JP2003213729A - Operating signal processor for construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operating signal processor for construction machine capable of reducing the operation load of an operator or a manufacturing operator in the neutral adjustment of an operating signal. <P>SOLUTION: In the operating signal processor for the construction machine with control levers 21a, 22a, 23a, 24a, 25a and 26a manually operating a plurality of hydraulic actuators and potentiometers 21b, 22b, 23b, 24b, 25b and 26b outputting the electrical operating signal S corresponding to these manipulated variables, the operating signal processor has a correction reference-value learning section 30 automatically learning a correction reference value ΔS for correcting the operating signal on the basis of the operating signal S<SB>0</SB>from the control levers for a fixed period after a rise, a correction reference-value storage section 34, in which the correction reference value ΔS learnt by the learning section 30 is stored, and a signal correction section 35 correcting the operating signal S by using the correction reference value ΔS stored in the storage section 34. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine such as a hydraulic excavator, and more particularly to a construction machine that performs a predetermined process on an operation signal of each operation lever for operating a plurality of hydraulic actuators provided in the construction machine. The present invention relates to an operation signal processing device.

[0002]

2. Description of the Related Art For example, a hydraulic excavator, which is one of construction machines, has a lower traveling body, an upper revolving body provided on the lower traveling body so as to be rotatable, and a boom which is connected to the upper revolving body so as to be elevated and lowered. , An arm, and an articulated front device including a bucket.

The undercarriage, the upper revolving structure, and the front device constitute a driven member of a hydraulic drive device provided in the hydraulic excavator. This hydraulic drive system
Generally, a prime mover such as an engine, at least one hydraulic pump driven by the prime mover, a boom hydraulic cylinder for driving the boom, the arm, and a bucket by hydraulic oil discharged from the hydraulic pump, a hydraulic cylinder for the arm, A bucket hydraulic cylinder, a traveling hydraulic motor that causes the lower traveling body to travel by the pressure oil discharged from the hydraulic pump, and the upper revolving structure to revolve with respect to the lower traveling structure by the pressure oil discharged from the hydraulic pump. A plurality of hydraulic actuators including a turning hydraulic motor, a plurality of control valves that respectively control the flow of pressure oil discharged from the hydraulic pump to the plurality of hydraulic actuators, and a plurality of operating levers operated by an operator have.

The operating lever is roughly classified into a hydraulic pilot system and an electric lever system. The hydraulic pilot system converts a pilot source pressure from a hydraulic source (for example, a pilot pump) into a hydraulic pilot signal by reducing the pilot source pressure with a pressure reducing valve according to the operation amount of an operating lever. The electric lever method is to output the operation amount of the operation lever by replacing it with an electric signal, for example, to output the operation signal by connecting the rotational movement of the operation lever to the sensor of the rotary potentiometer, or to operate the operation lever. There is a device that outputs an operation signal by connecting to a sensor of a linear potentiometer through a pusher that moves according to the above.

By the way, in the case of the above-mentioned electric lever system, the operation signal at the neutral position of the operation lever is usually different from the design value due to the assembling error, the electrical variation of the element, etc. It was necessary to adjust the variation of the operation signal in order to keep the values uniform. In particular, at the time of fine operation, since the operation lever is moved only a slight operation amount from the neutral position, the above-mentioned deviation has a great influence on the operation feeling.

From such a background, for example, as described in Japanese Utility Model Registration No. 2607164, the operation signals at the neutral position and the maximum operation position of the operation lever are respectively measured, and a correction calculation is performed so that the operation signal is as designed. There is an operation signal processing device that performs processing and outputs it to each of a plurality of control valves.

[0007]

However, the above-mentioned conventional techniques have the following problems. That is, in the above-mentioned conventional technique, when actually measuring the operation signals of the operation lever neutral position and the maximum operation position, the operator switches the switch for entering each adjustment mode each time, and the measured value of the operation signal is sent to the microcomputer. It has to be memorized, and the operation procedure is complicated, which puts a heavy burden on the operator.

Further, in the above-mentioned prior art, it is necessary to operate the switch for returning to the normal control mode after the adjustment work is completed. However, if the operator forgets the switch operation, the normal work is always performed in the adjustment mode. Therefore, there is also a problem that an inaccurate correction calculation processing of the operation signal is performed and a good operation feeling cannot be obtained.

The present invention has been made in view of the above problems of the prior art, and an object thereof is to operate a construction machine capable of reducing the work load of an operator or a manufacturing worker in neutral adjustment of an operation signal. It is to provide a signal processing device.

[0010]

(1) In order to achieve the above object, the present invention provides a plurality of hydraulic actuators, at least one operating lever for manually operating the plurality of hydraulic actuators, and the operating lever. In an operation signal processing device for a construction machine provided in a construction machine, which comprises an operation signal output means for outputting an electric operation signal according to an operation amount, the operation signal output means from the operation signal output means at a predetermined time after start-up. A correction reference value learning means for automatically learning a correction reference value for correcting the operation signal based on the operation signal; a correction reference value storage means for storing the correction reference value learned by the correction reference value learning means; And a correction unit that corrects the operation signal from the operation signal output unit using the correction reference value stored in the correction reference value storage unit.

In the present invention, the operator or the manufacturing operator of the construction machine sets the neutral position where the operation lever is not operated and starts the engine to start the operation of the construction machine to start up the processing device, or the manufacturing machine. When the processing device is started up immediately before shipment from the factory, for example, the correction reference value learning means is based on the operation signal (for example, the neutral operation signal) from the operation signal output means at a short predetermined time immediately after the start-up. Is automatically learned, and this correction reference value is stored in the correction reference value storage means. Then, thereafter, the correction means corrects the operation signal from the operation signal output means using the stored correction reference value.
As a result, unlike the conventional structure, even if the operator of the construction machine or the manufacturing worker in the manufacturing factory does not operate the switch means for setting the correction reference value (for adjusting the zero point) each time, the assembly error and the electric It is possible to eliminate a deviation (error) between the output signal value at the neutral position of the operation lever and the original neutral signal of the design, which is caused by variation in characteristics, deterioration over time, and the like, and a good operation feeling can be secured. In this way, since the above-mentioned operation for neutral adjustment, which is essential in the conventional structure, is unnecessary, the work load on the operator or the manufacturing worker can be reduced.

(2) In the above (1), preferably,
Identifier changing means for changing depending on whether the reference value is stored or not stored, and learning a new correction reference value by the correction reference value learning means and the above according to the value of the identifier. And a first update switching means for switching whether to store a new correction reference value in the correction reference value storage means.

(3) In the above item (2), more preferably, an identifier storage means for storing the value of the identifier is provided.

(4) In any one of the above (1) to (3), and preferably, the correction reference value storage means or the identifier storage means is a non-volatile storage capable of retaining storage contents even after power-off. It is a means.

As a result, once the correction reference value is learned by the correction reference value learning means before the product is shipped, the correction reference value is retained as it is even after the power is turned off. Even if it is not learned again, the control can be continued using the held correction reference value unless, for example, clearing is performed. Further, for example, if the correction reference value is once learned and stored before the product is shipped and the identifier is changed to a value corresponding to the stored state by the identifier changing means, the value of the identifier is retained as it is even if the power is subsequently turned off. Therefore, even if the identifier is not changed again at the time of the next control, the control can be continued using the held value of the identifier unless, for example, the clear is performed.

(5) In the above (2), more preferably, an identifier clearing means is provided for clearing the value of the identifier from the stored state to the non-stored state in response to the input of a predetermined identifier clear command signal from the outside.

Thus, for example, when the correction reference value once learned cannot sufficiently cope with the change in the value of the deviation (error) due to subsequent deterioration over time, the identifier is set to the non-memorized state. A new correction reference value can be relearned by the correction reference value learning means, corrected and stored in the correction reference value storage means. Accordingly, the correction means can correct the operation signal from the operation signal output means by using the newly stored correction reference value thereafter. Therefore, a sufficient correction can be performed in response to the change in the deviation, and a good operation feeling can be more surely secured.

(6) In any one of the above (1) to (5), and preferably, the correction reference value learning means learns the correction reference value in response to the input of a mode selection command signal from the outside. A mode switching unit is provided for switching between a learning mode in which the correction reference value is stored in the correction reference value storage unit and a non-learning mode in which the operation signal is corrected by the correction unit.

As a result, for example, it becomes possible to select whether or not to carry out the learning control itself as described in (1) above by means of an external mode selection instructing means. The usability for workers can be improved.

(7) In the above (1), and preferably, the correction reference value learning is performed according to the number-of-start-ups counting means for counting the number of start-ups and the number of start-ups counted by the number-of-start-ups counting means. A second update switching means for switching whether learning of a new correction reference value by the means and storage of the new correction reference value by the correction reference value storage means are performed or not.

Thus, for example, a new correction reference value is learned and stored each time the number of times of start-up is increased by a predetermined number of times, so that the correction reference value initially learned once is deviated due to deterioration over time thereafter. Even when it becomes impossible to sufficiently cope with the change in the (error) value, the correction reference value learning means can relearn a new correction reference value and correct it after every elapse of some time. Therefore,
Similar to the above (5), it is possible to more surely secure a good operation feeling.

(8) In the above item (7), more preferably, the second update switching means adds a new correction reference in the correction reference value learning means every time the number of times of start-up increases by a predetermined number of times. It is switched so that the value is learned and a new correction reference value is stored in the correction reference value storage means.

