JP2002364453A - Control device for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct a secular change in a device performance by correcting dispersion of the device performance. SOLUTION: This control device for the working machine controls a control parameter such as running speed and idling engine speed based on set operation data. In the control device for the working machine, an operation data changing means for changing the operation data is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control device for a work machine.

[0002]

2. Description of the Related Art A hydraulic excavator as a working machine sends out a discharge oil from a hydraulic pump driven by an engine to a hydraulic actuator that controls a direction and a flow rate by a flow control valve to operate the working machine. The opening of the flow control valve is commanded from the operation lever. Recent hydraulic excavators control the flow control valve that passes a large flow rate with the hydraulic pressure supplied from the electro-hydraulic control valve that outputs the hydraulic pressure according to the operation amount of the operating lever, reducing the operating force of the operator and facilitating the driving operation It is trying to make it.
When the operation lever is not operated, the electronic governor device is controlled by the dexel control to automatically reduce the engine speed to a predetermined speed, thereby reducing exhaust gas, noise, and the like, which adversely affect the environment. In addition, a swash plate for controlling the discharge flow rate of the hydraulic pump is controlled by a servo valve that outputs a hydraulic pressure according to a command value, thereby improving work efficiency and fuel efficiency.

[0003]

The prior art described above has the following problems. Various devices such as an engine, hydraulic pump, hydraulic actuator, flow control valve, electro-hydraulic control valve, servo valve, and electronic governor perform predetermined work, but many related devices are used. As time goes on, the accumulation of variations in device performance increases, and the accumulation of changes over time in device performance increases. As a result, there is a problem that the driving sensation is different for each vehicle body or a predetermined work efficiency cannot be obtained before a predetermined cumulative operation time is reached.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a control device for a working machine that corrects variations in equipment performance and corrects aging of equipment performance.

[0005]

In order to achieve the above object, a first aspect of the present invention provides a working machine for controlling control parameters such as a running speed and an idling rotational speed based on preset operating data. Is configured to include operation data changing means for changing operation data.

According to the first aspect, the operation data can be changed by the operation data changing means. Thereby, even when the performance of the equipment mounted on the work machine varies, or when the aging of the performance of the equipment becomes large, the control parameters can be changed and set to the operation data that exhibits the predetermined performance. Therefore, the machine performance can be maintained substantially constant, and a working machine having the same driving feeling can be obtained at all times. In addition, the performance of each work machine can be made uniform by changing and resetting the operation data of the control parameters even for different vehicle bodies. Since operation is possible, a predetermined work efficiency can be easily obtained.

In a second aspect based on the first aspect, the operation data changing means sets and changes data selected from a plurality of stored data stored in advance for each control parameter as operation data. I have.

According to the second aspect of the present invention, since a plurality of storage data are prepared for each control parameter, the storage data for obtaining a predetermined operation state can be easily and immediately selected while monitoring the operation state of the control parameter. Can be set. This allows
A working machine with the same driving feeling is always obtained. In addition, since the operation data is selected from a plurality of stored data, there is no possibility of erroneously inputting operation data having a value greatly deviating from a normal value.

In a third aspect based on the second aspect, the operation data changing means is configured to be capable of changing the plurality of stored data.

According to the third aspect, the operating data changing means can change the stored data stored in advance for each control parameter. As a result, the stored data can be prepared in advance while predicting the operation state of the control parameter, so that when the operation state is abnormal, the stored data can be easily and immediately selected and set as the operation data. As a result, a work machine with the same driving feeling is always obtained.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a control device 7 of the present embodiment.
2 is an explanatory diagram. In the present embodiment, the excavator 11
Will be described as an example of a working machine. A boom 14 is attached to an upper swing body 13 that swings on a traveling device 12 and a boom cylinder 1.
5 so that it can be freely raised and lowered. The arm 16 is rotatably attached to the tip of the boom 14, and the bucket 17 is rotatably attached to the tip of the arm 16.
The arm 16 is rotated with respect to the boom 14 by an arm cylinder 18, and the bucket 17 is rotated with respect to the arm 16 by a bucket cylinder 19.

