WO1990010116A1 - Electronic control type hydraulic driving machine - Google Patents

Electronic control type hydraulic driving machine Download PDF

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Publication number
WO1990010116A1
WO1990010116A1 PCT/JP1990/000267 JP9000267W WO9010116A1 WO 1990010116 A1 WO1990010116 A1 WO 1990010116A1 JP 9000267 W JP9000267 W JP 9000267W WO 9010116 A1 WO9010116 A1 WO 9010116A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
lever
work
signal
electronically controlled
Prior art date
Application number
PCT/JP1990/000267
Other languages
French (fr)
Japanese (ja)
Inventor
Kiyoshi Note
Kentaro Nakamura
Koichi Yamashita
Shinji Maeda
Original Assignee
Kabushiki Kaisha Komatsu Seisakusho
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP4520289A external-priority patent/JPH02225727A/en
Priority claimed from JP4520189A external-priority patent/JPH02225726A/en
Priority claimed from JP4520389A external-priority patent/JPH02225728A/en
Application filed by Kabushiki Kaisha Komatsu Seisakusho filed Critical Kabushiki Kaisha Komatsu Seisakusho
Priority to KR1019900702339A priority Critical patent/KR920700334A/en
Publication of WO1990010116A1 publication Critical patent/WO1990010116A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/438—Memorising movements for repetition, e.g. play-back capability
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration

Definitions

  • the present invention relates to a work machine for performing excavation work and the like, and particularly to an electronically controlled hydraulic machine equipped with a work automation control device so that repetitive work can be performed automatically. Related to driving machinery.
  • a panel is used to select each of these various working modes in the conventional automatic vibration mode and the like.
  • Each of the switches b, c, and d provided in the file a was operated.
  • each of the vibration mode switching switch b, the vibration part selection switch c, and the vibration width selection switch d are used. ON and OFF, and the required items had to be selected over three or four items.
  • the electronically controlled hydraulic drive machine has a ⁇ vibration and teaching play-back function due to the work automation control device. In the automatic vibration / teaching play mode of the machine, when the working machine is performing the operation based on the vibration work or the teaching The operation lever stopped at the neutral position.
  • the present invention has been made in view of the circumstances described above, and its main purpose is to simplify the use of dedicated equipment and dedicated vehicles without the need for them.
  • An object of the present invention is to provide a work that can perform unattended work by remote control.
  • One of the objects of the present invention is not to switch the work mode by switching the switch, but to simply use the external storage device such as an IC card for each work mode.
  • Another object of the present invention which is to provide an electronically controlled hydraulically driven machine capable of selecting and setting a mode, is to perform a playback operation. At this time, the operation lever is moved for the same amount of operation as the operation amount at this time, and the operation lever is held by the operation lever overnight.
  • An object of the present invention is to provide an electronically controlled hydraulically driven machine that allows the user to feel the movement of the body.
  • a plurality of hydraulic actuating units for operating a work machine, and a plurality of hydraulic actuating units.
  • An electronically controlled hydraulic valve device for controlling the hydraulic oil to be supplied to the actuator, an electronic control device for sending a predetermined control signal to the hydraulic valve device, and an operation
  • An electric lever device that outputs the operation amount of the lever as an electric signal, and an operation signal from the electric lever device are stored, and the operation is performed according to a playback instruction.
  • an electronically controlled hydraulically driven machine comprising a work automation control device for outputting the stored operation signal to the electronic control device.
  • the electronically controlled hydraulic drive machine according to the first aspect, wherein the work automation control device is configured to achieve the second object. It further includes an external memory reader such as a connected IC card, and thereby outputs a signal based on a read signal from the external memory reader to the electronic control unit.
  • An electronically controlled hydraulically driven machine is provided which is characterized in that it is so configured.
  • the electronically controlled hydraulic drive machine comprises: In order to operate the operation lever for operating the operation lever of the device and the operation automation unit for controlling the operation lever, the work automation control device is used.
  • An electronically controlled hydraulically driven machine characterized by having a control connected to a device.
  • the electronically controlled hydraulic drive machine according to the first aspect, wherein the work automation control device is connected to the control device, and A radio / manual operation switching device to be connected to the lever device, a radio reception control device to be connected to the radio-conomer-dual operation switching device, And an electronic control device for radio control for wirelessly transmitting a radio control signal to the radio control device.
  • Type hydraulic drive machine is provided
  • unmanned operation can be easily performed without using dedicated equipment.
  • This unmanned operation can be performed by radio control, which can improve safety ⁇
  • the work mode can be easily selected and set by the external pathological device 8 such as an IC force. be able to .
  • the back-up operation is performed on an electronically controlled hydraulic drive machine equipped with an operation automation control device.
  • the operation lever of the electric operation lever device is changed to So for the same operation amount as when operating the work amount at the time, and the operation lever is The work equipment and body at this time You can feel the movement of the robot, and you can grasp the automatic work of repetitive work as real feeling 0
  • the figure is a schematic front view showing a panelless switch used for a conventional electronically controlled hydraulic drive machine.
  • FIGS. 2 to 5 are block diagrams showing different embodiments of the present invention.
  • FIG. 6 is a block diagram showing a work automation control device used in the specific example shown in FIG.
  • FIG. 1 is a block diagram showing a first specific example of the present invention, in which 1a and 1b are nose.
  • Hydraulic actuators 1 and 2 that operate the working parts of the work machine such as the excavator control the hydraulic oil supplied to each of these hydraulic actuators la and lb.
  • the hydraulic valve 2 is of an electronically controlled type that is operated by electronic control.
  • Reference numeral 3 denotes an electronic control unit that sends a predetermined control signal to the hydraulic valve 2.
  • Reference numeral 4 denotes an electric control device for converting the rotation angle of the control lever 5 into an electric signal.
  • the control lever 5 includes a pointing switch 6 and a push switch. A back switch 7 is provided.
