JPH0719207A - Driving controller of hydraulic machinery - Google Patents

Driving controller of hydraulic machinery

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Publication number
JPH0719207A
JPH0719207A JP16464393A JP16464393A JPH0719207A JP H0719207 A JPH0719207 A JP H0719207A JP 16464393 A JP16464393 A JP 16464393A JP 16464393 A JP16464393 A JP 16464393A JP H0719207 A JPH0719207 A JP H0719207A
Authority
JP
Japan
Prior art keywords
hydraulic
control
pressure
pilot
valve
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.)
Pending
Application number
JP16464393A
Other languages
Japanese (ja)
Inventor
Kiyotaka Obara
Kazuhiro Sunamura
清隆 小原
和弘 砂村
Original Assignee
Hitachi Constr Mach Co Ltd
日立建機株式会社
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 Hitachi Constr Mach Co Ltd, 日立建機株式会社 filed Critical Hitachi Constr Mach Co Ltd
Priority to JP16464393A priority Critical patent/JPH0719207A/en
Publication of JPH0719207A publication Critical patent/JPH0719207A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To provide a hydraulic machinery driving controller that is able to control a hydraulic actuator to stoppage or specified low speed even if something wrong has occurred in a magnetic proportional pressure regulator. CONSTITUTION:This controller is provided with two pressure sensors 20 and 21 detecting the pilot pressure to be led to a pipeline connecting a magnetic proportional pressure regulator 6 and a control valve 4 controlling the drive of a hydraulic cylinder 5, and outputting it as control pressure signals P2 and P3, and a judging means being installed in a controller 11, and judging whether there is such an abnormal state that these control pressure signals P2, P3 and the corresponding control pressure operated on the basis of an operating signal outputted out of an electric lever unit are not regarded as equality or not. In addition, it is also provided with a motor control unit 25 which stops all operations of an actuator inclusive of the hydraulic cylinder 5 at a time when it is judged as an abnormal state by this judging means, or operating with a driving signal to be outputted out of the controller 11, as a stopping-limiting means limiting the operating speed to the specified low speed, and then controlling the rotational speed of a motor 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device which is provided in a hydraulic machine such as a hydraulic excavator and which controls the drive of a hydraulic actuator by operating an operating lever of an electric lever device.

[0002]

2. Description of the Related Art FIG. 5 is a circuit diagram showing a drive control device for a conventional hydraulic machine of this type, which is provided, for example, in a hydraulic excavator.

The conventional technique shown in FIG. 5 includes a prime mover 3,
A main hydraulic pump 1 and a pilot pump 2 driven by the prime mover 3, and a hydraulic cylinder 5 such as a boom cylinder driven by pressure oil discharged from the main hydraulic pump 1.
And a pilot operated control valve 4 for controlling the flow of pressure oil supplied from the main hydraulic pump 1 to the hydraulic cylinder 5, and an electromagnetic proportional pressure reducing valve 6 capable of reducing the pilot pressure discharged from the pilot pump 2 and outputting it. And this electromagnetic proportional pressure reducing valve 6
And an electromagnetic switching valve 7 capable of opening and closing a pipeline connecting the control valve 4 and the drive section of the control valve 4.

Although not shown, as is well known in hydraulic excavators, a plurality of other hydraulic actuators such as an arm cylinder, a bucket cylinder, a traveling motor and a swing motor, and these hydraulic actuators. A plurality of pilot-operated control valves for respectively controlling the drive, an electromagnetic proportional pressure reducing valve in communication with the drive part of these pilot-operated control valves not shown, and a solenoid proportional pressure reducing valve not shown and the control valve not shown above. There is also provided an electromagnetic switching valve capable of opening and closing a pipe line communicating with the drive unit.

A switching signal is output to an operation lever 8 for switching the control valve 4, a mechanical / electrical converter 9 for outputting the operation amount of the operation lever 8 as an electrical operation signal, and an electromagnetic switching valve 7. It has an electric lever device including the direction control switch 10 and a memory, calculation, and logic judgment function, and inputs an operation signal output from the mechanical / electrical converter 9 of the electric lever device described above to perform predetermined signal processing. Control means for outputting a drive signal corresponding to the operation signal to the drive portion of the electromagnetic proportional pressure reducing valve 6, that is, the controller 11, the power supply 15 of the controller 11, and the pressure of the pressure oil discharged from the main hydraulic pump 1. The main relief valve 13 is provided, the pilot relief valve 12 that regulates the pilot pressure discharged from the pilot pump 2, and the tank 14 are provided. Although only one electric lever device is shown, the hydraulic cylinder 5 can be driven by rotating the operation lever 8 in the left-right direction along the plane of FIG. 5, for example. It is possible to drive another hydraulic actuator (not shown) such as a bucket cylinder by rotating in the front-rear direction orthogonal to each other, and by rotating an operation lever of another electric lever device (not shown), another hydraulic actuator (not shown) The hydraulic actuator can be driven.

