JP3016408B2 - Control device for driving machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a driving machine such as a construction machine.

[0002]

2. Description of the Related Art In general,
Among hydraulically driven machines such as construction machines, there are commands from a mounting control device associated with the actual operation of an operator who is on the body of the aircraft, control of engine starting and various operations of the hydraulically driven machine, electromagnetic waves, sound waves, and the like. Some of them can be performed from any command from a remote control device based on a control signal from a transmission unit for transmitting an airborne wave such as a light wave. As an example of such a device, FIG. 9 schematically shows a hydraulic shovel equipped with a remote control device. In this device, 1 is a transmission unit operated by an operator, 1a is its transmitting antenna, and the body of the hydraulic shovel is , 8 is a control unit with a built-in receiver mounted on the body A, and 8a is a receiving antenna. The control signal transmitted from the transmitting antenna 1a in response to the operation of the transmitting unit 1 by the operator is input to the control unit 8 via the receiving antenna 8a, and the control unit 8 receives the control signal based on the input control signal. The control operation of the airframe body is performed, and the remote control operation is performed in this manner.
On the other hand, although not particularly shown, mounting control devices such as levers and switches are mounted on the body of the aircraft, and the boarded operator can control and operate the mounting control devices by operating the mounting control devices themselves. ing.

However, conventionally, in the case where such remote control operation can be used in combination, the control operation of the body main body can be performed from either the mounting control device or the remote control device. When another person operates the remote control device at, the control unit inputs control signals from both, and the control operation interferes. For example,
If the engine is started by mistake using the remote control while the engine is stopped , the operator
The problem is that there is a risk of unexpected engine start and unexpected machine malfunction.

[0004]

The present invention SUMMARY OF THE INVENTION may, shall apply in those created for the purpose of providing a control device for a drive machine that can wipe out these drawbacks in view of the such circumstances described above, the operator Be able to operate while on board the aircraft
Manual engine start switch and hand
Connected to the safety switch for manual operation, and
When the switch is operated, the manual safety switch is
The operator enters the aircraft and performs other actions besides starting the engine.
It is not a non-start state where the operation of the eater can be operated manually,
The mode has been switched to the start allowable state where manual operation cannot be performed.
On the condition that the engine starting means
The control is set to output the
Receives a remote signal from a remote control that operates away from the body
Output the engine start command.
The remote control is a remote engine start switch.
A switch and a remote safety switch, and operate these switches.
Operation signal, and the control unit switches between remote and manual.
Remote-manual switching operation switch for switching
And a remote engine start switch from the remote operation tool.
Switch, when the operation signal of the remote safety switch is input,
When the remote-manual switch is in the remote switch state,
The manual safety switch is switched to the start-permitted state.
Circuit that outputs an engine start command on the condition that
It is characterized by being carried out. In this, the aircraft shall be operated by other actuating means than the engine starting means.
The remote control device is provided with the actuator of the other actuator.
The actuator has a switch for remote operation.
The control unit controls the actuator for remote operation.
When an operation signal is input from the switch, the manual safety switch is
Under the condition that the switch has been switched to the start permission state
Outputs a command for operating the other actuator
The circuit is also provided with the following circuit . In these devices, engine rotation detecting means for detecting whether the engine is rotating normally is connected to the control unit , and the control unit includes a detection signal indicating that the engine drive from the engine rotation detecting means is normal. Is entered,
A circuit for limiting the output of the operation command to the engine starting means is provided. Also,
In these, the control unit is provided with a circuit that limits the output of an operation command to another actuator when there is an input of a detection signal from the engine rotation detection unit that the engine drive is not normal. It is also what to say. In addition, the engine as another actuator
And a remote control device is provided on the remote control device.
Remote control based on the operation of the provided remote engine stop means
The remote engine stop signal shall be output and the control unit
Is based on receiving the remote engine stop signal.
A circuit for outputting an engine stop operation command to the engine stop means .

According to the present invention, a remote operation and a manual operation can be performed with this configuration, but an erroneous operation by the remote operation can be avoided.

[0006]

Next, an embodiment of the present invention will be described with reference to the drawings. In FIG. 2, reference numeral 1 denotes a transmission unit for remotely operating various actuators of the body A of a hydraulically driven machine such as a hydraulic shovel while the operator carries the transmission unit. The transmission unit 1 includes operation signal processing means. 2,
In addition to transmitting means 3 for transmitting the processed signal, and a plurality of operating tools (operating tools such as switches and dials) 4 for remotely controlling the actuator, a remote engine starting switch 5 and a remote engine starting switch 5 Various switches such as an engine stop switch 6, a remote safety switch 7, an emergency stop switch 38, etc. are provided, and operation signals from these operating tools 4 and remote switches 5, 6, 7, 38 are provided. A signal processed by the operation signal processing means 2 into a corresponding control signal is transmitted from the transmission means 3 via the transmission antenna 3a. 1a is a power switch of the transmission unit 1. Incidentally, it goes without saying that a wave that propagates in the air as appropriate, such as an electromagnetic wave, a sound wave, or a light wave, can be adopted as the transmission medium. Further, the control signal can be various signals such as an analog signal and a digital signal.