Boom cylinder 15, arm cylinder 1
8. A hydraulic circuit for supplying oil to hydraulic actuators 20 such as a bucket cylinder 19, left and right traveling motors 12a and 12b for driving the traveling device 12, and a swing motor 13a for driving the upper swing body 13 will be described. The pressure oil from the variable pump 22 driven by the engine 21 is supplied to flow control valves 23 for controlling the hydraulic actuator 20, and the pressure oil whose flow rate is controlled by each flow control valve 23 is supplied to the hydraulic actuator 20. The flow command value Cr output from the controller 24 is input to the electro-hydraulic control valve 25, and each hydraulic pressure output from each electro-hydraulic control valve 25 is supplied to each flow control valve 23 according to each flow command value Cr. Have been. Each flow control valve 23 discharges a flow corresponding to the supplied hydraulic pressure to the hydraulic actuator 20. From the controller 24, the servo valve command value Cs and the governor command value Cg are
The signals are output to the servo valve 26 and the governor control means 27, respectively. The servo valve 26 supplies a hydraulic pressure according to the servo valve command value Cs to the swash plate angle setting unit of the variable pump 22 to set the swash plate angle. The governor control means 27
The engine speed Ne is set according to the governor command value Cg. The control device 72 includes the controller 24 and a monitor 36 described later.

The controller 24 receives a work machine lever operation amount M from a work machine lever operation amount detector 29a, 29b attached to the two work machine levers 28a, 28b.
w and travel lever operation amounts Mr from the travel lever operation amount detectors 31a and 31b attached to the two travel levers 30a and 30b, respectively. One of the two working machine levers 28a, 28b has a boom cylinder 1
5 and the bucket cylinder 19, and the other side controls the arm cylinder 18 and the swing motor 13a. Right traveling motor 12b on one of two traveling levers 30a, 30b
, On the other hand, controls the left running motor 12a. The engine rotation speed Ne from the engine rotation speed detector 32 attached to the engine output shaft, and the oil pressure detector 33 attached to the discharge port of the variable pump 22
, The pump discharge pressure Pp is input to the controller 24. Further, an engine signal Ce for instructing start / stop of the engine 21 from the starter switch 34 and a fuel signal Cf for instructing output of the engine 21 from the fuel dial 35 are input to the controller 24, respectively.

A monitor 36 for monitoring and setting the operation state of the work machine is electrically connected to the controller 24 by a signal cable 73 for inputting and outputting a network signal Cn. FIG. 2 shows the configuration of the monitor 36 in detail. Monitor 36
A clock 37 and a service meter 38 are displayed in a seven-segment display at the upper part of the table.
And a coolant temperature caution lamp 39r and a fuel level caution lamp 40r are integrally arranged. The caution lamps 41r, 42r, 43r, 44r, and 45r for the coolant level, the engine oil pressure, the working oil amount, the engine oil amount, and the battery charge are used as caution lamps 39r, 39r for the coolant temperature and the fuel level.
Each is arranged below 40r. Each caution lamp 39r, 40r, 41r, 42r, 43r, 44
r and 45r are turned on when each state quantity is an abnormal value, and are turned off when it is normal.

Below the monitor 36, operating data changing means 46 for controlling parameters such as idling rotational speed, running speed, pump absorption torque and the like of the engine 21 is arranged. The operation data changing means 46 is provided with the parameter display button 4
7, a change completion button 48, a display unit 49, a numeric keypad 50, a selection switch 51 for scrolling the display unit 49 up and down to select a control parameter, and an enter button 52 for setting data of the selected control parameter to the controller 24. ing. When all the control parameters are displayed on the display unit 49, the user operates the parameter display button 47 to select a desired control parameter from the displayed control parameters.
When the user scrolls and selects and operates the enter button 52, the data in which the selected control parameter is stored is displayed on the display unit 49. When the displayed data is to be changed, the change is performed using the numeric keypad 50, and when the change is completed, the change completion button 48 is operated. When the displayed data is set for driving, the enter button 52 is operated.

