KR20210083162A - Actuator control apparatus - Google Patents

Abstract

An actuator control device according to one embodiment of the present invention comprises: a meter-out valve for discharging a working fluid from a first fluid pressure chamber of an actuator to a tank by a first pilot pressure or a second pilot pressure; a meter-in valve that outputs the working fluid from a working fluid source to a second fluid pressure chamber of the actuator by the first pilot pressure or the second pilot pressure; and a conversion mechanism that is converted to output one of the first pilot pressure and the second pilot pressure to the meter-out valve and the other to the meter-in valve based on at least one of the first pilot pressure and the second pilot pressure. The present invention can realize the actuator control device in a simple configuration.

Description

Actuator Control Unit {ACTUATOR CONTROL APPARATUS}

The present disclosure relates to an actuator control device for controlling the operation of an actuator.

The actuator driven by a working fluid is used in various machines, such as a construction machine. The actuator driven by the working fluid is, for example, a hydraulic cylinder such as a hydraulic cylinder. As a hydraulic cylinder provided in a construction machine, there are a boom cylinder for driving a boom, an arm cylinder for driving an arm, and a bucket cylinder for driving a bucket.

A conventional actuator control device for controlling the operation of an actuator has a control valve provided between the actuator, a working fluid source, and a tank. The control valve has a single axially movable spool. Meter-in/meter-out control is performed for adjusting the flow rate of the working fluid supplied to the hydraulic cylinder and the flow rate of the working fluid discharged from the hydraulic cylinder according to the position of the spool in the axial direction. A conventional actuator control device that performs meter-in/meter-out control by a control valve having a single spool is disclosed in, for example, Japanese Patent Laid-Open No. 2003-269411.

In order to properly perform meter-in/meter-out control with a single spool, it is necessary to provide a groove (also called a "throttling part") extending in the circumferential direction around the shaft at an appropriate position on the outer surface of the spool. . The position and size of the throttle in the spool are adjusted using test data obtained by actually operating an actuator to be controlled in a prototype of the spool. It is necessary to perform production of a trial product in multiple times normally.

As described above, the actuator control device for performing meter-in/meter-out control by a single spool has a problem that it is difficult to provide an appropriate throttle portion for the spool. Therefore, an actuator control device of an Independent Metering Valve (IMV) system that performs meter-in control and meter-out control by independently controlling the positions of a plurality of spools has been proposed. A conventional actuator control device of the IMV system is disclosed in Japanese Patent Laid-Open No. 2001-003905.

Japanese Patent Laid-Open No. 2003-269411 Japanese Patent Laid-Open No. 2001-003905

A conventional actuator control device employing an IMV includes two spools for performing meter-in control, two spools for performing meter-out control, and four electronic devices for independently controlling the positions of these four spools. A proportional valve is provided. That is, the conventional actuator control device of the IMV type has four spools and four electromagnetic proportional valves.

SUMMARY OF THE INVENTION It is an object of the present disclosure to alleviate or solve at least some of the above conventional problems. One of the specific objectives of the present disclosure is to realize an actuator control device that performs meter-in/meter-out control with a simpler configuration. Objects other than the above of the present disclosure are revealed through the entire description of the present specification.

An actuator control device according to an embodiment of the present invention comprises: a meter-out valve for discharging a working fluid from a first fluid pressure chamber of an actuator to a tank by a first pilot pressure or a second pilot pressure; a meter-in-valve that outputs the working fluid from the working fluid source to a second fluid pressure chamber of the actuator by the second pilot pressure, and based on at least one of the first pilot pressure and the second pilot pressure, the and a switching mechanism switched so that one of the first pilot pressure and the second pilot pressure is output to the meter-out valve and the other is output to the meter-in valve.

In one embodiment of the present invention, the switching mechanism is switched by movement of the meter-out valve.

In one embodiment of the present invention, the switching mechanism is switched to a first position for outputting the first pilot pressure to the meter-out valve or a second position for outputting the first pilot pressure to the meter-in valve It has a 1st selector valve, and the 2nd selector valve switched to the 3rd position which outputs the said 2nd pilot pressure to the said meter-in valve, or the 4th position which outputs the said 2nd pilot pressure to the said meter-out valve.

In one embodiment of the present invention, the switching mechanism switches the first selector valve to the first position and switches the first selector valve to the first position in response to receiving the first pilot pressure when the second pilot pressure is not supplied. 2 Switch the selector valve to the third position.

In one embodiment of the present invention, the switching mechanism switches the first selector valve to the second position and switches the first selector valve to the second position in response to receiving the second pilot pressure when the first pilot pressure is not supplied. 2 Switch the selector valve to the fourth position.

In one embodiment of the present invention, the meter-in valve outputs the working fluid to the actuator according to the first pilot pressure or the second pilot pressure.

In one embodiment of the present invention, the meter-out valve discharges the working fluid from the actuator according to the first pilot pressure or the second pilot pressure.

In one embodiment of the present invention, the meter-in valve is provided between the actuator and the first working fluid source and the second working fluid source.

In one embodiment of the present invention, the meter-in valve includes a position for outputting the working fluid from any one of the first working fluid source and the second working fluid source to the actuator, the first working fluid source, and It switches between the position of outputting the working fluid to the actuator from both sides of the other working fluid source.

