JP2019078133A - Work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine capable of stably transmitting an information signal by a transmitter provided in an attachment for a long period of time. A work machine includes a machine body, a work device main body attached to the machine body, and an attachment that can be attached to and detached from the work device main body, and a work device that operates so as to relatively displace the attachment with respect to the machine body, and an attachment. A transmitter that is placed in the attachment so that it is displaced relative to the aircraft, converts the kinetic energy of the attachment due to the operation of the work equipment into electric power, and uses the electric power to transmit an information signal including information about the attachment, and the aircraft. It is provided with a receiver capable of receiving an information signal and a controller for acquiring information about an attachment based on the information signal received by the receiver. [Selection diagram] Fig. 1

Description

  The present invention relates to a working machine, and more particularly, to a working machine provided with a working device including a removable attachment.

  DESCRIPTION OF RELATED ART Conventionally, working machines, such as a hydraulic shovel provided with the working apparatus, are known. Among the working devices, including the working device body and various work attachments such as breakers, nibbles, buckets, etc. that are attached to and detached from the work device body, select and attach the work attachment according to the application In some cases, it is possible to perform various tasks.

  The work attachment has different operating conditions for each type. Therefore, in the working machine, it is necessary to accurately grasp the type of the attached work attachment and to operate the work attachment under the condition suitable for the work attachment.

  Patent Document 1 below discloses a construction machine capable of transmitting information on a work attachment from the work attachment to the machine by wireless communication. The construction machine is provided with a work attachment, a transmitter capable of transmitting an information signal including information on the work attachment, and a type of work attachment provided on a machine body to receive the information signal. And a controller for grasping.

Japanese Patent Application Laid-Open No. 10-237904

  In the work machine described in Patent Document 1, since information is transmitted from the transmitter to the controller by wireless communication, it is necessary to secure the power necessary for the transmitter to transmit the information signal. It is difficult to secure For example, when the battery is provided in the transmitter, the transmittable time is extremely limited, and connecting the power supply to the transmitter via a wire loses the inherent merits of wireless communication.

  An object of the present invention is a working machine comprising a machine body, and a working device including a detachable attachment and operating to displace the attachment relative to the machine body, the transmission provided to the attachment It is an object of the present invention to provide a working machine capable of stably transmitting an information signal by a controller over a long period of time.

  A working machine according to the present invention includes a machine body, a working device body attached to the machine body, and an attachment detachably attachable to the working device body, and a working device operable to relatively displace the attachment with respect to the machine body And the attachment together with the attachment so as to be displaced relative to the body, the kinetic energy of the attachment by the operation of the work device is converted into electric power, and information including the information on the attachment using the electric power A transmitter for transmitting a signal, a receiver arranged on the machine and capable of receiving the information signal, and a controller for acquiring information on the attachment based on the information signal received by the receiver Equipped with

  In the above-mentioned work machine, since the transmitter can generate electricity by the movement of the attachment, the receiver on the side of the airframe from the distance from the airframe even without receiving the power supply from the battery or other external power source An information signal can be transmitted by itself.

  In the work machine, preferably, the controller is configured to determine whether the work device is in a specific drive state, and the drive state determination unit determines the work device in the specific drive state. An information acquisition determining unit that determines whether to acquire information related to the attachment based on the information signal based on a relationship between a specific driving state determination period determined to be present and a timing at which the information signal is received; .

  In the above working machine, the acquisition of the information on the attachment is limited to the case where the specific condition is satisfied. For example, even when a plurality of working machines exist in the same work site, the received information signal is an own machine It can be determined whether or not it originates from a transmitter provided at the attachment of. Therefore, it is possible to obtain only information on the attachment of the own machine.

  In the work machine, preferably, the information acquisition determination unit determines whether the information signal has been received within an allowable period set based on the specific operation state determination period, and based on the result, It is determined whether to obtain information on the attachment based on the information signal.

  In the work machine, it is possible to determine whether the information signal has been received within the specific operating condition determination period, in consideration of an assumed time lag. Therefore, the accuracy of the determination can be enhanced.

  According to the work machine according to the present invention, the transmission of the information signal by the transmitter provided to the attachment can be stably performed over a long period of time.