The operation of the operation data changing means 46 will be described with reference to FIG. First, the operation of the operation data changing unit 46 will be described using the control parameter “idling rotation speed” as an example. When the parameter display button 47 is operated, FIG.
As shown in (a), the display unit 49 displays “idling rotation speed”, “running speed”, and “pump absorption torque” as control parameters. Next, scroll with the selection switch 51 to select “idling rotation speed”.
Select to highlight it. Then, when the enter button 52 is operated, as shown in FIG. 3B, a plurality of stored data stored in advance, for example, “600 rpm”, “61”
0 rpm "and" 620 rpm "are displayed. And
For example, “600 rpm” set in the controller 24 as operation data is blinking. Here, "60
0 rpm "," 610 rpm ", and" 620 rpm ", for example," 605 rpm "," 615 rpm "," 625 rpm ".
When changing to “rpm”, scroll with the selection switch 51 and first select “600 rpm”
To set “605 rpm”. Next, the selection switch 51
And scroll to select “610 rpm”, set “615 rpm” using the numeric keypad 50, and similarly set “620 rpm”.
m ”is set to“ 625 rpm ”and the change complete button 4
Operate 8. To change the setting of “600 rpm”, which has been set as the operating data, to “615 rpm”, for example, scroll the selection switch 51 to select “615 rpm” and operate the enter button 52.
As shown in FIG. 3C, “615 rpm” flashes and the operation data of the engine idling rotational speed is “6
15 rpm "is notified to the operator. When the operator has set the fuel dial 35 to the idling position, the controller 24 outputs “61”.
5 rpm ”is output to the governor control unit 2.
7 and the engine speed Ne is automatically set to “61”.
5 rpm ".

Next, the operation of the operation data changing means 46 will be described with reference to FIG. 4 using the "running speed" of the control parameter as an example. When "running speed" is selected by the selection switch 51 from among the control parameters "idling rotational speed", "running speed", and "pump absorption torque" displayed on the display unit 49, as shown in FIG. "Speed" is highlighted. Next, when the enter button 52 is operated, a low speed Lo, a medium speed M, and a high speed H are displayed on the display unit 49 as shown in FIG.
The stored data stored for each is displayed. And
For example, “1.0 km / h” of the low speed Lo set as operation data in the controller 24 is blinking.
To change “1.0 km / h”, use “1.0 km / h”.
/ H ”is selected with the selection switch 51, changed to, for example,“ 0.9 km / h ”with the numeric keypad 50, and the change completion button 48 is operated to complete the change of the stored value. And the selection switch 5
1 to select, for example, “2.0 km / h” and press the enter button 52
Is operated, “2.0 km /
h ”flashes and the driving speed driving data is“ 2.0 km /
h "is notified to the operator. Also,
Even when the operator operates the travel lever 30 to the travel lever operation amount Mr that commands the speed of 2.0 km / h or more, the controller 24 outputs the flow command value Cr that outputs the speed of “2.0 km / h” or more. Are the left and right traveling motors 12a, 1
Since the output is not output to the electro-hydraulic control valve 25 corresponding to 2b, the traveling speed does not exceed "2.0 km / h".

