JP3727793B2 - Automatic hydraulic working machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic hydraulic working machine such as a hydraulic excavator having an automatic operation function, and in particular, when used as a base machine or for checking and checking input devices, etc. The present invention relates to an automatic hydraulic working machine that can prevent the failure diagnosis function and stop the malfunction diagnosis function.
[0002]
[Prior art]
Conventionally, in Japanese Unexamined Patent Publication No. 60-144433, in an excavator having an automatic excavation function, even when the engine is stopped with the power switch of the control circuit turned on, the operator does not notice the next time the engine is started. A technique including a safety device that prevents an automatic control state from being entered is disclosed. Japanese Patent Laid-Open No. 1-94129 discloses that a signal for neutralizing a main switching valve is output to a main switching valve for operating a working body such as a bucket in order to detect breakage of a hydraulic system. A technique for diagnosing an abnormality when the operating speed of the operating body is not determined to be neutral speed is disclosed.
[0003]
[Problems to be solved by the invention]
However, in the conventional automatic hydraulic working machine, the safety of the automatic hydraulic working machine by providing the automatic operating function when the automatic operating function is not used is not sufficiently considered.
[0004]
In view of the above problems, an object of the present invention is to use an automatic hydraulic working machine having an automatic operation function when working as a so-called base machine that does not use an automatic operation function, or for an automatic hydraulic work machine. An object of the present invention is to provide an automatic hydraulic working machine capable of reliably prohibiting operation / operation by an automatic operation function at the time of inspection work of an input device or the like.
[0005]
Moreover, when not using an automatic operation function, it is providing the automatic hydraulic working machine which stops the failure diagnosis function which is functioning when the automatic operation function is used.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention employs the following means.
[0007]
A plurality of manual pressure reducing valves provided to be operated by a driver to operate a plurality of work bodies, an angle detector for detecting an angular relationship between the work bodies, an operation signal and an angle by the driver A control means for outputting a control signal for automatically operating the work body along a predetermined movement locus based on a detection signal; a hydraulic signal from the manual pressure reducing valve; and a hydraulic signal converted from the control signal. In an automatic hydraulic working machine comprising: a shuttle valve that selects and outputs a hydraulic signal on the high-pressure side; and a main switching valve that switches an operation direction of an actuator that is operated by the hydraulic signal selected by the shuttle valve and operates the work body an output unit which outputs the control signal generated is provided to the control means, when the opening and closing means for controlling the supply of power for operating said output unit Ru provided Moni, a means capable of supplying power to the control means without passing through the opening and closing means is provided, in accordance with the opening and closing of the closing means, characterized in that it disable or enable the output unit.
[0008]
The automatic hydraulic working machine according to claim 1, wherein the control means detects opening / closing information of the opening / closing means, and invalidates the generated control signal according to opening / closing of the opening / closing means. Means is provided for controlling whether to validate.
[0009]
Further, in the automatic hydraulic working machine according to any one of claims 1 to 2, the control means detects opening / closing information of the opening / closing means, and according to opening / closing of the opening / closing means, Means is provided for controlling whether to invalidate or validate the failure diagnosis function of the control means.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS.
[0011]
FIG. 2 is a side view of an automatic hydraulic working machine such as a hydraulic excavator according to the present embodiment.
[0012]
In the figure, reference numeral 1 denotes an automatic hydraulic working machine having an automatic operation function capable of automatically performing a boom operation according to an arm operation by an operator during straight excavation, 2 is a boom, 3 is an arm, and 4 is a boom cylinder. Reference numeral 5 denotes an arm cylinder, and reference numerals 6 and 7 denote angle detectors for detecting the boom rotation angle θ1 and the arm rotation angle θ2, respectively.
[0013]
FIG. 1 is a block diagram showing a configuration relating to an automatic operation function of an automatic hydraulic working machine.
