JPS60172712A - Motion regenerating device for working device - Google Patents

Abstract

PURPOSE:To regenerate an accurate motion, by a method wherein, during memory, the displacement value of a manual control valve and the load pressure of an actuator are stored, and during regeneration of a motion, a displacement position is corrected, based on said memory value. CONSTITUTION:A potentiometer 7 is connected to a memory device 8 through a change-over switch 17, and hydraulic detectors 12a and 12b to a memory device 15 and a computer 16 through a change-over switch 14. With the aid of the change-over switches 14 and 16, the displacement distance and the load pressure of a manual control valve 3 are stored during memory, and during regeneration of a motion, the change-over switches 14 and 16 are changed-over to correct the stored displacement distance, based on the stored displacement distance and load pressure. This, when a motion is regenerated, enables provision of the same discharge flow rate as that present during memory by means of the corrected displacement distance, resulting in the possibility to effect accurate regeneration of a motion.

Description

[Detailed description of the invention] INDUSTRIAL APPLICATION This invention is comprised in working machines, such as a hydraulic construction machine.

Memorize the operation of the actuator of this working machine.

The present invention relates to an operation regeneration device for a working machine that automatically operates the actuator based on this memory.

FIG. 1 is a schematic diagram showing an example of a conventional motion reproducing device of this type. In this figure, A is an actuator, for example a hydraulic cylinder, B is a hydraulic cylinder that operates this hydraulic cylinder, and C is f! that controls the operation of an electro-hydraulic valve B. II control device, L) is a manual controller that outputs an operation signal for operating the electro-hydraulic valve B to the control device C, and E is an operation signal of the manual controller υ connected to the control device C and transmitted to the control device C. It is a storage device that stores.

In this conventional motion reproduction device, when the manual controller D is operated, the operation signal is output to the control device C, and the control device C operates the electro-hydraulic valve B in response to the operation signal. This connects the oil discharge cylinder A with the hydraulic power source, and the hydraulic cylinder A is operated by the pressure oil supplied from the hydraulic power source ρ.

On the other hand, the operation signal output to the control device C is stored in the storage device E.
is memorized.

And when applying the hydraulic cylinder person's regeneration operation,
What is necessary is to give a predetermined regeneration instruction signal to the control device C, and the operation signal stored in the storage device E is called up to the control device C by this regeneration instruction signal, and the control device C operates the electro-hydraulic valve according to the operation signal. Activate B. In this way, by operating the manual controller D only once, the same operation as that of the hydraulic cylinder A when operating the manual controller D is performed at the same time without any further operation of the manual controller D. Therefore, the hydraulic cylinder A can be operated automatically.

Incidentally, in recent years, automatic operation of actuators has been gaining popularity in construction machinery such as hydraulic excavators and cranes, but the conventional operation regeneration device described above operates hydraulic cylinder A via electric oilfield valve B. It is configured,
Therefore, in hydraulic machines such as the above-mentioned construction machines, which are generally equipped with a manually operated valve that can be fully operated by the operator's hand, and in which an actuator is operated via this manually operated valve, this conventional operation regeneration method is The device cannot be applied as is.

In addition, in this conventional operation regeneration device, the entire connection system of the control device C5, the storage device E, and the electrohydraulic valve B is constituted by an electric system, so if a failure occurs in this electric system, Hydraulic cylinder A cannot be operated, resulting in the inability to work.

Therefore, various means have been studied to apply the motion regeneration device to hydraulic machines that operate actuators via hand-operated valves. One such means is shown in FIG.

Figure 2 is a system diagram of the motion reproducing device. In the figure, A is the first
What is shown in the figure are 4 same hydraulic cylinders, 1 is a hydraulic pressure source, and 2 is a tank. 3 is a manually operated valve that is interposed between the hydraulic power source 1 and the hydraulic cylinder A and controls the drive of the hydraulic cylinder;
A is a control lever for operating a manually operated valve. 4 is a hydraulic cylinder that can be used when the manual operation valve 3 is operated fully automatically, and 5 is a hydraulic cylinder 40IIJ that can be used in response to a control signal.
The servo valve 6 controls the A movement, and the hydraulic cylinder 4 acts as a resistance during manual operation using the operating lever 3a.
This is a switching valve that opens both end circuits of the hydraulic excavator 4 so as not to interfere with the movement of the hydraulic excavator 4. Reference numeral 7 denotes a potentiometer that moves with the movement of the spool of the hand wJ operating valve 3 and generates a voltage according to its position.

