2. The work machine body 2 includes an attachment valve 51, a processor operating device 42, and a vehicle controller 24. The attachment valve 51 controls the hydraulic fluid that operates the actuator of the processor 41. The processor operating device 42 operates the processor 41. The vehicle controller 24 includes a third input port 73 to which an operation signal from the processor operating device 42 is input, and an EPC output port 81A to output a control signal that controls the attachment valve 51. The control signal output from the EPC output port 81A is preset in response to the input of an operation signal to the third input port 73.

Description

Technical Field

[0001] The present invention relates to a working machine.

Background Art

[0002] In working machines such as hydraulic excavators, working machines that can be equipped with attachments such as breakers, processors, crushers, and grapples instead of buckets have been proposed (for example, see Patent Document 1).

[0003] A hydraulic excavator performs various operations such as turning, traveling, and excavation by supplying hydraulic oil from an operation valve according to the operation of an operation device by an operator. When attaching an attachment to such a hydraulic excavator, it was necessary to add a hydraulic circuit or the like for supplying hydraulic oil from the operation valve according to the operation of the operation device for the attachment. Examples of the hydraulic circuit include a hydraulic pilot valve operated by an operation device for the attachment and a pipe connecting from the hydraulic pilot valve to the pilot chamber of the operation valve.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] On the other hand, in recent years, an electronically controlled operation valve having a configuration in which an electromagnetic proportional control valve is incorporated without using a hydraulic pilot valve is used, and the electromagnetic proportional control valve is driven based on an input operation signal to operate the operation valve. Since attachments are developed by various manufacturers, when attaching an attachment to a working machine equipped with such an electronically controlled operation valve, a signal converter for converting a signal is used to output an operation signal from the operation device for the attachment to the electromagnetic proportional control valve.

[0006] This disclosure aims to provide a work machine that allows for easy attachment of attachments. [Means for solving the problem]

[0007] To achieve the above objective, the work machine of the first disclosure comprises a work machine body and an attachment. The attachment is mountable on the work machine body. The work machine body includes a hydraulic valve, an operating device, and a controller. The hydraulic valve controls the hydraulic fluid that operates the actuator of the attachment. The operating device operates the attachment. The controller includes an input port to which an operation signal resulting from the operation of an operating member is input, and an output port to which a control signal for controlling the hydraulic valve is output. A control signal output from the output port is pre-set in response to the input of an operation signal to the input port. [Effects of the Invention]

[0008] According to this disclosure, it is possible to provide a work machine that allows for easy attachment of attachments. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view showing the configuration of the work machine of Embodiment 1 according to this disclosure. [Figure 2] This is a block diagram showing the configuration of a work machine and its control system according to Embodiment 1 of the present disclosure. [Figure 3] This figure shows the hydraulic circuit and control system when a processor is attached to the main body of the work machine as an example of an attachment in the work machine of Embodiment 1 according to this disclosure. [Figure 4] (a) This figure shows a table of input / output patterns stored in the vehicle controller of the work machine, and a graph of flow rate for each input pattern. (b) This figure shows a table of input / output patterns stored in the vehicle controller of the work machine, and a graph of pressure for each input pattern. [Figure 5](a) This figure shows a table of input / output patterns stored in the vehicle controller of the work machine, and a graph of flow rate for each input pattern. (b) This figure shows a table of input / output patterns stored in the vehicle controller of the work machine, and a graph of pressure for each input pattern. [Figure 6] (a) This figure shows the operation signal from the attachment operating device. (b) This figure shows the control signal corresponding to the operation signal in Figure 6(a). [Figure 7] This figure shows the hydraulic circuit and control system when a grapple is attached to the main body of the work machine as an example of an attachment in the work machine of Embodiment 2 according to this disclosure. [Figure 8] This figure shows the hydraulic circuit and control system when a processor and a winch are attached to the main body of the work machine as an example of attachments in the work machine of Embodiment 3 according to this disclosure. [Modes for carrying out the invention]

[0010] Hereinafter, a working machine equipped with a working implement according to an embodiment of the present invention will be described with reference to the drawings.

[0011] A hydraulic excavator, as an example of the work machinery covered by this disclosure, will be described below with reference to the drawings.

[0012] (Embodiment 1) Figure 1 is a perspective view showing the configuration of the work machine 1 of this embodiment 1. The work machine 1 is, for example, a hydraulic excavator.

[0013] The work machine 1 includes a work machine body 2 and a bucket 3. The bucket 3 is detachable from the work machine body 2, and other attachments can be mounted on the work machine body 2 in place of the bucket 3. Examples of other attachments include a grapple, harvester, tilt rotator, or crusher.

[0014] The work machine main body 2 has a vehicle main body 4 and a work implement main body 5. As shown in FIG. 1, the vehicle main body 4 has a traveling body 6 and a revolving body 7. The traveling body 6 has a pair of traveling devices 6a. Each traveling device 6a has a crawler 6c, and the work machine 1 travels by the driving force from the engine rotating the traveling motor to drive the crawler 6c.

[0015] The revolving body 7 is placed on the traveling body 6. The revolving body 7 is provided so as to be able to revolve with respect to the traveling body 6 around an axis along the vertical direction by a revolving device (not shown).

[0016] A cab 8 provided with a driver's seat is arranged at the front left position of the revolving body 7. The revolving body 7 houses an engine, a hydraulic pump, etc. (not shown). In the present embodiment, unless otherwise specified, front, rear, left, and right are described with reference to the driver's seat in the cab 8.

