JPH0823768B2 - Control device - Google Patents

Description

Description: [Industrial field of application] The present invention is mainly used for construction machines such as power shovels, and controls the drive elements of various working machines according to the operation of levers. Regarding the control device.

[Conventional technology]

As an example of such a steering control device, a device applied to a hydraulic power shovel is taken up here, and the actual situation thereof will be described below.

As is well known, in such a power shovel,
As its actuator, each hydraulic cylinder that drives the boom, arm, bucket, etc. corresponding to each work machine as required is arranged, and even if it corresponds to its traveling system and swing system, Separate hydraulic motors are provided to obtain the required drive, and each of these hydraulic actuators is operated by the operator of the control levers that are collectively installed in the cabin corresponding to the actuators. The drive direction and the drive amount, that is, the inflow direction and the flow rate of the pressure oil are controlled according to the operation direction and the operation amount (generally called a pilot operate system).

In addition, from such a configuration, so-called combined operation (simultaneously operating the corresponding levers to simultaneously drive the boom and arm or the arm and bucket to supply pressure oil to multiple actuators) through the operation control device
In this case, the priority mode when the pressure oil flows into each desired actuator is determined by the occasional circuit pressure of each corresponding load side circuit, and each flow rate thereof is determined by each operator corresponding lever. Is determined by the operation amount (stroke) of.

Therefore, for example, in a combined operation of the boom and arm, if you want to move the boom faster than the arm, and if the boom load at this point is lighter than the arm load, the actuator that supports the boom will be used. This operation is relatively easy because the pressure oil flows in first, but on the other hand, if the boom load at this point is heavy compared to the arm load, the arm support Since the pressure oil first flows into the actuator, the operation becomes very complicated. That is, in this case, the desired working mode cannot be obtained unless the two control levers, which generally correspond to the boom and the arm, are frequently operated while adjusting the respective operation amounts. By the way,
This kind of lever operation requires a great deal of skill,
When an unfamiliar operator tries to perform the same work, it is wasteful in terms of working time and working cost, and it is difficult to meet expectations in terms of finishing accuracy.

[Problems to be solved by the invention]

Generally, there is a plurality of steering means such as levers respectively corresponding to a plurality of actuators not limited to the hydraulic type described above, and the above-described steering operation for controlling the drive amount of each corresponding actuator according to the operation amount of each of these steering means. In the control device, particularly in the above-described complex operation, the operation mode of each of the control means becomes extremely complicated, and it takes a considerable skill to obtain a desired operation from a plurality of actuators at the same time.

It is an object of the present invention to improve the operability of such a steering control device so that a desired operation of each actuator can be easily obtained regardless of the above-mentioned combined operation or any operator.

[Means for solving problems]

According to the present invention, at least two drive energy sources for variably supplying drive energy to the actuators, and different priorities according to combinations of the actuators simultaneously driven in the energy supply order of the drive energy sources. And separate control means for individually controlling the energy supply timing and the energy supply amount of these drive energy sources to the actuator to control the actuator drive amount according to the operation amount of each of the steering means. To

[Action]

As a result, it is possible to favorably avoid competition in receiving drive energy between a plurality of actuators that are simultaneously instructed to drive, and to smoothly drive the drive energy corresponding to each drive command value to all actuators. Will be supplied.

〔Example〕

1 to 13 show an embodiment of the steering control device according to the present invention.

This embodiment is configured by applying the present invention to the steering control device of the hydraulic power shovel described above, and FIG. 1 shows the entire configuration of the steering control device of the embodiment in FIGS.
FIG. 10 shows the specific configuration or function of each part of the apparatus of the same embodiment, and FIGS. 11 and 12 are shown in FIG. 1 of the apparatus of the same embodiment.
FIG. 13 shows an example of a specific operation of the CPU, and FIG. 13 shows an example of pressure oil flow rate distribution to each actuator (hydraulic cylinder or hydraulic motor) during the above-described combined operation of the apparatus of the embodiment.

First, the configuration and function of each part of the apparatus of this embodiment will be described in detail with reference to FIGS. 1 and 2 to 10.

In the apparatus of this embodiment, BMS, AMS, BK shown in FIG.
S, LDM, RDM, and TNM are each actuator of the power shovel, and each is a boom hydraulic cylinder (hereinafter simply referred to as a boom cylinder), an arm hydraulic cylinder (hereinafter simply referred to as an arm cylinder), and a bucket hydraulic cylinder (hereinafter referred to as a hydraulic cylinder. These are a bucket cylinder), a left traveling hydraulic motor (hereinafter simply referred to as left traveling motor), a right traveling hydraulic motor (hereinafter simply referred to as right traveling motor), and a swing hydraulic motor (hereinafter simply referred to as swing motor). That is, as shown in FIG. 2, the boom cylinder BMS
Controls the vertical movement of the boom BM by its telescopic drive,
The arm cylinder AMS similarly controls the excavation and dumping operation of the arm AM by its extension / contraction drive, and the bucket cylinder BKS similarly controls the excavation and dumping operation of the bucket BK by its extension / contraction drive, and the left traveling motor LDM and right traveling The motor RDM controls the forward and reverse movements of the left and right traveling systems of the power shovel by rotating the forward and reverse rotations of the motor RDM.
Similarly act to control the turning operation of the power shovel by the rotational driving in the forward direction and the reverse direction. The hydraulic control operation for each of these cylinders and motors will be described in detail later with reference to FIG.

