JPS61254495A - Remote controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a device for remotely controlling a crane, an aerial work vehicle, etc., and particularly relates to a safety circuit thereof.

<Prior Art> Conventionally, there have been crane remote control devices as shown in FIGS. 5 and 6 (Japanese Patent Laid-Open No. 17488/1988). In this system, the pressure fluid circuit shown in FIG. 5 is remotely controlled by an operation box 5o shown in FIG. 6 and a control device 60 read directly from the operation box 5o.

In FIG. 5, P is a pressure fluid source driven by an engine. 3.4.5.6 are electromagnetic directional control valves, the electromagnetic directional control valve 3 is connected to the actuator W for raising and lowering the hook of the crane, the electromagnetic directional control valve 4 is connected to the actuator X for extending and retracting the boom, and the electromagnetic directional control valve 5 is connected to the boom. The undulation actuator Y and the electromagnetic directional switching valve 6 are connected to the swing actuator Z, respectively, and supply and discharge pressure fluid to each actuator W, X, and Y%2. These electromagnetic directional valves 3
．． 4.5.6 has neutral positions 3a, 4a, 5a, 6a, left switching positions 31), 41), 5N), 5't) and right switching positions 30.40° 50.60, each left switching solenoids 3d and 4d.

5d, 6d are energized, each electromagnetic directional valve 3.4.5.6 is in the left switching position 3'b, 41), 5
b, 6b, and vice versa, the right switching solenoids 3e, 4
When e, 5e, 6e are energized, each solenoid directional valve 3.4.5.6 is in the right switching position 30.40.50,
It is in 60. In addition, the left and right switching solenoids 3C1, 3
When none of e, 4d, 4e, 5d, 5e, 6d, and 6e are energized, each electromagnetic directional control valve 3.
4.5.6 is in neutral position.

2 is an electromagnetic flow control valve, and electromagnetic directional control valve 3.4.5.6
control the flow rate of pressure fluid supplied to the This electromagnetic flow control valve 2 includes a flow rate detection section 2o, a fluid control section 21, and an electromagnetic valve section 22 that controls the vent pressure thereof, and this electromagnetic valve section 22 is equipped with a control solenoid. When either of the electromagnetic directional control valves 3.4.5.6 is switched to the left or right switching position, the unload passage 19 is blocked, and the control solenoid 23 is energized, the excitation force of this solenoid 23 is The pressure fluid in the passage 25 is throttled 27.28 in response to
, flows out to the two bridge passages via the electromagnetic valve part 22, and the vent pressure of the flow rate control part 21 increases, and in response to this rise in vent pressure, the flow rate control part 21 controls a part of the pressure fluid in the passage 25. Discharge is restricted to tank T via discharge passage 30.

That is, this flow rate control valve 2 has a control solenoid 23.
The pressure fluid in the passage 25 is detected by the flow rate detection unit 2 according to the excitation force of the
o to the bridge passage 29 and the supply passage 26.

24 is an engine accelerator control solenoid that controls the rotation speed of the engine En, and by adjusting the excitation force of this solenoid 24, the discharge flow rate from the pressure fluid source P can be controlled.

The operation box 50 has actuators W, X%Y for raising and lowering the hook, for extending and retracting the boom, for raising and lowering the boom, and for turning the boom.
, Z +C compatible t operation tz bar R3, R4, R5
, R6, and potentiometers 13, 14, 15, 16 in contact with these operating levers R3 to R6, respectively.

When the operating levers R3 to R6 are operated from neutral positions N3, R4, R5, and R6, the operating box 50 outputs a voltage corresponding to the amount of operation as an output signal to each of the output terminals 03.04, C5, 06 to the control device 60. Each potentiometer 13, 14, 15, 16 is connected at one end to the +E volt power supply terminal 10 and at the other end to ground.