  • Reference numeral 8 denotes a work automation control device.
  • the work automation control device 8 is controlled by the teaching switch 6 and the playback switch 7 described above.
  • the electric operation lever unit 4 for setting the teaching switch o to 0N stores the operation signals of the electric operation lever and the like, and plays back the data.
  • the switch 7 is set to 0 N
  • the stored lever operation signal is output to the electronic control unit 3.
  • the function of the work automation control device 8 is set to 0N0FF by an externally provided starting switch 9, and by setting this to 0FF, The lever operation signal of the electrically operated lever device 4 is directly transmitted to the electronic control device 3 so that the lever can be manually operated.
  • a skilled operator gets on the work machine and sets the starting switch 9 to 0 N, and sets the teaching switch 6 to 0 N and sets the electric switch to the electric type. Operate the operating lever 5 of the operating lever device 4 manually. As a result, an operation signal according to the operation angle of the operation lever 5 is sent to the electronic control device 3 via the work automation control device 8, and is transmitted to the control signal from the electronic control device 3.
  • the electronically controlled hydraulic valve 2 is actuated
  • the hydraulic work la and lb are actuated only by an amount corresponding to the operation angle of the operation lever 5 of the electric operation lever device 4 to perform a predetermined operation.
  • the operation amount of the operation lever at this time is stored in the work automation control device 8. In other words, the precise operation of the hydraulic actuator la and lb in a certain work is stored in the work automation control device 8.
  • the playback switch 7 is set to 0N.
  • the lever operation signal stored in the work automation control device 8 is output to the electronic control device 3, and the hydraulic actuating units la and lb are operated by the manual operation device. The same operation as above is performed.
  • FIG. 3 shows a second specific example of the present invention, in which a work automation control device 8 is connected to a radio control Z manual operation switching device 10 via an electric operation lever device. 4 and the radio reception control device 11 are connected, and the radio reception control device 11 is connected to the radio control device 11.
  • "13 is a radial operation type operation lever device, and the lever in this electric operation lever device 13 is one.
  • the operation signals are transmitted to the antenna box 12 by radio (wireless).
  • ⁇ 14 is an accessory such as a display and a buzzer.
  • 5 is a device for detecting the vehicle body condition such as the engine water temperature
  • the electric operation radiator device 13 for the radio operation is changed to the radio control device 13. A control operation is performed.
  • FIG. 4 the same reference numerals as those in FIGS. Their explanation is omitted
  • the electric motor 16 for operating the operation lever 5 of the electric operation lever device 4 is provided, and the operation lever 5 is provided for the electric motor 16 as well. 9 can be rotated.
  • the electric motor 16 is controlled by a motor control device 17.
  • the work automation control device 8 in a specific example outputs a lever operation signal stored in the device itself to the electronic control device 3 and the motor control device 17. Yes.
  • the automatic operation of the working machine by the electronically controlled hydraulic drive of the third specific example is almost the same as the operation of the first specific example, but the lever operation signal is electronically controlled from the work automation control device 8.
  • the lever operation signal from the work automation control device 8 is also output to the motor control device 17, whereby the electric signal is output in response to the output signal.
  • the operation lever 5 of the electric operation lever device 4 performs the same operation as in the above-mentioned teaching operation. Therefore, the operator on board at this time had the lever operated at this time because the operating lever 5 was lightly gripped. In this way, the operation of the work machine can be grasped as if one were actually doing it.
  • the electric motor 8 provided in the electric operation lever device 4 to operate the operation lever 5 may be an oil actuator.
  • FIGS. 5 and 6 Since the same reference numerals as those in FIGS. 2 to 4 have the same functions, their description will be omitted to avoid duplication.
  • reference numeral 18 denotes an external storage reading device, which reads the storage of an external storage device 19 such as an IC card and outputs a read signal.
  • Reference numeral 8 denotes a work automation controller, which is configured as shown in FIG. 6, and includes an AZD converter 20, an arithmetic unit 21, an A converter 22, and a RAM. 23 and the switching switch 14 have the same strength and are connected, _t BC ⁇ , the teaching signal from the formula lever device 4 and the external memory reading device 7, c ′. Each signal from the neural switch 24 is supplied to the arithmetic unit 11.
  • the work automation control device 8 outputs the stored data to the electronic control device 3 by the touching operation in accordance with the play / book instruction.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

This invention relates to an electronic control type hydraulic driving machine which does not require any exclusive equipment butpermits an unmanned operation through a remote control operation, can select and set easily each work mode by an external memory such as an IC card, and enables an operator to experience the operation of a vehicle or working machine by gripping an operation lever even during automatic operation. This machine includes an electronic control type hydraulic valve device (2) for making supply control of a pressure oil to hydraulic actuators (1a, 1b) for driving the working machine, an electronic controller (3) for the valve device, an electrical operation lever device (4) for outputting a lever operation signal and a work automation controller (8) for outputting an operation signal to the electronic controller. It may include further an external memory reader (18), a radio control reception controller (11) for the remote operation, a radio control/manual operation switching device (10), and the like.

Description

明 細 書  Specification
電子制御式油圧駆動機械  Electronically controlled hydraulic drive machine
発明 の技術分野  TECHNICAL FIELD OF THE INVENTION
本発明 は、 掘削作業等を行な う 作業機械に関 し 、 特に 繰返 し作業を 自 動的 に行な い得る よ う に、 作業自 動化制 御装置を搭載 し た電子制御式油圧駆動機械に関す る 。  The present invention relates to a work machine for performing excavation work and the like, and particularly to an electronically controlled hydraulic machine equipped with a work automation control device so that repetitive work can be performed automatically. Related to driving machinery.
