JPH05195546A - Hydraulic actuator controller in earth-moving machine - Google Patents

Hydraulic actuator controller in earth-moving machine

Info

Publication number
JPH05195546A
JPH05195546A JP4007123A JP712392A JPH05195546A JP H05195546 A JPH05195546 A JP H05195546A JP 4007123 A JP4007123 A JP 4007123A JP 712392 A JP712392 A JP 712392A JP H05195546 A JPH05195546 A JP H05195546A
Authority
JP
Japan
Prior art keywords
control
current
lever
hydraulic actuator
operating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP4007123A
Other languages
Japanese (ja)
Other versions
JP2695335B2 (en
Inventor
Takanori Miura
敬典 三浦
Toshio Mukoda
敏雄 向田
Satoshi Iida
聡 飯田
Yutaro Morishita
勇太郎 森下
Original Assignee
Kubota Corp
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp, 株式会社クボタ filed Critical Kubota Corp
Priority to JP4007123A priority Critical patent/JP2695335B2/en
Publication of JPH05195546A publication Critical patent/JPH05195546A/en
Application granted granted Critical
Publication of JP2695335B2 publication Critical patent/JP2695335B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PURPOSE:To prevent starting delay at a time reaching an operating state from a stopped state by supplying an electromagnetic type proportional flow control valve with currents larger than target currents corresponding to the manipulated variable of a control lever only in a specified short time at the time of operation start for drive from the neutral position of the control lever. CONSTITUTION:When a control lever 11 is operated from a neutral position to a drive operation region in order to operate an operating device, electromagnetic type proportional flow control valves V under a drive stopped state are supplied with currents larger than control currents corresponding to the position of operation of the control lever 11 only in a short time by a current control means B. Consequently, the spools of the control valves V under the stopped state are quickly driven and worked slightly by large currents, subsequent movement is controlled smoothly, and the rise characteristics of a hydraulic control flow rate are changed rapidly, thus quickly conducting operation response. Accordingly, starting delay at a time reaching an operating state from the stopped state can be prevented.