The operation of the conventional technique thus configured is as follows. That is, when the operation lever 8 of the electric lever device shown in FIG. 5 is in the neutral position, the pressure oil discharged from the main hydraulic pump 1 with the driving of the prime mover 3 is returned to the tank 14 via the main relief valve 13. The pressure oil discharged from the pilot pump 2 is returned to the tank 14 via the electromagnetic proportional pressure reducing valve 6. At this time, the control valve 4 is kept in the neutral position shown in FIG.
No pressure oil is supplied from the hydraulic cylinder 5 to the hydraulic cylinder 5, and the hydraulic cylinder 5 is held in a stopped state.

When the operation lever 8 is rotated clockwise, for example, from the neutral state as described above, an operation signal corresponding to the operation amount is transmitted from the mechanical / electrical converter 9 to the controller 1.
It is output to 1. The controller 11 calculates a drive signal corresponding to the input operation signal and outputs it to the drive unit of the electromagnetic proportional pressure reducing valve 6. This activates the electromagnetic proportional pressure reducing valve 6,
The pilot pressure corresponding to the operation amount of the operation lever 8 is output from the electromagnetic proportional pressure reducing valve 6. Further, the contact a of the direction control switch 10 is closed by the clockwise rotation of the operation lever 8 described above, the direction is discriminated, and the electromagnetic switching valve 7 is switched to the left position shown in FIG. Accordingly, the pilot pressure output from the electromagnetic proportional pressure reducing valve 6 is changed to the electromagnetic switching valve 7
Is given to the drive unit on the left side of FIG. 5 of the control valve 4 via
The control valve 4 is switched to the left position in FIG. As a result, the pressure oil of the main hydraulic pump 1 is supplied to the rod side of the hydraulic cylinder 5 via the control valve 4, and the hydraulic cylinder 5 is driven so as to contract.

When the operation lever 8 is rotated counterclockwise in the opposite direction to the above, the control valve 4 is operated by the same operation.
Is switched to the right position in FIG. 5, and the hydraulic cylinder 5 is driven to extend.

In this prior art, the hydraulic unit and the electric lever device are hydraulically separated from each other, and these hydraulic unit and the electric lever device are electrically connected to each other. Since it is hardly received, there is an advantage that the degree of freedom in the overall layout design is large.

[0010]

However, the above-mentioned conventional technique has a problem in that safety is not taken into consideration when the electromagnetic proportional pressure reducing valve 6 is abnormal.

For example, in a hydraulic machine such as a hydraulic excavator, a small metal piece of a mechanical part constituting a hydraulic circuit may be peeled off into the hydraulic circuit or dust in the atmosphere may be mixed into the hydraulic circuit. Therefore, when these dusts or the like enter the inside of the electromagnetic proportional pressure reducing valve 6, a driving part of the electromagnetic proportional pressure reducing valve 6 may be caught, resulting in a malfunctioning contamination stick. When such a contamination occurs, the electromagnetic proportional pressure reducing valve 6 outputs the pilot pressure P1 against the intention of the operator, although the operating lever 8 is returned to the neutral position in order to stop the hydraulic cylinder 5, for example. The pilot pressure P2 is continuously supplied from the electromagnetic switching valve 7 to the control valve 4 in accordance with this.
The hydraulic cylinder 5 cannot be stopped and controlled, and a work machine member driven by the hydraulic cylinder 5, for example, a boom that hits equipment on the ground and damages the equipment may cause an unexpected accident. is there.

The present invention has been made in view of the above-mentioned circumstances in the prior art, and an object thereof is to cause an abnormality in an electromagnetic proportional pressure reducing valve that outputs a pilot pressure according to an operation amount of an operation lever of an electric lever device. Even in such a case, it is an object of the present invention to provide a drive control device for a hydraulic machine, which can stop control the hydraulic actuator or control the hydraulic actuator to a predetermined low speed.

[0013]

