JPH05195548A - Hydraulic actuator controller in earth-moving machine - Google Patents
Hydraulic actuator controller in earth-moving machineInfo
- Publication number
- JPH05195548A JPH05195548A JP712592A JP712592A JPH05195548A JP H05195548 A JPH05195548 A JP H05195548A JP 712592 A JP712592 A JP 712592A JP 712592 A JP712592 A JP 712592A JP H05195548 A JPH05195548 A JP H05195548A
- Authority
- JP
- Japan
- Prior art keywords
- lever
- speed
- hydraulic actuator
- control
- control valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えばバックホー等の
土工機における油圧アクチュエータ制御装置に関し、詳
しくは、作業装置を油圧アクチュエータにより駆動する
よう構成するとともに、前記油圧アクチュエータの電磁
式比例流量制御弁の開度を、操作レバーの操作量に応じ
た電流を供給して比例制御する流量制御手段を備えてあ
る土工機における油圧アクチュエータ制御装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic actuator control device for an earthmoving machine such as a backhoe. More specifically, the working device is configured to be driven by a hydraulic actuator, and an electromagnetic proportional flow control valve for the hydraulic actuator is provided. The present invention relates to a hydraulic actuator control device in an earthmoving machine, which is provided with a flow rate control means for proportionally controlling the opening degree of the control lever by supplying a current according to an operation amount of an operation lever.
【０００２】[0002]
【従来の技術】上記土工機における油圧アクチュエータ
制御装置において、従来では、前記操作レバーの全操作
領域に亘りその操作量に応じた電流を前記電磁式比例流
量制御弁に供給するよう構成してあった。2. Description of the Related Art Conventionally, a hydraulic actuator control device for an earthmoving machine is configured to supply a current corresponding to an operation amount of the operation lever to the electromagnetic proportional flow control valve over the entire operation region. It was
【０００３】[0003]
【発明が解決しようとする課題】前記制御装置は、油圧
アクチュエータの制御のための油圧制御弁のスプールを
人為的に操作するのは、操作が重く、行い難い欠点があ
るために、このレバー操作を軽快に行えるようにするた
めに、操作レバーの操作量を電気信号に変換して、供給
電流に対応した開度に比例制御される電磁式比例流量制
御弁を用いて油圧アクチュエータを操作するよう構成し
たものである。ところが、上記従来構造においては、操
作レバーの操作領域の全域に亘り、操作量に応じた電流
を供給して前記電磁式比例流量制御弁を駆動制御するよ
う構成したものであるから、レバー操作の途中において
は、操作位置に対応する電流量、即ちそれに対応する弁
開度に設定され、所望の作業速度を得ることができるけ
れども、例えば作業装置を高速で作動している状態から
急停止するような場合、操作レバーを高速作動域から素
早く中立位置側に操作しても、作業装置が慣性力に起因
して過剰作動したり、電流変化に対して電磁式比例流量
制御弁のスプールの移動が追いつかず応答遅れを生じた
りして、操作レバーの操作通り作業装置が作動せず、所
望の停止位置を越えたり、その手前で停止してしまうこ
とがあり、操縦者の意思に沿わない作動になる欠点があ
った。特に、大重量の作業装置を駆動するときに上記不
具合が顕著となっていた。本発明は上記不具合点を解消
することを目的としている。The above-mentioned control device is disadvantageous in that manually operating the spool of the hydraulic control valve for controlling the hydraulic actuator is heavy and difficult to perform. In order to facilitate the operation of the hydraulic actuator, the operation amount of the operation lever is converted into an electric signal, and the hydraulic actuator is operated using an electromagnetic proportional flow control valve that is proportionally controlled to the opening corresponding to the supply current. It is composed. However, in the above-described conventional structure, the electromagnetic proportional flow control valve is driven and controlled by supplying a current according to the operation amount over the entire operation area of the operation lever. On the way, the current amount corresponding to the operation position, that is, the valve opening corresponding to the current amount is set, and the desired working speed can be obtained, but for example, the working device is suddenly stopped from the high-speed operating state. In this case, even if the operating lever is quickly moved from the high-speed operating range to the neutral position, the working device may overact due to inertial force, or the spool of the electromagnetic proportional flow control valve may move in response to current changes. The work device may not operate according to the operation of the operating lever due to a delay in catching up, and the work device may exceed the desired stop position or may stop before that position. There is a disadvantage to be working. In particular, the above-mentioned problems have been remarkable when driving a heavy work device. The present invention aims to eliminate the above-mentioned problems.
