JPH0118286B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a motion reproducing device that is installed in a hydraulic machine such as a hydraulic construction machine and is capable of storing the motion of an actuator and automatically operating the actuator.

FIG. 1 is a schematic diagram showing an example of a conventional motion reproducing device of this type. In this figure, 1 is an actuator, such as a hydraulic cylinder, 2 is an electro-hydraulic valve that operates this hydraulic cylinder 1, 3 is a control device that controls the operation of the electro-hydraulic valve 2, and 4 is an operation signal that operates the electro-hydraulic valve 2. A manual controller 5 is connected to the control device 3 and transmits information to the control device 3.
This is a storage device that stores the operation signals of.

In this conventional motion regeneration device, when the manual controller 4 is operated, the operation signal is output to the control device 3, and the control device 3 operates the electrohydraulic valve 2 in response to the operation signal. This connects the hydraulic cylinder 1 and the hydraulic source, and the hydraulic cylinder 1 is operated by the pressure oil supplied from the hydraulic source.
On the other hand, the operation signal output to the control device 3 is stored in the storage device 5.

When performing a regeneration operation of the hydraulic cylinder 1, a predetermined regeneration instruction signal may be given to the control device 3, and this regeneration instruction signal causes the storage device 5
The operation signal stored in is called to the control device 3, and the control device 3 operates the electrohydraulic valve 2 in response to the operation signal. In this way, by operating the manual controller 4 only once, the same operation as that of the hydraulic cylinder 1 when operating the manual controller 4 can be performed any number of times without requiring any subsequent operation of the manual controller 4. is possible,
The hydraulic cylinder 1 can be operated automatically.

Nowadays, there is a demand for automatic operation of actuators in construction machinery such as hydraulic excavators and cranes, but the conventional motion regeneration device described above operates the hydraulic cylinder 1 via the electro-hydraulic valve 2. Therefore, in the case of a hydraulic machine such as the above-mentioned construction machine, which is generally equipped with a manually operated valve that is operated by the hand of the worker, and whose actuator is actuated through this manually operated valve. This conventional motion reproducing device cannot be applied as is.

In addition, in this conventional operation regeneration device, the entire connection system of the control device 3, the storage device 5, and the electrohydraulic valve 2 is configured by an electric system.
If a failure occurs in this electrical system, the hydraulic cylinder 1 cannot be operated, resulting in an inability to work.

The present invention has been made in view of the actual situation in the prior art, and an object thereof is to provide an operation regeneration device for a hydraulic machine that enables regeneration operation in an actuator operated by a manually operated valve. .

In order to achieve this object, the present invention provides, in addition to the manually operated valve for actuating the actuator, another hydraulic valve connected to the actuator and having substantially the same characteristics as the manually operated valve, in parallel with each other; A signal generator that detects the operating amount of the operating valve, such as the spool position, and outputs an electrical signal, and a storage device that stores the electrical signal output from the signal generator as a function of the spool position and time of the manually operated valve. , an actuating means for actuating the above-mentioned another hydraulic valve; a control device connected to the storage device and the actuating means and outputting a command signal corresponding to the signal stored in the storage device to the actuating means; The configuration includes an instruction device that outputs a reproduction instruction signal for performing an operation.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The operation regeneration device for a hydraulic machine according to the present invention will be described below with reference to the drawings. FIG. 2 is a schematic diagram showing a first embodiment of the present invention, and FIG. 3 is a schematic diagram showing a second embodiment of the present invention.

In FIG. 2 showing the first embodiment, 10 is an actuator such as a hydraulic cylinder, 11 is a manually operated valve connected to the hydraulic cylinder 10, 12 is an operating lever connected to the manually operated valve 11, and 13 is the manually operated valve 11. 14 is a storage device connected to the signal generator 13, and 15 is a control device connected to the storage device 14. 16 is another hydraulic valve connected to the above-mentioned hydraulic cylinder 10, and has almost the same characteristics as the manually operated valve 11. 17 is an operating means for operating this hydraulic valve 16, such as a digital stepping cylinder, which consists of a cylinder part and a control valve part, has a feedback function, and is designed to obtain a stroke proportional to the number of pulses. There is. This stepping cylinder 17
is connected to the control device 15. Reference numeral 18 denotes an instruction device that outputs a reproduction instruction signal for performing a reproduction operation to the control device 15, and is constituted by, for example, a switch.

In the first embodiment configured in this way, when the manual operation valve 11 is operated by operating the operation lever 12, the hydraulic cylinder 10 and the hydraulic power source are thereby connected, and the hydraulic power source is The hydraulic cylinder 10 is operated by pressure oil supplied from the hydraulic cylinder 10 . On the other hand, the spool of the manually operated valve 11 moves in conjunction with the operation of the operating lever 12 described above, and as a result, an electric signal corresponding to the position of the displaced spool is output from the signal generator 13 to the storage device 14. In this storage device 14, the electrical signal, ie the position of the spool of the manually operated valve 11, is stored as a function of time.

