JP2010053601A - Operating lever device of construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To quickly and accurately detect an inclined rotation angle which is the operation quantity of an operating lever of a construction machine, without carrying out integrating operation of output of sensors, while eliminating the influence of the vibration of a machine body. <P>SOLUTION: This operating lever device 2 includes an operating lever 6, mounted to a lever support body 4 to be operated in a tiltably rotatable manner; a first acceleration sensor S1 mounted to the operating lever 6 to detect acceleration in a direction of a vertical plane V1, including the direction of tiltably rotatable operation; a second acceleration sensor S2, mounted to the lever support body 4 to detect acceleration, in a direction of a vertical plane V2 substantially in parallel with the vertical plane V1 of the first acceleration sensor S1; and a controller 10 for computing the inclined rotation angle and inclined rotation direction of the operating lever 6, based on the output of the first and second acceleration sensors S1, S2, and outputting an operation signal to an operated body 8. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an operation lever device for a construction machine, and more particularly to an electric operation lever device suitable for a construction machine in which vibrations of a machine body are generally severe.

  The operating lever device for operating construction machines such as hydraulic excavators has an angular velocity sensor with the operating lever operating amount and operating direction for simplification and miniaturization of the device and electronic control. Have been developed (see, for example, Patent Document 1).

In the operation lever device of this form, the tilt angle, which is the operation amount, is obtained by integrating the angle data from the angular velocity sensor, but with the angular velocity sensor alone, due to temperature fluctuation of the output signal, accumulation of integration error, etc. Since it is difficult to correct the zero point which is the neutral position where the lever is not operated, the zero point is corrected together with the acceleration sensor.
Japanese Patent Laid-Open No. 11-154030 (FIG. 4)

  However, the operation lever device of the construction machine as described above has the following problems to be solved.

  In other words, the integral calculation is a complicated process for the electronic computer, so that processing time is required, and a high-speed arithmetic processing unit (CPU / MPU) is required to obtain good responsiveness. In general, construction machinery has vigorous vibration of the fuselage, and acceleration due to the vibration is also applied to the acceleration sensor, so it is impossible for the acceleration sensor to determine whether the acceleration is due to the tilting operation of the operation lever or the acceleration due to vibration. Therefore, the zero point of the angle sensor cannot be accurately corrected, and in this case, even if the operation lever is mechanically in the neutral position, the operated member is operated.

  The present invention has been made in view of the above facts, and its technical problem is that the tilt angle, which is the operation amount of the operation lever of the construction machine, is detected without integrating the output of the sensor for detecting the vibration of the aircraft. It is an object of the present invention to provide an operation lever device for a construction machine that can be detected quickly and accurately without the influence of the above.

  According to the present invention, as an operation lever device for a construction machine that solves the above technical problem, an operation lever that is attached to a lever support so as to be capable of tilting operation, and an tilting operation that is attached to the upper end of the operation lever. A first acceleration sensor that detects acceleration in the direction of the vertical plane including the direction, and a second acceleration sensor that is attached to the lever support and detects acceleration in the direction of the vertical plane that is substantially parallel to the vertical plane of the first acceleration sensor. And a controller that calculates the tilt angle and the tilt direction of the operation lever based on the outputs of the first and second acceleration sensors and outputs an operation signal to the operated body. An operating lever device for a construction machine is provided.

  Preferably, the controller includes the tilt angle and the tilt direction based on the magnitude and direction of the gravitational acceleration and the vibration acceleration acting on the entire operation lever device detected by the first and second acceleration sensors. Is calculated.

  Since the operation lever device for a construction machine configured according to the present invention detects the lever tilt angle and the tilt direction based on the output of the acceleration sensor attached to the operation lever and the lever support, the tilt angle of the operation lever. The tilt direction and the tilt direction can be detected quickly and accurately without using an angular velocity sensor that requires an integral calculation and based on the accelerations of the operation lever and the lever support.

  Hereinafter, an operation lever device for a construction machine configured according to the present invention will be described in more detail with reference to the accompanying drawings illustrating a preferred embodiment.

  In addition, although there is a joystick type of operation lever for a construction machine that operates one operation lever in two directions orthogonal to the front, rear, left, and right from a neutral position, the operation lever is neutral for the sake of brevity. A case will be described in which the operation is performed in one direction such as the front-rear direction from the position. In the case of a joystick type operated in two directions, an acceleration sensor may be installed in each of the two operation directions.

  A description will be given with reference to FIG. The operation lever device denoted by reference numeral 2 has an operation lever 6 that is attached to the lever support 4 so as to be capable of tilting operation, and a vertical plane V1 that is attached to the upper end of the operation lever 6 and includes the direction (FR) of tilting operation. A first acceleration sensor S1 for detecting the acceleration in the direction of the second acceleration, and a second acceleration for detecting the acceleration in the direction of the vertical plane V2 attached to the lever support 4 and substantially parallel to the vertical plane V1 of the first acceleration sensor S1. A sensor 10 and a controller 10 that calculates the tilt angle and tilt direction of the operation lever 6 based on the outputs of the first and second acceleration sensors S1 and S2 and outputs an operation signal to the operated body 8 are provided. .

  2 will be described with reference to FIG. The operation lever 6 has a grip 6a at the upper end, and the base end 6b is supported by a pin 5 that forms a tilt axis X on a lever support 4 attached to the console 11 of the cab. It is attached so as to be tiltable in one F direction and the other R direction with a neutral position (position shown in FIGS. 1 and 2) around the axis X.

