JP2872561B2 - Operation pattern switching method and device in hydraulic circuit drive device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation pattern switching method for a hydraulic circuit driving device having a switching function of an operation pattern in various operation devices such as a construction machine such as a hydraulic shovel or a bulldozer, a crane, and a ship. It concerns the device.

[0002]

2. Description of the Related Art A construction machine such as a hydraulic shovel is equipped with a hydraulic actuator, and the hydraulic actuator is controlled and driven by an operation lever or an operation pedal (hereinafter, abbreviated as an operation lever or the like) for specific work. Has been carried out.

Japanese Patent Application Laid-Open No. 63-31431 discloses a conventional operation pattern switching device such as an electric operation lever. This conventional device will be described below with reference to FIGS.

FIG. 3 shows a conventional hydraulic circuit driving device having a function of switching operation patterns of operation levers and the like. In FIG. 3, 1a, 1b, 1c are hydraulic actuators, 2a, 2
b and 2c are control valves for controlling the driving of the hydraulic actuators 1a, 1b and 1c. Reference numerals 3a, 3b, and 3c denote operation levers for operating the hydraulic actuators 1a, 1b, and 1c, and output electric signals to the control valves 2a, 2b, and 2c in accordance with the operation amounts and operation directions.

[0005] Reference numeral 5 denotes a controller constituted by using a microcomputer. As shown in FIG. 3B, the controller 5 includes an analog / digital converter 5co, a calculation unit 5op and an output unit 5ou of a central processing unit (hereinafter, referred to as a CPU).
And a storage unit 5me such as a random access memory (RAM) or a read only memory (ROM).
e includes operating levers 3a, 3b, 3c and hydraulic actuator 1
A plurality of combination patterns with a, 1b, and 1c are stored. Each operation pattern recorded in the storage unit 5me is sequentially assigned a selection number.

Reference numeral 6 denotes an operation pattern selector (selection switch) for selecting the selection number, and a specific operation pattern is selected by designating the selection number.

Next, the operation of the hydraulic circuit driving device having the conventional functions will be described with reference to the flowchart shown in FIG. A partial block diagram of the controller 5 is shown in FIG. 3B for reference.

A case where the combination of the operating levers 3a, 3b, 3c and the hydraulic actuators 1a, 1b, 1c shown in FIG.

Operation lever 3a → Hydraulic actuator 1b Operation lever 3b → Hydraulic actuator 1c Operation lever 3c → Hydraulic actuator 1a And if the selection number of operation pattern selector 6 for selecting such a combination pattern is “3”. I do.

First, the operator operates the operation pattern selector 6.
Selects the operation pattern "3". Then, when the operator operates the operation lever 3a, the operation lever 3b or the operation lever 3c, signals Xa, Xb and Xc having the information of the operation direction and the operation amount are detected by the angle sensor, and
It is transmitted to the controller 5. The controller 5 first reads three signals Xa, Xb, and Xc as shown in the flowchart of FIG. 4 (step S1).

Next, the controller 5 reads the operation pattern selection information from the operation pattern selector 6 (step S2).
Next, the signal Xa is extracted, and it is determined whether or not Xa = 0 (the operation lever 3a is in the neutral position) (step S3). If Xa = 0 is not satisfied, that is, if the operation lever 3a is operated, the storage unit is stored.
In the pattern “3” among the patterns stored in the 5me, the type of the hydraulic actuator corresponding to the control by the operation lever 3a is checked and read out (procedure S
4).

In this case, the hydraulic actuator is 1b, and the hydraulic actuator 1b is read. Then, the signal Xa read in step S1 is converted into a corresponding command signal and output to the controller valve 2b for driving and controlling the same (step S5).

The same process is performed on Xb and Xc in order (steps S6 to S11). When all the operation levers have been completed, the process returns to step S1 to input new signals Xa, Xb, Xc, and the same procedure is repeated again.

Thus, the hydraulic actuator 1a is operated by the operating lever 3c, and the hydraulic actuator 1b is operated by the operating lever 3a.
Accordingly, the hydraulic actuator 1c is operated by the operation lever 3b, and the operation pattern can be changed.