The control device 6o outputs comparators C3d%C3e, C3f to the output terminal o3 of the operation box 5o, comparators C4d, C4e, C4f to the output terminal 04, and comparators c5d, C5e, C5f to the output terminal C5. Terminal 061C
Comparators C6d%, C6e and C6f are connected respectively. Then, the outputs of comparators C3d and C3f are connected to an AND circuit Al.
Then, the outputs of comparators C3e and C3f are sent to AND circuit A2, and the outputs of comparators C4d and 04f are sent to AND circuit A3.
The output of comparator 04e%C4f is sent to AND circuit A4, the output of comparator Csd, (5f is sent to AND circuit A5, the output of comparator 05e and 05f is sent to AND circuit A6,
6d, C6f outputs to AND circuit A7, comparator 06e
The outputs of %06f are connected to AND circuit holes 8, respectively. AND circuit A1% A2, A3, A4, A5, A6,
The output side of A7 and A8 is a switching tran shift,
T3d, T38%T4d, T4e, T
5(1,,Tse.

T6d% is connected to the base of T6e, and the collectors of these transistors are connected to the switching solenoid 3 (1, 3e.

4d, 4e, 5d, 5e, 6d, and 6e are connected. When these R4, R5, and R6 are operated in the direction of arrow U, and the operating amount of the circle exceeds the set amount, that is, the output terminal 03
．． When the output signals from 04, C5, and 06 become larger than the reference signal, the output signals are sent to the AND circuits A1, A3, and A.
5. Output to A7. Also comparator C3e%C4e%Cs
e, C6e operates each lever R3, R4, R5, R6 in the direction of the arrow, and when the amount of operation exceeds the set amount, that is, the output signal from output terminal 03.04.05.06 becomes the reference signal. When it becomes smaller, the output signal is output to AND circuits A2, A4, A6, and A8. Furthermore, the comparators C3f, C4f% C5f% C6f, regardless of whether each lever R3, R4, R5, R6 is operated in the U or D direction, until the operating amount exceeds the set amount, that is, the upper and lower two reference signals When the signal rlJ is between the two, the signal rlJ is output to each AND circuit. Comparators C3f, C4f, C5f
, The output side of C6f is an inverting circuit 3. Engineering 4, Engineering 5, Engineering 6
It is connected to the light emitting elements 53, 54, 55, and 56 via the AND circuit AIO.

These switching circuits SC3 are connected to output terminals 03.04.05 and C6 of the operation box 50, respectively.
, SC2, SC2, SC2 are levers R3, R4, R5,
The corresponding comparator outputs “1” regardless of the operating direction of R6.
'', a pulse signal having a width corresponding to the amount of operation of each lever R3, R4, R5, and R6 is output. The outputs of these switching circuits are input to the AND circuit A9 via the OR circuit ○R5. The output of the AND circuit AIO is also input to this AND circuit A9, and the output of the AND circuit Aci is output to the bases of the transistors T23 and 'I'24. The collectors of these transistors T23 and T24 are connected to a control solenoid 23 and an engine accelerator control solenoid 24.

When operating levers R3, R4, R5, and R6 are in neutral positions N3, R4, R5, and N6, respectively, output terminals 03 and C4
, 05, 06 are 1/2E. Here, the comparator C3d, C4d, C5A, C6d O reference signal is (3/2K + a), the comparator C3e, C4e
, C5e %C6e o reference signal wo (1/2E-a
), comparators C3f, C4f, C5f%C6flZ)
2-) 12) Set the reference signal to (''/2 to 1'b), (l/!
IID+'b).

However, 'b>a, (+1 to 1/2))<E, (1/2
E-1))>0.

In this state, when lever R6 is operated in the direction of arrow U, a signal corresponding to the amount of operation is output to output terminal 06 of operation box 50. The signal at this time is (1/2E-)-a
), the signal "l" is output from the comparator C6d to the AND circuit A7, and the output signal becomes (1/2E+1)
), the signal “l” from the comparator C6f is A
It is output to ND circuit A7. As a result, the AND circuit A7 outputs an output to the base of the transistor T6d, the switching solenoid 6d is energized, and the electromagnetic directional switching valve 6 is switched to the left switching position 6b. The output signal from the output terminal o6 is also output to the switching circuit Sc6, and this switching circuit SO6 outputs a pulse signal according to the amount of operation of the operating lever R6 after the electromagnetic directional switching valve 6 is switched to the left switching position. It is transmitted to the AND circuit A9 via the OR circuit OR5. AND circuit A9 includes comparators C3f, C4f%C5
AND circuit AIO that inputs the output of f%C6f to the input side
I'm inputting how it comes out.

