JP2010066962A - Operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation device, capable of attaining both the improvement in the sensation operation or the operability at an emergency operation and prevention of an erroneous operation, by making characteristics of the operation device to be varied dynamically. <P>SOLUTION: The operation device 70 for producing an operation instruction value of an actuator of an operation machine, in response to an operation of an operator includes an operation inputting means 76, having a member 71 to be operated which receives an operation input and operation signal producing means 72 for outputting an operation signal based on an operation of the member 71 to be operated; a brake operation detecting means 78 for detecting an operation of the operator for braking the member 71; a resistance reaction force producing means 75 for attenuating an operation of the member 71 to be operated, by adding a force acting to a reverse direction, with respect to the operation direction to the member 71 to be operated; a resistance reaction force instruction value producing means 73 for producing an instruction value to the resistance reaction force producing means 75, based on the detection signal from the brake operation detecting means 78; and an operation supporting means 77, having a resistance reaction force controlling means 74 for outputting an instruction signal to the resistance reaction force producing means 75, according to the instruction value from the resistance reaction force instruction value producing means 73. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an operating device that generates an operation command value for an actuator of a work machine such as a hydraulic excavator or a hydraulic crane in accordance with an operation of an operator.

  In work sites such as civil engineering work and demolition work, work machines represented by hydraulic excavators and hydraulic cranes are generally used. This type of work machine has a hydraulic pump as a power source, a hydraulic actuator (hydraulic cylinder, hydraulic motor, etc.) driven by pressure oil from the hydraulic pump, and a driven member (arm, bucket, wire rope) driven by the hydraulic actuator. Etc.), a control valve for controlling the flow (flow rate and direction) of the pressure oil to the hydraulic actuator, an operating device for instructing the operation of the driven member, and the like. Usually, the operating device is a member to be operated (operating lever, pedal, button, etc.) operated by an operator, and a command value generating device that converts the movement angle or movement distance of the member to be operated into an operation speed command value of a hydraulic actuator. It is composed of When the operated member is operated by the operator, the control valve is controlled based on a command value from the operating device, and the hydraulic actuator is driven at a driving speed corresponding to the command value and output as an operation of the driven member. In such a working machine, in order to enhance workability including work efficiency and quality, an operation feeling or operability suitable for work is required with less fatigue.

  A general operating device is provided with a spring for automatically returning the operated member to the neutral position so that the command value becomes zero when there is no operation. If the spring elasticity is large, the force to return the operated member to the neutral position is strong and the return time is also shortened. In this case, a good feeling of operation can be obtained when operating slowly and carefully, avoiding erroneous operations, but the force (operating force) required to move the operated member is increased, making it difficult to operate quickly and finely. The fatigue of the person will also increase. On the other hand, if the spring elasticity is reduced, the operating force is reduced, which is advantageous in situations where fast operation or fine operation is required or in situations where the operation time is long, but if the spring elasticity is excessively small, the operated member The return to the neutral position is delayed, and the movement of the operator's arm is likely to affect the operation. Therefore, in order to improve the operability of the work machine, the characteristics of the operating device (elasticity and inertia of the operated member, viscosity of the fluid related to the operation, friction of the fluid and movable parts, etc.) It is necessary to set appropriately.

  There are already many technologies aimed at improving the operability of the operating device. One of them is a technology that dynamically changes the characteristics of the operating device. For example, Patent Document 1 discloses a variable viscous fluid as a member to be operated. A technique is disclosed in which an operation reaction force is adjusted by controlling a viscous resistance of a variable viscous fluid so as to be connected in inverse proportion to an operation speed of a member to be operated. If this described technique is used, an operation reaction force is large during a fast operation and an operation reaction force is small during a slow operation. Therefore, even if the spring elasticity is set small, erroneous operation due to arm shake or the like is suppressed. be able to.

JP 2000-276244 A

  However, the disclosed technique disclosed in Patent Document 1 has an advantage that erroneous operation such as fine operation is suppressed even if the spring elasticity of the operating device is set to be small. However, in a scene where the operated member is suddenly operated, the driven member As long as the operation speed is not sufficiently increased, the operation reaction force is strong and the operation cannot be performed quickly. In this case, if an excessive force is applied to increase the operation speed, the operation reaction force is drastically reduced as the operation speed is increased. Therefore, it is difficult to adjust the force to stop the operated member at an appropriate position. . As described above, there is still room for further improvement as to how the characteristics of the operating device are changed in order to improve the operational feeling and operability.

  The present invention has been made in order to solve the above-described problems, and is an operation device that can dynamically change the characteristics of the operation device and achieve both improvement in operational feeling or operability during sudden operation and suppression of erroneous operation. The purpose is to provide.

  (1) In order to achieve the above object, the present invention provides an operated member that receives an operation input in an operating device that generates an operation command value of an actuator of a work machine in accordance with an operation of an operator, and the operated member An operation input means having an operation signal generating means for converting an operation of the actuator into an operation command value of the actuator and outputting an operation signal; and a braking operation detection means for detecting an operation of the operator to brake the operated member during operation. A resistance reaction force generating means for applying a force acting on the operated member in a direction opposite to the operation direction to attenuate the operation of the operated member, and the resistance reaction based on a detection signal from the braking operation detecting means. A resistance reaction force command value generating means for generating a command value to the force generating means, and a resistance reaction force for outputting a command signal to the resistance reaction force generating means in accordance with a command value from the resistance reaction force command value generating means Characterized in that an operation support means having a control means.

  (2) In the above (1), preferably, the resistance reaction force generating means is a viscous friction resistance determined by a product of a moving speed of the operated member and a viscous friction coefficient that flows along with the movement of the operated member. It is characterized by generating a reaction force.

  (3) In the above (1) or (2), preferably, as the braking operation detection means, an operation force detection means for detecting an operation force applied to the operated member or an operation signal output by the operation signal generation means An acceleration calculating means for calculating an acceleration component is provided, and the resistance reaction force command value generating means is preset with a change rate of the operating force detected by the braking operation detecting means or an absolute value of the change rate of the acceleration component. After the increase to the first threshold value or more, when the change rate of the operation force or the change rate of the acceleration component is reversed between positive and negative and the absolute value increases to a second threshold value or more that is set in advance, the operation force or the acceleration component In response, a command value to the resistance reaction force generating means is generated, and the absolute value of the change rate of the operating force or the change rate of the acceleration component is equal to or smaller than a third threshold value smaller than the first and second threshold values. ,in front Characterized by stopping the output of the command value to the resistance reaction force generation means.

  (4) In the above (1) or (2), preferably, as the braking operation detecting means, the tension of the main muscle that is active when the operator moves the operated member and the degree of tension of the antagonistic muscle that is active when braking And a resistance reaction force command value generating means for generating a command value to the resistance reaction force generating means according to the degree of antagonism of the simultaneous output of the main muscle and the antagonist muscle. It is characterized by.

  (5) In the above (1) or (2), preferably, as the braking operation detecting means, a grip amount detecting means for detecting a grip pressure or a grip force by which an operator grips the operated member is provided, and the resistance The reaction force command value generation unit generates a command value to the resistance reaction force generation unit according to the grip amount detected by the grip amount detection unit.

  (6) In the above (1) or (2), preferably, as the braking operation detecting means, a pressing amount detecting means for detecting a force or pressure by which an operator presses the operated member as an operating lever in the axial direction. The resistance reaction force command value generation unit generates a command value to the resistance reaction force generation unit according to the pressing amount detected by the pressing amount detection unit.

  According to the present invention, an appropriate operation reaction force can be imparted to the operated member in a timely manner by dynamically changing the characteristics of the operating device, so that the operational feeling or operability during sudden operation is improved. It is possible to suppress erroneous operations.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a side view of a hydraulic excavator that is an example of a work machine to which the operating device of the present invention is applied. First, a schematic configuration of a work machine to which the operating device of the present invention is applied will be described using the hydraulic excavator shown in FIG. 1 as an example. In the following description, unless otherwise specified, the left and right in FIG.

  The hydraulic excavator shown in FIG. 1 includes a traveling body 1 and a revolving body 2 that is mounted on the traveling body 1 so as to be able to swivel.

  The traveling body 1 includes left and right crawlers having endless track tracks, and travels by driving the left and right crawlers by left and right traveling motors 33E and 33F (see FIG. 4 described later). The traveling motors 33E and 33F are hydraulic actuators, and the traveling body 1 constitutes a driven member that is driven by the traveling motors 33E and 33F.