In order to achieve this object, the present invention provides a prime mover, a main hydraulic pump driven by the prime mover, and a plurality of hydraulic pressures driven by pressure oil discharged from the main hydraulic pump. An actuator, an electric lever device having an operation lever for outputting an electric operation signal according to an operation amount of the operation lever, a pilot pump, and an electromagnetic device for reducing and outputting pilot pressure output from the pilot pump. A proportional pressure reducing valve, control means for outputting a drive signal for driving the electromagnetic proportional pressure reducing valve based on an operation signal output from the electric lever device, and switching by pilot pressure output from the electromagnetic proportional pressure reducing valve, A pyrometer provided corresponding to each of the above hydraulic actuators and controlling the drive of the corresponding hydraulic actuator. A hydraulic machine driving control device and a preparative-operated control valve, provided in the conduit communicating with the electromagnetic proportional pressure reducing valve and the pilot-operated control valve,
An abnormal condition in which the pressure sensor that can detect the pilot pressure introduced to this conduit and output it as an electric signal and the electric signal that is output from this pressure sensor and the operation signal that is output from the electric lever device are not considered to be equivalent. Determining means for determining whether or not the pilot operated control valve is connected to a pipe line in which the pilot pressure is detected by at least the pressure sensor among the plurality of hydraulic actuators when the determining means determines an abnormal state And a stop / limit unit that stops the operation of the hydraulic actuator that is drive-controlled by the above or limits the operating speed to a predetermined low speed.

[0014]

Since the present invention has the above-mentioned structure, the judgment means determines the electric signal output from the pressure sensor corresponding to the pilot pressure applied to the drive portion of the pilot operated control valve and the electric lever device. When it is judged that the output operation signal is not considered to be equivalent and is in an abnormal state, it is assumed that an abnormality has occurred in the electromagnetic proportional pressure reducing valve,
At least the operation of stopping the operation of the hydraulic actuator drive-controlled by the pilot operated control valve or limiting the operation speed to a predetermined low speed is performed by the stop / limit means. As a result, even if the operation of the electromagnetic proportional pressure reducing valve is abnormal, the hydraulic actuator can be stopped or limited to a predetermined low speed, and an unexpected accident due to the working machine member driven by the hydraulic actuator can be prevented. It can be prevented.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a drive controller for a hydraulic machine according to the present invention will be described below with reference to the drawings. FIG. 1 is a circuit diagram showing a first embodiment of the present invention, and FIG. 2 is a flow chart showing a procedure of processing executed in a controller provided in the first embodiment shown in FIG.

This FIG. 1 is drawn corresponding to FIG. 5 described above, and the first embodiment shown in FIG. 1 is also provided for a hydraulic excavator, for example. The same components as those shown in FIG. 5 described above in FIG. 1 are designated by the same reference numerals. That is, even in the first embodiment shown in FIG. 1, the prime mover 3, that is, the engine, the main hydraulic pump 1 and the pilot pump 2 driven by the prime mover 3, and the pressure oil discharged from the main hydraulic pump 1 are used. A hydraulic cylinder 5 such as a boom cylinder to be driven, a pilot operated control valve 4 for controlling the flow of pressure oil supplied from the main hydraulic pump 1 to the hydraulic cylinder 5, and a pilot pressure discharged from the pilot pump 2 are reduced. Electromagnetic proportional pressure reducing valve 6 that can output
And an electromagnetic switching valve 7 capable of opening and closing a pipe line that connects the electromagnetic proportional pressure reducing valve 6 and the drive unit of the control valve 4.

Although not shown, a plurality of other hydraulic actuators such as an arm cylinder, a bucket cylinder, a traveling motor, a swing motor, and a plurality of pilot operated control valves for controlling the drive of these hydraulic actuators, respectively. , An electromagnetic proportional pressure reducing valve connected to a drive unit of a pilot operated control valve (not shown), and an electromagnetic switch capable of opening and closing a pipe line connecting the electromagnetic proportional pressure reducing valve (not shown) and the drive unit of the control valve (not shown). A valve is also provided.

Further, an operating lever 8 for switching the control valve 4, a mechanical / electrical converter 9 for outputting the operation amount of the operating lever 8 as an electrical operation signal, and an electromagnetic switching valve 7.
An electric lever device including a direction control switch 10 for outputting a switching signal to and a memory, calculation, and logical judgment function, and the operation signal output from the mechanical / electrical converter 9 of the electric lever device is input. Control means for performing a predetermined signal processing and outputting a drive signal corresponding to the operation signal to the drive portion of the electromagnetic proportional pressure reducing valve 6, that is, the controller 11, the power supply 15 of the controller 11, and the main hydraulic pump 1 are discharged. A main relief valve 13 that regulates the pressure of the pressure oil, a pilot relief valve 12 that regulates the pilot pressure discharged from the pilot pump 2, and a tank 14 are provided. Although only one electric lever device is shown in FIG. 1, for example, the operation lever 8 is arranged in the left-right direction along the plane of FIG.
The hydraulic cylinder 5 can be driven by rotating it, and another hydraulic actuator (not shown) such as a bucket cylinder can be driven by rotating in the front-rear direction orthogonal to the plane of FIG. By rotating an operation lever of another electric lever device (not shown), another hydraulic actuator (not shown) can be driven.