Next, referring to FIG. 5, the operation of the operation data changing means 46 will be described by taking the control parameter "pump absorption torque" as an example. When “pump absorption torque” is selected by the selection switch 51 from among the control parameters “idling rotation speed”, “running speed”, and “pump absorption torque” displayed on the display unit 49, as shown in FIG. "Pump absorption torque" is highlighted. Next, when the enter button 52 is operated, the display unit 49 displays the stored data of “pump absorption torque” stored as shown in FIG. Then, as the operation data, for example, the controller 2
“20 Nm” set to 4 is blinking. “20Nm”, “0Nm”, “Δ20Nm” stored
Is changed to, for example, “10 Nm”, “0 Nm”, and “Δ10 Nm” in the same manner as in the method of changing the idling rotation speed and the traveling speed.
Nm "and" Δ20Nm "are selected and changed with the ten keys 50, and the change completion button 48 is operated. And
When, for example, “10 Nm” is selected by the selection switch 51 and the enter button 52 is operated, as shown in FIG.
m ”flashes and the operating data of pump absorption torque is“ 10
Nm "is notified to the operator. Note that Δ means to decrease from the current value.

The stored data displayed on the display unit 49 is an offset value from the pump absorption torque at the swash plate angle set by the servo valve command value Cs calculated by the controller 24. When “0Nm” is selected as the operation data and the pump absorption torque can be kept as it is, “0Nm” is held. When the strength of the work is less than before, "10 Nm"
Select Then, a network signal Cn of “10 Nm” is sent to the controller 24 and the controller 2
4 is 10 Nm higher than the pump absorption torque up to now
The servo valve command value Cs is calculated so that the pump absorption torque becomes a value larger by only this value, and is output to the servo valve 26. When the work becomes stronger than necessary at the time of the predetermined work, "Δ10Nm"
Is selected, and the controller 24 calculates the servo valve command value Cs so that the pump absorption torque becomes a value smaller by 10 Nm than the previous pump absorption torque, and outputs the same to the servo valve 26.

The operation and effect of this embodiment having the above-described configuration and operation will be described. First, the operation and effect of the present embodiment will be described using the control parameter “idling rotation speed” as an example. The storage data of “idling rotation speed” is “600 rpm”, “610 rpm”,
“620 rpm”, for example, “6
When “00 rpm” is set in the controller 24, the governor command value Cg corresponding to “600 rpm” is output to the governor control unit 27. When the fuel dial 35 is set to the idling position and the work implement lever 28 and the travel lever 30 are not operated,
The engine 21 rotates at the set “600 rpm”. However, the governor control means 27 sets “600
Although the throttle position is controlled to rotate at "rpm", there are variations in the fuel injection amount, rotational frictional resistance, and the like for each engine 21. For example, some engines rotate at "585 rpm". In such a case, the stored data is set to a large value as a whole, for example, “605 rpm”, “6
15 rpm "and" 625 rpm ". And
“615 rpm” is used as the operation data by the controller 24.
, The governor command value Cg corresponding to “615 rpm” is output to the governor control means 27, and “600 rpm”
m ”, more fuel is injected than when it is set.
The actual idling rotation speed can be maintained at approximately "600 rpm".

Further, even in the same engine, the fuel injection amount, rotational frictional resistance, and the like may change over time due to wear of mechanical parts and the like. Even in this case, the data of the "idling rotation speed" is changed by the selection switch 51, the change completion button 48, and the like, and the data for obtaining the desired "idling rotation speed" is set in the controller 24, whereby the performance of the engine mounted on the vehicle body is improved. Can be corrected. As described above, the actual "idling rotation speed" can be maintained at the predetermined "600 rpm", and the discharge flow rate of the variable pump 22 during idling can be set to the predetermined value, so that the pilot pressure and the like in the hydraulic circuit are always maintained at the normal value. it can.

