JPH0560107A - Operation speed controlling device of hydraulic actuator - Google Patents

Abstract

PURPOSE:To provide an operation speed controlling device of a hydraulic actuator, which can easily change setting of operation speed of a hydraulic actuator and also easily adjust inching operation. CONSTITUTION:An operation speed controlling device is provided with a setting device 31 which sets beforehand the increase and decrease of operational quantity of a hydraulic actuator corresponding to the increase and decrease of the final control by final control element 20, a memory part 30 which can write and erase the set data by the setting device 31 and stores the set data, and a control device which can control the flow rate of pressurized oil to be supplied to the hydraulic actuator from a variable delivery pump.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic actuator operating speed control device, and is used for a working machine equipped with a plurality of hydraulic actuators, such as an aerial work vehicle.

[0002]

2. Description of the Related Art Conventionally, for example, in the case of an aerial work vehicle, a swivel base is rotatably mounted on a vehicle body, and a boom is provided on the swivel base so as to be extendable and retractable. A winch device is provided, and the hydraulic actuators are provided to rotate the swivel base, extend and retract the boom, raise and lower the boom, rotate the boom, and operate the winch device.

These hydraulic actuators are constructed so as to be operated by pressure oil supplied from a hydraulic pump, and are operated by a switching operation of a directional control valve interposed between each hydraulic actuator and the hydraulic pump. The operation of each hydraulic actuator is controlled.

[0004]

The inching operation of the operating speed in each of the hydraulic actuators can be performed by controlling the amount of pressure oil supplied by the hydraulic pump based on the amount of operation by the operating portion. Conventionally, it is uniquely determined by the hardware configuration. For example, when changing the inching characteristics according to the user's request,
The components had to be changed one by one, which was troublesome and could not be easily changed.

There is also an electronic control system in which the operating speed of the hydraulic actuator is controlled by using a switch or the like. In this operating speed control, the maximum value of the operating speed is changed, and based on this, the entire operation is performed. Since the speed was adjusted, the inching operation could not be adjusted.

[0006]

SUMMARY OF THE INVENTION An operation speed control device for a hydraulic actuator according to the present invention comprises a setting device for presetting an increase / decrease in an operation amount of a hydraulic actuator corresponding to an increase / decrease in an operation amount by an operating portion, and the above setting. The setting data to be set by the controller is made writable and erasable, and the electromagnetic proportional flow control valve based on the storage unit for storing the setting data, the signal input from the operation unit and the setting data stored in the storage unit. And a controller for controlling the flow rate of the pressure oil supplied from the variable flow rate pump to the hydraulic actuator.

[0007]

The operation speed and inching characteristics of the hydraulic actuator corresponding to the operation amount of the operation unit are changed at any time by changing the setting data stored in the storage unit by the operation of the setting device.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic structure of an aerial work vehicle to which the operation speed control device for a hydraulic actuator of the present invention is applied.

A work platform 1 for an aerial work has a swivel base 3 mounted on a vehicle body 2 by a swivel motor (not shown) so that a boom 4 can be raised and lowered at the upper end of the swivel base 3. The boom 4 is a multi-stage telescopic type, and is configured to be telescopic by a telescopic cylinder (not shown) and to be hoistable by a hoisting cylinder 5 arranged between the boom 4 and the swivel base 3. A workbench 6 is provided at the tip of the boom 4, and a winch device 7 that can freely wind and wind a wire by a winch motor (not shown) is provided.

In addition, 8 is a total of 4 on the left and right sides of the front and rear of the vehicle body 2.
Each jack 8 is a jack provided at a location and can be extended laterally of the vehicle body by an outrigger (not shown). Reference numeral 9 is a horizontal cylinder that always holds the workbench 6 horizontally with respect to the ups and downs of the boom 4.

The above aerial work vehicle has a structure in which the swivel base 3 turns,
The boom 4 is extended and retracted, the boom 4 is raised and lowered, and the winch device is driven by the hydraulic actuators such as the swing motor, the telescopic cylinder, the raising and lowering cylinder 5, and the winch motor.

FIG. 2 shows a schematic configuration of a hydraulic circuit of an operation speed control device for a hydraulic actuator according to the present invention.

In FIG. 2, P is a variable flow rate pump operated by an engine connected via a PTO or the like. The variable flow rate pump P has its discharge amount controlled by an electromagnetic proportional flow rate control valve 10. Reference numeral 11 denotes a directional control valve that controls the supply of pressure oil to each hydraulic actuator 12 described above.
To activate selectively.

FIG. 3 shows a control system of an operation speed control device for a hydraulic actuator according to the present invention.

In FIG. 3, reference numeral 20 denotes an operating portion for operating and operating each hydraulic actuator. The operation unit 20 is provided with a plurality of joystick levers each connected to a potentiometer, and a potentiometer voltage signal corresponding to the tilt angle of the joystick lever is input to the control unit 23 of the CPU 22 via the input side interface circuit 21. To be done.