Further, the boom lever 11 and the arm lever shown in FIG.
12, bucket lever 13, left travel lever 14, right travel lever
The boom cylinder BMS, the arm cylinder AMS, the bucket cylinder BKS, the left traveling motor LDM, and the right traveling motor RD, which are described above, of the power shovel, respectively.
Manipulation for instructing the drive direction and drive amount corresponding to the M and the swing motor TNM, that is, the inflow direction and flow rate of pressure oil, which will be described later, to these cylinders and motors according to each operation direction and operation amount. It is a lever.

These levers 11 to 16 are collectively arranged on the operation panel CP in the power shovel cabin shown in FIG. 2, and here, for example, their operation specifications are set in the manner shown in FIG. Suppose Incidentally, in the case of this example, the boom lever 11 and the bucket lever 13 are shared by one steering lever on the right side as shown in FIG. 3, and the operation of the lever in the left-right direction is performed by the boom lever 11. Of the bucket lever 13, and the operation of the lever in the front-back direction fulfills the above-mentioned function of the bucket lever 13. Further, when the dual-purpose lever is operated in an oblique direction, the boom BM and the bucket BK (see FIG. 2) are subjected to a combined operation depending on the operation amount of the lever replaced in the left-right direction and the front-rear direction, respectively. Shall be done. The same applies to the left-hand control lever that also serves as the arm lever 12 and the turning lever 16. Further, only the left traveling lever 14 and the right traveling lever 15 are independently arranged as shown in FIG. 3, and the left and right traveling systems of the power shovel are forwarded based on the operation in the respective front and rear directions. It is assumed that the backward movement is commanded appropriately. The left and right traveling levers 14 and 15 are arranged close to each other so that both can be operated with one hand.

In FIG. 1, each of these levers 11 to 16 is shown as a block, but the inside thereof is configured as, for example, a potentiometer, and the DC voltage corresponding to the operation amount of each corresponding lever, that is, the lever stroke, is It shall be output from the same lever each time it is operated. In addition,
The specific structure of such a lever (generally referred to as an electric lever) is well known, and a detailed description thereof will be omitted.

Further, the work mode selection switch 21 shown in FIG. 1 is a switch which is preliminarily switched and selected by an operator according to the degree of accuracy of each work to be performed by the power shovel, and also the priority mode shown in FIG. The selection switch 22 is switched by an operator in advance in accordance with which of the working machines (boom, arm, bucket) and turning system of the power shovel is to be preferentially operated when performing the above-described combined operation. The switch to be selected.

These switches 21 and 22 are also collectively arranged on the operation panel CP in the cabin, like the levers 11 to 16 described above.
It is also assumed that the mode specifications are set in the manner shown in FIG. 3, for example. That is, in this example, the work mode selection switch 21 is set to STD (standard mode): a work mode suitable for normal excavation, loading, slope work, and other work that does not require so much accuracy.

Precision mode: A work mode suitable for work that requires a certain degree of precision, such as leveling and finishing work.

High precision mode: A work mode suitable for work that requires extremely high precision such as lifting work.

The operator can select any one of the three work modes, and the priority mode selection switch 22 is used in the STD (standard) mode: Each work machine in the case where a combined operation is normally required in the power shovel. A work mode that specifies a standard priority mode for turning systems, turning systems, and traveling systems.

Boom priority mode: In a desired combined operation, each work machine or swing system, in order to give priority to the operation of the boom BM (see Fig. 2),
A mode for designating a priority mode for the traveling system.

Arm priority mode: In a desired combined operation, each work machine or turning system, in particular, gives priority to the operation of the arm AM (see Fig. 2).
A mode for designating a priority mode for the traveling system.

Swing priority mode: A mode in which a priority mode is specified for each work machine, the swivel system, and the traveling system so as to give priority to the operation of the swivel system in a desired combined operation.

The four types of priority modes can be arbitrarily selected by the operator. By the way, the work mode selection switch 21 has the levers 11 depending on the selection mode.
It is used to change the ratio of the operation amount (stroke) of 16 to the flow rate command value that is formed to instruct the flow rate of the pressure oil for each actuator according to this operation amount so as to correspond to each applicable work mode. Further, the priority mode selection switch 22 has the levers 11 to 11 depending on the selection mode.
It is used to weight each of the 16 flow rate command values corresponding to the same operation amount (stroke) and the ratio of which has been changed through the work mode selection switch 21 so as to correspond to each corresponding priority mode. However, the details thereof will be described later together with the description of the first memory 41 and the second memory 42.