The above structure is the same as that shown in FIG. In particular, in this first embodiment, a line for connecting the electromagnetic switching valve 7 and the drive section of the control valve 4 located on the left side of FIG. 1 and for guiding the pilot pressure output from the electromagnetic proportional pressure reducing valve 6 is provided. Further, a pressure sensor 20 for detecting the pilot pressure flowing in the pipe and outputting it as an electric signal is provided. The pressure sensor 20 is connected to the controller 11 via a signal line 22, and an electric signal output from the pressure sensor 20 is transmitted via the signal line 22 to the controller 1.
Input to 1. Similarly, the electromagnetic switching valve 7 and the drive section of the control valve 4 located on the right side in FIG. 1 are connected to each other, and a pipe line for guiding the pilot pressure output from the electromagnetic proportional pressure reducing valve 6 flows in the pipe line. A pressure sensor 21 for detecting the pilot pressure and outputting it as an electric signal is provided. This pressure sensor 21
Is connected to the controller 11 by a signal line 23,
The electric signal output from the pressure sensor 21 is input to the controller 11 via the signal line 23. Note that FIG.
Reference numeral 24 is a signal line for guiding an operation signal output from the mechanical / electrical converter 9 of the electric lever device to the controller 11.

In the first embodiment, the controller 11 is in an abnormal state in which the electric signal output from the pressure sensor 20 and the operation signal output from the mechanical / electrical converter 9 of the electric lever device are not considered to be equivalent. It includes a judgment means for judging whether or not the electric signal output from the pressure sensor 21 and an operation signal output from the mechanical / electrical converter 9 of the electric lever device are not considered to be equivalent to each other. I have it. Further, as a stop / limit means for stopping the operation of a hydraulic actuator such as a hydraulic cylinder 5 driven and controlled by the control valve 4 or for restricting the operating speed to a predetermined low speed, a prime mover 3, that is, an engine stop control, an engine A prime mover control device 25 for performing low rotation speed control of the rotation speed is provided. This motor control device 25
Is connected to the controller 11 by a signal line 26.
As such a prime mover control device 25, an engine governor, a fuel cut solenoid, or the like is known.

The operation of the first embodiment will be described together with the processing contents of the flowchart of FIG. When the operation lever 8 of the electric lever device shown in FIG. 1 is rotated clockwise, for example, an operation signal, that is, a lever signal VL is output from the mechanical / electrical converter 9 to the controller 11, and the contact a of the direction control switch 10 is closed. To be The controller 11 reads the lever signal VL as shown in step S1 of FIG. 2 and calculates the control pressures P2A and P3A corresponding to the read lever signal VL as shown in step S2. This calculation is performed based on the functional relationship between the lever signal VL stored in advance and the control pressures P2A and P3A which are the target values of the pilot pressure output from the electromagnetic proportional pressure reducing valve 6. Now, P3A is the tank pressure. This allows
A drive signal corresponding to the control pressure P2A is output from the controller 11 to the drive unit of the electromagnetic proportional pressure reducing valve 6, the electromagnetic proportional pressure reducing valve 6 operates, and the pilot pressure provided from the pilot pump 2 is reduced by the electromagnetic proportional pressure reducing valve 6. Is output as pilot pressure P1. Further, as the contact a of the direction control switch 10 is closed, the electromagnetic switching valve 7 is switched to the left position in FIG. 1, and the pilot pressure P1 output from the electromagnetic proportional pressure reducing valve 6 is the pilot pressure P1. P2 is given to the drive unit located on the left side of the control valve 4 in FIG. 1, and the control valve 4 is switched to the left position. Along with this, the pressure oil discharged from the main hydraulic pump 1 driven by the prime mover 3 is supplied to the rod side of the hydraulic cylinder 5 via the control valve 4, and the hydraulic cylinder 5 contracts. If the hydraulic cylinder 5 is, for example, a boom cylinder, the boom lowering operation is performed.

The pilot pressure P2 described above is detected by the pressure sensor 20 and output to the controller 11 as an electric signal, that is, a control pressure signal. The pilot pressure P3 that is the tank pressure is also detected by the pressure sensor 21 and is output to the controller 11 as a control pressure signal. In the controller 11, as shown in step S3 after step S2 described above, the control pressure signal P output from the pressure sensor 20 is output.
2, and the control pressure signal P3 output from the pressure sensor 20.
Is read and the process proceeds to step S4. In step S4, the control pressure P2 calculated based on the operation amount of the operation lever 8 and the pressure sensor 20 are determined by the determination means built in the controller 11.
Whether the control pressure signal P2A output from
That is, a process is performed to determine whether the control pressure P2 and the control pressure signal P2A are in an abnormal state where they are not considered to be equivalent. When the electromagnetic proportional pressure reducing valve 6 is functioning normally, the determination in step S4 is yes, and the process proceeds to step S5. In step S5, whether the control pressure P3 calculated based on the operation amount of the operation lever 8 is equal to the control pressure signal P3A output from the pressure sensor 21, that is, the control pressure P3 and the control pressure signal P3A are equal. Processing is performed to determine whether or not the abnormal state is not considered. As long as the electromagnetic proportional pressure reducing valve 6 is functioning normally (P3 = P3A = tank pressure)
So, go back to the beginning.