[0015]

In FIG. 3, there are only three operating levers to be combined, but in an actual hydraulic excavator, there are four operating levers, two operating pedals and a total of six operating levers. If the controller attempts to sequentially process the signals coming from the six operation levers or operation pedals, it takes a long time to perform the processing, which is inconvenient because other processing cannot be performed. In addition, every time an operation is added, six processes must be processed in order, so that wasteful time is consumed, which is inconvenient.

An object of the present invention is to solve the above-mentioned problems of the prior art and to provide each operating device such as an operating lever with a function of performing calculation and storage in a controller necessary for changing an operation pattern. In the prior art, the work performed by one controller is distributed to a plurality of operation devices, thereby reducing the work performed by the controller. The purpose of the present invention is to make it possible to realize advanced control.

[0017]

In order to achieve the above object, the invention according to claim 1 comprises a plurality of operating devices operated by an operator and a controller for processing signals from each of the operating devices. A plurality of control valves that are controlled in accordance with the operation of each operating device through the controller; a plurality of hydraulic actuators that are driven in accordance with the opening and closing of each control valve; a plurality of operating devices and a plurality of hydraulic actuators And an operation pattern selector for the operator to select the operation pattern selection information through the controller to change the combination with the operation pattern selector, the operation pattern specified by the operation pattern selector Each operation unit stores the changed content based on the transmission from the controller, and performs each operation so that the specified operation pattern is obtained. The arithmetic processing of converting the operator's operation amount input to each operating device into corresponding command values for each control valve for controlling each hydraulic actuator is performed, and the processed signal is transmitted from each operating device through the controller. This is an operation pattern switching method in which output is performed to a corresponding control valve.

According to a second aspect of the present invention, there are provided a plurality of operating devices operated by an operator, a controller for processing a signal from each of the operating devices, and a control according to the operation of each of the operating devices through the controller. A plurality of control valves, a plurality of hydraulic actuators driven according to the opening and closing of each control valve, and a plurality of operating devices and a plurality of hydraulic actuators operated through the controller to change a combination of the plurality of hydraulic actuators. In a hydraulic circuit drive device including an operation pattern selector for selecting an operation of a pattern, an operation amount and an operation direction of the operator are detected and converted into digital operation signals by the plurality of operation devices. The input unit that stores the operation pattern selection information sent from the controller A storage unit for reading and storing hydraulic actuators, an operation unit for converting an operation signal of each operating device into a command signal for each control valve for controlling the hydraulic actuator according to an operation pattern, and a signal of the operation unit to the controller. The output unit for outputting is an operation pattern switching device having a configuration provided respectively.

[0019]

According to the first aspect of the present invention, the operating device itself reads an arbitrary combination pattern selected by the operating pattern selecting device, stores the operating pattern, and responds to the operating signal input to the operating device by a corresponding control valve. And then output to the control valve through the controller.

According to a second aspect of the present invention, the operation pattern selected by the operation pattern selector is transmitted from the controller to an operation device such as an operation lever or an operation pedal via a communication line, and the operation pattern selection information is It is stored in a storage unit built in each operation device. When the operating device is operated, the hydraulic actuator combined with the operated operating device is read out from the storage unit built in each operating device itself according to the selected operation pattern, and is loaded into the operating device via the input unit. The operation signal of the inserted operation lever etc. is converted into a command signal for control valve control for driving each hydraulic actuator by the calculation unit in each operation device, and is controlled through the output unit to drive the read hydraulic actuator. Outputs a command signal to the instrument.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the embodiments shown in FIGS. FIG. 1 is a schematic view of a preferred embodiment of a hydraulic circuit driving device having a function of switching operation patterns. In FIG. 1, the same portions as those shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 1A, 3a and 3b are operating levers as operating devices operated by an operator, and 3c is an operating pedal as operating device. Operation pedal
3c is different from the operation lever 3c of FIG. 3 (conventional example), but since this difference is not essential to the present invention, the same reference numeral is used for the operation pedal 3c.