The A / D (analog / digital) converters 31 to 36 shown in FIG. 1 are arranged corresponding to the respective levers 11 to 16 and output from the corresponding levers as a DC voltage as described above. Is a circuit for converting lever stroke information into a digital value consisting of a plurality of bits. Each lever stroke information converted into these digital values is taken into a CPU (Central Processing Unit) 100 in parallel via an input interface 101 or serially by time division.

In the input interface 101, when the CPU 100 fetches each lever stroke information, in order to make the CPU 100 properly and clearly grasp the contents included in the stroke information, for example, information on each lever operation is formed in a format as shown in FIG. (Hereinafter, this is referred to as lever operation information) is reconfigured.

That is, in the case of the example shown in FIG. 4, the 0th bit in the bit string that is configured by the 0th to nth (n + 1) th bits for each lever operation information indicates whether or not the lever is operated. Is a code for indicating whether the lever is operated in the positive or negative direction for the 3rd bit, that is, for the 3rd bit from 1st to 3rd bits, and for the 4th bit, this is the identification code of the lever. Bits are respectively assigned to the remaining 5th to nth
Stroke information by the lever that has been A / D converted as described above (in this example, at least at the time of this data reconstruction, expressed as an absolute value based on the lever neutral position) is attached. There is. The operation detection bit indicates whether or not the corresponding lever is actually operated from the neutral state beyond a predetermined approach area (a dead area provided as a play area), that is, the stroke information of the fifth to nth bits. Whether or not a predetermined value corresponding to the boundary value between the approach area and the actual operation area is reached is indicated by its logical value "1" or "0", and the lever identification code is the operation detection bit or It is assumed that the stroke information is one of the six types of levers 11 to 16 indicated by different 3-bit codes corresponding to the levers 11 to 16 respectively. The sign bit indicates a positive value with a logical value "1" and a negative value with a logical value "0", for example.

On the other hand, the contents of each mode selected by the work mode selection switch 21 and the priority mode selection switch 22 are fetched into the CPU 100 via the input interface 102.

In the input interface 102, corresponding to the mode selection contents of the switches 21 and 22, for example, the fifth selection
The mode selection information is formed in the format shown in FIG. 6 and FIG.

That is, in the case of this example, as shown in FIG. 5, corresponding to the work mode selection switch 21, the first bit (0th bit) is a 3-bit value of 0th to 2nd bits whose logical value is "0". A bit string is allocated, and the mode selection content (switch switching content) is indicated by a combination of the logical values of the remaining 2 bits (first bit and second bit).
Corresponding to the other priority mode selection switch 22, as shown in FIG. 6, a bit string of 0th to 2nd bits whose first bit (0th bit) is a logical value "1" is assigned,
Similarly, the mode selection content (switch switching content) is indicated by a combination of the logical values of the remaining bits (first bit and second bit).

By such processing of the input interfaces 101 and 102, in the CPU 100, the operation mode (presence / absence of operation, identification of operated lever, operation direction and operation amount of the lever) of each lever 11 to 16 and each switch described above are performed. This makes it possible to accurately recognize this regarding the switching modes of the operators 21 and 22.

Further, the first to fourth memories 41 to 44 respectively connected to the CPU 100 are memories including, for example, ROM (read only memory) in which various control information for executing the steering control by the apparatus of the embodiment is stored in advance. Is.

Below, the contents of the information pre-stored in each of these memories,
In addition, the manner in which the information is read out by the same memory will be sequentially described in detail together with the manner in which the CPU 100 performs the processing.

The first memory 41 corresponds to stroke mode information (operation amount information) of each of the levers 11 to 16 corresponding to work mode selection contents (hereinafter referred to as work mode selection information) selected through the work mode selection switch 21. each table has the contents (this as flow rate command value and to Q ₁ in the first stage control on) corresponding to the characteristic indicative for in Figure 7 for example hydraulic oil flow rate command value to the actuator or motor each corresponding in accordance with the It is a memory that is stored in a state.

That is, in the case of the example shown in FIG. 7, the first memory
41 indicates the CP corresponding to the STD (standard) mode among the above-mentioned work modes (actually, that is specified through the CPU 100), with the contents corresponding to the characteristic line L ₁ in FIG.
Each time the stroke information for each of the levers 11 to 16 is added from U100, the value corresponding to this is used as the flow rate command value.
Q ₁ is read out and output to the same CPU 100, and if it corresponds to the precision work mode or the high precision work mode (this is also designated through the CPU 100),
Each time the stroke information is added from the CPU 100 with the contents corresponding to the characteristic line L ₂ or L ₃ in FIG. 7, the corresponding value is set as the above flow rate command value Q ₁ in the CP.
It acts to read and output to U100.

By the above-mentioned operation of the first memory 41 and the CPU 100,
Flow rate command value Q ₁ (read out from the memory 41) generated according to the operation amount of each lever 11 to 16 and the same operation amount
And the ratio is 3 through the work mode selection switch 21.
According to the kind of work mode selection information, it is switched and changed in three stages.