On the other hand, reference numeral 8 denotes a remote control unit which constitutes a control unit C mounted on the body A of the body, and the remote control unit 8 transmits the transmitted control signal to an antenna 9a.
Receiving means 9 for receiving a signal via a control switch, a safety switch 37a on the side of a manual operating tool, a detection signal processing circuit 10 for processing a detection signal from an engine rotation detector 32 for detecting the number of revolutions of the engine 20, A remote operation command output unit 11 for inputting signals from the means 9 and the detection signal processing unit 10 and outputting a corresponding remote operation command signal based on the input signals; Control means (for example, a relay for activating a starter motor) 33, a stop control means (for example, a relay for activating a stop solenoid) 34, an operation notifying means (for example, an indicator light) 15, A first control signal output unit 12 that outputs a control signal (driver signal) to a notifying unit (for example, an indicator light or an alarm) 16;
A second control signal output unit 13 for outputting a control signal other than the control signal from the first control signal output unit 12 and a power supply control unit 14 for supplying power to the remote control unit 8 are provided.

In FIG. 2, reference numeral 36 denotes a manual control unit, which is also mounted on the main body A. The control unit of the main body A is controlled by the manual control unit 36 and the remote control unit 8. The manual control unit 36 includes a plurality of manual operating tools 39 for performing manual control of the actuator, a manual safety switch 37a, and a manual engine start switch 37.
b, various switches such as a manual engine stop switch 37c, a remote-manual switching operation switch 37d and the like, and these manual operation switches 37a to 37d are provided.
By inputting operation signals from 37d and 37d, the manual control unit 36 outputs corresponding control signals to control various actuators.

Reference numerals 21 and 22 denote a main hydraulic pump and a pilot hydraulic pump which operate based on the driving of the engine 20. The hydraulic oil from the main hydraulic pump 21 is passed through a main control valve 23 to hydraulic cylinders 24a and 24.
b, and is supplied to various actuators such as the hydraulic motors 25a and 25b to operate various operating parts of the machine body A. Reference numerals 26 and 27 denote pilot valve units for remote control and manual control. The pilot control valve unit 26 for remote control is supplied with hydraulic oil from the pilot hydraulic pump 22 at all times. 13
The required pressure oil is supplied to the high pressure selection valve unit 29 by the valve switching operation based on the control signal.
The hydraulic oil supply path from the pilot hydraulic pump 22 to the manual control pilot valve unit 27 receives a control command from the manual control unit 36 due to the operation of the manual safety switch 37a. An electromagnetic switching valve 28 is provided for switching to a side that shuts off the valve.
Then, the main control valve 23 outputs a manual control signal,
Based on the valve switching operation from the high pressure selection valve unit 29 based on the remote control signal, each corresponding actuator 24
a, 24b, 25a, and 25b are selectively supplied with pressure oil, and the corresponding operating portions are operated. The manual control pilot valve unit 27 is connected to the manual control unit 36 so that control switching for switching the main control valve 23 is performed based on the operation of the manual control operation tools 39. I have.

On the other hand, the engine 20 is provided with a starter motor 30 for starting the engine, a stop solenoid 31 for stopping the engine, and an engine rotation detecting means 32 for detecting the number of revolutions of the engine 20. ,
As described above, the engine rotation detecting means 32 is connected to the detection signal processing means 10. The starter motor 30 is driven based on a control command from the starter controller 33.
Is a control selection switch 35 which is a control selection means of the present invention.
Via the remote control unit 8 and the manual control unit 3
6 is connected. Then, the control selection switch 35
When the remote-manual switching operation switch 37d is switched to the remote control side or the manual control side, the manual control unit 36 or the remote control unit 8 is controlled based on the corresponding selection control signal from the manual control unit 36.
It is set so that it can be switched to the side. Further, the remote-manual switching operation switch 37d is connected to switch the power control means 14 of the remote control unit 8 to the ON side when the switching operation is performed to the remote control side.

Further, the stop solenoid 31 is
The solenoid controller 34 is driven based on a control command from a solenoid controller 34. The solenoid controller 34 is connected to both the remote control unit 8 and the manual control unit 36, and stops either one of the engines. Upon receiving the command, the stop solenoid 31 is set to output an engine stop command.