発明の背景技術  BACKGROUND OF THE INVENTION
従来の作業 自 動化装置を搭載 し て し な いパ ワ ー シ ョ べ ル等の作業機械に お いて無人化運転を行な う た め に は、 専用設備、 専用車両を必要 と し て い た。  In order to perform unmanned operation on a work machine such as a power shovel that does not have a conventional work automation device, special equipment and a special vehicle are required. Was.
上記従来の作業機を無人化運転を行な う た め に はそ の 設備の規模、 費用 に お いて膨大な も の と な っ て し ま う 。  To perform unmanned operation of the above-mentioned conventional work machines, the scale and cost of the equipment would be enormous.
ま た、 電子制御式油圧駆動機械の 自 動化制御 に は種々 の モ ー ド力くあ る 。 そ し て こ の各種の作業モ ー ドの う ち 、 従来の 自動振動モ ー ド等に おい て、 こ れの各モー ドを選 択す る の に、 第 1 図 に示すよ う にパネ ル a に設け た各ス イ ッ チ b , c , d を操作す る よ う に な っ て い た。  Also, there are various modes for automatic control of electronically controlled hydraulically driven machines. As shown in Fig. 1, a panel is used to select each of these various working modes in the conventional automatic vibration mode and the like. Each of the switches b, c, and d provided in the file a was operated.
上記従来の 自 動振動モ ー ド に あ っ て は、 各モ ー ドを選 択す る の にパネ ノレ a の各ス ィ ッ チ b , c , d の繁雑な操 作を必要 と し てい た。  In the above-mentioned conventional automatic vibration mode, selecting each mode requires complicated operation of each switch b, c, d of the panel a. Was.
例え ば、 自 動振動を設定す る の に 、 振動モ ー ドの切換 ス ィ ッ チ b 、 振動部位の選定ス ィ ッ チ c 、 振動幅の選定 ス ィ ッ チ d の各ス ィ ッ チ を O N , O F F し て必要な項目 を 3 〜 4 項 目 に わ た っ て選定 し な ければな ら な か っ た。 さ ら に 、 電子制御式油圧駆動機械に あ っ て は作業 自 動 化制御装置 に よ り Θ 振勤、 テ ィ 一 チ ン グプ レ イ パ' ッ ク 機能を有 し てい る が、 こ の 自 動振動、 テ ィ ー チ ン グプ レ ィ ッ ク モ一 ド に お い て、 作業機が振動作業やテ ィ ー チ ン グに基づい た作動を行な つ て い る と き に おいて、 操作 レバ一が中立位置で停止 し た ま ま に な っ てい た。 For example, to set the automatic vibration, each of the vibration mode switching switch b, the vibration part selection switch c, and the vibration width selection switch d are used. ON and OFF, and the required items had to be selected over three or four items. In addition, the electronically controlled hydraulic drive machine has a 振 vibration and teaching play-back function due to the work automation control device. In the automatic vibration / teaching play mode of the machine, when the working machine is performing the operation based on the vibration work or the teaching The operation lever stopped at the neutral position.
こ の よ う な構成の た め、 こ れに搭乗 し て い る オペ レ ー 夕 は、 操作 レバ一を操作 し て各作業機及び車体を動作す る の に比較 し て、 作業機及び車体の動作を実感 と し て把 握で き な い と い う 問題があ つ た o  Due to such a configuration, the operating equipment on board the operating equipment and the vehicle body is compared to operating the operating lever to operate each work equipment and vehicle body. There was a problem that it was not possible to grasp the operation of
発明の概要  Summary of the Invention
本発明 は上記 し た事情に鑑みてな さ れた も のであ っ て そ の主 目 的 と す る と こ ろ は、 専用設備ゃ専用車両を必要 と す る こ と な く 、 簡易的 に無人作業を行な う こ と がで き かっ こ の無人作業を遠隔操作に よ り 行な う こ と がで き る よ う に し た作未 1¾を提供す る こ と に あ る 。  The present invention has been made in view of the circumstances described above, and its main purpose is to simplify the use of dedicated equipment and dedicated vehicles without the need for them. An object of the present invention is to provide a work that can perform unattended work by remote control.
本発明 の も 一つ の 目 的は、 ス ィ ツ チ の切換え に よ り 作業モ ー ドを切換え る のではな く 、 I C カ ー ド等の外部 記憶装置 に よ り 簡単に各作業モ ー ドを選択設定で き る よ う に し た電子制御式油圧駆動機械を提供す る こ と であ る 本発明 の さ ら に ち う 一つ の 目 的は、 プ レ イ バ ッ ク 作業 時 に、 こ の と き の作業量を操作す る の と 同様の操作量に わ た っ て操作 レ <一が動か さ れ、 ォペ レ 一 夕 は こ の操作 レバー を握 つ て い る こ と に よ り 、 こ の と さ の作業機や車 体の動 き を体感で き る よ う に し た電子制御式油圧駆動機 械を提供す る こ と であ る 。 One of the objects of the present invention is not to switch the work mode by switching the switch, but to simply use the external storage device such as an IC card for each work mode. Another object of the present invention, which is to provide an electronically controlled hydraulically driven machine capable of selecting and setting a mode, is to perform a playback operation. At this time, the operation lever is moved for the same amount of operation as the operation amount at this time, and the operation lever is held by the operation lever overnight. Depending on the working machine and vehicle An object of the present invention is to provide an electronically controlled hydraulically driven machine that allows the user to feel the movement of the body.
