JP2677812B2 - Control equipment for hydraulic machines - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control device for a hydraulic machine such as a hydraulic excavator, a backhoe boat, a crane, or the like, and more specifically, by operating means such as a manually operated operating lever. The present invention relates to a control device for a hydraulic machine in which operation information is stored and the hydraulic machine can be selectively automatically operated based on the stored information.

(Prior art)

Hydraulic machines such as hydraulic shovels are designed to be capable of various operations, and the operator in the driver's seat can operate in combination with a plurality of levers to perform operations in accordance with a desired work mode. It has become.

One of the working modes will be described with reference to FIGS. 8 and 9 by taking the soil leveling work of the hydraulic shovel as an example.

In FIG. 8, reference numeral 1 denotes a traveling vehicle, on which a swivel base 2 which is horizontally rotated by a swing motor (hydraulic motor) (g and h directions in the drawing) is installed. A driver's seat 3 is provided on the swivel base 2. Reference numeral 4 is a boom whose base is rotatably held on the swivel base 2, and is rotated by a boom cylinder (hydraulic cylinder) 5 in the directions a and b in the figure. Reference numeral 6 denotes an arm whose base is rotatably held on the tip end side of the boom 4, and is rotated by an arm cylinder (hydraulic cylinder) 7 in the directions c and d in the figure. A bucket cylinder (hydraulic cylinder) 8 is attached and held at the tip of the arm 6 with a link mechanism 9 interposed therebetween.
It is rotated by 10 in the directions e and f shown in the figure.

The movements a to h of the four movable members 2, 4, 6, 8 described above are performed by the operator of the driver's seat 3 operating the first operating lever 11 and the second operating lever 12 shown in FIG. Thus, the operating directions indicated by arrows a to h in FIG. 9 correspond to the movements a to h of the movable members 2, 4, 6, 8 shown in FIG. 8 (a).

In the above structure, in order to carry out the earthmoving work from the state of FIG. 8 (a), the first operation lever 11 and the second operation lever 12 are simultaneously operated, and the operator operates the bucket 8
The work is done by visually recognizing the tip of this and moving it horizontally on the ground. That is, as shown in FIG. 8 (b),
The boom 4 is rotated little by little in the direction of arrow a, and the arm 6 is rotated in the direction of arrow d (cloud), and the earthmoving is performed by this combined operation.

[Problems to be solved by the invention]

The soil leveling work of the hydraulic shovel described above is the first and second.
It is necessary to operate the operation levers 11 and 12 at the same time to level the soil on the surface of the earth, which requires an advanced operation that is extremely difficult for a novice operator. Further, during this horizontal soil leveling work, the bucket 8 may be moved or the swivel base 2 may be moved to perform soil leveling in an oblique direction. Therefore, the operator must move the first and second operation levers 11 and 12 back and forth and left and right to operate the four movable members 2, 4, 6, and 8 in a combined manner, and the operation is more complicated and requires skill. Needed

In addition to the above-mentioned soil leveling, there are many hydraulic shovels that require a high level of skill such as excavation of slopes and gravel scrubbing. The problem was that it required training for a period of time.

On the other hand, in order to solve the above-mentioned problem, it has been attempted to attach a rotation angle sensor to each supporting portion of the boom 4, the arm 6 and the bucket 8 and control the trajectory of the tip of the bucket 6 by automatic operation by microcomputer control. However, in such a case, (i) since the sensor is attached to the rotation fulcrum of the boom 4, the arm 6, and the bucket 8, the bucket 8 is particularly suitable for excavation work.
There is a risk that the sensor will hit the soil and be damaged. Further, when the boom 4, the arm 6, and the bucket 8 are replaced according to the purpose of work, sometimes the sensor also needs to be detached, which makes the replacement work troublesome.

(Ii) Since the sensor needs a control for correcting the deviation with respect to the target coordinate by feedback back, the operation becomes slow.

(Iii) When the boom 4, the arm 6, and the bucket 8 are exchanged according to the work purpose, a difference in the setting of the coordinates occurs due to the dimensional change, and the control software cannot be changed without delay.

And other problems.

In addition, the above-mentioned problem can be said to be generally common to hydraulic machines other than hydraulic shovels such as backhoe ships and cranes.