If the electromagnetic proportional pressure reducing valve 6 fails,
In the case where the electromagnetic proportional pressure reducing valve 6 is malfunctioning due to contamination, in step S4 described above,
The control pressure P2 and the control pressure signal P2A are not equal to each other, that is, the determination means built in the controller 11 determines that the control pressure P2 and the control pressure signal P2A are not considered to be equal to each other, and the process proceeds to step S6. In this step S6,
For example, an engine stop signal, that is, a signal for stopping the prime mover 3 is output from the controller 11 to the prime mover control device 25 via the signal line 26 shown in FIG. 1, and the prime mover control device 25 stops the drive of the prime mover 3. Works. As a result, the prime mover 3 is stopped, the drive of the main hydraulic pump 1 is stopped, and the hydraulic cylinder 5 that is operated by the pressure oil discharged from the main hydraulic pump 1 and the operation of all hydraulic actuators including hydraulic actuators (not shown) Stops. Along with this, all work machine members (not shown) such as the boom, the arm, and the bucket are stopped.

The operation when the operation lever 8 of the electric lever device shown in FIG. 1 is rotated counterclockwise in FIG. 1 and the processing when an abnormality occurs in the electromagnetic proportional pressure reducing valve 6 are the same as above. Will be done.

In the first embodiment constructed as described above, the hydraulic cylinder 5 is operated even when the electromagnetic proportional pressure reducing valve 6 for outputting the pilot pressure P1 corresponding to the operation amount of the operation lever 8 of the electric lever device is abnormal. It is possible to stop all the hydraulic actuators including, and to stop the working machine members (not shown) driven by these hydraulic actuators accordingly, and to prevent an unexpected accident due to an undesired operation of the working machine members. , With excellent safety.

In the first embodiment, the control pressures P2 and P3 calculated based on the operation amount of the operation lever 8 and the control pressure signals P2A and P2 output from the pressure sensors 20 and 21 are used.
Although it is arranged to stop the prime mover 3 when it is determined that the abnormal state is not equivalent to 3A, it is convenient to allow the hydraulic cylinders 5 and the like to operate at a low speed even in such a case. Is sometimes good. In such a case, the controller 1 is not stopped without stopping the prime mover 3.
It may be configured to output a signal for controlling the prime mover 3 to drive the prime mover 3 at a predetermined low rotation speed.

FIG. 3 is a circuit diagram showing the configuration of the second embodiment of the present invention. In the second embodiment shown in FIG. 3, in FIG.
The motor control device 25 and the signal line 26 provided in the first embodiment shown in FIG. 3 are omitted, and instead, the electromagnetic switching valve 7 and the drive unit of the control valve 4 located on the left side of FIG. 3 are connected. An on-off valve 28 that can be switched by a drive signal output from the controller 11 is provided in the pipeline that connects the controller 11 to the pipeline that connects the electromagnetic switching valve 7 and the drive section of the control valve 4 located on the right side in FIG. An on-off valve 29 that is switched by the output drive signal is provided. These on-off valves 28, 2
Reference numeral 9 constitutes stop means for stopping the operation of the hydraulic cylinder 5 when an abnormality such as a failure occurs in the electromagnetic proportional pressure reducing valve 6. The other structure is the same as that of the first embodiment shown in FIG.

In the second embodiment, for example, when the operation lever 8 of the electric lever device is rotated clockwise in FIG. 3, the judgment means of the controller 11 calculates based on the operation amount of the operation lever 8. When it is determined that the control pressure P2 and the control pressure signal P2A output from the pressure sensor 20 are not considered to be equivalent, a drive signal is output from the controller 11 to the open / close valve 28, and the open / close valve 28 is shown in FIG. Three
To the closed position, which is the left position of. As a result, the supply of the pilot pressure, which is output from the electromagnetic proportional pressure reducing valve 6 and is given to the drive portion on the left side of FIG. 3 of the control valve 4 via the left side switching position of the electromagnetic switching valve 7, is blocked, and the control valve 4 Returns to the neutral position, and the contraction operation of the hydraulic cylinder 5 is stopped.

On the contrary, the operating lever 8 of the electric lever device
Is rotated counterclockwise in FIG. 3, the controller 1
When it is determined that the control pressure P3 calculated based on the operation amount of the operation lever 8 by the determination unit 1 and the control pressure signal P3A output from the pressure sensor 21 are not considered to be equivalent, the controller 11 outputs A drive signal is output to the open / close valve 29, and the open / close valve 29 is switched to the closed position which is the left position in FIG. As a result, the output from the electromagnetic proportional pressure reducing valve 6 is output via the right side switching position of the electromagnetic switching valve 7 to the control valve 4
3, the supply of the pilot pressure applied to the drive unit on the right side of FIG. 3 is blocked, the control valve 4 returns to the neutral position, and the extension operation of the hydraulic cylinder 5 is stopped.