(9) In the above (7) or (8), and preferably, it is provided with a non-volatile start-up number storage means capable of storing the value of the number of start-ups and retaining the stored contents even after the power is turned off.

(10) In any one of the above (1) to (9), and preferably, a comparison means for comparing the correction reference value newly learned by the correction reference value learning means with a predetermined threshold value. Correction reference value switching means for switching whether the newly learned correction reference value is valid or invalid according to the comparison result of the comparison means.

With this, at least it is possible to avoid performing inappropriate correction due to erroneous learning. After that, for example, at the time of the next control, the correction reference value learning means relearns a new correction reference value and stores it in the correction reference value storage means, and thereafter, appropriate correction is performed to secure a good operation feeling. You can

(11) In any one of the above (1) to (10), and preferably, the correction reference value learning means has an operation signal from the operation signal output means at a predetermined time after the rising, The correction reference value is automatically learned according to the deviation from the preset operation signal design value.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an operation signal processing apparatus for a construction machine according to the present invention will be described below with reference to the drawings.
First, a first embodiment of an operation signal processing apparatus for a construction machine according to the present invention will be described with reference to FIGS. Figure 1
It is a side view showing the whole hydraulic excavator structure provided with the 1st embodiment of the operation signal processing device of the construction machine of the present invention. In FIG. 1, the hydraulic excavator is an undercarriage 1
An upper revolving structure 2 rotatably mounted on the lower traveling structure 1, a driver's cab 3 provided on one side of the upper revolving structure 2 and another side of the upper revolving structure 2 The engine room 4, a boom 5 provided on the upper slewing body 2 on the side of the driver's cab 3 so as to be able to lift and lower, a boom hydraulic cylinder 6 for driving the boom 5, and a tip of the boom 5. An arm 7 rotatably provided, an arm hydraulic cylinder 8 for driving the arm 7, a bucket 9 rotatably provided at the tip of the arm 7, and a bucket hydraulic pressure for driving the bucket 9. And a cylinder 10.

The lower traveling body 1, the upper revolving structure 2, the boom 5, the arm 7, and the bucket 9 constitute a driven member of a hydraulic drive system provided in this hydraulic excavator. FIG. 2 is a hydraulic circuit diagram showing the overall configuration of the hydraulic drive system. In FIG. 2, the hydraulic drive system includes an engine (not shown), a hydraulic pump 11 driven by the engine, the boom hydraulic cylinder 6 driven by pressure oil discharged from the hydraulic pump 11, and the arm hydraulic cylinder 6. A hydraulic cylinder 8, the bucket hydraulic cylinder 10, a turning hydraulic motor 12 for turning the upper revolving structure 2 relative to the lower traveling structure 1, and left and right traveling hydraulic motors 13, 14 for causing the lower traveling structure 1 to travel. , The hydraulic pump 1
Controlling the direction and flow rate of the pressure oil supplied from 1 to the boom hydraulic cylinder 6, the arm hydraulic cylinder 8, the bucket hydraulic cylinder 10, the turning hydraulic motor 12, and the left and right traveling hydraulic motors 13 and 14, respectively. Control valve 15,
16, 17, 18, 19, 20 and the above-mentioned boom hydraulic cylinder 6, arm hydraulic cylinder 8, bucket hydraulic cylinder 10, turning hydraulic motor 12, left / right traveling hydraulic motors 13, 14 respectively Plural operating lever devices 21, 22, 23, 24, 25, 26
A control unit 27 and a relief valve 28.

FIG. 3 is a conceptual diagram showing a schematic structure of the operation lever device 21. In FIG. 3, a rotary potentiometer 21b is arranged coaxially with the central axis of rotation of the operating lever 21a.
Outputs an operation signal S corresponding to the rotation of the operation lever 21a to the control unit 27.

At this time, stoppers 21c are provided on both sides of the operation lever 21a so as to mechanically limit the operation amount of the operation lever 21a. Further, a spring 21d for neutral return is connected to the operation lever 21a so as to return to the neutral position when the operator is not operating the operation lever 21a.

FIG. 4 shows the operation amount of the operation lever 21a and the operation signal S output from the potentiometer 21b.
It is a figure showing the relation with (output voltage V _out ). As shown in FIG. 4, when the operation lever 21a is in the neutral position, the potentiometer 21b outputs the operation signal S having the voltage value V ₀ . When the operation amount of the operation lever 21a is one of the maximum operation amounts S _Lmax , the operation signal S of the voltage value V _L is output, and the other operation amount S _Rmax is the maximum operation amount.
For being adapted to output an operation signal S of the voltage value _{V R,} if the operation amount is between _S Rmax _{to S Lmax} operation signal S in response to the operation amount is linearly from _{V R} to _{V L} It is increasing.

The other operating lever devices 22, 23, 2
4, 25 and 26 have the same structure as that of the operation lever device 21, and the respective operation levers 22a,
The relationship between the operation amount of 23a, 24a, 25a, 26a and the operation signal S of each potentiometer 22b, 23b, 24b, 25b, 26b is the same as that of the operation lever device 21.

Returning to FIG. 2, the operation signal S output from each operation lever device 21, 22, 23, 24, 25, 26 as described above is subjected to a predetermined process in the control unit 27, Each control valve 15, 16, 17, 1
It is output to 8, 19, 20 as a control signal S '. In this way, the operator operates the operation levers 21a, 22a, 2
By operating 3a, 24a, 25a, 26a,
The lower traveling body 1, the upper swing body 2, the boom 5, the arm 7, and the bucket 9 can be freely operated.

In the hydraulic excavator having the above-described structure, the most significant feature of the first embodiment of the present invention is that the operation signal S is generated when the control unit 27 is first started up.
Neutral adjustment is done automatically. The details will be described below with reference to FIGS. 5 and 6.

FIG. 5 is a functional block diagram showing a control function related to neutral adjustment of the operation signal S among the control functions of the control unit 27. In addition, in reality, each operation lever device 2
The respective operation signals S output from 1, 22, 23, 24, 25, 26 are individually processed in the control unit 27 and each control valve 15, 16, 17, as a control signal S '.
These signals are output to 18, 19, and 20, respectively, but in FIG. 5, they are shown as one signal flow for the purpose of preventing complexity. In FIG. 5, the control unit 27 includes a timer 29, a correction reference value learning unit 30, a flag storage unit 31, a threshold value storage unit 32, a design value storage unit 33, a correction reference value storage unit 34, and a signal correction as illustrated. Unit 35, signal output unit 36
It has each function of.

Further, FIG. 6 is a flow chart showing the control contents relating to the neutral adjustment of the operation signal S among the control functions of the control unit 27.

In FIGS. 5 and 6, the operator activates the control unit 27 so that the control unit 2
7 starts the flow of FIG. At this time, for example, when the control unit 27 is started up for the first time, such as when the manufacturing operator adjusts the neutrality of the operation signal before shipping of the hydraulic excavator including the present embodiment, a correction reference value storage unit 34 described later is provided. The correction reference value ΔS stored in is an initial value 0, and the flag storage unit 3 described later is used.
The flag stored in 1 is 0, which indicates that the correction reference value storage unit 34 is not storing and updating the correction reference value ΔS.

First, in step 10, the time calculator T for counting the elapsed time after the start-up of the control unit 27 in the timer 29 is cleared to 0, and the next step 2
Move to 0.

In step 20, counting of the elapsed time after the start-up is started by the time calculator T, and the process proceeds to the next step 30.

In step 30, the operating lever device 21,
The operation signals S respectively output from 22, 23, 24, 25 and 26 are input to the correction reference value learning unit 30 and the process proceeds to the next step 40.

In step 40, the flag storage unit 31
From the above, the flag is read to the correction reference value learning unit 30, and the process proceeds to the next step 50.

In step 50, the correction reference value learning unit 30
In step S40, it is determined whether the flag read in step 40 is 0, which indicates that the correction reference value storage unit 34, which will be described later, has not updated the correction reference value ΔS. If the flag is 0, the determination is satisfied, and the routine goes to Step 60.

In step 60, it is determined whether or not the elapsed time after the startup of the control unit 27 is equal to the predetermined time. Specifically, the time calculator T is read from the timer 29 to the correction reference value learning unit 30, and the correction reference value learning unit 30 determines whether the time calculator T is equal to the threshold value T ₀ . The threshold value T ₀ is
When the control unit 27 is started up, each operation lever 21a, 22a, 23a, 24a, 2 is operated based on the operation signal S.
5a, 26a is a predetermined value set as the pre-stabilization elapsed time in order to confirm that the 5a and 26a are in a stable neutral state (normally, the threshold value T ₀ is, for example, a short time of about 1 to 2 seconds). Set to). The threshold value T ₀ is, for example, recorded in advance in the threshold value storage section 32 (or set and input by an appropriate external input means). If the time calculator T is equal to the threshold value T ₀ , the determination is satisfied,
Move to next step 70.

