WO1990010116A1 - Machine a direction hydraulique de type a commande electronique - Google Patents

Machine a direction hydraulique de type a commande electronique Download PDF

Info

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
English (en)
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 JP4520189A external-priority patent/JPH02225726A/ja
Priority claimed from JP4520289A external-priority patent/JPH02225727A/ja
Priority claimed from JP4520389A external-priority patent/JPH02225728A/ja
Application filed by Kabushiki Kaisha Komatsu Seisakusho filed Critical Kabushiki Kaisha Komatsu Seisakusho
Priority to KR1019900702339A priority Critical patent/KR920700334A/ko
Publication of WO1990010116A1 publication Critical patent/WO1990010116A1/fr

Links

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.

Abstract

Une machine à direction hydraulique de type à commande électronique ne requiert pas d'équipements exclusifs mais assure un fonctionnement non équipé télécommandé, est capable de sélectionner et de régler aisément tous les modes de travail au moyen d'une mémoire externe telle qu'une carte à circuits intégrés et permet à un opérateur de se rendre compte du fonctionnement de la machine en saisissant un levier de commande même pendant son fonctionnement automatique. Cette machine comprend un dispositif (2) à soupape hydraulique de type à commande électronique qui commande l'alimentation en huile hydraulique des organes d'actionnement hydraulique (a 1a, 1b) afin de diriger la machine de travail, une unité de commande électronique (3)du dispositif à soupape, un dispositif (4) à levier électrique de commande qui émet un signal de commande du levier et une unité de commande de l'automatisation (8) qui transmet un signal de commande à l'unité de commande électronique. Elle peut en outre comprendre un lecteur (18) de mémoire externe, une unité de commande (11) de la réception de commandes radio pour la télécommande, un dispositif commutateur (10) entre la commande manuelle et la commande radio, et similaires.
PCT/JP1990/000267 1989-02-28 1990-02-28 Machine a direction hydraulique de type a commande electronique WO1990010116A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019900702339A KR920700334A (ko) 1989-02-28 1990-02-28 전자 제어식 유압 구동기계

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP4520189A JPH02225726A (ja) 1989-02-28 1989-02-28 作業機械
JP4520289A JPH02225727A (ja) 1989-02-28 1989-02-28 電子制御式油圧駆動機械
JP1/45201 1989-02-28
JP4520389A JPH02225728A (ja) 1989-02-28 1989-02-28 電子制御式油圧駆動機械
JP1/45202 1989-02-28
JP1/45203 1989-02-28

Publications (1)

Publication Number Publication Date
WO1990010116A1 true WO1990010116A1 (fr) 1990-09-07

Family

ID=27292155

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1990/000267 WO1990010116A1 (fr) 1989-02-28 1990-02-28 Machine a direction hydraulique de type a commande electronique

Country Status (3)

Country Link
EP (1) EP0471840A4 (fr)
KR (1) KR920700334A (fr)
WO (1) WO1990010116A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2671118A1 (fr) * 1990-12-31 1992-07-03 Samsung Heavy Ind Systeme et procedes destine a commander automatiquement le fonctionnement d'engins de travaux publics.
CN102587446A (zh) * 2012-03-27 2012-07-18 昆山航天智能技术有限公司 一种振动挖掘机用液压控制激振设备