Description

【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【産業上の利用分野】本発明は、例えばバックホー等の
土工機における油圧アクチュエータ制御装置に関し、詳
しくは、作業装置を油圧アクチュエータにより駆動する
よう構成するとともに、前記油圧アクチュエータの電磁
式比例流量制御弁の開度を、操作レバーの操作量に応じ
た電流を供給して比例制御する流量制御手段を備えてあ
る土工機における油圧アクチュエータ制御装置に関す
る。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic actuator control device for an earthmoving machine such as a backhoe. More specifically, the working device is configured to be driven by a hydraulic actuator, and an electromagnetic proportional flow control valve for the hydraulic actuator is provided. The present invention relates to a hydraulic actuator control device in an earthmoving machine, which is provided with a flow rate control means for proportionally controlling the opening degree of the control lever by supplying a current according to an operation amount of an operation lever.
【0002】[0002]
【従来の技術】上記土工機における油圧アクチュエータ
制御装置において、従来では、前記操作レバーの全操作
領域に亘りその操作量に応じた電流を前記電磁式比例流
量制御弁に供給するよう構成してあった。
2. Description of the Related Art Conventionally, a hydraulic actuator control device for an earthmoving machine is configured to supply a current corresponding to an operation amount of the operation lever to the electromagnetic proportional flow control valve over the entire operation region. It was
【0003】[0003]
【発明が解決しようとする課題】前記制御装置は、油圧
アクチュエータの制御のための油圧制御弁のスプールを
人為的に操作するのは、操作が重く、行い難い欠点があ
るために、このレバー操作を軽快に行えるようにするた
めに、操作レバーの操作量を電気信号に変換して、供給
電流に対応した開度に比例制御される電磁式比例流量制
御弁を用いて油圧アクチュエータを操作するよう構成し
たものである。ところが、上記従来構造においては、操
作レバーの操作領域の全域に亘り、操作量に応じた電流
を供給して前記電磁式比例流量制御弁を駆動制御するよ
う構成したものであるから、レバー操作の途中において
は、操作位置に対応する電流量、即ちそれに対応する弁
開度に設定され、所望の作業速度を得ることができるけ
れども、作業装置が停止した状態、即ち、操作レバーが
中立位置にある状態から作動開始したときに、電磁式比
例流量制御弁のスプールの起動応答が遅く、起動タイミ
ングのずれが発生したり、又、制御弁の固体差に起因し
て、この応答遅れに機種毎に差が生じることがある。そ
の結果、操縦者の操作レバーの操作感覚と作業装置の実
際の作動状態との間に差異が発生し、操縦操作性が低下
する欠点があった。本発明は上記不具合点を解消し、停
止状態から作動状態に到るときの起動遅れを防止するこ
とを目的としている。
The above-mentioned control device is disadvantageous in that manually operating the spool of the hydraulic control valve for controlling the hydraulic actuator is heavy and difficult to perform. In order to facilitate the operation of the hydraulic actuator, the operation amount of the operation lever is converted into an electric signal, and the hydraulic actuator is operated using an electromagnetic proportional flow control valve that is proportionally controlled to the opening corresponding to the supply current. It is composed. However, in the above-described conventional structure, the electromagnetic proportional flow control valve is driven and controlled by supplying a current according to the operation amount over the entire operation area of the operation lever. On the way, the current amount corresponding to the operating position, that is, the valve opening corresponding to the current amount is set, and the desired working speed can be obtained, but the working device is stopped, that is, the operating lever is in the neutral position. When the operation is started from the state, the start response of the spool of the electromagnetic proportional flow rate control valve is slow and the start timing is deviated. Differences can occur. As a result, there is a drawback that a feeling of operation of the operation lever of the operator and an actual operating state of the work device are different from each other, and the maneuverability is deteriorated. An object of the present invention is to solve the above-mentioned problems and prevent a start-up delay when the operating state is changed from the stopped state.
【0004】[0004]
【課題を解決するための手段】本第1発明の特徴構成
は、冒頭に記載した土工機における油圧アクチュエータ
制御装置において、前記操作レバーの中立位置からの駆
動用操作開始時において、該操作レバーの操作量に対応
する目標電流よりも大きな電流を所定の短時間だけ前記
電磁式比例流量制御弁に供給する電流制御手段を備えて
ある点にある。本第2発明の特徴構成は、前記操作レバ
ーの操作速度を検出する操作速度検出手段を設け、この
操作速度検出手段の検出結果に基づいて、検出速度が大
であるほど前記供給電流値を大にするよう前記電流制御
手段による供給大電流の電流値を変更する電流値変更手
段を設けてある点にある。本第3発明の特徴構成は、前
記油圧アクチュエータの作動油圧を検出する圧力センサ
を備え、この圧力センサによる検出圧力が所定値に到る
まで、前記電流制御手段による大電流供給作動を行うよ
う構成してある点にある。本第4発明の特徴構成は、前
記操作レバーによる作動領域のうち、低速作動側の所定
の領域内における前記操作レバーの操作速度を検出する
操作速度検出手段を設け、この操作速度検出手段の検出
結果が所定値以上であることを検出したときのみ、前記
操作レバーの操作量に対応する目標電流よりも大きな電
流を所定の短時間だけ前記電磁式比例流量制御弁に供給
する電流制御手段を備えてある点にある。