The inflection point (point corresponding to lever stroke “25%” in the same example) shown in FIG. 7 “S” indicates the boundary value between the approach area and the actual operation area of each lever described above, and the input interface When the stroke of each lever exceeds this boundary value, 101 sets the operation detection bit (see FIG. 4) of the lever operation information corresponding to the lever to, for example, a logical value “1” Indicates that the actual operation was performed.

The second memory 42 corresponds to the priority mode selection content (hereinafter referred to as priority mode selection information) selected through the priority mode selection switch 22 and corresponds to each of the levers 11-16.
Of the flow rate command value Q ₁ (see FIG. 7) corresponding to the same operation amount of each of the weighting factors for collectively weighting the flow rate command value Q ₁ (see FIG. 7) in a manner as shown in Table 1 of the following table. It is a memory that is stored.

That is, in Table ₁ , the coefficients a _{1 to} i ₁ and a ₂ in the table are
~ I ₂ , a _{3 to} i ₃ (a _{31 to} i ₃₁ , a _{32 to} a ₃₂ ) a _{4 to} i ₄ are the above-mentioned STD (standard) mode, boom priority mode, arm priority mode, and swing priority mode, respectively. Corresponding to the flow rate command value Q ₁ = 100%, the value is arbitrarily set with at least the size relationship (weighting relationship) noted in the lower part of Table 1 (for example, for a ₂ , b ₂ = 1 C ₂ ~
It is set in the form of i ₂ = 0.5. If these magnitude relationships are satisfied, then a ₂ ≠ b ₂ , c ₂ ≠ d ₂ , ≠ e ₂ ≠ f ₂ ≠
g ₂ ≠ h ₂ ≠ i ₂ ), the CPU 100 is based on the lever operation information (in this case, presupposed complex operation) and priority mode selection information received via the input interfaces 101 and 102. By reading each corresponding one of these coefficients from the second memory 42 and calculating the distribution of each to the flow rate command value Q ₁ read from the first memory 41 based on these read values, A flow rate command value Q ₂ is obtained by weighting the flow rate command value Q ₁ as required.

For example, the priority mode selection information indicates the boom priority mode, the lever operation information indicates that the boom lever is operated upward, and the arm lever is operated on the excavation side. Command value
Assuming that Q ₁ indicates 100% corresponding to the boom lever and 50% corresponding to the arm lever, respectively, in CPU100, this second memory
From 42, coefficient a ₂ and coefficient c ₂ corresponding to such operation contents
(Where a _2> c ₂₎ a reads _{each, a 2 × 1 = a 2} ...... (1) c 2 × (1/2) in response to the flow command value to Q ₁ above each = c _2/2 ...... (2) is calculated, and further for the boom _{a 2 / {a 2 + (} c 2/2)} = Q 2BM ...... (3) with respect to the arm _{(c 2/2) / {} a 2 + by performing _{(c 2/2)} =} Q 2AM ...... operations such (4), respectively, each of the flow rate command value _{Q 2 (Q 2BM, Q 2AM} ) determining.

Due to these actions of the second memory 42 and the CPU 100,
The even levers 11 to 16 is operated by the same amount respectively, said priority mode selection each required to the flow rate command value each another flow rate command value for each actuator made of weighted in correspondence with the information Q ₂ Will be obtained as.

The third memory 43 and the fourth memory 44 are the front pump FP driven in parallel by the engine EG shown in FIG.
And a rear pump RP, which are memory for storing usage information and swash plate control information for the two variable oil pumps, respectively.

First, the third memory 43 is
The usage information regarding which of the front pump FP and the rear pump RP preferentially supplies the pressure oil is stored in the manner shown in Tables 2-1 to 2-4 of the following table, for example.

That is, Table 2-1 relates to the usage information of the two pumps in the storage area specified through the CPU 100 when the lever operation information indicates that only the levers 14 and 15 related to traveling are operated. When this area is designated, the third memory 43 corresponds to the operation information of the lever, which is added from the CPU 100 at any time, as shown in Table 2-1. Only the rear pump RP is used independently for the drive motor LDM, and the front pump F is used for the right drive motor RDM.
Information indicating that only P is used alone is read out and output to the CPU 100.

Further, Table 2-2 shows a storage mode regarding the usage information of the two pumps in the storage area specified through the CPU 100 when the lever operation information indicates that a composite operation including traveling is being performed. When this area is designated, the third memory 43 corresponds to the operation information of the lever, which is added from the CPU 100 as needed, for each of the front pump FP and the rear pump RP. Information indicating that this is used is read out and output to the CPU 100 in the priority mode as shown in FIG.

For example, when the lever operation information indicates a composite operation of the left travel lever 14 and the boom lever 11, the third memory 43 indicates that one left travel motor LDM has priority from the front pump FP. Pressure oil is supplied to supply only the shortfall to the flow rate command value Q ₂ from the rear pump RP, and for the other boom cylinder BMS, the pressure oil is preferentially supplied from the rear pump RP to the flow rate command value Q 2. Information indicating that only the shortage for _{2 is} supplied from the front pump FP is read out and output to the CPU 100. Also in the combined operation including other combinations including traveling, the usage information of the above two pumps is read in a form according to such a mode.