8 is the output signal of the potentiometer 7, that is, the manually operated valve 3
9 is a control device that controls the servo valve 5 to automatically operate the manually operated valve 3 based on the information stored in the storage device 8; 10 is a control device that is reproduced to the control device 9; This is a command device that gives driving commands.

Now, assume that a highly skilled worker (skilled worker) operates the operating lever 3a to drive the hydraulic cylinder A, thereby performing a predetermined work.

In this case, the work of the footman is carried out appropriately and accurately. During this work, the control device 9 sets the switching valve 6 to the illustrated position,
To ensure that there is no hindrance to the movement of the manual operation valve 3. When the manually operated valve 3 is operated, the movement of the spool is detected by the potentiometer 7 and stored in the storage device 8. In other words, appropriate and accurate actions for the predetermined task are stored in the storage device 8.

Next, in order to automatically reproduce this work, first, the command device 10 gives a reproduction operation command to the collar control device 9. As a result, the vehicle control device 9 switches the switching valve 6 to the right position, and then
The signal stored in the memory device 8 is output and inputted to the servo valve 5. The servo valve 5 operates according to this signal,
The hydraulic cylinder 4 is controlled to operate the manually operated valve 3. Once, the manual operation valve 3 was operated in the same way as when it was operated by the hot wire worker earlier, and the same flow rate of oil was supplied to the hydraulic cylinder A, and this was made in the same way! Ijru. In the end, the movements performed by a skilled worker are reproduced, and the work is performed properly and accurately.

However, such operations during regeneration are not necessarily performed under the same conditions as those performed by skilled workers; for example, there may be differences in the viscosity of the hydraulic oil due to temperature, etc.
For example, when the hydraulic cylinder A is an actuator that drives the front mechanism of a hydraulic excavator, the cutting conditions may differ, such as the quality of the excavated soil. And like this.

If the working conditions differ, accurate reproduction of the movement will not be possible.

The present invention has been made in consideration of the above-mentioned circumstances, and its purpose is to solve the above-mentioned problems, to enable manual operation, and to perform accurate operation. We provide a complete range of operating regeneration equipment for apricot working machines.

In order to achieve this object, the present invention stores the displacement value of the manually operated valve and also stores the load pressure of the actuator at that time when the manually operated valve is manually operated. The previously stored move 1 is based on the current load pressure and the current load pressure.
The present invention is characterized in that the displacement of the jJJ operation valve is corrected by performing a predetermined calculation, and the manually operated valve is driven and controlled based on the corrected displacement.

Hereinafter, the present invention will be explained based on the embodiment shown in FIG. 3. ◎ FIG. 3 is a system diagram of the motion necking device according to the embodiment of the present invention. In the figure, parts that are the same as those shown in FIG. 2 are given the same reference numerals and explanations will be omitted.

12 b is a hydraulic pressure detector that outputs the hydraulic pressure '4I:+IL of the two pipes connecting the manual operation valve 3 and the hydraulic cylinder A, and e, 13 which outputs an electric signal according to the detected hydraulic pressure.
is a differential amplifier which inputs the output No. 4N of the oil pressure detectors 12a and 12b and outputs the difference thereof. 14 is contact 14 A
.

14B, and is a changeover switch that is operated by a signal from a control device to be described later. 15 is a storage device that stores the pressure signal from the differential amplifier 13 when the changeover switch 14 is switched to the contact 14A 9111. 16 is the storage device 8.15 and the contact 14B of the changeover switch 14
is an arithmetic unit connected to the storage device 8, which calculates the displacement value of the manually operated valve 3 stored in the storage device 8 into a predetermined value based on the pressure signal stored in the storage device 16 and the pressure signal from the differential amplifier 13. Operation Kjt) Correct. This calculation will be described later. 17 is a contact 17A.

17B and 17C, and is a changeover switch operated by a signal from a control device IL2o, which will be described later. 18 is a differential amplifier that amplifies the difference between the displacement value stored in the storage device fk8 and the displacement signal of the hotensimeter i via the contact 17B of the changeover switch 17. Also, 19 is a computing unit 16
The corrected displacement value output from the selector switch 17
This is a differential amplifier that amplifies the difference between the displacement signal of the potentiometer and the potentiometer via the contact 17C.