FIG. 1B is a block diagram showing the internal structure of the operation pedal 3c as an example so that the features of the present invention can be easily understood. However, the operation levers 3a and 3b have the same internal structure. have.

That is, the operation levers 3a and 3b and the operation pedal 3c have storage units 3me such as RAM and ROM, respectively, and each of the storage units 3me has the operation levers 3a and 3b and the operation pedal 3c and their corresponding operation units. Hydraulic actuators 1a, 1
Selection information of a plurality of operation patterns for changing the combination with b and 1c is stored in advance. Each operation pattern is provided with a selection number. When a specific selection number is selected by the operation pattern selector (selection switch) 6 via the controller 5, a corresponding specific combination operation pattern is called. It can be put out.

As shown in FIG. 1B, each of the operation levers 3a and 3b and the operation pedal 3c has an angle sensor for detecting an operation amount and an operation direction of the operation lever and the like as an input unit.
3se and an analog / digital converter 3co for converting an analog signal detected by the angle sensor 3se into a digital signal are provided.

Further, each of the operating levers 3a and 3b and the operating pedal 3c stores the above-mentioned storage unit 3me for storing selection information for changing the operation pattern, and converts the operation amount into a command value corresponding to each hydraulic actuator. Calculation unit 3op for CPU
And an output unit 3ou for outputting the same to the controller 5.

Next, the operation of the apparatus of this embodiment will be described with reference to FIG.
FIG. 2A is a flowchart of a process performed by the controller 5, FIG. 2B is a flowchart of a process performed by the operation lever 3a, FIG. 2C is a flowchart of a process performed by the operation lever 3b, and FIG. ) Will be described with reference to flowcharts of processes performed by the operation pedal 3c. The step numbers of the processing procedure are indicated by circle numbers in the flowchart, and are indicated by a combination of S and numbers in the description.

The combination of the operating levers 3a, 3b, the operating pedal 3c and the hydraulic actuators 1a, 1b, 1c shown in FIG.
For example, a case where the following operation pattern is desired is described.

Operation lever 3a → hydraulic actuator 1b Operation lever 3b → hydraulic actuator 1c Operation pedal 3c → hydraulic actuator 1a Then, it is assumed that the selection number of such a combination operation pattern is “3”.

First, the operator selects the operation pattern "3" using the operation pattern selector 6 such as a selection switch. Then, when the operator operates the operation levers 3a and 3b or the operation pedal 3c, the operation pattern is set in the controller 5
Sent to. Next, the controller 5 transmits an operation pattern to each of the operation levers 3a and 3b and the operation pedal 3c (step S21).

Then, the information of the operation pattern is received by each operation lever and the like, and is stored in the storage unit provided therein (step S22).

When the operator operates each of the operation levers 3a, 3b or the operation pedal 3c, signals Xa, Xb, Xc having information on the operation direction and the operation amount are transmitted to each of the operated operation levers.
Detected by the angle sensors 3se of 3a, 3b and the operation pedal 3c (step S23).

Next, the signals Xa, Xb, Xc are taken out, and Xa = 0
It is determined whether the operation lever 3a is in the neutral position, whether Xb = 0 (the operation lever 3b is in the neutral position), and whether Xc = 0 (the operation pedal 3c is in the neutral position) (step S24).

Here, taking the operation lever 3a as an example, a case where Xa is not zero (NO in step S24) will be described below.

If the operation signal Xa read by the processing of step S22 is not zero, the hydraulic actuator 1b associated with the operation pattern stored in the operation lever 3a itself is first read by the processing of step S22 (step S22).
twenty five).

Then, the operation signal Xa is converted into a command signal to the control valve 2b to be driven, and these are output to the output section 3o.
It is transmitted to the controller 5 through u (procedure S26).

Then, the converted signal Xa is transmitted to the control valve 2b for driving and controlling the hydraulic actuator 1b, and moves the desired hydraulic actuator 1b (step S2).
7).

Thereafter, the processing returns to step S22 again, a new signal Xa is input, and the same procedure is repeated again.