Therefore, the technical problem to be solved by the present invention is to solve the problems of the above-mentioned conventional technology, and the purpose thereof is that even an inexperienced operator can perform highly accurate work equivalent to a veteran operator, and , Boom, arm,
Even if the bucket is replaced and the shape and dimensions of the movable members differ, this operation can be regenerated once the experienced operator performs the operation, and a controller for the hydraulic machine that is convenient for the operator is provided. Especially.

[Means for solving the problem]

In order to achieve the above object, the present invention provides a hydraulic pump, a plurality of actuators operated by pressure oil from the hydraulic pump, a plurality of movable members operated by the actuators, the hydraulic pump and the A plurality of flow rate control valves arranged between the actuator and a plurality of operating means capable of adjusting the control flow rate of each of the flow rate control valves by manual operation, and by operating the operating means in combination, In a control device for a hydraulic machine capable of performing a composite operation of each of the movable members, a plurality of operation information detecting means for detecting operation information by each of the operating means, and information based on each of the operation information detecting means are provided as necessary. A controller having a storage unit for storing, storage instruction means for instructing the controller to perform a storage operation, and a driver for driving and controlling each of the flow control valves. A bar circuit, and regeneration instruction means for instructing a regeneration operation for driving the flow control valve by operating the driver circuit based on the information stored in the controller. The reproduction instruction means is instructed to store the information based on each operation information detection means together with the identification information in the storage section, and the reproduction instruction means
When the operation means is manually operated during the reproduction operation based on the instruction of the reproduction instructing means, the controller is configured to enable the reproduction operation to be performed by selecting one of the stored information and the stored information. It is configured to drive and control the driver circuit based on the information from the operation information detection means.

[Action]

Since the present invention is as described above, at the beginning of the operation, a veteran operator operates the above operating means in combination,
For example, if the above-mentioned soil leveling is performed by performing a composite operation of the movable members and the operation information at this time is stored in the storage unit of the controller, then even an inexperienced operator can use the stored information based on the stored information. The same work as can be done.

〔Example〕

The present invention will be described below with reference to the embodiments shown in FIGS. In addition, although the following description is given by taking the application of the present invention to a hydraulic shovel as an example, the present invention is not limited to this.

FIG. 1 is a block diagram showing a hydraulic shovel control device.

In the figure, reference numeral 2 is a swivel base, 4 is a boom, 6 is an arm, and 8 is a bucket, and these movable members correspond to those shown in FIG. Reference numeral 5 is a boom cylinder, 7 is an arm cylinder, and 10 is a bucket cylinder. The actuators operated by these hydraulic pressures also correspond to those shown in FIG. 13 is
A turning motor, which is an actuator for turning the turning base 2, is also actuated by hydraulic pressure.

Reference numeral 14 denotes a prime mover, and pressure oil 16 from a hydraulic pump 15 driven by the prime mover 14 passes through the flow control valves 17, 18, 19, 20 to allow the boom cylinder 5, the arm cylinder 7, and the bucket cylinder 10 to flow. Are supplied to the swing motor 13, respectively.
The flow control valves 17, 18, 19, 20 are electromagnetic valves and are independently controlled by drive control signals from the driver circuits 21, 22, 23, 24, respectively. Can be adjusted.

Reference numerals 11 and 12 denote a first operating lever and a second operating lever, which are operating means, and correspond to those shown in the ninth illustration. Reference numeral 25 is a sensor for detecting the operation direction and the movement amount (operation amount) of the first operation lever 11 in the cd direction (the operation direction of the arm 6),
In the embodiment, it is composed of a potentiometer and outputs a reference voltage when the first operating lever 11 is in the neutral position, and when the first operating lever 11 moves in the c direction, for example, an output voltage lower than the reference voltage. When the first operating lever 11 moves in the d direction, for example, an output voltage higher than the reference voltage is transmitted. The output from this sensor 25 is A /
It is sent to the controller to be described later via the D converter 29. Therefore, the controller outputs from this digital signal value,
The operation direction (c or d direction) of the first operation lever 11 and the movement amount from the neutral position can be recognized.

Reference numerals 26, 27, and 28 are sensors equivalent to the sensor 25. The sensor 26 detects the operation direction and the operation amount of the first operation lever 11 in the gh direction, and the sensor 27 detects the ab of the second operation lever 12.
The operation direction and the operation amount of the second operation lever 12 are detected, and the sensor 28 detects the operation direction and the operation amount of the second operation lever 12 in the ef direction. And the outputs from these sensors 26, 27, 28 are
It is sent to the controller described later via the A / D converters 30, 31, and 32, respectively.

