JPH0463249B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device in a hydraulic drive circuit using an electromagnetic proportional valve.

Conventionally, as a device for controlling a hydraulic actuator using an electromagnetic proportional valve, for example, a control device for an aerial work vehicle as shown in FIG.
- Proposed as No. 58021.

That is, it has an upper tower 3 and a lower tower 4, each of which has a workbench 2 for the worker 1 attached to its tip, and when these two towers are raised and lowered appropriately using hydraulic cylinders 5 and 6, the workbench 2 can be moved freely up and down.

Then, both hydraulic cylinders 5 or 6
The expansion and contraction operation thereof can be freely controlled by a control lever 9 via a controller section 7 and a hydraulic valve 8 responsive to the controller section 7 as shown in the figure.

To explain this now, the hydraulic valve 8 is
It is composed of a switching valve 21 and a position limiter 39. The controller section 7 proportionally increases or decreases the current to the solenoids 10 and 11 of the electromagnetic proportional valve of the position limiter 39 according to the tilt angle of the control lever 9.

For example, when the control lever 9 is tilted to the right from the neutral position, the current to the electromagnetic proportional valve solenoid 10 gradually increases from zero according to the tilt angle, except for a dead zone described below. Conversely, when tilting to the left from the neutral position, the current to the electromagnetic proportional valve solenoid 11 gradually increases from zero.

On the other hand, the position limiter 39 is
2 has mutually symmetrical annular pressure chambers 14 and 15 partitioned by a double-acting piston 13, and both pressure chambers 14 and 15 are equipped with a pilot oil pressure supply passage 16, orifices 17 and 18, etc. Afterwards, pilot hydraulic pressure was introduced.

And the outlets 14a, 1 of each pressure chamber 14, 15
The cross-sectional area of the orifice 5a is the solenoid plunger (armature) 10b, 1 of the electromagnetic proportional valve mentioned above.
It can be freely increased or decreased by vertical movement of each poppet 10a, 11a in conjunction with poppet 1b.

For example, when a current flows through the electromagnetic proportional valve solenoid 10 and the poppet 10a moves upward, the orifice cross-sectional area of the outlet 14a decreases relative to that of the outlet 15a, creating a pressure difference between the pressure chambers 14 and 15.

As a result, the double-acting piston 13 moves rightward and stops at a position where this movement and the elastic force of the spring 44 are balanced.

The amount of movement at this time, that is, the amount of stroke of the double-acting piston 13 increases in proportion to the current flowing through the electromagnetic proportional valve solenoid 10.

Conversely, when current flows through the electromagnetic proportional valve solenoid 11 and the poppet 11a moves upward, the double-acting piston 13
On the other hand, moves to the left.

In this way, the double-acting piston 13 moves left and right with a stroke amount that corresponds to the current flowing through the electromagnetic proportional valve solenoids 10 and 11, that is, the tilt angle of the control lever 9.

Further, a plunger 21a of a switching valve 21 is connected to the double-acting piston 13 via a connecting rod 43 that moves integrally with the double-acting piston 13.
1 is a double-acting piston 13, that is, a plunger 21
Hydraulic oil is sent from the hydraulic pump (not shown) to the hydraulic cylinders 5 and 6, hydraulic oil is returned from the hydraulic cylinders 5 and 6 to the oil tank (not shown), and the hydraulic pump From hydraulic cylinders 5, 6
regulates the quantitative ratio of hydraulic oil that bypasses the water and returns to the hydraulic tank.

As a result of such an operation of the hydraulic valve 8, the flow rate of hydraulic oil in the extending direction to the hydraulic cylinders 5 and 6 increases, for example, in accordance with the current flowing to the electromagnetic proportional valve solenoid 10, and conversely, the flow rate of hydraulic oil in the extending direction to the electromagnetic proportional valve solenoid 11 increases. The flow rate of hydraulic oil in the contraction direction increases in accordance with the flowing current.

On the other hand, the stroke positions of the hydraulic cylinders 5 and 6,
In other words, since the elevation angle of the upper tower 3 (or lower tower 4) is adjusted by the amount of hydraulic oil supplied, for example, by tilting the control lever 9 from the neutral position to the right, it is possible to control the electromagnetic proportional valve solenoid 10. When the current is increased, the amount of hydraulic oil also increases, the hydraulic cylinders 5 and 6 extend, and the upper tower 3 (or lower tower 4) rises.

Conversely, if the control lever 9 is tilted to the left, the upper tower 3 (or lower tower 4) will fall.

