KR930009918B1 - Actuator auto pre-running system - Google Patents

Abstract

In a construction heavy-equipments like excavator etc., the automatic pre-running system comprises; (a) indicating means for automatically performing the pre-running operation; (b) control means for controlling an electronic proportional valve in compliance with the indication of the indicating means; (c) first memory means for memorizing a operating program of the control means; (d) second memory means for memorizing all sorts of data used to the control means; and (e) alarm means for informing an abnormality of each actuator by generating the alarm signals.

Description

Actuator automatic free running system

1 is a system configuration of an excavator to which the present invention is applied.

2 is a block diagram of the control device in FIG.

3 is a functional block diagram of a CPU in FIG.

4 is a control diagram for explaining stroke movement processing by the stroke movement processing portion in FIG.

5 is a schematic diagram schematically showing the configuration of the stroke and the magnetic sensor.

FIG. 6 is an explanatory diagram for explaining the error amount processing by the control / operation unit 31 in FIG.

7 is a flowchart for explaining a free running operation according to the present invention.

* Explanation of symbols for main parts of the drawings

1: prime mover 2: hydraulic pump

3: Control pump 4, 5: Operation lever

6 ~ 11: Control valve 12: Swash plate regulator

13, 14: electromagnetic proportional valve 17: swing motor

18: differential cylinder 19: boom cylinder

20: bucket cylinder 21: control device

22: operation switch 23: alarm device

41: stroke 45: magnetic sensor

43: permanent magnet R1 to R4: magnetic reductance element

[Industrial use]

The present invention relates to an actuator auto-running system that automatically pre-runs each actuator so that it can operate in a steady state.

[Traditional Technology and Problems]

In general, in heavy construction equipment such as excavators, the driver pre-drives each actuator prior to its operation to check whether the actuator is abnormal and the zero point of each sensor. The so-called free running that you set is necessary.

By the way, since the driver has to operate each actuator manually, it is cumbersome and takes a lot of time, especially when the driver does not check the abnormality of each actuator properly. There is a risk of such risks.

[Purpose of invention]

Accordingly, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an actuator auto free running system which enables a driver to execute free running of each actuator with a single button operation.

[Configuration of Invention]

The present invention for realizing the above object is an actuator consisting of a swing motor 17, a differential cylinder 18, a boom cylinder 19 and a bucket cylinder 20, and the oil value supplied to these actuators 17-20 In construction equipment equipped with a control valve (6-11) for controlling the control valves and electromagnetic proportional valves (13, 14) for controlling the control valves (6-11), a free for automatically executing the free running operation. Control means for executing the free running operation for the actuators 17 to 20 by controlling the electromagnetic proportional valves 13 and 14 in accordance with a command from the running instructing means 22 and the free running instructing means 22. (26), a first memory means 27 in which an operation program of the control means 26 is stored, a second memory means 28 in which various data required for the control means 26 are stored, When there is an error in each of the actuators 17 to 20, the error amount and the warning signal are generated. It is configured to include the warning means 23.

[Action]

According to the present invention having the above-described configuration, since the driver can execute free running with only one button operation, the driver's convenience is greatly improved.

EXAMPLE

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a system configuration of a construction equipment, for example, an excavator to which the present invention is applied. In FIG. 1, reference numeral 1 denotes a prime mover, and 2 denotes a control valve for oil from a non-illustrated oil tank. (8-11) is a hydraulic pump that is sent to each actuator, that is, the swing motor 17 and the differential cylinder 18, the boom cylinder 19 and the bucket cylinder 20, 3 is an electromagnetic proportional valve (13, A control pump for discharging the control oil to 14), 12 is a swash plate angle adjuster for adjusting the discharge flow rate of the hydraulic pump (2).

In addition, in FIG. 2, reference numerals 4 and 5 denote operating levers for operating by the driver to operate the respective actuators, and 22 denote operating switches used for auto-running each actuator, and 21 denotes the operating levers 4,. By operating the actuators 17 to 20 by controlling the electromagnetic proportional valves 13 and 14 according to the operation amount of 5), and when the operation switch 22 is operated, automatic free running is executed according to a predetermined program. The control device 23 is an alarm device that warns of an error when an error occurs during the control operation by the control device 21.

2 is a block diagram showing the internal structure of the control device 21. The control device 21 includes an input unit 24, an output unit 25, a CPU 26, a program memory 27, and a data memory. It is equipped with (28).

Here, the input unit 24 is composed of, for example, an A / D converter, and converts the analog signal according to the operation of the operation levers 4 and 5 into digital data and inputs the same to the CPU 26. After receiving the digital data and storing it in an internal memory (not shown), each actuator 17 outputs a control signal based on the data and the data stored in the data memory 28, for example, a gray code value. ~ 20).

On the other hand, when the operation switch 22 is operated, the CPU 26 executes the automatic free running operation according to the program stored in the program memory 27. The automatic free running operation will be described below.