[0017] The work implement main body 5 includes a boom 9 and an arm 10, and is attached to the central position in the front part of the revolving body 7. Specifically, the work implement main body 5 is arranged on the right side of the cab 8. The base end portion of the boom 9 is rotatably connected to the revolving body 7. Also, the tip end portion of the boom 9 is rotatably connected to the base end portion of the arm 10. The tip end portion of the arm 10 is rotatably connected to the bucket 3. The bucket 3 is attached to the arm 10 so that its opening can face the direction (rearward) of the vehicle main body 4. The work implement main body 5 includes hydraulic cylinders 11 to 13 (boom cylinder 11, arm cylinder 12, and bucket cylinder 13) arranged corresponding to the boom 9, the arm 10, and the bucket 3 respectively. By driving these hydraulic cylinders 11 to 13, the work implement main body 5 and the bucket 3 are driven. Thereby, operations such as excavation are performed. The work implement 14 is constituted by the work implement main body 5 and the bucket 3.

[0018] Figure 2 is a block diagram showing the configuration of the working machine 1 and its control system. As shown in Figure 2, the working machine 1 includes a drive source 21, a hydraulic pump 22, and a vehicle body controller 24. The drive source 21 is controlled by a command signal from the vehicle body controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges the hydraulic oil stored in the hydraulic oil tank 28. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13.

[0019] The working machine 1 includes a swing motor 25. The swing motor 25 is, for example, a hydraulic motor. The swing motor 25 is driven by the hydraulic oil from the hydraulic pump 22. Alternatively, the swing motor 25 may be an electric motor. The swing motor 25 swings the swing body 7. In Figure 2, one hydraulic pump is shown, but a plurality of hydraulic pumps may be provided.

[0020] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve and is controlled by a command signal from the vehicle body controller 24. The vehicle body controller 24 controls the pump control device 26 to control the capacity of the hydraulic pump 22.

[0021] The work machine 1 includes an operating valve 27. The hydraulic pump 22, cylinders 11-13, and swing motor 25 are connected by a hydraulic circuit via the operating valve 27. The operating valve 27 is controlled by command signals from the vehicle controller 24. The operating valve 27 includes multiple valves. The operating valve 27 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 22 to the cylinders 11-13 and swing motor 25. The vehicle controller 24 controls the operation of the work machine body 5 and bucket 3 by controlling the operating valve 27. The vehicle controller 24 controls the swing of the swing body 7 by controlling the operating valve 27. Note that the cylinders 11-13 are not limited to hydraulic cylinders, but may also be mechanical cylinders driven by electric motors.

[0022] The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 operates with hydraulic fluid discharged from a hydraulic pump 22 and regulated by an operating valve 27. The operation of the travel motor 23 drives the tracks 6c, causing the work machine 1 to move.

[0023] The vehicle controller 24 includes a processor 31 such as a CPU and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and auxiliary storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1. The vehicle controller 24 has multiple ports for receiving operation signals when attaching the attachment 36, which will be described later, and the configuration of these ports will be described later.

[0024] The control system includes an operating device 33, an input device 34, and a display 35. The operating device 33, the input device 34, and the display 35 are located inside the cab 8. The operating device 33 is operable by the operator. The operating device 33 includes, for example, a lever, a pedal, or a switch. The operating device 33 outputs an operation signal to the vehicle controller 24 in response to the operator's operation of the operating device 33. The vehicle controller 24 controls the operating valve 27 to operate the work machine 14 in response to the operator's operation of the operating device 33. The vehicle controller 24 controls the operating valve 27 to rotate the slewing body 7 in response to the operator's operation of the operating device 33. The vehicle controller 24 controls the drive source 21 and the operating valve 27 to drive the work machine 1 in response to the operator's operation of the operating device 33.

[0025] The input device 34 is operable by the operator. The input device 34 is a touchscreen. However, the input device 34 may also include hardware keys. The operator inputs various settings related to the work machine 1 by operating the input device 34. The input device 34 outputs input signals in response to the operator's operations. The display 35 is, for example, an LCD, OLED, or another type of display. The display 35 displays a screen in response to display signals from the vehicle controller 24.

[0026] Figure 2 shows, by dotted lines, an attachment 36 that is installed in place of the bucket 3, and an attachment operating device 37 that operates the attachment 36. When installing the attachment 36, hydraulic fluid is supplied to the attachment 36 from the existing attachment valve 51 to the operating valve 27. The attachment operating device 37 includes, for example, a lever, pedal, or switch. The attachment operating device 37 is mounted on the cab 8 to operate the attachment 36. When the operator operates the attachment operating device 37, an operation signal is output from the attachment operating device 37 to the vehicle controller 24. Based on the operation signal from the attachment operating device 37, the vehicle controller 24 controls the attachment valve 51, supplying hydraulic fluid to the attachment 36 and driving the attachment 36.

[0027] Figure 3 shows the hydraulic circuit and control system when the processor 41 is attached to the work machine body 2 as an example of attachment 36. The processor 41 is a lumber processing machine that performs grapple operations, such as delimbing, measuring and cutting logs, and stacking. The processor 41 includes an actuator for operation and a solenoid valve that adjusts the flow rate of hydraulic fluid supplied to the actuator. When the processor 41 is attached to the work machine body 2, the solenoid valve in the processor 41 and the operating valve 27 are connected by piping, and hydraulic fluid is supplied to the solenoid valve in the processor 41 via the operating valve 27.

