JPH07207707A - Change-over of operation pattern in hydraulic circuit drive device and its device - Google Patents

Abstract

PURPOSE:To speed up other processing in a controller by distributing computation and memory functions, necessary in changing operation pattern, to plural operation levers etc., from a controller. CONSTITUTION:A operation pattern selected by a operation pattern selection unit 6 is transmitted from a controller 5 to operation levers 3a, 3b and operation pedals 3c through communication line, and thus stored in a memory portion 3me contained in each operation pedal 3c etc. When all the operation pedals 3c etc, are operated, a hydraulic actuator 1a etc., combined with the operated operation pedals 3c etc. are read from the memory portion 3me according to a selected operation pattern. Operation signals taken in through an angle sensor 3se and an A/D converter 3co are converted to command signals for control valves driving all hydraulic actuators 1a, etc., by an arithmetic portion 3op. Command signals are outputted to the controller 5 through an output portion 3ou so that the read actuators etc., 1a are driven.

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 in a hydraulic circuit driving device having a function of switching operation patterns in various operating devices such as construction machines such as hydraulic excavators or bulldozers, cranes, and ships. It relates to the device.

[0002]

2. Description of the Related Art A construction machine such as a hydraulic excavator is equipped with a hydraulic actuator, and the hydraulic actuator is controlled by an operating lever or an operating pedal (hereinafter abbreviated as an operating lever) and driven to perform a specific work. Is carrying out.

Japanese Unexamined Patent Publication No. 63-31431 discloses a conventional operation pattern switching device such as an electric operation lever. The conventional device will be described below with reference to FIGS. 3 and 4.

FIG. 3 shows a conventional hydraulic circuit drive device having a function of switching operation patterns of an operation lever and the like. In FIG. 3, 1a, 1b, 1c are hydraulic actuators, 2a, 2
Reference numerals b and 2c are control valves for controlling the drive of the hydraulic actuators 1a, 1b and 1c. Reference numerals 3a, 3b and 3c are operation levers for operating the hydraulic actuators 1a, 1b and 1c, and output electric signals to the control valves 2a, 2b and 2c according to the operation amount and the operation direction.

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

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

Next, with reference to the flow chart shown in FIG. 4, the operation of the hydraulic circuit drive device having the conventional function will be described focusing on the operation performed by the controller 5. 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. 3 is desired to have the following pattern will be described.

Operation lever 3a → hydraulic actuator 1b Operation lever 3b → Hydraulic actuator 1c Operation lever 3c → Hydraulic actuator 1a Then, when the selection number of the operation pattern selector 6 for selecting such a combination pattern is “3” To do.

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

Next, the controller 5 reads the selection information of the operation pattern from the operation pattern selector 6 (step S2).
Next, the signal Xa is taken out and it is judged 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
In the pattern "3" stored in 5me, the hydraulic actuator corresponding to the control by the operating lever 3a is checked and read (step S
4).

In this case, the hydraulic actuator is 1b, and this 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 that drives and controls it (step S5).

Thereafter, similar processing is sequentially performed on Xb and Xc (steps S6 to S11). When all the operation levers are completed, the process returns to step S1 to input new signals Xa, Xb, Xc, and the same procedure is repeated again.

As a result, the hydraulic actuator 1a is operated by the operating lever 3c, and the hydraulic actuator 1b is operated by the operating lever 3a.
As a result, 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 operation levers to be combined, but in an actual hydraulic excavator, there are four operation levers and two operation pedals, which are six in total. If the controller tries to process the signals coming from the six operation levers or operation pedals in order, it takes a long time to perform the other processing, which is inconvenient. In addition, each time an operation is applied, six must be processed in order, which is a waste of time and inconvenience.

An object of the present invention is to solve the above-mentioned problems of the prior art and to provide each operation device such as an operation lever with a function of performing calculation and storage in the control device which is necessary when changing an operation pattern. In the prior art, the work performed by one controller is distributed to a plurality of operating devices to reduce the work performed by the controller, and the controller can do other work by that amount, resulting in higher speed. It is to be able to realize advanced control.