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0598937A1 (fr) * 1992-11-25 1994-06-01 Samsung Heavy Industries Co., Ltd Système à processeurs multiples pour un excavateur hydraulique
KR100328217B1 (ko) * 1996-04-30 2002-06-26 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 유압식건설기계의자동진동장치및방법
EP0912806B1 (fr) * 1996-06-03 2001-09-05 Siemens Aktiengesellschaft Procede et dispositif de commande du deroulement de deplacements d'un engin de travaux pouvant se deplacer
DE19830880A1 (de) * 1998-07-10 2000-01-20 Meinl Baumaschinen Gmbh Erdbewegungsmaschine
JP3790058B2 (ja) * 1999-01-14 2006-06-28 株式会社神戸製鋼所 油圧ショベルの制御装置
EP1391837A4 (fr) * 2001-04-25 2008-05-28 Hitachi Construction Machinery Dispositif et systeme de gestion pour engins de construction
US7117952B2 (en) * 2004-03-12 2006-10-10 Clark Equipment Company Automated attachment vibration system
US20220333342A1 (en) * 2019-10-11 2022-10-20 Komatsu Ltd. Work machine and control method for work machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS552497B2 (fr) * 1972-05-15 1980-01-21
JPS55105034A (en) * 1979-02-02 1980-08-12 Kubota Ltd Back hoe
JPS59150837A (ja) * 1983-02-17 1984-08-29 Hitachi Constr Mach Co Ltd 作業機械の動作再生装置
JPH0211854U (fr) * 1988-06-30 1990-01-25

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2619140A1 (fr) * 1987-08-03 1989-02-10 Formation Travaux Publics Cent Dispositif de guidage automatique d'engins de terrassement par laser tournant

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS552497B2 (fr) * 1972-05-15 1980-01-21
JPS55105034A (en) * 1979-02-02 1980-08-12 Kubota Ltd Back hoe
JPS59150837A (ja) * 1983-02-17 1984-08-29 Hitachi Constr Mach Co Ltd 作業機械の動作再生装置
JPH0211854U (fr) * 1988-06-30 1990-01-25

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0471840A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2671118A1 (fr) * 1990-12-31 1992-07-03 Samsung Heavy Ind Systeme et procedes destine a commander automatiquement le fonctionnement d'engins de travaux publics.
CN102587446A (zh) * 2012-03-27 2012-07-18 昆山航天智能技术有限公司 一种振动挖掘机用液压控制激振设备

Also Published As

Publication number Publication date
EP0471840A1 (fr) 1992-02-26
KR920700334A (ko) 1992-02-19
EP0471840A4 (en) 1992-08-26

Similar Documents

Publication Publication Date Title
WO1990010116A1 (fr) Machine a direction hydraulique de type a commande electronique
HU9401379D0 (en) Motor driven step switch
JP3525304B2 (ja) 変速機用シフト機構のモータ制御装置
EP1586712A2 (fr) Dispositif pour fixer la fonction de commutateurs d'une machine de construction.
WO2021034652A1 (fr) Sélection de mode d'un outil électrique
CN113006185B (zh) 一种挖掘机自动导航作业方法及系统
JPH05503759A (ja) 電気シフト制御装置の制御システム
JP3256182B2 (ja) 船舶の無線操縦装置
KR101309051B1 (ko) 서보 장치 및 그 장치를 구비한 원격 조작 장치
JPH02225727A (ja) 電子制御式油圧駆動機械
JP3934862B2 (ja) 作業車両におけるエンジン回転制御装置
JPS61169632A (ja) 産業車両のエンジン回転数制御装置
JPH02225726A (ja) 作業機械
JPS6323638Y2 (fr)
JP3142478U (ja) 船舶における無線操縦装置の内部構造
KR20120056324A (ko) 산업용 액추에이터 시스템 및 그것의 제어방법
JPH0115749B2 (fr)
JP2922594B2 (ja) 数値制御ユニット
JP2006314159A (ja) モータ制御装置
JPH02225728A (ja) 電子制御式油圧駆動機械
JPH069949B2 (ja) 自動車の装備品の操作装置
RU1778249C (ru) Устройство дл управлени гидравлическим экскаватором
KR20020030513A (ko) 프로그래머블 조종 장치
EP1131223A1 (fr) Amelioration de dispositifs de commande a vitesse variable
JPH06309037A (ja) 牽引機用モータ駆動装置

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB IT LU NL SE

WWE Wipo information: entry into national phase

Ref document number: 1990903925

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1990903925

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1990903925

Country of ref document: EP