[0028] Furthermore, when the processor 41 is attached to the work machine body 2, a processor operating device 42 for operating the processor 41 is located in the cab 8 and is electrically connected to the vehicle controller 24. The processor operating device 42 is an example of the attachment operating device 37 shown in Figure 2. The processor operating device 42 includes a knob switch 42a and a signal transmitter 42b. The knob switch 42a is operated by the operator. The signal transmitter 42b transmits an operation signal to the vehicle controller 24 in response to the operator's operation of the knob switch 42a. The knob switch 42a is equipped with a switch for setting the operating speed of the processor 41. The knob switch 42a has switches for setting, for example, high speed mode, medium speed mode, and low speed mode.

[0029] As shown in Figure 3, the control valve 27 includes an attachment valve 51, an EPC (Electromagnetic Proportional Control) valve 52 for port A, an EPC (Electromagnetic Proportional Control) valve 53 for port B, an electromagnetic relief valve 54, a control valve assay 55, a self-pressure reducing valve 56, an attachment switching valve 57, and an attachment switching EPC (Electromagnetic Proportional Control) valve 58.

[0030] The attachment valve 51 (hydraulic valve) is provided on the control valve 27 to supply hydraulic fluid to the attachment 36. The attachment valve 51 is a hydraulic valve whose valve body is operated by pilot hydraulic pressure to adjust the flow rate of hydraulic fluid. The attachment valve 51 includes ports A 51a and B 51b. The EPC valve 52 for port A is an electromagnetic proportional control valve. The EPC valve 52 for port A receives a control signal from the vehicle controller 24 and controls the flow rate of hydraulic fluid discharged from port A 51a. The EPC valve 52 for port A controls the flow rate of hydraulic fluid discharged from port A 51a by changing the pilot pressure to the pilot chamber on the port A 51a side of the attachment valve 51, thereby operating the valve body of the attachment valve 51. The EPC valve 53 for port B is an electromagnetic proportional control valve. The EPC valve 53 for port B receives a control signal from the vehicle controller 24 and controls the flow rate of hydraulic fluid discharged from port B 51b. The EPC valve 53 for port B controls the flow rate of hydraulic fluid discharged from port B 51b by changing the pilot pressure to the pilot chamber on the port B 51b side of the attachment valve 51, thereby operating the valve body of the attachment valve 51. The electromagnetic relief valve 54 controls the pressure of the attachment valve 51. The electromagnetic relief valve 54 receives a control signal from the vehicle controller 24 and controls the pressure of the attachment valve 51. The electromagnetic relief valve 54 opens and closes to maintain the pressure set based on the control signal.

[0031] The operating valve assay 55 constitutes a flow path that supplies hydraulic fluid discharged from the hydraulic pump 22 to port A 51a or port B 51b. The operating valve assay 55 constitutes a flow path that returns the hydraulic fluid returning to port A 51a or port B 51b back to the hydraulic fluid tank 28. The self-reducing valve 56 reduces the pressure inside the operating valve assay 55. The self-reducing valve 56 opens and closes so that the pressure inside the operating valve assay 55 is within a predetermined pressure.

[0032] The attachment switching valve 57 switches between returning the hydraulic fluid supplied to the processor 41 from port A 51a to the hydraulic fluid tank 28 via port B 51b, or returning it to the hydraulic fluid tank 28 by bypassing port B 51b. The valve body of the attachment switching valve 57 is movable between a first position 57a ​​and a second position 57b. When the valve body is in the first position 57a, the attachment switching valve 57 returns the hydraulic fluid supplied to the processor 41 from port A 51a to the hydraulic fluid tank 28 by bypassing port B 51b. When the valve body is in the second position 57b, it returns the hydraulic fluid supplied to the processor 41 from port A 51a to port B 51b. The attachment switching EPC valve 58 drives the valve body of the attachment switching valve 57. A control signal from the vehicle controller 24 drives the attachment switching EPC valve 58, which switches the position of the valve body of the attachment switching valve 57 between a first position 57a ​​and a second position 57b. The attachment switching EPC valve 58 is an electronically proportional control valve. Based on the control signal, the attachment switching EPC valve 58 controls the pilot pressure supplied to the pilot chamber of the attachment switching valve 57, thereby moving the position of the valve body of the attachment switching valve 57.

[0033] The vehicle controller 24 stores the position setting of the attachment switching valve 57 for each type of attachment 36. When the operator selects the type of attachment 36 to be mounted on the work machine body 2 using the input device 34, the vehicle controller 24 controls the position of the attachment switching valve 57 according to the selected type of attachment 36. As shown in Figure 3, when the processor 41 is mounted on the work machine body 2, a control signal is output to the attachment switching EPC valve 58, and the spool of the attachment switching valve 57 is set to the first position 57a.

[0034] The first flow path 61 connects the hydraulic oil tank 28 to the control valve assay 55. The hydraulic pump 22 is located in the first flow path 61. The second flow path 62 connects the A port 51a of the attachment valve 51 to the solenoid valve of the processor 41. The third flow path 63 connects the solenoid valve of the processor 41 to the attachment switching valve 57. The fourth flow path 64 connects the B port 51b of the attachment valve 51 to the attachment switching valve 57. The fifth flow path 65 connects the attachment switching valve 57 to the hydraulic oil tank 28. The sixth flow path 66 connects the control valve assay 55 to the fifth flow path 65. In the fifth flow path 65, an additional filter 91, an oil cooler 92, and a return filter 93 are arranged in order from the attachment switching valve 57 side. The sixth flow path 66 merges with the fifth flow path 65 between the additional filter 91 and the oil cooler 92. The additional filter 91 is a filter that removes wood chips and dust. The oil cooler 92 cools the hydraulic oil. The return filter 93 is a filter that removes dust and other particles. Depending on the type of attachment 36 installed, the additional filter 91 may not be required.

