JPS6148005A - Reproduction device - Google Patents

Abstract

PURPOSE:To perform automatic reproduction action with high accuracy by calculating the flow rate from the position of spool of a manual valve for controlling an actuator moving the movable part spool and the pressure at an I/O port, storing preliminarily the flow rate as an objective value and reading the flow rate at the reproduction. CONSTITUTION:The manual lever 15 of a manual valve 13 is operated to supply the hydraulic pressure of a hydraulic pump 8 to the corresponding cylinders 10- 12 to rotate the cylinder to the aimed amount of work. The delivery pressure of the pump 8 in the bottom side chamber of cylinders 10-12, the pressure of rod side chamber and the pressure of returned oil to a tank 23 are detected by means of each pressure detector 15-18 and the position of spool of a manual valve 13 is detected by a positioner 20 via the rod of a cylinder 19 to be sent to a controller 26. The controller 26 calculates the flow rate per hour and the total flow for the total duration by the detected pressure values, the position of spool and flow rate and is stored in a memory 25 as an objective value. During the reproduction, the flow rate is controlled by electromagnetic valves 21, 22 to attain the flow rate to the objective value.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is a regeneration system that is installed in a hydraulic machine having a moving body such as a boom or an arm of a hydraulic excavator, and that automatically reproduces the motion of the moving body. Regarding equipment.

[Background of the invention]

FIG. 1 is an explanatory diagram showing the basic configuration of a conventional main device. In this figure, 1 is a manual controller that outputs an electric signal in response to the rotational movement of the operating lever 1a. 2 is a control device that transmits an electric signal output from the manual controller 1 to an electro-hydraulic valve 3, which drives the electro-hydraulic valve 3, and supplies a hydraulic source 3a to an actuator that drives a moving body (not shown), such as a hydraulic cylinder 4. Pressure oil from the hydraulic cylinder 4 is guided to drive the hydraulic cylinder 4. Further, the electric signal outputted from the manual controller 1 is stored in the storage device 5 via the control device 2 as the amount of operation of the operating lever 1a.

In order to perform the regeneration operation of the moving body described above, a regeneration command signal is output from a command device (not shown) to the control device 2, and the control device 2 reads out the operation amount stored in the storage device 5 in response to the regeneration command signal. , outputs a signal corresponding to this operation amount to the electrohydraulic valve 3. As a result, the electrohydraulic valve 3 is driven by the same amount as in the operation of the manual controller 1 described above.

As a result, the regeneration operation of the moving body (not shown) is automatically performed via the hydraulic cylinder 4.

However, in the conventional regeneration device that operates in this way, the hydraulic cylinder 4 is driven by a word that outputs a 3Kt signal from the control device 2, so it has been used in many fields. It cannot be applied to machines equipped with manually operated valves.

Note that if a failure occurs in the electrical system that drives the electro-hydraulic valve 3, it will not be possible to operate the hydraulic cylinder 4, that is, to operate the moving body (not shown). Further, if the external load applied to the hydraulic cylinder 4 fluctuates, accurate regeneration operation cannot be realized.

[Purpose of the invention]

The present invention has been made in view of the actual situation in the prior art, and its purpose is to provide a regeneration device that can be applied to a hydraulic machine equipped with a manually operated valve that controls an actuator that drives a moving body. It is about providing.

[Summary of the invention]

In order to achieve this object, the present invention provides a manually operated valve that controls the drive of an actuator that operates a moving body, a position detection means that detects the spool position of the manually operated valve, and an inlet/outlet port of the manually operated valve. pressure detection means for detecting the pressure of and a predetermined flow rate coefficient [control device that calculates the flow rate of pressure oil flowing through a manually operated valve and calculates the flow rate within a predetermined time based on this flow rate, and the flow rate calculated by this control device as the target flow rate. and a permitting means for allowing manual operation of the manually operated valve, and in response to a regeneration command signal output from the command device, the control device controls the flow rate until the flow rate matches the target flow rate stored in the storage device. , performs the above-mentioned calculation to determine the flow rate, and outputs a signal to the conversion device, and the transmission means is configured to transmit the displacement output of the conversion device as movement of the spool of the manually operated valve. The reproduction device of the invention will be explained based on the drawings. Second
The figure is an explanatory diagram showing one embodiment of the present invention, and this embodiment is applied to a hydraulic excavator.
9a is a traveling body; 9b is a rotating body disposed on the traveling body 9a; 9C is a boom rotatably attached to the rotating body 91;
d is an arm rotatably attached to the poom 9I, and 9e is a packet rotatably attached to the arm 9. A boom 9c, an arm 9d, and a bucket (96) constitute two working machines, that is, a moving body. Numeral 10 is a poom cylinder that drives the poom 9C, 11 is an arm cylinder that drives the arm 9d, and 12 is a packet cylinder that drives the packet 9e, and these constitute an actuator that drives the moving body.

