JPH03230210A - Electric control lever device - Google Patents

Abstract

PURPOSE:To improve the operability and safety by controlling a hydraulic pressure signal which inputs the load pressure etc. of an actuator, to reaction mechanisms according to a detected value. CONSTITUTION:When a lever 1 is operated, an electric signal corresponding to the lever operation angle is outputted from a potentiometer 35x and a control valve is switched according to the electric signal to operate the actuator 7. A detecting means 71 detects the operation state of the load pressure, etc., of the actuator 7 and the hydraulic pressure signal to be inputted to the reaction mechanisms 4a and 4b is controlled according to the detected value, so that the reaction mechanisms 4a and 4b apply an operation reaction force to the lever 1 corresponding to the operation state of the actuator 7. An operator, therefore, senses the operation reaction force applied to the lever with the hand operating the lever 1 to know the operation state of the load, i.e. load pressure. Consequently, the operability and safety are improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an electric control lever device equipped with a reaction force mechanism.

[Prior art]

Conventionally, as shown in Japanese Patent Laid-Open No. 61-190620, for example, a potentiometer is attached to one end of the rotating shaft of the lever, a torque motor is attached to the other end, and when the lever is operated, an electric signal is generated according to the lever operation angle. An electric control that outputs an output from the potentiometer and applies a reaction force to the lever according to the lever operation angle using a torque motor, and when the lever is in the neutral position or day tent position, the torque motor is stopped and the lever is held. Lever devices are known.

[Problem to be solved by the invention]

In the conventional device described above, the torque motor is controlled according to the operating angle of the lever, regardless of the size of the load, such as the weight of the suspended load, and this torque motor applies an operating reaction force to the lever according to the operating angle of the lever. Therefore, regardless of whether the suspended load is heavy or light, if the lever operation angle is the same, the operation reaction force will be the same. Therefore, it is difficult for the operator to manually sense the operating state, such as the magnitude of the load.

An object of the present invention is to provide an electric control lever device that outputs an electric signal according to a lever operation angle, and in particular, to
The purpose of the present invention is to enable the operation reaction force applied to the lever to be controlled according to the working condition of the load, and to enable the operator to easily sense the operating condition of the load by hand through the lever.

[Means to solve the problem]

In order to solve the above-mentioned problems, the present invention provides a lever provided with an operating member, a casing that supports the lever rotatably in positive and negative directions from a neutral position, and a casing that is supported by the casing and responds to the amount of operation of the lever. a potentiometer that outputs an electric signal, a reaction force mechanism that is attached to the casing in a position facing the actuation member and that applies an operation reaction force to the lever in the opposite direction to the operation direction; and a reaction force mechanism that is controlled based on the signal from the potentiometer. a first control means that outputs a control signal for switching the valve; an actuator that operates by inputting hydraulic pressure from a hydraulic source by switching the control valve; and means that detects the operating state of the actuator;
The second control means inputs a hydraulic signal corresponding to the signal from the detection means to the reaction force mechanism.

[For production]

With this configuration, when the lever is operated, the potentiometer outputs an electric signal according to the lever operation angle, and the control valve is switched based on the electric signal.
The actuator is actuated. Then, the operating state such as the load pressure of the actuator is detected by the detection means, and based on the detected value, a hydraulic signal input to the reaction force mechanism is controlled, and the reaction force mechanism causes the lever to respond to the operating state of the actuator. An operation reaction force is applied. Therefore,
By sensing the operation reaction force applied to the lever with the hand of the operator operating the lever, the operating state of the load, that is, the magnitude of the load pressure, etc. can be known.

〔Example〕

In FIG. 1, a lever 1 is supported by a casing 2 as a support member via a universal joint 12 so as to be rotatable in the front-rear direction around the X-axis and in the left-right direction around the Y-axis. There is. A pair of arms 3x, 3
y is formed of a steel band or the like to have an arcuate cross section, and elongated holes 31x, 31y are provided in the center in the width direction, and each elongated hole 31x,
With lever 1 engaged with 31y, both arms 31X
.

31y are arranged so as to intersect in a planar cross shape.

One arm 3
3y (see FIG. 2), it is rotatably supported by the bracket 21 in the left-right direction. Bracket 21 is fixed to casing 2. Operation direction detection cams 34x and 34y are connected to the respective shafts 32x and 32y on the X and Y axes, respectively, and the other shaft 33X.