[0035] The attachment switching valve 57 connects the third passage 63 and the fifth passage 65 when the valve body is positioned in the first position 57a. In this case, the hydraulic fluid supplied from the hydraulic fluid tank 28 to the operating valve assay 55 via the first passage 61 by the hydraulic pump 22 is supplied to the processor 41 via the second passage 62 from port A 51a of the attachment valve 51. The hydraulic fluid discharged from the processor 41 is supplied to the attachment switching valve 57 via the third passage 63. The hydraulic fluid supplied to the attachment switching valve 57 is returned to the hydraulic fluid tank 28 via the fifth passage 65.

[0036] The attachment switching valve 57 connects the third passage 63 and the fourth passage 64 when the spool is positioned in the second position 57b. In this case, the hydraulic fluid supplied from the hydraulic fluid tank 28 to the operating valve assay 55 via the first passage 61 by the hydraulic pump 22 is supplied to the processor 41 via the second passage 62 from port A 51a of the attachment valve 51. The hydraulic fluid discharged from the processor 41 is supplied to the attachment switching valve 57 via the third passage 63. The hydraulic fluid supplied to the attachment switching valve 57 is supplied to port B 51b of the attachment valve 51 via the fourth passage 64 and returned from the operating valve assay 55 to the hydraulic fluid tank 28 via the sixth passage 66 and the fifth passage 65.

[0037] The vehicle controller 24 includes multiple input ports to which operation signals from the attachment operating device 37 (processor operating device 42 in Figure 3) are input. The vehicle controller 24 includes a first input port 71, a second input port 72, a third input port 73, a fourth input port 74, a fifth input port 75, a sixth input port 76, a seventh input port 77, and an eighth input port 78. The vehicle controller 24 also includes output ports: an EPC output port 81A, an EPC output port 81B, an electromagnetic relief valve output port 82, and a switching EPC output port 83.

[0038] The first input port 71, the second input port 72, the third input port 73, the fourth input port 74, the fifth input port 75, the sixth input port 76, the seventh input port 77, and the eighth input port 78 can receive operation signals from the attachment operating device 37.

[0039] The EPC output port 81A outputs a control signal to the A-port EPC valve 52 in response to the input of operation signals to the first input port 71, the second input port 72, and the third input port 73.

[0040] Figure 4(a) shows a table T1 of input / output patterns stored in the vehicle controller 24 and a graph G1 of the flow rate of hydraulic fluid discharged from port A 51a set for each input pattern. Table T1 and graph G1 in Figure 4(a) show the correspondence between input and output regarding the flow rate of hydraulic fluid to the attachment. Table T1 shows input patterns a to d determined by the vehicle controller 24 based on the inputs from the first input port 71, the second input port 72, and the third input port 73. The horizontal axis of graph G1 shows input patterns a to d, and the vertical axis shows the flow rate of hydraulic fluid discharged from port A 51a. Table T1 and graph G1 are stored in the vehicle controller 24.

[0041] As shown in Table T1, when a 24V operation signal is input to the first input port 71 and there are no 24V operation signals input to the second input port 72 and the third input port 73, the vehicle controller 24 determines that the operation signal input to the vehicle controller 24 is input pattern a. When the vehicle controller 24 determines that the input pattern is a, it outputs a control signal from the EPC output port 81A to the A port EPC valve 52 so that the flow rate of the hydraulic fluid discharged from A port 51a becomes the maximum flow rate Vf, as shown in Graph G1.

[0042] As shown in Table T1, when a 24V operation signal is input to the second input port 72 and there are no 24V operation signals input to the first input port 71 and the third input port 73, the vehicle controller 24 determines that the operation signal input to the vehicle controller 24a is input pattern b. When the vehicle controller 24 determines that the input pattern is b, as shown in Graph G1, it outputs a control signal from the EPC output port 81A to the EPC valve 52 for port A so that the flow rate of the hydraulic fluid discharged from port A 51a becomes a second predetermined flow rate V2 which is less than the maximum flow rate Vf.

[0043] As shown in Table T1, when a 24V operation signal is input to the third input port 73 and there are no 24V operation signals input to the first input port 71 and the second input port 72, the vehicle controller 24 determines that the operation signal input to the vehicle controller 24a is input pattern c. When the vehicle controller 24 determines that the input pattern is c, as shown in Graph G1, it outputs a control signal from the EPC output port 81A to the A port EPC valve 52 so that the flow rate of hydraulic fluid discharged from A port 51a becomes a first predetermined flow rate V1 which is less than the second predetermined flow rate V2.

[0044] As shown in Table T1, if there is no 24V operation signal input to the first input port 71, the second input port 72, and the third input port 73, the vehicle controller 24 determines that the input to the vehicle controller 24a is input pattern d. When the vehicle controller 24 determines that the input is input pattern d, it does not output a control signal from the EPC output port 81A to the A port EPC valve 52, as shown in Graph G1.

[0045] This makes it possible to change the flow rate of hydraulic fluid supplied from port A 51a of the attachment valve 51 to the attachment 36 according to the input pattern to the three input ports 71 to 73.