According to a first aspect of the present invention, there is provided a hydraulic actuator control device for an earthmoving machine described at the beginning thereof, in which the operation lever of the operation lever is started at the start of a driving operation from a neutral position of the operation lever. The point is that a current control means for supplying a current larger than the target current corresponding to the manipulated variable to the electromagnetic proportional flow control valve for a predetermined short time is provided. According to a characteristic configuration of the second aspect of the present invention, operating speed detecting means for detecting an operating speed of the operating lever is provided, and the supply current value increases as the detecting speed increases based on the detection result of the operating speed detecting means. Therefore, there is provided a current value changing means for changing the current value of the large current supplied by the current control means. The characteristic configuration of the third aspect of the present invention includes a pressure sensor that detects the operating hydraulic pressure of the hydraulic actuator, and the large current supply operation is performed by the current control unit until the pressure detected by the pressure sensor reaches a predetermined value. There is a point. According to a fourth aspect of the present invention, there is provided operation speed detection means for detecting an operation speed of the operation lever in a predetermined area on the low speed operation side of an operation area of the operation lever, and the operation speed detection means detects the operation speed. Only when it is detected that the result is equal to or more than a predetermined value, a current control means for supplying a current larger than a target current corresponding to the operation amount of the operation lever to the electromagnetic proportional flow control valve for a predetermined short time is provided. There is a point.
【0005】[0005]
【作用】第1発明の特徴構成によると、作業装置を作動
させるために操作レバーを中立位置から駆動操作域に操
作すると、駆動停止状態にある電磁式比例流量制御弁に
対して操作レバーの操作位置に対応する制御電流よりも
大きな電流が短時間だけ供給されるから、停止状態にあ
る制御弁のスプールが大電流により素早くわずかに駆動
操作され、その後の動きがスムーズに制御できることに
なり、油圧制御流量の立ち上がり特性が速やかに変化す
ることになり、作動応答が素早く行われることになる。
第2発明の特徴構成によると、操作レバーを素早く操作
した場合には前記制御弁の応答遅れも大となるから、こ
のような場合には、供給される大電流の値を大きくする
ことで、制御弁の追随性能を向上させることができ、
又、逆に、操作レバーをゆっくり操作した場合には、上
記したような大電流の値が小さいものに設定されるか
ら、立ち上がり応答遅れの補償以上に制御弁が駆動操作
されるおそれがなく、操縦者の意思に沿わない急激な作
動が行われるのを阻止できる。第3発明の特徴構成によ
ると、駆動制御対象である油圧アクチュエータの作動油
圧を直接に検出して、この検出油圧が所定値に到るまで
上記した大電流を供給するので、常に、油圧アクチュエ
ータの作動状況を監視しながら適切な起動制御が実現で
き、不必要な過剰駆動を行う不都合を回避できる。第4
発明の特徴構成によると、操作レバーが高速作動領域に
おいて操作されているとき、素早く操作されても、上記
したような大電流供給は行われないので、作業装置が高
速で作動しているときに過大電流によるショックが発生
することがなく、又、低速側での操作であってもゆっく
り操作した場合には、上記したような大電流供給は行わ
れず、油圧アクチュエータに対する過剰な圧油供給が行
われないので駆動ショックが生じるのを防止できる。
According to the characteristic construction of the first aspect of the invention, when the operating lever is operated from the neutral position to the drive operation range in order to operate the work device, the operation lever is operated with respect to the electromagnetic proportional flow control valve in the drive stopped state. Since a current larger than the control current corresponding to the position is supplied for a short time, the spool of the control valve in the stopped state is quickly and slightly driven by the large current, and the subsequent movement can be smoothly controlled. The rising characteristics of the control flow rate will change rapidly, and the operation response will be performed quickly.
According to the characteristic configuration of the second aspect of the invention, when the operation lever is quickly operated, the response delay of the control valve also becomes large. Therefore, in such a case, by increasing the value of the large current supplied, The tracking performance of the control valve can be improved,