In step 70, the design value storage section 33 is used.
From this, the operation signal design value X is read out to the correction reference value learning unit 30, and in the correction reference value learning unit 30, this operation signal design value X and each operation lever device 2 in the previous step 30.
The deviation (X−S ₀ ) from the operation signal S ₀ input from 1, 22, 23, 24, 25, 26 is learned, and this is set as the correction reference value ΔS (= X−S ₀ ). That is, the operation signal S ₀ is transmitted to each operation lever device 2 in step 30.
Of the operation signals S input from 1, 22, 23, 24, 25, and 26, when the time calculator T = T ₀ (that is, when the elapsed time after the startup of the control unit 27 becomes T ₀ ) Is the operation signal. In addition, the operation signal design value X
Are the operating levers 21a, 22a, 23a, 24a, 2
The design value is stored as a design operation signal of each potentiometer 21b, 22b, 23b, 24b, 25b, 26b when 5a, 26a is in the neutral position (for example, in the case of the potentiometer 21b, corresponds to V ₀ shown in FIG. 4). Part 3
3 are predetermined values stored in advance (or set and input by an appropriate external input means).

In the next step 80, the correction reference value ΔS stored in the correction reference value storage section 34 up to that point (0 as described above at the first startup).
Is stored and updated to the new correction reference value ΔS (= X−S ₀ ) learned by the correction reference value learning unit 30 in step 70, and the process proceeds to the next step 90.

In step 90, the correction reference value learning unit 30
, The flag is set to 1 indicating that the correction reference value storage unit 34 has updated and stored the correction reference value ΔS, and the flag storage unit 31 further stores the previous flag (first standing) If it is at the time of raising, 0) is stored and updated to 1 as described above, and the process proceeds to the next step 100. If the flag is 1 in the previous step 50, the determination is not satisfied, and the process directly proceeds to the next step 100.
Similarly, in the previous step 60, the time calculator T
When ≠ T ₀ (for example, when the time calculator T <T ₀ at the first start-up), the determination is not satisfied, and the process directly proceeds to the next step 100.

In step 100, the signal correction section 35 is used.
In step 30, the operation lever devices 21,
Operation signal input from 22, 23, 24, 25, 26
S is stored in the correction reference value storage unit 34 in the previous step 80.
Correction reference value ΔS (= X−S ₀) Is added to correct
Then, the process proceeds to the next step 110.

In step 110, the signal output unit 36 is
In step 1, the control signal S'is generated according to the operation signal (S + ΔS) corrected in step 100, and the control signal S'is generated by the control valves 15, 16, 17, 18,
It outputs to 19 and 20, respectively, and moves to the next step 120.

In step 120, it is determined whether the operator has given an instruction to shut down the control unit 27. If the operator does not give a shutdown instruction, the determination is not satisfied, and the process returns to step 30. On the other hand, if the operator has given a shutdown instruction, the determination is satisfied, and this flow ends.

The flag storage unit 31, the threshold value storage unit 32, the design value storage unit 33, and the correction reference value storage unit 3 are provided.
For No. 4, a non-volatile memory (EEPROM) is used, and the contents of the flag, the threshold value T ₀ , the operation signal design value X, and the correction reference value ΔS are stored even after the power of the control unit 27 is turned off. It is supposed to be retained.

In the above, the boom hydraulic cylinder 6,
Arm hydraulic cylinder 8, bucket hydraulic cylinder 1
0, the turning hydraulic motor 12, and the left and right traveling hydraulic motors 13 and 14 constitute a plurality of hydraulic actuators according to the claims, and the potentiometers 21b and 2 are provided.
Each of 2b, 23b, 24b, 25b and 26b constitutes an operation signal output means for outputting an electric operation signal according to the operation amount of the operation lever.

The flag in the flow shown in FIG. 6 performed by the control unit 27 constitutes a storage state identifier, and in the correction reference value learning unit 30, particularly in the flow shown in FIG. 6 performed by the correction reference value learning unit 30. Step 70 constitutes a correction reference value learning means for automatically learning the correction reference value for correcting the operation signal.

Further, the flag storage unit 31 constitutes an identifier storage means for storing the value of the identifier, and the correction reference value storage unit 34.
Constitutes a correction reference value storage means for storing the correction reference value learned by the correction reference value learning means.
1 and the correction reference value storage unit 34 and the design value storage unit 33 constitute a non-volatile storage unit capable of holding the stored contents even after the power is turned off.

Further, the signal correction section 3 of the control unit 27
5 constitutes a correction means for correcting the operation signal from the operation signal output means, and the correction reference value learning section 30, particularly step 90 in the flow shown in FIG. 6 performed by the correction reference value learning section 30, is the identifier changing means. Configure Step 5
0 constitutes first update switching means for switching whether learning of a new correction reference value is carried out by the correction reference value learning means and storage of a new correction reference value is carried out by the correction reference value storage means.

Next, the operation and action of the first embodiment of the operation signal processing apparatus for the construction machine of the present invention having the above-mentioned structure will be described below. The power supply of the control unit 27 of the hydraulic excavator is turned on for the first time to start up (for example, as described above, when the manufacturing operator performs the neutral adjustment of the operation signal before shipping the hydraulic excavator, or the neutral adjustment according to the present embodiment is performed. The control unit 27 starts counting the elapsed time after the start-up by the timer 29 in the step 10 and the step 20 of the flow of FIG.

Thereafter, while repeating steps 30 to 60 → step 100 to step 120 → step 30 until the elapsed time after start-up reaches the threshold value T ₀ , each operation lever device 21, 22, 23, 24, 25,
The operation signal S input from 26 is corrected by adding it to the correction reference value ΔS, and as a control signal S ′, each control valve 15, 1 is output.
6, 17, 18, 19, and 20, respectively. However, at this time, the correction reference value ΔS is the initial value 0 as described above.
Therefore, the operation signal S is output as the control signal S ′ without being substantially corrected.

When the elapsed time after the startup of the control unit 27 reaches the threshold value T _{0 in} this way, step 60
Is satisfied, the next step 70 and step 80
At, the deviation between the operation signal design value X and the operation signal S _{0 at} this time (T = T ₀ ) is learned, and this deviation corrects the dispersion of the operation signal S that may be caused by an assembly error, an electrical dispersion of elements, or the like. Correction reference value ΔS (= X−
It is stored in the correction reference value storage unit 34 as S ₀ ). At this time, the flag is stored and updated to 1 in the next step 90. Next, at step 100, the operation signal S is corrected by adding the above-mentioned correction reference value ΔS, and at step 110, the control valve 1 is converted into the control signal S ′.
It is output to 5, 16, 17, 18, 19, and 20, respectively.

The operator operates each of the operating levers 21a, 22a, 2 so that the correct correction reference value ΔS is learned at least when the elapsed time is the threshold value T _0.
It goes without saying that it is necessary to leave 3a, 24a, 25a, 26a in the neutral position without operating (in other words, conversely,
Each operation lever 21a, 22a, 23a, 24a, 25
The threshold value T ₀ is set to a time at which it can be considered that a and 26a are surely returned to the neutral position).

From the next step 120, the process returns to step 30, and thereafter, since the flag is 1, steps 30 to 50 → step 100 to step 12
While repeating 0 → step 30, the operation signal S input from each operation lever device 21, 22, 23, 24, 25, 26 is corrected by adding the above-mentioned correction reference value ΔS, and the above-mentioned variation is eliminated. Modified control signal S '
Is output as.

As described above, according to this embodiment, when the operator of the construction machine or the manufacturing worker first starts up the control unit 27, the operation levers 21a, 22a,
The correction reference value ΔS is automatically learned and stored only by setting 23a, 24a, 25a, 26a at the neutral position without operating, and thereafter the operation signal S is continuously automatically corrected using this correction reference value ΔS. It As a result, unlike the conventional structure, even if the operator of the construction machine or the manufacturing worker in the manufacturing factory does not operate the switch means for setting the correction reference value (for adjusting the zero point) each time, the assembly error and the electric Deviation (error) between the operation signal S at the neutral position of each operation lever 21a, 22a, 23a, 24a, 25a, 26a and the originally designed operation signal design value X, which is caused by a temporal variation, deterioration over time, etc. Therefore, it is possible to secure a good operation feeling. In this way, since the above-mentioned operation for neutral adjustment, which is essential in the conventional structure, is unnecessary, the work load on the operator or the manufacturing worker can be reduced.

Even when the operation is completed and the operator turns off the power of the control unit 27 to turn it off, the operation signal design value X, the threshold value, the flag, and the correction reference value ΔS are non-volatile as described above. The design value storage unit 33, the threshold value storage unit 32, the flag storage unit 31, and the correction reference value storage unit 34 retain the same as they are. As a result, even when the control unit 27 is started up for the second time or later, steps 10 to 50 → step 100 to step 120 → step 30 to step 50 → step 1 in FIG.
00 to step 120 → While repeating step 30, each operation lever device 21, 22, 23, 24, 25,
The operation signal S input from 26 is corrected using the correction reference value ΔS learned at the first start-up, and is output to each control valve 15, 16, 17, 18, 19, 20 as a control signal S ′. It

Thus, for example, if the manufacturing worker once learns the correction reference value ΔS according to the above procedure before the factory shipment of the hydraulic excavator having the present embodiment, the operator of the hydraulic excavator after the shipment. Even if the neutral adjustment work is not performed at all, the operation signal S is continuously and automatically corrected using the held correction reference value ΔS. That is, since the operator does not have to perform any work for neutral adjustment, there is also an effect that the work load particularly for the operator's neutral adjustment can be significantly reduced.

