JPH10299720A - Working machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working machine control device which can hold an operation feeling across a wide range favorably. SOLUTION: A lever operation speed at the operation start time of a joystick lever 1 is read by a valve controller 12 and either one of the two kinds of data tables 12b, 12b of an usual operation characteristic or minute operation characteristic memorized inside is selected by the speed and the harmony of a different operation condition between the usual operation time and the minute operation time is attempted and even in the either case, a favorable operation feeling is obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine control device, and is particularly useful when applied to a hydraulic control system of an industrial vehicle.

[0002]

2. Description of the Related Art FIG. 4 is an explanatory view conceptually showing a hydraulic control system for a working machine according to the prior art, and FIG. 5 is a flowchart showing the operation thereof. As shown in both figures, in this hydraulic control system, when the operation of the joystick lever 1 is started (step S ₀₁ ), the operation amount at this time is read by the valve controller 2 (step S ₀₂ ). Next, a control current value corresponding to the manipulated variable is selected from the control characteristics stored in advance as a table (step S ₀₃ ), and the selected control current value is output to the control valve 3 (step S ₀₃ ). _S04 ). At this time, as shown in FIG. 6, the control characteristics stored in the valve controller 2 usually have a two-fold linear characteristic which is divided into two regions, a small operation region and a large opening region, excluding a dead zone. doing.

[0003]

In the prior art as described above, in order to improve operability in a minute operation area, it is necessary to widen the minute operation area. As a result, the large opening range becomes narrower, and the speed of the working machine rapidly increases in the large opening range, resulting in deterioration of the operation feeling.
On the other hand, when trying to improve the continuity of the feeling between the minute operation area and the large opening degree area, there is a problem that the minute operation becomes difficult because the minute operation area becomes narrow.

SUMMARY OF THE INVENTION [0004] In view of the above-mentioned prior art, an object of the present invention is to provide a working machine control device capable of maintaining a good operation feeling over a wide range.

[0005]

SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a lever device having a lever and a conversion unit for converting the operation amount of the lever into an electric signal, and a lever operation amount signal from the lever device. In a work implement control device including a controller that outputs an amount and a solenoid valve that operates according to a control amount output from the controller, a speed detection unit that detects a lever operation speed from a lever operation amount signal, and corresponds to a normal operation. It has a first data table that is set in advance and a second data table that is set in advance corresponding to a minute operation, and compares the speed detected by the speed detection unit with a predetermined reference speed value, A comparison / selection unit that selects one of the first data table and the second data table; and a comparison unit that selects the first or second data table and the lever operation amount signal. And having a controller and an output unit for outputting a control amount Flip.

According to the present invention, it is determined whether the operation is a normal operation or a minute operation based on the lever operation amount signal, and a unique data table is selected during the normal operation or the minute operation. Based on this, the solenoid valve is controlled with a control amount corresponding to a predetermined lever operation amount signal.

[0007]

FIG. 1 is a block diagram showing a hydraulic control system for a working machine according to an embodiment of the present invention.
As shown in FIG. 1, the joystick lever 1 has a conversion unit 1a for converting the operation amount into an electric signal, and outputs a lever operation amount signal indicating the operation amount of the joystick lever 1 via the conversion unit 1a. Output to the valve controller 12.

[0008] The valve controller 12 includes a speed detecting unit 1.
2a, a comparison / selection unit 12b and an output unit 12c.
You. The speed detection unit 12a is configured to use the joystick based on the lever operation amount signal.
The operation speed of the tech lever 1 is detected. Comparison and selection unit 12
b is the first data set in advance corresponding to the normal operation
Table 12b₁And preset for micro operation
Second data table 12b_TwoAnd a speed detection unit 1
Operation speed and forecast of joystick lever 1 detected in 2a
The reference speed value set in the comparator 12b _ThreeIn ratio
The switch means 12b_FourBy the first
1 data table 12b₁Or the second data table
12b_TwoIs selected.

Here, the first data table 12b
₁ has the same two-fold linear characteristic as that of the conventional art, which is divided into two regions, a small operation region and a large opening region, except for a dead zone, as shown by a solid line in FIG. In the mode, the characteristic is selected. In contrast the second data table 12b _2, as indicated by one-dot chain lines in FIG. 2, which control variable output in response to the operation amount of the joystick lever 1 has a linearly increasing characteristic, wide range In the minute operation mode in which the minute operation is performed, the characteristic is selected. At this time, the control current maximum value in the minute operation mode is set to be a current value corresponding to the end of the minute operation region in the normal operation mode.

The output unit 12c outputs a control amount of the control valve 3 according to the first or second data table selected by the comparison and selection unit 12b and the lever operation amount signal. The control valve 3 operates according to the control amount output of the output unit 12c of the valve controller 12, and drives a predetermined working machine.

FIG. 3 shows an operation mode of the hydraulic control system.
It will be described based on. When the operation of the joystick lever 1 is started (step S ₁ ), the speed detector 12a of the valve controller 12 detects the lever operation speed (step S ₂ ). Then, by comparing the lever operation speed and the reference speed value detected by the speed detection unit 12a by the comparison and selection unit 12b (Step S _3), the first data table or a second data table in accordance with both the magnitude relationship Is selected (steps S ₄ and S ₅ ). That is, when the operation speed is higher than the reference speed value, the operation is determined to be a normal operation, and the operation is performed along the characteristics of the normal operation mode (the characteristics indicated by the solid line in FIG. 2). operation judged to be of fine operating mode characteristic output along the (characteristic shown by a chain line in FIG. 2) to the control valve 3 is determined (step S _6). The output unit 12c changes the current value supplied to the control valve 3 with reference to the lever operation amount signal based on the selected first or second data table.

[0012]

According to the present invention, as described in detail with the above embodiments, the operation mode of the lever is divided into two types of modes, and the controller sends the solenoid valve based on the optimum data table corresponding to each mode. Is set, the work implement control characteristic that can achieve both improvement of the operability in the minute operation range and naturalness of the continuity to the large opening range can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a hydraulic control system for a working machine according to an embodiment of the present invention.

FIG. 2 is a diagram showing a valve control current characteristic according to the embodiment.

FIG. 3 is a flowchart for explaining the operation of the embodiment.

FIG. 4 is a block diagram showing a hydraulic control system for a working machine according to the related art.

FIG. 5 is a flowchart for explaining the operation of the related art.

FIG. 6 is a diagram showing a valve control current characteristic according to the related art.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 joystick lever 3 control valve 12 valve controller 12 a speed detector 12 b comparison selector 12 b ₁ first data table 12 b ₂ second data table 12 c output unit

Claims (1)

[Claims] 1. A lever device having a lever and a conversion unit for converting an operation amount of the lever into an electric signal, a controller outputting a control amount based on a lever operation amount signal from the lever device, and a control amount output from the controller. A work machine control device comprising a solenoid valve that operates in response to a signal, a speed detection unit that detects a lever operation speed from a lever operation amount signal, and a first data table that corresponds to a normal operation and corresponds to a minute operation. A second data table that is set in advance, and compares the speed detected by the speed detector with a reference speed value that is set in advance to determine one of the first data table and the second data table. A controller including a comparison / selection unit to select, and an output unit that outputs a control amount in response to the selected first or second data table and a lever operation amount signal A working machine control device comprising: