JPH0121364B2 - - 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. .

To achieve this object, the present invention provides a manually operated valve connected to an actuator actuated by hydraulic pressure, an operating lever that is a first means capable of actuating the manually operated valve, and a manually operated valve as described above. a signal generator that detects the operating amount of the manually operated valve and outputs an electrical signal corresponding to the operating amount; and an output from the signal generator. a storage device for storing electric signals to be stored as a function of time and position of the spool of the manually operated valve; and actuating means connected to the storage device and to the above-mentioned actuating means, for generating a command signal corresponding to the signal stored in the storage device. a control device that outputs an output to the control device, an instruction device that outputs a regeneration instruction signal to perform a regeneration operation to the control device, and a state in which the manually operated valve can be operated by the operating means from a state in which the manually operated valve can be operated by the operating lever. and a switching means that enables reproduction of the operation of the manually operated valve stored in the storage device via the operating means.

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 this hydraulic cylinder 10, and 12 is a first means for operating this manually operated valve 11. It's a lever. Reference numeral 13 denotes a second actuating means capable of actuating the manually operated valve 11, such as a stepping cylinder, which is connectable to the spool of the manually operated valve 11 and is composed entirely of a cylinder part and a control valve part; It has a feedback function and is designed to obtain a stroke proportional to the number of pulses. Note that 14 is a hydraulic device that supplies hydraulic pressure to the stepping cylinder 13.
Reference numeral 15 denotes a pin which is fitted into a hole provided in the spool of the manually operated valve 11 and a hole provided in the rod 16 of the stepping cylinder 13, and can be easily pulled out from these holes. The connection structure between the manually operated valve 11 and the stepping cylinder 13 using the pin 15 constitutes a switching means that switches between the operation of the manually operated valve 11 by the operating lever 12 and the operation of the manually operated valve 11 by a stored signal, which will be described later. are doing. That is, by removing the pin 15, the manually operated valve 11 can be operated by the operating lever 12 without any hindrance. Further, 17 is a signal generator, such as a pulse generator, which detects the operating amount of the manually operated valve 11, such as the spool position, and outputs an electric signal, 18 is a storage device connected to the pulse generator 17, and 19 is connected to the storage device 18. 20 is the control device 19
This is an instruction device that outputs a reproduction instruction signal to perform a reproduction operation, and is constituted by, for example, a switch. Note that the stepping cylinder 13 described above is connected to a control device 19, and this control device 19
It operates according to the command signal output from.

In the first embodiment configured in this way, the manual operation valve 1 is operated by operating the operation lever 12 with the pin 15 removed, as shown in FIG.
1, this causes hydraulic cylinder 1
0 and a hydraulic power source, and the hydraulic cylinder 10 is operated by pressure oil supplied from the hydraulic power source. In addition, with the operation of the operation lever 12, the manual operation valve 1
As a result, the pulse generator 17 outputs an electrical signal corresponding to the displaced spool position to the storage device 18. In this storage device 18, the electrical signal, ie the position of the spool of the manually operated valve 11, is stored as a function of time.

When regenerating the hydraulic cylinder 10, the pin 15 is inserted into the hole of the spool of the manual operation valve 11 and the hole of the rod 16 of the stepping cylinder 13, and then the indicating device 20 is activated. As a result, a reproduction instruction signal is output to the control device 19. The control device 19 reads a signal stored in the storage device 18 in response to this reproduction instruction signal, and outputs a command signal (digital signal) corresponding to this signal to the stepping cylinder 13. The stepping cylinder 13 receives hydraulic power from the hydraulic system 14 to operate its rod 16 by a stroke corresponding to the above-mentioned command signal, thereby operating the manually operated valve 11 via the pin 15.
At this time, the hydraulic cylinder 10 and the hydraulic source are connected through the manually operated valve 11, and the hydraulic cylinder 10 is operated by the pressure oil supplied from the hydraulic source.

In this way, in the first embodiment, since the operating mode of the manually operated valve 11 by the operating lever 12 is stored in the storage device 18 as the positional displacement of the spool, once the operation mode of the manually operated valve 11 is operated by the operating lever 12 After operating the hydraulic cylinder 10 by a predetermined amount, the pin 15 is inserted into the hole in the spool of the manual operation valve 11 and the hole in the rod 16 of the stepping cylinder 13, and then the indicating device 18 is operated. Therefore, the same operation of the hydraulic cylinder 10 as when operating the operating lever 12 can be automatically reproduced any number of times without requiring any operation of the operating lever 12.

If a failure occurs in the control system including the storage device 18 and the control device 19, after removing the pin 15, operate the control lever 12 to close the manual operation valve 1.
1, the hydraulic cylinder 10 can be operated. Furthermore, if it is desired to modify the operating amount of the hydraulic cylinder 10, this can be done very easily by removing the pin 15 and operating the operating lever 12 again.

