EP0821299A1 - Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler - Google Patents

Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler Download PDF

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Publication number
EP0821299A1
EP0821299A1 EP96909331A EP96909331A EP0821299A1 EP 0821299 A1 EP0821299 A1 EP 0821299A1 EP 96909331 A EP96909331 A EP 96909331A EP 96909331 A EP96909331 A EP 96909331A EP 0821299 A1 EP0821299 A1 EP 0821299A1
Authority
EP
European Patent Office
Prior art keywords
reaction force
working machine
acceleration
operational reaction
operating lever
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP96909331A
Other languages
German (de)
English (en)
Other versions
EP0821299A4 (fr
Inventor
Masahiro Kenkyusho of Komatsu Ltd. IKEDA
Keisuke Kenkyusho of Komatsu Ltd. MIYATA
Nobuyoshi Kenkyusho of Komatsu Ltd. HAYAKAWA
Yoshie Kenkyusho of Komatsu Ltd. IDEURA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0821299A1 publication Critical patent/EP0821299A1/fr
Publication of EP0821299A4 publication Critical patent/EP0821299A4/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to a device for controlling an operational reaction force to be imparted to an operating lever for actuating a working machine, e.g., a boom, of machinery such as a crane.
  • an operational reaction force control device for imparting an operational reaction force to an operating lever for actuating a winch of crane in order to improve operability of the operating lever.
  • Japanese Utility Model Publication No. 62-14077 discloses a control device for varying an operational reaction force to a level proportional to the weight of a lifted load.
  • Japanese Patent Publication No. 5-5755 improves operability of a winch operating lever by generating an operational reaction force in accordance with a manipulated variable (a lifting speed) of the lever as well as the weight of a lifted load and imparting the generated operational reaction force to the lever.
  • the invention was achieved in view of the above circumstances and aims to provide an operational reaction force control device which can be operated easily to prevent effectively the swing of load and can relieve the operator from getting fatigue.
  • the invention relates to an operational reaction force control device for an operating lever of a working machine, in which an operational reaction force is imparted to the operating lever for actuating the working machine in a direction opposite to an operating direction, characterized by comprising acceleration detecting means for detecting an acceleration of the working machine; and operational reaction force imparting means for imparting the operational reaction force, which increases as the acceleration detected by the acceleration detecting means increases, to the operating lever.
  • the operational reaction force which increases as the acceleration detected by the acceleration detecting means increases is imparted to the operating lever.
  • the working machine 21 or 23 is required to be accelerated or decelerated to suppress the swing of load.
  • the accelerating or decelerating condition of the working machine can be known based on the operational reaction force.
  • an operation of preventing the swing of load by accelerating or decelerating the working machine (controlling the relative motion of the load with respect to the working machine) can be made with ease by referring to the operational reaction force, and the swing of load can be prevented effectively.
  • Fig. 1 is a diagram showing the structure of an embodiment of the operational reaction force control device for an operating lever of a working machine according to the invention.
  • Fig. 2 is a control characteristic diagram showing the relationship between an acceleration of the working machine and an operational reaction force.
  • Fig. 3 is a diagram showing another embodiment of the invention.
  • Fig. 4 is a diagram showing another embodiment of the invention.
  • Fig. 5 is a side view of a truck crane applied to the embodiments.
  • Fig. 1 is a diagram showing a structure of the device for controlling an operational reaction force of an operating lever 1 which is disposed in the operator cab of the crane 20 shown in Fig. 3.
  • a pump pressure chamber Pp which is communicated with a discharge port of a hydraulic pump 15 is repeatedly connected with or cut off from a drain chamber D through a fine control hole f.
  • a port pressure P1 or P2 of a pipeline 16 or 17 on the side of the pushed-down piston is raised to a level corresponding to a force (proportional to a stroke of the lever 1) for shrinking the metering spring 7 or 8, and they are balanced between the drain hole D and the pump pressure chamber Pp.