AND circuit A9 is connected to output terminal 03. of operation box 5o.
All output signals output on 04.05.06 (1
/2E-1) ) to (1/2EE+1) ), the output of the OR circuit ○R5 is transmitted to the bases of transistors T23 and T24, and the control solenoid 23 and engine accelerator control solenoid 24 are energized. , a flow rate of pressure fluid is supplied to the actuator Z according to each excitation force, and the crane turns to the left at a speed corresponding to the flow rate. The same applies to other cases.

<Problems to be solved by the invention> In the above device, each actuator operates only when the signal from each potentiometer is in the range of the reference value (1/2E-1) to (1/2E+b). , the cable connecting the operation box 50 and the control device 60 is disconnected, and the output terminal o3.04. of the operation box 50 is disconnected.
Even if an output signal equivalent to that generated when each operating lever is operated to the maximum on 05.06, the crane can be prevented from running out of control, but each potentiometer 13.14.15.16
Although the levers R3, R4, R5, and R6 were not operated at all due to a decrease in insulation resistance due to poor contact between the cable terminals and poor contact with the brush part of the potentiometer 13% 14ζ15.16, 1/2E+a)
When the output is greater than or less than ('/2 E a ), there is a problem that the crane runs out of control. Due to loose installation of potentiometers 13, 14, 15, 16, etc., the brushes may deviate from the neutral position even though the operating levers R3, R4, R5, and R6 are in the neutral position.
There was also a problem that the crane would run out of control when an output of /2E+a) or more or (1/211E knee a) or less was generated.

Means for Solving the Problems The means for solving the above problems consists of an operating lever and a potentiometer that generates an output signal according to the operating direction and amount of operation from a predetermined position of the operating lever. has. and a control device that controls the outflow direction and flow rate of the pressure fluid flowing out from the pressure fluid circuit in accordance with an output signal from the potentiometer; It also includes a switch that is closed when operated from the predetermined position, and a circuit that deenergizes the control device when the switch is in the open state O and energizes the control device when the switch is in the closed state.

With such means, as long as the operating lever is in a given position, even if the potentiometer does not produce a corresponding output signal in a given position, the control device is deenergized and the pressure fluid circuit is closed. doesn't work.

Example of Implementation In this example, the pressure fluid circuit 100 shown in FIG.
It is remotely controlled by an operation box 101 shown in the figure and a control device 102 connected thereto.

In FIG. 2, P is a pressure fluid source, which is driven by the engine. 103.104.105.106 is an electromagnetic proportional directional flow control valve (hereinafter referred to as electromagnetic control valve),
The electromagnetic control valve 103 is connected to the actuator W for raising and lowering the hook of the crane, the electromagnetic control valve 104 is connected to the actuator X for extending and retracting the boom, the electromagnetic control valve 105 is connected to the actuator Y for raising and lowering the boom, and the electromagnetic control valve 106 is connected to the actuator 2 for swinging. , are connected to each other, and supply and discharge pressure fluid to each actuator W1X, Y, and Z. These electromagnetic control valves 103, 104, 105, 106 are in neutral position 103a
, 104a, 105a.

106a, left switching position 1031), 1041), 1
051), 1o6b and right switching position 1030.104G
, 105 (3, 106Q).These electromagnetic control valves 103, 104, 105, 106 have left control solenoids 103d, 104d, 105 (1, 10
When 6d is energized, left switching position 1031), 10
41), 1051).

1, o6b, and discharges pressure fluid to the actuators w, x, y, and z at a flow rate corresponding to the excitation force at that time. Similarly, right control solenoids 103e' and 104e11
When 05eS106e is excited, each electromagnetic control valve 10
3.104.105.106 is the right switching position 1030.
104 (located at 311050, 1060), which supplies pressure fluid to the actuators w, x, at a flow rate corresponding to the excitation force at that time.
When it is in the left switching position in y and z, it discharges in the opposite direction.

fA O, for left and right control'/L//id 103d, 1
03e1104 (1°104eS105d, 105e
, 106d1106e are not energized, each electromagnetic control valve 103, 104, 105, 106 is in a neutral position and does not discharge pressure fluid.