The CPU 22 controls the variable flow rate pump P based on the control unit 23, the voltage signal input from the operation unit 20 via the control unit 23, and the setting data stored in the memory (storage unit) 30 in advance. Of the flow rate of the pressure oil discharged by the flow rate calculation unit 24, and a control for outputting to the electromagnetic proportional flow rate control valve 10 based on the flow rate value calculated by the flow rate calculation unit 24 and the setting data stored in advance in the memory 30. It is composed of a control current calculator 25 for calculating a current and a discriminator 26 for discriminating which hydraulic actuator among the hydraulic actuators is to be actuated.

Here, the setting of the setting data to be stored in the memory 30 in advance is performed by operating the ten keys provided in the setting device 31. The set value input by the setter 31 is input to the control unit 23, processed by the control unit 23 into internal data used for calculation, and then input and stored in the memory 30.
The memory 30 is configured such that the setting data can be written and erased.

Next, the setting data stored in the memory 30 will be specifically described.

FIG. 4 shows the relationship between the voltage signal (resistance value) output from the potentiometer and the flow rate of the pressure oil discharged from the variable flow rate pump P.

As shown by the solid line in FIG. 4, the flow rate is set so as to gradually increase with the increase of the resistance value (that is, the tilting operation of the joystick lever) at the stage of P0 to P1. At the stage of P2, the flow rate is set to increase rapidly as the resistance value increases. That is, the inching characteristic of the operating speed of the hydraulic actuator is determined by setting the inclination from P0 to P1, and the maximum operating speed (the maximum flow rate at P2) of the hydraulic actuator is determined by setting the inclination from P1 to P2. .

The setting data is set by operating the ten keys of the setting device 31, and the setting data can be changed at any time by operating the setting device 31. In addition, it is also possible to set so as to have a flow rate characteristic as shown by a chain double-dashed line in FIG. Such setting data is set for each hydraulic actuator.

By storing the setting data in the memory 30 in this way, when the voltage signal from the potentiometer is input to the flow rate calculating section 24 via the control section, the flow rate calculating section 24 responds to this voltage signal. Flow rate in the memory 3
Calculation is performed based on the setting data stored in 0.

Although FIG. 4 describes the setting data in which the setting range is divided into two stages, the setting data is not limited to this, and the subdivided setting range in multiple stages such as three stages and four stages is stored in the memory 30 as the setting data. May be stored.

FIG. 5 shows the relationship between the operating current of the electromagnetic proportional flow rate control valve and the supply flow rate of the variable flow rate pump.

This relationship is predetermined based on the performances of the variable flow rate pump P and the electromagnetic proportional flow rate control valve 10, and this data is stored in the memory 30 by the ten key operation of the setter 31.

As a result, the control current calculator 25 calculates the control current corresponding to the flow rate value input from the flow rate calculator 24 based on the data stored in the memory 30.

Then, the control current calculator 25 outputs a control signal of the calculated control current value to the electromagnetic proportional flow rate control valve 10 via the output side interface circuit 27, and the flow rate of the pressure oil discharged from the variable flow rate pump P. The control signal is output to the directional control valve 11 via the output side interface circuit 27, and the directional control valve 11 is supplied with pressure oil to the hydraulic actuator 12 to be operated. Switch. As a result, the hydraulic actuator 12 in which an amount of pressure oil corresponding to the tilt operation amount of the joystick lever in the operation unit 20 is an operation target
To control the operation of the hydraulic actuator 12.

In this example, a work vehicle at high places is shown as an example of applying the operation speed control device for hydraulic actuators according to the present invention. However, the work speed control device for hydraulic actuators according to the present invention can be applied to high work vehicles. The present invention can be applied to any working equipment having a hydraulic actuator without limitation.

[0030]

As described above, according to the present invention, it is possible to easily set the operating speed of the hydraulic actuator corresponding to the operation amount of the operation unit by simply changing the setting data stored in the storage unit by the setting device. It can be changed and the inching operation can be easily adjusted.

[Brief description of drawings]

FIG. 1 is a side view showing a schematic configuration of an aerial work vehicle to which an operation speed control device for a hydraulic actuator of the present invention is applied.

FIG. 2 is a block diagram showing a schematic configuration of a hydraulic circuit of an operation speed control device for a hydraulic actuator according to the present invention.

FIG. 3 is a block diagram showing a control system of an operation speed control device for a hydraulic actuator according to the present invention.

FIG. 4 is a diagram showing a relationship between a voltage signal (resistance value) output from a potentiometer and a flow rate of pressure oil discharged from a variable flow rate pump.

FIG. 5 is a characteristic diagram showing a relationship between an operating current of an electromagnetic proportional flow control valve and a supply flow rate of a variable flow pump.

[Explanation of symbols]

 11 Electromagnetic Proportional Flow Control Valve 12 Hydraulic Actuator 20 Operation Unit 22 CPU 30 Storage Unit 31 Setting Device P Variable Flow Pump

Claims (1)

[Claims] 1. A setting device for presetting an increase / decrease in an operation amount of a hydraulic actuator corresponding to an increase / decrease in an operation amount by an operation section, and setting data set by the setting device can be written and erased, and the setting data can be deleted. Based on the signal input from the operation unit and the setting data stored in the storage unit, the control signal is output to the electromagnetic proportional flow control valve to supply the pressure supplied from the variable flow pump to the hydraulic actuator. An operating speed control device for a hydraulic actuator, comprising: a control device for controlling a flow rate of oil.