It is a schematic diagram which shows schematic structure of the working machine by embodiment of this invention. It is a block diagram about the structure for operating a working device in the working machine shown in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

  FIG. 1 is a block diagram of a working machine 1 according to an embodiment of the present invention. In the example of FIG. 1, although the work machine 1 is comprised with the hydraulic shovel, this is an example and other construction machines, such as a hydraulic crane, may be employ | adopted.

  The working machine 1 includes a crawler-type lower traveling body 2, an upper revolving body 3 rotatably provided on the lower traveling body 2, and a working device 4 attached to the upper revolving body 3. The lower traveling body 2 and the upper swing body 3 constitute an airframe of the working machine 1.

  The working device 4 includes a boom 41 and an arm 42 as a working device main body, and an attachment 43. The boom 41 is attached to the upper swing body 3 so as to be able to be raised and lowered. The arm 42 is swingably attached to the tip of the boom 41. The boom 41 and the arm 42 are relatively displaceably coupled via the movable coupling portion 40. The boom 41 and the arm 42 realize a plurality of split movable members. The attachment 43 is pivotally attached to the tip of the arm 42.

  The configuration for operating the working device 4 will be described with reference to FIG. FIG. 2 is a block diagram of a configuration for operating the work device 4.

  The actuator 9 operates by being supplied with hydraulic oil. The actuator 9 is provided to the work device 4. The actuator 9 is a hydraulic cylinder (boom cylinder) for raising and lowering the boom 41 with respect to the upper swing body 3, a hydraulic cylinder (arm cylinder) for swinging the arm 42 with respect to the boom 41, and an attachment 43 for the arm 42. It is a hydraulic cylinder (attachment cylinder) or the like to be oscillated.

  The actuator drive circuit 8 supplies hydraulic oil to the actuator 9 to drive the actuator 9. The actuator drive circuit 8 includes a hydraulic pump driven by the engine as a power source, a control valve for adjusting the amount of hydraulic fluid discharged from the hydraulic pump to the actuator 9, and a pilot pressure for controlling the control valve. And an operation lever to be generated.

  The controller 7 controls the drive of the actuator 9 by the actuator drive circuit 8. Specifically, the amount of discharge of the hydraulic oil supplied from the hydraulic pump to the actuator is adjusted in accordance with the amount of operation of the control lever. As a result, the working device 4 changes the angle between the boom 41 and the upper swing body 3, the angle between the boom 41 and the arm 42, and the angle between the arm 42 and the attachment 43 to change the posture. That is, the working device 4 operates to displace the attachment 43 relative to the upper swing body 3.

  The controller 7 is configured by a computer including a processor such as a CPU and a memory, for example. The controller 7 is provided inside the upper swing body 3. The details of the controller 7 will be described later.

  Again, referring to FIG. The attachment 43 includes a mounting portion 431. The mounting portion 431 is a portion that is detachably mounted to the tip of the arm 42. In the example of FIG. 1, the attachment 43 is configured by, for example, a bucket, but this is an example, and any attachment that can be replaced with a hydraulic shovel such as a breaker or a nibler. May be composed of In the working device 4, the attachment 43A may be attached instead of the attachment 43. The attachment 43A is configured by, for example, a breaker. The attachment 43A is also provided with a mounting portion 431, and is exchangeably mounted on the tip of the arm 42. Thus, the work machine 1 can selectively replace the attachment 43 formed of a bucket and the attachment 43A formed of a breaker.

  A transmitter 5 is disposed at the attachment 43. The transmitter 5 transmits an information signal including identification information of the attachment 43. Similar to the attachment 43, the attachment 43A also transmits an information signal including identification information of the attachment 43A.

  In the example of FIG. 1, the transmitter 5 is provided on the rear end side (arm 42 side) of the surface 43 a of the attachment 43 facing the ground side at the time of excavation work, but this is an example. It may be provided on the distal end side, may be provided at an appropriate position on the bottom surface 43b, and the arrangement position is not particularly limited.

  The communicable area D1 defines the range in which the information signal transmitted from the transmitter 5 reaches. Here, the communicable area D1 is composed of a main lobe extending in the normal direction of the radiation surface of the transmitter 5 and a plurality of side lobes extending in an oblique direction with respect to the normal direction across the main lobe.

