JPS5980503A - Operation regenerative apparatus of hydraulic machine - Google Patents

Abstract

PURPOSE:To enable a regenerative operation in an actuator operated by a manually-operated valve by disposing the first operation means, an operation lever capable of operating the manually-operated valve and the second operation means. CONSTITUTION:A manually-operated valve 11 using a pin 15 and a stepping cylinder 13 are connected to form switching means for switching from the operation of the manually-operated valve 11 by an operation lever 12 to the operation of the manually-operated valve 11 in response to a stored signal. When the operation lever 12 is operated with the pin 15 dislocated, and the manually- operated valve 11 is operated, a spool of the manually-operated valve 11 is moved, and an electric signal corresponding to the position of the spool is output to a memory device 18. In case of executing the regenerative operation of a hydraulic cylinder 10, the pin 15 is fitted in a hole of the spool of the manually- operated valve 11 and a hole of a rod 16 of the stepping cylinder 17, and then a designating device 20 is operated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a motion reproducing device for use in hydraulic construction machinery and equipment, which is capable of storing the motion of an actuator and automatically operating the actuator.

FIG. 1 is a schematic diagram showing an example of a conventional motion reproducing device for a mallet. In this figure, 1 is an actuator,
For example, a hydraulic cylinder, 2 an electro-hydraulic valve that operates the hydraulic cylinder 1, 3 a control device that controls the operation of the electro-hydraulic valve 2, and 4 an operation signal for operating the electro-hydraulic valve 2 that is output to the control device U3. A manual controller 5 is connected to the control device 3 and is a storage device 7 for recording operation signals of the manual controller 4 transmitted to the control device 3. In this conventional motion reproducing device, the manual controller 4 When operated, the operation signal is output to the control device 3, and the control device 3 operates the electro-hydraulic valve 2 according to the operation signal. This connects the hydraulic cylinder 1 and the hydraulic source, and the hydraulic cylinder 1 is operated by the pressure oil supplied from the hydraulic source. On the other hand, the operation signal output to the control device 1t3 is stored in the storage device 5. .

When regenerating the hydraulic cylinder 1, a predetermined regeneration instruction signal may be given to the control device 3, and this regeneration instruction signal causes the operation signal stored in the storage device 5 to be transferred to the control device @3. The control device 3 operates the electro-hydraulic valve 2 in response to the operation signal. in this way,
By only operating the manual controller 4 once, the same operation as that of the hydraulic cylinder 1 when operating the hand stamp controller 4 can be performed any number of times without requiring any subsequent operation of the manual controller 4. The oil stopper cylinder 1 can be automatically operated.

Nowadays, there is a demand for automatic operation of actuators in construction machinery such as hydraulic excavators and cranes, but the conventional motion regeneration device described above is configured to operate the hydraulic cylinder 1 via the electro-hydraulic valve 2. Therefore, as in the above-mentioned 17 construction machines, hydraulic machines are generally equipped with a manually operated valve that is operated by the hands of the worker, and the actuator is actuated via this manually operated valve. If so, this conventional motion reproducing device cannot be applied as is.

Note that this conventional motion reproducing device includes a control device lt3,
Since the entire connection system between the storage device 5 and the electro-hydraulic valve 2 is constituted by an electrical system, if a failure occurs in this electrical system, the hydraulic cylinder 1 cannot be operated and work becomes impossible. Inviting pregnancy.

The present invention has been made in view of the actual situation in the prior art, and an object thereof is to provide an operation regeneration device for a hydraulic machine that enables a manual operation of an actuator operated by a manually operated valve. .

To achieve this object, the present invention provides a manually operated valve connected to an actuator actuated by hydraulic pressure, an operating lever that is a first means capable of actuating the manually operated valve, and the above-mentioned hand@operated valve. Activate Cq.

and the actuating means, which is a second means capable of
a signal generator that detects the actuation amount of the manually operated valve and outputs an electrical signal corresponding to the actuation amount; a storage device that transmits the signal outputted from the signal generator; and the storage device. and the above-mentioned actuating means, the memory device rt
A control device that outputs a command signal corresponding to the stored signal to the operating means, an instruction device that outputs an endogenous instruction signal for performing a regeneration operation to the control device 6, and a manually operated valve using an operation lever. and switching means for switching between the operation of the manually operated valve and the operation of the manually operated valve based on the stored signal rc.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The operation regeneration device for a hydraulic machine according to the present invention will be described below with reference to the drawings. FIG. 2 is a schematic diagram showing a first embodiment of the present invention, and FIGS. 2 and 3 are schematic diagrams showing a second embodiment of the present invention.

