JPH10102545A - Control device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device having a simple system and adaptable to the operation systems manufactured by many makers without changing the hardware portion of a hydraulic circuit or the like in a construction machine provided with an operation lever of an electric lever system. SOLUTION: This construction machine is provided with an electric operation lever and generates the operation signal in response to the action of the operation lever, the operation signal is converted into the control signal for controlling one of actuators 10-1 through 10-N corresponding to the operation signal by a controller 29, and the operation of the construction machine is controlled by the control signal. The controller 29 is provided with a rewritable EEPROM 44 storing at least one or more correlations between the operation lever and the actuators 10-1 through 10-N provided on the construction machine, and the actuator corresponding to the operation signal is determined according to the correlation set in the memory among the correlations. The setting of the correlations and the rewriting of contents in the EEPROM 44 are made by an external device 50.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a construction machine, and more particularly to a control device for a construction machine having an electric operation lever, which can easily adapt the operation method of the operation lever to the operation method of each manufacturer.

[0002]

2. Description of the Related Art Some construction machines such as hydraulic shovels have at least two or more electric operation levers. When an electric operation lever is operated, an electric signal (operation signal) indicating an operation direction and an operation amount is output from an output unit of the operation lever device. In such a construction machine, when a driving operator operates an operation lever provided in a cab, an operation signal generated based on the operation lever is converted into a control signal of a corresponding actuator by a controller. The operation of the actuator to be controlled is controlled by the control signal.

[0003] In a hydraulic shovel operated by operating a plurality of electric operation levers, the operation method of each of the plurality of operation levers generally differs from manufacturer to manufacturer. Here, the “operating method of the operating lever” refers to the correspondence between the manner of operating each operating lever and various actuators provided in the hydraulic shovel. Since a user usually uses a hydraulic shovel of a specific maker, the user is familiar with the operation lever operation method of the specific maker. However, in such a state, there may be a case where it is necessary to operate a hydraulic shovel provided with an operation method of another manufacturer depending on the situation. Thus, in the hydraulic shovel equipped with the electric operation lever, if the operation method of the operation lever is different,
Confusion arises in the user and poses a problem in terms of safe driving.

[0004] Conventionally, one solution to this problem has been made.
As one means, there has been proposed a configuration in which a plurality of direction switching valves are provided in a hydraulic circuit of a hydraulic shovel so as to switch a connection direction of a pilot pipe (Japanese Patent Laid-Open No. 2-3).
No. 5126).

[0005]

According to the above-mentioned conventional solution, the configuration of the hydraulic circuit must be directly changed, which requires a plurality of directional control valves. Since the electric circuit part becomes complicated and the hydraulic circuit part is changed, it is not possible to make a very large change, and as a result, it is possible to cope with only a relatively small number of assumed operation methods of the manufacturer, and to have flexibility. Is low.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problem. In a construction machine having an electric operation lever, the electric operation lever can be changed without changing so-called hardware parts such as a hydraulic circuit and an electric circuit. Another object of the present invention is to provide a control device for a construction machine which can be operated in a simpler manner and can be operated by a large number of manufacturers.

[0007]

A control device for a construction machine according to a first aspect of the present invention (corresponding to claim 1) includes at least two or more electric machines for controlling each operation of a work machine unit and a traveling body. An operation signal is generated in response to operation of the operation lever, and the operation signal is converted into a control signal for controlling an actuator corresponding to the operation signal by a controller, and the control signal is used for construction. It is configured to control the operation of the machine. In such a configuration, the controller has a rewritable memory that stores at least one or more correspondences between the operation lever and the actuator provided on the construction machine, and the memory that is set in the memory among the correspondences. According to the corresponding relationship, the actuator corresponding to the operation signal is determined.

According to the present invention, the rewritable memory stores the operation method of the electric operation levers of a plurality of manufacturers, that is, the correspondence between the operation levers and the actuators, and further stores the necessary correspondences thereon. Since it is possible to specify and set, and to be able to easily change the contents related to the correspondence set or stored in the memory, it is possible to easily correspond to the operation method of the operation lever of many manufacturers Can be.

A control device for a construction machine according to a second aspect of the present invention (corresponding to claim 2) preferably has an external device detachably attached to the controller in the configuration of the first aspect. The apparatus is configured to freely change the correspondence set in the storage unit. According to this configuration, the operator of the hydraulic excavator or the like can easily change the operation method of the electric operation lever using the external device at the site.

[0010] In a third aspect of the present invention (corresponding to claim 3), the construction machine control device according to the first aspect of the invention is further configured such that the correspondence set in the memory is a plurality of sets, That is, one of the correspondences different from each other for a plurality of manufacturers.