  The transmitter 5 is configured of, for example, an IC tag. In addition, the transmitter 5 is provided with an antenna for outputting an information signal including identification information of the attachment 43 to an external space. In addition, the transmitter 5 includes a memory for storing identification information, and an electronic circuit that reads identification information from the memory, modulates transmission data including the read identification information to generate an information signal, and outputs the information signal from an antenna. There is.

  The IC tag is also referred to as an RFID (radio frequency identifier) tag. In this embodiment, the active type IC tag, which converts kinetic energy of the attachment 43 when the work device 4 operates, into electric power, and transmits an information signal using the electric power is a transmitter 5. Has been adopted. As an aspect of converting kinetic energy into electric power, for example, one that uses an impact when the attachment 43 starts moving or when the attachment 43 stops its movement, or a vibration when the attachment 43 is moving There is something to use. As an element for converting kinetic energy into electric power, for example, a piezoelectric element or the like is used (see, for example, Proc. Symp. Ultrason. Electron., Vol. 27, (2006) pp. 85-86). In addition, it is also possible to employ | adopt the thing using the electromagnetic induction by a coil and a permanent magnet, for example as an element which converts kinetic energy into electric power. The mode of converting kinetic energy into electric power is appropriately selected in consideration of, for example, the movement of the attachment 43 at the time of operation. If the power obtained by converting the kinetic energy of the attachment 43 does not meet the power required for transmission of the information signal, the power necessary for transmission of the information signal is stored, and then the information is utilized using the power It is preferred to emit a signal. The power can be stored, for example, by using a capacitor or the like.

  As identification information, information indicating the type of attachment 43, information indicating the manufacturer, serial number, and information including at least one of the product numbers can be adopted. The information indicating the type is, for example, information indicating that the attachment 43 is a bucket and information indicating that the attachment 43 is a bucket, and information indicating that the attachment 43 is a breaker is a breaker.

  A receiver 6 is provided inside the upper turning interior 3 and receives the information signal emitted by the transmitter 5. The receiver 6 is configured of, for example, an IC tag reader. Specifically, the receiver 6 performs signal processing for extracting transmission data by demodulating an antenna for receiving the information signal transmitted by the transmitter 5, an amplifier for amplifying the received information signal, and the amplified information signal. And an information processing unit that decodes the extracted transmission data, acquires identification information, and outputs the identification information to the controller 7.

  The receiver 6 is connected to the controller 7 by wire. The controller 7 recognizes the attachment 43 currently attached based on the identification information transmitted from the transmitter 5, and executes control according to the recognized attachment 43.

  Again, referring to FIG. The controller 7 includes a control unit 71, a driving state determination unit 72, an information acquisition determination unit 73, and an information processing unit 74.

  The control unit 71 controls the drive of the actuator 9 by the actuator drive circuit 8. Specifically, the amount of discharge of the hydraulic oil supplied from the hydraulic pump to the actuator is adjusted according to the amount of operation of the operation lever that operates the work device 4.

  The operating state determination unit 72 determines whether the operating state of the work device 4 is a specific operating state.

  The information used to determine whether the operating state of the work device 4 is a specific operating state differs depending on, for example, the configuration of the actuator drive circuit 8 employed. For example, when a pilot pressure sensor for detecting a pilot pressure applied to the control valve by the operation of the operation lever is provided, the determination is made based on the pilot pressure signal output from the pilot pressure sensor. Moreover, when using an electric lever as an operation lever, it determines based on the operation input signal input into the controller 7 with operation of the said electric lever.

  The specific operating state is appropriately set, for example, in accordance with the manner in which the transmitter 5 converts kinetic energy into electric power. The specific operating state may be, for example, a state in which at least the attachment 43 is moving, or a state in which the state of the attachment 43 changes. At least the state in which the attachment 43 is moving is, for example, the state in which the attachment 43 is moving due to the movement of the work machine 1 by the lower traveling body 2 or the operation of the arm 42 and the boom 41 as the working device main body. Accordingly, the attachment 43 is in motion, and only the attachment 43 is in motion. The state in which the attachment 43 changes state is, for example, a state in which the attachment 43 starts moving or a state in which the movement of the attachment 43 stops.