13a, 13b, 13c are boom cylinders 10
, arm cylinder 11. Manually operated valves 14a, 14b, respectively controlling the drive of the packet cylinders 12;
14c are manually operated valves 13a, 13b,
13c is the operation lever, 8 is the manual operation valve 13a, 1
3b, 13c to the boom cylinder 10, arm cylinder 11, bar, kerato cylinder 121. It is a hydraulic pump that supplies pressurized oil. 15, 16a, 16b
) 16c, 17a, 17b, 18 are
A pressure detecting means, that is, a pressure detector, detects the pressure of the inlet/outlet boat of the manually operated valves 13a, 13b, 13c, of which the pressure detector 15 detects the discharge pressure of the hydraulic pump 8, and the pressure detector 18 detects the pressure of the boom cylinder 10. , arm cylinder 11. A pressure detector 16a detects the pressure of the return oil of the packet cylinder l2.

16b and 16C detect the pressure of the pipe line connected to the bottom chamber of the cylinders 10, 11, and 120, and the pressure detector 1
7a, 17b, and 17c detect the pressure in the conduit connected to the rod chamber, and output a signal to a control device 26 that performs logical judgment, calculation, etc. Note that 23 is a tank.

Moreover, 19a, 19b, 19c are hydraulic cylinders connected to the spools of manual operation valves 13a, 13b, 13c, respectively, and 20a, 20b, 20c.
are hydraulic cylinders 19a and 19b.

The position of the rod 19c, that is, the manually operated valve 13a.

A position detecting means for detecting the position of each of the spools 13b and 13c, for example, a position detector consisting of a potentiometer or the like. These position detectors 20a.

20b and 20c are connected to the control device 26.

21a.

22a is a solenoid valve that controls the drive of the hydraulic cylinder 19a;
21b and 22b are electromagnetic valves that control the drive of the hydraulic cylinder 19b, 21c and 22c are xi valves that control the drive of the hydraulic cylinder 19c, and these are connected to the control device 26. These solenoid valves 21a, 22a,
21b, 22b.

21C and 22C constitute a conversion device having an electrohydraulic displacement conversion function, and since they are connected to the tank 23, they also serve as a permitting means for permitting manual operation of the manual operation valves 13a, 13b, and 13c. Hydraulic cylinder 19a s 19b t 19c 'tl Solenoid valve 21a.

22a, 21b, 22b, 21c, 2
2c Displacement output by K is manually operated valves 13a, 13b
, 13c.

Note that the control device 26 includes a position detector 20a at 5, which will be described later.
, 20b, 20c and pressure detectors 15, 16a, 16b, 16C, 17a
, 17b, 17c.

The flow rate of the pressure oil flowing through the manually operated valves 13a, 13b, 13c is calculated based on the signal detected at 18 and a predetermined flow rate coefficient, and the flow rate within a predetermined time is calculated based on this flow rate. Reference numeral 25 denotes a storage device connected to the control device 26 IC, which stores the flow rate calculated by the control device 26 as a target flow rate. 24 is a command device connected to the control device 26 and outputs a reproduction command signal.

In the embodiment configured as described above, manual operation and regeneration operation are performed as follows.

First, a manual operation is performed to operate the operation levers 14a, 14b, 14c of the manually operated valves 13a, 13b, 13c individually or in combination.

Thereby, the pressure oil of the hydraulic pump 8 is supplied to one or more of the boom cylinder 10, the arm cylinder 11, and the packet cylinder 12 via the corresponding manually operated valves 13a, 13b, and 13c, and the pressure oil is supplied to the boom 9c and the arm 9d.
, bucket) 9e are rotated by a desired amount of work, either singly or in combination.

At this time, the discharge pressure of the pump 8 is detected by the pressure detector 15, and the pressure in the bottom side chambers of the cylinders 10, 11.12 is detected by the pressure detectors 16a, 16b, 16c,
The pressure in the rod side chamber is detected by pressure detectors 17a and 17b.

17c, the pressure of the return oil to the tank 23 is detected by the pressure detector 18, and the manually operated valve 13a.

x3b, 13c spool position is cylinder 19a
, 19b.

Position detectors 20a and 20b are inserted through the rod 19c.
, 20c and output to the control device 26, respectively.

In the control device 26, calculations are performed based on the following basic principle from the pressure detected as described above and the position of the spool.

That is, FIG. 3 shows the manually operated valves 13a (13b, 13
c) is a sectional view of the main part. This manually operated valve 13a (
13b, *13C) is composed of a sleeve 3o and a spool 31 movably mounted inside the sleeve 3o,
The discharge flow rate is determined by the size of the notch 32 in the spool 31.

is adjusted. Therefore, Bernoulli's energy equation (1) and continuity equation (2) hold before and after the notch 320.