Next, the operation and effect of this embodiment will be described by taking the "running speed" of the control parameter as an example. In the case of the “running speed” set in the controller 24, the variable pump 22 and the electro-hydraulic control valve 2 that affect the “running speed”
5, the flow control valve 23, the left and right hydraulic motors 12a, 12b,
There are many related devices such as the traveling device 12, and the accumulation of variations in the performance of the devices becomes large. Further, even in the same vehicle body, the running speed changes due to aging of the equipment used. In this case as well, the data of the traveling speed is changed by the selection switch 51, the change completion button 48, and the like, and the data for obtaining the desired “traveling speed” is selected and set in the controller 24, whereby the related equipment mounted on the vehicle body is set. The performance variation and the secular change can be corrected. As a result, the predetermined “running speed” can be always maintained, so that different vehicle bodies can be driven with the same driving feeling. Further, if the data is finely input, desired data can be easily selected and set for each work, and the traveling speed can be immediately set to a desired value, so that a work machine having excellent operability can be obtained.

Next, the operation and effect of the present embodiment will be described using the control parameter "pump absorption torque" as an example.
Onboard engine 21, variable pump 22, servo valve 26
Pump absorption torque because the performance of each pump varies
There are variations. Also, even in the same vehicle body, the engine 21,
The “pump absorption torque” changes with the aging of the performance of the variable pump 22 and the servo valve 26. Also in this case, the data of the “pump absorption torque” is changed by the selection switch 51, the change completion button 48, and the like, and the data at which the desired “pump absorption torque” is obtained is selected and transmitted to the controller 24 via the signal cable 73. By setting, it is possible to correct variations in performance and aging of the engine 21, the variable pump 22, and the servo valve 26 mounted on the vehicle body, and it is possible to always maintain a predetermined strength, so that a different vehicle body can be operated with the same driving feeling. it can.

According to the present embodiment, since a plurality of stored data are prepared for each control parameter, the stored data for obtaining a predetermined operating state can be easily and immediately selected while monitoring the operating state of the control parameter. Can be set. The operation data changing means can change storage data stored in advance for each control parameter. As a result, the stored data can be prepared in advance while predicting the operation state of the control parameter, so that when the operation state is abnormal, the stored data can be easily and immediately selected and set as the operation data. As a result, a working machine having the same driving feeling is always obtained. In addition, since the operation data is selected from a plurality of stored data, there is no possibility of erroneously inputting operation data having a value greatly deviating from a normal value. Further, at a site where a plurality of excavators 11 work, each excavator 1
In the case where the performance of the hydraulic excavator 11 is different due to aging or the like, the operation data of the control parameters such as the above-mentioned “idling rotation speed”, “running speed”, and “pump absorption torque” are changed and reset so that Since the performances can be made uniform, a predetermined work efficiency can be easily obtained even at a site where a plurality of machines work together.

In the present embodiment, control parameters such as "idling rotation speed", "running speed", and "pump absorption torque" have been described as examples. Turning speed,
The working machine speed of the boom 14 or the arm 16 may be added as a control parameter. In the present embodiment, the user selects the storage data by scrolling with the selection switch 51, and sets the selected storage data as the operation data by operating the enter button 52. However, the operation data may be set directly without the trouble of scrolling the selection switch 51 to search and select the stored data. That is, the control parameter for which the operation data is to be changed is displayed on the display unit 49, and after inputting a desired numerical value with the ten keys 50, the change completion button 48 is set to, for example,
The number of operations may be set so that the input numerical value is immediately set as direct operation data. If the operation is performed only once, the input numerical value is only stored, and therefore it is assumed that the operation is performed twice, for example, within a predetermined time in order to directly set the operation data. Thereby, when the operation data to be changed is small, it can be changed quickly, and a work machine having the same driving feeling can be obtained quickly. In the present embodiment, the hydraulic shovel 11 has been described as an example of the working machine. However, the present invention may be applied to other construction machines such as a bulldozer and a wheel loader.
Needless to say, the same effect is exhibited even when applied to an industrial vehicle such as a forklift.