  The information acquisition determination unit 73 determines whether or not the identification information (information on the attachment 43 based on the information signal received by the receiver 6) sent from the receiver 6 is to be acquired as to the attachment 43 of the own machine. . The information acquisition determining unit 73 receives an information signal within an allowable period set based on a period determined by the operating condition determining unit 72 that the work device 4 is in the specific operating condition (specific operating condition determination period). In this case, the identification information included in the information signal is acquired as the attachment 43 of the own machine. The permissible period is set, for example, in consideration of an assumed time lag. In addition, in order to increase the accuracy of determining whether the identification information sent from the receiver 6 relates to the attachment 43 of the own machine, for example, the information signal is received in all of a plurality of continuous permission periods. In this case, it may be determined that the identification information sent from the receiver 6 relates to the attachment 43 of the own machine.

  The information processing unit 74 associates the acquired information with the reception time, and stores the information as log data in the memory. The log data stored in the memory is transmitted to the server (not shown) via the communication network in association with the identification information of the work machine 1 in predetermined time units (for example, in units of one day). The server receiving this log data stores the log data in its own memory. The server receives such log data from a plurality of work machines and stores it in the memory. As a result, the manager can manage what attachment 43 has been attached in each work machine 1 now or in the past.

  In the working machine 1, since the transmitter 5 can generate electric power by the movement of the attachment 43, the transmitter 5 to the receiver 6 by itself even without receiving power supply from a battery or other external power source. An information signal can be transmitted.

  In the work machine 1, the acquisition of the information on the attachment 43 is limited to the case where the specific condition is satisfied, so that, for example, even when a plurality of work machines 1 exist in the same work site, the received information signal is It can be determined whether or not the signal is transmitted from the transmitter 5 provided in the attachment 43 of the own machine. Therefore, only information on the attachment 43 of the own machine can be acquired.

  In the work machine 1, it is possible to determine whether or not the information signal has been received within the specific driving state determination period, in consideration of an assumed time lag. Therefore, the accuracy of the determination can be enhanced.

  Further, in the work machine 1, when the identification information includes the serial number of the attachment 43, the cumulative use time of the attachment 43 can be managed by associating the serial number with the use state of the attachment 43, so The replacement time of the attachment 43 can be grasped with reference to the cumulative use time.

  As mentioned above, although the embodiment of the present invention has been described in detail, these are merely examples, and the present invention is not limited at all by the above-mentioned embodiment.

  For example, the attachment of the present invention is not limited to one disposed at the tip of the working device, such as a bucket or a nibler. For example, in the case where the arm is disposed detachably with respect to the boom, not only a working attachment that can be attached to and detached from the arm, such as a bucket or a nibler, the arm also corresponds to the attachment of the present invention.

DESCRIPTION OF SYMBOLS 1 work machine 2 lower traveling body 3 upper revolving superstructure 4 work device 41 boom 42 arm 43 attachment 5 transmitter 6 receiver 7 controller 72 operation state determination unit 73 information acquisition determination unit

Claims (3)

The aircraft,
A working device body including a working device body attached to the machine body and an attachment detachably attachable to the working device body, the working device operable to displace the attachment relative to the machine body;
The attachment is disposed on the attachment so as to be displaced relative to the body together with the attachment, the kinetic energy of the attachment due to the operation of the work device is converted into electric power, and the electric power is used to generate an information signal including information on the attachment A transmitter to transmit,
A receiver disposed on the airframe and capable of receiving the information signal;
A work machine comprising: a controller for acquiring information on the attachment based on the information signal received by the receiver. A working machine according to claim 1, wherein
The controller
A driving state determination unit that determines whether the work device is in a specific driving state;
Information on the attachment based on the information signal based on the relationship between the specific driving state determination period in which the work device is determined to be the specific driving state by the driving state determination unit and the timing at which the information signal is received And an information acquisition determining unit that determines whether to acquire the information. A working machine according to claim 2, wherein
The information acquisition determination unit determines whether or not the information signal is received within an allowable period set based on the specific driving state determination period, and based on the result, relates to the attachment based on the information signal A working machine that determines whether to acquire information.

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