  • the port pressure P1 or P2 increases to a level proportional to the stroke of the operating lever 1 and acts with its magnitude on a pilot port 9a or 9b of a control valve 9. More specifically, since the operating lever 1 is operated in the direction to raise the boom, the port pressure P1 proportional to the stroke of the lever 1 acts on the pilot port 9a of the control valve 9. As a result, the control valve 9 is actuated to drive a hydraulic cylinder for driving the boom 21 at a speed corresponding to its valve opening, thereby raising the boom 21. When the port pressure P2 is exerted on the pilot port 9b of the control valve 9, the control valve 9 is moved in the opposite direction, and the boom 21 is lowered through the hydraulic cylinder.
  • a rotating shaft 10a of a motor 10 To the root of a shaft 1b of the operating lever 1 is connected a rotating shaft 10a of a motor 10, so that the operating lever 1 is tilted to its operated direction or the direction opposite to its operated direction according as the motor 10 rotates.
  • the motor 10 has its rotation direction and rotation torque varied according to an electrical command signal (voltage) from a controller 11.
  • Pressure sensors 12, 13 are respectively disposed on the pipelines 16, 17 in order to detect the pipeline inner pressures P1, P2 as manipulated variable P1 of the lever to raise the boom and as manipulated variable P2 of the lever to lower the boom. And, detected pressures P1, P2 of the pressure sensors 12, 13 as lever manipulated variable detecting means are outputted to the controller 11.
  • An acceleration detector 14 is a detector for detecting an acceleration of the boom 21 which is rising or lowering.
  • it is comprised of a speed sensor (e.g., a rotary encoder or a laser speed sensor is used) and a differentiation circuit which differentiates output from the speed sensor and outputs an acceleration ⁇ .
  • a servo-type acceleration sensor may be used as the acceleration detector 14. The acceleration ⁇ detected by the acceleration detector 14 is outputted to the controller 11.
  • the functions of the differentiation circuit may be incorporated into the controller 11.
  • a potentiometer or the like which detects a manipulated variable of the operating lever 1 as rotated quantity may be used instead of the pressure sensors 12, 13 as the lever manipulated variable detecting means.
  • the lever manipulated variable may also be detected as speed of the boom 21, and where the acceleration detector 14 is comprised of the speed sensor and the differentiation circuit as described above, a value detected by the speed sensor can be used as it is as lever manipulated variable detected value. And, it is not necessary to separately dispose a lever manipulated variable detecting means, and the cost as a whole can be reduced.
  • the pressures P1, P2 may be determined as speed of the boom 21 and differentiated.
  • the controller 11 determines an operational reaction force F (see Fig. 1) to be imparted in the direction opposite to the operated direction of the operating lever 1 as described afterward, generates an electrical command signal corresponding to the operational reaction force F, and outputs it to the motor 10.
  • Fig. 2 is a graph showing the control characteristics in controlling a reaction force.
  • the relationship among the boom acceleration ⁇ , the lever manipulated values P1, P2 and the lever operational reaction force F is indicated as control characteristic L (L1-LM-L2). And, this relationship is stored in a memory of the controller 11.
  • control characteristics L1-LM-L2 are determined so to increase gradually the operational reaction force F with the control characteristics varied in the order of L1, LM and L2 as the lever manipulated variables P1, P2 are increased.
  • the controller 11 selects the control characteristic L1. And, when the lever manipulated variables P1, P2 become equal to or higher than a second threshold which is determined to be higher than the first threshold, the control characteristic L2 is selected. When the lever manipulated variables P1, P2 become higher than the first threshold but smaller than the second threshold, the control characteristic LM is selected so that the operational reaction force F increases as the manipulated variable increases in the range L1-L2 as indicated by the arrow.
  • the operational reaction force F corresponding to the present boom acceleration ⁇ is determined on the basis of the selected control characteristic L, and an electrical command signal corresponding to the operational reaction force F is generated and outputted to the motor 10. Accordingly, the motor M is actuated, and the operational reaction force F is imparted to the operating lever 1.
  • the operator can know the state of acceleration or deceleration of the boom 21 as the working machine and can operate with ease to prevent the swing of load by accelerating or decelerating the boom 21 with reference to the operational reaction force F.
  • the swing of load can be prevented effectively.
  • a high operational reaction force F does not act on the operating lever 1. Therefore, even when the boom 21 is operated to move a heavy load for a long time or operated at a high and constant speed for a long time, a high operational reaction force F is not imparted to the operating lever 1 for a long time, and the operator is relieved of fatigue remarkably.