As described above, according to the present invention, a working machine control device for controlling control parameters such as a running speed and an idling rotational speed based on set operating data includes operating data changing means for changing the operating data. ing. For example, engine, variable pump, servo valve 26
If there is a variation in the performance of the on-board equipment such as, the operation data of the control parameters such as "idling rotation speed" and "pump absorption torque" is used to operate the engine, the variable pump, the servo valve 26, etc. to exhibit predetermined performance. Can be changed to data. Since the governor command value, servo valve command value, and the like input to the governor control means, the servo valve, and the like are command values that exhibit predetermined device performance, the mounted device can always exhibit predetermined performance. Further, even when there is a change in performance due to aging of the mounted device, the operation data of the control parameters can be changed, so that the mounted device can always exhibit a predetermined performance. Thus, the performance of each hydraulic excavator can be made uniform by changing the operation data of the control parameters even in different vehicle bodies, so that the operation can be performed with the same driving feeling, and a predetermined work efficiency can be obtained even when a plurality of vehicles work together.

[Brief description of the drawings]

FIG. 1 is a block diagram related to a control device of the present embodiment.

FIG. 2 is an explanatory diagram of a monitor.

FIG. 3 is an explanatory diagram of data display of an idling rotation speed;

FIG. 4 is an explanatory diagram of data display of a traveling speed.

FIG. 5 is an explanatory diagram of data display of a pump absorption torque.

[Explanation of symbols]

11: hydraulic excavator, 12: traveling device, 12a, 12b
... left and right traveling motor, 13 ... upper revolving body, 13a ... revolving motor, 14 ... boom, 15 ... boom cylinder, 16 ... arm, 17 ... bucket, 18 ... arm cylinder, 19 ...
Bucket cylinder, 20 ... hydraulic actuator, 21 ...
Engine, 22: variable pump, 23: flow control valve, 24
... Controller, 25 ... Electro-hydraulic control valve, 26 ... Servo valve, 27 ... Governor control means, 28a, 28b ... Work machine lever, 29a, 29b ... Work machine lever operation amount detector, 30a, 30b ... Running lever, 31a, 31b: travel lever operation amount detector, 32: engine rotation speed detector, 33: oil pressure detector, 34: starter switch, 35
... Fuel dial, 36 ... Monitor, 37 ... Clock, 38 ... Service meter, 39 ... Coolant temperature gauge, 40 ... Fuel level gauge, 39r, 40r, 41r, 42r, 4
3r, 44r, 45r: caution lamp, 46: operation data changing means, 47: parameter display button, 48: change completion button, 49: display unit, 50: numeric keypad, 51: selection switch, 52: enter button, 72: control Apparatus, 73: signal cable, Cr: flow rate command value, Cs: servo valve command value, Cg: governor command value, Ne: engine rotation speed, C
e: engine signal, Cf: fuel signal, Mw: working machine lever operation amount, Mr: traveling lever operation amount, Lo: low speed, M
... Medium speed, H ... High speed, Pm ... Engine maximum output point, T
... torque curve, Tm ... engine output torque, Pp ... pump discharge pressure, Qp ... pump discharge flow rate, Cbm ... constant horsepower curve, B ... output curve, Bm ... engine maximum output horsepower,
Cn: Network signal.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2D003 AA01 AB01 AB05 AB06 BA02 BA06 BA07 BB02 BB03 DA04 DB01 DB02 DB03 DB06 2D015 HA03 HB00 3G084 AA06 BA03 BA13 CA03 DA22 EA04 EA11 EB06 FA10 FA33 3G301 HA28 JA15 KA07 NC02 NC08 PB03Z PE01Z PF03Z PF16Z

Claims (3)

[Claims] 1. A work machine control device for controlling control parameters such as a running speed and an idling rotation speed based on preset operating data, comprising: operating data changing means for changing the operating data. Work machine control device. 2. The work machine control device according to claim 1, wherein the operation data changing means sets and changes data selected from a plurality of storage data stored in advance for each control parameter as the operation data. A control device for a working machine, comprising: 3. The control device for a work machine according to claim 2, wherein the operation data changing means is capable of changing the plurality of stored data.