On the contrary, when the operation lever is operated slowly, the value of the large current is set to a small value as described above, so that there is no possibility that the control valve is driven and operated more than the compensation of the rising response delay. It is possible to prevent a sudden operation that does not follow the driver's intention. According to the characteristic configuration of the third aspect of the invention, the operating hydraulic pressure of the hydraulic actuator that is the drive control target is directly detected, and the large current described above is supplied until the detected hydraulic pressure reaches a predetermined value. Appropriate startup control can be realized while monitoring the operating status, and the inconvenience of unnecessary overdriving can be avoided. Fourth
According to the characteristic configuration of the invention, when the operating lever is operated in the high-speed operating region, even if the operating lever is operated quickly, the large current supply as described above is not performed, so when the working device is operating at high speed. If a shock due to excessive current does not occur, and if the operation is performed slowly even at low speeds, the large current supply as described above will not be performed, and excessive pressure oil will be supplied to the hydraulic actuator. It is possible to prevent drive shock from being generated.
【0006】[0006]
【発明の効果】従って、電気制御式油圧制御弁を用いて
レバー操作が軽快に行える利点を有しながら、駆動停止
状態から油圧アクチュエータを起動させる際における応
答遅れや操作レバーの素早い操作に対する応答遅れを有
効に阻止して操作レバーの操作感覚と作業装置の作動状
況とを極力一致させて、操縦操作性を向上させることが
できた。しかも、必要以上に大電流を供給して駆動ショ
ックが生じるのを有効に防止して、操縦安全性に優れた
ものを提供できるに到った。
Therefore, while having the advantage that the lever operation can be performed lightly by using the electrically controlled hydraulic control valve, the response delay when starting the hydraulic actuator from the drive stopped state and the response delay for quick operation of the operating lever are provided. It was possible to improve the maneuverability by effectively blocking the operation and making the operating feeling of the operating lever and the operating condition of the work device coincide with each other as much as possible. Moreover, it has become possible to effectively prevent a drive shock from being generated by supplying a large current more than necessary, and to provide a vehicle with excellent driving safety.
【0007】[0007]
【実施例】以下、実施例を図面に基いて説明する。図5
に土工機の一例としてのバックホーを示している。この
バックホーは、クローラ走行装置1を備えた走行機台2
に旋回用油圧モータMの駆動により縦軸芯周りで全旋回
自在に旋回台3を搭載するとともに、旋回台3にバック
ホー装置4〔作業装置の一例〕を連結し、走行機台2に
ドーザ装置5を備えて構成してある。前記バックホー装
置4は、旋回台3に横軸芯周りで上下揺動自在に枢支さ
れるブーム6にアーム7、バケット8を枢支連結すると
ともに、夫々をブームシリンダC1、アームシリンダC
2、バケットシリンダC3により駆動揺動して掘削作業
を行えるよう構成してある。又、ブーム6は、基端部6
a、中間部6b及び先端部6cに3分割され、夫々を縦
軸芯周りで枢支連結するとともに、基端部6aと先端部
6cとを中間部6bと平行なリンク9を介して枢支連結
し、オフセットシリンダC4により中間部6bを揺動駆
動することでバケット8が平行姿勢を維持しながら左右
方向に移動できるよう構成し、バケット8をブーム基端
部6aに対して横方向にオフセットして旋回台3上に格
納することで最大旋回径を小さくした状態で旋回作動で
きるよう構成してある。
Embodiments will be described below with reference to the drawings. Figure 5
Shows a backhoe as an example of an earthmoving machine. This backhoe has a traveling platform 2 equipped with a crawler traveling device 1.
A swivel base 3 is mounted on the swivel base 3 such that the swivel base 3 can be freely swiveled around a vertical axis by driving a swiveling hydraulic motor M. It is configured with 5. The backhoe device 4 pivotally supports an arm 7 and a bucket 8 on a boom 6 which is pivotally supported on a swivel base 3 about a horizontal axis so as to be vertically swingable, and also has a boom cylinder C1 and an arm cylinder C, respectively.
2. The bucket cylinder C3 is driven and rocked to perform excavation work. Also, the boom 6 has a base end 6
a, an intermediate portion 6b, and a tip portion 6c are divided into three parts, and each of them is pivotally connected about a longitudinal axis, and the base end portion 6a and the tip portion 6c are pivotally supported via a link 9 parallel to the intermediate portion 6b. The bucket 8 is configured to be movable laterally while maintaining a parallel posture by swinging the intermediate portion 6b by connecting the offset cylinder C4, and the bucket 8 is laterally offset with respect to the boom base end portion 6a. By storing it on the swivel base 3, the swivel operation can be performed with the maximum swivel diameter reduced.