【０００４】[0004]
【課題を解決するための手段】本発明の特徴構成は、冒
頭に記載した土工機における油圧アクチュエータ制御装
置において、前記操作レバーの駆動操作位置からの中立
位置への切り換え操作時において、前記操作レバーによ
る作動領域のうち、高速作動側の所定の領域内における
前記操作レバーの操作速度を検出する操作速度検出手段
を設け、この操作速度検出手段の検出結果が所定値以上
であることを検出したときのみ、前記操作レバーの操作
量に対応する目標電流よりも小さな電流を所定の短時間
だけ前記電磁式比例流量制御弁に供給する電流制御手段
を備えてある点にある。A characteristic configuration of the present invention is that in the hydraulic actuator control device for an earthmoving machine described at the beginning, when the operation lever is switched from a drive operation position to a neutral position, the operation lever is operated. When an operation speed detecting means for detecting an operation speed of the operation lever in a predetermined area on the high-speed operation side of the operation area is provided, and it is detected that the detection result of the operation speed detecting means is a predetermined value or more. Only, there is a current control means for supplying a current smaller than the target current corresponding to the operation amount of the operation lever to the electromagnetic proportional flow control valve for a predetermined short time.
【０００５】[0005]
【作用】作業装置を比較的高速作動させている状態から
所定位置で急停止させたいような場合、操作レバーを素
早く駆動操作位置からの中立位置に向けて切り換え操作
すると、油圧アクチュエータへの油圧を制御する電磁式
比例流量制御弁に対して、予め定められる比例特性に基
づく操作レバーの操作位置に対応する制御目標電流より
も小さな電流を所定時間供給するので、電磁式比例流量
制御弁のスプールが低速側に急速に移動させることにな
り、油圧アクチュエータに対する圧油流量が絞られて、
大重量の慣性力により過剰作動しようとする作業装置に
対するブレーキとして作用し、前記小電流の電流値と供
給時間とを適切に設定することで操作レバーの操作感覚
にほぼ合致した停止作動を得ることができる。When the working device is operated at a relatively high speed and suddenly stopped at a predetermined position, the hydraulic pressure to the hydraulic actuator is controlled by quickly switching the operating lever from the drive operating position to the neutral position. Since a current smaller than the control target current corresponding to the operating position of the operating lever based on a predetermined proportional characteristic is supplied for a predetermined time to the electromagnetic proportional flow control valve, the spool of the electromagnetic proportional flow control valve moves at a low speed. It will be moved rapidly to the side, the pressure oil flow rate to the hydraulic actuator will be throttled,
Acting as a brake for a work device that is about to operate excessively due to inertial force of heavy weight, and appropriately setting the current value of the small current and the supply time to obtain a stop operation that almost matches the operation feeling of the operating lever. You can
【０００６】[0006]
【発明の効果】従って、油圧制御弁を電気的に制御する
よう構成することで、レバー操作を軽快に楽に行えるも
のでありながら、高速作動させている作業装置を急停止
させるような場合であっても、制御の応答遅れや慣性力
に起因する過剰作動等を抑制して、操縦操作性に優れた
ものを提供できるに到った。Therefore, by constructing the hydraulic control valve so as to be electrically controlled, the lever operation can be performed lightly and effortlessly, but the working device operating at high speed is suddenly stopped. However, it has become possible to provide a vehicle with excellent steering operability by suppressing control response delay and excessive operation due to inertial force.