ADVANTAGE OF THE INVENTION According to embodiment of this invention, the actuator control apparatus which performs meter-in control and meter-out control using a several spool can be implement|achieved with a simpler structure.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows typically the actuator control apparatus which concerns on one Embodiment of this invention.
FIG. 2A is a view for explaining an operation of contracting the actuator in the actuator control device of FIG. 1 . In FIG. 2A , the meter-out valve 6 communicates with the first fluid pressure chamber 8a of the actuator 8 .
FIG. 2B is a view for explaining an operation of contracting the actuator in the actuator control device of FIG. 1 . In FIG. 2B , the meter-out valve 6 communicates with the first fluid pressure chamber 8a of the actuator 8 , and the meter-in valve 5 communicates with the second fluid pressure chamber 8b of the actuator 8 . .
FIG. 3A is a view for explaining an operation of extending the actuator in the actuator control device of FIG. 1 . It is a figure which shows typically the actuator control apparatus of FIG. In FIG. 3A , the meter-out valve 6 communicates with the second fluid pressure chamber 8b of the actuator 8 .
FIG. 3B is a diagram for explaining an operation of extending the actuator in the actuator control device of FIG. 1 . In FIG. 3B , the meter-out valve 6 communicates with the second fluid pressure chamber 8b of the actuator 8 , and the meter-in valve 5 communicates with the first fluid pressure chamber 8a of the actuator 8 . .
4 is a diagram schematically showing an actuator control device according to another embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings suitably, various embodiment of this invention is described. In addition, the same reference code|symbol is attached|subjected to the component common in several drawings throughout the said several drawing. It should be noted that each drawing is not necessarily drawn to scale for convenience of description. In each figure, for convenience of description, some components may be abbreviate|omitted.

The present invention can be applied to an actuator control device for controlling the operation of a fluid pressure actuator divided into at least two fluid pressure chambers. With reference to FIG. 1, an actuator control apparatus according to an aspect of the present invention will be described.

1 : is a figure which shows typically the actuator control apparatus 1 which concerns on one Embodiment of this invention. The actuator control device 1 drives the member to be driven by actuating the actuator 8 . The member driven by the actuator 8 is, for example, a boom, an arm, a bucket of a construction machine, and a movable member in a construction machine other than these. The actuator control device 1 can be applied to various machines other than construction machines.

In the illustrated embodiment, the actuator control device 1 includes a working fluid source 2 that supplies a working fluid to the actuator 8 , and a tank 3 that stores the working fluid discharged from the actuator 8 , , a check valve 4 , a meter-in valve 5 , a meter-out valve 6 , a controller 10 , a switching mechanism 20 , a first electromagnetic proportional valve 31 , and a second electromagnetic A proportional valve 32 is provided.

The working fluid source 2 discharges the working fluid. The working fluid discharged from the working fluid source 2 is output to the actuator 8 via the meter-in valve 5 . The working fluid source 2 is, for example, a variable displacement pump capable of adjusting the amount of the discharged working fluid. A check valve 4 for maintaining a negative pressure is provided between the working fluid source 2 and the meter-in valve 5 .

The actuator 8 is, for example, a hydraulic actuator driven by a working fluid. The actuator 8 may be a hydraulic actuator driven by hydraulic oil. The actuator 8 may be a pneumatic actuator actuated by compressed air, and any hydraulic actuator actuated by a working fluid other than these. The actuator control device 1 may include a plurality of actuators.

The actuator 8 is partitioned into the 1st fluid pressure chamber 8a and the 2nd fluid pressure chamber 8b by the piston 8c provided in the hollow cylinder. The cylinder of the actuator 8 is comprised so that one of the long side direction may open and the other may close|occlude. A piston rod 8d is connected to the piston 8c. A part of the piston rod 8d protrudes to the outside of the cylinder. The tip of the piston rod 8d is connected to a movable member such as a boom, arm, or bucket. The actuator 8 may be equipped with the position sensor which detects the position of the piston 8c. This position sensor is, for example, a linear variable differential transformer (LVDT).

The controller 10 includes a processor for performing various arithmetic processing, a memory for storing various programs and various data, and a device interface connected to various sensors and other devices. The controller 10 can adjust the flow volume of the pilot pressure output from the electromagnetic proportional valves 31 and 32 by outputting a control pulse to the electromagnetic proportional valves 31 and 32. When the actuator control device 1 is mounted on a construction machine, the controller 10 receives a control signal related to the operation of the operation lever of the construction machine, and according to the control signal, the electromagnetic proportional valve 31 and the electromagnetic proportional The valve 32 can be controlled.

The first electromagnetic proportional valve 31 and the second electromagnetic proportional valve 32 are connected to a pilot pressure source (not shown). The first electromagnetic proportional valve 31 is connected to the switching mechanism 20 by the flow passage 13a, and the second electromagnetic proportional valve 32 is connected to the switching mechanism 20 by the flow passage 13d. The first electromagnetic proportional valve 31 has a solenoid coil, a drive rod driven by the solenoid coil to move in the axial direction, and a pilot spool to move in the axial direction by thrust received from the drive rod. A well-known electromagnetic proportional valve may be sufficient as the 1st electromagnetic proportional valve 31 itself and the 2nd electromagnetic proportional valve 32 itself. The applied current to the solenoid coil is determined according to a control pulse from the controller 10 . The first solenoid proportional valve 31 is provided with a flow path for communicating the pilot pressure source and the flow path 13a. The opening area of the flow passage changes depending on the position of the pilot spool in the axial direction. The first electromagnetic proportional valve 31 can output the pilot fluid from the pilot pressure source to the flow path 13a at a flow rate corresponding to an opening area that changes according to the position of the pilot spool in the axial direction. The second electromagnetic proportional valve 32 includes the same components as the first electromagnetic proportional valve 31 . The second electromagnetic proportional valve 32 can supply the pilot fluid from the pilot pressure source to the flow path 13d at a flow rate corresponding to an opening area that changes according to the position of the pilot spool in the axial direction. In this specification, the pilot fluid or pilot pressure output from the 1st electromagnetic proportional valve 31 is called a 1st pilot pressure, and the pilot fluid or pilot pressure output from the 2nd electromagnetic proportional valve 32 is a 2nd pilot pressure. It is sometimes called

A meter-in valve 5 is provided between the actuator 8 and the working fluid source 2 . The first fluid pressure chamber 8a of the actuator 8 is connected to the meter-in valve 5 by the first port P1, the flow path 11a, and the flow path 11b. The second fluid pressure chamber 8b of the actuator 8 is connected to the meter-in valve 5 by a port P2, a flow path 11d, and a flow path 11e. Moreover, the meter-in valve 5 is also connected with the switching mechanism 20 in order to receive supply of a pilot pressure. Specifically, the meter-in valve 5 is connected to the switching mechanism 20 by a flow passage 13b and a flow passage 13e. The meter-in valve 5 has at least one pilot pressure chamber. A pilot pressure is output to the at least one pilot pressure receiving chamber of the meter-in valve 5 from the first solenoid proportional valve 31 or the second solenoid proportional valve 32 according to the switching of the switching mechanism 20 .

The meter-in valve 5 has a spool accommodated in the interior space of the manifold. The spool of the meter-in valve 5 may be referred to as a meter-in valve spool. The meter-in valve 5 is formed by displacing the meter-in valve spool in the axial direction by the pilot pressure from the first electromagnetic proportional valve 31 or the second electromagnetic proportional valve 32, whereby the meter-in valve 5 and the meter-in valve 5 and the meter-in valve 5 are displaced in the axial direction. It is comprised so that the flow path which connects the actuator 8 can be switched. Specifically, the meter-in valve 5 outputs the working fluid from the working fluid source 2 to the first fluid pressure chamber 8a via the flow path 11b, the flow path 11a, and the first port P1. a first communication position 5X to be connected, a shut-off position 5Y for blocking the output of the working fluid to each of the fluid pressure chambers 8a and 8b, and the working fluid from the working fluid source 2 to a flow path 11e, 11d) and the second communication position 5Z outputted to the second fluid pressure chamber 8b via the second port P2. In the illustrated embodiment, the meter-in valve 5 is switched to the first communication position 5X by the pilot pressure from the first electromagnetic proportional valve 31 , and The pilot pressure switches to the second communication position 5Z.

The meter-in valve 5 is provided with a flow path 12a connected to the working fluid source 2 and a flow path connecting the flow path 11b or the flow path 11e. When the meter-in valve 5 is switched to the first communication position 5X, the flow path of the meter-in valve 5 is connected to the flow path 11b, and the working fluid source 2 enters the first fluid pressure chamber 8a. The flow path leading to is opened, and the working fluid is output to the first fluid pressure chamber 8a through this flow path. When the meter-in valve 5 is switched to the second communication position 5Z, the flow path of the meter-in valve 5 is connected to the flow passage 11e, and the working fluid source 2 enters the second fluid pressure chamber 8b. The flow path leading to is opened, and the working fluid is output to the second fluid pressure chamber 8b through this flow path. The opening area of the flow path through which the working fluid in the meter-in valve 5 passes changes according to the axial position of the meter-in valve spool. The axial position of the meter-in valve spool is adjusted by the first pilot pressure or the second pilot pressure output to the pilot pressure chamber of the meter-in valve 5 . In this way, the meter-in valve 5 provides a working fluid from the working fluid source 2 at a flow rate corresponding to the opening area of the flow path in the meter-in valve 5 that changes according to the axial position of the meter-in valve spool. may be selectively output to the first fluid pressure chamber 8a or the second fluid pressure chamber 8b. The opening area of the flow passage through which the working fluid in the meter-in valve 5 passes is adjusted by adjusting the first pilot pressure or the second pilot pressure to displace the axial position of the meter-in valve spool. In this way, the meter-in valve 5 can output the working fluid to the actuator 8 at a flow rate corresponding to the first pilot pressure or the second pilot pressure.

