JP2582482B2 - Operating speed control device for hydraulic operating equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating speed control device for hydraulically operated equipment, and is used for controlling hydraulically operated equipment such as a boom hoist cylinder, a boom telescopic cylinder, a swing motor and a winch motor in, for example, a crane device. .

[0002]

2. Description of the Related Art Conventionally, in a crane apparatus, for example, a boom raising / lowering operation, a telescopic operation, a turning operation, and a winch operation are performed by a boom raising / lowering cylinder, a boom telescopic cylinder,
The operation is performed by hydraulic operating devices such as a swing motor and a winch motor, and the operating amounts of the respective hydraulic operating devices are controlled so as to operate in accordance with an operation amount of an operation lever provided in an operation device. I have.

[0003]

However, in the above-described conventional apparatus in which the operation of each hydraulic operating device is simply controlled in accordance with the tilt angle of the operation lever, the operation of the operation lever cannot be controlled from the viewpoint of workability. Each hydraulic operating device is set to operate quickly, which makes it difficult to operate the hydraulic operating device at a very low speed by minute operation of the operation lever.For example, when you want to move a heavy suspended load slowly Also, it is not suitable when the position of the suspended load is to be moved slightly, and there is a risk that an accident may occur due to erroneous operation.

[0004] Further, there is no prior art in which the maximum value of the driving amount of the driving means such as the engine can be changed, and the driving amount of the engine is maximized at the time of work, so that the driving sound of the engine becomes noise. There was a problem that it could not cope with the working environment such as nighttime.

[0005]

SUMMARY OF THE INVENTION An operating speed control apparatus for a hydraulic operating device according to the present invention is a control for controlling a hydraulic operating device which is operated by supplying hydraulic oil from a constant displacement hydraulic pump which is operated by a driving means. A valve, an increasing / decreasing unit for increasing / decreasing the driving of the driving unit, a control valve operating unit for controlling an opening degree of the control valve, and an operation of the hydraulic operating device can be freely switched between a slow speed mode and a power mode. Operating means for operating the increasing / decreasing means and the control valve operating means, and operating signals from operating means including a mode setting signal from the mode setting means are input, based on these input signals; Control means for outputting a control signal to the control means for controlling the operation of the drive means in a low-speed mode while maintaining the drive of the drive means at a preset amount. Control is performed so that the opening of the control valve is maximized when the operation amount by the step is maximum, and in the power mode, the opening of the control valve is maximized up to a certain operation amount of the operating means, and in accordance with the operation amount larger than that, Thus, the drive amount of the drive means is controlled to increase or decrease.

[0006] The operating speed control apparatus for a hydraulic actuating device according to the present invention comprises a control valve for controlling a hydraulic actuating device actuated by the supply of pressurized oil from a constant displacement hydraulic pump actuated by a driving means; Increasing / decreasing means for increasing / decreasing the driving of the driving means, control valve operating means for controlling the opening of the control valve,
A mode setting unit configured to be capable of switching the operation of the hydraulic operation device between a slow speed mode and a power mode, and also having a setting of a maximum value of a driving amount of the driving unit; Control means for operating the control means, and an operation signal from the operation means including a mode setting signal from the mode setting means is input, and a control signal is outputted to the increasing / decreasing means and the control valve operating means based on these input signals. Means, and in the slow speed mode, control is performed such that the opening of the control valve is maximized when the amount of operation by the operating means is maximum in a state where the driving of the driving means is maintained at a preset amount. In the power mode, the opening of the control valve is maximized up to a certain amount of operation of the operation means, and the drive amount of the drive means is controlled to increase or decrease in accordance with the operation amount larger than that. Those were.