By the way, as shown in FIG. 3, for example, the aforementioned switching valve 21 has a neutral dead zone A when the flow rate Q of the hydraulic oil to the hydraulic cylinders 5 and 6 changes with respect to the stroke S of the plunger 21a from the neutral position. There is.

That is, in this case, the switching valve 21 can change the flow rate of the hydraulic oil only after the plunger 21a has stroked approximately 2.5 mm or more from the neutral position.

Therefore, even if the control lever 9 is tilted from the neutral position, the hydraulic cylinders 5 and 6 cannot be extended or retracted until the plunger 21a is displaced beyond the neutral dead zone.

Therefore, it is necessary to narrow the unnecessarily dead band width of the control lever 9 with respect to the expansion and contraction movement of the hydraulic cylinders 5 and 6 that occurs in this way, that is, the amount of hydraulic oil supplied to the hydraulic cylinders, and to improve the stability in the neutral position. In order to ensure this, between the plunger 21a and the double-acting piston 13, there is a step portion 40 formed by coupling the plunger 21a and the connecting rod 43, and a flange portion 4 of the connecting rod 43.
A spring 44 is provided on the outer periphery of the small diameter portion formed by 1.

The spring 44 is held between stepped cylindrical holders 45 and 46 that are slidably fitted to the stepped portion 40 and the flange portion 41, and when the plunger 21a is displaced from the neutral position to the left, for example, While the holder 45 is stopped by the stop surface 47, the holder 46 is displaced in conjunction with the flange portion 41, so that the spring 44 is compressed by an amount proportional to the displacement force.

Conversely, when the plunger 21a is displaced rightward from the neutral position, the holder 46 is stopped by the stop surface 48, but the holder 45 is now displaced, so the spring 44 is similarly activated in proportion to the displacement force. It shrinks.

At this time, in order to obtain stability in the neutral position, the spring 44 is held between the holders 45 and 46 with a predetermined initial load, so that the pilot oil acting on the double-acting piston 13 is reduced. Until the differential pressure exceeds this initial load, the plunger 21a
maintains its neutral position stably.

However, the dead zone width corresponds to the sum of the dead zone until the plunger 21a starts to move due to the initial load and the dead zone until the oil starts to flow after it starts moving, so it may become too large than necessary.
Therefore, in order to reduce the width of the dead zone of the control lever, the response characteristics of the electromagnetic proportional valve solenoids 10 and 11 to the tilting movement of the control lever 9 are changed in the controller section 7 as shown in FIG.

That is, in FIG. 4, 31 and 32 are sliding resistors (potentiometers) connected to the control lever 9, 33 and 34 are amplifier circuits, and 10 and 11 are electromagnetic proportional valve solenoids installed in the hydraulic valve 8. be.

The sliding resistors 31 and 32 are connected to the control lever 9 so as to exhibit resistance changes independently of each other. For example, when the control lever 9 is tilted to the right from the neutral position, the tilting angle of the control lever 9 is changed by the amplifier circuit 33. In response to this, only the current to the electromagnetic proportional valve solenoid 10 gradually increases from zero.

Conversely, when tilting to the left from the neutral position, only the current to the electromagnetic proportional valve solenoid 11 gradually increases from zero.

Since the amplifier circuits 33 and 34 are constructed in exactly the same way, only the amplifier circuit 34 will be shown in detail in the drawings and will be specifically explained.

Sliding terminal voltage signal A of the sliding resistor 32 that changes proportionally according to the tilt angle of the control lever 9
is amplified by an amplifier 35 and transistors 36 and 37, and then supplied to the electromagnetic proportional valve solenoid 11 as a current signal.

At that time, use the control lever 9 as described above.
In order to quickly stroke the plunger 21a of the hydraulic valve 8 to the upper limit of the neutral dead zone of the switching valve 21 in order to narrow the dead zone width of the control lever 9, after the tilting angle of the control lever 9 reaches a predetermined value, the safe When the intentional dead zone is exceeded, the comparator 38 adds a predetermined additional voltage to the voltage from the sliding resistor 32 based on the magnitude relationship between the sliding terminal voltage signal A and the predetermined reference voltage signal B. Supplied to amplifier 35, electromagnetic proportional valve solenoid 1
A predetermined current is forcibly added and corrected to the current to 1.

After the neutral dead zone is exceeded, the rate of change of the current supplied to the electromagnetic proportional valve solenoid 11 is controlled by a variable controller for adjusting the amplification factor so that the plunger 21a strokes at an appropriate rate with respect to the tilting of the control lever 9. Set to a predetermined value by resistor VR-1.

In addition, regarding the width of the dead band of the control lever 9 to prevent valve operation due to careless contact, etc., the reference voltage signal B is applied via the variable resistor VR-2.
By increasing or decreasing the value of , the width can be freely adjusted.