【0008】油圧アクチュエータとしての前記ブームシ
リンダC1、アームシリンダC2、バケットシリンダC
3及び旋回油圧モータMの夫々は、旋回台3上に設けら
れた操縦部10に配設した十字揺動操作自在な左右一対
の操作レバー11により制御操作されるよう構成してあ
る。詳述すると、図1に示すように、前記各シリンダC
1,C2,C3及び旋回モータMは、夫々電磁式比例流
量制御弁Vにより油圧流量を制御するよう構成し、各操
作レバー11の夫々の操作方向における操作量を4個の
ポテンショメータPMにより検出して、この検出操作量
に基づいて制御装置12が各電磁式比例流量制御弁Vに
対する電流供給量を制御するよう構成してある。又、前
記オフセットシリンダC4は操作スイッチSWの操作に
より予め設定される流量を供給するよう構成されてい
る。前記制御装置12は、操作レバー11の操作量に応
じた電流を供給して電磁式比例流量制御弁Vの開度を比
例制御する流量制御手段Aと、操作レバー11の中立位
置からの駆動用操作開始時において、該操作レバー11
の操作量に対応する前記流量制御手段Aにおける目標電
流よりも大きなワンショット電流を所定の短時間だけ前
記電磁式比例流量制御弁Vに供給する電流制御手段B
と、操作レバー11の操作速度に基づいて、検出速度が
大であるほど電磁式比例流量制御弁Vに対する供給電流
値を大にするよう前記電流制御手段Bによるワンショッ
ト電流の電流値を変更する電流値変更手段Cとを制御プ
ログラム形式で備えてある。つまり、制御装置12は、
以下のように制御を実行する。以下、油圧アクチュエー
タの一例としてブームシリンダC1の制御について説明
する。図2に示すように、ブームシリンダC1の駆動操
作に対応するポテンショメータPM〔速度検出手段の一
例〕の出力X1を読み込み〔ステップ1〕、操作レバー
11が中立位置から駆動操作域に操作されることを判断
すると〔ステップ2,3〕、予め定まる所定時間だけ最
大供給値に近い大きな電流値のワンショット電流をブー
ム用電磁式比例流量制御弁Vに供給する〔ステップ
4〕。そして、ステップ2において操作レバーが中立位
置になければ、ブームに対する圧油供給路に設けた圧力
センサ13の出力を読み込む〔ステップ5〕とともに、
前記ポテンショメータPMの定期的な出力変化からレバ
ー11の操作速度X2を演算する〔ステップ6〕。そし
て、操作レバー11の操作位置が低速駆動側の所定エリ
ア域Zにあり、かつ、演算された操作速度X2が所定値
aよりも大になると〔ステップ7,8〕、操作レバー1
1の操作位置の検出値X1とその時点での操作速度X2
のデータより、予め定められるマップデータに基づい
て、レバー操作量に対応してほぼ比例状態で予め定めら
れる特性の制御目標電流よりも大きなワンショット電流
の大きさを演算決定すると同時にそのワンショット電流
をブーム用電磁式比例流量制御弁Vに供給する〔ステッ
プ9,10〕。又、圧力センサ13の出力Pが所定値P
1まで高められると、前記ワンショット電流の供給を停
止して、レバー操作量に対応してほぼ比例状態で予め定
められる特性の制御目標電流をブーム用電磁式比例流量
制御弁Vに供給する〔ステップ11〜13〕。前記ステ
ップ7において操作レバー11の操作位置が高速駆動側
にあるとき、又は、前記ステップ8において演算された
操作速度X2が所定値aよりも小であれば、ステップ1
3に進み、レバー操作量に対応してほぼ比例状態で予め
定められる特性の制御目標電流をブーム用電磁式比例流
量制御弁Vに供給する。そして、リセットされるまで上
記作動を繰り返す〔ステップ14〕。前記ステップ13
により流量制御手段Aを構成し、前記ステップ4,10
により電流制御手段Bを構成し、前記ステップ9により
電流値変更手段Cを構成する。上記したようなワンショ
ット電流を付加することにより、ブームの停止状態から
作動開始時においては、図3に示すように、点線で示す
従来特性に対して、レバー操作にほぼ対応するような滑
らかな流量制御が可能となり、操作レバーの操作途中に
おいて素早く操作しても、図4に示すように、滑らかな
流量制御が可能となるのである。
The boom cylinder C1, the arm cylinder C2, and the bucket cylinder C as hydraulic actuators.
3 and the swing hydraulic motor M are configured to be controlled and controlled by a pair of left and right operation levers 11 which are provided in a control unit 10 provided on the swivel base 3 and which are capable of cross movement. More specifically, as shown in FIG. 1, each of the cylinders C
1, C2, C3 and the swing motor M are configured to control the hydraulic flow rate by the electromagnetic proportional flow rate control valve V, respectively, and the operation amount of each operation lever 11 in each operation direction is detected by the four potentiometers PM. Then, the control device 12 controls the amount of current supplied to each electromagnetic proportional flow control valve V based on the detected manipulated variable. The offset cylinder C4 is configured to supply a preset flow rate by operating the operation switch SW. The control device 12 supplies a current according to the operation amount of the operating lever 11 to proportionally control the opening of the electromagnetic proportional flow control valve V, and a drive device for driving the operating lever 11 from a neutral position. At the start of the operation, the operation lever 11
Current control means B for supplying a one-shot current, which is larger than the target current in the flow rate control means A corresponding to the operation amount, to the electromagnetic proportional flow control valve V for a predetermined short time.
Based on the operating speed of the operating lever 11, the current value of the one-shot current by the current control means B is changed so that the higher the detected speed is, the larger the current value supplied to the electromagnetic proportional flow rate control valve V is. A current value changing means C is provided in the form of a control program. That is, the controller 12