上記主 目 的を達成す る た め に 、 本発明 の第 1 態様に よ れば、 作業機を作動す る た め の複数個の油圧ァ ク チ ユ エ — 夕 と 、 こ れ ら の油圧ァ ク チ ユ エ一 夕 に供給 さ れ る べ き 圧油を制御す る電子制御式の油圧バルブ装置 と 、 こ の油 圧バル ブ装置に所定の制御信号を送 る電子制御装置 と 、 操作 レ バー の操作量を電気信号 と し て出力す る 電気式 レ バー装置 と 、 そ し て こ の電気式 レ バー装置か ら の操作信 号を記憶 し 、 プ レ イ バ ッ ク 指示 に よ り 該記憶さ れた操作 信号を上記電子制御装置へ出力す る 作業 自 動化制御装置 と か ら 成 る 電子制御式油圧駆動機械が提供 さ れ る 。  To achieve the above object, according to a first aspect of the present invention, there are provided a plurality of hydraulic actuating units for operating a work machine, and a plurality of hydraulic actuating units. An electronically controlled hydraulic valve device for controlling the hydraulic oil to be supplied to the actuator, an electronic control device for sending a predetermined control signal to the hydraulic valve device, and an operation An electric lever device that outputs the operation amount of the lever as an electric signal, and an operation signal from the electric lever device are stored, and the operation is performed according to a playback instruction. There is provided an electronically controlled hydraulically driven machine comprising a work automation control device for outputting the stored operation signal to the electronic control device.
上記第 2 目 的を達成す る た め に、 本発明 の第 2 態様に よ れば、 前記第 1 態様に記載の電子制御式油圧駆動機械 であ っ て、 上記作業 自 動化制御装置に接続 さ れた I C 力 ー ド等の外部記億読取装置を さ ら に含み、 そ れに よ つ て 該外部記憶読取装置か ら の読取信号に基づい た信号が前 記電子制御装置へ出力 さ れ る よ う に構成 さ れた こ と を特 徴 と す る 電子制御式油圧駆動機械が提供 さ れ る 。  According to a second aspect of the present invention, there is provided the electronically controlled hydraulic drive machine according to the first aspect, wherein the work automation control device is configured to achieve the second object. It further includes an external memory reader such as a connected IC card, and thereby outputs a signal based on a read signal from the external memory reader to the electronic control unit. An electronically controlled hydraulically driven machine is provided which is characterized in that it is so configured.
上記第 3 目 的を達成す る た め に、 本発明 の第 3 態様に よ れば、 前記第 1 態様に記載の電子制御式油圧駆動機械 であ っ て、 上記電気式 レバ— 装置が、 該装置の操作 レ バ 一を作動す る た め の作動ァ ク チ ユ エ 一 夕 と 、 そ し て該作 動ァ ク チ ユ エ一 夕 の制御の た め に上記作業 自 動化制御装 置 に接続さ れた制御 と を有す る こ と を特徴 と す る電 子制御式油圧駆動機械が提供 さ れる 。 In order to achieve the third object, according to a third aspect of the present invention, there is provided the electronically controlled hydraulic drive machine according to the first aspect, wherein the electric lever device comprises: In order to operate the operation lever for operating the operation lever of the device and the operation automation unit for controlling the operation lever, the work automation control device is used. An electronically controlled hydraulically driven machine characterized by having a control connected to a device.
発明の第 4 態様に よれば、 前記第 1 態様 に記載の電 子制御式油圧駆動機械であ っ て、 上記作業 自 動化制御装 置が、 該制御装置 に接続 さ れ、 かつ上記電気式 レ バ ー装 置 に接 ¾cす る ラ ジ コ ン /マニ ュ ア ル操作切換装置 と 、 該 ラ ジ コ ンノマ — ユ ル操作切換装置に接銃 さ れ る ラ ジ コ ン受信制御装置 と 、 そ し て こ の ラ ジ コ ン受信制御装置に レ ノ 一操作信号を無線で送信す る ラ ジ コ ン操作用 の電気 式 レバ一装置 と を有す る こ と を特徴 と す る 電子制御式油 圧駆動機械が提供 さ れ る  According to a fourth aspect of the present invention, there is provided the electronically controlled hydraulic drive machine according to the first aspect, wherein the work automation control device is connected to the control device, and A radio / manual operation switching device to be connected to the lever device, a radio reception control device to be connected to the radio-conomer-dual operation switching device, And an electronic control device for radio control for wirelessly transmitting a radio control signal to the radio control device. Type hydraulic drive machine is provided
上記各態様を有す る 本発明 に よ れば 、 専用設備を用 い る こ と な く 簡易的 に無人化運転を行な う こ と がで き る 。 ま た こ の無人化運転を ラ ジ コ ン操作に て行な う こ と がで き 、 安全性を向上 さ せ る こ と がで き る ο  According to the present invention having the above embodiments, unmanned operation can be easily performed without using dedicated equipment. This unmanned operation can be performed by radio control, which can improve safety ο
ま た、 ス ィ ツ チ の切換え に よ り 作業モ ー ドを切換え る ので はな く 、 I C 力一 ド等の外部記愴装置 8 に よ り 簡単 に 各作業モ ー ドを選択設定す る こ と がで き る 。  Also, instead of switching the work mode by switching the switch, the work mode can be easily selected and set by the external pathological device 8 such as an IC force. be able to .
さ ら に、 繰返 し作業を 自 動的に行な う よ う に、 作業 自 動化制御装置を搭載 し た電子制御式油圧駆動機械に おい て、 こ れの プ レ ィ バ ッ ク 作業時に の と き の作業量を 操作す る の と 同様の操作量にわ た つ て電気式操作 レ バ ー 装置の操作 レバ一が Soか さ れ、 ォぺ レ 一 夕 は こ の操作 レ バ一を握っ てい る こ と に よ り 、 こ の と き の作業機や車体 の動 き を体感す る こ と がで き 、 繰返 し 作業の 自動作業を 実感 と し て把握す る こ と がで さ る 0 In addition, in order to automatically perform repetitive operations, the back-up operation is performed on an electronically controlled hydraulic drive machine equipped with an operation automation control device. The operation lever of the electric operation lever device is changed to So for the same operation amount as when operating the work amount at the time, and the operation lever is The work equipment and body at this time You can feel the movement of the robot, and you can grasp the automatic work of repetitive work as real feeling 0
前記な ら びに他の本発明 の 目 的、 態様、 そ し て利点は 本発明の原理に合致す る 好適な具体例が実施例 と し て示 さ れてい る 以下の記述お よ び添附の図面 に関連 し て説明 さ れ る こ と に よ り 、 当該技術の熟達者 に と っ て明 ら かに な る でめ ろ う 。  The above and other objects, aspects, and advantages of the present invention are described in the following description and examples where preferred embodiments are shown as examples that are consistent with the principles of the present invention. The description in connection with the drawing will make it apparent to those skilled in the art.