[0017]

In order to achieve the above object, the invention described in claim 1 includes a plurality of operating devices operated by an operator, and a controller for processing a signal from each operating device. , A plurality of control valves that are controlled according to the operation of each operating device through this controller, a plurality of hydraulic actuators that are driven according to the opening and closing of each control valve, a plurality of operating devices and a plurality of hydraulic actuators In the hydraulic circuit drive device including an operation pattern selector for the operator to select the operation pattern selection information through the controller in order to change the combination with the operation pattern specified by the operation pattern selector. Each operation is stored in each operating unit based on the transmission from the controller, and each operation is performed according to the specified operation pattern. In the above, calculation processing is performed to convert the operation amount of the operator input to each actuator into a command value for each control valve for controlling the corresponding hydraulic actuator, and the processed signal is transmitted from each actuator via the controller. This is an operation pattern switching method of outputting to a corresponding control valve.

According to a second aspect of the present invention, a plurality of operating devices operated by an operator, a controller for processing a signal from each operating device, and control according to the operation of each operating device through this controller. A plurality of control valves, a plurality of hydraulic actuators that are driven according to the opening and closing of each control valve, and a plurality of actuators and a plurality of hydraulic actuators that are operated through the controller to change the combination. In a hydraulic circuit driving device equipped with an operation pattern selector for an operator to select pattern selection information, the plurality of operators detect an operation amount and an operation direction of the operator and convert them into a digital operation signal. It stores the selection information of the operation pattern sent from the controller and the input section that A storage unit that reads and stores the hydraulic actuator, a calculation unit that converts the operation signal of each actuator into a command signal for each control valve that controls the hydraulic actuator according to the operation pattern, and the signal of this calculation unit to the controller. The output unit for outputting is an operation pattern switching device having a configuration respectively provided.

[0019]

According to the first aspect of the invention, the operating device itself reads an arbitrary combination pattern selected by the operating pattern selector, stores the operating pattern, and controls the operating signal input to the operating device. To the control valve through the controller.

According to the second aspect of the present invention, the operation pattern selected by the operation pattern selector is transmitted from the controller to the operation device such as the operation lever or operation pedal through the communication line, and the operation pattern selection information is It is stored in the storage unit built in each operation device. When the operating device is operated, the hydraulic actuator associated with the operated operating device is read out from the storage unit built into each operating device itself according to the selected operation pattern, and is input to the operating device via the input unit. The operation signal of the operating lever etc. that has been inserted is converted into a command signal for controlling the control valve that drives each hydraulic actuator by the arithmetic unit in each operating device, and the read hydraulic actuator is controlled through the output unit. Command signal to the container.

[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 diagram of a preferred embodiment of a hydraulic circuit drive device having a function of switching operation patterns. In FIG. 1, the same parts as those shown in FIG. 3 are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 1 (A), 3a and 3b are operation levers as an operation device operated by an operator, and 3c is an operation pedal as an operation device. Operation pedal
3c is different from the operating 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 operating 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, but the operation lever 3a and the operation lever 3b have the same internal structure. have.

That is, the operation levers 3a and 3b and the operation pedal 3c each have a storage unit 3me such as a RAM and a ROM, and each storage unit 3me corresponds to the operation levers 3a and 3b and the operation pedal 3c. Hydraulic actuators 1a, 1
Selection information of a plurality of operation patterns for changing the combination with b and 1c is stored in advance. A selection number is attached to each operation pattern. By selecting a specific selection number via the controller 5 by the operation pattern selector (selection switch) 6, the corresponding specific combination operation pattern is called. It is ready to 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 the operation amount and operation direction of the operation lever or 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, the operation levers 3a, 3b and the operation pedal 3c convert the operation amount into a command value for each of the hydraulic actuators and a storage section 3me for storing selection information for changing the operation pattern. CPU operation unit 3op for
And an output unit 3ou for outputting it to the controller 5.