  The swivel body 2 has a swivel frame 3. The swivel frame 3 has a cab box 4 on which an operator gets on the front side, and a building cover 5 that defines a machine room on the rear side of the cab box 4. A counterweight 6 that adjusts the balance in the front-rear direction of the airframe is mounted on the part. The turning frame 3 is provided with a turning motor 33D (see FIG. 4 described later), and the turning body 2 is driven to turn by this turning motor. The turning motor 33D is a hydraulic actuator, and the turning body 2 constitutes a driven member that is driven by the turning motor 33D.

  In addition, a front working device 8 that moves up and down with respect to the swivel body 2 is provided at a front portion of the swivel body 2 (right side of the cab box 4 in this example). The front working device 8 includes a boom 8A pin-coupled to the revolving frame 3 of the revolving structure 2, an arm 8B pin-coupled to the tip side of the boom 8A, and a work tool (pin-coupled to the tip side of the arm 8B). Bucket) 8C. The boom 8A, the arm 8B, and the bucket 8C are driven by hydraulic actuators such as the boom cylinder 33A, the arm cylinder 33B, and the bucket cylinder 33C. The boom 8A, arm 8B, and bucket 8C constitute driven members that are driven by the boom cylinder 33A, arm cylinder 33B, and bucket cylinder 33C, respectively.

  FIG. 2 is a side view illustrating a schematic configuration inside the cab box 4.

  As shown in FIG. 2, on the floor plate 4 </ b> A of the cab box 4, there are provided a driver's seat 7 and an operation device 11 (shown only on the left side) arranged on both the left and right sides of the driver's seat 7. The operating device 11 instructs the operation of the swing body 2 and the front work device 8 as driven members. As will be described in detail later with reference to FIG. 3, the operation device 11 includes an operation lever 15 that is an operated member that receives an operation input from the operator, and a lever support 12 that supports the operation lever 15. . The lever support 12 includes a lever stand 13 and a casing 14 for the operation lever 15. The lever stand 13 is located on the side of the driver's seat 7 and is attached to the floor plate 4 </ b> A of the cab box 4. The boom cylinder 33A, the arm cylinder 33B, the bucket cylinder 33C, and the swing motor 33D are driven by tilting the left and right operation levers 15 back and forth and left and right, and the boom 8A, the arm 8B, the bucket 8C, and the swing body 2 operate. . Further, in front of the driver's seat 7, a pedal-equipped operation lever 15 </ b> C (shown only on the left side), which is a pair of operated members corresponding to the left and right crawlers of the traveling body 1, is attached to the floor plate 4 </ b> A of the cab box 4. .

  FIG. 3 is a cross-sectional view illustrating the configuration of the operation lever 15.

  The casing 14 of the operation lever 15 is fixed to the lever stand 13 by attaching the flange portion of the lid 16 to the opening 13 </ b> A of the lever stand 13. The operation lever 15 is composed of a shaft 15A and a grip 15B attached to the tip portion thereof. The base end portion of the shaft 15A is fixedly connected to the cam 40. The cam 40 is connected to the center of the lid 16 of the casing 14 through a free joint 41 and is configured to allow the operation lever 15 to tilt forward, backward, left and right. The cam 40 is configured to push down the pusher 42 by the tilting operation of the operation lever 15 and return the operation lever 15 to the neutral position by a reaction force from the pusher 42. Although not shown in all figures, four pushers 42 are provided in each of the front, rear, left and right of the free joint 41, and the reaction force of a spring or the like that determines the operating characteristics of the operating device 11 is provided below the pusher 42. A generating element is installed. The push-in amount (or push-in energy) of the pusher 42 is converted into an operation signal such as an electric signal, a hydraulic pressure value, or the like as a command value for the operation speed or movement amount of the work machine by an operation signal generator (not shown).

  FIG. 4 is a schematic diagram of a drive circuit of a hydraulic actuator provided in the work machine.