Next, FIG. 2, FIG. 5, and FIG. 7 described above for the second embodiment of the operation signal processing apparatus for the construction machine of the present invention.
Will be described with reference to. In the present embodiment, the operator can arbitrarily clear the value of the flag to 0. 2 and 5, the handheld type terminal 3 connected to the control unit 27 is used.
7 (PC may be used instead of handy type, or cab 3
It may be an operation button or the like provided inside. Hereinafter, simply terminal 3
Write 7. 2 and 5 are indicated by broken lines),
The operator operates the correction reference value learning unit 3 in the control unit 27.
The flag clear signal S _C can be arbitrarily input to 0. As a result, the correction reference value learning unit 3
At 0, the flag is cleared to 0 and is stored and updated in the flag storage unit 31. 2 and 5, these are the same as the above-described first embodiment of the present invention except for the above, and therefore description thereof will be omitted.

Next, the control content of this embodiment will be described with reference to FIG. FIG. 7 is a control unit 2 including the second embodiment of the operation signal processing apparatus for a construction machine according to the present invention.
9 is a flowchart showing the control content related to neutral adjustment of the operation signal S among the control functions of FIG. In this FIG.
The control unit 27 starts this flow when the operator starts the control unit 27. Note that the correction reference value ΔS is the initial value 0 and the flag is 0 when the control unit 27 is started up for the first time, as in the first embodiment.

Steps 210 to 240 are the same as steps 10 to 40 in FIG. 6 in the above-described first embodiment, and the timer 29 starts counting the elapsed time by the time calculator T and performs each operation. The operation signal S input from the lever devices 21, 22, 23, 24, 25, 26 is input to the correction reference value learning unit 30, and the flag is read from the flag storage unit 31.

At the next step 250, it is determined whether or not the operator has instructed to clear the flag. Specifically, as described above, it is determined whether the operator has input the flag clear signal S _C to the correction reference value learning unit 30 in the control unit 27 using the terminal 37. If the operator inputs the flag clear signal S _C , the determination is satisfied, and the routine goes to Step 260.

In step 260, the correction reference value learning unit 3
At 0, the flag is cleared to 0, stored in the flag storage unit 31 and updated, and the routine goes to the subsequent Step 270. If the operator does not input the flag clear signal S _C in step 250, the determination is not satisfied, and the process directly proceeds to step 270.

Steps 270 to 330 are similar to steps 50 to 110 in FIG. 6 in the above-described first embodiment, and the flag is set to 0 (at the first start-up, or as described above, the operator sets the flag. (When is cleared to 0), the correction reference value learning unit 30 learns the correction reference value ΔS when the elapsed time reaches the threshold value T ₀ , the storage of the correction reference value storage unit 34 is updated, and the flag is set. The flag stored in the storage unit 31 is stored and updated to 1. Then, the signal correction unit 35 corrects the operation signal S by adding the correction reference value ΔS to the signal output unit 3.
6 each control valve 15,16,17,18,19,2
It outputs to 0 as a control signal S '.

At the next step 340, similarly to step 120 in FIG. 6 in the above-described first embodiment, if the operator does not give the instruction to shut down the control unit 27, the process returns to step 230 to give a shutdown instruction. If it is done, this flow ends.

In the above, the terminal 37 constitutes a predetermined external part in each claim, and the flag clear signal S _C
Represents a predetermined identifier clear command signal from the outside, and step 260 in the flow shown in FIG. 7 performed by the correction reference value learning unit 30 is an identifier clear means for clearing the value of the identifier from the stored state to the non-stored state. Constitute.

Next, the operation and action of the second embodiment of the operation signal processing apparatus for the construction machine of the present invention having the above-mentioned structure will be described below. When the power of the control unit 27 of the hydraulic excavator is turned on for the first time and started up, the above-described first aspect of the present invention is performed.
7, in step 210 to step 240 in FIG. 7, the control unit 27 causes the timer 29 to start counting the elapsed time after the start-up, and each operation lever device 21, 22, 23, 24, 25, The operation signal S is input to the correction reference value learning unit 30 from 26 and the flag is read from the flag storage unit 31.

Even if the operator does not clear the flag in the next step 250, the flag is 0 as described above, so that the determination at step 270 is satisfied and the routine proceeds to step 280.

In this way, the elapsed time is equal to the threshold value T _0.
Until step 280 → step 320 to step 340 → step 230 to step 250 → step 2
While repeating 70 → step 280, the operation signal S is corrected using the correction reference value ΔS and output as the control signal S ′. However, at this time, since the correction reference value ΔS is the initial value 0 as in the first embodiment, the operation signal S
Is output as the control signal S ′ without being substantially corrected.

After that, as in the first embodiment, the operator operates the operation levers 21a, 22a, 23a, 2 respectively.
When the elapsed time after startup of the control unit 27 reaches the threshold value T ₀ with 4a, 25a, and 26a in the neutral position, the determination in step 280 is satisfied, and the correction reference in the next step 290 and step 300. The value ΔS is learned and stored, and thereafter, in step 320 and step 330, the operation signal S is corrected using this correction reference value ΔS and output from the control unit 27 as the control signal S ′.

Thereafter, step 340 → step 2
30 to step 250 → step 270 → step 32
While repeating steps 0 to 340, the operation signal S is corrected by adding the correction reference value ΔS, and is output as the control signal S ′.

The operator once turns on the power of the control unit 27.
Even when the control unit 27 is set to FF and the control unit 27 is started up after the second time, similarly, steps 210 to 25 in FIG.
0 → step 270 → step 320 to step 340
→ Step 230 to Step 250 → Step 270 →
While repeating steps 320 to 340 → step 230, the operation signal S is corrected using the correction reference value ΔS and output as the control signal S ′.

While using the hydraulic excavator equipped with the operation signal processing device of the present embodiment by the above procedure,
For example, it is assumed that the above-described deviation value gradually increases due to deterioration over time, and the correction reference value ΔS learned by the control unit 27 at the time of the first startup cannot sufficiently cope with such a deviation change.

At this time, the operator repeats step 210 to step 250 → step 270 → step 320 to step 340 → step 230 to step 250 → step 270 → step 320 to step 340 → step 230 in FIG. In a normal control state, the terminal 37 inputs the flag clear signal S _C to the control unit 27. This results in step 2 in FIG.
The determination of 50 is satisfied, the flag is cleared to 0 in the next step 260, and the storage of the flag storage unit 31 is updated.

As a result, the determination at step 270 is satisfied.
Then, the process proceeds to step 280. At this time, after the startup
Threshold time T₀Different from
Value T ₀Is set to a short time of, for example, 1 to 2 seconds.
Therefore, at this point, the normal elapsed time is the threshold value T₀Beyond
Directly from step 280 to step 320
After that, the correction reference value ΔS is not learned. That is, this
After that, step 320 to step 340 → step 2
30 to step 250 → step 270 → step 28
0 → While repeating step 320, the operator sets the flag
The operation signal S is the correction reference value as before before was cleared to 0.
Corrected using ΔS and output as control signal S ′
It The flag is cleared to 0 in this way
After clearing the flag, it will appear until the next launch
There is no change in the operation of.

However, since the flag is cleared to 0, at the next startup, the procedure is the same as that at the first startup, and the elapsed time after startup is the threshold value T.
_When it becomes ₀ , the determination at step 280 in FIG. 7 is satisfied, and a new correction reference value Δ is obtained at step 290 and step 300.
S is learned and stored and updated. Then, step 320
Then, in step 330, the operation signal S is corrected using this new correction reference value ΔS and output as the control signal S ′.

As described above, according to this embodiment, for example, the correction reference value ΔS once learned as described above cannot sufficiently cope with the change in the value of the deviation (error) due to subsequent deterioration over time. In this case, the operator clears the flag to 0 using the terminal 37, so that the correction reference value learning unit 30 re-learns a new correction reference value ΔS and corrects the correction reference value storage unit 34. Can be updated. As a result, the newly stored correction reference value Δ
Since it is possible to perform sufficient correction using S to cope with the change in deviation due to aging deterioration as described above, it is possible to continuously ensure a good operational feeling of the hydraulic excavator.

In the second embodiment of the present invention, the operator uses the terminal 37 to clear the flag clear signal S _C.
When the input is, the control unit 27 is made to learn the new correction reference value ΔS at the next start-up at the time of the input. However, the present invention is not limited to this, and the operator receives another predetermined signal (hereinafter,
The control unit 27 may learn a new correction reference value ΔS immediately after inputting the correction reference value update signal S _d . Hereinafter, this content will be described with reference to FIG. 8 which is a flowchart showing the control content of this modified example.

In FIG. 8, steps 410 to 440 are the same as steps 210 to 240 in FIG. 7 in the second embodiment of the present invention.

At the next step 450, when the operator inputs the correction reference value update signal S _d (see FIG. 5) using the terminal 37, the determination is satisfied, and the routine directly proceeds to step 480.
The correction reference value learning unit 30 relearns a new correction reference value ΔS. Subsequent steps 490 to 530
Is step 300 in FIG. 7 in the second embodiment.
~ Same as step 340, the previous correction reference value ΔS
Is updated to the newly learned correction reference value ΔS, and the operation signal S is corrected using this new correction reference value ΔS and output as the control signal S ′.