AS Vl ”= A4 v2 =Q
(2) [However, 4 e At e, area] (i) *
From equation (2), FIG. 4 shows the manually operated valves 13a (13b, 13
FIG. 3 is an explanatory diagram showing the conceptual structure of c). The oil discharged from the hydraulic pump 8 is
13c) through the aperture A of the cylinder 10 (11,1
2) If the flow is to the bottom side, ■Manual operation valve 13a (
13b, 13c) through the throttle B of the cylinder 10.
When flowing to the rod side of (11, 12), ■Cylinder 1
0 (11, 12) I/C does not flow and tank 231/(may return.

What if oil flows in the direction shown in Figure 4?

When the oil flow rate is Ql-Qz, the following equations (4) and (5) hold true.

[However, C: flow coefficient, P, , P, , P4.
P, 1: Pressure] Therefore, the average flow velocity Q' of the flow velocity Q1 and the flow velocity Q is as follows. Similarly, the cylinder 10 (11
, 12) and returns to the tank 231C, the average flow velocity Q' is as follows.

Here, if the dimensional relationship near the notch 32 of the spool 31 is set as shown in FIG. 5, A1 is a function of f (x), that is, a function of the displacement (position) of the spool 31, It can be determined from the signal of the detector 20a (20b, 20c), and At is π((D/2)'-(
d/2)"), and the pressure P shown in FIG.
, are pressure detectors 17a (17b, 17c),
Pressure P.

can be detected by the pressure detector 18, respectively.

Therefore, one manual edge valve 13a (13b, 13C
) By measuring the flow rate coefficient C in advance and inputting it into the control device 26, the position detector 20a (20b, 20c) and the pressure detector 15 can be detected in the control device 26.
．． 16a (16b, 16c), 17a (17b,
Manually operated valve 13a (
13b, 13c) can be calculated.

In this way, in the control device 26, the flow rate Q' per hour (sampling time) is determined as shown in Table 1 below.

Table 1 Then, in this control device 26, the total flow rate per elapsed time is determined as shown in Table 2 below, and the contents of this second table are stored in the storage device 25 as a target flow rate.

Table 2 Also, when performing a regeneration operation, a regeneration command signal is output from the command device array to the control device 26, and in response to this regeneration command signal, the control device 26 is set to 1, for example, t (T>
Pressure detectors 15, 1 at intervals of 1 hour determined by
6a, 16b, 16c, 17a, 17
b, 17c.

18. From the position detectors 20a, 20b, 20c empty detection signal and flow coefficient C, the above (6),
Obtain the flow velocity qI (1-m) in the same manner as in equation (7), and then calculate Kq+Xt to obtain q1t+q, t+...+qI! 1t=J.

Then, from the allowable flow rate set in advance, for example, in the control device 26, the above J1, and the target flow rate TQI' stored in the storage device 25.

J + + R= T Ql'
Repeat the operations and calculations until (8) holds true, and do the same for the next target flow rate TQs' + 'rQ,' K to calculate qt.
'l + q, /1+...+qITl'l=J
, □, Jt + Jt + R= TQI' + TQt'
Repeat the calculation until (9) holds true. After that, similar calculations are repeated one after another, and the final target flow rate TQ,'
+TQt'+...+TQ, / Do the same thing.

J, +J, +...+J6+几= TQ1'+ T
The calculation can be repeated until αQ holds true for Qt'+...+R8.

During the calculations in equations (8), (9), and (10) described above, the pressure detectors 16a, 16b, 16c
117a.

17b, 17c, and position detectors 20a, 2
Solenoid valves 21a and 22a are provided in relation to the hydraulic cylinders 19a, 19b, and 19C corresponding to those of the hydraulic cylinders 19a, 20c whose pressure signals and position signals are output to the control device 26.

A signal is output from the control device 26 to 21b, 22b, 21c, and 22c, which causes the hydraulic cylinder 19a to be activated.

The corresponding one of the valves 19b and 19c is activated, and the manually operated valves 13a, 13b, 13c are activated accordingly.
is driven.

Pressure oil discharged from the hydraulic pump 8 is supplied to the manually operated valve 13a.
, 13b, 13c and the boom cylinder 10° arm cylinder 11. The corresponding boom 9c and arm 9d are supplied to the corresponding one of the packet cylinders 12.
, packet 9e is activated.

From such a control device 26, electromagnetic valves 21a and 22a.

Manually operated valves 13a, 13b, 1 according to signals output to 21b, 22b, 21c, 22c
The driving operation of 3c is performed until the equation (10) is satisfied, and at the point when the equation (10) is established, the control device M26 also operates the solenoid valves 21a, 22a.