  As shown in FIG. 4, the hydraulic actuator, that is, the boom cylinder 33 </ b> A, the arm cylinder 33 </ b> B, the bucket cylinder 33 </ b> C, the turning motor 33 </ b> D, and the traveling motors 33 </ b> E and 33 </ b> F are supplied from the hydraulic pump 30 as a power source provided in the building cover 5. It is driven by pressure oil (hydraulic oil). The hydraulic pump 30 is driven by an engine (not shown). The pressure oil discharged from the hydraulic pump 30 flows through the discharge pipe 31A and is supplied to electromagnetic / hydraulic pilot type control valves (three-position control valves) 32A to 32F, and flows (direction and direction) by the control valves 32A to 32F, respectively. The flow rate is controlled and supplied to the hydraulic actuators 33A to 33F. The return oil from the hydraulic actuators 33A to 33F flows into the return oil pipe 31B through the control valves 32A to 32F, and is returned to the tank 38. Further, the maximum pressure of the pressure oil in the discharge pipe 31 </ b> A is regulated by the relief valve 36.

  The left and right operation levers 15 (see FIG. 2) have command value generation devices 34A to 34D that generate operation command values for the hydraulic actuators 33A to 33D, respectively, according to the operation direction (front / rear or left / right) and the operation amount. The command values generated by the command value generation devices 34 </ b> A to 34 </ b> D are output to the control unit 37. Further, the operation lever 15C with a pedal (see FIG. 2) is provided with the operation command values of the travel motors 33E and 33F according to the operation direction (front and rear) and the operation amount of the operation lever 15C on the associated side. Command value generation devices 34E and 34F to be generated are provided, and the command values generated by the command value generation devices 34E and 34F are output to the control unit 37.

  The control unit 37 is an operation control means for controlling the operation of the hydraulic actuator, generates control signals to the control valves 32A to 32F based on the command values from the command value generators 34A to 34F, and controls the control valve 32A. A control signal is output to the solenoid of 32F. The positions of the control valves 32A to 32F are switched by control signals from the control unit 37, the flow (direction and flow rate) of the pressure oil to the hydraulic actuators 33A to 33F is controlled, and the hydraulic actuators 33A to 33F are driven and controlled. .

  Such a hydraulic system is known to be a vibration system that can transmit a large force efficiently, but has a property of being prone to vibration and difficult to attenuate. In particular, in a work machine with a long piping and handling of heavy objects, vibration is likely to occur when an operator performs a sudden operation on the operated members 15 and 15C. In this case, it is necessary to operate slowly and carefully, and operability is good if the reaction force of the operated member is set to be strong. On the other hand, in a work machine with small vibrations, even if an operation command value that changes quickly is given, it can operate stably because it operates stably, and operability is good if the reaction force of the operated member is set weak.

  Next, a first embodiment of the operating device of the present invention will be described.

  First, an analysis of the basic characteristics of the operation operation of the operator and the theoretical background of the present invention will be described with reference to FIG. FIG. 5 is a characteristic diagram of the operation operation of the operator.

  FIG. 5A is a diagram showing a target follow-up waveform. When the operator operates the operating device so that the command value 51 (dotted line) of the operating device follows a target value 50 (solid line) that changes randomly. Represents the waveform of the output signal.

  In order to obtain the signal waveform of FIG. 5A, first, an operating device when the operator is operating so that the difference between the target value and the command value is shown on the display device and the difference becomes zero is obtained. There is a method of acquiring the output signal of The operation operation at this time is called a compensation operation. Secondly, there is a method in which the target value and the command value are displayed at the same time, and an output signal of the operating device is acquired when the operator is operating so that the command value matches the target value. This operation operation is called a tracking operation. Compensation operation requires the ability to recognize an error at a certain point in time and correct the error, and tracking operation also requires the ability to predict a future value of the target value and match the command value to that value. . However, it is known that the target follow-up waveform shows the same tendency regardless of which method is used, and the transfer function from the target value 50 to the command value 51 can be approximated to the characteristics of dead time and first-order lag. It is said that the dead time is about 200 ms, and the frequency at which the gain of the first-order lag characteristic is 0 dB is about 0.1 to 1 Hz.

  FIG. 5B is an enlarged view of a part (about several hundred ms) of the command value 51 of FIG. 5A, and shows an average basic unit of the operation action.