In addition to the potentiometer, a magnetic encoder, an optical encoder, or the like can be applied as the sensor. Further, as the operating means, the first and second operating levers 11 and 12 are used.
However, if, for example, a multi-directional operation type input device with a function of returning to the origin (neutral position) (so-called control rod operation volume used in remote control airplane operation, trackball type input device, etc.) is used, The means and the sensor can be integrated.

Reference numeral 33 denotes a controller, which includes an input device 34, an output device 35, a CPU (Central Processor Unit) 36 connected to the input / output devices 34, 35, and the like. The CPU 36 is a storage unit for storing various information, It has an arithmetic processing unit for performing arithmetic processing according to a predetermined arithmetic table, and executes operations as described later according to a predetermined program. The output from the controller 33 is the driver circuit 21.
To 24, and the driver circuits 21 to 24 are driven and controlled by the output processed by the controller 33.
Thereby, the flow rate control valves 17 to 20 set the pressure oil flow rate to a desired value.

37 is a storage / playback instruction means, and in the embodiment,
A storage / playback timing instruction switch 38, a storage / playback mode selection switch 39, and a selection item instruction switch 40 are provided.
The output of these switches 38, 39, 40 is the controller
33 to the input device 34. The storage / playback mode selection switch 39 is composed of, for example, a lever switch having three stable points so that the storage mode selection position, the neutral position, and the reproduction mode selection position can be selectively selected. A signal is supplied to the controller 33.
Then, the controller 33 receives the selection signal from the storage / reproduction mode selection switch 39 and recognizes whether the storage or reproduction processing is desired.

The storage / playback timing instruction switch 38 is composed of a foot switch arranged at the foot of the operator, and when the storage mode is selected by the storage / playback mode selection switch 39, the storage / playback timing instruction switch 38 is used. When the switch 38 is pushed down once, the controller 33 executes the storing process, and when it is pushed down again from this state, the controller 33 finishes the storing process. Further, in the state in which the playback mode is selected by the storage / playback mode selection switch 39, the controller 33 executes the playback processing in the same manner as if the storage / playback timing instruction switch 38 is pressed once, and then the playback process is resumed from this state. When pushed down, the controller 33 ends the reproduction processing. As described above, when the storage / playback timing instruction switch 38 is a foot switch, the operator holds the first and second operation levers 11 and 12 with both hands, and the start / end point of the recording / playback is promptly and accurately performed. Can be ordered. Further, since the foot switch is a single one, there is no risk of pushing a different one.

The selection item instruction switch 40 is composed of, for example, a keyboard switch, and sends a work mode identification signal to the controller 33 before execution of the storage process or the reproduction process, and the controller 33 has designated or stored an address in the storage unit. Recognize addresses from within the area. Further, the selection item input switch 40 uses the sensor 25 at the time of storage processing.
It is possible to specify to the controller 33 whether to store all the operation information from 28 to 28, or to store only the operation information from the selected sensor, and from the information stored for each work mode during reproduction processing, It is possible to specify whether all of the flow control valves 17 to 20 are to be regenerated, or only the selected one of the flow rate control valves 17 to 20 is to be regenerated.

Next, one embodiment of the recording / reproducing process with the above configuration will be described with reference to the block diagram schematically shown in FIG.

In FIG. 2, 41, 42, 43 and 44 are switch means,
The first operation lever 11 is connected to one of the input ends.
The cd direction operation information 45, the gh direction operation information 46 by the first operation lever 11, the ab direction operation information 47 by the second operation lever 12, and the ef direction operation information 48 by the second operation lever 12 are input. The data from the respective direction operation information 45, 46, 47, 48 can be input to the storage units 49, 50, 51, 52, respectively, and the outputs of the storage units 49 to 52 are the same as those described above. Inputs are made to the other input ends of the switch means 41 to 44, respectively. The outputs of the switch means 41-44 are input to the arithmetic units 53-56, respectively, and the arithmetic units 53, 54, 5 are
The information processed by 5 and 56 is input to the driver circuits 23, 21, 24 and 22 described above.