In this way, in this modification, the control unit 27 learns a new correction reference value ΔS as soon as the operator inputs the correction reference value update signal S _d , so if this operation is performed during work. The operation feeling is immediately improved without waiting for the next startup. As a result, in this modified example, a good operational feeling of the hydraulic excavator can be continuously and quickly ensured.

Next, a third embodiment of the operation signal processing apparatus for the construction machine of the present invention will be described with reference to FIGS. 9 and 10. In the present embodiment, the operator can arbitrarily select whether or not the control unit corrects the operation signal S. FIG. 9 is a functional block diagram showing the control function relating to the neutral adjustment of the operation signal S, out of the control functions of the control unit 27 'having the third embodiment of the operation signal processing device of the present invention. In addition, FIG.
4 is a flow chart showing the control content relating to the neutral adjustment of the operation signal S among the control functions of the control unit 27 'having the present embodiment. In FIG. 9, the same parts as those of FIG. 5 in the first and second embodiments of the present invention described above are designated by the same reference numerals and the description thereof will be omitted.

In FIGS. 9 and 10, the operator determines whether or not the correction processing of the operation signal S is performed, for example, a changeover switch (not shown) of the terminal 37 (or a changeover switch provided in the cab 3 or the like in advance). However, if the correction is to be performed), "correction ON" is set, and if the correction is not performed, "correction OFF" is set, and then the control unit 27 'is started. As a result, the control unit 27 'starts the flow of FIG.

First, in step 610, it is determined whether or not the operator has instructed the control unit 27 'to perform the correction processing of the operation signal S. Specifically, it is determined whether or not the correction signal S _e is input from the terminal 37 to the process selection unit 38 newly provided in the control unit 27 'shown in FIG. The operator selects the “correction O
In the case of “FF”, the correction signal S _e input to the process selection unit 38 is turned off, and as a result, the process selection unit 38 causes the operation lever devices 21, 22, 23, 24,
The operation signal S input from 25 and 26 is directly transmitted to the signal output unit 36 (see FIG. 9), and the determination in step 610 in FIG. 10 is not satisfied, and the process directly proceeds to step 720.

Step 720 is the same as step 110 in FIG. 6 in the above-described first embodiment, and each operation lever device 21, 22, 23, 24, 25 transmitted from the process selecting section 38 in the above step 610. , 26 to output a control signal S'corresponding to the operation signal S to the control valves 15, 16, 17, 18, 19, 20 respectively.

The next step 730 is the same as step 120 in FIG. 6 in the above-described first embodiment, and if the operator does not shut down the control unit 27 ', the determination is not satisfied and the routine goes to step 740.

In step 740, it is determined whether the operation signal S is being corrected by the control unit 27 'in step 6 above.
It is determined in the same manner as 10. That is, the operator
If the selector switch 7 is set to "correction OFF", the determination is not satisfied and the routine returns to step 610.

On the other hand, when the operator has set the changeover switch of the terminal 37 to "correction ON", the correction signal S _e is input to the process selection section 38 in FIG. 9, and the determination in step 610 in FIG. If it is satisfied, the process proceeds to the next step 620.

Steps 620 to 730 are the same as steps 10 to 120 in FIG. 6 in the above-described first embodiment, and the control unit 27 'counts the elapsed time after startup and outputs the operation signal S. Input and read the flag from the flag storage unit 31. When the flag is 0 and the elapsed time is the threshold value T ₀ , the correction reference value ΔS is learned and stored and updated, and the flag is set to 1 and stored and updated.
The operation signal S is calculated by using the newly learned correction reference value ΔS.
Is corrected and output as a control signal S '.

Thereafter, in step 740, if the operator has set the changeover switch of the terminal 37 to “correction ON”, the determination is satisfied and the process returns to step 640.

In the above, the processing selection section 38 of the control unit 27 'constitutes a mode switching means for switching between the learning mode and the non-learning mode for correcting the operation signal by the correcting means described in each claim. , The correction signal S _e constitutes a mode selection command signal from the outside.

Next, the operation and action of the third embodiment of the operation signal processing apparatus for the construction machine of the present invention having the above-mentioned structure will be described below.

The changeover switch of the terminal 37 is set to "correction OFF".
When the control unit 27 ′ is started up as shown in FIG. 10, each operation lever device 2 is repeated while repeating step 610 → step 720 to step 740 → step 610 in FIG.
Process selection unit 38 from 1, 22, 23, 24, 25, 26
The operation signal S input to is directly transmitted to the signal output unit 36 without being corrected, and the control signal S ′ corresponding to the operation signal S is output from the signal output unit 36 to each of the control valves 15, 16, 1.
It is output to 7, 18, 19, 20.

On the other hand, the changeover switch of the terminal 37 is set to "correction O".
When the control unit 27 'is started up for the first time as "N", as in the first embodiment of the present invention described above, step 61 is performed until the elapsed time after startup reaches the threshold value T _0.
0 to step 670 → step 710 to step 740
→ Step 640-Step 670 → Step 710
By repeating step 740 → step 640, the operation signal S is output as the control signal S ′ without being substantially corrected. Next, when the elapsed time reaches the threshold value T ₀ , the determination in step 670 is satisfied, the correction reference value ΔS is learned and stored and updated in steps 680 to 720, and the operation signal S uses this new correction reference value ΔS. Is corrected and output as a control signal S '.

After this, steps 720 to 7
40 → step 640 to step 660 → step 71
While repeating 0 to step 740 → step 640, each operation lever device 21, 22, 23, 24, 25,
The operation signal S input from 26 is corrected using the correction reference value ΔS and output as a control signal S ′. Note that the operation when started up from the second time onward is the same as that of the above-described first embodiment of the present invention.

As described above, according to this embodiment, the operator learns the correction reference value ΔS before starting the control unit 27 ′ by the changeover switch of the terminal 37 and the operation signal using this correction reference value ΔS. Since it is possible to arbitrarily select whether or not to correct S, it is possible to further improve the usability for the operator.

In the third embodiment of the present invention, the control unit 27 'does not learn the new correction reference value ΔS after once learning the correction reference value ΔS. Not limited to this, the control unit 27 'can appropriately learn the correction reference value ΔS so that the operator can arbitrarily clear the value of the flag to 0 as in the second embodiment. You may allow it. This content will be described below with reference to FIG. 11, which is a flowchart showing the control content of this modified example.

[0102] In FIG. 11, step 810～ step 850 is similar to the third in 10 step 610 to step 650 in the embodiment of the present invention, the operator inputs a correction signal _{S e} control unit Two
7'starts counting the elapsed time after startup, inputs the operation signal S, and reads the flag.

At the next step 860, it is judged whether or not the flag is cleared by the operator. Specifically, it is determined by the terminal 37 whether or not the operator has input the flag clear signal S _C (shown by the broken line in FIG. 9) to the correction reference value learning unit 30 in the control unit 27 '. If the operator has input the flag clear signal S _C , the determination is satisfied, and the routine goes to the subsequent Step 870.

In step 870, the correction reference value learning unit 3
At 0, the flag is cleared to 0, the storage of the flag storage unit 31 is updated, and the routine goes to the subsequent Step 880. The determination is not satisfied unless the operator inputs the flag clear signal S _C in the above step 860, and the next step 880
Go directly to.

Steps 880 to 960 are steps 66 in FIG. 10 in the third embodiment of the present invention.
0 to the same as step 740, when the flag is 0 (at the time of first start-up or when the operator clears the flag as described above) and the elapsed time is the threshold value T ₀ , the correction reference value ΔS Are learned and stored and updated, and the operation signal S is corrected using this new correction reference value ΔS and output as a control signal S ′.

As described above, in this modification, the operator can arbitrarily select whether or not to perform the learning reference control of the correction reference value ΔS itself, and also to cope with a change in deviation due to aging deterioration or the like. And sufficient correction can be performed. As a result, it is possible to continuously ensure a good operational feeling of the hydraulic excavator and improve the usability of the operator.

Next, a fourth embodiment of the operation signal processing apparatus for a construction machine of the present invention will be described with reference to FIGS. 12 and 13. In the present embodiment, the number of times the control unit is started up is counted, and the correction reference value S is newly learned and stored and updated every time the number of times reaches a predetermined number (1000 times in the present embodiment). It is a thing.

FIG. 12 is a functional block diagram showing the control function relating to the neutral adjustment of the operation signal S, out of the control functions of the control unit 27 ″ having the fourth embodiment of the operation signal processing device of the present invention. 13 is a flow chart showing the control contents relating to the neutral adjustment of the operation signal S in the control function of the control unit 27 ″ including the fourth embodiment of the operation signal processing device of the present invention. In FIG. 12, the same parts as those in FIG. 5 according to the first embodiment of the present invention described above are designated by the same reference numerals and the description thereof will be omitted.

12 and 13, the control unit 27 "starts the flow of FIG. 13 when the operator activates the control unit 27". At this time, when the control unit 27 is started up for the first time, n, which indicates the number of times the control unit 27 ″ described later is started up, is 0. Step 1010 and step 1
Reference numeral 020 in FIG. 6 in the first embodiment of the present invention described above.
Similar to the middle step 10 and the step 20, respectively, the control unit 27 ″ clears the time calculator T to 0 in the timer 29 to start counting the elapsed time after startup, and proceeds to the next step 1030.

In step 1030, as shown in FIG. 12, the control unit 2 is transferred from the startup number storage section 39 newly provided in the control unit 27 ″ to the correction reference value learning section 30.
The number of startups n of 7 ″ is read, and the next step 104
Move 0.