A meter-out valve 6 is provided between the actuator 8 and the tank 3 . The first fluid pressure chamber 8a of the actuator 8 is connected to the meter-out valve 6 by the first port P1, the flow path 11a, and the flow path 11c. The second fluid pressure chamber 8b of the actuator 8 is connected to the meter-out valve 6 by the second port P2, the flow path 11d, and the flow path 11f. Moreover, the meter-out valve 6 is also connected with the switching mechanism 20 in order to receive supply of a pilot pressure. Specifically, the meter-out valve 6 is connected to the switching mechanism 20 by a flow passage 13c and a flow passage 13f. The meter-out valve 6 has at least one pilot pressure chamber. A pilot pressure is output from the first solenoid proportional valve 31 or the second solenoid proportional valve 32 to the at least one pilot pressure receiving chamber of the meter-out valve 6 in accordance with the switching of the switching mechanism 20 .

The meter-out valve 6 has a spool accommodated in the internal space of the manifold, similarly to the meter-in valve 5 . The spool of the meter-out valve 6 may be referred to as a meter-out valve spool. The meter-out valve 6 is formed by displacing the meter-out valve spool in the axial direction by the pilot pressure from the first electromagnetic proportional valve 31 or the second electromagnetic proportional valve 32, whereby the meter-out valve 6 and the meter-out valve 6 and the meter-out valve 6 are displaced in the axial direction. It is comprised so that the flow path which connects the actuator 8 can be switched. Specifically, the meter-out valve 6 sends the working fluid of the first fluid pressure chamber 8a to the tank 3 through the first port P1, the flow path 11a, the flow path 11c, and the flow path 12b. A first discharge position 6X for discharging to the, a shut-off position 6Y for blocking discharge of the working fluid from each of the fluid pressure chambers 8a, 8b, and a second port ( P2), the flow path 11d, the flow path 11f, and the flow path 12b are switched to any of the second discharge positions 6Z for discharging to the tank 3 . In the illustrated embodiment, the meter-out valve 6 is switched to the first discharge position 6X by pilot pressure from the first electromagnetic proportional valve 31 , and is discharged from the second electromagnetic proportional valve 32 . The pilot pressure switches to the second discharge position 6Z.

The meter-out valve 6 is provided with a flow path 12b connected to the tank 3 and a flow path connecting the flow path 11c or 11f. When the meter-out valve 6 is switched to the first discharge position 6X, the flow path of the meter-out valve 6 is connected to the flow path 11c and leads from the first fluid pressure chamber 8a to the tank 3 . The flow path is opened, and the working fluid is discharged from the first fluid pressure chamber 8a through this flow path. When the meter-out valve 6 is switched to the second discharge position 6Z, the flow path of the meter-out valve 6 is connected to the flow path 11f and extends from the second fluid pressure chamber 8b to the tank 3 . The flow path is opened, and the working fluid is discharged from the second fluid pressure chamber 8b through this flow path. The opening area of the flow path through which the working fluid in this meter-out valve 6 passes changes according to the axial position of the meter-out valve spool. The axial position of the meter-out valve spool is adjusted by the first pilot pressure or the second pilot pressure output to the pilot pressure chamber of the meter-out valve 6 . In this way, the meter-out valve 6 provides the working fluid from the working fluid source 2 at a flow rate corresponding to the opening area of the flow path in the meter-out valve 6 that changes according to the axial position of the meter-out valve spool. can be selectively released. The opening area of the flow path through which the working fluid in the meter-out valve 6 passes is adjusted by adjusting a 1st pilot pressure or a 2nd pilot pressure, and displacing the axial position of the meter-out valve spool. In this way, the meter-out valve 6 can discharge the working fluid from the actuator 8 at a flow rate corresponding to the first pilot pressure or the second pilot pressure.

The switching mechanism 20 switches the flow path between the first electromagnetic proportional valve 31 and the second electromagnetic proportional valve 32 and the meter-in valve 5 and the meter-out valve 6, whereby the meter-in valve 5 is ) and the meter-out valve (6) to output the first pilot pressure from the first solenoid proportional valve (31), and to the other of the meter-in valve (5) and the meter-out valve (6) to the second solenoid proportional valve. and output the second pilot pressure from (32). Specifically, when the switching mechanism 20 outputs the first pilot pressure from the first solenoid proportional valve 31 to the meter-in valve 5 , the switching mechanism 20 outputs the second output from the second solenoid proportional valve 32 . The pilot pressure is output to the meter-out valve (6). Conversely, when the switching mechanism 20 outputs the first pilot pressure from the first solenoid proportional valve 31 to the meter-out valve 6 , the switching mechanism 20 outputs the second pilot pressure from the second solenoid proportional valve 32 . The pressure is output to the meter-in valve (5). The flow path is switched by the switching mechanism 20 during movement of the first pilot pressure, the second pilot pressure, and the meter-out valve 6 (position of the meter-out valve 6 ), as will be described in detail below. It is done based on at least one.

The switching mechanism 20 includes a first selector valve 21 and a second selector valve 22 . The first selector valve 21 is connected to the first electromagnetic proportional valve 31 by a flow passage 13a, to the meterin valve 5 by a flow passage 13b, and to a meter by a flow passage 13c. It is connected to the out valve (6). The 1st selector valve 21 is from the 1st position 21X which outputs the 1st pilot pressure from the 1st electromagnetic proportional valve 31 to the meter-out valve 6, and the 1st electromagnetic proportional valve 31 is switched to any of the second positions 21Y for outputting the first pilot pressure of the meter-in valve 5 to the valve 5 . A well-known selector valve may be sufficient as the 1st selector valve 21 itself and the 2nd selector valve 22 itself.