[0007]

The operation mode is switched between the low speed mode and the power mode by the operation means. In the low speed mode, when the operation amount of the operation means is maximum while the driving of the driving means is maintained at a preset set amount, the opening of the control valve is set. Is controlled to be maximum. Also, in the power mode, the opening degree of the control valve is maximized up to a certain operation amount of the operation means, and while the drive amount of the drive means is increased or decreased according to the operation amount more than that,
Since the maximum value of the drive amount of the drive unit can be set by the operation unit, the work is performed by setting the drive amount of the drive unit to a predetermined low value that does not cause noise during nighttime work or the like.

[0008]

An embodiment of the present invention will be described below with reference to the drawings. In this example, a case will be described in which the operating speed control device for a hydraulic operating device according to the present invention is applied to a truck-mounted crane.

FIG. 1 shows a schematic overall configuration of a truck-mounted crane.

The truck-mounted crane 1 is provided with a packing box 2a on a car body 2, and a turning post 3 is mounted on the car body 2 in front of the packing box 2a so as to be freely turned by a turning motor 15 (see FIG. 2). . Boom 4 at the upper end of swivel post 3
Is provided.

The boom 4 is a multi-stage telescopic type, which can be telescopically extended by a telescopic cylinder 17 (see FIG. 2).
It is configured to be able to undulate by an undulating cylinder 5 disposed between the rotary post 3 and the turning post 3.

A winch 6 is provided at the base end of the boom 4, and is configured to wind or unwind the wire 7 having the hook 7a by a winch motor 16 (see FIG. 2).

Outriggers (not shown) are provided on both left and right sides of the front of the packing box 2a of the vehicle body 2 so as to extend to the side of the vehicle body, and jacks 8 extendably extendable from these outriggers. Have been.

FIGS. 2 and 3 show the main part of the hydraulic circuit of the truck-mounted crane constructed as described above.

In FIG. 2, reference numerals 11 to 14 denote control valves connected to the swing motor 15, the up / down cylinder 5, the winch motor 16 and the telescopic cylinder 17.

Each of the control valves 11 to 14 is configured to gradually change from a neutral position to a left position or a right position with movement of the spool, and the opening degree is gradually changed by movement of the spool. ing.

One end of the spool is connected to one end of rods (control valve operating means) 21 to 24 shown in FIG.

The rods 21 to 24 are configured to be movable left and right in FIG. 3 by switching the solenoid valves A1 to A4 and B1 to B4. 11 to 14 can be switched.

The other ends of the rods 21 to 24 are connected to differential transformers 21a to 24a. The differential transformers 21a to 24a move the rods 21 to 24, that is, each control valve 11 by moving the spool. ~ 14
(The opening degree of each control valve) can be detected.

Reference numeral 25 denotes a rod (increase / decrease means) which is configured to be movable left and right in FIG. 3 by switching the solenoid valves A5 and B5. One end of the rod 25 is connected to an accelerator for operating the engine speed. , The other end of which is connected to the differential transformer 25a.
Thus, the moving position of the rod 25, that is, the number of revolutions of the engine by the accelerator operation can be detected.

The switching positions of the control valves 11 to 14 and the engine speed are detected by the differential transformers 21a to 21a.
The detection device is not limited to the device a, and another appropriate detection device may be used.

P is a pump (constant displacement hydraulic pump) operated by an engine linked via a power take-off device.
The amount of oil discharged from the pump P is increased or decreased by increasing or decreasing the engine speed by the accelerator operation.

The operation of the swing motor 15, the up / down cylinder 5, the winch motor 16 and the telescopic cylinder 17, the turning of the swivel post 3, the operation of the winch 6, and the up / down and expansion / contraction of the boom 4 are performed by an operation device shown in FIG. Means 30).

The operating device 30 is provided with two joystick levers 31 and 32 arranged vertically and a mode switching dial (mode setting means) 33.

The upper joystick lever 31 is configured to operate expansion and contraction of the boom 4 by, for example, tilting in the vertical direction.
It is configured to operate the retracting of the boom 4 by tilting downward, and to operate the winding and unwinding of the wire 7 by the winch 6 by tilting left and right, and to wind the wire 7 by tilting left. , Tilt the wire 7 to the right
Can be operated.

