WO1996032670A1

WO1996032670A1 - Operational reaction force control device for an operating lever of a working machine

Info

Publication number: WO1996032670A1
Application number: PCT/JP1996/000983
Authority: WO
Inventors: Masahiro Ikeda; Keisuke Miyata; Nobuyoshi Hayakawa; Yoshie Ideura
Original assignee: Komatsu Ltd.
Priority date: 1995-04-10
Filing date: 1996-04-10
Publication date: 1996-10-17
Also published as: TW353652B; KR19980703286A; KR100301627B1; EP0821299A4; CN1181140A; EP0821299A1

Abstract

An operation for effectively preventing the swing of load is made possible by imparting to an operating lever (1) an operational reaction force F that becomes greater as an acceleration α detected by an acceleration detecting means (14) becomes greater, and moreover the operator can be relieved of fatigue.

Description

Description Reaction control device for operating lever of work machine

The present invention relates to a device for controlling an operation reaction force applied to an operation lever for operating a work machine such as a boom in a work machine such as a crane.

An operation reaction force control device that applies an operation reaction force to an operation lever in order to improve the operability of an operation lever that operates the winch in a winch operation of a crane is already known.

For example, Japanese Utility Model Publication No. 62-140777 discloses a control device that changes the operation reaction force so as to be in proportion to the weight of the suspended load.

Furthermore, in Japanese Patent Publication No. 5-5 75.5, the operating reaction force is generated not only according to the weight of the suspended load but also according to the lever operation amount (winch hoisting speed), and this reaction force is applied to the winch operation lever. In this way, the lever operability is further improved.

However, even if the above-mentioned prior art is effective in winch work, it is not necessarily effective when applied to crane turning work or work machine (boom) up / down work.

That is, as shown in Fig. 5, when the boom 21 of the crane 20 is raised and lowered in the directions of arrows A and B, the operator cannot know the acceleration of the boom 21 and the movement of the boom 21 is limited. Because it cannot be grasped, it is difficult to finely control the movement of the boom 21 with the operation lever, and the load swings, causing the suspended load 22 to move in a vibrating relative motion like a pendulum in the directions of arrows C and D.

Similarly, when the upper swing body 23 is swung, swinging of the suspended load 22 occurs in the swing direction.

Therefore, an operation reaction force that enables such an operation to effectively suppress the load swing is operated. Although it is necessary to apply the lever to the lever, the above-described conventional technique of applying an operation reaction force to the operating lever based only on information such as the weight of the suspended load and the amount of lever operation cannot be dealt with.

Furthermore, when the conventional technology that applies an operation reaction force proportional to the weight of the suspended load is applied, the work machine may be operated for a long time on a heavy load, or the work machine may be operated at a large constant speed for a long time. When operating, for example, a large operation reaction force is applied to the operation lever for a long time, and there is a problem that the operator becomes tired:

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation reaction force control device capable of easily performing an operation for effectively suppressing load deflection and reducing an operator's fatigue. What you do:

Disclosure of the invention

Therefore, according to the present invention, there is provided an operation reaction force control device for an operation lever of a working machine, wherein an operation reaction force is applied to an operation lever for operating the working machine in a direction opposite to an operation direction. An acceleration detecting means for detecting an acceleration; and an operation reaction force applying means for applying an operation reaction force to the operation lever, the operation reaction force increasing with an increase in the acceleration detected by the acceleration detection means. ing.

According to this configuration, an operation reaction force that increases as the acceleration detected by the acceleration detection unit increases is applied to the operation lever: That is, when a load swing occurs in the work machine. For example, as shown in Fig. 5, the load 22 suspended from the work equipment 21 swings in the traveling direction of the work equipment (the rotation direction of the work equipment 23 in the turning operation, and the C or D direction in the undulating operation). In the event of occurrence, it is necessary to operate the work equipment 21 or 23 to accelerate or decelerate to reduce load swing

Therefore, by changing the operation reaction force so that the operation reaction force increases with the acceleration of the work equipment, the acceleration and deceleration states of the work equipment can be grasped based on the operation reaction force. As a result, the work machine can be accelerated or decelerated to reduce the load deflection (control of the relative movement of the load with respect to the work machine). Be able to effectively reduce runout In addition, when operating at a constant speed other than the accelerating state or the decelerating state, a large operation reaction force does not act on the operation lever. Even if the operation is performed for a long time, a large operation reaction force is not applied to the operation lever for a long time, and operator fatigue can be drastically reduced = Brief explanation of drawings

FIG. 1 is a diagram showing a configuration of an embodiment of an operation reaction force control device for an operation lever of a working machine according to the present invention.

FIG. 2 is a control characteristic diagram showing a relationship between work machine acceleration and operation reaction force:

FIG. 3 is a diagram showing another embodiment of the present invention.

FIG. 4 is a diagram showing another embodiment of the present invention.

FIG. 5 is a side view of the mobile crane applied to the embodiment:

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment of an operation reaction force control device for an operation lever of a working machine according to the present invention will be described with reference to the drawings.

In the embodiment, as shown in FIG. 3, a case will be described assuming a case in which an operation reaction force applied to an operation lever for operating the boom 21 which is a working machine of the crane 20 is raised and lowered.

FIG. 1 is a diagram showing a configuration of a device for controlling an operation reaction force of an operation lever 1 disposed in a cab of a crane 20 shown in FIG.

That is, when the operating lever 1 is operated in the direction of the arrow (in the direction in which the boom 21 is raised), the remote control valve 2 is moved in the operating direction out of the working equipment raising piston and the lowering piston 3, 4. The corresponding piston 3 is pushed down via the operating plate 1a: If the operating lever 1 is operated in the opposite direction (the direction to lower the boom 21), the piston 4 is also pushed down

A work implement raising spool 5 and a lowering spool 6 are disposed below the two pistons 3 and 4, respectively.The spool 5 or 6 on the side corresponding to the pressed down piston is a metering spring. By being pushed by 7 or 8, lower Moved in this case, since spool 3 is depressed, spool 5 is moved downward.

As a result, the connection and cutoff of the pump pressure chamber Pp communicating with the discharge port of the hydraulic pump 15 via the fine control hole f and the drain chamber D are repeated, and soon the piston corresponding to the pushed down piston The port pressure P1 or P2 in line 16 or 17 rises to a pressure corresponding to the force (proportional to the operating stroke of lever 1) that compresses metering spring 7 or 8, Both balance in the middle position between the drain hole D and the pump pressure chamber Pp:

That is, the port pressure P1 or P2 rises to a magnitude proportional to the operation stroke of the operation lever 1, and the port pressure P1 or P2 of this magnitude rises to the pilot port 9a or 9b of the control valve 9. In this case, the operating lever 1 is operated in the direction of the boom, and the port pressure P 1 proportional to the operating stroke acts on the pilot port 9 a of the control valve 9: As a result, the control valve 9 is operated, the hydraulic cylinder for driving the boom 21 is driven at a speed corresponding to the valve opening, and the boom 21 is raised. When the control valve 9 acts on the pilot port 9b, the control valve 9 is moved in the reverse direction, and the boom 21 is lowered via the hydraulic cylinder.

The rotating shaft 10a of the motor 10 is connected to the base of the shaft 1b of the operating lever 1, and the operating lever 1 is operated in the operating direction or in the opposite direction to the operating direction according to the rotation of the motor 10. To be able to tilt

The rotation direction and the rotation torque of the motor 10 are changed according to the electric command signal (voltage) output from the controller 11.

Pressure sensors 12 and 17 that detect the pipe pressures Pl and P2 as the lever operation amount Pl in the boom raising direction and the lever operation amount P2 in the boom lowering direction are provided in the lines 16 and 17 respectively. 13 are provided respectively, and the detected pressures Pl and P2 of the pressure sensors 12 and 13 as lever operation amount detecting means are output to the controller 11

The acceleration detector 14 is a detector that detects acceleration when the boom 21 moves up or down, and includes, for example, a speed sensor (for example, a rotary encoder or a laser speed). And a differentiation circuit that differentiates the output of this speed sensor and outputs acceleration α. Also, a servo-type acceleration sensor or the like is used as the acceleration sensor 14. The detected acceleration α of the acceleration detector 14 may be output to the controller 11:

Note that the function of the differentiating circuit may be incorporated in the controller 11: Also, as the lever operation amount detecting means, the operation amount of the operation lever 1 is replaced with the rotation amount instead of the pressure sensor 1 2 1 3 A potentiometer or the like that detects the current may be used.

Note that the lever operation amount may be detected as the speed of the boom 21. When the acceleration detector 14 is configured by a combination of a speed sensor and a differentiation circuit, the detection value of the speed sensor is It can be used as it is as the lever operation amount detection value, and it is not necessary to separately provide a lever operation amount detection means, and the cost can be reduced.

The acceleration α of the boom 21 may be detected by differentiating the pressure Pl P2 by regarding the pressure PlΡ2 as the speed of the boom 21:

The controller 11 gives the direction opposite to the operating direction of the operating lever 1 based on the boom acceleration α detected by the acceleration detector 14 and the lever operation amount P l 操作 2 detected by the pressure sensor 1 2 1 3 An operation reaction force F to be obtained (see FIG. 1) is determined as described later, an electric command signal corresponding to the operation reaction force F is generated, and the electric command signal is output to the motor 10 ".

FIG. 2 is a graph showing the control characteristics of such a reaction force control. The relationship between the boom acceleration α, the lever operation amount P l Ρ2, and the lever operation reaction force F is shown by the control characteristics (L 1 to: LM L 2 ) Is stored in the memory of controller 11:

As can be seen from FIG. 2, the control characteristic L is set so that the operation reaction force F gradually increases as the acceleration α of the boom 21 increases.

In addition, as the lever operation amount P l Ρ2 increases, the control characteristics are changed to LI-LJ1-L2 sequentially, and the control characteristics L 1 LML 2 are set so that the operation reaction force F gradually increases. Being one 0 one More specifically,

'When the boom acceleration α is negative, the operation reaction force F is used to prevent the operation reaction force from reversing when the boom is decelerated (when the direction of the speed of the boom 21 by the lever operation is opposite to the direction of the acceleration). Is set to a low value close to zero

• In addition, in areas where the lever operation amount is often required to be finer than lever control, it is easier to control the boom 21 finely by reducing the operation reaction force F. Therefore, the control characteristics are sequentially changed from L2 to LJI to L1 so that the operation reaction force F becomes smaller as the lever operation amount becomes smaller.

'' Also, when the acceleration α of the boom 21 is extremely large, it is necessary to increase the operation reaction force F to suppress rapid movement of the boom 21 due to erroneous operation. The operation reaction force F is changed non-linearly so that the slope of the control characteristic L is larger than that in the small region:

When the current lever operation amount Pl, Ρ2, is equal to or less than the predetermined first threshold value, the controller 11 selects L1 as the control characteristic: and the lever operation amount Pl , Ρ2 is equal to or greater than a second threshold value set as a value larger than the first threshold value, the control characteristic L2 is selected, and the lever operation amount P l, Ρ2 is When the value becomes larger than the first threshold value and smaller than the second threshold value, as the operation amount increases in the range of L 1 to L 2 as shown by the arrow. Control characteristic L Μ is selected such that operation reaction force F increases.

Further, based on the control characteristic L thus selected, an operation reaction force F corresponding to the current boom acceleration α is obtained, an electric command signal corresponding to the operation reaction force F is generated, and output to the motor 10. As a result, the motor 10 is driven, and an operation reaction force F is applied to the operation lever 1:

As a result, the operator can grasp the acceleration / deceleration state of the boom 21 as a working machine based on the operation reaction force F applied to the operation lever 1, and accelerate or decelerate the boom 21. In this way, the operation reaction force F can be easily controlled by hand, and the deflection of the load can be suppressed effectively. Sometimes, big operation counter Since the force F does not act on the control lever 1, even when the boom 21 is operated for a long time against a heavy load or when the boom 21 is operated at a large constant speed for a long time, a large operation reaction force is generated. F is not applied to the operation lever 1 for a long time, and the fatigue of the operation is greatly reduced.- The control characteristic L shown in Fig. 2 is an example. Pattern can be set

For example, in the embodiment, the control characteristic L is changed according to the lever operation amount. However, regardless of the magnitude of the lever operation amount, the control characteristic L is fixed (for example, fixed to L1). Implementation is also possible

Next, FIGS. 3 and 4 show another embodiment of the present invention.

In this embodiment, in order to allow the driver to more accurately grasp the up-and-down movement of the boom tip, a detector for detecting the acceleration of the boom up-and-down movement is arranged at the boom tip. = However, since the acceleration sensor is expensive, a sensor for detecting the boom angle or the boom position is used as a detector for detecting the acceleration of the boom undulating movement, and the detection values of these sensors are differentiated by the second order. To determine the boom acceleration by:

In other words, for the crane operator, the position of the boom tip in the front-rear direction can be estimated from the boom undulation angle 0 (see Fig. 3) and the boom length L. Due to the movement of the boom caused by the wind, etc., complex movements are caused:

Therefore, the accelerometer is mounted on an up-and-down cylinder 30 for raising and lowering the boom, the acceleration clock is used to measure the up-and-down acceleration of the boom, and a torque corresponding to the measured value is given as an operation reaction force. Therefore, it is difficult for the crane operator to accurately grasp the movement of the boom tip.In addition, since the up-and-down cylinder 30 and the boom 21 are linked to each other, the up-and-down The relationship between the speed and the boom hoisting angular velocity is not linear, which also makes the method of attaching the accelerometer to the hoisting cylinder 3 difficult for the crane operator to grasp the movement of the boom tip. Say

For this reason, in this embodiment, as shown in FIG. The angle detector 25 is attached to the tip of the boom 21. The output of the angle detector 25 is input to the controller 11 as shown in FIG.