図面の簡単な説明  BRIEF DESCRIPTION OF THE FIGURES
図 は従来の電子制御式油圧駆動機械に用 い ら れて い る パネ ノレ ス ィ ッ チ を示す概略正面図、  The figure is a schematic front view showing a panelless switch used for a conventional electronically controlled hydraulic drive machine.
第 2 図乃至第 5 図 は本発明 の それぞれ異な る具体例を 示す ブ ロ ッ ク 図、 そ し て  FIGS. 2 to 5 are block diagrams showing different embodiments of the present invention, and FIGS.
第 6 図 は第 5 図図示の具体例に用 い ら れ る 作業 自 動化 制御装置を示すプ ロ ッ ク 図でめ る 。  FIG. 6 is a block diagram showing a work automation control device used in the specific example shown in FIG.
好ま し い具体例の詳細な説明  Detailed description of preferred examples
以下 、 添付の 図面に関連 し て本発明 の好ま し い幾つ か の具体例を詳細 に説明す る 。  In the following, some preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
第 1 図は本発明の第 1 具体例を示す ブ ロ ッ ク 図であ り 図中 1 a , 1 b はノヽ。 ヮ ー シ ョ ベル等の作業機械の作業部 を作動す る 油圧ァ ク チ ユ エ一 夕 、 2 は こ の各油圧ァ ク チ ユ エ一 夕 l a , l b へ供給す る圧油を制御す る 油圧バル ブであ り 、 こ の油圧バルブ 2 は電子制御 にて作動す る電 子制御式 と な っ て い る 。 3 は こ の油圧バルブ 2 に所定の 制御信号を送 る 電子制御装置であ る 。 4 は操作 レバ一 5 の 回動角 を電気的信号に変え る 電気 式操作 レ ノ<一装置であ り 、 上記操作 レ ノく一 5 に はテ ィ 一 チ ン グス ィ ッ チ 6 と プ レ イ バ ッ ク ス イ ッ チ 7 と を有 し て い る 。 8 は作業 自 動化制御装置であ り 、 こ の作業 自 動化 制御装置 8 は上記テ ィ ー チ ン グス ィ ツ チ 6 と プ レ イ バ ッ ク ス イ ツ チ 7 に て制御 さ れ、 テ ィ ー チ ン ダス ィ ツ ナ o を 0 N に し と き に け る 電気式操作 レバ一装置 4 力、 ら の レ ノく一操作信号を記憶 し 、 プ レ ィ バ ッ ク ス ィ ツ チ 7 を 0 N にす る と 、 上 し し憶 さ れた レバ一操作信号を上記電子 制御装置 3 に 出力す る よ う に な っ てい る 。 ま た上記作業 自動化制御装置 8 の機能は外部に設け た始動ス ィ ッ チ 9 にて 0 N 0 F F さ れ る よ う に な つ て い て、 こ れを 0 F F にす る よ り 、 電気式操作 レバー装置 4 の レバー 操作信号は直接電子制御装置 3 へ伝達 さ れて手動操作 さ れ る よ う に な つ てい る FIG. 1 is a block diagram showing a first specific example of the present invention, in which 1a and 1b are nose. Hydraulic actuators 1 and 2 that operate the working parts of the work machine such as the excavator control the hydraulic oil supplied to each of these hydraulic actuators la and lb. The hydraulic valve 2 is of an electronically controlled type that is operated by electronic control. Reference numeral 3 denotes an electronic control unit that sends a predetermined control signal to the hydraulic valve 2. Reference numeral 4 denotes an electric control device for converting the rotation angle of the control lever 5 into an electric signal. The control lever 5 includes a pointing switch 6 and a push switch. A back switch 7 is provided. Reference numeral 8 denotes a work automation control device. The work automation control device 8 is controlled by the teaching switch 6 and the playback switch 7 described above. The electric operation lever unit 4 for setting the teaching switch o to 0N, stores the operation signals of the electric operation lever and the like, and plays back the data. When the switch 7 is set to 0 N, the stored lever operation signal is output to the electronic control unit 3. In addition, the function of the work automation control device 8 is set to 0N0FF by an externally provided starting switch 9, and by setting this to 0FF, The lever operation signal of the electrically operated lever device 4 is directly transmitted to the electronic control device 3 so that the lever can be manually operated.
上記構成に お いて 、 作業機を 自動運転す る場合の作用 を説明す る  The operation when the work machine is automatically operated in the above configuration will be described.