In FIG. 2 showing the first embodiment, 1o is an actuator, for example, a hydraulic cylinder, and 11 is this hydraulic cylinder 10.
The manually operated valve 12 is connected to the manually operated valve 11, and 12 is an operating lever that is a first means capable of operating the manually operated valve 11. Reference numeral 13 denotes a second actuating means for operating the hand-operated valve 11, such as a stepping cylinder, which can be connected to the spool of the manual-operated valve 11 and is entirely composed of a cylinder part and a control valve part. It has a feedback function, and a stroke proportional to the number of pulses can be obtained. In addition, 14 is a stepping cylinder 13
This is a hydraulic device that supplies hydraulic pressure to the

Reference numeral 15 denotes a bottle, which is fitted into a hole provided in the spool of the manually operated valve 11 and a hole provided in the rod 16 of the stepping cylinder 13, and can be easily pulled out from these holes. The connection structure between the manually operated valve 11 and the stepping cylinder 13 using the bottle 15 is such that the operation of the manually operated valve 11 is switched between the operation of the manually operated valve 11 by the operating lever 12 and the operation of the manually operated valve 11 by a stored signal, which will be described later. It consists of That is, by removing the bottle 15, the manual operation valve 11 can be operated by the operation lever 12 without any hindrance. Further, 17 is a signal generator, such as a pulse generator, which detects the operating amount of the manually operated valve 11, such as the spool position, and outputs an electric signal; 18 is a storage device connected to the pulse generator 17;
19 is a control device connected to the storage device 18, and 20 is an instruction device (for example, constituted by a switch) that outputs a reproduction instruction signal for performing a reproduction operation to the control device 19.

Note that the above-mentioned stepping cylinder 13 is equipped with a control device [1
9, and operates in response to a command signal output from this control device fit19.

In the first embodiment configured in this way, when the operating lever 12 is operated from behind with the bottle 15 removed, as shown in FIG. 2, and the manual operating valve 11 is actuated,
This connects the hydraulic cylinder 10 and the hydraulic source,
The hydraulic cylinder 10 is operated by pressure oil supplied from a hydraulic source. Furthermore, as the operating lever 12 is operated, the spool of the manual operating valve 11 moves, and as a result, the pulse generator 17 outputs an electrical signal corresponding to the displaced spool position to the storage device 18. In the storage device 18, the electrical signal, ie the position of the spool of the manually operated valve 11, is stored as a function of time.

When regenerating the hydraulic cylinder 10, it is sufficient to operate the indicating device 20 after making the hole in the spool of the manually operated valve 11 and the hole in the rod 16 of the stepping cylinder 13 larger. , whereby a reproduction instruction signal is output to the control device!L19.
reads a signal stored in the storage device 118 in response to this reproduction instruction signal, and outputs a command signal (digital signal) corresponding to this signal to the stepping cylinder 13.

The stepping cylinder 13 receives hydraulic power from the hydraulic system f14, and its rod 16 operates by a torque corresponding to the above-mentioned command No. 18, whereby the manual operation valve 11 is operated via the pin 15. At this time, the hydraulic cylinder lO and the hydraulic source are connected via the manual operation valve 11, and the hydraulic cylinder 10 is controlled by the pressure oil supplied from the hydraulic source.
is activated.

In this way, in the first embodiment, since the operating mode of the manually operated valve 110 by the operating lever 12 is stored in the storage device 18 as the positional displacement of the spool, once the operating mode of the manually operated valve 110 by the operating lever 12 is After the bottle 15 is inserted into the hole of the spool of the manual operation valve 11 and the hole of the rod 16 of the stepping cylinder 13, the indicator device 18 can be activated. The hydraulic cylinder 10 is the same as when operating the operating lever 12 without requiring any operation.
The action can be automatically replayed any number of times.

If a failure occurs in the control system including the storage device 18 and the control device 19, the hydraulic cylinder 10 can be activated by operating the operating lever 12 and operating the manual operating valve 11 after removing the bottle 15. can be operated. In addition, if you want to modify the operating amount of the hydraulic cylinder 10,
This can be done very easily by operating the operating lever 12 again with the lever removed.