The control is executed as follows. Hereinafter, control of the boom cylinder C1 will be described as an example of a hydraulic actuator. As shown in FIG. 2, the output X1 of the potentiometer PM [an example of speed detecting means] corresponding to the drive operation of the boom cylinder C1 is read [step 1], and the operation lever 11 is operated from the neutral position to the drive operation range. If it is determined [steps 2 and 3], a one-shot current having a large current value close to the maximum supply value is supplied to the boom electromagnetic proportional flow control valve V for a predetermined time determined in advance [step 4]. If the operation lever is not in the neutral position in step 2, the output of the pressure sensor 13 provided in the pressure oil supply passage for the boom is read [step 5], and
The operation speed X2 of the lever 11 is calculated from the periodical output change of the potentiometer PM [step 6]. When the operation position of the operation lever 11 is in the predetermined area Z on the low speed drive side and the calculated operation speed X2 becomes larger than the predetermined value a [steps 7 and 8], the operation lever 1
The detected value X1 of the operation position of No. 1 and the operation speed X2 at that time
From the data of the one-shot current, the one-shot current larger than the control target current of the predetermined characteristic is calculated in a proportional state corresponding to the lever operation amount based on the predetermined map data. Is supplied to the electromagnetic proportional flow control valve V for the boom [steps 9 and 10]. Further, the output P of the pressure sensor 13 is a predetermined value P
When it is increased to 1, the supply of the one-shot current is stopped, and a control target current having a predetermined characteristic in a substantially proportional state corresponding to the lever operation amount is supplied to the boom electromagnetic proportional flow rate control valve V [ Steps 11 to 13]. If the operation position of the operation lever 11 is on the high speed drive side in step 7, or if the operation speed X2 calculated in step 8 is smaller than the predetermined value a, step 1
3, the control target current having a predetermined characteristic in a substantially proportional state corresponding to the lever operation amount is supplied to the boom electromagnetic proportional flow rate control valve V. Then, the above operation is repeated until reset (step 14). Step 13
The flow rate control means A is constituted by
The current control means B is constituted by the above, and the current value changing means C is constituted by the above step 9. By adding the one-shot current as described above, when the operation is started from the stopped state of the boom, as shown in FIG. 3, it is possible to achieve a smooth operation that almost corresponds to the lever operation with respect to the conventional characteristic shown by the dotted line. The flow rate can be controlled, and even if the operation lever is quickly operated during the operation, the smooth flow rate can be controlled as shown in FIG.
【0009】上記したような電流制御は、ブームの制御
に限らずその他の油圧アクチュエータの制御に用いても
よい。
The current control as described above may be used not only for controlling the boom but also for controlling other hydraulic actuators.
【0010】尚、特許請求の範囲の項に図面との対照を
容易にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。
It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.
【図面の簡単な説明】[Brief description of drawings]
【図1】制御ブロック図FIG. 1 is a control block diagram.
【図2】制御フローチャート[Fig. 2] Control flowchart
【図3】立ち上がり時の制御特性図[Fig. 3] Control characteristic diagram at startup
【図4】操作途中での制御特性図[Fig. 4] Control characteristic diagram during operation
【図5】バックホーの全体側面図[FIG. 5] Overall side view of the backhoe
【符号の説明】[Explanation of symbols]
4 作業装置 11 操作レバー 13 圧力センサ A 流量制御手段 B 電流制御手段 C 電流値変更手段 PM 操作速度検出手段 V 電磁式比例流量制御弁 4 Working device 11 Operation lever 13 Pressure sensor A Flow rate control means B Current control means C Current value change means PM Operation speed detection means V Electromagnetic proportional flow rate control valve
───────────────────────────────────────────────────── フロントページの続き (72)発明者 森下 勇太郎 大阪府堺市石津北町64番地 株式会社クボ タ堺製造所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yutaro Morishita 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd.