Further, Table 2-3 shows that, in the case where the lever operation information indicates that the combined operation of the levers 16 and 12 related to the turning and the arm is being performed, the two pumps of the storage area specified through the CPU 100 are specified. When the area is designated, the third memory 43, as shown in Table 2-3,
Corresponding to the operation information of the lever added from the CPU 100, only the rear pump RP is independently used for one turning motor TNM, and the pressure oil is preferentially supplied from the front pump FP for the other arm cylinder AMS. Then, only the shortfall for the specified flow rate value Q ₂ is rear pump RP.
Information to be supplied from the CPU 100 is read out and output to the CPU 100.

Then, Table 2-4 shows the storage area designated through the CPU 100 when the lever operation information indicates that a single operation or a combined operation other than the combined operation of the turning and the arm alone is performed without traveling. Shows a storage mode regarding the usage information of the two pumps, and when this area is designated, the third memory 43 corresponds to the operation information of the lever, which is added from the CPU 100 at any time, to the front pump FP. With respect to each of the rear pump RP and the rear pump RP, information indicating that the rear pump RP is used is read out and output to the CPU 100 in a priority manner as shown in Table 2-4.

In addition, in these Tables 2-1 to 2-4, "Q"
The subscripts to indicate the target actuator and the pump to be used. For example, “Q _{AM · F} ” is “flow rate of pressure oil supplied from front pump FP to arm cylinder AMS”. And so on. Further, the fourth memory 44 stores the swash plate command value (flow rate) corresponding to the flow rate command value Q ₂ of each of the two pumps FP and RP for which the usage mode (priority mode) is set by the third memory 43 as described above. (Allocation) is stored in a table, for example, with contents corresponding to the characteristics shown in FIG.

That is, in the fourth memory 44, the flow rate command value Q ₂ (the work mode selection information and the priority mode selection information are assumed to be related to the lever strokes of the levers 11 to 16 in the manner shown in FIG. 8A). Accordingly, the flow rate command value with the ratio changed and weighted as described above is used as a reference for the front pump FP and the rear pump RP in the modes shown in FIGS. 8 (b) and 8 (c), respectively. The swash plate command value is stored in advance, and based on the usage information (priority information) for each of these pumps read from the third memory 43, the characteristics shown by the solid lines in FIGS. 8 (b) and 8 (c). And the characteristic indicated by the broken line are switched at any time to operate to read out the swash plate command value corresponding to the designated flow rate command value Q, respectively.

For example, in the case of independent operation of the boom, the pressure oil flowing into the boom cylinder BMS is changed as shown in FIG. 9 (a).
According to the usage information in Table 2-4 above, first the front pump
The rear pump supplies only the deficiency for the flow rate command value Q ₂ (Q ₂ = Q ₁ is set in such a single operation), that is, Q ₂ = 50% or more.
Each swash plate command value is read so as to be supplied from the RP, and when operating the arm independently, the arm cylinder
As shown in FIG. 9 (b), the pressure oil flowing into the AMS is
It be supplied only from the first Riaponpu RP according to the usage information of the 2-4 table above, the flow rate command value Q ₂ (= Q ₁₎ shortage against only (Q ₂ = greater than 50% min) Each swash plate command value is read so as to be supplied from the front pump FP. However, when a combined operation of these booms and arms is performed, these fronts are sent according to the usage information in Table 2-4. The two pumps, the pump FP and the rear pump RP, supply oil at the same time, and for one boom cylinder BMS, the pressure oil flow rate corresponding to the flow rate command value Q ₂ (Q _2BM ) is given priority from the front pump FP side. To the other arm cylinder AMS so that the pressure oil flow rate corresponding to the flow rate command value Q ₂ (Q _2AM ) is preferentially supplied from the rear pump RP side. To read.

These third memory 43 and fourth memory including the CPU 100
By the action of 44, the operability at the time of each composite operation is further improved.

As described above, in this embodiment, the CPU 100 and the first to fourth memories 41 to 44 determine the flow rate command value Q2 for each actuator and the swash plate command values for the front and rear pumps. However, regarding the flow rate command value Q ₂ , the value finally selected here means the above-mentioned third value.
Since this is a value assigned to each pump by the operation of the memory 43 and the fourth memory 44, in the following, regarding this command value Q ₂ , one corresponding to the front pump FP is Q _2F , and one corresponding to the rear pump RP. _Will be referred to as Q _2R respectively. Therefore,
When the notation of these final flow rate command values for each actuator is arranged in correspondence with the above Tables 2-1 to 2-4, it becomes as shown in Table 3 below.