  The signal waveform illustrated in FIG. 5B is similar to the signal waveform associated with the operation of reaching for the object to be grasped when grasping the object, and is called a reaching operation. The period 52 is a period during which the operator recognizes the target (recognition / prediction of the target position and movement), plans the operation, and the like. The period 53 is a period during which the operator moves at high speed to the vicinity of the target. Is an operation correction period to the target position. A more macroscopic waveform having such a continuous operation is the command value 51 in FIG. Therefore, it can be said that the basic operation of the operator is equivalent to a feedback control characteristic repeated at a cycle of about several hundred ms, and the characteristic is approximated to the above-described dead time and first-order lag characteristic. It is considered that improving the operability of the microscopic reaching operation shown in FIG. 5B greatly contributes to improving the operability of the entire operation system.

  FIG. 5C shows a waveform 55 of the force (operating force) applied to the operated member by the operator in the periods 53 and 54 of FIG. 5B. For example, the reaction force from the operated member is fast. It is assumed that the size is set small in consideration of the operation. The muscle activity of the operator will be described with reference to this figure.

  First, at the initial movement, an operation force (positive region in the figure) for moving the operated member in the operation direction increases (period 53a). Thereafter, the operating force immediately reaches a certain value and starts to decrease, and further, the force that brakes the operated member to stop the operated member at the reaching target position as the operated member approaches the reaching target position (operation direction). And a negative value (period 53b). Then, the operation force is finely adjusted in the region near zero near the target position to converge the operated member to the target position (period 54). At this time, in the period 53a, the operator lowers the rigidity of the arm (a state where the force is released and softened), and uses only the main muscle (the muscle of the arm that is mainly active when the operated member is moved in a predetermined direction). In the period 53b, the movement of the operated member is accelerated, and the antagonistic muscle (muscle that outputs in the opposite direction to the main driving muscle and brakes the operated member) is moved in addition to the main driving muscle to increase the rigidity of the arm. , The viscosity resistance is increased, and the movement of the operated member is suppressed), and the operation of the operated member is decelerated. Also, during the period 54, the arm is in a state where the operating force is near zero, and if it cannot be stopped successfully at the target position, the operated member is moved while slightly changing the balance of the muscle strength of the main and antagonist muscles. It converges to the target position.

  In this way, the operator dynamically changes the dynamic characteristics of operating the operated member by changing the rigidity of the arm. Generally, when moving a member to be operated quickly, the rigidity of the arm is lowered (viscosity resistance is small), and when moving slowly and carefully avoiding misoperation such as shaking of the arm, it tends to increase the rigidity of the arm at the time of fine operation or stopping It is in. Increasing the rigidity of the arm increases the muscular strength and impairs the feeling of operation. As a result, it becomes easy to feel fatigue, and the number of erroneous operations increases, which can cause operability degradation. In addition, if the arm stiffness cannot be adjusted well, the acceleration / deceleration of the operated member cannot be adjusted well, and the oscillatory operation is performed until the operated member converges to the target position as shown in the period 54 of FIG. As a result, the response is delayed, and the above-described dead time and first-order lag characteristics are deteriorated. Therefore, the present embodiment aims to improve the operability of this microscopic reaching operation by dynamically adjusting the characteristics of the operating device and assisting the viscous resistance when the rigidity of the arm is increased. .

  FIG. 5D is a diagram showing an example of the operation command value 59, the operation force 60, and the resistance reaction force 61 (represented by a negative value because of the reaction force) when the present invention is applied. is there. If the resistance reaction force 61 from the operating device is increased during the deceleration period and the stop period in which the arm stiffness increases as shown in this figure, the period until the target position stops is shortened (no vibration), and the operability is improved.

  FIG. 6 is a functional block diagram of the first embodiment of the operating device of the present invention.

  As shown in FIG. 6, the operating device 70 of the present invention includes an actuator of a work machine (hydraulic motors 33 </ b> D- 33 </ b> F and hydraulic cylinders of FIG. 3 in the example of FIGS. 1 to 4) according to the operation of an operator (operator). 33A-33C). The operation device 70 includes an operation input unit 76 that outputs an operation signal instructing the operation of the actuator in response to an operation input by the operator, and a braking operation detection unit 78 that detects an operation in which the operator suppresses the operation during the operation. And an operation support means 77 for supporting a movement for suppressing the operation of the operator.