Claims (4)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 作業装置(4)を油圧アクチュエータに
    より駆動するよう構成するとともに、前記油圧アクチュ
    エータの電磁式比例流量制御弁(V)の開度を、操作レ
    バー(11)の操作量に応じた電流を供給して比例制御
    する流量制御手段(A)を備えてある土工機における油
    圧アクチュエータ制御装置であって、前記操作レバー
    (11)の中立位置からの駆動用操作開始時において、
    該操作レバー(11)の操作量に対応する目標電流より
    も大きな電流を所定の短時間だけ前記電磁式比例流量制
    御弁(V)に供給する電流制御手段(B)を備えてある
    土工機における油圧アクチュエータ制御装置。
    1. A working device (4) is configured to be driven by a hydraulic actuator, and an opening of an electromagnetic proportional flow rate control valve (V) of the hydraulic actuator is set according to an operation amount of an operating lever (11). A hydraulic actuator control device in an earthmoving machine equipped with a flow rate control means (A) for supplying an electric current and performing proportional control, wherein at the time of starting a driving operation from a neutral position of the operating lever (11),
    In an earthworking machine provided with a current control means (B) for supplying a current larger than a target current corresponding to the operation amount of the operation lever (11) to the electromagnetic proportional flow control valve (V) for a predetermined short time. Hydraulic actuator control device.
  2. 【請求項2】 前記操作レバー(11)の操作速度を検
    出する操作速度検出手段(PM1)を設け、この操作速
    度検出手段(PM1)の検出結果に基づいて、検出速度
    が大であるほど前記供給電流値を大にするよう前記電流
    制御手段(B)による供給大電流の電流値を変更する電
    流値変更手段(C)を設けてある請求項1に記載の土工
    機における油圧アクチュエータ制御装置。
    2. An operating speed detecting means (PM1) for detecting an operating speed of the operating lever (11) is provided, and the higher the detected speed is, the higher the detected speed is based on the detection result of the operating speed detecting means (PM1). The hydraulic actuator control device for an earthmoving machine according to claim 1, further comprising current value changing means (C) for changing the current value of the large current supplied by the current control means (B) so as to increase the supplied current value.
  3. 【請求項3】 前記油圧アクチュエータの作動油圧を検
    出する圧力センサ(13)を備え、この圧力センサ(1
    3)による検出圧力が所定値に到るまで、前記電流制御
    手段(B)による大電流供給作動を行うよう構成してあ
    る請求項1又は2に記載の土工機における油圧アクチュ
    エータ制御装置。
    3. A pressure sensor (13) for detecting an operating hydraulic pressure of the hydraulic actuator, the pressure sensor (1) being provided.
    The hydraulic actuator control device for an earthmoving machine according to claim 1 or 2, wherein the current control means (B) performs a large current supply operation until the pressure detected by 3) reaches a predetermined value.
  4. 【請求項4】 前記操作レバー(11)による作動領域
    のうち、低速作動側の所定の領域内における前記操作レ
    バー(11)の操作速度を検出する操作速度検出手段
    (PM1)を設け、この操作速度検出手段(PM1)の
    検出結果が所定値以上であることを検出したときのみ、
    前記操作レバー(11)の操作量に対応する目標電流よ
    りも大きな電流を所定の短時間だけ前記電磁式比例流量
    制御弁(V)に供給する電流制御手段(B)を備えてあ
    る請求項1乃至3のいずれかに記載の土工機における油
    圧アクチュエータ制御装置。
    4. An operation speed detecting means (PM1) for detecting an operation speed of the operation lever (11) in a predetermined area on the low speed operation side of an operation area of the operation lever (11) is provided. Only when it is detected that the detection result of the speed detection means (PM1) is a predetermined value or more,
    A current control means (B) for supplying a current larger than a target current corresponding to the operation amount of the operation lever (11) to the electromagnetic proportional flow control valve (V) for a predetermined short time. 4. A hydraulic actuator control device for an earthmoving machine according to any one of 3 to 3.
JP4007123A 1992-01-20 1992-01-20 Hydraulic actuator control device for earth moving machine Expired - Fee Related JP2695335B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4007123A JP2695335B2 (en) 1992-01-20 1992-01-20 Hydraulic actuator control device for earth moving machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4007123A JP2695335B2 (en) 1992-01-20 1992-01-20 Hydraulic actuator control device for earth moving machine