In addition, if the neutral dead zone of the switching valve 21 with respect to the stroke of the plunger 21a is large, the additional voltage is increased relative to this by the variable resistor VR-3, and the additional current to the electromagnetic proportional valve solenoid 11 is further increased. do it. FIG. 5 shows the output current of the controller section 7 with respect to the tilt angle of the control lever 9. However, the dither signal is omitted. As can be seen from the figure, when the control lever 9 passes the intentional neutral dead zone provided for safety, the output current I suddenly rises to the current _I1 , which causes the plunger 21a to pass through the neutral dead zone of the switching valve 21. When stroked to the upper limit, the control current value is increased proportionally according to the tilt angle of the control lever 9,
This increases the valve flow rate.

In this way, the characteristics of the output current with respect to the input voltage (control lever tilting angle) are controlled, and as a result, the neutral dead zone of the control lever 9 is reduced. Also, focusing on the control range where the flow rate from the hydraulic valve 8 is maximum, the control current I ₃ that provides the maximum flow rate changes due to machining errors of the valve components, so if it is set large in advance in anticipation of the variation, The required dead band width in the maximum flow range increases.

In order to prevent such problems, in a large valve flow range, the output value of the sliding resistance 32 input to the amplifier 35 is combined with the output E from the comparator 50 to determine the maximum tilt angle θmax of the control lever 9. At θ ₂ in the front, the solenoid excitation current I is made to rise rapidly from I ₃ to I ₂ .

The comparator 50 compares the output A of the sliding resistor 32 with the reference voltage signal D set via the variable resistor VR-4, and outputs a high level voltage when the set value is exceeded.

This voltage value is adjusted to a predetermined value E using a variable resistor VR- ₅ , and as shown in FIG. Add to input voltage A so that

In this way, by reducing the dead zone near the neutral position and maximum tilting angle of the control lever 9, the effective control angle range expands accordingly, which also improves the control accuracy of the unit lever tilting angle. It becomes possible.

However, in this case, since the two amplifier circuits 33 and 34 having the same configuration are provided, the circuit becomes complicated, and the adjustment takes time and effort, resulting in high cost.

The present invention was proposed to solve this problem.The neutral point of the potentiometer (sliding resistance) is used as the origin, and the direction of tilting of the control lever is determined based on the magnitude of the output of the potentiometer. The amplification is performed using a common circuit, and the amplified output is selectively supplied to the electromagnetic proportional valve based on the above-mentioned determination result.
A control device whose circuit is simplified is provided.

In order to achieve the above object, the present invention includes a double-acting piston connected to a switching valve that switches the supply of hydraulic oil to a hydraulic cylinder, and a pilot hydraulic pressure supply passage that supplies pilot hydraulic pressure to both hydraulic chambers of the double-acting piston. , a control device applied to a position limiter equipped with an outlet for releasing pilot hydraulic pressure from both hydraulic chambers, and two electromagnetic proportional valves that displace a double-acting piston by increasing or decreasing the passage cross-sectional area of both outlets,
In a control device that increases or decreases the control current of a corresponding electromagnetic proportional valve of the two electromagnetic proportional valves according to the amount of displacement of the control lever from the neutral point to the left or right, the control device is linked to the control lever and moves from the lever neutral point A potentiometer that outputs a voltage proportional to the angle in which direction it is tilted, a delay circuit that transmits the output of the potentiometer with a predetermined time delay, and a delay circuit that transmits the output of the potentiometer at a neutral point. A circuit that determines the lever tilting direction by comparing it with a reference voltage, an absolute value circuit that extracts the absolute output corresponding to the lever angle of the potentiometer, and a set value that compares the output of the absolute value circuit with each set value. a plurality of comparators that take out the outputs of the corresponding current setters when the current setter exceeds the absolute value; an adder circuit that adds the outputs of the current setters to the output of the absolute value circuit; and an amplifier circuit that amplifies the output of the adder circuit; and a selection circuit that selectively supplies the amplified output to one of the electromagnetic proportional valves based on the output of the direction discrimination circuit.

Therefore, in this invention, even if the control lever is tilted rapidly, the change in the output signal of the potentiometer becomes a signal whose time change is moderated by the delay circuit, and based on this, the control flow rate of the electromagnetic proportional valve is controlled. changes slowly.

Hereinafter, an embodiment of the present invention will be described based on FIG. 6.

Reference numeral 60 denotes a potentiometer that is linked to the control lever 9, and is set so that the potentiometer slider is at the center origin at the neutral point of the lever, so that no matter which direction the lever 9 is tilted to the left or right, , outputs an output proportional to that angle.