  The operation input means 76 is a member to be operated 71 (operation levers 15 and 15C in FIG. 2 in the example of FIGS. 1 to 4) that receives a physical operation input by the operator (in the case of a lever, tilting operation or the like), and Operation signal generating means 72 is provided for converting the operation of the operated member 71 into an operation command value for the actuator and outputting an operation signal.

  The operated member 71 is attached with a reaction force generating mechanism such as a spring (the pusher 42 in FIG. 3 in the example of FIGS. 1 to 4) for automatically returning to the neutral position so that the command value becomes zero when there is no operation. ing. In the present embodiment, the elastic coefficient of the reaction force generation mechanism is not set to a very large value, and the movement of the operated member 71 is adjusted lightly in consideration of operability when performing an early operation.

  The operation signal generating means 72 operates the operation amount including the movement angle, the movement distance, etc. of the operated member 71 as an operation signal such as an electric signal or a hydraulic pressure value as an operation speed or movement amount command value of the actuator of the work machine. 1 to 4, it can be constituted by a displacement sensor that measures the push-in amount of the pusher 42 in FIG. 3, a potentiometer that detects the inclination angle of the operated member, or the like.

  The braking operation detection means 78 detects an operation in which the operator brakes the operated member 71 during the operation. For example, in the case of the operation lever 15 in the example of FIGS. A force sensor (strain sensor) that detects a load (operation force) in at least an operation direction (in this case, the front-rear direction and the left-right direction) applied to the lever 15 (operated member 71) is used as a braking operation detection unit 78 as a grip 15B ( (See FIG. 3).

  The operation support means 77 includes a resistance reaction force generation means 75 that applies a force (resistance reaction force) acting on the operated member 71 in the direction opposite to the operation direction to attenuate the operation of the operated member 71, and a braking operation detection means. Resistance reaction force command value generation means 73 for generating a command value to the resistance reaction force generation means 75 based on the detection signal from 78, and resistance reaction force generation according to the command value from the resistance reaction force command value generation means 73 A resistance reaction force control means 74 for outputting a command signal to the means 75 is provided.

  The resistance reaction force generating means 75 is a means for generating a reaction force in the direction opposite to the operation direction of the operated member 71 as described above and attenuating the operation. Elements that generate such a reaction force include viscous frictional resistance using a viscous fluid or dry frictional resistance using a solid. The reaction force of the viscous friction resistance generates a resistance reaction force determined by the product of the moving speed of the operated member 71 and the viscous friction coefficient of the viscous fluid flowing along with the movement of the operated member 71, and the resistance caused by the dry friction resistance The reaction force generates a resistance reaction force determined by the product of the pressing force and the coefficient of friction between the solids that generate friction when the solid is pressed against the operating portion of the operated member 71. In the present embodiment, the viscous resistance of the operator's arm is supported, so it is desirable to use the viscous frictional resistance.

  When the resistance reaction force generation means 75 is configured using viscous frictional resistance, for example, a reaction force generator disclosed in Japanese Patent Application Laid-Open No. 2000-276244 can be applied. This reaction force generator is a device that applies a damper mechanism that gives fluid resistance to the piston that is linked to the pusher, and uses a variable viscous fluid whose viscosity changes when energized. It is the structure which gives reaction force to operation of an operating device by changing. When applying to this embodiment, it can be set as the structure which controls electricity supply to a variable viscous fluid by the resistance reaction force command value generation means 73 under the conditions mentioned later. In addition, if a variable throttle is provided in the flow path through which the fluid discharged from the bottom side of the damper is provided, the reaction force against the pusher push can be adjusted by the opening of the variable throttle without using a variable viscous fluid. It can be configured. Even when this is applied to the present embodiment, it can be realized by a configuration in which the opening degree of the variable throttle is controlled by the resistance reaction force command value generation means 73 under the conditions described later.