The control lever 3b and the control pedal 3c can be similarly controlled with respect to the hydraulic actuator 1c and the hydraulic actuator 1a. Therefore, each control lever itself changes the operation pattern, and the hydraulic excavator corresponding thereto changes. Operation can be performed. The description of the processing procedure is the same as that of the operation lever 3a, and thus will be omitted.

Further, as shown in FIG. 2A, the controller 5, which hardly needs to perform the operation pattern switching processing, can perform other processing at high speed between steps S21 and S27.

[0041]

According to the first aspect of the present invention, each operation device itself reads an arbitrary combination operation pattern selected by the operation pattern selector, stores the operation pattern, and stores an operation signal of the operation device. Is converted to a control signal to the corresponding control valve and output to the controller, so that the work that tends to concentrate on the controller can be shared by each operating device, and the controller is accordingly Higher speed and advanced control can be performed.

According to the second aspect of the present invention, the operation pattern switching device which can reliably execute the method of the first aspect by the input unit, the storage unit, the arithmetic unit, and the output unit provided in each operation unit. Can be provided.

[Brief description of the drawings]

FIG. 1A is a circuit diagram showing an embodiment of a hydraulic circuit driving device having an operation pattern switching function of the present invention, and FIG. 1B is a block diagram showing a control system in an operation pedal thereof.

FIG. 2A is a flowchart of a process performed by a controller 5 related to the above driving device, B is a flowchart of a process performed by an operation lever 3a, C is a flowchart of a process performed by the operation lever 3b, and D is an operation pedal 3c. 5 is a flowchart of a process performed by the system.

FIG. 3A is a circuit diagram of a conventional hydraulic circuit driving device having an operation pattern switching function, and FIG. 3B is a block diagram showing a control system in a controller thereof.

FIG. 4 is a flowchart of a process performed by the conventional controller.

[Explanation of symbols]

 1a, 1b, 1c Hydraulic actuator 2a, 2b, 2c Control valve 3a, 3b, 3c Operating unit 3se, 3co Input unit 3me Storage unit 3op Operation unit 3ou Output unit 5 Controller 6 Operation pattern selector (selection switch)

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Hideo Konishi 4-10-1, Yoga, Setagaya-ku, Tokyo New Caterpillar Mitsubishi Co., Ltd. (56) References JP-A-61-31532 (JP, A) JP-A Sho 63-312431 (JP, A) JP-A 2-89043 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) E02F 9/20 F-term 3J070 BA46

Claims (2)

(57) [Claims] 1. A plurality of operating devices operated by an operator, a controller for processing signals from each of the operating devices, and a plurality of control valves through which the control corresponding to the operation of each of the operating devices is performed. In order to change a combination of a plurality of hydraulic actuators driven according to the opening and closing of each control valve and a plurality of operating devices and a plurality of hydraulic actuators, the operator selects operation pattern selection information through the controller. In the hydraulic circuit drive device provided with an operation pattern selector for selecting, each of the operation devices stores the contents of change of the operation pattern specified by the operation pattern selector based on the transmission from the controller, and specifies the change content. Of the operator's operation input to each operating device so that the operating pattern An operation pattern in a hydraulic circuit drive device, which performs arithmetic processing for converting a command value for each control valve for eta control and outputs a processed signal from each operating device to a corresponding control valve via a controller. Switching method. 2. A plurality of operating devices operated by an operator, a controller for processing signals from the respective operating devices, and a plurality of control valves through which the control corresponding to the operation of each operating device is performed. In order to change a combination of a plurality of hydraulic actuators driven according to the opening and closing of each control valve and a plurality of operating devices and a plurality of hydraulic actuators, the operator selects operation pattern selection information through the controller. A hydraulic circuit driving device comprising an operation pattern selector for selecting, an input unit for detecting an operation amount and an operation direction of an operator and converting the operation amount and operation direction into a digital operation signal; It stores the selection information of the operation pattern sent from the controller and the corresponding hydraulic actuator from the stored operation pattern A storage unit for reading and storing the operation data, an operation unit for converting an operation signal of each operation device into a command signal for each control valve for controlling a hydraulic actuator according to an operation pattern, and an output for outputting a signal of the operation unit to the controller. And an operation pattern switching device in the hydraulic circuit drive device, wherein