The lower joystick lever 32 is configured to operate the boom 4 up and down, for example, by tilting it up and down.
It is configured to operate the turning of the turning post 3 by tilting to the left and right, and to operate the turning of the turning post 3 by tilting to the left and right. By turning rightward, the turning post 3 can be turned clockwise.

The mode switching dial 33 is configured to be switchable between a low speed mode and a power mode, and is controlled by a control device to be described later based on the mode position between the low speed mode and the power mode.
By moving the rod 25 in accordance with the tilt angles of the rods 1 and 32, the number of rotations of the engine is controlled to control the amount of pressure oil discharged by the pump P, and each of the rods 21 to 24 is controlled.
By controlling the position of the spool, the opening of each of the control valves 11 to 14 is controlled.

FIGS. 5 and 6 show the tilt angle of the joystick lever 31 and the expansion / contraction speed of the expansion / contraction cylinder 17 in each of the slow speed mode and the power mode.
FIG. 5 shows the above relationship in the low-speed mode, and FIG. 6 shows the above relationship in the power mode.

In the case of the slow speed mode shown in FIG. 5, the control valve 14 is gradually opened in proportion to the tilt of the joystick lever 31 from the tilt angle X to the maximum tilt angle Z shown in FIG. The control valve 14 is fully opened. At this time, the rotation speed of the engine for adjusting the discharge amount of the pressure oil from the pump P is maintained at a slightly higher value from idling, and as a result, the expansion / contraction speed of the expansion / contraction cylinder 17 is increased in proportion to the tilt angle.

In the case of the power mode shown in FIG. 6, it is proportional to the tilt of the joystick lever 31 from the tilt angle X shown in FIG. 7 to the tilt angle Y (for example, about half of the maximum tilt angle Z). Then, the control valve 14 is gradually opened and the control valve 14 is fully opened at the tilt angle Y. At this time, the number of revolutions of the engine is maintained at a slightly higher value from idling, whereby the expansion and contraction speed of the expansion and contraction cylinder 17 is proportionally amplified. That is, the control valve 14 is fully opened at a tilt angle Y that is about half of the maximum tilt angle Z as compared with the slow speed mode. Then, from the angle Y to the maximum tilt angle Z, the engine speed is increased in proportion to the tilt angle. As a result, the expansion / contraction speed of the expansion / contraction cylinder 17 rapidly increases as indicated by the solid line.

In the power mode, depending on the setting position of the mode switching dial 33 from MIN to MAX, characteristics such as a broken line and a dashed line shown in FIG. 6 will be exhibited. That is, the maximum value at each set position (the maximum expansion / contraction speed at the maximum tilt angle Z) also changes. In other words, in the power mode, when it is desired to reduce the maximum number of revolutions of the engine to prevent noise during nighttime work or the like, the mode switching dial 33 may be set to an arbitrary MID position or MIN position. As a result, the noise caused by driving the engine can be suppressed and the operation can be performed quietly.

The turning post 3 by the turning motor 15
, The operating speed of the winch 6 by the winch motor 16 and the hoisting speed of the boom 4 by the hoisting cylinder are controlled in the same manner as described above by operating the joystick levers 31 and 32 based on the mode of the mode switching dial 33.

This control is performed by the control device 50 shown in FIG.

FIG. 8 is a block diagram showing the configuration of the analog control device 50. As shown in FIG.

In FIG. 8, 55 to 58 are the upper and lower
These potentiometers are built in the joystick levers 31 and 32, respectively.
The voltage signals from 5 to 58 are input to the differential amplifier 52 and the idling-up circuit 65 via the absolute value circuits 61 to 64, and the voltage signals from the respective correction circuits 53 (in the illustrated example, from the potentiometer 55). Only the correction circuit is shown.)

Reference numeral 51 denotes a potentiometer built in the mode switching dial 33. A voltage signal from the potentiometer 51 is input to a differential amplifier 52 and each correction circuit 53.