61 is a buffer circuit; 62 is a direction discrimination circuit that compares the output of the potentiometer 60 with a reference voltage at a neutral point to determine whether the control lever 9 is in the left or right direction; based on the discrimination results, a solenoid selection circuit (described later) is selected; relay) 78 to supply the control current from the drive circuit 77 to the electromagnetic proportional valve solenoid 10 or 11.

63 is an absolute value circuit, which generates an absolute output according only to the angle (deviation) of the output of the potentiometer 60 inputted through the buffer circuit 61, even if the output is switched in any direction from the neutral point. do.

Comparators 65 to 68 are turned on when the output of the absolute value circuit 63 changes from 0, making the analog switch 64 conductive.

Comparator 66 turns on when the potentiometer output exceeds the neutral dead band, turns on analog switch 72, and inputs the output of current I ₁ setting device 69 to addition circuit 75.

The comparator 67 turns on when the potentiometer output reaches near the maximum lever tilt angle, turns on the analog switch 73, and inputs the output of the current I ₂ setting device 70 to the adder circuit 75 as well.

The comparator 68 is turned on, for example, by the same setting value as the comparator 65, turns on the analog switch 74, and synthesizes the dither signal from the oscillation circuit 71 into the adder circuit 75.

Addition circuit 75 adds the above-mentioned additional current to the potentiometer absolute output from absolute value circuit 63,
It is corrected so as to obtain a rise after the neutral dead zone or a rise near the maximum tilt angle, and is powered up by an amplifier 76 and further inputted to a drive circuit 77 composed of a power transistor and the like.

Therefore, regardless of the direction in which the control lever 9 is operated, the output of the drive circuit 77 becomes the output corresponding only to the operation amount plus a correction value.

A selection circuit 78 selects which electromagnetic proportional valve solenoid 10 or 11 is to be driven by the output.

The selection circuit 78 is switched by the output of the direction determination circuit 62 which determines the direction in which the control lever 9 is tilted, thereby supplying a drive current to either the electromagnetic proportional valve solenoid 10 or 11.

Incidentally, since the lever tilting angle is approximately proportional to the proportional valve flow rate, the tilting speed of the control lever 9 is proportional to the plunger speed of the hydraulic cylinders 5 and 6.

Therefore, if the control lever 9 is tilted slowly, the plunger can be smoothly accelerated or decelerated. In the state where the upper tower 3 (or lower tower 4) is moved, vibrations are induced in the upper tower 3 (or lower tower 4) due to the influence of the rigidity of the upper tower 3 (or lower tower 4), making the worker 1 at the workbench 2 feel uneasy. Put it away.

Therefore, a delay circuit 79 installed next to the buffer circuit 61 is provided to reduce the plunger speed fluctuations of the hydraulic cylinders 5 and 6 even if the control lever 9 is suddenly tilted.
The delay circuit 79 converts the output signal of the buffer circuit 61 into a signal with a time delay and outputs the signal.

Therefore, when the control lever 9 is suddenly tilted from the stop position at the time of starting, a sudden change in resistance value occurs in the potentiometer 60 according to the tilting speed.

However, since the fluctuation of the output signal of the potentiometer 60 becomes a signal whose time change is moderated by the delay circuit 79, the plungers of the hydraulic cylinders 5 and 6 slowly expand and contract due to the signal accompanied by this time delay.

For this reason, in the conventional example, the workbench 2 is affected by the rigidity of the upper tower 3 (or lower tower 4), and raises and lowers from the stopped position with speed fluctuations, as shown by the solid line in FIG. 7A. According to the present invention, the plunger speed is suppressed to a slow level that is not affected by the rigidity of the upper tower 3 (or the lower tower 4), so the workbench 2 is started at a constant speed as shown by the broken line in the figure. Defeat.

In addition, when stopping, when the tilting of the control lever 9 is stopped, in the conventional example, the stop position is greatly exceeded as shown by the solid line in FIG. 7B, so-called overshoot occurs. For example, the vehicle will quickly stop at a position slightly past the stop position.

Therefore, even if the control lever 9 is suddenly tilted by an inexperienced operator,
Since the workbench 2 is raised and lowered slowly and stopped quickly, the operator does not feel uneasy due to speed fluctuations or overshoot, thereby improving work safety.

Further, in this embodiment, only one drive current amplification circuit is required, which greatly simplifies the circuit.

Further, the voltage settings of each of the comparators 65 to 68 and the level settings of the jump currents I ₁ and I ₂ can be easily adjusted because there is only one amplifier circuit.