In the second embodiment thus constructed, when an abnormality occurs in the electromagnetic proportional pressure reducing valve 6, control is performed by the control valve 4 driven by the pilot pressure output from the electromagnetic proportional pressure reducing valve 6. The operation of only the hydraulic cylinder 5 to be stopped can be stopped, and an unexpected accident due to the working machine member driven by the hydraulic cylinder 5 can be prevented in advance.

In the second embodiment, when the electromagnetic proportional pressure reducing valve 6 is functioning normally and an operation failure occurs at any of the left and right switching positions of the electromagnetic switching valve 7. It is possible to stop only the operation of the hydraulic cylinder 5 related to the switching position where the malfunction occurs, and to execute the operation of the hydraulic cylinder 5 related to the normal switching position. For example, when the electromagnetic proportional pressure reducing valve 6 is normal, but malfunction occurs only in the switching position of the electromagnetic switching valve 7 on the left side in FIG. 3, when the operation lever 8 rotates clockwise in FIG. When an abnormality is detected, the opening / closing valve 28 is closed, the control valve 4 is returned to the neutral state, and the contraction operation of the hydraulic cylinder 5 is stopped. However, when the operation lever 8 is rotated counterclockwise in FIG. Since the electromagnetic switching valve 7 is switched to the normal switching position on the right side, no abnormality is detected by the determination means of the controller 11, and the on-off valve 29 is kept at the open position shown in FIG.
The control valve 4 can be switched to the right position in FIG. 3 to drive the hydraulic cylinder 5 in the extending direction.

Further, in the second embodiment, the opening / closing valve 2
8 and 29 are provided, and when an abnormality occurs in the electromagnetic proportional pressure reducing valve 6,
The operation of the hydraulic cylinder 5 is configured to be stopped. However, if there is a desire to realize a low speed operation of the hydraulic cylinder 5 even when the electromagnetic proportional pressure reducing valve 6 is abnormal, the control valve Limiting means capable of operating the hydraulic cylinder 5 at a low speed by limiting the supply of a predetermined small pilot pressure to the extent possible without completely closing the pipeline connected to the drive unit of 4 even in an abnormal state. May be provided.

FIG. 4 is a circuit diagram showing a third embodiment of the present invention. In the third embodiment, the main hydraulic pump 1 is composed of a variable displacement hydraulic pump, and all hydraulic actuators including a hydraulic cylinder 5 and a hydraulic actuator (not shown) when an abnormality occurs in the electromagnetic proportional pressure reducing valve 6. A discharge amount control device 27 capable of controlling the discharge amount of the main hydraulic pump 1 is used in place of the prime mover control device 25 shown in FIG. 1 as a stop / limit means for stopping the operation or limiting the operation speed to a predetermined low speed. It is provided. The discharge amount control device 27 has, for example, a control actuator that controls the tilt angle of the main hydraulic pump 1, and a flow rate control valve that is an electromagnetic valve that controls the operation of the control actuator, and is output from the controller 11. The discharge signal of the main hydraulic pump 1 is controlled by applying the drive signal to the flow control valve.
The discharge amount control device 27 having such a configuration is known. Other configurations are the same as those in the first embodiment described above.

In the third embodiment constructed as described above, the control means 11 determines the control pressure P2, P3 calculated based on the operation amount of the operating lever 8 and the corresponding pressure sensors 20, 21 for output. Control pressure signals P2A, P3
When it is determined that the abnormal state is not equal to A, a drive signal is output from the controller 11 to the discharge amount control device 27 so that the discharge amount control device 27 sets the discharge amount of the main hydraulic pump 1 to almost zero. Or to a predetermined small flow rate. As a result, the hydraulic cylinder 5,
And supply of pressure oil to all hydraulic actuators including hydraulic actuators (not shown) can be stopped to stop the drive of all hydraulic actuators including the hydraulic cylinders 5, or all hydraulic actuators including the hydraulic cylinders 5 can be stopped. The flow rate supplied to is limited to a predetermined small flow rate, and the hydraulic cylinder 5 and the like can be operated at a predetermined low speed as required.

Even in the third embodiment constructed as described above, even when the electromagnetic proportional pressure reducing valve 6 for outputting the pilot pressure P1 corresponding to the operation amount of the operation lever 8 of the electric lever device is abnormal, It is possible to stop all the hydraulic actuators including the hydraulic cylinders 5 and accordingly stop the working machine members (not shown) driven by these hydraulic actuators, or the hydraulic cylinders 5 depending on the working conditions.
And the like can be driven at a predetermined low speed, and like the first embodiment, an unexpected accident due to an undesired operation of the working machine member can be prevented in advance, and excellent safety is provided.