Also, the output interfaces 103 and 104 shown in FIG.
Is the final flow rate command value Q _2F , Q _2R and 2 for each actuator determined through the CPU 100.
Is a circuit for controlling the output of the swash plate command values for the two pumps FP and RP to the corresponding ones of the driver 51-56 for driving the valve and the drivers 61, 62 for driving the servo valve. To the above flow rate command value
In the drivers 51 to 56 to which Q _2F and Q _2R are added, the same flow rate command values Q _2F and Q _2R (specifically, different command values for each target actuator shown in Table 3 and the lever operation (Including operation direction information based on the sign bit of information)
To generate an electric signal having an electric quantity corresponding to each of them, and apply the electric signal to each corresponding solenoid valve of the six valves 71 to 76 which are the pressure oil flow control valves of each actuator, and the output interface 104. In the drivers 61 and 62 to which the swash plate command value is added, electric signals having electric quantities corresponding to the swash plate command values are formed, and the swash plate angle control of the front pump FP and the rear pump RP is performed. The valves are added to servo valves 81 and 82 which are valves. Although not shown, a third control pump is actually provided in addition to the front pump FP and the rear pump RP, and the servo valve for pressure oil supplied from the third pump is actually provided. It is assumed that the swash plate angles of both the front and rear pumps are controlled based on the flow control by 81 and 82.

An example of the specific structure of the valves 71 to 76 is shown in FIG.

As shown in FIGS. 10 (a) and 10 (b), the basic structures of these valves 71 to 76 are common and, for example,
10 Pressure oil flow control valve 7 of swing motor TNM shown in Fig. 10 (a)
For 6, the control of the pressure oil flow rate is executed in the following manner.

Poppet valves PV1 to PV4 correspond to the flow control valves, and solenoid valves EV1 and EV are used as the flow control valves.
2 is equivalent. And solenoid valve EV1 is poppet valve PV1, PV2
To control the flow rate of the pressure oil in the direction of driving the actuator (swing motor TNM) in the direction of arrow A in the figure,
The solenoid valve EV2 controls the poppet valves PV3 and PV4, and controls the flow rate of pressure oil in the direction of driving the actuator in the direction of arrow B in the figure.

Now, a case where the command flow rate is supplied in the direction of driving (rotating) the swing motor TNM in the direction of arrow A will be described.

In this case, the valve flow rate command value Q _{2TN · R} is applied to the solenoid of the solenoid valve EV1 from the driver 56 via the signal line 1. The solenoid valve EV1 moves its spool position according to the valve flow rate command Q _{2TN · R} applied to the solenoid.

As a result, the hydraulic pressure according to the throttle OF and the spool position of the solenoid valve EV1 is applied to the poppet valve PV1, and this poppet valve PV1 provides the flow rate according to the hydraulic pressure, that is, the command flow rate via the check valve CV1 and the oil passage r1. Add to the oil supply / drain port a of the motor TNM.

On the other hand, as the pressure oil is supplied to the oil supply / discharge port a of the motor TNM, an oil passage r connected to the oil supply / discharge port b side of the motor TNM is connected.
The pressure of 2 rises, and the oil passage
Since r3 is connected to the oil passage r4, the pressure in the oil passage r3 decreases,
As a result, the poppet valve PV2 opens and the motor TNM oil supply and drain port b
Side pressure oil is oil passage r2, poppet valve PV2, oil passage r4 and oil passage r
It flows to drain D through D.

As described above, the poppet valve PV is set by the solenoid valve VE1.
1, PV2 is controlled, and the flow rate according to the valve flow rate command value Q _{2 TN · R} applied to the solenoid of the solenoid valve EV1 is applied in the direction of driving (rotating) the motor TNM in the direction of arrow A. It should be noted that when the required flow rate is driven in the direction of driving (rotating) the motor TNM in the direction of arrow B, it is performed by controlling the poppet valves PV3, PV4 by the solenoid valve EV2 connected to the signal line * 2. Since these valves are provided symmetrically with the solenoid valve EV1 and the poppet valves PV1 and PV2 and perform the same operations, detailed description thereof will be omitted.

By the way, this swing motor TNM is
As described above, since the oil is exclusively supplied from the rear pump RP, the same pressure oil flow control valve
The 76 also has a structure for receiving the pressure oil to be supplied exclusively through the oil passage rR connected to the rear pump RP, and the pressure oil flow rate control valve for the right travel motor RDM which receives the oil exclusively from the other front pump FP. The valve 75 has the same structure as the valve 76, but as shown in FIG. 10 (a), receives the pressure oil to be supplied exclusively through the oil passage rF connected to the front pump FP. It will be composed.

Further, as described above, the boom cylinder BMS, the arm cylinder AMS, the bucket cylinder BKS, and the left travel motor LDM that are refueled from both the front pump FP and the rear pump RP are different in the priority modes for refueling. The pressure oil flow rate control valves 71 to 74 are respectively the first
As shown in FIG. 0 (b), poppet valves PV1 and PV3, which are respectively connected to the oil passage rF, are used as poppet valves for receiving pressure oil.
And poppet valves PV5 and PV6, which are respectively connected to the oil passage rR, are provided as two-system poppet valves. For example, in order to flow a required flow amount in the direction of driving the corresponding actuator in the direction of arrow A in the figure, When supplying this pressure oil from the front pump FP side, it is performed by controlling the poppet valves PV1 and PV2 by the solenoid valve EV1 connected to the signal line * 1, respectively, and the same pressure oil is supplied from the rear pump RP side. In such a case, the poppet valves PV5 and PV2 are controlled by the solenoid valve EV3 connected to the signal line * 3, respectively. Even in these valves 71-74,
The basic flow control operation is similar to that of the valve 76 described above.