When performing a regeneration operation of the hydraulic cylinder 10, the instruction device 18 may be activated, and a regeneration instruction signal is thereby output to the control device 15. The control device 15 reads a signal stored in the storage device 14 in response to this reproduction instruction signal, and outputs a command signal (digital signal) corresponding to this signal to the stepping cylinder 17. The stepping cylinder 17 operates by a stroke corresponding to this command signal, thereby operating the hydraulic valve 16. At this time, the hydraulic cylinder 10 and the hydraulic source are connected through the hydraulic valve 16, and the hydraulic cylinder 10 is operated by the pressure oil supplied from the hydraulic source.

In this way, in the first embodiment, the operating mode of the manually operated valve 11 is stored in the storage device 14 as the positional displacement of the spool, and the hydraulic valve 16 is configured to have almost the same characteristics as the manually operated valve 14. Therefore, once the hydraulic cylinder 10 has been actuated by a predetermined amount using the operating lever 12, the operating lever 12 can be changed by simply activating the indicating device 18, that is, without having to operate the operating lever 12. The same operation of the hydraulic cylinder 10 as during operation can be automatically reproduced any number of times.

If a failure occurs in the control system of the hydraulic valve 16 including the storage device 14 and the control device 15, the hydraulic cylinder 10 can be operated by operating the operating lever 12 and operating the manual operating valve 11. can be done. Furthermore, if the operating amount of the hydraulic cylinder 10 is not to be corrected, this can be done very easily by operating the operating lever 12 again.

In the second embodiment shown in FIG. 3, the operating means for operating the hydraulic valve 16 is constructed by a position servo system. In this FIG. 3, 19 is a normal hydraulic cylinder that is connected to the hydraulic valve 16 and operates this hydraulic valve 16, and 20 is this hydraulic cylinder 1.
9 is an electro-hydraulic valve that operates; 21 is connected to the aforementioned control device 15; a servo control device that operates the hydraulic valve 16; 22 detects the position of the spool of the hydraulic valve 16 and sends a signal to the servo control device 21; It is a position detector that outputs. The other configurations are the same as the first embodiment shown in FIG. 2 described above.

Even in the second embodiment configured in this way,
By activating the instruction device 18 and outputting a reproduction instruction signal to the control device 15, the control device 15 outputs a command signal corresponding to the signal stored in the storage device 14 to the servo control device 21. The electric hydraulic valve 20 operates, and the hydraulic cylinder 19
Pressure oil is supplied to the hydraulic cylinder 19, and the hydraulic valve 16 operates integrally with the operation of the hydraulic cylinder 19. Further, the position of the spool of the hydraulic valve 16 is detected by the position detector 22 and outputted to the servo control device 21, thereby performing feedback control. In this way, the same operation as that of the hydraulic cylinder 10 in the manually operated valve 11 can be reproduced.

In the first embodiment, a digital stepping motor 17 is used as the operating means for operating the hydraulic valve 16, and in the second embodiment, the hydraulic cylinder 1 is used as an operating means.
9. Although a position servo system including an electro-hydraulic valve 20, a servo control device 21, and a position detector 22 has been mentioned, the actuation means is not limited to these, and may include a combination of a rack and pinion, a link mechanism, etc. Various embodiments may be taken, including those including:

Since the operation regeneration device for a hydraulic machine of the present invention is configured as described above, it is possible to perform a regeneration operation of an actuator in a hydraulic machine equipped with a manually operated valve, that is, automatic operation, and improve the workability of the hydraulic machine. It has an improving effect. In addition, if a failure occurs in the control system of the hydraulic valve involved in actuator regeneration, work can be prevented from stopping by operating the actuator via a manually operated valve, and good workability can be maintained. Can be done.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing an example of a conventional motion regeneration device for a hydraulic machine, and FIG. 2 is a schematic configuration diagram showing a first embodiment of the motion regeneration device for a hydraulic machine according to the present invention.
FIG. 3 is a schematic configuration diagram showing a second embodiment of the present invention. 10...Hydraulic cylinder (actuator), 1
1...manual operation valve, 12...operation lever, 13...
...Signal generator, 14...Storage device, 15...Control device, 16...Hydraulic valve, 17...Digital stepping cylinder, 18...Instruction device, 19...
Hydraulic cylinder, 20... Electric hydraulic valve, 21...
Servo control device, 22...position detector.

Claims (1)

[Claims] 1. In a hydraulic machine equipped with an actuator operated by hydraulic pressure, in an operation regeneration device for a hydraulic machine that is capable of storing the operation of the actuator and reproducing the operation of the actuator, manual operation is performed by contacting the actuator. A signal generator that includes a valve and another hydraulic valve having substantially the same characteristics as the manually operated valve in parallel with each other, detects the amount of operation of the manually operated valve, and outputs an electrical signal corresponding to the amount of operation. , a storage device for storing the electrical signal output from the signal generator as a function of the position and time of the spool of the manually operated valve; an actuation means for actuating the another hydraulic valve; The apparatus is characterized by comprising: a control device that is connected to the device and outputs a command signal corresponding to the signal stored in the storage device to the actuating means; and an instruction device that outputs a reproduction instruction signal for performing a reproduction operation to the control device. Hydraulic machine motion regeneration device.