The second selector valve 22 is connected to the second solenoid proportional valve 32 by a flow passage 13d, to the meterin valve 5 by a flow passage 13e, and to a meter by a flow passage 13f. It is connected to the out valve (6). The 2nd selector valve 22 outputs the 2nd pilot pressure from the 2nd solenoid proportional valve 32 to the meter-in valve 5 from the 3rd position 22X, and the 2nd solenoid proportional valve 32 is switched to any of the fourth positions 22Y for outputting the second pilot pressure to the meter-out valve 6 .

The first selector valve 21 receives a first pilot pressure from the first electromagnetic proportional valve 31 when the first electromagnetic proportional valve 31 is excited while the second electromagnetic proportional valve 32 is not excited. received and switched to the first position 21X. When the second solenoid proportional valve 32 is not excited, the second pilot pressure is not output from the second solenoid proportional valve 32 to the switching mechanism 20 . That is, the 1st selector valve 21, when the 1st pilot pressure is output from the 1st electromagnetic proportional valve 31 while the 2nd pilot pressure is not output from the 2nd electromagnetic proportional valve 32, 1 is switched to position 21X. The first selector valve 21 has a push pin 21a connected to the meter-out valve 6 . When the meter-out valve 6 is switched to the second discharge position 6Z while the first pilot pressure is not output to the first selector valve 21, the push pin 21a is pressed inside. When the push pin 21a is press-fitted into the first selector valve 21 , the first selector valve 21 is switched to the second position 21Y. Even if the 2nd pilot pressure is output from the 2nd electromagnetic proportional valve 32 with respect to the switching mechanism 20 while the 1st pilot pressure is being output to the 1st selector valve 21, the 1st selector valve 21 will The state of the first position 21X is maintained, and the second selector valve 22 remains the state of the third position 22X. That is, by the first pilot pressure from the first electromagnetic proportional valve 31, the first selector valve 21 is locked at the first position 21X, and the second selector valve 22 is locked at the third position 22X. is locked

The second selector valve 22 receives a second pilot pressure from the second electromagnetic proportional valve 32 when the second electromagnetic proportional valve 32 is excited while the first electromagnetic proportional valve 31 is not excited. received and switched to the fourth position 22Y. When the first solenoid proportional valve 31 is not excited, the first pilot pressure is not output from the first solenoid proportional valve 31 to the switching mechanism 20 . That is, the 2nd selector valve 22, when the 2nd pilot pressure is output from the 2nd electromagnetic proportional valve 32 while the 1st pilot pressure is not output from the 1st electromagnetic proportional valve 31, 4 is switched to position 22Y. The second selector valve 22 has a push pin 22a connected to the meter-out valve 6 . The push pin 22a is connected to the second selector valve 22 when the meter-out valve 6 is switched to the first discharge position 6X while the second pilot pressure is not being output to the second selector valve 22 . pressed inside. When the push pin 22a is press-fitted into the second selector valve 22 , the second selector valve 22 is switched to the third position 22X. Even if the first pilot pressure is output from the first electromagnetic proportional valve 31 to the switching mechanism 20 while the second pilot pressure is being output to the second selector valve 22, the second selector valve 22 The state of the fourth position 22Y is maintained, and the first selector valve 21 remains the state of the second position 21Y. That is, by the second pilot pressure from the second electromagnetic proportional valve 32 , the second selector valve 22 is locked at the fourth position 22Y, and the first selector valve 21 is at the second position 21Y. is locked

Next, with further reference to Figs. 2A, 2B, 3A and 3B, the operation of the actuator control device 1 will be described. At the start of the operation, neither the first electromagnetic proportional valve 31 nor the second electromagnetic proportional valve 32 is excited, for this reason either the first electromagnetic proportional valve 31 or the second electromagnetic proportional valve 32 Also, it is assumed that the pilot pressure is not output. In this case, as shown in FIG. 1 , the meter-in valve 5 is in the shut-off position 5Y and the meter-out valve 6 is in the shut-off position 6Y. In addition, the 1st selector valve 21 and the 2nd selector valve 22 are not locked.

An operation for retracting the actuator 8 will be described with reference to FIGS. 2A and 2B . The controller 10 excites the first electromagnetic proportional valve 31 when the actuator 8 is contracted. Thereby, the 1st electromagnetic proportional valve 31 is valve-opened, and 1st pilot pressure is output from the 1st electromagnetic proportional valve 31 with respect to the 1st selector valve 21 of the switching mechanism 20. As shown in FIG. By this first pilot pressure, the first selector valve 21 is switched to the first position 21X.

When the first selector valve 21 is switched to the first position 21X, the first pilot pressure is output to the meter-out valve 6 . By this 1st pilot pressure, as shown in FIG. 2A, the meter-out valve 6 is switched to the 1st discharge position 6X. Thereby, the flow path from the 1st fluid pressure chamber 8a of the actuator 8 to the tank 3 by the flow path 11a, the flow path 11c, and the flow path 12b is opened. Further, when the meter-out valve 6 is switched to the first discharge position 6X, the push pin 22a is press-fitted into the second selector valve 22, whereby the second selector valve 22 is 3 is switched to position 22X.

