JPH01263322A - Control device for construction machine - Google Patents

Abstract

PURPOSE:To facilitate maintenance and to improve economical efficiency, by a method wherein a subcontroller to receive a signal from an input control part and process the input signal is connected to a main controller to support the subcontroller and control an electric hydraulic converting part. CONSTITUTION:Signals from joy sticks 1A and 1B on both sides and running pedals 1C and 1D on both sides are received by a subcontroller 4A incorporated in an input control part 1 to process input signals. The subcontroller 4A is connected to a main controller 4B through bidirectional serial communication 8, and signals from a sensor 2 built in a machine body and a console 3 are inputted. Given computation is effected to control an electric hydraulic converting part 5. This constitution eliminates an expansive microcomputer, enables standardization of the subcontroller 4A, and permits local limit of an influence exercised on the whole during failure in operation.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a control device for construction machinery.

(Prior Art) The recent spread of electronic control has been remarkable, and construction machinery is no exception. For example, Figure 2 is an example of a block diagram of the electronic control part of a power shovel.
In the figure, IA and 1.8 are provided on the left and right armrests of the driver's seat, respectively, and joysticks (left joystick, right joystick) are used to drive the front attachment in four directions (front, rear, left, and right), and IC and ID are on the floor of the driver's seat. These pedals (left travel pedal, right travel beggle) are installed in the
A to ID form the input operating device 1 in the sense that they serve as inputs when the excavation work is carried out in parallel.

2 is a sensor (sensor attached to the fuselage) that collects various information related to control, such as the maximum stroke position of a hydraulic actuator (for example, a hydraulic cylinder) that extends and retracts the front attachment, which is installed in the fuselage; The signals are all input to the controller 4, which performs calculations and logical judgments and outputs command signals to the electro-hydraulic converter 5. The electro-hydraulic converter 5 converts the command signal into a hydraulic signal, and the hydraulic cylinder, control valve, etc. are driven by this hydraulic signal.

Here, the controller 4 is composed of a microcomputer, and the controller 4! Various types of control are performed intensively according to the programmed program. Note that 3 is a console that displays driving information and the like.

(Problem to be Solved by the Invention) By the way, in such a centralized control system, the burden on one controller 4 is heavy, so various functions are added according to demand and the system becomes complicated. ,
It is difficult to support this with inexpensive microcomputers. Also, if you want to support a complex system,
If the vehicle model or class is different, it may not be possible to share the vehicle (in some cases, the benefits of sharing the vehicle will not be enjoyed).

Furthermore, if a failure occurs in the controller 4, it affects the entire system, so even a minor failure may cause the system to become inoperable.

The present invention has been made in view of these conventional problems, and an object of the present invention is to provide a device in which a sub-controller is responsible for processing signals from an input controller.

(Means for Solving the Problems) This invention provides a controller that inputs signals from an input operating device and a sensor attached to the machine body, performs calculations and logical judgments, and outputs a command signal, and converts the command signal into a hydraulic signal. In a control device for construction machinery that includes an electro-hydraulic converter for conversion and a hydraulic actuator (control valve, hydraulic pump, etc.) driven by the converted hydraulic signal, the controller is configured to receive a signal from an input operating device. It consists of a subcontroller that processes input signals, and a controller (main controller) that receives signals from the subcontroller and controls the electrohydraulic converter.The subcontroller is built into the input operation device, and both controllers connected via serial communication.

(Function) According to the present invention, control of construction machinery is divided into two controllers, so even if the control system becomes complicated, one
The burden placed on each controller is light, and even if a failure occurs, if one of the controllers is not affected, operation may be affected. Further, if the operation using the input operating device is common to similar construction machines in general, the sub-controller can be standardized.

Furthermore, according to serial communication, two terminals are required for input/output.
A book will do. Moreover, by incorporating the sub-controller into the input operating device, the wiring related to the input operating device can be compactly arranged and the appearance becomes better.

(Embodiment) FIG. 1 is a block diagram of the electronic control part of a power shovel, and corresponds to FIG. 2. In FIG. 1, two controllers (a sub-controller 4A and a main controller 4B) perform functions that were performed by the conventional controller 4.
to share in the work.