ま ず熟練 し たオペ レ ー タ が作業機に搭乗 し て始動ス ィ ツ チ 9 を 0 N にす る と 共に、 テ ィ ー チ ン グス ィ ッ チ 6 を 0 N に し 状態で電気式操作 レバー装置 4 の操作 レバー 5 をマ二 ュ ア ル操作す る 。 こ れに よ り 上記操作 レバー 5 の操作角 に従 っ た操作信号が作業 自 動化制御装置 8 を経 て電子制御装置 3 へ送 ら れ、 こ の電子制御装置 3 か ら の 制御信号に よ り 電子制御式の油圧バル ブ 2 が作動 さ れて 油圧ァ ク チ ユ エ一 夕 l a , l b が上記電気式操作 レ バ ー 装置 4 の操作 レバー 5 の操作角 に応 じ た量だ け作動 さ れ、 所定の作業が行な われ る 。 こ の と き の操作 レバー の操作 量は作業 自 動化制御装置 8 に記憶 さ れ る 。 すな わ ち 、 あ る 作業に お け る 油圧ァ ク チ ユ エ 一 夕 l a , l b の正確な 動作が作業 自 動化制御装置 8 に記憶 さ れた こ と に な る 。 First, a skilled operator gets on the work machine and sets the starting switch 9 to 0 N, and sets the teaching switch 6 to 0 N and sets the electric switch to the electric type. Operate the operating lever 5 of the operating lever device 4 manually. As a result, an operation signal according to the operation angle of the operation lever 5 is sent to the electronic control device 3 via the work automation control device 8, and is transmitted to the control signal from the electronic control device 3. The electronically controlled hydraulic valve 2 is actuated The hydraulic work la and lb are actuated only by an amount corresponding to the operation angle of the operation lever 5 of the electric operation lever device 4 to perform a predetermined operation. The operation amount of the operation lever at this time is stored in the work automation control device 8. In other words, the precise operation of the hydraulic actuator la and lb in a certain work is stored in the work automation control device 8.
上記記憶 さ れた動作を 自 動的 に行な う に は、 プ レ イ バ ッ ク ス ィ ッ チ 7 を 0 N にす る 。 こ れに よ り 作業 自動化制 御装置 8 に て記憶 さ れて い た上記 レ バ ー操作信号が電子 制御装置 3 へ出力 さ れ、 油圧ァ ク チ ユ エ 一 夕 l a ， l b は上記手動操作 と 全 く 同 じ動作を線返 し行な う 。  To automatically perform the above stored operation, the playback switch 7 is set to 0N. As a result, the lever operation signal stored in the work automation control device 8 is output to the electronic control device 3, and the hydraulic actuating units la and lb are operated by the manual operation device. The same operation as above is performed.
こ の と き 、 プ レ イ バ ッ ク ス イ ッ チ 7 を外部に設置 し て お く こ と に よ り 、 上記繰返 し （ プ レ イ バ ッ ク ） 動作 はォ ペ レ 一 夕 が搭乗す る こ と な し無人状態で行な う こ と がで さ る o  At this time, by installing the playback switch 7 outside, the above-mentioned repetition (playback) operation can be performed overnight. You will not be able to board and you will be traveling unattended o
な お上記具体例では レ バ ー操作に よ り 油圧ァ ク チ ュ ェ 一 夕 l a ， l b を操作す る 場合を示 し たが、 レバー操作 だけでな く 、 車両の場合、 前進、 後進、 旋回等の走行関 係の デー タ をテ ィ ー チ ン グ し てお く こ と に よ り 走行の動 作 も プ レ イ バ ッ ク 時に操作す る こ と もで き る 。  In the above specific example, the case where the hydraulic work la and lb are operated by lever operation is shown. However, not only the lever operation but also the vehicle, forward, reverse, By teaching data related to travel such as turning, running behavior can also be controlled during playback.
第 3 図 は本発明 の第 2 具体例を示す も の で、 作業 自 動 化制御装置 8 に 、 ラ ジ コ ン Zマニ ュ ア ル操作切換装置 1 0 を介 し て電気式操作 レバ一 装置 4 と 、 ラ ジ コ ン受信制御 装置 1 1 を接続 し 、 こ の ラ ジ コ ン受信制御装置 1 1 に ァ ン テ ナボ ッ ク ス 2 が接铳 し ての " そ し て 1 3 は ラ ジ つ ン 作用 の 式操作 レバ ー装置であ り 、 こ の電気式 操作 レバ―装置 1 3 での レバ、一操作信号は ラ ジ コ ン （無 線） に て上記ァ ン テ ナボ ッ ク ス 1 2 に送信 さ れ る よ う に な つ てい る ο 1 4 は表示器ゃ ブザ一等の付属部材、 1 5 はェ ン ジ ン の水温等車体状態検出装置であ る FIG. 3 shows a second specific example of the present invention, in which a work automation control device 8 is connected to a radio control Z manual operation switching device 10 via an electric operation lever device. 4 and the radio reception control device 11 are connected, and the radio reception control device 11 is connected to the radio control device 11. When the antenna box 2 is connected, "13 is a radial operation type operation lever device, and the lever in this electric operation lever device 13 is one. The operation signals are transmitted to the antenna box 12 by radio (wireless). Ο 14 is an accessory such as a display and a buzzer. 5 is a device for detecting the vehicle body condition such as the engine water temperature
の具体例に -¾ο い て、 ラ ジ コ ン Ζ マ二 ユ ア ル操作切換 装置 0 を搭乗側に切換え る こ と に よ り 、 第 2 図で示 し た具体例 と 同様の作用がな さ れ る ο  In the specific example shown in FIG. 2, the same operation as in the specific example shown in FIG. 2 is not performed by switching the radio-controlled remote operation switching device 0 to the boarding side. Will be ο
«  «
コ ン マ二 ュ ァ ル操作切換装置 1 0 を ラ ジ コ ン操 作側に切換え る こ と に よ り 、 ラ ジ コ ン操作用 の電気式操 作 レノく一装置 1 3 に てラ ジ コ ン操作が行な われ る 。  By switching the commercial operation switching device 10 to the radio operation side, the electric operation radiator device 13 for the radio operation is changed to the radio control device 13. A control operation is performed.
