JP3491840B2 - Actuator operating device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device of a construction machine such as a bulldozer and an operating device of a working machine, and more particularly to an actuator capable of performing a minute operation in addition to a normal operation. An operating device . 2. Description of the Related Art As shown in FIG. 6, a lever operation amount of a conventional operation electric lever and an output signal to a controller are in a range where the lever operation amount L of the electric lever is small. Control
A dead zone in which the output voltage E to the controller is zero is set. If the operation is performed in a range beyond the dead zone, the output voltage E to the controller linearly increases in proportion to the operation amount L. . The relationship between the output voltage E to the controller and the output current I to the actuator is as shown in FIG.
As the output voltage E increases, the output current I also increases. Therefore, when the operation amount L of the operating electric lever increases, the output current I to the actuator also increases. Further, the actuator operates, for example, a servo valve of a servo cylinder of a swash plate pump in a hydraulically driven vehicle that travels by a combination of a hydraulic pump and a hydraulic motor, or a bulldozer.
The operation valve for operating the hydraulic cylinder for operating the earthmoving machine is switched, and the running speed of the vehicle and the operation of the earthmoving machine are controlled. [0003] However, Bulld-
In machines that handle earth excavation and soil transportation, such as the
It is necessary to finely control the operation speed of the earth moving machine suitable for the running speed, and conversely, it is necessary to finely operate the running speed suitable for the operating speed of the earth moving machine. However, as described above, when the operation amount L of the lever increases, the output current I to the actuator also increases with the operation amount. Therefore, when the operation amount of the electric lever for operation is at the maximum operation amount, the output current to the actuator increases. Also becomes the maximum current. Therefore, when performing a minute operation, the electric lever must be operated little by little, and such operation requires a great deal of skill. If the output current to the actuator at the maximum operation amount of the operating electric lever is reduced to 50% or 30% of the maximum current for performing the minute operation, the minute operation is easy. However, even if it is necessary to increase the running speed of the vehicle or the operating speed of the earth moving machine, there is a disadvantage that the maximum speed cannot be obtained. In view of the foregoing, the present invention provides an actuator operating device in which the maximum operation amount of the actuator is changed by changing the maximum output signal when the operating lever is operated at the maximum, and the prior art has The purpose is to eliminate the disadvantages. [0005] In order to achieve the above object, the present invention relates to an actuation lever operated by an operating position.
Actuator operation that changes the amount of movement of the tutor
The device detects the operating position of the operating lever and responds
Position detector that outputs an input signal and input of the input signal
Control that sends an output signal to the actuator according to the
Controller and the maximum output signal at the maximum operation of the operation lever
On the operation lever that outputs the switch signal for
A switch, and the controller further comprises an operation lever.
Switch signal input at any operation position
Output signal at any operating position of
And not exceed its maximum output signal.
Change the rate of change of the input and output signals
The feature is that the operation of a very small amount of the heater can be performed.
And FIG. 1 shows the operation of an actuator according to the present invention.
An example of the application of the device to the hydraulic drive vehicle, FIG. 2 is normally operated when the graph of the storage output, Fig 3 for an input by the operation lever of the present invention exits the maximum storage output at point P in FIG. 2
FIG. 4 is a graph of an output with respect to an input as a force setting output, and FIG.
According to the maximum output shown in FIG.
Was) graph of the output to the input, Fig. 5 the operation of the present invention
It is a flowchart of the control by an apparatus . Hereinafter, the present invention will be described with reference to FIGS. In the present invention, the signal of the switch 12 is input to the controller 14 at an arbitrary operation position of the electric lever 11,
The input / output signal in the controller 14 is stored in the operation system, the output at that time is set as the maximum output for the input, and the maximum output set for the input during the maximum operation of the lever is set. The change rate of the input and output is varied so as not to exceed the range, and a small amount of operation can be performed within a desired range of the operator until the input of the signal of the switch 12 is released. FIG. 1 shows an embodiment of a hydraulic and electric circuit of a bulldozer hydraulically driven vehicle to which a micro operation according to the present invention is applied. An operating device 10 includes an electric lever 11 and an electric lever 11. 0N-OFF switch 12 provided on the grip portion, and detector 13 for detecting the position of electric lever 11
And a controller 14. The hydraulic circuit 20 of the hydraulically driven vehicle includes left and right swash plate pumps 21a and 21b.
Forward circuits 23F, 24 connecting motors 22a, 22b driven by swash plate pumps 21a, 21b.
F and reverse circuits 23R and 24R. The swash plate pumps 21a and 21b are provided with servo cylinders 25a and 25b for controlling the swash plate angle and servo valves 26a and 26b.