Next, the controller 10 excites the second electromagnetic proportional valve 32 as it is in the state in which the first electromagnetic proportional valve 31 is excited, thereby opening the second electromagnetic proportional valve 32 . Since the second selector valve 22 is switched to the third position 22X, the second pilot pressure from the second electromagnetic proportional valve 32 is output to the meter-in valve 5 . By the 2nd pilot pressure from the 2nd electromagnetic proportional valve 32, as shown in FIG. 2B, the meter-in valve 5 is switched to the 2nd communication position 5Z. Thereby, the flow path from the working fluid source 2 to the 2nd fluid pressure chamber 8b of the actuator 8 by the flow path 12a, the flow path 11e, and the flow path 11d is opened.

In this way, since the working fluid is supplied to the second fluid pressure chamber 8b of the actuator 8 and the working fluid is discharged from the first fluid pressure chamber 8a, the actuator 8 can be contracted.

Next, an operation for extending the actuator 8 will be described with reference to FIGS. 3A and 3B . As shown in FIG. 2B , when the actuator 8 is extended when both the first electromagnetic proportional valve 31 and the second electromagnetic proportional valve 32 are energized, the controller 10 controls the first electromagnetic Excitation of the proportional valve 31 and the second electromagnetic proportional valve 32 is stopped, and the locks of the first selector valve 21 and the second selector valve 22 are released. The controller 10 then excites the second electromagnetic proportional valve 32 and opens the second electromagnetic proportional valve 32 . Thereby, the 2nd pilot pressure is output from the 2nd electromagnetic proportional valve 32 with respect to the 2nd selector valve 22 of the switching mechanism 20. As shown in FIG. By this second pilot pressure, the second selector valve 22 is switched to the fourth position 22Y.

When the second selector valve 22 is switched to the fourth position 22Y, the second pilot pressure is output to the meter-out valve 6 . By this 2nd pilot pressure, as shown in FIG. 3A, the meter-out valve 6 switches to the 2nd discharge position 6Z. Thereby, the flow path from the 2nd fluid pressure chamber 8b of the actuator 8 to the tank 3 by the flow path 11d, the flow path 11f, and the flow path 12b is opened. Further, when the meter-out valve 6 is switched to the second discharge position 6Z, the push pin 21a is press-fitted into the first selector valve 21, whereby the first selector valve 21 is 2 is switched to position 21Y.

Next, the controller 10 excites the first electromagnetic proportional valve 31 in the state in which the second electromagnetic proportional valve 32 is excited, and opens the first electromagnetic proportional valve 31 . Since the first selector valve 21 is switched to the second position 21Y, the first pilot pressure from the first electromagnetic proportional valve 31 is output to the meter-in valve 5 . By the 1st pilot pressure from the 1st electromagnetic proportional valve 31, as shown in FIG. 3B, the meter-in valve 5 is switched to the 1st communication position 5X. Thereby, the flow path from the working fluid source 2 to the 1st fluid pressure chamber 8a of the actuator 8 by the flow path 12a, the flow path 11b, and the flow path 11a is opened.

In this way, since the working fluid is supplied to the first fluid pressure chamber 8a of the actuator 8 and the working fluid is discharged from the second fluid pressure chamber 8b, the actuator 8 can be extended.

The moving speed of the piston 8c at the time of contraction and extension of the actuator 8 is the opening area of the working fluid flow path in the meter-in valve 5 and the opening area of the working fluid flow path within the meter-out valve 6 . controlled by area. As described above, these opening areas can be adjusted by the first pilot pressure and the second pilot pressure. In this way, by adjusting the opening area of the flow path of the working fluid in the meter-in valve 5 and the opening area of the flow path of the working fluid in the meter-out valve 6 by control of the first pilot pressure and the second pilot pressure, the actuator is Meter-in control that adjusts the flow rate of the working fluid output from the working fluid source 2 to the actuator 8 through the meter-in valve 5 during operation of (8) and the meter-in control valve (6) from the actuator (8) ), a meter-out control to adjust the flow rate of the working fluid discharged to the tank 3 is performed.

Next, with reference to FIG. 4, the actuator control apparatus 101 which concerns on another embodiment of this invention is demonstrated. The actuator control device 101 according to another embodiment of the present invention has two working fluid sources and the supply of the working fluid from the two working fluid sources is controlled by a meter-in valve 105 . It is different from the actuator control device (1). Among the components of the actuator control device 101 shown in FIG. 4, those identical to or similar to those of the actuator control device 1 shown in FIG. 1 are denoted by the same or similar reference numerals as those of FIG. Detailed description of the components will be omitted.

As shown, the actuator control device 101 is provided with a working fluid source 102 in addition to the working fluid source 2 . The working fluid source 102 is connected to the meter-in valve 105 by a flow path 112a. A check valve 104 for maintaining a negative pressure is provided in the flow path 112a.

A meter-in valve 105 is provided between the working fluid source 2 and the working fluid source 102 and the actuator 8 . The working fluid source 2 and the working fluid source 102 are arranged in parallel with respect to the meter-in valve 105 .