次に、 第 4 図 に従 つ て本発明 の第 3 具体例を説明す る な お 第 2 図及び第 3 図 と 同一参照符号は同一機能を有 す る 素な ので、 を避け る た め に それ ら の説明 は省 略す る  Next, a third specific example of the present invention will be described with reference to FIG. 4. In FIG. 4, the same reference numerals as those in FIGS. Their explanation is omitted
の第 3 具体例 に は、 電気式操作 レバー装置 4 の操作 レバ 5 を作動す る た めの電気モ ー タ 1 6 が備え てあ り こ の 気モ ー タ 1 6 に て も 操作 レバー 5 を回動操作で き る よ 9 に な っ て い る 。 ま た こ の電気モ ー タ 1 6 はモ ー タ 制御装置 1 7 に て制御 さ れ る よ う に な っ て い る 。 こ の第 In the third specific example, the electric motor 16 for operating the operation lever 5 of the electric operation lever device 4 is provided, and the operation lever 5 is provided for the electric motor 16 as well. 9 can be rotated. The electric motor 16 is controlled by a motor control device 17. This
3 具体例 に お け る 作業自動化制御装置 8 は、 該装置 自 体 に記憶さ れた レバー操作信号を電子制御装置 3 と モ ー タ 制御 置 1 7 と に 出力す る よ う に な っ て い る 。 第 3 具体例の電子制御式油圧駆動機に よ る 作業機の 自 動運転は第 1 具体例の作用 と ほぼ同様であ る が、 作業 自 動化制御装置 8 か ら レバー操作信号が電子制御装置へ出 力 さ れ る と き 、 上記作業 自動化制御装置 8 か ら の レバー 操作信号がモ ー タ 制御装置 1 7 へ も 出力 さ れ、 こ れ に よ り こ の 出力信号に応 じ て電気モ ー タ 1 6 が駆動 さ れて電 気式操作 レ バ 一装置 4 の操作 レ バ 一 5 は上記テ ィ 一チ ン グ動作時 と 同様の作動を行な う 。 従 っ て、 こ の と き に搭 乗 し てい る オペ レ ー タ は こ の操作 レバー 5 を軽 く 握 っ て い る こ と に よ り 、 こ の と き の レ バ 一操作があ た か も 自 分 が行な っ てい る よ う に、 作業機械の動作が実感 と し て把 握 さ れ る 。 3 The work automation control device 8 in a specific example outputs a lever operation signal stored in the device itself to the electronic control device 3 and the motor control device 17. Yes. The automatic operation of the working machine by the electronically controlled hydraulic drive of the third specific example is almost the same as the operation of the first specific example, but the lever operation signal is electronically controlled from the work automation control device 8. When the signal is output to the device, the lever operation signal from the work automation control device 8 is also output to the motor control device 17, whereby the electric signal is output in response to the output signal. When the motor 16 is driven, the operation lever 5 of the electric operation lever device 4 performs the same operation as in the above-mentioned teaching operation. Therefore, the operator on board at this time had the lever operated at this time because the operating lever 5 was lightly gripped. In this way, the operation of the work machine can be grasped as if one were actually doing it.
な お上記電気式操作 レ バ ー装置 4 に、 こ の操作 レ バ ー 5 を作動す る た め に設け た電気モ ー タ 8 は油庄ァ ク チ ュ エ ー タ で も よ い 。  The electric motor 8 provided in the electric operation lever device 4 to operate the operation lever 5 may be an oil actuator.
次に、 第 5 図及び第 6 図 に関連 し て本発明 の第 4 具体 例を説明す る 。 な お、 第 2 図乃至第 4 図 と 同一参照符号 は同一機能を有す る 要素な の で、 重複を避け る た め に 、 それ ら の説明 は省略す る 。  Next, a fourth specific example of the present invention will be described with reference to FIGS. 5 and 6. Since the same reference numerals as those in FIGS. 2 to 4 have the same functions, their description will be omitted to avoid duplication.
図中、 1 8 は外部記憶読取装置で、 こ れは I C カ ー ド 等の外部記憶装置 1 9 の記憶を読み取 り 、 そ の読み取 り 信号を出力す る よ う に な っ て い る 。 8 は作業 自動化制御 装置で、 こ れは第 6 図 に示す よ う に な つ て い て、 A Z D 変換器 2 0 、 演算装置 2 1 、 A変換器 2 2 、 R A M 2 3 及び切換ス ィ ツ チ 1 4 等力、 り な つ てお り 、 _t BC ^ , 式 レ バ ー装置 4 か ら の テ ィ 一 チ ン グ信号及び外部記憶読 取装置 7 、 ハ' ネ ノレ ス ィ ツ チ 2 4 か ら の各信号は上記演算 装置 1 1 に入力 さ れる よ う に な っ てい ο In the figure, reference numeral 18 denotes an external storage reading device, which reads the storage of an external storage device 19 such as an IC card and outputs a read signal. Reference numeral 8 denotes a work automation controller, which is configured as shown in FIG. 6, and includes an AZD converter 20, an arithmetic unit 21, an A converter 22, and a RAM. 23 and the switching switch 14 have the same strength and are connected, _t BC ^, the teaching signal from the formula lever device 4 and the external memory reading device 7, c ′. Each signal from the neural switch 24 is supplied to the arithmetic unit 11.
上記構成に お い て、 外部記億読取装置 1 8 に I C 力 一 ド等の外部記憶装置 1 9 を揷入す る と 、 こ れに 憶 さ れ てい る デー 夕 が外部記 fe、 取装置 1 8 に て み取 ら れて 作業 自 動化制御装置 8 の演算装置 2 1 に入力 さ れ、 こ れ に基づい た信号が作業 自 動化制御装置 8 力、 ら 電子制御装 置 3 へ出力 さ れ、 油圧ァ ク チ ユ エ 一 夕 1 a , 1 b は上記 外部記憶装置 1 9 の記憶 "7 夕 に応 じ た作業を な う 。  In the above configuration, when an external storage device 19 such as an IC force is inserted into the external storage reading device 18, the data stored therein is stored in the external storage device. 18 Taken by 8 and input to the arithmetic unit 21 of the work automation control device 8, and a signal based on this is output to the work automation control device 8, and then to the electronic control device 3. Then, the hydraulic actuating machines 1a and 1b perform the work corresponding to the memory "7 in the external storage device 19".