33y is a potentiometer 35 for detecting the operation amount (operation angle)
x and 35y are connected. The cam 34x
Operation direction detection switches 36C136d and 36a, 36 are provided on both the front and rear sides of the cam 34y and on the left and right sides of the cam 34y, respectively.
b are arranged, and each of these switches is fixed to the bracket 21.

A disc-shaped actuating member 11 is integrally connected to the base end of the lever 1, and this actuating member 11 rotates together with the lever 1. In the casing 2, bushing rods 4a are provided at predetermined intervals on the left and right and front and rear around the universal joint 12.

4b, 4c, and 4d are arranged, and are supported so as to be slidable in the vertical direction via guide bushes 41a, 41b, 41C, and 41d. Bush rod 4a, 4
At the rear end of the bushing rod 4C14d, the casing 2 is provided with spring chambers 42a, 42b, each spring chamber 42a.

Inside 42b, neutral return springs 45a, 45b are provided between the spring receivers engaged with the rear ends of the bushing rods 4a, 4b and the cover 44, and these springs cause each bushing rod to move in the projecting direction. The tip of each bushing rod comes into contact with the lower surface of the actuating member 11, and the lever 1 is held at the neutral position. Each spring chamber 4
The spring receivers 2a and 42b are provided with stepped portions for regulating the strokes of the members 43a and 43b, thereby regulating the maximum stroke of the lever 1 in the left-right direction, that is, the maximum operating angle.

In this embodiment, the spring chambers 42a and 42b provided in the casing 2 are hydraulic chambers for controlling the reaction force, and the chambers 42a and 42b and the bushing rods 4a and 4b constitute a reaction force mechanism. As means, a controller 5b and electromagnetic proportional pressure reducing valves 53a and 53b are provided.

7 is an actuator, 71 is a sensor for detecting the operating state of the actuator 5, such as load pressure, and 62 is a hydraulic pressure source.

Further, as shown in FIG. 4, a controller 5a is used as a control means for switching the controller knob 6.
Electromagnetic proportional pressure reducing valves 61a and 61b are provided.

In the above configuration, when the lever 1 is operated in the left-right direction, the arm 3y rotates in the left-right direction together with the lever 1, and the cam 34y shown in FIGS. .

36b is actuated to detect the operating direction of the lever 1, and at the same time, the potentiometer 35y is actuated and an electric signal corresponding to the lever operating angle is output.

Here, assuming that the leftward operation of the lever 1 is negative and the rightward operation is positive, the output voltage V of the potentiometer 35y is
As shown in Figure 5, move the lever 1 to the left at the maximum operating angle (-
The lowest value (0.5V) is when the lever is turned down to the neutral position (200), the intermediate value (2.5V) is when the lever is in the neutral position, and the highest value (4V) is when the lever 1 is turned to the right to the maximum operating angle (200).
, 5V). That is, the output voltage V of the potentiometer 35y gradually decreases as the lever 1 is tilted leftward (negative direction) from the neutral position, and gradually increases as the lever 1 is tilted rightward (positive direction). Note that when the lever 1 is operated to the left, the output signal from the potentiometer 35y becomes negative, so this is inverted and outputted by the controller 5a as shown in FIG.

On the other hand, as shown in FIG. 6, the operation direction detection switches 36a and 36b are both turned off when the lever 1 is in the neutral position, and when the lever 1 is tilted to the left, the switch 36a is turned on, and when it is tilted to the right, the switch 36b is turned on. is turned on.

When the lever 1 is operated, for example, in the right direction, the operation direction detection switch 36b is operated by the above-described action, and the potentiometer 35y is also operated, and these signals are inputted to the controller 5a shown in FIG. . Next, a control signal (see FIG. 7) corresponding to the lever operation angle is output from the controller 5a, and the control signal is input to the electromagnetic proportional pressure reducing valve 61b shown in FIG. As a result, a pilot pressure corresponding to the lever operation angle is output from the electromagnetic proportional pressure reducing valve 61b, and the control valve 6 is switched by the pilot pressure. As a result, the actuator 7 (see FIG. 1) is operated in the forward direction, and work such as raising the boom is performed.

At this time, the operating state of the actuator 7, such as the load pressure, is detected by the sensor 71, and the detection signal is input to the controller 5b. The controller 5b outputs an electric signal according to the operating state of the actuator to the electromagnetic proportional pressure reducing valve 63b. As a result, the electromagnetic proportional pressure reducing valve 6
3b outputs pilot pressure according to the operating state of the actuator, and the pilot pressure is input into the spring chamber 42b.