11 and 12 show the CPU 100 in the apparatus of this embodiment.
11 is a flowchart collectively showing an example of the signal processing operation, and finally, the operation of the entire apparatus of the embodiment will be described in detail with reference to FIGS. 11 and 12.

Now, assuming that the engine EG is started by the operator and a desired mode for the work mode and the priority mode is selected through the work mode selection switch 21 and the priority mode selection switch 22, respectively, CP
In the U100, as shown in FIG. 11, on condition that at least one of the levers 11 to 16 has been operated by the same operator, that is, lever operation information (first (See Fig. 4)
Of at least one of the operation detection bits is “1”, the work mode selection information (see FIG. 5) and the priority mode selection information (see FIG. 6) added from the input interface 102. Is executed and is executed for each of the routines A to L which are alternatively designated based on these corresponding selection conditions. The contents of these A routine to L routine are shown collectively in FIG.

That is, when executing these A to L routines, the CPU 100 first determines the lever currently operated based on the lever operation information (FIG. 4), that is, the lever for which the logical value of the operation detection bit is "1". Accepting the lever identification code, the operation lever (including multiple levers)
It is determined whether or not includes a code indicating the lever 14 or 15 related to traveling.

As a result, the received lever identification code is
When only these levers 14 or 15 related to traveling are shown (composite of the same levers), the routine is executed according to the flow indicated by a in FIG. 12 and the lever identification code indicates those levers 14 related to traveling. Alternatively, when the combination of 15 and any other lever is shown, the routine is executed according to the flow shown in b in FIG. 12 and the lever identification code does not include those levers related to traveling. In addition, in the case where only the turning lever 16 and the arm lever 12 are combined, the routine is executed according to the flow indicated by c in FIG. 12 and the lever identification code indicates that the lever has a relationship other than those described above. Alternatively, in the case of indicating the combination thereof (that is, in the case of not including the lever related to traveling and not including the combination of the turning lever 16 and the arm lever 12), the routine is executed according to the flow indicated by d in FIG. To.

For example, in the case of the flow indicated by a, the CPU 100 determines that the lever identification code for the operation lever indicates only the levers 14 and 15 related to traveling as described above, and then 1). The stroke information is received from the lever operation information on these levers.

2). A table corresponding to the characteristic line (see FIG. 7) of the work mode selection information is designated for the first memory 41, and the flow rate command value corresponding to the received stroke information is specified.
Q ₁ is read from the first memory 41. That is, the operation content (in this case, at least one of left traveling and right traveling) and a weighting coefficient (see Table 1) according to the priority mode selection information are read from the second memory 42 in the operation mode selected by the operator. Flow rate command value calculated above
A weighting operation corresponding to the expressions (1) to (4) based on Q ₁ is executed. That is, [Flow rate command value Q ₁ / Flow rate command value Q ₂ ] in the priority mode selected by the operator is calculated. However, when the lever operation at this time is the independent operation of the left traveling lever 14 or the right traveling lever 15, the same flow rate command value Q ₂ is obtained with Q ₂ = Q ₁ .

4). The pump usage information corresponding to the above Table 2-1 is read from the third memory 43 to determine the usage mode of the front and rear pumps FP and RP, and from the fourth memory 44 (see FIG. 8). Flow rate command values Q _{2LD · R} , Q to the valves 74 and 75 corresponding to the determined pump utilization mode and the calculated flow rate command value Q ₂ , respectively.
_{2RD · F} and each swash plate command value for the front and rear pumps FP and RP are read. That is, [flow rate command value Q ₂ / valve flow rate command values Q _2F , Q _2R , swash plate command value for each pump] is calculated according to the content of the lever operation by the operator.

5). The valve flow rate command values Q _2F and Q _2R (in this case, Q _{2LD · R} and Q _{2RD · F} ) calculated in this manner are added to the output interface 103 with the corresponding code bit contents of the corresponding lever operation information. To the corresponding driver (drivers 54 and 55 in this case) via the output interface 104 and output to the corresponding drivers 61 and 62 via the output interface 104. To do.

A series of processing such as is executed. As a result, the front pump FP and the rear pump RP supply swash plate angles corresponding to the swash plate command values, respectively, to supply the specified amount of pressure oil, and the other valves 74 and 75 are supplied.
Then, the pressure oil flow rate control corresponding to each of the flow rate command values Q _{2LD · R} and Q _{2RD · F} (including the direction information based on the sign bit) is executed, and each corresponding actuator (in this case, left The drive direction and drive amount of the traveling motor LDM and the right traveling motor RDM) are controlled.