な お作業 自 動化制御装置 8 は プ レ イ /く ッ ク 指示 に よ り テ ィ 一 チ ン グ作動に よ り 記憶 さ れた デ一 夕 が電子制御装 置 3 へ出力 さ れる 。  The work automation control device 8 outputs the stored data to the electronic control device 3 by the touching operation in accordance with the play / book instruction.

Claims

請求の範囲 The scope of the claims
1 . 作業機を作動す る た め の複数個の油圧ァ ク チ ^ エ ー 夕 と 、 こ れ ら の油圧 ァ ク チ ユ エ一 夕 に供給 さ れ る べ き 圧 油を制御す る 電子制御式の油圧バルブ装置 と 、 こ の油圧 バルブ装置に所定の制御信号を送 る 電子制御装置 と 、 操 作 レバー の操作量を電気信号 と し て出力す る 電気式操作 レバー装置 と 、 そ し て こ の電気式操作 レバー装置か ら の 操作信号を記憶 し 、 プ レ イ バ ッ ク 指示 に よ り 該記憶 さ れ た操作信号を上記電子制御装置へ出力す る 作業 自動化制 御装置 と か ら 成 る 電子制御式油圧駆動機械。  1. A plurality of hydraulic actuators for operating the work machine, and an electronic device for controlling the hydraulic oil to be supplied to these hydraulic actuators. A control-type hydraulic valve device, an electronic control device that sends a predetermined control signal to the hydraulic valve device, an electric operation lever device that outputs the operation amount of the operation lever as an electric signal, and A work automation control device that stores an operation signal from the electric operation lever device and outputs the stored operation signal to the electronic control device according to a playback instruction. An electronically controlled hydraulic drive machine.
2 . 第 1 請求項に記載の電子制御式油圧駆動機械であ つ て、 前記作業自 動化制御装置 に接続 さ れた I C カ ー ド等 の外部記憶読取装置を さ ら に 含み、 それに よ つ て該外部 記憶読取装置か ら の読取信号に基づい た信号が前記電子 制御装置へ出力 さ れ る よ う に構成 さ れた こ と を特徴 と す る 電子制御式油圧駆動機械。  2. The electronically controlled hydraulically driven machine according to claim 1, further comprising an external storage and reading device such as an IC card connected to the work automation control device. An electronically controlled hydraulic drive machine characterized in that a signal based on a read signal from the external storage and reading device is output to the electronic control device.
3 . 第 1 請求項に記載の電子制御式油圧駆動機械であ つ て、 前記電気式操作 レ バ ー 装置が、 該装置の操作 レ バ ー を作動す る た めの作動ァ ク チ ユ エ一 夕 と 、 そ し て該作動 ァ ク チ ユ エ 一 夕 の制御の た め に前記作業 自 動化制御装置 に接統 さ れた制御装置 と を有す る こ と を特徵 と す る 電子 制御式油圧駆動機械。  3. The electronically-controlled hydraulically driven machine according to claim 1, wherein the electric operation lever device is an operation mechanism for operating the operation lever of the device. An electronic device comprising: a control device connected to the work automation control device for controlling the actuating device and the operating device. Controlled hydraulic drive machine.
4 . 第 1 請求項に記載の電子制御式油圧駆動機械で あ つ て、 前記作業 自 動化制御装置が、 該制御装置に接铳 さ れ かつ前記電気式操作 レバー装置に接続す る ラ ジ コ ン マ ニ ュ ア ル操作切換装置 と 、 該ラ ジ コ ン ノマ ニ ュ ア ル操作 切換装置 に接続 さ れ る ラ ジ コ ン受信制御装置 に レバー操 作信号を無線で送信す る ラ ジ コ ン操作用 の電気式操作 レ バー装置 と を有す る こ と を特徵と す る 電子制御式油圧駆 動 1¾械 0 4. The electronically controlled hydraulically driven machine according to claim 1, wherein the work automation control device is connected to the control device. And a radio control operation switching device connected to the electric operation lever device, and a radio control reception control device connected to the radio control manual operation switching device. An electronically controlled hydraulic drive that has an electric operation lever device for radio control that wirelessly transmits the lever operation signal to
5 . 第 3 請求項に記載の電子制御式油圧駆動機械であ つ て、 前記ァ ク チ ユ エ一 夕 が油圧ァ ク チ ユ エ 一 夕 であ る こ と を特徴 と す る 電子制御式油圧駆動機械。  5. The electronically controlled hydraulically driven machine according to claim 3, wherein the actuating unit is a hydraulic actuating unit. Hydraulic drive machine.
6 . 第 3 請求項に記載の電子制御式油圧駆動機械であ つ て、 前記ァ ク チ ユ エ一 夕 が電気モ ー タ であ る こ と を特徴 とす る電子制御式油圧駆動機械。  6. The electronically controlled hydraulically driven machine according to claim 3, wherein the actuator is an electric motor.
PCT/JP1990/000267 1989-02-28 1990-02-28 Electronic control type hydraulic driving machine WO1990010116A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019900702339A KR920700334A (en) 1989-02-28 1990-02-28 Electronically Controlled Hydraulic Drive Machine

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP1/45203 1989-02-28
JP4520289A JPH02225727A (en) 1989-02-28 1989-02-28 Electronic controlling hydraulic driving machinery
JP4520189A JPH02225726A (en) 1989-02-28 1989-02-28 Working machinery
JP1/45201 1989-02-28
JP1/45202 1989-02-28
JP4520389A JPH02225728A (en) 1989-02-28 1989-02-28 Electronic controlling hydraulic driving machine

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WO (1) WO1990010116A1 (en)

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EP0471840A4 (en) 1992-08-26
EP0471840A1 (en) 1992-02-26
KR920700334A (en) 1992-02-19

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