【０００７】[0007]
【実施例】以下、実施例を図面に基いて説明する。図４
に土工機の一例としてのバックホーを示している。この
バックホーは、クローラ走行装置１を備えた走行機台２
に旋回用油圧モータＭの駆動により縦軸芯周りで全旋回
自在に旋回台３を搭載するとともに、旋回台３にバック
ホー装置４〔作業装置の一例〕を連結し、走行機台２に
ドーザ装置５を備えて構成してある。前記バックホー装
置４は、旋回台３に横軸芯周りで上下揺動自在に枢支さ
れるブーム６にアーム７、バケット８を枢支連結すると
ともに、夫々をブームシリンダＣ１、アームシリンダＣ
２、バケットシリンダＣ３により駆動揺動して掘削作業
を行えるよう構成してある。又、ブーム６は、基端部６
ａ、中間部６ｂ及び先端部６ｃに３分割され、夫々を縦
軸芯周りで枢支連結するとともに、基端部６ａと先端部
６ｃとを中間部６ｂと平行なリンク９を介して枢支連結
し、オフセットシリンダＣ４により中間部６ｂを揺動駆
動することでバケット８が平行姿勢を維持しながら左右
方向に移動できるよう構成し、バケット８をブーム基端
部６ａに対して横方向にオフセットして旋回台３上に格
納することで最大旋回径を小さくした状態で旋回作動で
きるよう構成してある。Embodiments will be described below with reference to the drawings. Figure 4
Shows a backhoe as an example of an earthmoving machine. This backhoe has a traveling platform 2 equipped with a crawler traveling device 1.
A swivel base 3 is mounted on the swivel base 3 such that the swivel base 3 can be freely swiveled around a vertical axis by driving a swiveling hydraulic motor M. It is configured with 5. The backhoe device 4 pivotally supports an arm 7 and a bucket 8 on a boom 6 which is pivotally supported on a swivel base 3 about a horizontal axis so as to be vertically swingable, and also has a boom cylinder C1 and an arm cylinder C, respectively.
2. The bucket cylinder C3 is driven and rocked to perform excavation work. Also, the boom 6 has a base end 6
a, an intermediate portion 6b, and a tip portion 6c are divided into three parts, and each of them is pivotally connected about a longitudinal axis, and the base end portion 6a and the tip portion 6c are pivotally supported via a link 9 parallel to the intermediate portion 6b. The bucket 8 is configured to be movable laterally while maintaining a parallel posture by swinging the intermediate portion 6b by connecting the offset cylinder C4, and the bucket 8 is laterally offset with respect to the boom base end portion 6a. By storing it on the swivel base 3, the swivel operation can be performed with the maximum swivel diameter reduced.
【０００８】油圧アクチュエータとしての前記ブームシ
リンダＣ１、アームシリンダＣ２、バケットシリンダＣ
３及び旋回油圧モータＭの夫々は、旋回台３上に設けら
れた操縦部１０に配設した十字揺動操作自在な左右一対
の操作レバー１１により制御操作されるよう構成してあ
る。詳述すると、図１に示すように、前記各シリンダＣ
１，Ｃ２，Ｃ３及び旋回モータＭは、夫々電磁式比例流
量制御弁Ｖにより油圧流量を制御するよう構成し、各操
作レバー１１の夫々の操作方向における操作量を４個の
ポテンショメータＰＭにより検出して、この検出操作量
に基づいて制御装置１２が各電磁式比例流量制御弁Ｖに
対する電流供給量を制御するよう構成してある。又、前
記オフセットシリンダＣ４は操作スイッチＳＷの操作に
より予め設定される流量を供給するよう構成されてい
る。前記制御装置１２は、操作レバー１１の操作量に応
じた電流を供給して電磁式比例流量制御弁Ｖの開度を比
例制御する流量制御手段Ａと、操作レバー１１の駆動操
作位置からの中立位置への切り換え操作時において、操
作レバー１１による作動領域のうち、高速作動側の所定
の領域内における操作レバー１１の操作速度が所定値以
上であることを検出したときのみ、前記操作レバー１１
の操作量に対応する目標電流よりも小さな電流を所定の
短時間だけ前記電磁式比例流量制御弁Ｖに供給する電流
制御手段Ｂとを制御プログラム形式で備えてある。つま
り、制御装置１２は以下にように制御を実行する。以
下、油圧アクチュエータの一例としてのブームシリンダ
Ｃ１の駆動制御について説明する。図２に示すように、
操作レバー１１によりレバー操作量を検出するブーム駆
動用ポテンショメータＰＭ〔操作速度検出手段の一例〕
の出力Ｘ１を読み込み、この出力の変化よりレバー操作
速度Ｘ２を演算する〔ステップ１、２〕。そして、レバ
ー操作位置Ｘ１が所定値ａよりも高速側の位置であって
減速操作が所定速度ｂ以上の速度で操作された場合には
〔ステップ３、４、５〕、演算された操作速度Ｘ２より
予め定められるマップデータに基づいて微小電流Ｉの大
きさと供給時間を決定する〔ステップ６〕。そして、電
流条件を決定するとほぼ同時に電磁式比例流量制御弁Ｖ
に上記したように決定された微小電流Ｉを所定時間供給
する〔ステップ７、８、９〕。又、上記ステップ３、
４、５における条件に合致せず、ゆっくりレバー操作し
た場合等においては、操作レバー１１の操作量に対応し
てほぼ比例状態で開度を決定するために予め定められる
制御特性の制御目標電流Ｉｒを電磁式比例流量制御弁Ｖ
に供給する〔ステップ１０〕。そして、上記したような
制御をリセットされるまで所定時間毎に繰り返す〔ステ
ップ１１〕。前記微小電流Ｉは図３に示すように、前記
制御目標電流Ｉｒ〔図において点線で示す〕の大きさよ
りも極めて小さい値に設定される。前記ステップ１０に
より流量制御手段Ａを構成し、前記ステップ６〜９によ
り電流制御手段Ｂを構成する。上記したような制御は、
ブームの制御に限らずその他の油圧アクチュエータの制
御に用いてもよい。The boom cylinder C1, the arm cylinder C2, and the bucket cylinder C as hydraulic actuators.