[0046] The output port 82 for the electromagnetic relief valve outputs a control signal to the electromagnetic relief valve 54 in response to the input from the fourth input port 74.

[0047] Figure 4(b) shows a table T2 of input / output patterns stored in the vehicle controller 24 and a graph G2 of the hydraulic fluid pressure discharged from port A 51a set for each input pattern. Table T2 and graph G2 in Figure 4(b) show the input / output correspondence for the hydraulic fluid pressure discharged from port A 51a to the attachment 36. Table T2 shows input patterns d and e determined by the vehicle controller 24 based on the input of the fourth input port 74. The horizontal axis of graph G2 shows input patterns d and e, and the vertical axis shows the pressure value. Table T2 and graph G2 are stored in the vehicle controller 24.

[0048] As shown in Table T2, when a 24V operation signal is input to the fourth input port 74, the vehicle controller 24 determines that the input to the vehicle controller 24 is input pattern e. When the vehicle controller 24 determines that the input is input pattern e, it outputs a control signal from the output port 82 for the electromagnetic relief valve to the electromagnetic relief valve 54 so that the pressure of the hydraulic fluid from port A 51a becomes the second predetermined pressure P2, as shown in Graph G2.

[0049] As shown in Table T2, if no 24V operation signal is input to the fourth input port 74, the vehicle controller 24 determines that the input to the vehicle controller 24 is input pattern d. When the vehicle controller 24 determines that the input is input pattern d, it outputs a control signal from the output port 82 for the electromagnetic relief valve to the electromagnetic relief valve 54 so that the pressure of the hydraulic fluid from port A 51a becomes the first predetermined pressure P1, as shown in Graph G2.

[0050] This makes it possible to change the pressure of the hydraulic fluid supplied from port A 51a of the attachment valve 51 to the attachment 36, depending on the input pattern to one input port 74.

[0051] The EPC output port 81B outputs a control signal to the B port EPC valve 53 in response to the inputs from the 5th input port 75, the 6th input port 76, and the 7th input port 77.

[0052] Figure 5(a) shows a table T3 of input / output patterns stored in the vehicle controller 24 and a graph G3 of the flow rate of hydraulic fluid discharged from port B 51b set for each input pattern. Table T3 and graph G3 in Figure 5(a) show the correspondence between input and output regarding the flow rate of hydraulic fluid to the attachment. Table T3 shows input patterns a to d determined by the vehicle controller 24 based on the inputs from the 5th input port 75, the 6th input port 76, and the 7th input port 77. The horizontal axis of graph G3 shows input patterns a to d, and the vertical axis shows the flow rate of hydraulic fluid discharged from port B 51b. Table T3 and graph G3 are stored in the vehicle controller 24.

[0053] The vehicle controller 24 determines input patterns a to d based on the inputs from the fifth input port 75, the sixth input port 76, and the seventh input port 77, and outputs a control signal to the EPC valve 53 for port B based on the determined input patterns a to d. Table T3 is the same as Table T1, and graph G3 is the same as graph G1, so their explanations are omitted.

[0054] This allows the flow rate of hydraulic fluid supplied from port B 51b of the attachment valve 51 to the attachment 36 to be changed according to the input pattern to the three input ports 75-77.

[0055] The output port 82 for the electromagnetic relief valve outputs a control signal to the electromagnetic relief valve 54 in response to the input from the 8th input port 78. Figure 5(b) shows a table T4 of input / output patterns stored in the vehicle controller 24 and a graph G4 of the pressure of the hydraulic fluid discharged from port B 51b set for each input pattern. Table T4 and graph G4 in Figure 5(b) show the correspondence between input and output regarding the pressure of the hydraulic fluid to the attachment. Table T4 shows input patterns d and e determined by the vehicle controller 24 based on the input from the 8th input port 78. The horizontal axis of graph G4 shows input patterns d and e, and the vertical axis shows the pressure value. Table T4 and graph G4 are stored in the vehicle controller 24.

[0056] The vehicle controller 24 determines patterns d and e based on the input to the eighth input port 78, and outputs a control signal to the electromagnetic relief valve 54 based on the determined patterns d and e. Table T4 is the same as Table T2, and graph G4 is the same as graph G2, so their explanations are omitted.

[0057] This makes it possible to change the pressure of the hydraulic fluid supplied from port B 51b of the attachment valve 51 to the attachment 36 according to the input pattern of the operation signal to one input port 78.

[0058] The switching EPC output port 83 outputs a control signal to the attachment switching EPC valve 58. When the operator selects the type of attachment 36 to be installed using the input device 34, the vehicle controller 24 outputs a control signal to the attachment switching EPC valve 58 based on the settings stored in advance. As a result, the valve body of the attachment switching valve 57 is positioned in either the first position 57a ​​or the second position 57b.

[0059] In Figure 3, the signal transmitter 42b of the processor operating device 42 and the vehicle controller 24 are connected by three signal lines: a first signal line 421, a second signal line 422, and a third signal line 423. The first signal line 421 is connected to the first input port 71 of the vehicle controller 24. The second signal line 422 is connected to the second input port 72 of the vehicle controller 24. The third signal line 423 is connected to the third input port 73 of the vehicle controller 24.

[0060] The control operation of the work machine 1 will be explained.

[0061] When the operator selects the processor 41 using the input device 34, the vehicle controller 24 outputs a control signal to the attachment switching EPC valve 58 via the switching EPC output port 83. As a result, the spool of the attachment switching valve 57 is positioned in the first position 57a, as shown in Figure 3.