In step 1040, the correction reference value learning unit 30 adds 1 to the number n of startups read in step 1030, and then proceeds to the next step 1050.

Step 1050 is the same as step 30 in FIG. 6 in the first embodiment of the present invention, and each operation lever device 21, 22, 23, 24, 25,
The operation signal S from 26 is input to the correction reference value learning unit 30, and the process proceeds to the next step 1060.

In step 1060, the correction reference value learning section 30 determines whether or not the number n of startups of the control unit 27 ″ to which 1 is added in step 1040 is 1000 or more. If so, the determination is satisfied, and the routine goes to the subsequent Step 1070.

Steps 1070 to 1090 are the same as steps 60 to 80 in FIG. 6 in the first embodiment of the present invention described above, and the correction reference value ΔS is learned and stored in the correction reference value storage unit 34. Is updated, and the process proceeds to the next Step 1100.

At step 1100, the correction reference value learning unit 30 clears the number of times n of startup to 0, and then proceeds to next step 1110. In step 1060, if the number n of startups is less than 1000, the determination is not satisfied, and the process directly proceeds to step 1110.

Steps 1110 and 1120 are the same as steps 100 and 110 in FIG. 6 in the first embodiment of the present invention, and the operation signal S is corrected using the correction reference value ΔS. Output as control signal S '.

In the next step 1130, the determination is not satisfied unless the operator does not shut down the control unit 27 ″, and the process returns to step 1050. On the other hand, if the operator is performing the shutdown, the determination is made. The flow is satisfied, and this flow ends.

As described in the first embodiment, the threshold value storage section 32, the design value storage section 33, and the correction reference value storage section 34 use a non-volatile memory (EEPROM). However, in the present embodiment, the startup count storage unit 39 also has a nonvolatile memory (EEPR).
OM) is used. That is, the number n of startups of the control unit 27 ″ is retained in memory even after the power is turned off, so that the number n of startups of the control unit 27 ″ is accumulated every time the startup of the control unit 27 ″ is performed.

In the above, the startup count storage section 39
Configures a nonvolatile number-of-start-up storage means that stores the value of the number of start-ups described in each claim and can retain the stored contents even after the power is turned off. In addition, the correction reference value learning unit 3
Step 1030 and step 1040 in the flow shown in FIG. 13 performed by 0 constitute a startup number counting means for counting the number of startups, and step 1060 learns a new correction reference value by the correction reference value learning means. And a second update switching means for switching whether to store a new correction reference value in the correction reference value storage means.

Next, the operation and action of the fourth embodiment of the operation signal processing apparatus for the construction machine of the present invention having the above-mentioned structure will be described below. The number n of startups of the control unit 27 ″ is 9
If it is less than 99, when the operator turns on the power of the control unit 27 ″ and starts it, steps 1010 to 1010 in FIG.
Step 1060 → Step 1110 to Step 113
0 → step 1050 → step 1060 → step 1
110 to step 1130 → step 1050 are repeated, and the operation signal S is corrected by the correction reference value ΔS previously learned / stored and updated, and is output as the control signal S ′. When the determination of step 1130 is satisfied, the control unit 2
7 ″ is completed. At this time, the number of times n of startup is accumulated every time the control unit 27 ″ is started.

In this way, when the 1000th control unit 27 ″ is started up, step 10 in FIG.
In 30 and step 1040, the read start-up number n (n = 999 at the time of reading) is incremented by 1 to 1000.

As a result, the determination at step 1060 is satisfied, and when the elapsed time after the startup of the control unit 27 ″ becomes the threshold value T ₀ , the determination at step 1070 is satisfied and the following steps 1080 and 1090 are satisfied. At, the correction reference value ΔS is newly learned and stored and updated.
At this time, the number n of startups is cleared to 0 in the next step 1100, and the number of startups is restarted from the next startup.

After that, steps 1110 to 1130 → step 1050 → step 1060 → step 1110
The operation signal S is corrected by the newly learned correction reference value ΔS and output as the control signal S ′.

As described above, according to the present embodiment, a new correction reference value ΔS is learned every time the number of times the control unit 27 ″ is started up is increased by 1000 times. Even if the corrected reference value ΔS cannot sufficiently cope with the change in the value of the deviation (error) due to subsequent deterioration over time, the number of startups is 1000
A new correction reference value ΔS can be re-learned and corrected every time a certain amount of time corresponding to the number of times. As a result, it is possible to continuously ensure a good operational feeling of the hydraulic excavator as in the second embodiment of the present invention described above.

In the fourth embodiment of the present invention described above, since the predetermined number of startups is set to 1000, the correction reference value ΔS is learned and stored and updated only after 1000 startups. However, the present invention is not limited to this, and the operator may arbitrarily clear the predetermined number of startups to 0 so that the correction reference value ΔS can be appropriately learned and stored and updated. As a result, the operator can newly learn / store and update the correction reference value ΔS by clearing the predetermined number of startups to zero.

Next, a fifth embodiment of the operation signal processing apparatus for a construction machine according to the present invention will be described with reference to FIGS. The present embodiment compares the correction reference value ΔS learned by the control unit with a predetermined threshold value and determines whether the correction reference value ΔS is valid or invalid according to the comparison result. It was done.

FIG. 14 is a flow chart showing the control contents relating to the neutral adjustment of the operation signal S among the control functions of the control unit 27 having the fifth embodiment of the operation signal processing device of the present invention. In FIG. 5 and FIG. 14 described above, the control unit 27 starts the flow of FIG. 14 when the operator starts the control unit 27.

Steps 1210 to 1270 are the same as steps 10 to 70 in FIG. 6 in the first embodiment of the present invention, and the control unit 27 starts counting the elapsed time after startup, Operation signal S
Is input to read the stored flag from the flag storage unit 31. Next, when the flag is 0 and the elapsed time becomes the threshold value T ₀ , the correction reference value ΔS is learned.

At the next step 1280, the correction reference value learning unit 30 determines whether the absolute value of the correction reference value ΔS is smaller than the threshold value Z read from the threshold value storage unit 32 to the correction reference value learning unit 30. To judge. It should be noted that this threshold value Z is the maximum value of the absolute value of the correction reference value ΔS in a numerical range considered to be normal, and is set as the threshold value storage unit 32.
Is a predetermined value which has been recorded in advance (or set and input by an appropriate external input means) and set. If the absolute value of the correction reference value ΔS is smaller than the threshold value Z in step 1280, the determination is satisfied, and the routine goes to step 1290.

In steps 1290 and 1300, the correction reference value storage section 34 updates the correction reference value ΔS stored up to that time to a new correction reference value ΔS learned in step 1270, and stores the flag. The flag stored in the unit 31 is also updated to 1.

On the other hand, if the absolute value of the correction reference value ΔS is larger than the threshold value Z in step 1280, the determination is not satisfied, and the routine goes to step 1310. Step 131
At 0, the new correction reference value ΔS learned in the previous step 1270 is not stored and updated in the correction reference value storage unit 34 (that is, the previous correction reference value ΔS is left in the correction reference value storage unit 34). , Clears the flag to 0, and updates the storage of the flag storage unit 31.

Next Step 1320 to Step 1330
6 is the same as steps 100 to 110 in FIG. 6 in the first embodiment of the present invention described above, and if the absolute value of the correction reference value ΔS is smaller than the threshold value Z in step 1280, it is newly added. The correction reference value ΔS stored and updated,
Alternatively, if the absolute value of the correction reference value ΔS is larger than the threshold value Z in the previous step 1280, the previous correction reference value ΔS
Is used to correct the operation signal S and output as a control signal S '.

At the next step 1340, if the operator does not shut down the control unit 27, the determination is not satisfied, and the process returns to step 1230. On the other hand, if the operator makes a stop, the determination is satisfied, and this flow is ended.

In the above, step 128 in the flow shown in FIG. 14 performed by the correction reference value learning unit 30.
0 constitutes a comparing means for comparing the correction reference value newly learned by the correction reference value learning means described in each claim with a predetermined threshold value, and step 1290 and step 1310 are newly added. The correction reference value switching means is configured to switch between validating and invalidating the correction reference value learned in the above.

Next, the operation and action of the fifth embodiment of the operation signal processing device of the present invention having the above configuration will be described below. The power of the control unit 27 of the hydraulic excavator is turned off for the first time.
When started up as N, similar to the above-described first embodiment of the present invention, steps 1210 to 1 in FIG.
In 270, the control unit 27 starts counting the elapsed time after startup, inputs the operation signal S, and reads the flag. Next, when the elapsed time reaches the threshold value T ₀ , the correction reference value learning unit 30 learns the correction reference value ΔS.

When this elapsed time reaches the threshold value T ₀ , for example, the body of the operator is operated by the operation levers 21a, 22a,
If any of 23a, 24a, 25a, and 26a is touched, the absolute value of the correction reference value ΔS, which is the deviation between the operation signal design value X that is the design value at the neutral position and the operation signal S ₀ , falls within the normal range. Grows beyond.

That is, since the absolute value of the correction reference value ΔS becomes larger than the threshold value Z, step 1280 in FIG.
At step 1310, the flag is cleared to 0 in step 1310. At this time, as described above, the correction reference value ΔS previously stored in the correction reference value storage unit 34 is not updated to the new correction reference value ΔS.