3 and the swing hydraulic motor M are configured to be controlled and controlled by a pair of left and right operation levers 11 which are provided in a control unit 10 provided on the swivel base 3 and which are capable of cross movement. More specifically, as shown in FIG. 1, each of the cylinders C
1, C2, C3 and the swing motor M are configured to control the hydraulic flow rate by the electromagnetic proportional flow rate control valve V, respectively, and the operation amount of each operation lever 11 in each operation direction is detected by the four potentiometers PM. Then, the control device 12 controls the amount of current supplied to each electromagnetic proportional flow control valve V based on the detected manipulated variable. The offset cylinder C4 is configured to supply a preset flow rate by operating the operation switch SW. The control device 12 supplies a current according to the operation amount of the operation lever 11 to proportionally control the opening of the electromagnetic proportional flow control valve V, and a neutral position from the drive operation position of the operation lever 11. During the switching operation to the position, the operation lever 11 is detected only when it is detected that the operation speed of the operation lever 11 in a predetermined area on the high-speed operation side of the operation area of the operation lever 11 is a predetermined value or more.
And a current control means B for supplying a current smaller than the target current corresponding to the operation amount to the electromagnetic proportional flow rate control valve V for a predetermined short time in the form of a control program. That is, the control device 12 executes the control as follows. Hereinafter, drive control of the boom cylinder C1 as an example of the hydraulic actuator will be described. As shown in FIG.
Boom drive potentiometer PM for detecting the lever operation amount by the operation lever 11 [an example of operation speed detection means]
Output X1 is read, and the lever operation speed X2 is calculated from the change in this output [steps 1 and 2]. Then, when the lever operation position X1 is at a position higher than the predetermined value a and the deceleration operation is performed at a speed equal to or higher than the predetermined speed b [steps 3, 4, 5], the calculated operation speed X2. The magnitude of the minute current I and the supply time are determined based on more predetermined map data [step 6]. Then, when the current condition is determined, almost simultaneously with the electromagnetic proportional flow control valve V
Then, the minute current I determined as described above is supplied for a predetermined time [steps 7, 8 and 9]. Also, the above step 3,
When the lever is operated slowly without satisfying the conditions of 4 and 5, the control target current Ir having a predetermined control characteristic for determining the opening in a substantially proportional state corresponding to the operation amount of the operation lever 11. Electromagnetic proportional flow control valve V
[Step 10]. Then, the above-described control is repeated every predetermined time until it is reset [step 11]. As shown in FIG. 3, the minute current I is set to a value extremely smaller than the magnitude of the control target current Ir [shown by a dotted line in the drawing]. The step 10 constitutes the flow rate control means A, and the steps 6 to 9 constitute the current control means B. The above control is
It may be used not only for controlling the boom but also for controlling other hydraulic actuators.