In the second embodiment shown in FIG. 3, the actuating means, which is the second means capable of actuating the manually operated valve 11, is a hydraulic cylinder 21 that is interlocked with the spool of the manually operated valve 11, and a hydraulic cylinder 21 that operates the hydraulic cylinder 21. and a signal generator for detecting the amount of operation of the manually operated valve 11.
It is composed of a potentiometer 23 that detects the positional displacement of the spool of the manually operated valve 11 and outputs an electric signal, and is a switch that switches between the operation of the manually operated valve 11 by the operating lever 12 and the operation of the manually operated valve by a stored signal. The means are constituted by a solenoid valve 24 connected to a circuit connecting the hydraulic cylinder 21 and the servo valve 22. In addition, 25
is a control device connected to a storage device 18 and an instruction device 20 similar to those in the first embodiment described above, and also connected to servo valves 22 . It is connected to the potentiometer 23 and the solenoid valve 24.

Further, the potentiometer 23 is connected to the control device 25 and also to the storage device ff118. The above-mentioned hydraulic cylinder 21, servo valve 22, potentiometer 23, and control device 254C constitute a position servo system.

In the second embodiment configured in this way, the solenoid valve 2
4 is held in the manner shown in FIG.
2 and actuates the manually operated valve 11, the hydraulic cylinder 10 and the hydraulic valve are thereby connected, and the hydraulic cylinder 10 is operated by the pressure oil supplied from the hydraulic source. At this time, the oil in the hydraulic cylinder 21 that operates in conjunction with the manually operated valve 11 is returned to the tank via the electromagnetic valve 24, so the manually operated valve 11 can be operated without any hindrance. On the other hand, the above-mentioned operating lever 12
With the operation, the position of the spool of the manually operated valve 11 is output as an electric signal by the potentiometer 23 and stored in the storage device 18.

When performing a regeneration operation of the hydraulic cylinder 10, it is sufficient to operate the instruction device 20, whereby an H raw restraint signal is output to the control device @25.
reads a signal stored in the storage device 18 in response to this reproduction instruction signal, and outputs a command signal corresponding to the signal to the servo valve 22. At the same time, the control device 25 outputs a signal to the solenoid valve 24, whereby the solenoid valve 24 is switched to the ffK position shown in FIG. 3, and enters the blocked state.

In this state, pressure oil from the hydraulic source is supplied to the hydraulic cylinder 21 via the servo valve 22, and this hydraulic cylinder 21 operates, and in conjunction with the operation of this hydraulic cylinder 21, the manually operated valve 11 operates. , the hydraulic cylinder 10 is operated N11 by pressure oil supplied from a hydraulic source. Further, the spool position of the manually operated valve 11 is detected by the potentiometer 23, and this is fed back to the control device 25 to perform servo operation. In this way, the same operation as the operation of the hydraulic cylinder 1o by the operation lever 12 can be reproduced. Since the structure is as follows: "Operation regeneration system for hydraulic machine according to the present invention", it is possible to perform regeneration operation of the actuator in a hydraulic machine equipped with a manually operated valve, that is, automatic operation. This has the effect of improving workability. In addition, in the event of a failure in the control system that controls the actuation means for operating the manually operated valve, the actuator can be operated via the manually operated valve by operating the operating lever, thereby preventing work stoppage. It is possible to maintain good workability.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing an example of a conventional motion regeneration device for a hydraulic machine, FIG. 2 is a schematic diagram showing a first embodiment of the motion regeneration device for a hydraulic machine according to the present invention, and FIG. Second invention
FIG. 2 is a schematic configuration diagram showing an embodiment of the present invention. 10... Hydraulic cylinder (actuator), 1
1... Manual operation valve, 12... Operation lever, 13... Stepping cylinder 1.14.
...Hydraulic system, 15...Pin, 16...
... Rod, 17... River pulse generator, 18...
...Storage device, 19.25...Control device,
20...Indication device, 21...Hydraulic cylinder, 22...Servo valve, 23...Potentiometer, 24...Pa wake up valve.

Claims (1)

[Claims] 1. In a hydraulic machine equipped with an actuator operated by hydraulic pressure, the operation of the actuator is memorized,
An operation regeneration device for a hydraulic machine capable of reproducing the operation of the actuator, which comprises a manual operation valve connected to the actuator, an operation lever that is a means for operating the manual operation valve, and the manual operation. A signal generator that detects the operating amount of the manually operated valve and outputs an electric signal corresponding to the operating amount, and a signal generator that detects the operating amount of the manually operated valve and outputs an electric signal corresponding to the operating amount, and a storage device that stores electrical signals output from the generator; a control device that is connected to the storage device and the operating means and outputs a command signal corresponding to the signal recorded in the storage device to the operating means; The invention further comprises: an instruction device that outputs a regeneration instruction signal to perform a regeneration operation to a control device; and a switching means that switches between actuation of the manual operation valve by the operation lever and operation of the manual operation valve by the stored signal. Features similar to hydraulic pressure
no kalpa 1゛ [resettlement b10