In addition, a control device A controls the changeover switches 14 and 17 and interlocks the servo valve 5 based on signals from the differential amplifiers 18 and 19.

Next, the operation of this embodiment will be explained. First, manually operated valve 3
The following describes the operation when manually operating the hydraulic cylinder A to drive the hydraulic cylinder A and storing this information.

The control device 2L) outputs a signal to the switching valve 6 to switch it to the left position as shown, so that the manually operated valve 3 can be operated without resistance f)K. When the control device is busy, it outputs every 4th issue to the changeover switch 14.17, and the changeover switch 14''
! is switched to contact 14A, and changeover switch 17 is switched to contact 17A. In this state, when the manually operated valve 3 is operated, the potentiometer 7 outputs a displacement signal corresponding to the operation. This displacement signal is the changeover switch 1
7 is stored in the storage device 8 via the contact 17A. In other words, the movement of the 5-manual edge work 3 will be memorized. on the other hand,
By operating the hand operated valve 3, pressure (load pressure) is generated in the pipe line to the hydraulic cylinder. The oil pressure detectors 12a and 12b detect this pressure and output No. 48 corresponding to the pressure. This pressure signal is generated by the difference wJ amplifier 13 and the changeover switch 14.
is stored in the recording device 15 via the contact point 14A.

That is, the load pressure generated when the 5-manual edge valve 3 is operated is:
It will be stored in correspondence with the activation of the manually operated valve 3.

As described above, the operation of the working machine, for example, due to the negative operation of the ripening forest, is stored, and at the same time, the load pressure associated with the operation is also stored.

Next, the regeneration operation of the working machine will be described, but prior to this, the calculations of the calculator 16 will be explained with reference to FIG. 4.

FIG. 4 is a discharge current characteristic diagram of the manual operation 5f3 with respect to the displacement of the hydraulic cylinder 4 for each load pressure. In the figure,
The horizontal axis represents the amount of left and right displacement of the hydraulic cylinder 4 about a certain reference position, and the vertical axis represents the discharge flow rate of the manually operated valve 3. A certain displacement fi a of the hydraulic cylinder 4
At n, the discharge flow rate of the manually operated valve 3 becomes the value bn, but below the displacement amount an, the discharge flow rate changes depending on the load output. In the figure, the negative soil force PH, Pi, Pj
, Pk, and Pn, the characteristics of the discharge flow are inconsistent.

In addition, each load pressure mentioned above is P, (f'i (P j
(Pk (Pn).

Now, suppose that the manual operation valve 3 is manually operated and this is stored in the memory device 8.
Assuming that the displacement amount stored in the storage device 15 is Pj, and the load pressure at this time (stored in the storage device 15) is Pj, the storage points by the storage device ff18 and the storage device 15 are as shown in the figure. It is represented by a point Cj, and the discharge flow rate at that time is a value "b". Next, when performing regeneration operation, a case will be considered in which the load pressure is a pressure Pi different from the load pressure Pj in the case where the load pressure is stored for some reason. In this case, if the hydraulic cylinder 4 is similarly displaced based on the displacement amount aj stored in the storage device 8, the point Cj will not be obtained but will be a point Ci above the pressure Pi, so that the discharge R of the manually operated valve 3,
The flow rate becomes the value bi, which does not match the flow rate bj to be discharged.

As a result, the operation of the hydraulic cylinder 4 during regeneration operation, and therefore the operation of the working machine, differs from the operation during storage.

Accurate motion reproduction will no longer be possible. So 1
In this embodiment, the displacement 1taj is corrected by performing a predetermined calculation in the calculator 16 so that the discharge amount during regeneration operation becomes the same as the discharge amount during storage.

The above calculation will be explained below. As for point Cj, the following empirical formula can be obtained.

Regarding the point CiK, the following empirical formula can be obtained.

However, θ, , θn are the angles formed between the perpendicular to the displacement an and the straight line of the pressures P, , P, respectively, and the angles θ1 .
θn1 The pressures P, , Pn, and the displacement an are constants. Furthermore, ai is the displacement amount for obtaining the same discharge flow rate as the discharge flow rate bj at the displacement amount aj at the load pressure 1'i.

From both of the above equations, the displacement amount a1 can be calculated as follows.