【０００９】〔別実施例〕前記微小電流Ｉの大きさと供
給時間は、上記したように操作レバー１１の操作位置に
応じて変更させるものに代えて、予め定まる一定値で、
かつ、一定時間だけ電磁式比例流量制御弁Ｖに供給する
よう構成してもよい。[Other Embodiments] The magnitude and supply time of the minute current I are constant values determined in advance, instead of being changed according to the operation position of the operation lever 11 as described above.
Further, the electromagnetic proportional flow rate control valve V may be supplied for a certain period of time.
【００１０】尚、特許請求の範囲の項に図面との対照を
容易にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.
【図１】制御ブロック図FIG. 1 is a control block diagram.
【図２】制御フローチャート[Fig. 2] Control flowchart
【図３】制御特性図[Fig. 3] Control characteristic diagram
【図４】バックホーの側面図FIG. 4 is a side view of the backhoe.
４ 作業装置 １１ 操作レバー Ａ 流量制御手段 Ｂ 電流制御手段 ＰＭ 操作速度検出手段 Ｖ 電磁式比例流量制御弁 4 Working device 11 Operation lever A Flow rate control means B Current control means PM Operation speed detection means V Electromagnetic proportional flow rate control valve
───────────────────────────────────────────────────── フロントページの続き (72)発明者 森下 勇太郎 大阪府堺市石津北町64番地 株式会社クボ タ堺製造所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yutaro Morishita 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd.
Claims (1)
より駆動するよう構成するとともに、前記油圧アクチュ
エータの電磁式比例流量制御弁（Ｖ）の開度を、操作レ
バー（１１）の操作量に応じた電流を供給して比例制御
する流量制御手段（Ａ）を備えてある土工機における油
圧アクチュエータ制御装置であって、前記操作レバー
（１１）の駆動操作位置からの中立位置への切り換え操
作時において、前記操作レバー（１１）による作動領域
のうち、高速作動側の所定の領域内における前記操作レ
バー（１１）の操作速度を検出する操作速度検出手段
（ＰＭ）を設け、この操作速度検出手段（ＰＭ）の検出
結果が所定値以上であることを検出したときのみ、前記
操作レバー（１１）の操作量に対応する目標電流よりも
小さな電流を所定の短時間だけ前記電磁式比例流量制御
弁（Ｖ）に供給する電流制御手段（Ｂ）を備えてある土
工機における油圧アクチュエータ制御装置。1. A working device (4) is configured to be driven by a hydraulic actuator, and an opening of an electromagnetic proportional flow rate control valve (V) of the hydraulic actuator is set according to an operation amount of an operating lever (11). A hydraulic actuator control device for an earthmoving machine equipped with a flow rate control means (A) for supplying an electric current and performing proportional control, wherein during a switching operation from a drive operation position of the operation lever (11) to a neutral position, An operating speed detecting means (PM) is provided for detecting an operating speed of the operating lever (11) within a predetermined area on the high speed operating side of the operating area of the operating lever (11). Only when it is detected that the detection result of 4) is greater than or equal to a predetermined value, a current smaller than the target current corresponding to the operation amount of the operation lever (11) is applied for a predetermined short time. A hydraulic actuator control device in an earthmoving machine, which is provided with a current control means (B) for supplying the electromagnetic proportional flow control valve (V) only for a certain period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4007125A JP2695336B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4007125A JP2695336B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05195548A true JPH05195548A (en) | 1993-08-03 |
| JP2695336B2 JP2695336B2 (en) | 1997-12-24 |
Family
ID=11657361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4007125A Expired - Lifetime JP2695336B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2695336B2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03176517A (en) * | 1989-12-05 | 1991-07-31 | Kayaba Ind Co Ltd | Hydraulic work machine driving controller of construction machinery |
-
1992
- 1992-01-20 JP JP4007125A patent/JP2695336B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03176517A (en) * | 1989-12-05 | 1991-07-31 | Kayaba Ind Co Ltd | Hydraulic work machine driving controller of construction machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2695336B2 (en) | 1997-12-24 |
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