Next, FIGS. 3 to 8 show flow charts showing an example of a procedure when the remote control unit 8 performs remote control. As described above, the remote-manual switching operation switch is used. By switching 37d to the remote control side, the power control means 14 is turned on and the remote control unit 8 is turned on.
Power is supplied to the remote control unit 8 in this state.
Is set to the "standby mode" flag. Then, the remote control unit 8 turns on the emergency stop switch 38.
It is determined whether or not an operation signal has been input, and when it is determined that an operation signal has been input, the flag of “emergency stop mode” is set. On the other hand, when it is determined that there is no input from the emergency stop switch 38, it is further determined whether or not an ON operation signal of the remote engine stop switch 6 has been input. Is set. On the other hand, when it is determined that the ON operation signal of the remote engine stop switch 6 is not input, the ON operation signals from the remote engine start switch 5 and the remote safety switch 7 are further input, and the manual safety switch is input. It is determined whether or not the ON operation signal of 37a has been input. If any one is missing, there is no mode change and the "standby mode" remains unchanged, and if it is determined that none is missing, the "engine start mode" Is set. Then, as described above, it is determined whether any of the "emergency stop mode", "engine stop mode", "engine start mode", "engine operation mode" to be described later, and the "standby mode" has been set. Is determined as a main routine, and the set mode control is performed as a subroutine. The control procedure for each of these modes will be described below.

First, in the "standby mode", when this mode is entered, the remote control unit 8 sends a control signal to the second control signal output means 13 so that the remote control pilot valve unit 26 becomes neutral. Output, and a timer for the starter controller 33 and the solenoid controller 34 (the timer is provided in the remote operation command output unit 11 in this embodiment, but may be provided in the starter controller 33 and the solenoid controller 34, In this case, the remote control unit 8 resets the timer time from the starter controller 33 and the solenoid controller 34). Further, when it is determined by the engine rotation detecting means 32 that the engine 20 is rotating normally (for example, the engine has reached the minimum rotation speed or is in the idling rotation state or more), the flag of the "engine operation mode" is set. When it is determined that the motor is not rotating normally (that is, the rotation is stopped or the rotation is almost stopped), the state is maintained without any mode change.

Next, in the "engine start mode", when the mode is entered, first, the engine rotation detecting means 3
2 determines whether or not the engine 20 is rotating normally, and if NO is determined that the engine is not rotating normally, it is further determined whether the timer for the starter has passed the preset timer time. If it is determined that the time has not elapsed, the timer is counted up and a control command is output to the starter controller 33, whereby the starter motor 30 is driven.
On the other hand, when it is determined that the timer time has elapsed, a control stop command is output to the starter controller 33, and the starter motor 30 stops accordingly. And outputs an abnormality notification command to the abnormality notification means 16. Further, as described above, in the control based on the determination that the engine 20 is not rotating normally, the control signal is output to the second control signal output means 13 so that the remote control pilot valve unit 26 becomes neutral. I do. On the other hand, when it is determined that the engine 20 is rotating normally, a control stop command is output to the starter controller 33, a flag is set in the “engine operation mode”, and
Reset the starter timer.

Next, in the "engine operation mode", it is determined whether or not the engine 20 is rotating normally when the engine is in the mode, and when it is determined that the engine 20 is not rotating normally, the "standby mode" is determined. Change the mode flag to On the other hand, when it is determined that the motor is rotating normally, it is determined whether or not the manual safety switch 37a is ON-operated, and whether or not the remote safety switch 7 is ON-operated. Manual safety switch 3
When it is determined that the remote control switch 7a is ON and the remote safety switch 7 is OFF, the corresponding actuator is switched to the remote control pilot valve unit 26 by switching the remote control pilot valve unit 26 based on the operation of the operating tools 4 provided on the transmission unit 1. A control signal is output to the second control signal output means 13 to supply oil. On the other hand, the manual safety switch 37a is ON and the remote safety switch 7 is OFF.
If it is determined to be other than the above, a control signal is output to the second control signal output means 13 so that the remote control pilot valve unit 26 becomes neutral. Further, when it is determined that the engine 20 is rotating normally, a command for displaying the engine speed is output to the operation notifying means 15.

Next, in the "engine stop mode", when the mode is entered, a control signal is outputted to the second control signal output means 13 so that the remote control pilot valve unit 26 becomes neutral. A determination is made as to whether the solenoid timer has reached a preset timer time. If it is determined that the stop has been reached, an operation stop command is output to the solenoid controller 34 to stop the operation of the stop solenoid 31, and the mode flag is switched to the "standby mode". On the other hand, when it is determined that it has not reached, the solenoid controller 34
, The stop solenoid 31 is caused to stop the engine, and the count of the solenoid timer is incremented.