At the control ends of the switch means 41 to 44, the memory /
The switch control signal 57 from the reproduction instructing means 37 is inputted, and when the storage / reproduction instructing means 37 does not specify the storage / reproduction mode or when the storage mode is specified, each switch is The means 41 to 44 are adapted to directly input the directional operation information 45 to 48 to the arithmetic units 53 to 56 in the switching state shown in FIG. When the storage / playback instruction means 37 designates the playback mode,
Each of the switch means 41 to 44 is switched from the state shown in the figure, and the information from each of the storage sections 49 to 52 is transferred to each of the calculation sections 53 to
It is designed to input to 56. Further, the storage instruction signal 58 and the reproduction instruction signal 59 from the storage / reproduction instructing means 37 are selectively input to the respective storage sections 49 to 52, and the selected storage section is Each of them can be stored or reproduced.

In the configuration of FIG. 2 described above, when the storage / playback mode is not selected, for example, the first operation lever is
When 11 is operated in the cd direction, the cd direction operation information 45 which has been digitally converted based on the 11 is operated in the switch means.
It is input from 41 to the arithmetic unit 53. The calculation unit 53 processes the input information based on a predetermined conversion formula by a predetermined calculation table and outputs a calculation result signal corresponding to the operation amount of the first operation lever 11 to the driver circuit 23. . Therefore, the driver circuit 23 drives and controls the flow rate control valve 18 accordingly, and the arm cylinder 7 is driven to drive the arm 6 in the c or d direction by a predetermined amount. Even if the first operation lever 11 is operated in the gh direction, the second operation lever 12 is also operated in the ab direction or the ef direction.
Even when operated in the direction, the same processing and control as described above are performed.

On the other hand, when the storage / playback instruction means 37 designates the storage mode and issues a storage command to all the storage sections 49 to 52, similarly, for example, the first operation lever 11 is operated in the cd direction. Then, the cd direction operation information 45 is stored in a predetermined address of the storage unit 49. Also, the switch means 41 is the second
Since it is in the state shown in the figure, the cd direction operation information 45 is also directly input to the calculation unit 53 via the switch means 41 in the same manner as described above, and the driver circuit 23, the flow control valve 18, and the similar processing / control are performed. The arm 6 is c
Alternatively, it is driven by a predetermined amount in the d direction. This recording process / control is also performed when the gh, ab, and ef direction operation information 46, 47, 48 is input. On the other hand, the storage / playback means 37
However, for example, if a storage process is instructed only to the storage unit 52,
Only the ef direction operation information 48 (information corresponding to the operation of the bucket 8 by the second operation lever 12) is stored.

Incidentally, prior to the above-mentioned storage processing, the operator inputs in advance an identification signal of a work form to be stored by the storage / reproduction means 37, and the movable members 2, 4,
6 and 8 are preliminarily set to have a reference position common to all work forms or a reference position corresponding to the work form (for example, the position of FIG. 8 (a) in the case of horizontal soil leveling work). When the former reference position is set, it may be programmed to automatically set this position by selecting the recording mode.

Then, when the operator desires the automatic reproduction operation based on the operation information stored in advance, the operator uses the storage / reproduction means instructing means 37 to indicate the work mode to be reproduced in each storage unit.
49-52, and the movable members 2, 4, 6,
8, the reference position corresponding to this is automatically or manually set. Further, all the switch means 41 to 44 are switched from the state shown in FIG. 2 in accordance with the reproduction mode instruction by the switching control signal 57 of the storage / reproduction instructing means 37, and the storage / reproduction is performed.
Based on the reproduction command signal 59 from the reproduction instructing means 37, information according to the work mode selected in advance is stored in each of the storage units 49 to 52.
Is output to each of the arithmetic units 53 to 56 via each of the switch means 41 to 44. The information stored in the storage units 59 to 52 is stored in the CP depending on various parameters at the time of storage.
It is output at proper timing by the ROM control program stored in U36. Then, the driver circuits 21 to 24 are controlled by the signals arithmetically processed by the arithmetic units 53 to 56 as described above, and the driver circuits 21 to 24 are controlled.
To 24, the flow rate control valves 17 to 20 are driven and controlled by the outputs of the corresponding actuators 5, 7, 10, and
The movable members 2, 4, 6, 8 are moved by 13
In this way, the work of the desired form is automatically performed. It should be noted that the storage unit 49-
As in the case of storing, the reproduction processing / control can be performed by selecting only a desired one of 52 and outputting the information only to the selected storage section.