3 is a functional block diagram showing the CPU 26 blocked according to its function. In FIG. 3, the control / operation unit 31 controls the operations of the stroke moving processor 32 and the swing turning processor 35. In addition, predetermined arithmetic and control processing are performed on the basis of the detection signals from the origin detecting unit 33, the stroke end detecting unit 34, and the turning angle detecting unit 36.

In addition, the stroke movement processor 32 controls each stroke of the differential cylinder 18, the boom cylinder 19, and the bucket cylinder 20 according to the control of the control / operation unit 31, as shown in FIG. Will be moved. That is, in FIG. 4, the internal stroke end is the stroke end point by the stroke moving processor 32, that is, the software stroke end point, and the mechanical stroke end is the actual stroke end point between the stroke and the cylinder. 32) gradually decreases the movement speed of the stroke 100ms before the internal stroke end point, and then moves the stroke at a lower speed (eg 5% of the maximum speed) after the internal stroke end point. It will mitigate the impact of the collision.

Next, the origin detecting unit 33 and the stroke end detecting unit 34 detect the stroke end and the origin and apply the detection signal to the control / operation unit 31. It demonstrates more concretely with reference to 5.

5 shows the respective strokes 41 of the cylinders 18 to 20 and the magnetic sensors 42 provided at predetermined positions of the cylinders 18 to 20 in order to detect the movement of the strokes 41. Here, the stroke 41 is coated with a magnetic material as shown, for example, a ruler of nonmagnetic material having a 0.5 mm interval is formed, and the magnetic sensor 42 includes a permanent magnet 43 and a magnetic ductance element R1 to R1. R4) is used to detect the movement and the movement amount of the stroke 41 by the magnetic flux change by the magnetic material and the nonmagnetic material. In the center portion of the stroke 41, the center point (origin point) can be detected by changing the concentration of the magnetic material so that the magnetic flux density generated therefrom is different from the other parts.

The stroke end detection unit 34 detects the movement of the stroke 41 based on the detection signal output from the magnetic sensor 42. At this time, the stroke 41 moves and stops, for example, for 2 seconds or more. In this case, the movement point of the stroke 41 is detected as the stroke end in the corresponding direction. In addition, when the center portion of the stroke 41 passes through the magnetic sensor 42 and the detection output is changed as described above, the origin detection unit 23 detects the point as the origin and returns to the control / operation unit 31. The detection output is sent.

On the other hand, the swing swing processing unit 35 processes the rotational drive of the swing motor 17 in FIG. 1, the swing angle detection unit 36 detects the swing angle of the swing motor 17, at this time The turning angle detection operation is performed on the basis of the detection signals of the light emitting element and the light receiving element provided in the swing motor reduction memory, for example. That is, for example, in the case of an absolute-encoded swing sensor, the gray code value corresponding to the turning angle is output from the sensor, and the turning angle detector 36 detects the gray code value. On the basis of the rotation angle is detected and applied to the control / operation unit 31.

The error and warning signal output section 37 outputs the error and warning signals to the alarm device 23 based on the calculation result by the control / operation section 31 and the data stored in the data memory 28. In addition, the control / operation unit 31 performs a predetermined control process based on the error signal from the error and warning signal output unit 37, and the error / warning signal with the control / operation unit 31. Error processing by the output unit 37 is shown in FIG.

FIG. 6A shows an error processing method during free running, and FIG. 6B shows a control processing method during auto work based on the error amount detected during the free running operation.

That is, during free running, when the error amount is more than ± 10%, the function is stopped and a warning and error amount are displayed, and ± 10% ~ ± 1mm (where "mm" is the unit of stroke length error). In the case of), the warning and error amount is displayed while the free running function is continued. In the case of ± 1mm ~ 0mm, the function continues. In the case of auto work, if the auto work is over ± 2 mm, the auto work is stopped and the warning and error amount is displayed (however, in this case, manual work is possible). Only the error amount is displayed. In case of ± 1mm ~ ± 0mm, auto operation is normally performed.

Hereinafter, the free running operation according to the present invention will be described.

7 shows a free running operation for each stroke. In the present invention, however, the free running process is performed in the order of the stroke of the boom cylinder 19, the stroke of the differential cylinder 18, and the stroke of the bucket cylinder 20. However, the operation is substantially the same. Only the boom cylinder 19 will be described in detail in its operation, and other details will be omitted.

As shown in Fig. 7A, when the operation switch 22 is turned on (ST1), first the stroke movement processing for the boom cylinder 19 is started to move the stroke of the boom cylinder 19 to one end. (ST2). That is, in the step ST2, the boom is operated in a lifting direction. When the stroke is not changed for more than 2 seconds, the position is detected as an end point and the operation is stopped. At this time, it is checked whether there is an error (ST3), and if there is an error, that is, if the error is higher than the allowable amount, the error is warned by the alarm device 23, the error amount is displayed, and the stroke movement processing is completed. do.

On the other hand, if there is no error in step ST3, that is, if the error is less than the allowable amount, the origin is checked as described in FIG. 5 while moving the stroke to the opposite end, that is, moving in the direction of lowering the boom cylinder (ST4). At this time, the error and warning signal output unit 37 compares the distance between the stroke end and the origin in this step ST4 with the data value stored in the data memory 28 to check for an error (ST4). If there is an error, as described above, an error warning and an error amount are displayed in step ST9, and the processing is terminated.