Note that the misalignment (initial error) between the control lever 9 and the potentiometer 60 can be easily made to match by changing the bias amount of the buffer circuit 61.

As described above, according to the present invention, it is possible to simplify the control circuit and facilitate adjustment, and at the same time, it is possible to achieve the effect of reducing costs.
This has the effect of improving work safety.

(Additional relationship) The present invention is disclosed in Japanese Patent Application No. 57-25594 (Japanese Patent Application No. 3-41689)
The invention of No. 1), which consists of a double-acting piston connected to a switching valve that switches the supply of hydraulic oil to a hydraulic cylinder, and a pilot hydraulic pressure supply system that supplies pilot hydraulic pressure to both hydraulic chambers of the double-acting piston. A control device applied to a position limiter comprising a passage, an outlet for releasing pilot hydraulic pressure from both hydraulic chambers, and two electromagnetic proportional valves for increasing or decreasing the passage cross-sectional area of both outlets to displace a double-acting piston. , in a control device that increases or decreases the control current of the corresponding electromagnetic proportional valve of the two electromagnetic proportional valves according to the amount of displacement of the control lever from the neutral point to the left or right, the control lever is interlocked with the control lever and the lever neutral point A potentiometer that outputs a voltage proportional to the angle in which direction the lever is tilted, a circuit that compares the output of the potentiometer with a reference voltage at a neutral point to determine the direction in which the lever is tilted, and a circuit that determines the direction of lever tilting. An absolute value circuit that takes out the absolute output corresponding to the lever angle of the yometer, and multiple comparators that compare the output of the absolute value circuit with each set value and take out the output of the corresponding current setting device when the set value is exceeded. an adding circuit that adds the outputs of these current setters to the output of the absolute value circuit; an amplifier circuit that amplifies the output of the adding circuit; and an amplified output of the electromagnetic proportional valve based on the output of the direction determining circuit. The main part of the invention is to have a selection circuit that selectively supplies one to the other, and it achieves the same purpose, and it meets the additional patent requirements stipulated in Article 31, Item 1 of the Patent Law. It's satisfying.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram of a conventional aerial work vehicle, Figure 2 is a sectional view of the main part of the hydraulic valve that controls the hydraulic cylinder in Figure 1, and Figure 3 is the characteristic showing the operation of the hydraulic valve in Figure 2. 4 is a circuit diagram of a controller section that controls a hydraulic valve, and FIG. 5 is a diagram showing its operating characteristics. FIG. 6 is a block circuit diagram of the controller section of the present invention, and FIGS. 7A and 7B are diagrams illustrating the operation at startup and shutdown, respectively. 3... Upper tower, 4... Lower tower, 5, 6... Hydraulic cylinder, 7... Controller section, 8... Hydraulic valve, 9... Control lever, 10, 11...
Electromagnetic proportional valve solenoid, 10a, 11a...Poppet, 12...Double acting cylinder, 13...Double acting piston, 14, 15...Pressure chamber, 14a, 15a...
...Pressure chamber outlet, 16... Pilot oil pressure supply passage, 17, 18... Orifice, 21... Switching valve, 21a... Plunger, 60... Potentiometer, 62... Discrimination circuit, 63... Absolute value circuit, 65-68...comparator, 75...addition circuit,
77... Drive circuit, 78... Selection circuit, 79...
delay circuit.

Claims (1)

[Claims] 1. A double-acting piston connected to a switching valve that switches the hydraulic oil supply to the hydraulic cylinder, a pilot hydraulic pressure supply passage that supplies pilot hydraulic pressure to both hydraulic chambers of this double-acting piston, and a pilot hydraulic pressure that releases pilot hydraulic pressure from both hydraulic chambers. A control device that is applied to a position limiter equipped with an outlet and two electromagnetic proportional valves that displace a double-acting piston by increasing or decreasing the passage cross-sectional area of both outlets. In a control device that increases or decreases the control current of the corresponding electromagnetic proportional valve of the two electromagnetic proportional valves according to the A potentiometer that outputs a voltage proportional to A discrimination circuit, an absolute value circuit that extracts the absolute output corresponding to the lever angle of the potentiometer, and a current setting device output that compares the output of the absolute value circuit with each set value and responds when the set value is exceeded. a plurality of comparators that take out the current setter, an adder circuit that adds the outputs of these current setters to the output of the absolute value circuit, an amplifier circuit that amplifies the output of the adder circuit, and an amplified output based on the output of the direction determination circuit. A control device for an electromagnetic proportional valve, comprising: a selection circuit for selectively supplying a signal to one of the electromagnetic proportional valves.