As shown in FIG. 1, the operation box 101 includes potentiometers 113 and 114 corresponding to actuators for raising and lowering the hook, extending and retracting the boom, raising and lowering the boom, and rotating the boom.
．． It has 115.116. These potentiometers 1
13, 114, 115, 116 are supported by a stand 118 and bearings 120 as shown in FIG.
．． The shaft 124 is rotatably supported by the shaft 122 . This shaft 124 has operating levers 126, 128.
130.132 are combined.

These operating levers 126.128.1301132 are
When in the neutral position as shown in FIG. 4, the potentiometers 113, 114, 115, 116 are coupled such that they are at midpoint positions N3, N4, N5, N6 as shown in FIG. A heart-shaped cam 134 is coupled to the shaft 124 such that its recess is located downward. In this recess,
Lever 13 of switch 136.138.140.142
6a, 138a, 140a, 142a are in contact with each other, and this switch 136, 138.140.142 is opened when the operating lever 126.128.130.132 is in the neutral position, but the operating lever 126.128
．． When the levers 130 and 132 are rotated clockwise or counterclockwise, the levers 136a, 138a, 1140a, and 142a are pushed down by the cam 134 that rotates accordingly, and are closed. axis 124
In addition to these, there are almost ■-shaped return plates 144 and 146.
is rotatably mounted. Two pins 148. which are protruded from the cam 134 are attached to the inner edge of the legs of the return plate 144.
Pins 152 and 154 protruding from the bearing 122 are in contact with the inner edges of the legs of the return plate 146.

A spring 156 is provided between the return plates 144 and 146.
is installed. Therefore, for example, the operating lever 126
．． 128.130, 132 counterclockwise from the neutral position, the potentiometers 113.114.1
15. The brush 116 moves, the cam 134 rotates,
The return plate 144 is also rotated counterclockwise by the pin 148 that rotates together with this. However, the return plate 146 is
Since it is fixed by 52.154, it does not rotate, and the spring 156 extends. Here, the operating lever 126.
When the rotation of 128.130.132 is stopped, the spring 156 is compressed, and the shaft 124 and the operating lever 126.12
8.130, 132, the return plate 144 rotates clockwise and the operating lever 126, 128, 130, 132 returns to the neutral position. Operation lever 126.128.130.13
The same holds true when rotating 2 clockwise from the neutral position.

Each potentiometer 113, 114, 115, 116 is connected at one end to a +E volt power terminal 156;
The other end is grounded. These potentiometers 113
．． 114.115.116 is the operation lever 126.12
When the 8.130.132 is in the neutral position, it produces an output signal of 1/2E volt.

The output signal from each potentiometer 113.114.115.116 is input to the controller 102 and provided to a signal discriminator 166.168.170.172 via a buffer amplifier 158.1δ0.162.164. The signal discriminators 166.168.170, 172 determine that the output signal of the potentiometer 113.114.115.116 is (
l/2E+a) or more, each operating lever 126.12
An output signal corresponding to the manipulated variable of 8.13o1132 is supplied to the pulse width modulator 174.176.178.180.

In addition, the signal discriminator 166.168.170.172 is
When the output signal of potentiometer 113, 114, 115, 116 is below (1/2E-a), each operating lever 1
An output signal corresponding to the manipulated variable of 26.128.130.132 is supplied to the pulse width modulator 182.184.186.188. These pulse width modulators 174.176.17
8.180.182.184.186.188 supplies a triangular wave from a triangular wave generator (not shown) at one input and each signal discriminator 166.168.17 at the other input.
It consists of a comparator that provides an output signal of 0.172. Therefore, the pulse width modulator 174.176.178
．． 18o1182.184.186.188 generates a pulse signal whose width corresponds to the magnitude of the output signal of signal discriminator 166.168.170.172.

These pulse width modulators 174.176.178.180
．． The output pulse of 182.184.186.188 is the power amplifier 190.192.194.196.198.2
Amplified by 00.202.204, 7L/noids 1o3d, 1o4d for control.

105d, 106d, 103e, 104e, 1
05e and 106e.

The input side of the power amplifier 190.192.194.196 is grounded via the emitter-collector conductive path of the transistor 206.208.2101212, and the input side of the power amplifier 198.200.202.204 is also grounded via the emitter-collector conductive path of the transistor 214. 216.218.220 emitter-collector conductive path to ground.