Of these, the sub-controller 4A manually processes signals from the controllers IA, IB and travel pedals IC, ID forming the input operating device 1 to perform arithmetic operations and logical judgments. In line with this, the main controller 4B, which is installed at the same location as before, receives signals from the airframe sensor 2 and the console 3, and directly controls the electro-hydraulic converter 5, as well as receives signals from the sub-controller 4A. Together with the information, the electro-hydraulic converter 5 and the console 3 are made to output an electric signal.

Both controllers 4A and 4B are constructed of microcomputers that perform digital control, and information is exchanged between them through bidirectional serial communication 8 that connects them. Here, the serial communication 8 performs one of the data processing formats, and the data is in a vertical format and is processed one at a time.
It is something that can only be transferred by Bi-Nodo. Furthermore, the reason why the controller is bidirectional is to allow data to be sent from the main controller 4B to the sub-controller 4A if necessary.

In particular, since a single-chip microcomputer does not take up much space, the sub-controller 4A is configured to be built inside the main body of the right-hand joystick IB, for example. Note that the left joystick 1A may be moved inwards.

With this configuration, control is performed by two controllers 4A.
and 4B, so even if the control system becomes complex, the burden on one controller can be reduced, making it possible to apply even an inexpensive microcomputer to a complex system. .

In addition, by dividing the functions, for example, even if a failure occurs in the sub-controller 4A, if the main controller 4B is equipped with a protection circuit, the vehicle can continue to drive, thereby reducing the impact on the entire system due to failure. can be made smaller.

Furthermore, if the operation with the input operating device 1 is common not only to power shovels but also to similar construction machines in general, the sub-controller 4A can be standardized, resulting in advantages such as increased compatibility.

In serial communication 8, the terminal required for human output (transmission #X)
To process any number of bits, only two wires are required (one wire is possible if used for both input and output), eliminating the need for long wiring and data transmission. Furthermore, by incorporating the sub-controller 4A into the right joystick 1B, there is no need to connect many wires from the input controller 1 to a remote controller as in the past, and the wires can be significantly shortened. Not only can this be simplified, but the wiring can be less affected by the environment, such as heat and stress. It also looks better.

(Effects of the Invention) As explained above, the present invention includes a controller that inputs signals from a human operating device and a sensor attached to the machine, performs calculations and logical judgments, and outputs a command signal, and converts this command signal into a hydraulic signal. In a control device for construction machinery that includes an electro-hydraulic converter for conversion and a hydraulic actuator driven by the converted hydraulic signal, the controller receives a signal from an input operating device and processes the input signal. It consists of a sub-controller and a controller that receives signals from the sub-controller and controls the electro-hydraulic converter.The sub-controller is built into the input operating device, and both controllers are connected via serial communication, which eliminates the need for expensive microcontrollers. Not only does it make it easier to handle complex systems without the use of computers, but it also standardizes sub-controllers and reduces the impact on the entire system due to failures, which also eliminates the need for wiring for input controllers. Y1. : Lord stops.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an electronic control portion of an embodiment of the present invention, and FIG. 2 is a block diagram of a conventional example. 1... Input operation device, IA, IB... Joystick, IC, ID... Travel pedal, 2... Sensor attached to the aircraft, 3... Console, 4A... Sub controller, 4B... Main controller, 5...
Electro-hydraulic converter, 8...bidirectional serial communication. −8=

Claims (1)

[Claims] A controller that inputs signals from input operating devices and sensors attached to the machine, performs calculations and logical judgments, and outputs command signals, an electro-hydraulic converter that converts this command signal into a hydraulic signal, and an electro-hydraulic converter that converts the command signal into a hydraulic signal. In a control device for construction machinery including a hydraulic actuator to be driven, the controller is divided into a sub-controller that receives a signal from an input operating device and processes the input signal, and an electro-hydraulic converter that receives a signal from the sub-controller. 1. A control device for construction machinery, characterized in that the sub-controller is built into an input operating device, and both controllers are connected via serial communication.