Subsequently, if an error is not detected in step ST5, the boom is moved to the center of the stroke (ST6). In this case, the error is checked as in step ST5 (ST7). If there is an error, an error warning is made in step ST9. And an error amount, the process ends if there is no error.

The above processing is carried out in the same manner for the differential and the bucket.

7B shows subroutines corresponding to the stroke movement processing steps ST2, ST4, and ST6 in FIG. 7A. That is, the control / operation unit 31 first determines whether the stroke is at the internal stroke end position on the basis of the detection signal from the stroke end detection unit 34 during the stroke movement process (ST11), and when it is at the internal stroke end position. As described in FIG. 4, when the stroke is moved at a speed corresponding to 5% of the maximum speed (ST16), and then it is determined that the movement is made to the mechanical stroke end position (ST17), that is, when the stroke stops for 2 seconds or more It is determined whether or not the length between the origin and the end is normal (ST18), and if an abnormality occurs, an error signal is generated. At this time, the determination in step ST18 is executed based on the data stored in the data memory 28 (see FIG. 2) as described above.

On the other hand, if it is determined in step ST11 that it is not an internal stroke end, the process proceeds to step ST12 to determine whether it is a mechanical stroke end. In the case of a mechanical stroke end position, the process proceeds to step ST18 as described above. It is determined whether the length between the end and the origin is normal, while the stroke is moved to the internal stroke end position if it is not a mechanical stroke end position, that is, if it is not an internal stroke end or a mechanical stroke end position ( ST13) The origin is checked on the basis of the detection signal from the origin detection unit 33 (ST14). If the origin is detected in step ST14, the process proceeds to step ST15 to check whether the distance between the end and the origin is normal. If the origin is not detected for more than a predetermined time in step ST14, the process returns to step ST11. It returns to and repeats the above process.

On the other hand, after completing the free running process for each stroke as described above, the free running process is executed for the turning process by the swing motor 10, that is, the control / operation unit 31 is the swing movement processor ( 35) and swing the swing by 45 ° to the right direction, and determine the operation time at this time based on the detection signal by the turning angle detector 36, and stop the operation when the swing time is for example 2.5 seconds or more. In addition, an alarm is generated and the swing motion is turned 90 ° to the left to determine whether the swing motion is normal.

Therefore, according to the above embodiment, it is possible to automatically check whether there is an abnormality for each operating element while executing free running with only one button operation.

[Effects of the Invention]

As described above, according to the present invention, the driver can execute free running with only one button operation, and the abnormality of each operating element is automatically checked during such free running operation, thus greatly improving the convenience of the driver. It can be improved.

Claims (5)

An actuator comprising a swing motor 17, a differential cylinder 18, a boom cylinder 19, and a bucket cylinder 20, and a control valve 6 ~ for controlling the oil value supplied to the actuators 17-20. 11) In the construction equipment with electromagnetic proportional valves 13 and 14 for controlling the control valves 6 to 11, free running instruction means 22 for automatically executing a free running operation, and Control means 26 and the control means 26 for controlling the electromagnetic proportional valves 13 and 14 to execute a free running operation for the actuators 17 to 20 in accordance with an instruction by the free running instructing means 22. The first memory means 27 in which the operation program of the < RTI ID = 0.0 > < / RTI > program is stored. If so, it comprises an alarm means 23 for generating the error amount and a warning signal Actuator automatic free running system that features. 2. The control means (26) according to claim 1, wherein the control means (26) includes stroke movement processing means (32) for moving the strokes of the actuators (17-20), and stroke end detecting means (34) for detecting the end of the stroke. , Origin detection means 33 for detecting the origin of the stroke, swing swing processing means 35 for swinging the swing by the swing motor 10, swing angle detection means 36 for detecting the swing angle of the swing. Control the processing operations of the stroke movement processing means 32 and the swing swing processing means 35, as well as the origin detecting means 33, the stroke end detecting means 34, and the swing angle detecting means 36. Control / computing means 31 for executing a predetermined calculation operation based on the detected data from the data, and the result of the calculation by the control / operation means 31 and the data stored in the second memory means 28; Error and warning outputting error and warning signals based on Actuator automatic free running system characterized in that it comprises a signal output means (27). 3. The stroke movement processing means (32) according to claim 2, wherein the stroke movement processing means (32) gradually decelerates the movement speed of the stroke after a predetermined range of the internal stroke end, and moves the stroke at a constant low speed from the internal stroke end to the mechanical stroke end. Actuator automatic free running system, characterized in that to mitigate the mechanical shock between the stroke and the cylinder to a minimum. The actuator auto free running system according to claim 1, wherein the strokes of the actuators (18-20) are coated with a magnetic material and a ruler of non-magnetic material is formed. 2. The actuator auto-running according to claim 1, characterized in that an absolute encoder type swing sensor is installed in the swing motor reduction memory unit which slows down and transmits the rotational speed of the swing motor 17. system.