The determining means in each of the above embodiments, that is, the control pressures P2 and P3 calculated based on the operation amount of the operating lever 8 and the control pressure signals P2A and P3A output from the corresponding pressure sensors 20 and 21. And the control pressure P
2, P3 and the corresponding control pressure signals P2A, P3A may be constituted by a judging means for judging an abnormal state when they are not considered to be equivalent after a predetermined time from the start. The predetermined time in this case is determined in consideration of the pulsation of the hydraulic pressure of the hydraulic circuit and the operating speed of the working machine member, and is, for example, about 0.2 to 0.5 seconds.

With such a configuration, even if a response delay occurs between the lever signal VL input to the controller 11 and the control pressure signals P2A and P3A due to a response delay of the electromagnetic proportional pressure reducing valve 6 or the like, It is possible to realize stable control without the stop / limitation means malfunctioning.

[0038]

Since the present invention is configured as described above, the hydraulic actuator is stopped and controlled even when an abnormality occurs in the electromagnetic proportional pressure reducing valve that outputs the pilot pressure according to the operation amount of the electric lever device, or It is possible to control to a predetermined low speed, to stop the working machine member driven by the hydraulic actuator, or to drive the working machine member at a predetermined low speed. It is possible to prevent unexpected accidents due to desired movements,
It has superior safety compared to conventional products.

[Brief description of drawings]

FIG. 1 is a circuit diagram showing a first embodiment of a drive controller for a hydraulic machine according to the present invention.

FIG. 2 is a flowchart showing a procedure of processing executed in a controller provided in the first embodiment shown in FIG.

FIG. 3 is a circuit diagram showing a second embodiment of the present invention.

FIG. 4 is a circuit diagram showing a third embodiment of the present invention.

FIG. 5 is a circuit diagram showing a drive control device for a conventional hydraulic machine.

[Explanation of symbols]

 1 main hydraulic pump 2 pilot pump 3 prime mover 4 pilot operated control valve 5 hydraulic cylinder 6 electromagnetic proportional pressure reducing valve 7 electromagnetic switching valve 8 operating lever 9 mechanical / electrical converter 10 directional control switch 11 controller (control means) 12 pilot relief valve 13 main relief valve 14 tank 15 power supply 20 pressure sensor 21 pressure sensor 22 signal line 23 signal line 24 signal line 25 prime mover control device 26 signal line 27 discharge control device 28 on-off valve 29 on-off valve

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI technical display location F15B 11/08 A 9026-3H 11/16

Claims (6)

[Claims]
1. A prime mover, a main hydraulic pump driven by the prime mover, a plurality of hydraulic actuators driven by pressure oil discharged from the main hydraulic pump, and an operating lever, which is in accordance with an operation amount of the operating lever. An electric lever device for outputting an electric operation signal, a pilot pump, an electromagnetic proportional pressure reducing valve for reducing and outputting the pilot pressure output from the pilot pump, and an operation signal output from the electric lever device. Based on the control means for outputting a drive signal for driving the electromagnetic proportional pressure reducing valve based on the pilot pressure output from the electromagnetic proportional pressure reducing valve, the hydraulic actuator is provided corresponding to each of the hydraulic actuators. A drive control device for a hydraulic machine equipped with a pilot operated control valve for controlling the drive of And a pressure sensor that is provided in a pipe line that connects the electromagnetic proportional pressure reducing valve and the pilot operated control valve, and that can detect the pilot pressure introduced to this pipe line and output it as an electric signal, and the output from this pressure sensor. Determining means for determining whether or not the electric signal to be generated and the operation signal output from the electric lever device are not considered to be equivalent, , At least stop the operation of the hydraulic actuator driven and controlled by the pilot operated control valve connected to the pipe where the pilot pressure is detected by the pressure sensor, or limit the operating speed to a predetermined low speed. A drive control device for a hydraulic machine, comprising: a limiting means.
2. The stop / limit means includes all of the plurality of hydraulic actuators, including hydraulic actuators other than the corresponding hydraulic actuator that is driven and controlled by a pilot-operated control valve that communicates with the pipeline in which the pilot pressure is detected. 2. The drive control device for a hydraulic machine according to claim 1, which is means for stopping the operation of the hydraulic actuator or for limiting the operation speed to a predetermined low speed.
3. The drive control device for a hydraulic machine according to claim 1, wherein the control means includes the determination means.
4. The means for determining an abnormal state when the electrical signals output from the pressure sensor and the operation signals output from the electrical lever device are not considered to be equivalent after a predetermined time from the start of matching. The drive control device for a hydraulic machine according to any one of claims 1 to 3, wherein
5. The drive control of the hydraulic machine according to claim 2, wherein the stop / limit means is a means for controlling the operation of a prime mover control device for controlling the drive of the prime mover. apparatus.
6. The hydraulic pressure according to claim 2, wherein the stop / limit means is a means for controlling the operation of a discharge amount control device for controlling the discharge amount of the main hydraulic pump. Machine drive control device.
JP16464393A 1993-07-02 1993-07-02 Driving controller of hydraulic machinery Pending JPH0719207A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16464393A JPH0719207A (en) 1993-07-02 1993-07-02 Driving controller of hydraulic machinery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16464393A JPH0719207A (en) 1993-07-02 1993-07-02 Driving controller of hydraulic machinery