The displacement amount a1 obtained from the above formula is the load pressure P at the time of storage.
If the displacement position aI at j is the displacement amount corrected according to the load pressure ゛Pi during regeneration, then by this displacement amount, even if the load pressure changes during regeneration, the same discharge amount as at the time of storage can be obtained. becomes possible.

Now, the regeneration operation of this embodiment shown in FIG. 3 will be explained. First, the operator uses the command device 10 to output a regeneration operation command to the control device side.

In response, the control device 20 outputs a signal to the cutoff valve 6 to switch it to the right position, shutting off the hydraulic cylinder 4 and the tank 2, and also outputs a signal to the changeover switch 14, 17 to switch it to the right position. Switch the contacts to contacts 14B and 17B, respectively.

In this state, the control device outputs the displacement (Kaj) stored in the storage device 8 via the differential amplifier 18 and drives the servo valve 5 accordingly. 4, the manually operated valve 3 is driven, and the potentiometer 7 outputs a displacement signal according to the movement of the manually operated valve 3. From then on, the displacement signal is outputted from the potentiometer 7 so that the difference with the displacement value aj in the differential amplifier 18 becomes 0. Execution of feed control is started. On the other hand, when the manually operated valve 3 is driven, an output is generated in the public path to the hydraulic cylinder, and this pressure is detected by the hydraulic pressure detectors 12a and 12b. This pressure signal is referred to as P.) The control device side stores this pressure signal Pi, the displacement value aj stored in the storage device 8, and the storage #
Pressure value Pj″Ir at the time of storage stored in C location 15
- It is input to the arithmetic unit 16, and the arithmetic unit 16 calculates the corrected displacement value ai according to the arithmetic expression. Next, the control device 4 outputs a signal to the changeover switch 17, which switches it to the contact 17B. Therefore, left-handed amplifier 1
9 is the corrected displacement position a1 output from the arithmetic unit 16.
and the displacement amount of the current hand wJIjk sakushu 3 are input,
The difference between the two is output as a control '@device IL21)K. The control device drives the servo valve 5 based on this difference signal, and thereafter feedback control is continued using the corrected displacement value.

In this way, in this embodiment, the load pressure is stored together with the displacement of the hand-operated valve at the time of memorization using the switching switch, and the switching switch is switched at the time of operation regeneration. Input the jL loading soil pressure at that time into the container.

The stored displacement was corrected based on this load pressure, the previous 8dfid displacement, and the load pressure, and the corrected seismic weight was used to perform feedback control at the time of tsunami, so the 1wJ production was reproduced. In addition to being able to perform manual operations in the device, the same discharge flow rate as at the time of storage can be obtained by the corrected displacement amount during operation inspection, and accurate operation reproduction can be performed.

As described above, in the present invention, when storing the displacement value of the manually operated valve, the load pressure of the actuator is also stored, and when reproducing the operation, the load pressure at that time, the stored load pressure, and the stored load pressure are stored. Based on the displacement value, we corrected the displacement and value mentioned above, and drove and controlled the hand-made operation valve based on this corrected displacement value. In addition, an accurate motion reproducing device can be provided.

[Brief explanation of the drawing]

FIG. 1 is a system diagram of a conventional motion regeneration device, FIG. 2 is a system diagram of a motion regeneration device under consideration, FIG. 3 is a thread diagram of a motion regeneration device according to an embodiment of the present invention; It is a discharge flow characteristic diagram of a hand-made operation valve at various load pressures. 3...Manual operation valve, 4...Hydraulic cylinder, 5...Servo valve, 6...Switching valve,
7...Potentiometer, 8,15...
・Storage device, 10... Command device, 12a, 12
b... Oil pressure detector, 13.18.19...
・・Difference 1JJJ increase Figure 1 Figure 2

Claims (1)

[Claims] In a working machine equipped with an actuator driven by hydraulic pressure and a manually operated valve for controlling the drive of the actuator, a pressure detection device detects a load pressure of the actuator, and a pressure detected by the pressure detection device is provided. a first storage means for storing a value, and a displacement i1 of the manually operated valve;
and a value stored in the second storage means based on the value detected by the pressure detection device during the operation and the value stored in the first storage means. An operation regeneration device for a working machine characterized by comprising: a computation means for correcting the operation, and a drive control means for driving the manually operated valve based on the value obtained by the computation means.