The controller 11 calculates a component cos 0 in the front-rear direction of the boom angle 0 input from the angle detector 25 (more precisely, the front-rear direction with respect to the boom 21 and not the vehicle front-rear direction). By calculating the second-order derivative of the calculated value cos 0, a component in the longitudinal direction of the acceleration of the boom tip, cos 0, is obtained. Then, as in the previous embodiment, the controller 11 calculates the acceleration of the boom tip obtained in this manner. The operation reaction force F to be applied in the direction opposite to the operation direction of the operation lever 1 is determined based on the component cos θ in the front-rear direction and the lever operation amounts P l and Ρ 2 detected by the pressure sensors 12 and 13. Obtained from the relationship shown in FIG. 2, generates an electric command signal corresponding to the operation reaction force F, and outputs the electric command signal to the motor 10 to thereby drive the motor 10 and operate Lever 1 has front and rear acceleration An operation reaction force F proportional to the direction component cos 0 is applied.

As described above, in this embodiment, the torque proportional to the acceleration in the front-rear direction of the boom tip is applied to the up / down operating lever as a reaction force. Direction of movement (acceleration), which makes it possible to predict the movement (position, speed) of the end of the boom. Therefore, when moving the suspended load, the swing of the suspended load is minimized. It is also possible to operate the boom so that it does not occur.In order to stop the pendulum movement that occurs in the suspended load when the boom is raised and lowered, the boom tip should be brought directly above the suspended load However, this embodiment is also effective in performing such an operation. Further, in this embodiment, the sensor for detecting the acceleration of the boom tip is: An inexpensive boom angle sensor is used, and the output of this sensor is second-order differentiated to determine the acceleration at the tip of the boom, which can also reduce equipment costs.

In the above-described embodiment, the longitudinal acceleration of the boom tip is determined, but the vertical acceleration of the boom tip is determined, and a force proportional to this acceleration is applied to the up / down lever as an operation reaction force. Also good Further, in the above embodiment, the boom angle sensor for calculating the boom angle at the tip of the boom is used. You can also determine the tip acceleration:

In each of the above embodiments, a crane boom is assumed as a working machine, but the working machine can be applied to any working machine as long as the working machine is driven to suppress load deflection. Industrial applicability

As described above, according to the present invention, it is possible to easily perform the operation of effectively suppressing the deflection of the load. In addition, operator fatigue during lever operation is dramatically reduced.

Claims

The scope of the claims

1. An operation reaction force control device for an operation lever of a work implement which applies an operation reaction force to an operation lever for operating the work implement in a direction opposite to an operation direction, wherein an acceleration of the work implement is detected. Acceleration detection means;

An operation reaction force applying unit that applies an operation reaction force to the operation lever that increases as the acceleration detected by the acceleration detection unit increases;

An operation reaction force control device for an operation lever of a working machine, comprising:

2. The operating reaction force control device for an operating lever of a working machine according to claim 1, wherein said acceleration detecting means is attached to a tip of the working machine.

3. The operating reaction force control device for an operating lever of a working machine according to claim 1 or 2, wherein said acceleration detecting means detects a longitudinal acceleration of the working machine.

4. An operation amount detection means for detecting an operation amount of the operation lever, wherein the operation reaction force applying means performs an operation that increases as the operation amount detected by the operation amount detection means increases. 2. A control device for controlling an operation lever of an operating lever of a working machine according to claim 1, wherein a reaction force is applied to said operation lever.

5. The acceleration detection means includes a work equipment angle detection means for detecting an angle of the work equipment, and an acceleration calculation for obtaining the acceleration of the work equipment by second-order differentiation of the angle detected by the work equipment angle detection means. Means,

2. An operation reaction force control device for an operation lever of a working machine according to claim 1, further comprising:

6. The operating reaction force control device for an operating lever of a working machine according to claim 5, wherein the working machine angle detecting means is attached to a tip of the working machine.

7. An operation amount detecting means for detecting an operation amount of the operation lever, further comprising: The request range, wherein the operation reaction force applying means applies the operation reaction force to the operation lever, the operation reaction force increasing with an increase in the operation amount detected by the operation amount detection means. Or the operation reaction force control device for the operating lever of the work implement described in paragraph 6

8. The acceleration detection means includes: a work equipment position detection means for detecting a position of the work equipment; and an acceleration for obtaining the acceleration of the work equipment by second-order differentiation of the work equipment position detected by the work equipment position detection means. Arithmetic means;

9. The operating reaction force control device for an operating lever of a working machine according to claim 8, wherein the working machine position detecting means is attached to a tip of the working machine.

10. A method for controlling an operation reaction force of an operation lever of a work implement in which an operation reaction force is applied in a direction opposite to an operation direction to an operation lever for operating the work implement, wherein the acceleration of the work implement is detected. An operation reaction force control method for an operation lever of a working machine, wherein an operation reaction force that increases as the detected acceleration increases is applied to the operation lever.