Initially, when the lever 1 is operated in the right direction, the actuating member 11 is rotated in the same direction, and the bushing rod 4b is pushed down by the actuating member 11 against the spring 45b. 4.2b, the bushing rod 4b is urged in the protruding direction, and a force that tries to push it back to the neutral position, that is, an operation reaction force, is applied to the actuating member 11 and the lever 1 integrated therewith. do. At this moment, a pilot pressure corresponding to the operating state of the actuator tough is input to the spring chamber 42b, so that the operation reaction force is controlled depending on the operating state of the actuator tough. Therefore, by sensing the change in the operation reaction force with the operator's hand operating the lever 1,
The operating state of the actuator tough, such as the magnitude of the load pressure, etc. can be easily known.

Note that when the lever 1 is operated to the left, the operation reaction force is controlled by the same effect as described above, and the movement of the actuator tough in the negative direction, such as the magnitude of the load pressure, etc., can be easily detected.

In the above embodiment, potentiometer 35x.

35y is not limited to a rotary type, but a direct acting type may also be used. Further, the operation amount may be individually detected for each of the left, right, front, and rear operation directions of the lever 1 using independent potentiometers. In this case, the operating direction detection switch becomes unnecessary.

In the above embodiment, one lever 1 is used to perform two operations in the front-rear direction and left-right direction, but the device of the present invention can also be used to perform only one operation in either the front-rear or left-right direction. Applicable.

Furthermore, in the above embodiment, the boom is raised and lowered by operating the lever 1 in the left and right directions. It is not limited and can be selected arbitrarily. The device of the present invention can be applied to the operation of a boom, arm, or packet of a hydraulic excavator, a boom of a hydraulic crane, a hoisting rope, or other construction machinery.

〔Effect of the invention〕

As described above, the device of the present invention causes the potentiometer to output an electric signal according to the lever operation angle by operating the lever, switches the control valve based on the electric signal, and operates the actuator. , by detecting the load pressure, etc. of the actuator by a detection means, and controlling a hydraulic signal input to the reaction force mechanism based on the detected value, an operation reaction force corresponding to the load pressure, etc. of the actuator is applied to the lever. be able to. Then, by sensing the operation reaction force applied to the lever with the hand of the operator operating the lever, the operating state of the load, that is, the magnitude of the load pressure, etc., can be known. Therefore, even when operating the load at a position where the movement of the load cannot be seen, the user can operate while sensing the weight of the load with his or her hands, thereby improving workability and safety.

[Brief explanation of drawings]

Fig. 1 is a sectional view showing an embodiment of the device of the present invention, and Fig. 2 is a schematic plan view for explaining the positional relationship of the lever, potentiometer, etc. , FIG. 3 is an explanatory diagram showing the positional relationship between the cam and the operation direction detection switch, FIG. 4 is a schematic block diagram of the control system, FIG. 5 is a diagram showing the relationship between the lever operation angle and the output of the potentiometer, and FIG. FIG. 6 is a diagram showing the relationship between the lever operation angle and the operation direction detection switch, and FIG. 7 is a diagram showing the relationship between the lever operation angle and the output of the controller. 1...Lever 2...Casing, 3X, 3Y...
・Arm, 4a, 4b... Bush rod (reaction force mechanism), 5a... Controller (first control means), 5b
... Controller (second control means), 6... Control valve, 7... Actuator, 34x, 3
4y...Cam, 35x, 35y...Potentiometer, 36a, 36b, 36c, 36d--Operation direction detection switch, 61a, 61b, 63a, 63b... Electromagnetic proportional pressure reducing valve.

Claims (1)

[Claims] 1. A lever including an actuating member; a casing that supports the lever rotatably in positive and negative directions from a neutral position; a potentiometer that is supported by the casing and outputs an electric signal according to the amount of operation of the lever; a reaction force mechanism attached to the casing in a position corresponding to the member and applying an operation reaction force to the lever in the opposite direction to the operation direction; and a reaction force mechanism that outputs a control signal for switching the control valve based on the signal from the potentiometer. an actuator that operates by inputting bending pressure from a hydraulic source by switching a control valve; a means for detecting the actuating force of the actuator; and second control means for inputting input to the mechanism.