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

The combination of the operating levers 3a and 3b and the operating pedal 3c and the hydraulic actuators 1a, 1b and 1c shown in FIG.
For example, a case in which the following operation pattern is desired will be 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" by 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 the controller 5
Sent to. Next, the controller 5 sends an operation pattern to each of the operation levers 3a and 3b and the operation pedal 3c (step S21).

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

When the operator operates 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 the operation levers operated.
It is detected by the angle sensors 3se of 3a and 3b and the operation pedal 3c (step S23).

Next, the signals Xa, Xb and Xc are taken out and Xa = 0
It is determined whether or not (the operation lever 3a is in the neutral position), Xb = 0 (the operation lever 3b is in the neutral position), and 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.

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

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

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

After that, the process returns to step S22, a new signal Xa is input, and the same procedure is repeated again.

Since the hydraulic actuator 1c and the hydraulic actuator 1a can be similarly controlled with respect to the operation lever 3b and the operation pedal 3c, the operation levers themselves change the operation pattern, and the hydraulic excavator corresponding thereto is changed. Can be operated. The description of the processing procedure is the same as in the case of the operation lever 3a, and therefore will be omitted.

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

[0041]

According to the invention described in claim 1, each operation device itself reads an arbitrary combination operation pattern selected by the operation pattern selector, stores the operation pattern, and outputs an operation signal of the operation device. Is converted into a control signal to the corresponding control valve and output to the controller, so the work that tends to be concentrated on the controller can be shared by each operating device, and the controller Higher speed and advanced control can be performed.

According to the second aspect of the present invention, the operation pattern switching device capable of surely implementing the method of the first aspect by the input section, the storage section, the arithmetic section and the output section provided in each operating device. Can be provided.

[Brief description of drawings]

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

2A is a flowchart of a process performed by a controller 5 relating to the same drive device, B is a flowchart of a process performed by the operating lever 3a, C is a flowchart of a process performed by the operating lever 3b, and D is an operating pedal 3c thereof. It is a flowchart of the process which is performed.

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

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

[Explanation of symbols]

 1a, 1b, 1c Hydraulic actuators 2a, 2b, 2c Control valves 3a, 3b, 3c Operators 3se, 3co Input section 3me Memory section 3op Arithmetic section 3ou Output section 5 Controller 6 Operation pattern selector (selection switch)

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Hideo Konishi 4-10-1 Yoga, Setagaya-ku, Tokyo New Caterpillar Mitsubishi Corporation

Claims (2)

[Claims] 1. A plurality of operating devices operated by an operator, a controller for processing a signal from each operating device, and a plurality of control valves for performing control according to the operation of each operating device through the controller. The operator selects the operation pattern selection information through the controller in order to change the combination of the plurality of hydraulic actuators that are driven according to the opening and closing of each control valve, and the plurality of actuators and the plurality of hydraulic actuators. In a hydraulic circuit drive equipped with an operation pattern selector for selection, each operation unit stores and specifies the change content of the operation pattern specified by the operation pattern selector based on the transmission from the controller. Each operator's operation amount input to each actuator so that the operation pattern becomes Operation pattern in hydraulic circuit drive characterized by performing arithmetic processing to convert to command value for each control valve for data control and outputting the processed signal from each actuator to the corresponding control valve via the controller Switching method. 2. A plurality of operating devices operated by an operator, a controller for processing a signal from each operating device, and a plurality of control valves for performing control according to the operation of each operating device through the controller. The operator selects the operation pattern selection information through the controller in order to change the combination of the plurality of hydraulic actuators that are driven according to the opening and closing of each control valve, and the plurality of actuators and the plurality of hydraulic actuators. In a hydraulic circuit drive device including an operation pattern selector for selecting, the plurality of operators include an input unit that detects an operation amount and an operation direction of an operator and converts the operation amount into a digital operation signal, and a controller. Storing the selection information of the operation pattern transmitted from the hydraulic actuator corresponding to the stored operation pattern And a storage unit for reading and storing the operation signal, an operation unit for converting the operation signal of each operation device into a command signal for each control valve that controls the hydraulic actuator according to the operation pattern, and an output for outputting the signal of this operation unit to the controller And an operation pattern switching device in a hydraulic circuit drive device.