According to a fourth aspect of the present invention (corresponding to claim 4), the control device for a construction machine according to the first aspect of the invention is more preferably configured such that the external device is used for maintenance originally provided. Service equipment. It is convenient because the equipment for service is also used.

[0012]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an example of a construction machine to which a control device according to the present invention is applied. The construction machine is a hydraulic excavator 20. The hydraulic excavator 20 is a working machine for performing civil engineering and construction work. In the hydraulic excavator 20, a revolving superstructure 22 is provided on a traveling superstructure 21. The revolving superstructure 22 includes a cockpit (operating cab) 23, an engine machine 24, and a work machine 25. The traveling body 21 includes a right traveling section and a left traveling section.
The work machine unit 25 is disposed at the front of the revolving unit 22, and includes a boom 26, an arm 27, and a bucket 28. The work machine unit 25 includes a hydraulic cylinder (actuator) that operates the boom 26, the arm 27, and the bucket 28. The cockpit 23 is provided with a plurality of operation levers such as left and right operation levers for controlling the operation of the work machine unit 25 and the like, and left and right operation levers for controlling forward, backward, turning, and the like by the traveling body 21. I have.

The operation lever provided in the cockpit 23 of the excavator 20 is of an electric lever type (electric operation lever). The electric operation lever includes a mechanical lever portion and an electric output unit that outputs an operation signal. When the lever is operated, an operation signal corresponding to the operation direction and the operation amount is output from the electric output unit. The operation signal is input to the controller 29 of the excavator 20. The controller 29 generates data corresponding to the operation signal based on a correspondence table described later, and further generates a control signal corresponding to the data. The control signal is sent to an actuator provided in each part of the excavator 20 to control the operation.

FIG. 2 shows an example of the operation lever. FIG.
(A) is a plan view of the operation lever, showing an operation direction. FIG. 2B is a side view of the operation lever and shows a relationship with the controller. In FIGS. 2A and 2B, the operation lever is shown corresponding to the vertical position. The hydraulic excavator 20 is provided with operation levers 1a, 1b, 1c, 1d, 1e. The operation levers 1a and 1b are joystick type operation devices, and are arranged in the orthogonal X direction (+ side [X
+] And the minus side [X-]) and the Y direction (the plus side [Y +] and minus side).
Side [Y-]). Operation lever 1a,
Each operation of the boom 26, the arm 27, the bucket 28, and the revolving superstructure 22 of the excavator 20 is operated by 1b.
The operation levers 1c and 1d are one-way type (Y-direction) operation devices, and operate the traveling operation of the excavator 20. The operation lever 1e is a one-way type (Y-direction) operation device, and is a lever for operating an attachment.

When operating the operation levers 1a and 1b, the operation levers are inclined forward and backward (+ and-sides in the Y direction) or right and left (+ and-sides in the X direction). The tilt angle (analog amount) generated by the operation of each operation lever is controlled by an operation signal (analog value) 3 from the electrical output units 2a and 2b.
a and 3b are output. The operation signals 3a and 3b are input to the controller 29. The operation levers 1c and 1
When operating d and 1e, the operation lever is moved forward and backward (Y
(Positive side and negative side). The movement amount (analog amount) generated by the operation of each operation lever is determined by the electric output unit 2.
Operation signals (analog values) 3c, 3 from c, 2d, 2e
Output as d and 3e. Operation signals 3c, 3d, 3e
Is input to the controller 29.

FIG. 3 shows the internal structure of the controller 29. FIG. 3 shows the relationship between the controller 29 and the hydraulic drive system. The analog operation signals 3 a to 3 e input to the controller 29 are converted into digital values by the A / D converter 41 and are taken into the CPU 42. This digital signal is a signal for determining the operation amount of the corresponding actuator provided on the excavator 20.

The CPU 42 of the controller 29 is provided with a memory 43 and an EEPROM 44 as a nonvolatile memory whose stored contents can be freely rewritten.

A specific area of the EEPROM 44 (TABL
In E), a plurality of tables (hereinafter, referred to as "correspondence tables") for each maker relating to the operation lever operation methods of a plurality of manufacturers, that is, the correspondence between the operations of the operation levers 1a to 1e and the actuators are stored.

In the memory 43, the CPU 42 responds to the operation signals 3a to 3e given from the electric operation levers 1a to 1e based on a selected one of the correspondence tables stored in the EEPROM 44. A conversion program for performing a process for converting to data is stored.

The correspondence data obtained by the conversion program in the CPU 42 corresponds to the operation signals given from the operation levers 1a to 1e, and specifies the control target of the operated operation lever, that is, the actuator and the operation amount. This is data for specifying the corresponding operation amount. The corresponding data output from the CPU 42 is converted by the driver 45, and the driver 45 outputs a current for driving the proportional solenoid valve associated with the corresponding actuator.