[0014]
In the figure, 8 and 9 are main switching valves for switching the amount of oil supplied to the boom cylinder 4 and arm cylinder 5 and the direction of pressure oil, and 10 and 11 are hydraulic pressures for supplying pressure oil to the main switching valves 8 and 9, respectively. A pump, 12 is a power source provided in the automatic hydraulic working machine 1, 13 is a main switch that opens and closes the power source 12, and 14 is an open / close unit 141 that switches supply or stop of power supply to an output unit 154 of an arithmetic control device 15 to be described later. And a switch provided with an opening / closing part 142 that opens and closes in response to switching of the opening / closing part 141, 15 is an arithmetic control device that performs processing for automatic operation and fault diagnosis, and 16 a and 16 b are electric outputs output from the arithmetic control device 15. Proportional pressure reducing valves that convert the command signals l1 and l2 into hydraulic signals Pa1 and Pa2, and boom hands that are manually operated by the operator The pressure reducing valves 18a and 18b select the high pressure side pressures of the hydraulic pressure signals Pa1 and Pa2 from the proportional pressure reducing valves 16a and 16b and the hydraulic pressure signals Pm1 and Pm2 from the manual pressure reducing valves 17a and 17b, and use them as the hydraulic pressure signals Pi1 and Pi2. The shuttle valves 19a and 19b that are output to the main switching valve 8 are manually operated by an operator to supply the hydraulic signals Pm3 and Pm4 to the main switching valve 9 and the arm manual pressure reducing valve 20 that is supplied to the shuttle valve 20. A shuttle valve that selects and outputs the high pressure side pressure of the hydraulic pressure signal Pm3 output from the manual pressure reducing valve 19a and the hydraulic pressure signal Pm4 output from the arm manual pressure reducing valve 19b, and 21 is a shuttle valve when the arm is operated. An operation detector 22 converts an oil pressure signal as an operation detection signal from 20 into an electric signal and outputs the electric signal to the arithmetic control device 15. A display unit for displaying the fault diagnosed results and the like by the control device 15.
[0015]
Further, the arithmetic control device 15 is supplied with the power source 12 directly without going through the switch 14, and the power source unit 151 that supplies the power source 12 to the input unit 152 and the arithmetic processing unit 153 and the switching unit 142 are closed. The output signal S, the boom rotation angle θ1 from the angle detector 6, the arm rotation angle θ2 from the angle detector 7, and the operation signal R output when the arm manual pressure reducing valves 19a and 19b are operated. An input unit 152 that inputs and outputs to the arithmetic processing unit 153; a processing unit that performs arithmetic processing; a storage unit that stores various programs for performing automatic operation functions and fault diagnosis; and results of arithmetic processing; An arithmetic processing unit 153 that outputs a result of arithmetic processing for automatic operation and fault diagnosis to the output unit 154 and the display device 22 based on various input data from the unit 152; 141, the power supply 12 is supplied, the current command values C1 and C2 for automatically operating the boom cylinder 4 output from the arithmetic processing unit 153 are input, and the signals l1 and l2 are output to the proportional pressure reducing valves 16a and 16b. Output unit 154.
[0016]
Next, the operation of the automatic hydraulic working machine of this embodiment will be described.
[0017]
When the automatic operation function and the failure diagnosis function are used, the main switch 13 and the switch 14 are closed, and the power supply 12 is supplied to the power supply unit 151 and the output unit 154 of the arithmetic control device 15. Next, in the arithmetic and control unit 15, the closing signal S that detects that the switch 14 is closed, the operation signal R that detects that the arm is operated from the arm operation detector 21, and the boom rotation angle θ1 and Each signal of the arm rotation angle θ <b> 2 is input to the input unit 152. The arithmetic processing unit 153 executes predetermined arithmetic processing based on each input signal, and outputs current command values C1 and C2 to the output unit 154 so that the boom automatically operates according to a predetermined operation locus. In this case, since the boom manual pressure reducing valves 17a and 17b are not operated, the main switching is performed via the proportional pressure reducing valves 16a and 16b and the shuttle valves 18a and 18b by the current command signals l1 and l2 output from the arithmetic and control unit 15. The valve 8 is switched and the boom is automatically controlled. In the arithmetic processing unit 153, failure diagnosis is performed based on the boom angle signal θ1 and the current command values C1 and C2, and the diagnosis result is displayed on the display device 22.
[0018]
If the automatic operation function and the failure diagnosis function are not used to operate the automatic hydraulic working machine as a base machine or check the input equipment of the automatic hydraulic working machine, the main switch 13 is closed. Holding the state, the switch 14 is opened. The power supply 12 is supplied to the power supply unit 151 through the main switch 13, but is not supplied to the output unit 154. Therefore, when operating as a base machine, the power supply 12 is not supplied from the output unit 154. Therefore, even if the current command values C1 and C2 are generated as a result of the arithmetic processing in the arithmetic control device 15, the arithmetic control device 15 Current command signals l1 and l2 are not output from. As a result, the arm manual pressure reducing valves 19a and 19b by the arm operation and the boom manual pressure reducing valves 17a and 17b by the boom operation can be operated as a base machine. Therefore, it is possible to surely prevent the automatic hydraulic working machine from operating due to the automatic working function being erroneously operated. When checking and checking the input device, etc., data on the simulated boom rotation angle θ1 and arm rotation angle θ2 is input to the input unit 152 using a personal computer or the like, and the operation processing unit 15 checks and checks the input device. The inspection result can be displayed on the display device 22. Also in this case, since the power supply 12 is not supplied to the output unit 154, even if the current command values C1 and C2 are generated as a result of the calculation process in the calculation control device 15, the current control signal is output from the calculation control device 15. l1 and l2 are not output. In this case as well, it is possible to reliably prevent the operation of the automatic hydraulic working machine by the automatic work function.