The differential amplifier 52 includes the absolute value circuits 61 to 6
A signal obtained by integrating the largest voltage signal among the voltage signals output from the control signal 4 and the voltage signal output from the potentiometer 51 of the mode switching dial 33 is converted to a deviation circuit 66.
Output to Note that the differential amplifier 52 is configured not to output a signal to the deviation circuit 66 when the mode of the mode switching dial 33 is the slow speed mode.

The idling-up circuit 65 receives the voltage signals from the absolute value circuits 61 to 64 and raises the idling of the engine to a predetermined value (for example, about 1000 rpm when idling is 600 rpm). Is output to the deviation circuit 66.

The deviation circuit 66 compares each signal with the feedback signal from the accelerator by the differential transformer 25a and outputs the deviation to a window comparator 67.

The window comparator 67 outputs an operation signal to the drive circuit 68 or 69 when a predetermined dead zone is exceeded based on the deviation to excite the solenoid AS5 of the solenoid valve A5 or the solenoid BS5 of the solenoid valve B5. .

The correction circuit 53 includes a mode switching dial 33
The voltage signal from the potentiometer 55 is corrected based on the mode switching between the slow speed mode and the power mode, and is output to the deviation circuit 71.

The deviation circuit 71 compares each signal with each feedback signal from the differential transformer 21a, and outputs the deviation to a window comparator 72.

The window comparator 72 outputs an operating signal to the drive circuit 73 or 74 when the dead band exceeds a preset dead zone based on the deviation, and excites the solenoid AS1 of the solenoid valve A1 or the solenoid BS1 of the solenoid valve B1. .

The voltage signals of the potentiometers 56 to 58 are also supplied to the solenoids AS2 to AS5 or the solenoids BS shown in FIG. 3 by the correction circuit, the deviation circuit, the window comparator, and the drive circuit having the same construction as described above.
2 to excite BS5. In this case, feedback signals from the corresponding differential transformers 22a to 24a are input to the deviation circuits.

Next, the control device 50 constructed as described above is used.
Will be described.

First, the case where the mode switching dial 33 is set to the slow speed mode will be described.

Each joystick lever 3
When the joystick levers 31 and 32 are tilted, voltage signals from the potentiometers 55 to 58 of the joystick levers 31 and 32 are input to the idling-up circuit 65 via the absolute value circuits 61 to 64 and also to the correction circuit 53.

The idling-up circuit 65 receives this signal and outputs an idling-up signal to a deviation circuit 66. The deviation circuit 66 receives a feedback signal from a differential transformer 25a for detecting the number of revolutions of the accelerator and the idling-up signal. The deviation from the signal is calculated and output to the window comparator 67.

The window comparator 67 outputs an operation signal to the drive circuit 68 or 69 when a predetermined dead zone is exceeded based on the deviation, and the solenoid A
Exciting S5 or BS5 to move the rod 25,
The speed of the accelerator is increased to a predetermined speed.

At this time, the voltage signals from the absolute value circuits 61 to 64 are also input to the differential amplifier 52, but no signal is output from the differential amplifier 52 to the deviation circuit 66 because of the low speed mode.

On the other hand, each voltage signal from each of the potentiometers 55 to 58 output to the correction circuit 53 is directly input to each deviation circuit 71 in the case of the slow speed mode. Each of the deviation circuits 71 calculates a deviation between a feedback signal from the differential transformers 21a to 24a for detecting an opening of each of the control valves 11 to 14 and a voltage signal from each of the potentiometers 55 to 58, and calculates each of the window comparators 72. Output to

Each window comparator 72 outputs an operation signal to each drive circuit 73 or 74 when the dead zone exceeds a preset dead zone based on the deviation to excite the solenoids AS1 to AS4 or BS1 to BS4 to excite the rods 21 to 24. To control the opening degrees of the control valves 11 to 14, respectively.