  • the control characteristic L shown in Fig. 2 is just an example and can be set to various patterns according to the working conditions.
  • control characteristic L is varied according to the lever manipulated variable in the embodiment, but the control characteristic L can be determined constant (e.g., L1) regardless of the lever manipulated variable.
  • Fig. 3 and Fig. 4 show another embodiment of the invention.
  • the detector for detecting an acceleration of the boom which is luffing is disposed at the boom top end so that the operator can know the luffing motion of the boom top end accurately. Since the acceleration sensor is expensive, a sensor for detecting a boom angle or a boom position is adopted as the detector for detecting the acceleration of the boom in the luffing motion. And, the value detected by such a sensor is second order differentiated to calculate a boom acceleration.
  • the crane operator can presume the position of the boom top end in the lengthwise direction from a luffing angle ⁇ of the boom (see Fig. 3) and a length L of the boom.
  • the boom top end suffers from complicated motions because the boom is warped, vibrated or moved by wind.
  • the accelerometer described above is mounted on a luffing cylinder 30 for luffing the boom to measure a luffing acceleration of the boom and a torque corresponding to the measured value is imparted as the operational reaction force
  • the crane operator is hard to know the motion of the crane top end accurately.
  • the luffing cylinder 30 and the boom 21 are linked mutually, the relationship between an extension speed of the luffing cylinder 30 and a boom luffing angle speed does not become linear. Therefore, the configuration that the accelerometer is mounted on the luffing cylinder 30 is not helpful for the crane operator in knowing the motion of the boom top end.
  • a boom angle detector 25 for detecting a boom angle ⁇ is mounted on the leading end of the boom 21 as shown in Fig. 3.
  • output from the angle detector 25 is inputted in the controller 11.
  • the controller 11 calculates component cos ⁇ in the lengthwise direction (properly speaking, the lengthwise direction of the boom 21 and not in the lengthwise direction of the crane body) of the boom angle ⁇ entered from the angle detector 25.
  • the calculated value cos ⁇ is second order differentiated to determine component -cos ⁇ in the lengthwise direction of the acceleration of the boom top end.
  • the controller 11 determines in the same way as in the former embodiment the operational reaction force F to be imparted in the direction opposite to the operated direction of the operating lever 1 in view of the relationship shown in Fig.
  • a torque proportional to the acceleration in the lengthwise direction of the boom top end is imparted as a reaction force to the luffing operating lever. Therefore, the crane operator can feel the motion (acceleration) in the lengthwise direction of the boom top end while operating the luffing operating lever and can also presume the motion (position and speed) of the boom top end. And, when a hung load is moved, the boom can be operated so that the hung load is hardly swung. At the time of luffing the boom, the boom top end is desirably positioned just above the hung load to stop a swing motion of the hung load, and this embodiment is also effective to do so. Besides, this embodiment has an inexpensive boom angle sensor as the sensor for detecting the acceleration of the boom top end, and output from the sensor is second order differentiated to calculate the acceleration of the boom top end, so that the device cost can also be reduced.
  • the acceleration in the lengthwise direction of the boom top end was determined in the above embodiment, but the acceleration in the vertical direction of the boom top end may be determined to impart as the operational reaction force a force proportional to the obtained acceleration to the luffing lever.
  • the boom angle sensor for detecting the boom angle of the boom top end was used in the above embodiment, but a position sensor may be disposed to determine the position of the boom top end, and the output from the position sensor second order differentiated to determine the acceleration of the boom top end.
  • the invention can easily make an operation to effectively prevent the swing of load. And, the operator operating the lever can be relieved of fatigue remarkably.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)
  • Control And Safety Of Cranes (AREA)
EP96909331A 1995-04-10 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler Withdrawn EP0821299A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP8406995 1995-04-10
JP84069/95 1995-04-10
PCT/JP1996/000983 WO1996032670A1 (fr) 1995-04-10 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler

Publications (2)

Publication Number Publication Date
EP0821299A1 true EP0821299A1 (fr) 1998-01-28
EP0821299A4 EP0821299A4 (fr) 2000-02-23

Family

ID=13820213

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96909331A Withdrawn EP0821299A4 (fr) 1995-04-10 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler

Country Status (5)

Country Link
EP (1) EP0821299A4 (fr)
KR (1) KR100301627B1 (fr)
CN (1) CN1181140A (fr)
TW (1) TW353652B (fr)
WO (1) WO1996032670A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008130870A1 (fr) * 2007-04-19 2008-10-30 Husco International, Inc. Levier de commande hydraulique hybride pour soupapes fonctionnant électriquement
WO2009146399A1 (fr) * 2008-05-29 2009-12-03 Husco International, Inc. Manette de jeu hydraulique et hybride ayant un capteur de pression intégral et un orifice de sortie
US12001236B2 (en) 2019-09-12 2024-06-04 Komatsu Ltd. Work vehicle and method for controlling work vehicle

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1325365C (zh) * 2001-11-05 2007-07-11 日立建机株式会社 用于建筑机械的操纵杆装置
DE10260902A1 (de) * 2002-12-20 2004-07-15 Hamm Ag Selbstfahrendes Fahrzeug, insbesondere Straßenbaumaschine, sowie Verfahren zum Fahren und Lenken eines Fahrzeuges mit einem drehbaren Fahrersitz
FR2875940B1 (fr) * 2004-09-24 2006-12-22 Dav Sa Dispositif de commande a levier, notamment pour la commande d'organes d'un vehicule automobile
WO2009020453A2 (fr) * 2007-08-08 2009-02-12 Moog Inc. Levier de commande adapté pour être utilisé dans un système de commandes de vol électriques, et transmission destinée à être utilisée dans celui-ci
CN103303800B (zh) * 2013-06-24 2015-06-03 中联重科股份有限公司 起重机的回转控制方法和回转控制系统及起重机
CN104627840A (zh) * 2015-01-09 2015-05-20 深圳市正弦电气股份有限公司 一种起重机力反馈系统
JP7364999B2 (ja) * 2019-09-09 2023-10-19 株式会社タダノ ブームの操作システム
CN112456361A (zh) * 2020-11-25 2021-03-09 西北工业大学 一种减小吊放声纳液压绞车水下分机摆动幅度的控制方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0366119A1 (fr) * 1988-10-26 1990-05-02 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif pour controler l'effort à appliquer à un levier de commande

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6017510A (ja) * 1983-07-08 1985-01-29 Sumitomo Electric Ind Ltd ロ−プ吊りクレ−ンの振れ止めフイ−ドバツク制御装置
JPH0339593Y2 (fr) 1985-07-09 1991-08-20
JPH0313513Y2 (fr) * 1985-07-25 1991-03-27
JPH01226697A (ja) * 1988-03-03 1989-09-11 Kobe Steel Ltd 建設機械における操作レバーの操作反力制御装置
FR2643502B1 (fr) * 1989-02-20 1996-01-19 Aerospatiale Dispositif de commande a manche basculant, notamment pour aeronef, et systeme comportant un tel dispositif
JPH055755A (ja) 1991-04-25 1993-01-14 Fuji Electric Co Ltd 光変成器

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0366119A1 (fr) * 1988-10-26 1990-05-02 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif pour controler l'effort à appliquer à un levier de commande

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO9632670A1 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008130870A1 (fr) * 2007-04-19 2008-10-30 Husco International, Inc. Levier de commande hydraulique hybride pour soupapes fonctionnant électriquement
GB2460796A (en) * 2007-04-19 2009-12-16 Husco Int Inc Hybrid hydraulic joystick for electrically operating valves
US7753077B2 (en) 2007-04-19 2010-07-13 Husco International Inc. Hybrid hydraulic joystick for electrically operating valves
US7753078B2 (en) 2007-04-19 2010-07-13 Husco International Inc. Hybrid hydraulic joystick with an integral pressure sensor and an outlet port
WO2009146399A1 (fr) * 2008-05-29 2009-12-03 Husco International, Inc. Manette de jeu hydraulique et hybride ayant un capteur de pression intégral et un orifice de sortie
US12001236B2 (en) 2019-09-12 2024-06-04 Komatsu Ltd. Work vehicle and method for controlling work vehicle

Also Published As

Publication number Publication date
TW353652B (en) 1999-03-01
CN1181140A (zh) 1998-05-06
EP0821299A4 (fr) 2000-02-23
KR19980703286A (ko) 1998-10-15
WO1996032670A1 (fr) 1996-10-17
KR100301627B1 (ko) 2001-09-03

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