[0019]
Next, an automatic operation and failure diagnosis processing procedure in the arithmetic processing unit 153 will be described with reference to a flowchart shown in FIG.
[0020]
In step 1, each of the closing signal S for the switch 14 input to the input unit 152, the operation signal R for detecting the arm operation input to the operation detector 21, the boom rotation angle θ1, and the arm rotation angle θ2. Read data. In step 2, it is determined whether there is a closing signal S. When there is no closing signal S, the switch 14 is in an open state, so that the power supply 12 is supplied to the power supply unit 151, but the power supply 12 is not supplied to the output unit 154. Since this case corresponds to the case where the automatic hydraulic working machine is operated as a base machine or the input device is checked and checked, in Step 3, the current command values C1 and C2 from the arithmetic processing unit 153 are set to zero. At the same time, a process not performing failure diagnosis is performed in step 4. In step 2, if the closing signal S is present, the switch 14 is in the closed state, so in step 5, it is determined whether there is an operation signal R detected when the arm is operated. When there is no operation signal R, the arm is not operated, so that the current command values C1 and C2 are set to zero in step 3 and the process not performing fault diagnosis is performed in step 4 as described above. If the operation signal R is present in step 5, the current command values C1 and C2 are calculated and the current command signals l1 and l2 are output from the output unit 154 in step 6 so as to take a predetermined motion locus on the boom. The boom is automatically operated in conjunction with the manual operation of the arm by the current command values C1 and C2. Subsequently, in step 7, the boom angle signal change amount ω _k = θ1 (t _k ) −θ1 (from the boom rotation angle θ1 (t _k ) read at each processing time tk for use in failure diagnosis. t _k-1 ) is calculated. In step 8, a failure diagnosis is made as to whether the automatic hydraulic working machine is performing a predetermined operation based on various data. In step 9, it is determined whether or not there is a flag F that is set when it is determined as a failure as a result of the failure diagnosis in step 8. If the flag F is not present, the display device 22 displays that there is no failure in step 10. When the flag F is present, there is a failure. Therefore, the current command values C1 and C2 are set to zero in step 11, and the fact that there is a failure is displayed on the display device 22 in step 12. In step 13, when there is no failure in the automatic operation state, the calculated current command values C1 and C2 are output to the output unit 13, and in other cases, the current command values C1 and C2 set to zero are output to the output unit. 13 is output.
[0021]
FIG. 4 is a flowchart showing an example of a failure diagnosis processing procedure in step 8 of FIG.
[0022]
This failure diagnosis is performed by determining whether or not the boom is within a predetermined operating speed when the current command values C1 and C2 for neutralizing the boom main switching valve 8 are output from the arithmetic processing unit 153. First, in step 81, it is determined whether or not each of the current command values C1 and C2 is smaller than a predetermined value Cn at which the main switching valve 8 is determined to be neutral. When each of the current command values C1 and C2 is not smaller than the predetermined value Cn, the routine proceeds to step 83. When each of the current command values C1 and C2 is smaller than the predetermined value Cn, in step 82, the change amount ω _k of the boom angle signal calculated in step 7 of FIG. 3 is determined to be determined that the boom is stopped. It is determined whether or not the value is smaller than ω _n . If it is determined in step 82 that the boom is stopped, it is determined that there is no failure. However, even if it is determined in step 83 that the boom is stopped, the current command values C1 and C2 are output. Since there is a time delay from when the boom is actually operated, a predetermined time Tr corresponding to the time delay is set by a timer in order to compare the change amount ω _k of the boom angle signal with the predetermined value ω _n after a predetermined time. To do. When it is determined in step 82 that the boom is not smaller than the predetermined value ω _n determined to be stopped, in step 84, the timer time T is determined as a result of the countdown of the predetermined time Tr set by the timer. It is determined whether or not T = 0. As a result of the determination, if T = 0, the process proceeds to step 86. If T ≠ 0, the countdown is performed in step 85. In step 86, if T = 0, each of the current command values C1 and C2 is smaller than the predetermined value Cn, and the boom angle signal change amount ω _k is the boom stopped even after the predetermined time Tr. This is a case where it is determined that it is not smaller than the predetermined value ω _n to be determined. In this case, a flag F indicating that there is a failure is set in step 88. When T ≠ 0, it is determined that there is no failure based on the determination in step 81 and step 82, or it is determined that there is a failure based on the determination in step 81 and step 82, but it is set by the timer. Since the final determination time has not been reached, it is determined in step 87 that there is no failure and the flag F is not set.