As a result, the subsequent steps 1320 to 1
340 → step 1230 to step 1260 → step 1320 are repeated, and the operation signal S is corrected using the previous correction reference value ΔS and output as the control signal S ′.

In such a case, when the operator next starts up the control unit 27 and the elapsed time reaches the threshold value T ₀ , the operator operates the operation levers 21a, 22a, 2a.
If the neutral position is maintained without touching 3a, 24a, 25a, 26a, the absolute value of the correction reference value ΔS becomes smaller than the threshold value Z. That is, the determination at step 1280 in FIG. 14 is satisfied, and thereafter, steps 1290 to 134 are performed.
0 → step 1230 to step 1250 → step 1
The operation signal S is repeated from 320 to step 1340 → step 1230 to step 1250 → step 1320.
Is corrected using the correction reference value ΔS newly learned and stored and updated in steps 1270 and 1290, and is output as the control signal S ′.

In this way, according to the present embodiment,
For example, the respective operating levers 21a, 2 of the operator as described above
It is possible to avoid improper correction of the operation signal S due to learning of an incorrect correction reference value ΔS caused by contact with the 2a, 23a, 24a, 25a, 26a. After that, at the next startup, the control unit 27 sets a new correction reference value Δ.
Since S is re-learned again and stored and updated, the operation signal S is appropriately corrected thereafter. As a result, a good operational feeling of the hydraulic excavator can be ensured more reliably.

In the fifth embodiment of the present invention described above, the control unit 27 does not learn a new correction reference value ΔS after learning the correction reference value ΔS at the first startup. However, not limited to this, the above-mentioned second
Similar to the embodiment described above, the operator may arbitrarily clear the value of the flag to 0 so that the control unit 27 can appropriately learn the correction reference value ΔS. The contents will be described below with reference to FIG. 5 described above and FIG. 15 which is a flowchart showing the control contents of the modified example.

Steps 1410 to 1440 are similar to steps 1210 to 1240 of FIG. 14 in the fifth embodiment of the present invention. When the operator starts the control unit 27, the control unit counts the elapsed time. , The operation signal S is input, and the flag is read.

At the next step 1450, the operator operates as shown in FIG.
Flag clear signal S from middle terminal 37 _CCorrected reference value learning
It is determined whether or not the data is input to the unit 30. Operator flag
Clear signal S_CIf you enter, the judgment is satisfied, and the next
In step 1460, the flag is cleared to 0 and the next step
Move to page 1470. The operator clears the flag S_CEnter
If not, the judgment is not satisfied and the next step is taken directly.
Move to 1470.

Subsequent steps 1470 to 156
0 is similar to steps 1250 to 1340 of FIG. 14 in the fifth embodiment of the present invention, and the absolute value of the correction reference value ΔS learned by the correction reference value learning unit 30 is less than the threshold value Z. If it is larger, the operation signal S is corrected using the previous correction reference value ΔS, and if the absolute value of the learned correction reference value ΔS is smaller than the threshold value Z, this newly learned correction reference value ΔS is used. Then, the operation signal S is corrected and output as a control signal S '.

In the above, step 150 in the flow shown in FIG. 15 performed by the correction reference value learning unit 30.
0 constitutes a comparison means for comparing the correction reference value newly learned by the correction reference value learning means described in each claim with a predetermined threshold value, and step 1510 and step 1530 are new. The correction reference value switching means is configured to switch between validating and invalidating the correction reference value learned in the above.

Also in this modification, a good operating feeling of the hydraulic excavator can be ensured more reliably and continuously.

Further, in the fifth embodiment of the present invention described above, the control unit 27 always corrects the operation signal S, but the present invention is not limited to this, and the same as in the above-described third embodiment. The operator may arbitrarily select whether or not the control unit corrects the operation signal S. The contents will be described below with reference to FIG. 9 described above and FIG. 16 which is a flowchart showing the control contents of the modified example.

At step 1610, it is determined whether or not the operator has input the correction signal S _e to the process selection section 38 by the terminal 37 in FIG. If the operator has not input the correction signal S _e , the determination is not satisfied, and step 1740 in FIG.
Then, the signal output unit 36 outputs the control signal S ′ according to the operation signal S directly transmitted from the process selection unit 38. At this time, in the control unit 27 ', the correction reference value ΔS
No learning / memory update or correction of the operation signal S is performed.

If the operator inputs the correction signal S _e in the above step 1610, the determination is satisfied, and the routine goes to the subsequent Step 1620.

In steps 1620 to 1750,
This is the same as steps 1210 to 1340 of FIG. 14 in the fifth embodiment of the present invention. That is, when the absolute value of the correction reference value ΔS learned by the correction reference value learning unit 30 is larger than the threshold value Z stored in the threshold value storage unit 32 in FIG.
Is used to correct the operation signal S, and the learned correction reference value Δ
When the absolute value of S is smaller than the threshold value Z, the operation signal S is corrected using this newly learned correction reference value ΔS,
Output as control signal S '.

In the above, step 169 in the flow shown in FIG. 16 performed by the correction reference value learning unit 30.
0 constitutes a comparing means for comparing the correction reference value newly learned by the correction reference value learning means described in each claim with a predetermined threshold value, and step 1700 and step 1720 are new. The correction reference value switching means is configured to switch between validating and invalidating the correction reference value learned in the above.

Also in this modification, it is possible to more reliably ensure a good operational feeling of the hydraulic excavator, and it is also possible to improve the usability for the operator.

Further, in the fifth embodiment of the present invention described above, the control unit 27 does not learn a new correction reference value ΔS after learning the correction reference value ΔS at the first startup. However, not limited to this, the above-mentioned fourth
Similar to the embodiment described above, the correction reference value ΔS may be newly learned each time the number of times the control unit 27 is started reaches a predetermined number (for example, 1000 times). less than,
This content will be described with reference to FIG. 12 described above and FIG. 17 which is a flowchart showing the control content of this modification.

Steps 1810 and 1820 are similar to steps 1210 and 1220 of FIG. 14 in the fifth embodiment of the present invention described above.
The middle control unit 27 ″ starts counting elapsed time,
Move to next step 1830.

In step 1830, the correction reference value learning section 30 reads the number of times n of startup from the number-of-starts storage section 39, and in the next step 1840, 1 is added to this number of times of startup n.

The next step 1850 is the fifth step of the present invention.
14 is the same as the step 1230 of FIG. 14 in the above embodiment, the operation signal S is input and the process proceeds to the next step 1860.

In step 1860, the previous step 18
At 40, it is determined whether the number n of startups by adding 1 is 1000 or more. If the number n of startups is smaller than 1000, the determination is not satisfied and the routine goes to Step 1930, and thereafter, Steps 1930 to 1950 → Step 1850 →
While repeating step 1860 → step 1930, the operation signal S is corrected by using the correction reference value ΔS stored in the correction reference value storage unit 34 up to that point, and the control signal S ′ is corrected.
Output as.

On the other hand, when the number n of startups reaches 1000 in the previous step 1840, the determination is satisfied in the above step 1860, and the routine proceeds to step 1870. Steps 1870 to 1950 are similar to steps 1260 to 1340 of FIG. 14 in the fifth embodiment of the present invention, and the absolute value of the correction reference value ΔS learned by the correction reference value learning unit 30 is shown in FIG. If it is larger than the threshold value Z stored in the middle threshold value storage unit 32, the operation signal S is corrected using the previous correction reference value ΔS,
When the absolute value of the learned correction reference value ΔS is smaller than the threshold value Z, the operation signal S is corrected using the newly learned correction reference value ΔS and output as the control signal S ′.

In the above, step 189 in the flow shown in FIG. 17 performed by the correction reference value learning unit 30.
0 constitutes a comparison means for comparing the correction reference value newly learned by the correction reference value learning means described in each claim with a predetermined threshold value, and step 1900 and step 1920 The correction reference value switching means is configured to switch between validating and invalidating the correction reference value learned in the above.

Also in this modification, it is possible to more reliably and continuously ensure a good operational feeling of the hydraulic excavator.

Next, a sixth embodiment of the operation signal processing apparatus for the construction machine of the present invention will be described with reference to FIG.
In this embodiment, the control unit learns and stores and updates the correction reference value ΔS every time the operator starts the control unit, and the newly learned correction reference value ΔS is used to correct the operation signal S for control. It outputs the signal S '.

FIG. 18 is a flow chart showing the control contents relating to the neutral adjustment of the operation signal S among the control functions of the control unit 27 having the sixth embodiment of the operation signal processing apparatus of the present invention. In FIG. 18, the control unit 27 starts this flow when the operator starts the control unit 27.

Steps 2010 to 2030 are the same as steps 10 to 30 in FIG. 6 in the first embodiment of the present invention, and the control unit 27 starts counting the elapsed time after startup, The operation signal S from each operation lever device 21, 22, 23, 24, 25, 26 is input.

Next step 2040 to step 2060
Is similar to steps 60 to 80 in FIG. 6 in the first embodiment of the present invention described above, and the correction reference value ΔS is learned and stored and updated when the elapsed time reaches the threshold value T ₀ .

Next step 2070 to step 2090
Are the same as steps 100 to 120 in FIG. 6 in the first embodiment of the present invention described above, and
The operation signal S is corrected by the stored and updated correction reference value ΔS, and each control valve 15, 16, 17,
Output to 18, 19, 20.