In addition, in FIG. 2, each direction operation information 45 to 48 is input to each recording unit 49 to 52, but as shown in FIG.
Appropriately processed data in the calculation units 53 to 56 is recorded in each recording unit 49
It may be stored in 52.

FIG. 4 is a block diagram schematically showing another embodiment of the storage / reproduction processing.

In FIG. 4, a switch means is provided in the configuration of FIG.
60 to 63 and adders 64 to 67 are added. That is, the cd, gh, ab, ef direction operation information 45, 46,
47 and 48 are also input to the switch means 60, 61, 62 and 63, respectively, and the outputs of the switch means 60 to 63 are supplied to the one input ends of the adders 64, 65, 66 and 67, respectively. To be done. The outputs of the above-mentioned switch means 41-44 are supplied to the other input terminals of the adders 64-67, respectively.
The outputs of 64 to 67 are sent to the corresponding arithmetic units 53 to 56, respectively. When the storage / reproduction instructing means 37 does not specify the storage / reproduction mode or specifies the storage mode, each of the switching means 60 to 63 corresponds to the switching position shown in FIG. Data cannot be output to the adders 64-67.
When the storage / playback instruction means 37 specifies the playback mode,
The switch means 60 to 63 are switched from the state shown in the figure so that the directional operation information 45 to 48 can be input.

In the configuration of FIG. 4 described above, the processing and control when the storage / playback mode is not selected and when the storage mode is selected are exactly the same as the configuration of FIG.

On the other hand, the switching control signal 57 of the storage / playback instruction means 37
When the reproduction mode is instructed by this, the switch means 41-44 is switched so that the information output of each of the storage sections 49-52 is sent to each of the adders 64-67.
The switch means 60 to 63 also operate information 45 to 48 in each direction.
If there is an input of, it is switched to a position where it can be sent to the adders 64-67. Therefore, in this state, the regeneration processing / control of the desired work mode similar to that described above is performed entirely or selectively by the regeneration command. Then, during this automatic regeneration operation, the operator operates the first or second operation lever 11, 12
When, for example, the second operation lever 12 is slightly moved in the f direction, the ef direction operation information 48 based on this is input from the switch means 63 to the adder 67, and the adder 67 receives the above information. The information from the storage unit 52 is superimposed and sent to the arithmetic unit 56. Therefore, the arithmetic unit 56 converts the added data and supplies the converted data to the driver circuit 22, and the driver circuit 22 causes the flow control valve 19 and the bucket cylinder 10 to operate.
The bucket 8 is driven via the.

Therefore, when the information for operating the bucket 8 is stored in the storage unit 52, the bucket 8 can perform the correction operation by operating the second operating lever 12, and the storage unit 52 can perform the rework operation. When the information corresponding to the form is not stored, the bucket 8 is moved as much as the amount of operation of the second operation lever 12 by the operator during the reproduction operation.
This also applies to the other movable members 2, 4, and 6. In the embodiment thus configured, the operator can perform the correction operation or the addition operation of the movable member for which the operation is not stored, if necessary, at the time of the reproduction operation, and thus more accurate work and a wide range of work modes can be performed. Can be secured.

Note that FIG. 5 is a modification of FIG. 4, and the information after the arithmetic processing may be input to the storage units 49 to 52 in this way.

FIG. 6 is a block diagram schematically showing still another embodiment of the storage / reproduction processing.

In FIG. 6, a switch means is added to the structure of FIG.
68-71 are added. That is, each c
The d, gh, ab, ef direction operation information 45, 46, 47, 48 is also input to one input end of each of the switch means 68, 69, 70, 71 and the other of the switch means 68 to 71. The output of each of the adders 64, 65, 66, 67 is input to the input end of each of the storage units 49 to 52,
The outputs from the switch means 68 to 71 are sent out. Then, the storage / playback instruction means 37
However, when the storage / playback mode is not designated or when the storage mode is designated, the respective switch means 68 to 71 are in the state shown in FIG. 6 and the respective direction operation information 45 to 48 are the respective switch means 68. It is possible to input to each of the storage units 49 to 52 via. On the other hand, when the storage / reproduction instructing means 37 designates the reproduction mode, each of the switching means 68 to 71 is switched from the state shown in the figure so that the output from each of the adders 64 to 67 can be input.