The meter-in valve 105 has a meter-in valve spool, and by displacing the meter-in valve spool by pilot pressure from the first electromagnetic proportional valve 31 or the second electromagnetic proportional valve 32, the meter-in valve ( It is configured to be able to switch the path of the working fluid connecting the 105 and the actuator 8 . Specifically, the meter-in valve 105 outputs the working fluid from the working fluid source 2 to the first fluid pressure chamber 8a via the flow path 11b, the flow path 11a, and the first port P1. a first communication position 105X, a shutoff position 105Y for blocking the output of the working fluid to each of the fluid pressure chambers 8a and 8b, and a working fluid from the working fluid source 2 and the working fluid source 102 . At least one is switched to any of the second communication position 105Z that outputs at least one to the second fluid pressure chamber 8b via the flow path 11e, the flow path 11d, and the second port P2. In the illustrated embodiment, the meter-in valve 105 is switched to the first communication position 105X by the first pilot pressure from the first electromagnetic proportional valve 31 , and the second electromagnetic proportional valve 32 It is switched to the second communication position 105Z by the second pilot pressure from . The second communication position 105Z is a second stage for outputting a working fluid of only the working fluid source 2 among the working fluid source 2 and the working fluid source 102 arranged in parallel to the second fluid pressure chamber 8b. The (單) communication position 105Z1 and the second double communication position 105Z2 for outputting the working fluid from both the working fluid source 2 and the working fluid source 102 to the second fluid pressure chamber 8b is divided into The meter-in valve 105 switches to the second single communication position 105Z1 when the second pilot pressure is smaller than the predetermined reference pressure, and switches to the second double communication position when the second pilot pressure is equal to or greater than the predetermined reference pressure. (105Z2) may be switched.

In the illustrated embodiment, the meter-in valve 105 is configured to output the working fluid from both the working fluid source 2 and the working fluid source 102 to the first fluid pressure chamber 8a. do. For example, the first communication position 105X outputs a working fluid of only the working fluid source 2 among the working fluid source 2 and the working fluid source 102 arranged in parallel to the first fluid pressure chamber 8a. It may be divided into a first single communication position where the working fluid is communicated, and a first double communication position in which the working fluid from both the working fluid source 2 and the working fluid source 102 is output to the first fluid pressure chamber 8a. The meter-in valve 105 switches to the first single communication position when the first pilot pressure is less than the predetermined reference pressure, and switches to the first double communication position when the first pilot pressure is equal to or greater than the predetermined reference pressure. do.

The actuator control device 101 operates substantially similarly to the actuator control device 1 . When the controller 10 switches the meter-in valve 105 to the second communication position 105Z2, the controller 10 excites the second solenoid proportional valve 32 so that the second pilot pressure becomes equal to or greater than a predetermined reference value.

Then, the effect which the said embodiment exhibits is demonstrated. The actuator control apparatuses 1 and 101 which concern on the said embodiment are the 2nd which the switching mechanism 20 outputs from the 1st pilot pressure output from the 1st electromagnetic proportional valve 31, and the 2nd electromagnetic proportional valve 32 The flow path between the actuator (8) and the meter-in valve (5, 105) and the meter-out valve (6) can be switched by selectively outputting the pilot pressure to the meter-in valve (5, 105) and meter-out valve (6). have. Thereby, according to the actuator control apparatus 1, the meter-in control and meter-out control of the actuator 8 are realizable by control of two pilot pressures of a 1st pilot pressure and a 2nd pilot pressure. More specifically, in the above embodiment, two spools (meter-in valve spool of meter-in valves 5 and 105 and meter-out valve spool of meter-out valve 6) and two electromagnetic pilot valves 31, 32), meter-in control and meter-out control of the actuator 8 can be realized. Therefore, according to the actuator control devices 1 and 101 according to the above embodiment, meter-in control and meter-out by four spools (two meter-in valve spools and two meter-out valve spools) and four electromagnetic proportional valves Compared with the actuator control apparatus of the conventional IMV system which performs control, meter-in control and meter-out control can be performed with a simple structure.

According to the said one Embodiment, the switching mechanism 20 can be implement|achieved by the 1st selector valve 21 and the 2nd selector valve 22. As shown in FIG. Both the 1st selector valve 21 and the 2nd selector valve 22 can be set as the 2-position valve which has a simple structure which switches between two positions. Therefore, according to the said embodiment, the switching mechanism 20 for an actuator control apparatus can be implement|achieved with a simple structure.

According to the said one Embodiment, when the 2nd pilot pressure is not output from the 2nd solenoid proportional valve 32 to the switching mechanism 20, the 1st electromagnetic proportional valve 31 is controlled to the switching mechanism 20. By outputting one pilot pressure, the first selector valve 21 is switched to the first position 21X, and the second selector valve 22 is switched to the third position 22X. Thereby, switching in the switching mechanism 20 can be performed through control with respect to the 1st electromagnetic proportional valve 31. As shown in FIG.

According to the said one Embodiment, when the 1st pilot pressure is not output from the 1st electromagnetic proportional valve 31 to the switching mechanism 20, the 2nd electromagnetic proportional valve 32 is controlled to the switching mechanism 20. By outputting the 2 pilot pressures, the first selector valve 21 is switched to the second position 21Y, and the second selector valve 22 is switched to the fourth position 22Y. Thereby, switching in the switching mechanism 20 can be performed through control with respect to the 2nd electromagnetic proportional valve 31. As shown in FIG.