In the CPU 100, the above 4). After the calculation value output process of (1) is completed, the process returns to the first step (the lever operation presence / absence determination step shown in FIG. 11) again, and the same process as above is repeatedly executed. This makes it possible to continuously follow the maneuvering operation by the operator.

The processing operation of the CPU 100 is basically the same also in the other flows indicated by b, c, and d, and the above 5). Only when determining the pump utilization mode, different storage areas of the third memory 43 as shown in FIG. 12 are used.

Thus, according to the device of this embodiment, the steering lever is
Even when performing a so-called composite operation in which a plurality of 11 to 16 are simultaneously operated, the priority mode selection switch
According to a desired priority degree selected through 22, it is possible to automatically give priority to the driving modes themselves of the plurality of actuators to be driven, so that the operability during the combined operation is significantly improved. It will be. Moreover, the driving accuracy of each actuator according to the desired finishing degree can be arbitrarily selected through the work mode selection switch 21 regardless of whether the operation is a single operation or a composite operation. The burden on the operator regarding the above will be significantly reduced. Furthermore, since the pumps that are the driving sources of the respective actuators are separated into two parts, and the refueling is assigned to each of the combined actuators with a predetermined priority, the above-mentioned combination is also possible. Operability during operation is improved. FIG. 13 lists, for reference, an example of pressure oil flow rate distribution at the time of composite operation by the above-described two separated pumps assuming that the priority mode is the STD (standard) mode.

In the above embodiment, the work mode selection function related to the first memory 41, the priority mode selection function related to the second memory 42, and the work mode selection function related to the third and fourth memories 43, 43.
Although it has a configuration that includes all the separation control functions of the pump,
Each of these functions alone exerts the above-mentioned sufficient effects, and at least one of them can be put into practical use.
By providing one, it is possible to obtain a corresponding effect of avoiding the inconvenience of the conventional device.

Further, the configuration itself of the apparatus of the embodiment shown in FIG. 1 is merely an example, and it goes without saying that any other configuration may be adopted as long as it can achieve the same functions as those described above. . In particular, the number of control levers and actuators respectively corresponding thereto, the number of pumps that are hydraulic sources, the number of work modes and priority modes selected from the work mode selection switch and the priority mode selection switch, and the like are arbitrary, The target to which the present invention is applied is not limited to the construction machine such as the power shovel illustrated. The actuator to be steered is not limited to the hydraulic type illustrated, but the present invention can be similarly applied to electric or other types of actuators.

〔The invention's effect〕

As described above, according to the operation control device according to the present invention, the operability is remarkably improved, and it is possible to make each of the plurality of actuators to be operated desired even during the combined operation or any operator. The operation can be easily obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a steering control device according to the present invention, FIG. 2 is a side view schematically showing an outline of a hydraulic power shovel to which the embodiment is applied, and FIG. The top view which shows typically an example of the structure about the operation panel used for the same Example apparatus, FIG. 4 is the conceptual diagram which shows an example of the data structure about the lever operation information handled by the same Example apparatus, FIG. Is a conceptual diagram showing an example of the data structure of the work mode selection information, FIG. 6 is a conceptual diagram showing an example of the data structure of the priority mode selection information, and FIG. 7 is the embodiment apparatus shown in FIG. FIG. 8 is a diagram showing an example of memory contents of the first memory in FIG. 8, FIG. 8 is a diagram showing an example of memory contents of the fourth memory in the apparatus of the embodiment,
FIG. 9 is a diagram showing an example of data (swash plate command value) output from the fourth memory during independent work, and FIG. 10 is an example of a valve structure of a pressure oil flow control valve used in the apparatus of the embodiment. The hydraulic circuit diagram shown in FIGS. 11 and 12 is a flow chart showing an example of the processing operation of the CPU used in the apparatus of the embodiment, and FIG. 13 is the pressure applied to each actuator during the combined operation of the apparatus of the embodiment. It is a chart showing an example of oil flow distribution. 11 to 16 …… Control lever, 21 …… Work mode selection switch, 22 …… Priority mode selection switch, 31 to 36 …… A / D converter, 41 to 44 …… Memory, 51 to 56,61,62… … Driver, 71-76 …… Pressure oil flow control valve, 81, 82 …… Servo valve, 100 …… CPU, 101, 102 …… Input interface, 10
3, 104 …… Output interface, FP …… Front pump, RP …… Rear pump, BMS …… Boom cylinder, AMS
…… Arm cylinder, BKS …… Bucket cylinder, LDM…
… Left drive motor, RDM …… Right drive motor, TNM …… Swing motor

Claims (1)

[Claims] 1. A plurality of actuators, at least two drive energy sources for variably supplying drive energy to these actuators, and a plurality of steering means such as levers respectively corresponding to the actuators. In the operation control device that controls the drive energy supply amount of the drive energy source and the drive amount of each corresponding actuator in accordance with the drive amount command value generated according to Separation control means is provided for individually controlling the energy supply timing and energy supply amount of these drive energy sources to the actuator by prioritizing each of the plurality of actuators according to the combination of the actuators to be driven simultaneously. Control device characterized by.