Finally, the "emergency stop mode" is set. When the mode is entered, the "engine stop mode" is set the same except that there is no control for switching a mode flag to the "standby mode".

In the embodiment of the present invention constructed as described above, when remote control is to be performed, the manual safety switch 37a is turned on, and the remote-manual switching switch 37d is switched to the remote control side. At the same time, the power switch 1a of the transmission unit 1 is turned ON, and
Remote engine start switch 5 and remote safety switch 7
By turning on these operations, the engine 20 of the body A can be started. That is, when the engine is to be started remotely , the manual safety switch 37a in the body A of the machine body together with the remote engine start switch 5 and the remote safety switch 7 must be turned on, that is, switched to the start allowable state . By the way, when the operator is on the body A, the actuation of the actuator by the manual operation tool 39 turns off the manual safety switch 37a.
Must be in a non-starting state where manual operation is possible,
For this reason, when the operator boarding the body A is operating the machine, that is, when the manual safety switch 37a is in the OFF state, the operator holding the other transmission unit 1 can use the remote engine start switch 5 and the remote safety switch 7 O
Even if the N operation is performed, the engine start command is not output from the remote control unit 8. The remote start of the engine is performed when the operator is on the body A and the safety switch 37a for manual operation, which is conscious of starting the engine, is switched ON. Is not done. Also,
Regarding the remote operation of the actuator other than the engine start, the manual safety switch 37 operated by the boarding operator to be turned off except when the engine is manually started.
Since a must be ON, it is also possible to prevent the operator from suddenly operating the actuator by remote control while the operator is riding on the body main body A and driving.

Moreover, in this case, the remote control unit 8
Is supplied by operating a remote-manual switching operation switch 37d provided as a manual operation tool on the body A of the machine body to the remote control side. When the switch is operated to the manual control side, power is not supplied. As a result, when it is not necessary to perform the remote control, the remote-manual switching operation switch 37 is operated.
If d is set to the manual control side, even if the power of the transmitting unit 1 is turned on, the remote control unit 8 which receives a signal from the transmitting unit 1 does not operate because the power is not supplied and the remote control unit 8 does not operate. A malfunction can be avoided.

In some cases, the distance between the body A and the operator holding the transmitting unit 1 is long, and it is not clear whether the engine is running. In such a case, the engine is started by the remote control. Even if this is done, the remote control unit 8 sends the engine 20
Does not output the engine start command when it receives the detection signal that
The problem that the starter motor 30 is driven while the engine is running can be prevented. Further, when the engine rotation is not normal, that is, when the engine is stopped or the rotation speed is lower than the specified rotation speed, the corresponding control command is not output from the remote control unit 8 even if the remote operation is performed by the remote operation tool 4. The actuator is maintained in a neutral state, which also improves safety.

Further, when the engine 20 is to be remotely stopped or emergency stopped, the remote control unit 8 which has received the stop signal from the transmission unit 1 outputs the stop command as it is, so as to start the engine or to perform other operations. It is not necessary that the manual safety switch 37a be switched ON as in the case where the actuator is operated.
As a result, the engine can be stopped quickly,
Safety is improved.

The present invention is, of course, not limited to the above-described embodiment, but includes a high-pressure selection valve unit 29.
The control by the manual operation tool 39 is performed by the manual control unit 36.
Can be performed directly without going through.

[0023]

In summary, since the present invention is configured as described above, the engine is started by the operator.
Remote control using a remote control that operates away from the body
Both manual control using a manual operation tool that operates while riding on the body
The engine is started by remote control.
The operation is controlled by the remote-manual switching operation switch to the remote control side.
And the safety switch for manual operation can be started manually.
Operating in a start-permissible state, not a moving state.
Done on the matter .

As a result, the operator gets on the aircraft and
When the machine is operating, that is, the safety switch for
When in motion, use the remote control to
Even if the engine start operation is performed, the remote engine start
The operator on board the aircraft cannot
Make sure that the switch is in the start-permitted state and
The engine must be started remotely.
When the operator is on board the aircraft,
It is possible to avoid that the engine is started at the same time .

In addition, other actuations other than the engine start
When operating the remote, the safety switch for manual
It is not a non-start state that is operated when performing manual operation,
The condition is that it is operated in the start permission state.
As a result, the manual safety switch is turned off and the operating
When the actuator is in manual operation, another remote
No timer operation is performed and the operator
When driving while riding on the body, suddenly
It is also possible to prevent the actuation of the cutter .