The output of signals to 21b, 22b, 21c, and 22c is stopped, and one cycle of automatic regeneration operation is completed. Thereafter, if necessary, the same automatic regeneration operation is repeated using the command signal from the command device 240.

In the embodiment configured in this way, the manually operated valve 1
Manual operation of 3a, 13b, 13c is performed when the oil in the hydraulic cylinders 19a, 19b, 19c is activated by the solenoid valve 21.
a, 22a, 21bj22b, 21c, 2
2c to the tank 23, and the regeneration operation is performed by the control device 26 (electromagnetic valves 21a, 22a operated by the output signal).
, 21b, 22b, 21c, 22c via hydraulic cylinders 19a, 19b.

This can be done by driving 19c. Therefore, if the command device 24, the storage device 25, the control device 26,
Solenoid valve 21a @ 22a t 21b p 22b1
Even if a failure occurs in the electrical system including 21cr22c, the boom 9c, arm 9d, bucket) 9e can be operated by operating the operating levers 14a, 14b, 14C.
can be operated. Moreover, the pressure detector 15,
16a.

16b, 16c, 17a, 17b, 1
Manually operated valves 13a, 13b via 7c, 18
, The pressure of the entrance/exit boat of 13c is detected and pressure is applied to perform the regeneration operation according to this pressure value.
Even when external loads applied to the boom cylinder 10, arm cylinder 11, and packet cylinder 12 fluctuate, accurate regeneration operation can be achieved.

In the above embodiment, an example was given in which the present invention was applied to a hydraulic excavator, but the present invention is not limited thereto (the present invention can be applied to various hydraulic machines that require repetitive movements of arms, etc.).

〔Effect of the invention〕

Since the regeneration device of the present invention is configured as described above, it can be applied to various hydraulic machines equipped with manually operated valves for controlling actuators that drive moving objects such as booms and arms of hydraulic simipels. Therefore, it contributes to improving the workability of the hydraulic machine. In addition, even if there is a failure in the electrical system that automatically drives the manual edge valve, the moving object can be driven, thus ensuring work safety, and the actuator that drives the moving object Since it is possible to suppress the influence of fluctuations in the external load applied to the reproducing device, it is possible to automatically perform a regeneration operation with high precision.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram showing the basic configuration of a conventional playback device;
The figure is an explanatory diagram showing one embodiment of the reproducing device of the present invention, and FIGS. 3 to 5 are diagrams explaining the basic principle of calculation performed in the control device provided in the reproducing device shown in FIG. 2.
Figure 3 is an explanatory diagram illustrating the physical quantities placed in the notch of the manually operated valve, Figure 4 is an explanatory diagram showing the conceptual configuration of the manually operated valve, and Figure 5 is the dimensions set in the manually operated valve. It is an explanatory diagram showing a relationship. 9cm...Boom (mobile object), 9d...
Arm (moving body), 9e...Packet (moving body), 1o...Boom cylinder (actuator), ll...Arm cylinder (actuator), 12... ...Packet cylinder (actuator), 13a, 13b. 13c ---Manual operation valve, 15, 16a, 1
6b, 16c. 17a, 17b, 17c, 18-pressure detector (pressure detection means), 19a, 19b,
19c...Hydraulic cylinder (transmission means), 20a
, 20b, 2Qc...position detector (position detection means), 21a, 22a, 21b,
22b, 21c. 22c...Solenoid valve (conversion means, permissive means), 2
4...Command device, 25...Storage device,
26...Control device. Sai 2 tusk 3 fig.

Claims (1)

[Claims] 1. In a reproduction device that includes an actuator that drives a moving body and reproduces the operation of the moving body in response to a reproduction command signal, a manual operation valve that controls the drive of the actuator and a spool position of the manual operation valve are provided. a position detecting means for detecting, a pressure detecting means for detecting the pressure at the inlet/outlet port of the manually operated valve, a converting device having an electric/hydraulic displacement conversion function, and a transmission for transmitting the displacement output of the converting device to the manually operated valve. calculating the flow rate of the pressure oil flowing through the manually operated valve based on the signal detected by the position detecting means and the pressure detecting means and a predetermined flow rate coefficient, and calculating the flow rate within a predetermined time based on this flow rate. A control device that performs calculations, a storage device that stores the flow rate calculated by the control device as a target flow rate, and a permission device that allows manual operation of the manually operated valve, and includes Accordingly, the control device performs calculations to obtain the flow rate until it matches the target flow rate stored in the storage device, and outputs a signal to the conversion device, and the transmission means converts the displacement output of the conversion device. A regeneration device characterized in that the regeneration device transmits the information as a movement of a spool of the manually operated valve.