Therefore, in the configuration of FIG. 6 described above, the processing and control when the storage / playback mode is not selected and when the storage mode is selected are the same as those of the configurations of FIGS.

When the reproduction mode is selected, all the switch means 41 to 44, 60 to 63, 68 to 71 are switched from the state shown in FIG. Therefore, the storage / playback instruction means 37 from this state
Based on the output information of the storage units 49 to 52 according to the reproduction command from the above, the reproduction processing / control of the desired work mode is executed as described above.

When the operator slightly moves the second operation lever 12 in the a direction during the automatic reproduction operation, the ab direction operation information 47 based on this is input from the switch means 62 to the adder 66, and the adder 66 is operated. 66 is the storage unit
The information from 51 is superimposed and sent to the storage unit 51 via the arithmetic unit 55 and the switch means 70, respectively. Therefore, the calculation unit 55 converts this added data and supplies it to the driver circuit 24, and the driver circuit 24 corrects the boom 4 via the flow control valve 17 and the boom cylinder 5. . On the other hand, the output from the adder 66 is re-inputted to the storage unit 51, and this new information is written in place of the previously stored information. In the embodiment thus configured, since the correction operation by the operator is rewritten and stored, the stored information is corrected to correspond to a more precise operation. In this embodiment, the information is automatically rewritable according to the designation of the reproduction mode. However, the operator may input an instruction as to whether or not to rewrite the information.

Note that FIG. 7 is a modified example of FIG. 6, in which the information after the arithmetic processing is supplied to the storage units 49 to 52 as in FIGS.

According to the embodiment of the present invention as described above, even if a complicated and advanced operation is stored once, even an inexperienced operator can easily and easily execute this automatic regeneration operation. Further, the operation speed is considerably faster than that of the conventional feedback control system. Furthermore, each movable member 2,
Even if 4, 6 and 8 are replaced with ones having different shapes and weights, once the experienced operator stores the correct operation, anyone can immediately perform the regenerating operation.

Further, among the movable members 2, 4, 6, 8 that are difficult to operate, for example, the movement of the boom 4 and the arm 6 during the horizontal earth leveling work, or only the vibration operation of the bucket 8 during the gravel scrubbing work. If you selectively store / play
It is advantageous in terms of memory capacity, and one work form is widely modified.

Further, a correction operation can be performed during the reproduction operation, and more precise operation can be performed, and this can be stored and used again as needed.

〔The invention's effect〕

As described above, according to the present invention, even an inexperienced operator can perform high-precision work equivalent to a veteran operator, and even if a moving member having a different shape or the like is replaced according to the work purpose, the veteran operator once If you do,
This work can be immediately regenerated, and a control device for a hydraulic machine that is superior in operation speed to the feedback control system can be provided, and the industrial value of this type of hydraulic machine is great.

Further, according to the invention described in claim 1, since the information based on each operation information detection means is stored in the storage unit together with the work form identification information, for example, the movement of the boom and the arm during horizontal earthmoving work. Also, it is possible to select and store only the operation information of only difficult operations, such as the vibration operation of the bucket during gravel sprinkling work, together with the identification information of the work mode, so efficient use of memory is possible. This is advantageous in terms of memory capacity. Alternatively, during the reproduction process, the reproduction operation can be selectively instructed by the identification information of the work form from the information stored for each work form.
It becomes easy and reliable to input instructions for a partial selective playback operation. In addition, it is possible to perform only the operations of difficult movable members by automatic playback operations and operate the other movable members by manual operation. The shape can be modified in a wide range and the usability is improved.

Further, according to the invention described in claim 2, when the operating means is manually operated during the reproduction operation based on the instruction of the reproduction instructing means, based on the stored information and the information from the operation information detecting means, Since it drives and controls the driver circuit,
Corrective action can be performed during playback operation, more precise operation is possible, and usability is improved.