Thus, the amount of oil supplied to the swing motor 15, the up / down cylinder 5, the winch motor 16, and the telescopic cylinder 17 is controlled. For example, the telescopic speed of the telescopic cylinder 17, that is, the telescopic speed of the boom 4, is as shown in FIG. Is controlled.

Next, the case where the mode switching dial 33 is set to the power mode will be described.

Each joystick lever 3
When the joystick levers 1 and 32 are tilted, voltage signals from the potentiometers 55 to 58 of the joystick levers 31 and 32 are input to the differential amplifier 52 via the absolute value circuits 61 to 64 and also to the correction circuit 53.

In the differential amplifier 52, each of the absolute value circuits 61 to 61
The largest voltage signal among the respective voltage signals input from 64 and the voltage signal output from the potentiometer 51 according to the set position from MIN to MAX in the power mode of the mode switching dial 33 are integrated, and the signal is integrated. Is output to the deviation circuit 66.

In the deviation circuit 66, the differential transformer 25a
The difference between the feedback signal from the differential amplifier 52 and the signal from the differential amplifier 52 is calculated and output to the window comparator 67. The window comparator 67 outputs an operation signal to the drive circuit 68 or 69 when a predetermined dead zone is exceeded based on the deviation to excite the solenoid AS5 or BS5 to move the rod 25, and the engine speed via the accelerator. Control the increase or decrease of

On the other hand, each voltage signal output from each of the potentiometers 55 to 58 output to the correction circuit 53 is corrected by the correction circuit 53 (for example, each voltage signal is multiplied by 1.5). Each is input to the circuit 71. Each of the deviation circuits 71 calculates a deviation between a feedback signal from the differential transformers 21 a to 24 a for detecting the opening degree of each of the control valves 11 to 14 and a voltage signal from the potentiometers 55 to 58, and sends it to each window comparator 72. Output.

Each window comparator 72 outputs an operation signal to each drive circuit 73 or 74 when the dead zone exceeds a preset dead zone based on the deviation, and excites the solenoids AS1 to AS4 or BS1 to BS4 to turn on the rods 21 to 24. To control the opening degrees of the control valves 11 to 14, respectively.

Thus, the amount of oil supply to the swing motor 15, the up / down cylinder 5, the winch motor 16, and the telescopic cylinder 17 is controlled. For example, the telescopic speed of the telescopic cylinder 17, that is, the telescopic speed of the boom 4 is changed as shown in FIG. Is controlled.

FIGS. 9 and 10 are flowcharts showing the flow of the operation of the control device 50 described above.
The processing described above is performed by 1 to S13.

In this embodiment, the analog control device has been described. However, the same control as described above can be performed by a digital control device 80 as shown in FIG.

In FIG. 11, reference numeral 81 denotes an A / D converter to which the above-described feedback signals, voltage signals from the potentiometers of the joysticks 31 and 32, and voltage signals from the potentiometers of the mode switching dial 33 are input. , 83 is RAM, 84 is ROM, 8
5 is an input / output port, 86 is a power supply circuit, 87 is a switch,
88 is an LED, 89 is a numeric display, 90 is a watchdog timer for detecting an abnormality, 91 to 100 are the same drive circuits as in the previous embodiment, AS1 to AS5 and BS1 to BS1 to B
S5 is a solenoid similar to that of the above embodiment.

[0064]

As described above, according to the present invention, the opening amount of the control valve and the driving amount of the driving means are controlled by the operating means on the basis of the switching between the slow speed mode and the power mode by the mode setting means. By controlling, it is possible to operate the hydraulic actuation device widely and slowly from high-speed operation to high-speed operation.For example, in the case of a crane device, if you want to move a heavy suspended load slowly, This is effective when the user wants to move a little, and can be easily and safely moved to a predetermined position. In addition, since the hydraulic operating device is operated by controlling the opening of the control valve and the driving amount of the driving means by the operating means, the structure is simpler and the cost is lower than that of the variable displacement hydraulic pump. A hydraulic pump can be used.