Further, when it is determined that the engine is operating normally when the engine is started by the remote control, no engine start command is output from the remote control unit. The problem that the engine start command is output again by remote control can be prevented. Moreover, when the engine rotation is not normal, the corresponding control command is not output from the remote control unit even if the remote operation is performed by the remote operation tool, and the safety is improved in this respect as well.

Furthermore, when the engine is stopped by the remote stop operation tool, the control unit which has received the stop signal outputs the stop command as it is, so that the engine can be stopped quickly and safety is improved. I do.

[Brief description of the drawings]

FIG. 1 is a block circuit diagram of a transmission unit and a remote control unit.

FIG. 2 is a block circuit diagram of a control unit.

FIG. 3 is a flowchart of a control calculation of a remote control unit.

FIG. 4 is a flowchart of a standby mode in FIG. 3;

FIG. 5 is a flowchart of an engine start mode in FIG. 3;

FIG. 6 is a flowchart of an engine operation mode in FIG. 3;

FIG. 7 is a flowchart of an engine stop mode in FIG. 3;

FIG. 8 is a flowchart of an emergency stop mode in FIG. 3;

FIG. 9 is an explanatory diagram showing a remote control state of the hydraulic shovel.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transmission unit 2 Operation signal processing means 4 Remote operation tool 5 Engine start switch 6 Engine stop switch 7 Safety switch 8 Remote control unit 9 Receiving means 10 Detection signal processing means 11 Remote operation command output unit 12 First control signal output means DESCRIPTION OF SYMBOLS 13 Second control signal output means 14 Power supply control means 20 Engine 26 Pilot valve unit for remote control 30 Starter motor 31 Stop solenoid

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification code FI F02N 11/08 F02N 11/08 T (72) Inventor Nobuaki Matoba 2-5-1 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Heavy Industries, Ltd. (72) Inventor Tadaharu Iida 2-25-25 Shinhama, Arai-machi, Takasago City, Hyogo Prefecture Inside Takaishi Engineering Co., Ltd. (56) References JP-A-2-95738 (JP, A) JP-A-1-318761 (JP) , A) Japanese Utility Model Hei 6-34170 (JP, U) Japanese Utility Model Utility Model Sho 64-133228 (JP, U) Japanese Patent Publication No. 7-30738 (JP, B2) (58) Fields surveyed (Int. Cl. ⁷ , DB) Name) F02D 29/00-29/06 F02D 9/00-11/10 F02N 11/08

Claims (5)

(57) [Claims] 1. An operator can operate by boarding the aircraft
Manual engine start switch provided on each body
Connected to the manual safety switch and the manual engine
When the dynamic switch is operated, the manual safety switch
When the operator gets on the aircraft and performs other
It is not in a non-start state where the operation of the cut
The operation is switched to the start-permitted state where the manual operation cannot be performed.
Engine start means on the condition that
The control unit that is set to output the motion command
Sends a remote signal from a remote control
To receive an engine start command.
In order to achieve this, the remote operation
A switch and a remote safety switch.
Control signal, and the control unit controls
Remote-manual switching operation switch for switching
And a remote engine start switch from the remote control tool.
When the operation signal of the switch or remote safety switch is input
The remote-manual switch is in the remote switch state.
And the manual safety switch is switched to the start-permitted state.
Circuit that outputs an engine start command on condition
Control device for a drive machine, characterized in that is provided. 2. The vehicle according to claim 1, wherein
Remote actuating device provided with an actuator other than the moving means
Is an actuator for operating the other actuator.
Eta remote control switch.
Is the operation signal from the actuator remote control switch
If the safety switch for manual operation is
On the condition that it has been switched to
Circuit to output commands to operate the
Control device for a drive machine, characterized in that that. 3. An engine rotation detecting means for detecting whether or not the engine is rotating normally is connected to the control section , wherein the control section receives the engine drive from the engine rotation detecting means. A control device for a driving machine, comprising: a circuit for limiting an output of an operation command to an engine starting means when a detection signal indicating normal is input. 4. The control unit according to claim 2, wherein the control unit limits the output of an operation command to another actuator when there is an input of a detection signal from the engine rotation detection unit that the engine drive is not normal. A control device for a driving machine, comprising a circuit. 5. The actuator according to claim 2, wherein
Engine stopping means is provided as the
Operation of remote engine stop means provided on the remote control
Output a remote engine stop signal based on the
The control unit receives the remote engine stop signal.
Engine stop means based on the
A control device for a driving machine, comprising a circuit for outputting an operation command for the driving machine.