According to the one embodiment, since the working fluid can be output to the actuator 8 at a flow rate according to the first pilot pressure or the second pilot pressure, the first electromagnetic proportional valve 31 and the second electromagnetic proportional valve 32 Meter-in control can be performed through control of the two solenoid proportional valves.

According to the one embodiment, since the working fluid can be discharged from the actuator 8 at a flow rate according to the first pilot pressure or the second pilot pressure, the first electromagnetic proportional valve 31 and the second electromagnetic proportional valve 32 Meter-out control can be performed through control of the two solenoid proportional valves.

According to the above embodiment, the working fluid from the two working fluid sources 2 , 102 can be used independently to drive the actuator 8 .

The dimensions, materials, and arrangements of each component described herein are not limited to those explicitly described in the embodiments, and each of these components has any dimension, material, and arrangement that can be included within the scope of the present invention. can be transformed to have In addition, components which are not explicitly demonstrated in this specification can also be added to the demonstrated embodiment, and a part of components demonstrated in each embodiment can also be abbreviate|omitted.

The meter-in valve (5), the meter-out valve (6), the first selector valve (21), the second selector valve (22), the first electromagnetic proportional valve (31) and the second electromagnetic proportional valve (32) are a single unit. It may be provided in a manifold (or a valve body), and may be disperse|distributed and provided in a some manifold. When these valves are provided dispersedly in a plurality of manifolds, the actuator control devices 1 and 101 are manufactured by assembling the plurality of manifolds.

1, 101: actuator control device
2, 102: working fluid source
3: Tank
4, 104: check valve
5, 105: meter-in valve
6: Meter-out valve
8: Actuator
8a: first fluid pressure chamber
8b: second fluid pressure chamber
10: controller
20: conversion mechanism
21: first selector valve
22: second selector valve
31: first electromagnetic proportional valve
32: second solenoid proportional valve

Claims (10)

a meter-out valve for discharging the working fluid from the first fluid pressure chamber of the actuator to the tank by the first pilot pressure or the second pilot pressure;
a meter-type valve that outputs the working fluid from a working fluid source to a second fluid pressure chamber of the actuator by the first pilot pressure or the second pilot pressure;
Based on at least one of the first pilot pressure and the second pilot pressure, one of the first pilot pressure and the second pilot pressure is output to the meter-out valve and the other is output to the meter-in valve. conversion mechanism
comprising, an actuator control device. According to claim 1,
The switching mechanism is switched by movement of the meter-out valve. 3. The method of claim 1 or 2,
The switching mechanism includes: a first selector valve that is switched to a first position for outputting the first pilot pressure to the meter-out valve or a second position for outputting the first pilot pressure to the meter-in valve; and a second selector valve switched to a third position for outputting a pilot pressure to the meter-in valve or a fourth position for outputting the second pilot pressure to the meter-out valve. 4. The method of claim 3,
The switching mechanism switches the first selector valve to the first position and moves the second selector valve to the third position in response to receiving the first pilot pressure when the second pilot pressure is not being supplied. Switching, actuator control device. 4. The method of claim 3,
The switching mechanism switches the first selector valve to the second position and moves the second selector valve to the fourth position in response to receiving the second pilot pressure when the first pilot pressure is not being supplied. Switching, actuator control device. 6. The method according to any one of claims 1 to 5,
The meter-in valve outputs the working fluid to the actuator according to the first pilot pressure or the second pilot pressure. 7. The method according to any one of claims 1 to 6,
and the meter-out valve discharges the working fluid from the actuator according to the first pilot pressure or the second pilot pressure. 8. The method according to any one of claims 1 to 7,
and the meter-in valve is provided between the actuator and a first working fluid source and a second working fluid source. 9. The method of claim 8,
The meter-in valve is configured to output the working fluid from either one of the first working fluid source and the second working fluid source to the actuator, and from both the first working fluid source and the second working fluid source. to switch between a position for outputting the working fluid to the actuator. a first electromagnetic proportional valve;
a second electromagnetic proportional valve;
The second pilot output from the second electromagnetic proportional valve is switched to the first discharge position for discharging the working fluid from the first fluid pressure chamber of the actuator to the tank by the first pilot pressure output from the first electromagnetic proportional valve a meter-out valve switched to a second discharge position for discharging the working fluid from the second fluid pressure chamber of the actuator to the tank by pressure;
By the first pilot pressure, the working fluid from the working fluid source is switched to the first communication position for supplying the first fluid pressure chamber of the actuator, and the working fluid from the working fluid source is supplied to the actuator by the second pilot pressure. 2 a meter-in valve that is switched to a second communication position that supplies the fluid pressure chamber;
A first selector valve switched to a first position for supplying the first pilot pressure to the meter-out valve or a second position for supplying the first pilot pressure to the meter-in valve and the second pilot pressure to the meter-in valve and a second selector valve that is switched to a third position for supplying the valve or a fourth position for supplying the second pilot pressure to the meter-out valve; a switching mechanism for switching from the first position to the second position or for switching the second selector valve from the fourth position to the third position
comprising, an actuator control device.

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