The driving current output from the driver 45 is
The proportional solenoid valves 10-1a, 10- of the main valve 46 included in the hydraulic drive system provided in the hydraulic excavator 20
1b, 10-2a, 10-2b,..., And 10-Nb. The main valve 46 is provided between the hydraulic source 47 and the actuators 10-1, 10-2,..., 10-N in the hydraulic drive system. These actuators are hydraulic cylinders, and are provided in the cylinders so that the pistons reciprocate. For each of the actuators 10-1 to 10-N, two proportional solenoid valves (identified by a and b) are provided corresponding to bidirectional (going and returning) movements of the piston. In each proportional solenoid valve, the opening area of the oil changes in accordance with the drive current, so the pilot oil pressure for the corresponding valve changes, and the flow rate of the hydraulic oil sent to the corresponding actuator changes. Works at the corresponding speed. As a result, the operation levers 1a to 1
The corresponding actuator operates at a speed corresponding to the operation amount of e, that is, the inclination.

As is apparent from the above description, the operation method of each of the electric lever type operation levers 1a to 1e is determined by the correspondence between the operation contents of each operation lever and each proportional solenoid valve. be able to. That is,
Strictly speaking, the correspondence table relating to the correspondence between the operation lever and the actuator is a table relating to the correspondence between the operation lever and the proportional solenoid valve.

A serial input / output unit (SIO) 48 is further provided for the CPU 42 of the controller 29. An external device 50 is connected to the serial output unit 48.

FIG. 4 shows the internal configuration of the external device 50. The external device 50 has a structure detachable from the controller 29, and can be electrically connected to and disconnected from the controller 29 freely. For the external device 50, a service device conventionally used is preferably used. FIG. 5 shows a front view of the external device 50 and a connection relationship with the controller 29 during use. The screen content of the LCD display unit 53 shown in FIG. 5 shows an example of the setting screen.

As shown in FIGS. 4 and 5, the external device 50 has a built-in CPU 51 and a memory 52, and has an LCD display 53 for displaying the setting screen on the front thereof.
An input key unit 54 for performing input is provided. The function of the external device 50 in the present embodiment is as follows.
This is to set (or change) the number of the correspondence table in the area SW of the EPROM 44. The memory 52 stores a program for executing a process for setting the number of the correspondence table of any manufacturer in the EEPROM 44 of the controller 29, and the numbers and names of the correspondence tables of a plurality of manufacturers.

The use and operation of the external device 50 will be described. The external device 50 is prepared as another device for the controller 29 of the excavator 20. In this embodiment, the controller 29 is used as an operating device for setting a necessary maker correspondence table in the EEPROM 44 of the controller 29. The external device 50 is connected to the controller 29 via the connection unit 56. And input key part 5
When an instruction to set the correspondence table is issued in step 4, as shown in FIG.
A company number and name, that is, a selection screen for the operation lever operation method is displayed. Further, when the number of the corresponding table is selected by the input key section 54, the input number of the corresponding table of the corresponding maker is inputted from the external device 50 to the controller 2.
9 is sent to the controller 2
9 is set in the area SW of the EEPROM 44. After the required number of the correspondence table of the maker is set, the external device 40 is separated from the controller 29, thereby ending the correspondence table setting operation.

In the EEPROM 44 of the controller 29, a correspondence table of each maker (A company, B company, C company) is stored with a number attached thereto in advance. Here, the area is named TABLE. The correspondence table to be used is sent from the external device 50 and selected according to the table number set in the area SW. That is, the correspondence table is uniquely determined by the set table number.

FIG. 6 shows an example of the contents of the correspondence table of each of the manufacturers A, B and C. In the correspondence table of each manufacturer, the proportional solenoid valves 10-1a, 10-1b, 10-2
, 10-Nb and the operation lever 1a (X +, X-,
Y +, Y-) and operation lever 1b (X +, X-, Y
+, Y-) and the like are shown. As is clear from the table of FIG. 6, the contents of the correspondence table differ for each manufacturer. In the area TABLE of the EEPROM 44 of the controller 29, a correspondence table of each maker is stored.

As described above, when the operating levers 1a to 1e are operated while the number of the correspondence table of the specific maker is set in the EEPROM 44 of the controller 29 using the external device 50,
A predetermined actuator is driven based on the correspondence in the correspondence table of the set numbers, and the work operation of the excavator 20 is thereby controlled.

When the CPU 42 of the controller 29 inputs an operation signal relating to the operation of the operation levers 1a to 1e, it executes the flowchart shown in FIG.
The proportional solenoid valve corresponding to the operation signal is determined based on the correspondence table specified by the number set in M44, and data for specifying the corresponding actuator is output.