  A pair of compression springs 12, 12 are provided between the base end portion 6 b of the operation lever 6 and the lever support 4 on both sides of the tilt axis X. By the pair of compression springs 12, 12, neutral holding means 14 that mechanically holds the operating lever 6 at the neutral position N and applies a reaction force that returns the operating lever 6 in the neutral position N direction when the operating lever 6 is tilted. Is formed.

  The first acceleration sensor S1 is mounted in the grip 6a at the upper end of the operation lever 6, and the second acceleration sensor S2 is mounted in the lever support 4. The acceleration sensors S <b> 1 and S <b> 2 are connected to a controller 10 in the cab equipped with the operation lever 6 by a wiring 16 passing through the lever support 4.

  The operated body 8 to which the controller 10 is connected includes, for example, an electromagnetic switching valve, and controls the flow of hydraulic oil to the actuator of the construction machine according to an operation signal from the controller 10.

  The acceleration detection by the acceleration sensors S1 and S2 and the calculation of the tilt angle and tilt direction by the controller 10 will be described with reference to FIGS. 3 and 4 together with FIGS. The description will be given by taking as an example a case where the operation lever 6 is tilted from the neutral position N in one direction F (FIGS. 1 and 2). For the sake of brevity, planes H1 and H2, which are parallel to and parallel to the vertical planes V1 and V2, are set as the acceleration detection directions of the acceleration sensors S1 and S2, respectively. In an actual apparatus, it is difficult to strictly parallel the planes H1 and H2, but calibration can be performed by grasping the correction value.

  The acceleration due to the tilt of the operation lever 6 and the vibration acceleration acting on the entire operation lever device 2 act on the first acceleration sensor S1. Only the vibration acceleration acting on the entire operation lever device 2 acts on the second acceleration sensor S2.

  The acceleration detection at the neutral position of the operation lever 6 will be described mainly with reference to FIG. An angle γ is an initial tilt angle (lever installation angle) of the lever at the neutral position, and includes the acceleration sensors S1 and S2 and a plane perpendicular to the vertical planes V1 and V2, and the vertical planes V1 and V2, and planes H1 and H2. It is an angle with a plane perpendicular to. When the output a1 of the acceleration sensor S1 and the output a2 of the acceleration sensor S2 shown in FIG. 3 are equal, it is determined that the operation lever 6 is in a neutral state.

The acceleration detection at the operation lever 6 tilt position will be described mainly with reference to FIG. Assuming that the angle of the tilting position obtained by tilting the operating lever 6 from the angle γ of the neutral position by the angle δ is θ, θ is expressed by Formula 1.
[Formula 1] θ = γ + δ

The outputs a1 and a2 of the acceleration sensors S1 and S2 in this state are expressed by the following equations (2) and (3).
[Formula 2] a1 = g · Sinθ + B · Cosθ
[Formula 3] a2 = B
here,
g: Gravitational acceleration B: Vibration acceleration acting on the entire device

The following Equation 4 is obtained from Equation 2 and Equation 3.
[Formula 4] Cos θ = (a1 · a2 ± g√ (g ² + a2 ² −a1 ² )) / (g ² + a2 ² )
Therefore, the tilt angle δ and the tilt direction are obtained from the angle θ obtained by the equation 4 and the equation 1.

  That is, the controller 10 determines the tilt angle θ and the gravitational acceleration g detected by the first and second acceleration sensors S1 and S2 and the magnitude and direction of the vibration acceleration B acting on the entire operation lever device. The tilt direction is calculated.

  The effect of the operation lever device 2 of the construction machine as described above will be described.

  Since the operation lever device 2 detects the lever tilt angle θ and the tilt direction based on the outputs of the acceleration sensors S1 and S2 attached to the operation lever 6 and the lever support 4, the tilt angle θ of the operation lever 6 is detected. The tilt direction and the tilt direction can be detected quickly and accurately without using an angular velocity sensor that requires an integral calculation and based on the accelerations of the operation lever 6 and the lever support 4.

  Since two acceleration sensors are used for detection in one direction, in the case of a joystick type operated in two directions, four acceleration sensors are necessary, but acceleration capable of detection in two perpendicular directions is possible. If a sensor is used, it can be made two.

BRIEF DESCRIPTION OF THE DRAWINGS Structure explanatory drawing of the operating lever apparatus of the construction machine comprised according to this invention. Explanatory drawing of the operation lever inclination center part of the operation lever apparatus of FIG. Explanatory drawing of the acceleration detection state in an operation lever neutral position. Explanatory drawing of the acceleration detection state in an operation lever tilt position.

Explanation of symbols

2: Operation lever device 4: Lever support body 6: Operation lever 8: Operated body 10: Controller S1: First acceleration sensor S2: Second acceleration sensor V1: Vertical plane V2: Vertical plane

Claims (2)

An operation lever attached to the lever support so as to be tiltable,
A first acceleration sensor that is attached to the upper end of the operation lever and detects acceleration in the direction of the vertical plane including the direction of the tilting operation;
A second acceleration sensor attached to the lever support for detecting acceleration in a direction of a vertical plane substantially parallel to the vertical plane of the first acceleration sensor;
A controller that calculates a tilt angle and a tilt direction of the operation lever based on outputs of the first and second acceleration sensors and outputs an operation signal to the operated body.
An operation lever device for a construction machine. The controller
Calculating the tilt angle and the tilt direction based on the magnitude and direction of the gravitational acceleration and the vibration acceleration acting on the entire operation lever device detected by the first and second acceleration sensors;
The operation lever device for a construction machine according to claim 1.

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