The bases of transistors 206, 214 are connected through a resistor, and the connection point is connected to the collector of transistor 222, which is connected through a resistor to power supply terminal 156. The emitter of this transistor 222 is grounded, and its base is connected to the power supply terminal 156 via a switch 136.

Similarly, the bases of transistors 208 and 216 are connected to the collector of transistor 224, which has its emitter and collector connected similarly to transistor 222. The base of transistor 2240 is also connected to power supply terminal 156 via switch 138. Additionally, the bases of transistors 210 and 218 also connect to transistor 22.
2, it is connected to the collector of a transistor 226 whose emitter and collector are connected, and this transistor 22
6 is connected to a power supply terminal 156 via a switch 140.

Further, the bases of the transistors 212 and 220 are also connected to the collector of a transistor 228 whose emitter and collector are connected in the same manner as the transistor 222, and the base of this transistor 228 is connected to the power supply terminal 156 via the switch 142.

In the device configured in this way, the operating lever 113.11
4.115.When 115 is in neutral position, switch 13
6.138.140.142 is open and transistor 222.224.226.228 is non-conducting. This causes the transistor 2o6.208.210.212.214.216.2 to be connected to the power supply terminal 156.
Current flows through the bases of 18.220, these transistors become conductive, and the power amplifier 190.192.19
Each input side of 4.196.198.200.202.204 is grounded. Therefore, operate /4-126.128
．． 13o.

Even though 132 is in the neutral position, the potentiometer
7' - Evening 113.114.115.116 Ka (1/
Even if an output signal of 2E+a) or more or (1/2E-a) or less is generated, the crane will not run out of control.

In this state, when the operating lever 113 is operated, for example, the switch 136 is closed. As a result, current flows from the power supply terminal 156 to the base of the transistor 222, making the transistor 222 conductive and causing the transistor 222 to conduct.
06.2140 Base is grounded and non-conducting.

At this time, the pulse signal generated by the pulse width modulator 174 or 182 is amplified by the power amplifier 190 or 198 depending on the operating direction and amount of the operating lever 113, and is supplied to the control lens 103d or 103e. This causes the actuator W to raise or lower the hook of the crane.

In addition to the above-mentioned embodiment, for example, in the conventional device shown in FIG.
Even if they are connected to the nodes d to T6d and T3e to T6e, they operate in the same way as in the above embodiment.

<Effects> As described above, according to the present invention, the switch is open when the operating lever is at a predetermined position, and as long as the switch is open, the control device is deenergized. Therefore, it is possible to prevent the control device from operating even though the operating lever is in a predetermined position. In particular, in this invention, since the switch is opened when the operating lever is at a predetermined position, malfunction will not occur even if the cable connecting the switch and the control device is disconnected. That is, it is conceivable to configure the switch so that it is closed when the operating lever is in a predetermined position, and to deenergize the control device at that time.
In such a configuration, if the cable connecting the switch and the control device is disconnected, the control device may be energized and malfunction even though the operating lever is in a predetermined position. However, in the present invention, as described above, even if the cable is disconnected, malfunction does not occur.

[Brief explanation of drawings]

Fig. 1 is a block diagram of an embodiment of a remote control device according to the present invention, Fig. 2 is a pressure fluid circuit diagram of the embodiment, and Fig. 3 is a sectional view showing the relationship between the operating lever and potentiometer of the embodiment. , FIG. 4 is a top view of the Akebono side of FIG. 3, FIG. 5 is a pressure fluid circuit diagram of a conventional remote control device, and FIG. 6 is a circuit diagram of a conventional remote control device. 100... Pressure fluid circuit, 103... Control device, 1
13.114.115.116... Potentiometer, 126.128.130.132... Operation lever,
136 to 142...switches, 206 to 228...
...Transistor (safety circuit). Patent Applicant: Japan Air Brake Co., Ltd. Agent Satoshi Shimizu Haka2ninzu21!1

Claims (1)

[Claims] (1) An operating lever, a potentiometer that generates an output signal according to the operating direction and amount from a predetermined position of the operating lever, and an outflow of pressure fluid from the pressure fluid circuit in response to the output signal from the potentiometer. a control device that controls direction and flow rate; a switch that is opened when the operating lever is at the predetermined position and closed when the operating lever is operated from the predetermined position;
a safety circuit configured to deenergize the controller when the switch is open and energize the controller when the switch is closed.