In the flowchart shown in FIG. 7, first, a table number stored in the area SW of the EEPROM 44 is called, and a corresponding table is determined from the area TABLE (step S11). For example, here, SW
= 1. Next, the operation lever corresponding to the proportional solenoid valve 10-1a is determined using the table (step S12). In this example, the operation lever 1a
In the X + direction. Next, X of the operating lever 1a
Data to be output to the electromagnetic proportional valve 10-1a is generated according to the + direction inclination (step S13). The generated data is output to the driver 45 (Step S14). Thereafter, similarly, the proportional solenoid valves 10-1b, 10-2a,
.., 10-Nb, the operation direction of the corresponding operation lever is determined, and output data relating to the electromagnetic proportional valve is generated, and these are output to the driver 45 (steps S15 and S1).
6, S17).

When no operation is performed with the operation lever, no operation signal is output, and therefore the corresponding proportional solenoid valve is not determined, and no data relating to the operation amount is output.

To change the operation method of the operation levers 1a to 1e to that of another company, the external device 50 is connected to the controller 29 again, and the external device 50 is connected to the area SW of the EEPROM 44 of the controller 29 by the same method as described above. Rewrite and change the stored correspondence table numbers to those of the correspondence tables of other companies. As described above, in a control device for a construction machine such as a hydraulic shovel or the like, it is possible to correspond to the operation method of the operation lever of each company by a simple method and an extremely flexible method.

In the above configuration, when a completely new operation lever system is proposed, the new correspondence table itself is transmitted from the external device 50 and stored in the area TABLE of the EEPROM 44. The external device 50 determines the table number and the name, and adds the table number and the name to the menu screen 53. In this manner, a new correspondence table can be added without changing the program of the controller 29.

When the operation lever 1e for attachment is provided, the menu screen 53 of the external device 50 is provided.
Is a menu for each attachment, and the corresponding data for the menu can be written in the EEPROM 44 of the controller 29 to support the menu.

[0037]

As is apparent from the above description, according to the present invention, there is provided a control device for a construction machine having an electric lever-type operation lever, and a rewritable storage unit provided in the control device for each manufacturer. By storing a plurality of correspondence tables, and specifying the correspondence table number using an external device, the correspondence table of a necessary maker to be used can be set. Can be applied to the operation method of the operation lever.
Therefore, the operation method can be easily changed to each manufacturer. In addition, since it is not necessary to change the hydraulic circuit system and the electric circuit system, it can be realized at low cost. It is compatible with the operation lever operation methods of all manufacturers and has very high flexibility. Furthermore, it can correspond to a future operation method.

To set or change the operation method of the operation lever,
It is performed using an external device, and it is only necessary to select the number of the correspondence table of each company displayed on the display unit of the external device,
Easy to do.

Since the service device for maintenance, which has been conventionally used, is used in combination with the external device, there is no need to prepare a special dedicated device, which is convenient.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of a construction machine to which a control device according to the present invention is applied.

FIG. 2 is a front view and a plan view of an operation lever.

FIG. 3 is a configuration diagram showing an internal structure of a controller and a relationship between the controller and a hydraulic drive system.

FIG. 4 is a configuration diagram showing an internal structure of an external device.

FIG. 5 is a configuration diagram illustrating a front appearance of an external device and a relationship between the external device and a controller.

FIG. 6 is a diagram showing the contents of a correspondence table of each company.

FIG. 7 is a flowchart illustrating a conversion process executed by the CPU of the controller.

[Explanation of symbols]

Reference Signs List 20 hydraulic excavator 1a to 1e operating lever 29 controller 44 EEPROM (rewritable storage unit) 50 external device

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Yuji Maehara 650 Kandamachi, Tsuchiura City, Ibaraki Prefecture Inside Hitachi Construction Machinery Engineering Co., Ltd. (72) Kensho Fujita 650 Kandamachi, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Inside Engineering Co., Ltd.

Claims (4)

[Claims] An electronic device comprising: at least two or more electric operation levers that output an operation signal in accordance with an operation amount; and a controller that outputs a signal for controlling an actuator corresponding to the operation signal. In a control device configured to control the operation of the construction machine with an output signal, the controller sets at least one correspondence between the operation lever and an actuator provided on the construction machine.
A control device for a construction machine, comprising: a rewritable storage unit for storing one or more storage units; and determining the actuator corresponding to the operation signal in accordance with the set correspondence. 2. The apparatus according to claim 1, wherein an external device is provided which is detachable from the controller, and the setting of the correspondence stored in the storage unit is changed by the external device. Equipment for construction machinery. 3. The control device for a construction machine according to claim 1, wherein the correspondence set in the storage unit is any one of mutually different correspondences for a plurality of sets. 4. The control device for a construction machine according to claim 2, wherein a service device for maintenance is used in combination with said external device.