[0062] As described above, the knob switch 42a is equipped with switches for setting it to high-speed mode, medium-speed mode, and slow-speed mode. When the operator operates the knob switch 42a and the high-speed mode is selected, a 24V operation signal is input from the first signal line 421 to the first input port 71. On the other hand, no operation signals are input from the second signal line 422 and the third signal line 423 to the second input port 72 and the third input port 73 of the vehicle controller 24.

[0063] In this case, the vehicle controller 24 determines that the input pattern is a and outputs a control signal to the EPC valve 52 for port A so that hydraulic fluid is supplied to the processor 41 from port A 52a of the attachment valve 51 at the maximum flow rate Vf.

[0064] As a result, the hydraulic fluid supplied from the hydraulic fluid tank 28 to the operating valve assay 55 via the first channel 61 by the hydraulic pump 22 is supplied to the processor 41 via the second channel 62 at a maximum flow rate Vf from port A 51a of the attachment valve 51. The hydraulic fluid discharged from the processor 41 is supplied to the attachment switching valve 57 via the third channel 63. The hydraulic fluid supplied to the attachment switching valve 57 is returned to the hydraulic fluid tank 28 via the fifth channel 65. In this way, the processor 41 is supplied with hydraulic fluid at the maximum flow rate, allowing the processor 41 to operate at high speed.

[0065] When the knob switch 42a is operated by the operator and the medium speed mode is selected, a 24V operation signal is input from the second signal line 422 to the second input port 72. On the other hand, no operation signals are input from the first signal line 421 and the third signal line 423 to the first input port 71 and the third input port 73 of the vehicle controller 24. In this case, the vehicle controller 24 determines that this is input pattern b and outputs a control signal to the EPC valve 52 for port A so that hydraulic fluid is supplied to the processor 41 from port A 52a of the attachment valve 51 at a second predetermined flow rate V2. As a result, the processor 41 can operate at medium speed.

[0066] When the knob switch 42a is operated by the operator and the low-speed mode is selected, a 24V operation signal is input from the third signal line 423 to the second input port 72. On the other hand, no operation signals are input from the first signal line 421 and the second signal line 422 to the first input port 71 and the second input port 72 of the vehicle controller 24. In this case, the vehicle controller 24 determines that the input pattern is c and outputs a control signal to the EPC valve 52 for port A so that hydraulic fluid is supplied to the processor 41 from port A 52a of the attachment valve 51 at a first predetermined flow rate V1. As a result, the processor 41 can operate at a low speed.

[0067] In this way, the drive speed of the processor 41 can be changed by changing the flow rate of the hydraulic fluid supplied to the attachment 36. If the knob switch 42a is not operated, the vehicle controller 24 determines that the input pattern is d and does not send a control signal to the EPC valve 52 for port A so as not to discharge hydraulic fluid from port A 51a.

[0068] When the vehicle body controller 24 outputs a control signal to the EPC valve 52 for port A, the EPC valve 53 for port B, or the electromagnetic relief valve 54, it may modulate the control signal. Figure 6(a) shows the operation signal S1 from the attachment operating device 37. In Figure 6(a), the vertical axis represents voltage (V) and the horizontal axis represents time. The operation signal S1 is in an ON state of 24V and an OFF state of 0V, and changes abruptly between 0V and 24V. Figure 6(b) shows the control signal S2 corresponding to the operation signal in Figure 6(a). In Figure 6(b), the vertical axis represents current (A) and the horizontal axis represents time. At time t1 when the operation signal changes from the OFF state to the ON state, the vehicle body controller 24 outputs the control signal S2, but the control signal S2 does not increase abruptly to a predetermined current but increases gradually, reaching the predetermined current at time t1+Δ1. Furthermore, at time t2, when the operation signal S1 changes from the ON state to the OFF state, the vehicle controller 24 does not abruptly reduce the current value of the control signal S2 from a predetermined value to zero, but gradually decreases it until it reaches zero at time t2+Δ2.

[0069] By preventing abrupt changes in the control signal S2 in this way, it is possible to suppress the sudden change of the solenoid valve of attachment 36 to the ON or OFF state, thereby suppressing sudden operation and sudden stopping of attachment 36.

[0070] (Embodiment 2) Next, the working machine of Embodiment 2 will be described. In Embodiment 2, an example in which a grapple 43 is attached to the working machine body 2 as attachment 36 will be described. Figure 7 is a diagram showing the hydraulic circuit and control system when a grapple 43 is attached to the working machine body 2 as an example of attachment 36.

[0071] The grapple 43 is used to grasp and move wood, rubble, etc. The grapple 43 includes an actuator for operation and a solenoid valve for adjusting the flow rate of hydraulic fluid supplied to the actuator. When the grapple 43 is attached to the work machine body 2, the solenoid valve and the operating valve 27 in the grapple 43 are connected by a second flow path 62 and a third flow path 63, and hydraulic fluid is supplied to the solenoid valve of the grapple 43 via the attachment valve 51.

[0072] When the operator selects to attach the grapple 43 using the input device 34, the vehicle controller 24 outputs a control signal to the attachment switching EPC valve 58 to move the spool of the attachment switching valve 57 to the first position 57a, based on the stored settings.

[0073] When the grapple 43 is attached to the work machine body 2, a grapple operating device 44 for operating the grapple 43 is located in the cab 8 and is electrically connected to the vehicle controller 24. The grapple operating device 44 is an example of the attachment operating device 37 shown in Figure 2. The grapple operating device 44 includes a knob switch 44a and a signal transmitter 44b. The knob switch 44a is operated by the operator. The signal transmitter 44b transmits an operation signal to the vehicle controller 24 in response to the operator's operation of the knob switch 44a.