Publications (2)

Publication Number Publication Date
JPH05195546A true JPH05195546A (en) 1993-08-03
JP2695335B2 JP2695335B2 (en) 1997-12-24

Family

ID=11657301

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4007123A Expired - Fee Related JP2695335B2 (en) 1992-01-20 1992-01-20 Hydraulic actuator control device for earth moving machine

Country Status (1)

Country Link
JP (1) JP2695335B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3351799B2 (en) * 1996-08-09 2002-12-03 株式会社小松製作所 Control device for engine and variable displacement hydraulic pump
JP2017110774A (en) * 2015-12-18 2017-06-22 日立建機株式会社 Construction machine
JP2019044933A (en) * 2017-09-06 2019-03-22 日立建機株式会社 Hydraulic work machine

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02173810A (en) * 1988-12-27 1990-07-05 Komatsu Ltd Control system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02173810A (en) * 1988-12-27 1990-07-05 Komatsu Ltd Control system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3351799B2 (en) * 1996-08-09 2002-12-03 株式会社小松製作所 Control device for engine and variable displacement hydraulic pump
JP2017110774A (en) * 2015-12-18 2017-06-22 日立建機株式会社 Construction machine
WO2017104459A1 (en) * 2015-12-18 2017-06-22 日立建機株式会社 Construction machinery
KR20180064463A (en) 2015-12-18 2018-06-14 히다찌 겐끼 가부시키가이샤 Construction Machinery
CN108350910A (en) * 2015-12-18 2018-07-31 日立建机株式会社 Engineering machinery
EP3392511A4 (en) * 2015-12-18 2019-08-14 Hitachi Construction Machinery Co., Ltd. Construction machinery
US10450725B2 (en) 2015-12-18 2019-10-22 Hitachi Construction Machinery Co., Ltd. Construction machine
CN108350910B (en) * 2015-12-18 2020-01-17 日立建机株式会社 Construction machine
JP2019044933A (en) * 2017-09-06 2019-03-22 日立建機株式会社 Hydraulic work machine

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