[0023]
In addition, although this embodiment demonstrated the example of the automatic hydraulic working machine which can operate a boom operation automatically according to the arm operation by an operator and can perform a straight excavation, it is from the excavation to the earthing according to the taught operation locus. The same idea as in the present invention is applied to an automatic hydraulic working machine such as a hydraulic excavator that automatically operates, and when the automatic hydraulic working machine is used as a base machine, it is safely performed without malfunction and erroneous operation, and is controlled. It is possible to safely check and check the input device without outputting a control signal from the means.
[0024]
【The invention's effect】
Each invention of this application can have the following effects.
[0025]
According to the invention described in claim 1, and an output unit for outputting a control signal generated provided in the control means, and switching means for controlling the supply of power for operating the output unit, the switching means Since a means capable of supplying power to the control means without any intervention is provided and the output unit is invalidated or validated according to the opening / closing of the opening / closing means, the control signal from the control means is set by opening the opening / closing means. while prohibits the output even when the power supply can be supplied to the control means, a malfunction by the automatic operation function when using an automatic hydraulic working machine as a base machine, it can be done Rukoto no safe and misoperation is prevented, In addition, it is possible to safely check and check the input device without outputting a control signal from the control means.
[0026]
According to the invention described in claim 2, the control means detects the opening / closing information of the opening / closing means, and determines whether to invalidate or validate the generated control signal according to the opening / closing of the opening / closing means. Since the control means is provided, the output of the control signal from the control means can be more reliably prohibited by opening the opening / closing means.
[0027]
According to the invention described in claim 3, the control means detects the opening / closing information of the opening / closing means, and invalidates or enables the failure diagnosis function of the control means according to the opening / closing of the opening / closing means. Since the control means is provided, it is possible to prevent the failure diagnosis function from being erroneously performed by disabling the failure diagnosis function by opening the opening / closing means.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration related to an automatic operation function of an automatic hydraulic working machine according to an embodiment of the present invention.
FIG. 2 is a side view of an automatic hydraulic working machine such as a hydraulic excavator according to the present embodiment.
FIG. 3 is a flowchart showing a procedure for automatic operation and failure diagnosis in the arithmetic processing unit 153 shown in FIG. 1;
FIG. 4 is a flowchart showing an example of a failure diagnosis processing procedure in step 8 of FIG. 3;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic hydraulic work machine 2 Boom 3 Arm 4 Boom cylinder 5 Arm cylinder 6 Boom angle detector 7 Arm angle detector 8 Boom main switching valve 9 Arm main switching valve 12 Power supply 13 Main switch 14 Switch 15 Calculation control device 151 Power supply Unit 152 input unit 153 arithmetic processing unit 154 output units 16a and 16b proportional pressure reducing valves 17a and 17b boom manual pressure reducing valves 18a and 18b shuttle valves 19a and 19b arm manual pressure reducing valve 20 shuttle valve 21 arm operation detector 22 display device

Claims (3)

A plurality of manual pressure reducing valves provided to be operated by a driver to operate a plurality of work bodies, an angle detector for detecting an angular relationship between the work bodies, an operation signal and an angle by the driver A control means for outputting a control signal for automatically operating the work body along a predetermined movement locus based on a detection signal; a hydraulic signal from the manual pressure reducing valve; and a hydraulic signal converted from the control signal. In an automatic hydraulic working machine comprising: a shuttle valve that selects and outputs a hydraulic signal on the high-pressure side; and a main switching valve that switches an operation direction of an actuator that is operated by the hydraulic signal selected by the shuttle valve and operates the work body ,
The control without passing through an output unit which outputs the control signal generated is provided to the control means, Rutotomoni provided a switching means for controlling the supply of power for operating said output unit, the switching means An automatic hydraulic working machine characterized in that means capable of supplying power to the means is provided , and the output unit is invalidated or validated according to opening / closing of the opening / closing means. In claim 1,
The control means includes means for detecting opening / closing information of the opening / closing means and controlling whether to invalidate or enable the generated control signal according to the opening / closing of the opening / closing means. And automatic hydraulic working machine. In any one of claims 1 to 2,
The control means includes means for detecting opening / closing information of the opening / closing means and controlling whether to disable or enable a failure diagnosis function of the control means according to opening / closing of the opening / closing means. Automatic hydraulic working machine characterized by.

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