[0074] The signal transmitter 44b is electrically connected to the vehicle controller 24 by a signal line 441. The signal line 441 is connected to the third input port 73. When the knob switch 44a is operated, a control signal is input to the third input port 73 of the vehicle controller 24. On the other hand, since no signal lines are connected to the first input port 71 and the second input port 72, no control signal is input to them. In this case, the vehicle controller 24 determines that the input pattern is c and outputs a control signal to the EPC valve 52 for port A so that hydraulic fluid is supplied to the processor 41 from port A 52a of the attachment valve 51 at a first predetermined flow rate V1.

[0075] As a result, the hydraulic fluid supplied from the hydraulic fluid tank 28 to the operating valve assay 55 via the first flow path 61 by the hydraulic pump 22 is supplied to the grapple 43 via the second flow path 62 at a first predetermined flow rate V1 through port A 51a of the attachment valve 51. The hydraulic fluid discharged from the grapple 43 is supplied to the attachment switching valve 57 via the third flow path 63. The hydraulic fluid supplied to the attachment switching valve 57 is returned to the hydraulic fluid tank 28 via the fifth flow path 65.

[0076] Furthermore, if the knob switch 44a is not operated, no control signal is input to the third input port 73 of the vehicle controller 24. In this case, the vehicle controller 24 determines that the input pattern is d and does not output a control signal to the EPC valve 52 for port A, and no hydraulic fluid is supplied from port A 52a of the attachment valve 51.

[0077] (Embodiment 3) Next, the working machine of Embodiment 3 will be described. In Embodiment 3, an example will be described in which a grapple 43 and a winch 45 are attached to the working machine body 2 as attachments 36. In Figure 8, the grapple 43 is attached to the tip of the arm 10 of the working machine body 2, similar to Figure 7, but unlike Figure 7, the signal line 441 from the signal transmitter 44b is branched and connected to the third input port 73 and the fourth input port 74. Similar to the description in Figure 7, based on the operation signal from the operator's operation of the knob switch 44a, the vehicle controller 24 determines input pattern c or input pattern d and controls the flow rate of hydraulic fluid discharged from port A 51a.

[0078] Furthermore, the 24V operation signal generated by the operator's operation of the knob switch 44a is input to both the third input port 73 and the fourth input port 74. When the operation signal is input to the fourth input port 74 of the vehicle controller 24, the vehicle controller 24 determines that it is input pattern e and outputs a control signal from the output port 82A for the electromagnetic relief valve to the electromagnetic relief valve 54 so that the pressure of the hydraulic fluid discharged from port A 51a becomes the second predetermined pressure P2.

[0079] On the other hand, if no operation signal is input to the fourth input port 74 of the vehicle body controller 24, the vehicle body controller 24 determines that the input pattern is d and outputs a control signal from the output port 82A for the electromagnetic relief valve to the electromagnetic relief valve 54 so that the first predetermined pressure of the hydraulic fluid becomes P1.

[0080] When the winch 45 is attached to the work machine body 2, the operating switch 46 and solenoid valve 47 for operating the winch 45 are also attached to the work machine body 2. The operating switch 46 drives the winch 45 to wind up and feed out the wire.

[0081] The solenoid valve 47 switches the flow path of the hydraulic fluid depending on whether the wire is being wound up or unwound, based on an operating signal from the operating switch 46. A seventh flow path 67 is installed, connecting the solenoid valve 47 to port 51b of the attachment valve 51; an eighth flow path 68 is installed, connecting the solenoid valve 47 to the actuator of the winch 45; a ninth flow path 69 is installed, connecting the actuator of the winch 45 to the solenoid valve 47; and a tenth flow path 70 is installed, connecting the solenoid valve 47 to the fifth flow path 65.

[0082] An operating signal from the operating switch 46 causes the valve body of the solenoid valve 47 to move between a first position 47a and a second position 47b. When the valve body of the solenoid valve 47 is positioned in the first position 47a, the solenoid valve 47 connects the seventh passage 67 and the eighth passage 68, and connects the ninth passage 69 and the tenth passage 70. As a result, the hydraulic fluid output from port B 51b flows in the order of the seventh passage 67, the eighth passage 68, the ninth passage 69, and the tenth passage 70, returning to the hydraulic fluid tank 28, for example, to wind up the wire by the winch 45. When the valve body of the solenoid valve 47 is positioned in the second position 47b, the solenoid valve 47 connects the seventh passage 67 and the ninth passage 69, and connects the eighth passage 68 and the tenth passage 70. As a result, the hydraulic fluid output from port B 51b flows through the seventh passage 67, the ninth passage 69, the eighth passage 68, and the tenth passage 70 in that order, returning to the hydraulic fluid tank 28. This flow of hydraulic fluid is used, for example, to feed out the wire by the winch 45.

[0083] The operation switch 46 and the seventh input port 77 of the vehicle controller 24 are connected by a signal line 461. When a 24V operation signal from the operation switch 46 is input to the seventh input port 77, the vehicle controller 24 determines that the input pattern is c based on table T3, since no signal lines are connected to the fifth input port 75 and the sixth input port 76. It then outputs a control signal to the EPC valve 53 for port B so that the flow rate of the hydraulic fluid discharged from port B 51b becomes a first predetermined flow rate V1. This allows hydraulic fluid to be supplied to the winch 45 at a flow rate corresponding to the winch 45 that is installed.