[Brief description of the drawings]

1 to 7 relate to an embodiment of the present invention, FIG. 1 is a block diagram showing an entire control device of a hydraulic shovel, and FIG. 2 is a schematic diagram for explaining one embodiment of a storage / reproduction process. FIG. 3 is a block diagram of a main part showing a modification of FIG. 2, FIG. 4 is a schematic block diagram for explaining another embodiment of the storage / reproduction processing, and FIG. 4 is a block diagram of a main part showing a modified example of FIG. 4, FIG. 6 is a schematic block diagram for explaining still another embodiment of the storage / reproduction processing, and FIG. 7 is a schematic view showing a modified example of FIG. 8 is a side view for explaining a hydraulic shovel and one of its working modes, and FIG. 9 is an explanatory view showing movements of the first and second operation levers. is there. 1 ... traveling vehicle, 2 ... swivel base, 3 ... driver's seat, 4 ... boom, 5 ... boom cylinder, 6 ... arm, 7 ... arm cylinder, 8 ... bucket, 9 ... link mechanism ,Ten
...... Bucket cylinder, 11 …… First operating lever, 12 ……
2nd control lever, 13 …… Swing motor, 14 …… Motor, 15
...... Hydraulic pump, 16 ...... Pressure oil, 17, 18, 19, 20 ...... Flow control valve, 21, 22, 23, 24 ...... Driver circuit, 25, 26,
27, 28 …… Sensor, 29, 30, 31, 32 …… A / D converter, 33 …… Controller, 34 …… Input device, 35 …… Output device, 36 …… CPU, 37 …… Store / playback instruction Means, 38 ……
Memory / playback timing instruction switch, 40 …… Selection item instruction switch, 41, 42, 43, 44 …… Switch means, 45 ……
cd direction operation information, 46 …… gh direction operation information, 47 …… ab direction operation information, 48 …… ef direction operation information, 49, 50, 51, 52 ……
Storage unit, 53, 54, 55, 56 ... Computing unit, 57 ... Switching control signal, 58 ... Storage command signal, 59 ... Playback command signal, 60,
61, 62, 63 ... switch means, 64, 65, 66, 67 ... adder, 68, 69, 70, 71 ... switch means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Genroku Sugiyama, 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Masakazu Haga, 650, Jincho-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Company Tsuchiura factory (72) Inventor Yasuo Tanaka 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor Hiroshi Watanabe 650 Jinmachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (56) References JP-A-60-55130 (JP, A) JP-A-60-37339 (JP, A) JP-A-55-105034 (JP, A) JP-B-52-11124 (JP, B2)

Claims (4)

(57) [Claims] 1. A hydraulic pump, a plurality of actuators operated by pressure oil from the hydraulic pump, a plurality of movable members operated by the actuators, and an arrangement between the hydraulic pump and the actuators. A plurality of flow control valves provided and a plurality of operating means capable of adjusting the control flow rate of each of the flow control valves by manual operation are provided, and the movable members are combined by operating the operating means in combination. In a hydraulic machine that can be operated, a controller having a plurality of operation information detection means for detecting operation information by the operation means, and a storage unit for storing information based on the operation information detection means as necessary. A storage instruction means for instructing the controller to perform a storage operation, a driver circuit for driving and controlling each of the flow rate control valves, and the controller. And a replay instruction means for instructing a regenerating operation for driving the flow rate control valve by operating the driver circuit based on the stored information. A hydraulic pressure characterized by instructing storage of information based on the detection means, and the reproduction instructing means being able to select one of the work modes and perform a reproduction operation. Machine control device. 2. A hydraulic pump, a plurality of actuators operated by pressure oil from the hydraulic pump, a plurality of movable members operated by the respective actuators, and an arrangement between the hydraulic pump and the respective actuators. A plurality of flow control valves provided and a plurality of operating means capable of adjusting the control flow rate of each of the flow control valves by manual operation are provided, and the movable members are combined by operating the operating means in combination. In a hydraulic machine that can be operated, a controller having a plurality of operation information detection means for detecting operation information by the operation means, and a storage unit for storing information based on the operation information detection means as necessary. A storage instruction means for instructing the controller to perform a storage operation, a driver circuit for driving and controlling each of the flow rate control valves, and the controller. A regeneration instruction means for instructing a regeneration operation for driving the flow rate control valve by operating the driver circuit based on the stored information, wherein the operation means is manually operated at the time of the regeneration operation based on the instruction of the regeneration instruction means. When operated, the controller drives and controls the driver circuit based on the stored information and the information from the operation information detecting means. 3. The hydraulic machine control device according to claim 2, wherein the processing based on the stored information and the information from the operation information detecting means is an addition arithmetic processing. 4. In claim (2) or (3),
The controller of the hydraulic machine is characterized in that the controller can rewrite the information based on the manual operation of the operation means at the time of the reproduction operation in the storage section.