According to the present embodiment configured as described above, the control unit 27 learns and stores the correction reference value ΔS each time the operator starts the control unit 27 each time,
The operation signal S is corrected by the newly learned correction reference value ΔS and the control signal S ′ is output. As a result, it is possible to reliably and continuously ensure a good operational feeling of the hydraulic excavator.

[0167]

According to the present invention, the correction reference value for automatically correcting the neutrality of the operation signal is automatically generated based on the operation signal from the operation signal output means at a predetermined time after the operation signal processing device is started up. Since the correction reference value learning means for learning is provided, it is possible to reduce the work load in the neutral adjustment of the operator or the manufacturing worker.

[Brief description of drawings]

FIG. 1 is a side view showing the overall structure of a hydraulic excavator including a first embodiment of an operation signal processing device for a construction machine according to the present invention.

FIG. 2 is a hydraulic circuit diagram showing an overall configuration of a hydraulic drive system including the operation signal processing device for a construction machine according to the first embodiment of the present invention.

FIG. 3 is a conceptual diagram showing a schematic structure of an operation lever device that constitutes a hydraulic excavator including the operation signal processing device for a construction machine according to the first embodiment of the present invention.

FIG. 4 is a diagram showing a relationship between an operation amount of an operation lever and an operation signal output from a potentiometer, which constitute a hydraulic excavator including the operation signal processing device for a construction machine according to the first embodiment of the present invention. is there.

FIG. 5 is a functional block diagram showing a control function relating to neutral adjustment of an operation signal, among control functions of a control unit including the operation signal processing device for a construction machine according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit including the operation signal processing device for a construction machine according to the first embodiment of the present invention.

FIG. 7 is a flowchart showing a control content related to neutral adjustment of an operation signal among control functions of a control unit including the operation signal processing device for a construction machine according to the second embodiment of the present invention.

FIG. 8 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit including the modified example of the operation signal processing device for the construction machine of the present invention of the second embodiment.

FIG. 9 is a functional block diagram showing a control function related to neutral adjustment of an operation signal among control functions of a control unit including the operation signal processing device for a construction machine according to the third embodiment of the present invention.

FIG. 10 shows a third embodiment of the operation signal processing apparatus for the construction machine according to the present invention.
Among the control functions of the control unit having the embodiment of
It is a flow chart showing the contents of control concerning neutral adjustment of an operation signal.

FIG. 11 is a third operation signal processing device for a construction machine according to the present invention.
10 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit having the modification of the embodiment.

FIG. 12 is a fourth operation signal processing device for a construction machine according to the present invention.
Among the control functions of the control unit having the embodiment of
It is a functional block diagram showing a control function concerning neutral adjustment of an operation signal.

FIG. 13 is a fourth embodiment of the operation signal processing device for the construction machine according to the present invention.
Among the control functions of the control unit having the embodiment of
It is a flow chart showing the contents of control concerning neutral adjustment of an operation signal.

FIG. 14 is a fifth embodiment of the operation signal processing device for the construction machine according to the present invention.
Among the control functions of the control unit having the embodiment of
It is a flow chart showing the contents of control concerning neutral adjustment of an operation signal.

FIG. 15 is a fifth part of the operation signal processing device for the construction machine according to the present invention.
10 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit having the modification of the embodiment.

FIG. 16 is a fifth part of the operation signal processing device for the construction machine according to the present invention.
10 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit having the modification of the embodiment.

FIG. 17 is a fifth part of the operation signal processing device for the construction machine according to the present invention.
10 is a flowchart showing the control content related to the neutral adjustment of the operation signal among the control functions of the control unit having the modification of the embodiment.

FIG. 18 is a sixth part of the operation signal processing device for the construction machine according to the present invention.
Among the control functions of the control unit having the embodiment of
It is a flow chart showing the contents of control concerning neutral adjustment of an operation signal.

[Explanation of symbols]

6 Boom hydraulic cylinder (hydraulic actuator) 8 Arm hydraulic cylinder (hydraulic actuator) 10 Bucket hydraulic cylinder (hydraulic actuator) 12 Turning hydraulic cylinder (hydraulic actuator) 13 Left traveling hydraulic motor (hydraulic actuator) 14 Right traveling Hydraulic motor (hydraulic actuator) 21a Operation lever 22a Operation lever 23a Operation lever 24a Operation lever 25a Operation lever 26a Operation lever 21b Potentiometer (operation signal output means) 22b Potentiometer (operation signal output means) 23b Potentiometer (operation signal output means) 24b Potentiometer (Operation signal output means) 25b Potentiometer (operation signal output means) 26b Potentiometer (operation signal output means) 27 Control unit 27 'Control unit Tsu DOO 27 "control unit 30 corrects the reference value learning unit (correction reference value learning means; identifier change means; first update switching means; identifier clearing means; rising number counting means; second update switching means;
Comparing means; Correction reference value switching means) 31 Flag storage section (identifier storage means; storage means) 33 Design value storage section (storage means) 34 Correction reference value storage section (correction reference value storage means; storage means) 35 Signal correction section (Correction means) 37 Terminal 38 Process selection section (mode switching means) 39 Startup frequency storage section (startup frequency storage means)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Junji Tsumura             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory (72) Inventor Takeshi Yamaguchi             1-2, Sasagaoka, Mizuguchi Town, Koga District, Shiga Prefecture             Hitachi Construction Machinery Tierra Shiga Factory (72) Inventor Takatomi Miyakubo             1-2, Sasagaoka, Mizuguchi Town, Koga District, Shiga Prefecture             Hitachi Construction Machinery Tierra Shiga Factory F-term (reference) 2D003 AA01 BA01 BA03 DA04 DB04                       DB07 DC07 EA00

Claims (11)

[Claims] 1. A plurality of hydraulic actuators, at least one operation lever for manually operating the plurality of hydraulic actuators, and operation signal output means for outputting an electric operation signal according to an operation amount of the operation lever. In a construction machine operation signal processing device provided in a provided construction machine, a correction reference value for operation signal correction is automatically learned based on the operation signal from the operation signal output means at a predetermined time after start-up. Correction reference value learning means, a correction reference value storage means for storing the correction reference value learned by the correction reference value learning means, and the correction reference value stored in the correction reference value storage means. An operation signal processing apparatus for a construction machine, comprising: a correction unit that corrects the operation signal from the signal output unit. 2. The operation signal processing device for a construction machine according to claim 1, wherein the correction reference value storage means stores or does not store the value of the storage state identifier. Identifier changing means for changing according to whether the identifier is changed, and learning of a new correction reference value in the correction reference value learning means and storage of a new correction reference value in the correction reference value storage means according to the value of the identifier. An operation signal processing device for a construction machine, comprising: a first update switching means for switching between performing and not performing. 3. The operation signal processing device for a construction machine according to claim 2, further comprising an identifier storage means for storing the value of the identifier. 4. The operation signal processing device for a construction machine according to any one of claims 1 to 3, wherein the correction reference value storage means or the identifier storage means is a non-volatile memory capable of holding stored contents even after power-off. An operation signal processing device for a construction machine, which is a storage means of the property. 5. The operation signal processing device for a construction machine according to claim 2, wherein the identifier clearing means clears the value of the identifier from a storage state to a non-storage state in response to an input of a predetermined identifier clear command signal from the outside. An operation signal processing device for a construction machine, comprising: 6. The operation signal processing device for a construction machine according to claim 1, wherein the correction reference value learning means sets the correction reference value in accordance with an input of a mode selection command signal from the outside. It is characterized by further comprising mode switching means for switching between a learning mode in which learning is performed, a correction reference value is stored in the correction reference value storage means, and the operation signal is corrected in the correction means, and a non-learning mode is not performed. Operation signal processor for construction machinery. 7. The operation signal processing device for a construction machine according to claim 1, wherein the correction is made in accordance with a number-of-starts counting means for counting the number of times of start-up, and the number of times of startup counted by the number-of-starts-up. Second correction switching means for switching whether learning of a new correction reference value in the reference value learning means and storage of the new correction reference value in the correction reference value storage means are performed or not. Operation signal processor for construction machinery. 8. The operation signal processing apparatus for a construction machine according to claim 7, wherein the second update switching means newly sets the correction reference value learning means every time the number of times of start-up increases by a predetermined number of times. An operation signal processing apparatus for a construction machine, characterized in that the operation signal processing device is switched to perform learning of a new correction reference value and storage of a new correction reference value in the correction reference value storage means. 9. The operation signal processing device for a construction machine according to claim 7, further comprising a non-volatile start-up number storage means that stores the value of the number of start-ups and can retain the stored contents even after power-off. An operation signal processing device for a construction machine, which is characterized in that 10. The operation signal processing device for a construction machine according to claim 1, wherein the correction reference value newly learned by the correction reference value learning means is compared with a predetermined threshold value. A construction machine comprising: a comparison means and a correction reference value switching means for switching whether to make the newly learned correction reference value valid or invalid according to a comparison result by the comparison means. Operation signal processing device. 11. The operation signal processing device for a construction machine according to claim 1, wherein the correction reference value learning means is operated by the operation signal output means at a predetermined time after the rising. An operation signal processing device for a construction machine, wherein the correction reference value is automatically learned in accordance with a deviation between a signal and a preset operation signal design value.