[0084] As described above, in the work machine 1 of this embodiment, for example, as shown in Embodiment 2, a control signal output from the EPC output port 81A is pre-set in response to the input of an operation signal to the third input port 73. Also, for example, as shown in Embodiment 3, a drive signal output from the electromagnetic relief valve output port 82 to the electromagnetic relief valve 54 is pre-set in response to the input of an operation signal to the fourth input port 74.

[0085] As a result, the vehicle controller 24 can supply hydraulic fluid to the attachment 36 and operate it in response to input from the attachment operating device 37. In this way, the vehicle controller 24 can operate the attachment 36 based on input from the attachment operating device 37 without the need for a separate signal converter, making it easy to install the attachment 36.

[0086] In the work machine 1 of this embodiment, the vehicle controller 24 has a plurality of input ports 71 to 73. The control signals output from the EPC output port 81A are pre-set according to the input patterns a to d of the operation signals from the attachment operating device 37 to the plurality of input ports 71 to 73.

[0087] As a result, even when an attachment 36 (for example, the processor 41 in Embodiment 1) that requires multiple stages of flow rate changes is attached to the work machine body 2, the attachment 36 can be operated by directly inputting the operation signal from the attachment operating device 37 to the vehicle controller 24.

[0088] Furthermore, whether the processor 41, which requires three levels of flow rate adjustment, is mounted on the work machine body 2, or the grapple 43, which has only one flow rate setting, is mounted on the work machine body 2, this can be handled simply by changing the connection of the signal lines to the multiple input ports 71 to 73. Therefore, it can be easily attached to multiple types of attachments 36.

[0089] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the gist of the present disclosure.

[0090] In the above embodiment, a fourth input port 74 is provided as one input port for adjusting the pressure of the hydraulic fluid discharged from port A 51a of the attachment valve 51. However, as with the flow rate, multiple input ports may be provided, allowing for adjustment in multiple stages. Similarly, for the input port for adjusting the pressure of the hydraulic fluid discharged from port B 51b, in addition to the eighth input port 78, other input ports may be provided, allowing for adjustment to multiple pressure levels.

[0091] In the above embodiment, three input ports are provided to control the flow rate of the hydraulic fluid discharged from port A 51a or port B 51b, but there are no limit to three ports; there may be one, two, or four or more.

[0092] In the above embodiment, it was stated that the first predetermined flow rate V1, the second predetermined flow rate V2, the first predetermined pressure P1, and the second predetermined pressure P2 are pre-set by the vehicle body controller 24, but all or some of these values ​​may be set by the operator using the input device 34.

[0093] In the above embodiment, a hydraulic excavator was given as an example of a work machine, but it is not limited to a hydraulic excavator; a wheel loader or the like may also be used. [Industrial applicability]

[0094] The work machine of the present invention has the effect of making it possible to easily attach attachments. [Explanation of symbols]

[0095] 1: Working Machinery 2: Main body of the work machine 24: Vehicle controller 41: Processor 42: Processor operating device 73: Third input port 81A: Output port for EPC

Claims

1. The main body of the work machine, It comprises an attachment that can be mounted on the main body of the aforementioned work machine, The aforementioned work machine body is A hydraulic valve that controls the hydraulic fluid that operates the actuator of the attachment, An operating device for operating the aforementioned attachment, A controller having an input port into which an operation signal is input by the operation of the aforementioned operating device, and an output port that outputs a control signal for controlling the hydraulic valve, The control signal output from the output port in response to the input of the operation signal to the input port is set in advance. Agricultural machinery.

2. The control signal is set in advance so that the flow rate or pressure of the hydraulic fluid supplied from the hydraulic valve to the actuator becomes a predetermined value. The work machine according to claim 1.

3. The controller has multiple input ports, The control signal output from the output port is set in advance according to the input pattern of the operation signal to the plurality of input ports. The work machine according to claim 1.

4. The control signal output from the output port is preset such that the flow rate of the hydraulic fluid supplied from the hydraulic valve to the actuator differs depending on the input pattern. The work machine according to claim 3.

5. The system further includes an electromagnetic proportional control valve that controls the pilot pressure that drives the hydraulic valve according to the control signal, The control signals output to the electromagnetic proportional control valve are pre-set to differ depending on the input pattern. The work machine according to claim 3.

6. The control signal output from the output port is preset so that the pressure of the hydraulic fluid supplied from the hydraulic valve to the actuator differs depending on the input pattern. The work machine according to claim 3.

7. The system further includes an electromagnetic relief valve that adjusts the pressure in the hydraulic valve according to the control signal, The control signals output to the electromagnetic relief valve are pre-set to differ depending on the input pattern. The work machine according to claim 4.

8. The controller delays the time it takes for the control signal to reach a value corresponding to the input of the operation signal. The work machine according to claim 1.

9. The aforementioned work machine body is The vehicle and A rotating body is arranged on the aforementioned traveling body so as to be rotatable, The rotating body has a work machine body positioned on it, The attachment is mounted on the main body of the work machine. The work machine according to claim 1.

10. A work machine to which an attachment can be fitted, The controller includes an input port to which an operation signal is input from an operating device that operates the attachment, and an output port to which a control signal is output to control a hydraulic valve that controls the hydraulic fluid that operates the actuator of the attachment. The control signal output from the output port in response to the input of the operation signal to the input port is set in advance. Agricultural machinery.

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