Further, since the maximum value of the drive amount of the drive means can be set by the operation means, the work can be performed by setting the drive amount of the drive means to a predetermined low value which does not cause noise during nighttime work or the like. Therefore, quiet work according to the working environment becomes possible.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic overall configuration of a truck-mounted crane.

FIG. 2 is a hydraulic circuit diagram of a truck-mounted crane.

FIG. 3 is a hydraulic circuit diagram of a truck-mounted crane.

FIG. 4 is a perspective view showing an operation device.

FIG. 5 is a diagram illustrating a relationship between a tilt angle of a joystick lever and a telescopic speed of a telescopic cylinder in a low-speed mode.

FIG. 6 is a diagram showing a relationship between a tilt angle of a joystick lever and a telescopic speed of a telescopic cylinder in a power mode.

FIG. 7 is a diagram illustrating a tilt angle of a joystick lever.

FIG. 8 is a block diagram illustrating a configuration of an analog control device.

FIG. 9 is a flowchart illustrating the operation of the control device.

FIG. 10 is a flowchart illustrating the operation of the control device.

FIG. 11 is a block diagram illustrating a configuration of a digital control device.

[Explanation of symbols]

 5 Raising and lowering cylinders 11 to 14 Control valve 15 Rotating motor 16 Winch motor 17 Telescopic cylinder 21 to 25 Rod 30 Operating device (Operating means) 31, 32 Joystick lever 33 Mode switching dial (Mode setting means) 50, 80 Control device (Control Means) A1 to A5, B1 to B5 solenoid valves AS1 to AS5, BS1 to BS5 solenoid P pump (constant displacement hydraulic pump)

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Minoru Hirata, 3-4-243 Shirite, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Shinmeiwa Industry Co., Ltd. Special Vehicle Division (56) References A) JP-A-59-110901 (JP, A)

Claims (2)

(57) [Claims] 1. Constant displacement hydraulic operated by a driving means
A control valve for controlling a hydraulic actuation device operated by supply of pressure oil from a pump; an increasing / decreasing unit for increasing / decreasing the driving of the driving unit; a control valve operating unit for controlling an opening degree of the control valve; Operating means for operating the operation device to switch between the slow speed mode and the power mode, and operating the increasing / decreasing means and the control valve operating means; and setting the mode from the mode setting means. Control means for receiving an operation signal from the operation means including a signal, and outputting a control signal to the increase / decrease means and the control valve actuation means based on the input signal; The control valve is controlled so that the opening degree of the control valve is maximized when the amount of operation by the operation means is maximum while maintaining the set amount. The opening of the control valve until the operation amount to a maximum, the hydraulic actuating speed controller of the device to be characterized in that it is configured to increase or decrease control a driving amount of said driving means in accordance with a further amount of operation. 2. A constant displacement hydraulic operated by a driving means.
A control valve for controlling a hydraulic actuation device operated by supply of pressure oil from a pump; an increasing / decreasing unit for increasing / decreasing the driving of the driving unit; a control valve operating unit for controlling an opening degree of the control valve; A mode setting unit configured to be capable of switching the operation of the operation device between a low speed mode and a power mode, and also having a setting of a maximum value of a driving amount of the driving unit; and operating the increasing / decreasing unit and the control valve operating unit. Operating means for inputting an operating signal from the operating means including a mode setting signal from the mode setting means, and outputting a control signal to the increasing / decreasing means and the control valve operating means based on these input signals; and In the slow speed mode, the opening of the control valve is maximized when the amount of operation by the operating means is maximum while the drive of the driving means is maintained at a preset set amount. In the power mode, the opening degree of the control valve is maximized up to a certain operation amount of the operation means, and the drive amount of the drive means is controlled to increase or decrease according to the operation amount more than that. An operating speed control device for a hydraulic operating device.