The second embodiment shown in FIG.
A hydraulic cylinder 2 interlocking with the spool of the manually operated valve 11 is used as a second actuating means capable of operating the
1 and a servo valve 22 that operates this hydraulic cylinder 21.
Manually operated valve 1 is connected to a signal generator that detects the operating amount of
It is composed of a potentiometer 23 that detects the positional displacement of the spool 1 and outputs an electric signal, and switches between the operation of the manual operation valve 11 by the operation lever 12 and the operation of the manual operation valve 11 by a stored signal. The switching means is a hydraulic cylinder 21 and a servo valve 2.
It is constituted by a solenoid valve 24 connected to a circuit connecting the two. In addition, 25 is a control device, which is connected to the storage device 18 and the instruction device 20 similar to those in the first embodiment described above, and also connects to the servo valve 22,
It is connected to a potentiometer 23 and a solenoid valve 24. Further, the potentiometer 23 is connected to the control device 25 and also to the storage device 18. The above-mentioned hydraulic cylinder 21 and servo valve 2
2, a potentiometer 23, and a control device 25 constitute a position servo system.

In the second embodiment configured in this way,
When the operating lever 12 is operated while the solenoid valve 24 is held in the state shown in FIG. 3, and the manual operating valve 11 is actuated, the hydraulic cylinder 10 and the hydraulic source are connected, and the hydraulic cylinder 10 is connected to the hydraulic source. The hydraulic cylinder 10 is operated by the supplied pressure oil. Note that at this time, the hydraulic cylinder 21 to which the manually operated valve 11 is linked
Since the oil inside is returned to the tank via the solenoid valve 24, the manually operated valve 11 can be operated without any hindrance. On the other hand, as the above-mentioned operating lever 12 is operated, the position of the spool of the manually operated valve 11 is outputted as an electric signal by the potentiometer 23 and stored in the storage device 18.

When performing a regeneration operation of the hydraulic cylinder 10, the instruction device 20 may be activated, and a regeneration instruction signal is thereby output to the control device 25. The control device 25 reads a signal stored in the storage device 18 in response to this reproduction instruction signal, and outputs a command signal corresponding to the signal to the servo valve 22. In addition, the control device 25 also controls the solenoid valve 2.
4, which causes the solenoid valve 24 to be switched to the right position in FIG. 3, resulting in a blocked state. In this state, pressure oil from the hydraulic source is supplied to the hydraulic cylinder 21 via the servo valve 22,
This hydraulic cylinder 21 is operated, and in conjunction with the operation of this hydraulic cylinder 21, the manually operated valve 11 is operated, and the hydraulic cylinder 10 is operated by pressure oil supplied from a hydraulic source. Further, the spool position of the manually operated valve 11 is detected by the potentiometer 23, and this is fed back to the control device 25 to perform servo operation. In this way, the hydraulic cylinder 10 by the operating lever 12
It is possible to reproduce the same action as that of .

Since the operation regeneration device for a hydraulic machine according to the present invention is configured as described above, it is possible to perform a regeneration operation, that is, automatic operation, of an actuator in a hydraulic machine equipped with a manually operated valve, thereby improving the workability of the hydraulic machine. It has the effect of In addition, in the event that a failure occurs in the control system that controls the actuating means for operating the manually operated valve, the actuator can be operated via the manually operated valve by operating the operating lever, thereby preventing the actuator from stopping. It is possible to maintain good workability.

[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...
... Stepping cylinder, 14 ... Hydraulic device, 1
5...Pin, 16...Rod, 17...Pulse generator, 18...Storage device, 19, 25...Control device, 20...Instruction device, 21...Hydraulic cylinder,
22... Servo valve, 23... Potentiometer,
24... Solenoid valve.

Claims (1)

[Claims] 1. In a hydraulic machine equipped with an actuator operated by hydraulic pressure, a manual operation communicated to the actuator 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. a valve; an operating lever that is a first means capable of operating the manually operated valve;
a signal generator that detects the amount of operation of the manually operated valve and outputs an electrical signal corresponding to the amount of operation; a memory device for storing the electrical signal output from the generator as a function of the position and time of the spool of said manually operated valve; and a command connected to said memory device and said actuating means and corresponding to the signal stored in said memory device. a control device that outputs a signal to an actuation means; an instruction device that outputs a regeneration instruction signal for performing a regeneration operation to the control device; and a control device that outputs a regeneration instruction signal for performing a regeneration operation to the control device; Operation of a hydraulic machine characterized by comprising: switching means for switching the operation valve to a state in which operation is possible and for making it possible to reproduce the operation of the manually operated valve stored in the storage device through the operation means. playback device.