6b. Here, when the electric lever 11 is operated, the position (operation amount = stroke) of the electric lever 11 is transmitted to the controller 14 by the position detector 13 at a voltage corresponding to the position. When a current corresponding to the voltage is transmitted from the controller 14 to the servo valves 26a and 26b,
The servo valves 26a and 26b are switched to the left or right depending on the direction of current flow, and the hydraulic pressure supplied from the servo cylinder to the swash plate pumps 21a and 21b changes depending on the magnitude of the current value. Pumps 21a, 21b
The inclination angle of the motor is set to a predetermined swash plate angle, and the flow rate of the motor 22a, 22
2b, and the sprocket 27 directly connected to the motors 22a and 22b is turned, so that the crawler belt (not shown) is turned, and the vehicle runs. In such a vehicle, when the maximum traveling speed is 10 km / h, for example, 0 to 10 km / h.
Control the speed between hours with a small lever stroke
It is to improve the operability and work efficiency by eliminating the difficulty of operation. Next, a specific operation will be described with reference to the flowchart of FIG.
This will be described with reference to a chart. Normally, the electric lever 11 moves forward when it is tilted forward, and moves backward when it is pulled backward, and the speed is determined by the amount of operation. Therefore, in step 1, the operator starts the normal running to obtain a speed suitable for his / her work. In step 2, the ON-OFF switch 12 provided on the grip portion is continuously pressed twice (this is twice in order to prevent the switch from being turned ON due to a malfunction once).
At this time, the current output signal is controlled as in step 3.
In the memory 14. That is, when the output of the point P on the input / output graph line is stored as shown in FIG. 2, the maximum output corresponding to the input is stored as shown in FIG. Next, in step 4, when the electric lever 11 is set to the maximum operation amount within two seconds thereafter, the vehicle speed becomes constant during that time. However, after 2 seconds, the storage in step 2 is canceled. In step 5, as shown in FIG. 4, the maximum output signal is changed to the value at point P shown in FIG. 2, and the vehicle speed at the maximum operation amount of the lever 11 is set to the stored speed. As a result, the rate of change between input and output is varied. Therefore, thereafter, when the manipulated variable is changed between 0 and the set vehicle speed, the output with respect to the input (change rate is changed) becomes gentle, and the fine control (small operation) property is improved. When the vehicle is stopped by turning the electric lever 11 to the neutral position and turning on the ON-OFF switch 12 as in step 6, the previously set memory is released, and the start is started again.
If it is reset, it returns to the state of step 1. As described above, the present invention provides an electric lever.
The switch signal is input to and stored in the controller at the arbitrary operation position, and the output at the arbitrary operation position is set as the maximum output for the input, and the input is set for the input during the maximum operation of the electric lever. Since the rate of change between input and output is varied so as not to exceed the maximum output and a small amount of operation can be performed until the input of the switch signal is released, the maximum output signal at the maximum operation of the electric lever is reduced. The operability by fine adjustment can be improved by changing the sensitivity of the operation of the actuator by the electric lever as desired by changing it.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of one embodiment in which a hydraulic drive vehicle is used as an actuator operating device according to the present invention. FIG. 2 shows a normal operation for an input by the operation lever of the present invention.
It is a graph of the memory output at the time of composition . FIG. 3 is a setting output of a maximum output of a stored output at a point P in FIG . 2;
4 is a graph of an output with respect to an input. FIG. 4 shows the operation amount of the operation lever according to the maximum output of FIG .
6 is a graph of output with respect to input). FIG. 5 is a flowchart of control by the operating device of the present invention. FIG. 6 is a graph showing a relationship between a lever operation amount and an output voltage by a conventional operation. FIG. 7 is a graph showing a relationship between an input voltage to a controller from an operation lever and an output current to an actuator obtained from FIG. 6; [Description of Signs] 11 Operating lever 12 Switch 14 Controller

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Claims (1)

(57) [Claims 1] Actuator according to the operating position of the operating lever
Actuator operating device that changes the amount of data movement
Detects the operation position of the operation lever and detects the corresponding input signal.
A position detector that outputs a signal, and according to the input of the input signal.
Controller that sends output signals to actuators
And the maximum output signal at the maximum operation of the operation lever
Switch on the operation lever that outputs the switch signal for
And the controller further comprises an operation lever.
Input by the switch signal at the desired operation position.
The output signal at any operation position is the maximum output signal.
Not to exceed the maximum output signal.
Changing the rate of change of the input and output signals
Characteristic actuator operating device.