Publications (1)

Publication Number Publication Date
JPH0719207A true JPH0719207A (en) 1995-01-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP16464393A Pending JPH0719207A (en) 1993-07-02 1993-07-02 Driving controller of hydraulic machinery

Country Status (1)

Country Link
JP (1) JPH0719207A (en)

Cited By (13)

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Publication number Priority date Publication date Assignee Title
JPH09264258A (en) * 1996-03-28 1997-10-07 Tadano Ltd Automatic stopping device for hydraulic working machine
EP0844337A1 (en) * 1996-11-22 1998-05-27 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Battery-driven hydraulic excavator
KR19980086021A (en) * 1997-05-30 1998-12-05 토니헬샴 Malfunction prevention device of hydraulic construction machine
WO2001059307A1 (en) * 2000-02-12 2001-08-16 Festo Ag & Co Fluidic system with a safety function
WO2008105501A1 (en) 2007-02-28 2008-09-04 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
WO2008105502A1 (en) 2007-02-28 2008-09-04 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
JP2013508647A (en) * 2009-10-21 2013-03-07 イートン コーポレーションEaton Corporation Safety mechanism for valve sticking
KR101426556B1 (en) * 2007-11-02 2014-08-06 두산인프라코어 주식회사 Oil pressure system of construction equipment
JP2016114129A (en) * 2014-12-12 2016-06-23 日立建機株式会社 Electric type operation device and work machine with electric type operation device
JP2017179929A (en) * 2016-03-30 2017-10-05 日立建機株式会社 Drive control device for work machine
JP2018003386A (en) * 2016-06-30 2018-01-11 日立建機株式会社 Working machine
EP3249117A4 (en) * 2015-01-14 2018-08-29 Doosan Infracore Co., Ltd. Control system for construction machine
WO2019017318A1 (en) * 2017-07-21 2019-01-24 川崎重工業株式会社 Hydraulic drive device and hydraulic drive system provided therewith

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09264258A (en) * 1996-03-28 1997-10-07 Tadano Ltd Automatic stopping device for hydraulic working machine
EP0844337A1 (en) * 1996-11-22 1998-05-27 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Battery-driven hydraulic excavator
KR19980086021A (en) * 1997-05-30 1998-12-05 토니헬샴 Malfunction prevention device of hydraulic construction machine
WO2001059307A1 (en) * 2000-02-12 2001-08-16 Festo Ag & Co Fluidic system with a safety function
US6769250B2 (en) 2000-02-12 2004-08-03 Festo Ag & Co. Fluidic system with a safety function
WO2008105501A1 (en) 2007-02-28 2008-09-04 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
WO2008105502A1 (en) 2007-02-28 2008-09-04 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
US8554401B2 (en) 2007-02-28 2013-10-08 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
US8443597B2 (en) 2007-02-28 2013-05-21 Hitachi Construction Machinery Co., Ltd. Safety device for hydraulic working machine
KR101426556B1 (en) * 2007-11-02 2014-08-06 두산인프라코어 주식회사 Oil pressure system of construction equipment
JP2013508647A (en) * 2009-10-21 2013-03-07 イートン コーポレーションEaton Corporation Safety mechanism for valve sticking
JP2016114129A (en) * 2014-12-12 2016-06-23 日立建機株式会社 Electric type operation device and work machine with electric type operation device
EP3249117A4 (en) * 2015-01-14 2018-08-29 Doosan Infracore Co., Ltd. Control system for construction machine
US10577777B2 (en) 2015-01-14 2020-03-03 Doosan Infracore Co., Ltd. Control system for construction machinery
JP2017179929A (en) * 2016-03-30 2017-10-05 日立建機株式会社 Drive control device for work machine
JP2018003386A (en) * 2016-06-30 2018-01-11 日立建機株式会社 Working machine
WO2019017318A1 (en) * 2017-07-21 2019-01-24 川崎重工業株式会社 Hydraulic drive device and hydraulic drive system provided therewith

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