  When the resistance reaction force generating means 75 is configured using dry friction resistance, for example, pads (not shown) that can be pressed against the outer peripheral surface of each pusher 42 (see FIG. 3) in the example of FIGS. The resistance reaction force against the operation of the operation lever 15 (operated member 71) can be generated by pressing the pad against the outer peripheral surface of the pushed pusher 42. Moreover, the structure which changes the frictional force which acts between the axial part of the free joint 41 and a bracket part, for example, the structure which presses a pad to the outer peripheral part of a axial part can also be provided in the bracket part side. The configuration using these dry friction resistances can also be realized by controlling the movement of the pad under the conditions described later by the resistance reaction force command value generating means 73.

  The resistance reaction force command value generation means 73 is a means for generating a resistance reaction force command value to the operated member 71, and in this embodiment, corresponds to the resistance reaction force 61 described above with reference to FIG. A command value for generating the resistance reaction force to be generated is generated and output to the resistance reaction force control means 74. In the present embodiment, since a force sensor is provided in the grip portion of the operated member 71 as the braking operation detecting means 78, a resistance reaction force command value generating means will be described with reference to FIGS. 5 (c) and 5 (d). 73 shows a change in the operating force 60 after the absolute value of the change rate of the operating force 60 (the waveform 56 in FIG. 5C) measured by the braking operation detecting unit 78 increases to a preset first threshold value P1 or more. When the rate is reversed between positive and negative and the absolute value increases within a set time to a preset second threshold value P2 or more, a command value to the resistance reaction force generating means 75 is generated according to the operating force 60. In addition, if the absolute value of the change rate of the operating force 60 is equal to or less than the third threshold value P3 smaller than the first threshold value P1 and the second threshold value P2 for the set time (when converged near zero), the resistance resistance The output of the command value to the force generation means 75 is stopped, and the application of the operation reaction force to the operated member 71 is stopped. In FIG. 5C, the second threshold value P2 is shown in a negative region in accordance with the illustration of the waveform 56, and may be a value different from the first threshold value or the same value. The third threshold value P3 is represented in both positive and negative areas.

  The resistance reaction force control means 74 is a means for converting the resistance reaction force command value from the resistance reaction force command value generation means 73 into a control signal of the resistance reaction force generation means 75 as described above. However, the command values and signals referred to here are not limited to electrical signals, but also include mechanical or physical signals such as pressure and force. For example, when the resistance reaction force generating means 75 determines the viscous friction coefficient based on the opening of the variable throttle, the area of the variable throttle is set to a value corresponding to the resistance reaction force command value (electrical signal, pressure, force, etc.). Convert to control signal (electrical signal, pressure, force, etc.).

  Next, operations and actions associated with the operation of the operation device according to the present embodiment will be sequentially described.

  When the operated member 71 is operated by the operator, the operation signal generating unit 72 generates an operation command value for the actuator corresponding to the operation direction according to the operation amount per unit time and the operation direction of the operated member 71. . In the example of FIGS. 1 to 4, when the operation instructs the “boom raising” operation, an operation signal having a magnitude corresponding to the operation command value is output to the right solenoid drive unit in FIG. 3 of the control valve 32 </ b> A. Then, the control valve 32A is switched to the right position in the drawing, pressure oil is supplied to the bottom side of the boom cylinder 33A, and the boom 8A is raised according to the operation.

  At this time, since the reaction force generating element (the pusher 42, the spring, etc.) is set so that the operated member 71 operates smoothly with a relatively weak operating force, the operated member 71 is located in the vicinity of the target position from the initial operation. A fast operation that does not involve position adjustment while roughly moving 71 can be made smooth. During this time, the operating force applied to the operated member 71 by the operator is mainly dominated by the load in the operating direction by the main muscle, and even if the rate of change of the operating force exceeds the first threshold, the rate of change does not reverse positive or negative. The resistance reaction force command value generation means 73 does not generate a control command value, and no reaction force is applied from the resistance reaction force generation means 75 to the operated member 71. On the other hand, in the process of stopping the operated member 71 in the vicinity of the reaching target position, the activity of the antagonistic muscle to the activity of the main muscle increases (the force applied to the operated member 71 from the direction opposite to the operation direction increases). The rate of change of force reverses positive and negative. At this time, as the antagonistic muscle activity becomes dominant, if the rate of change of the sign opposite to that during the operation of the main muscle within the set time exceeds the second threshold value, the resistance reaction force generating means 73 A resistance reaction force command value corresponding to an operation force (for example, an operation force acting in the opposite direction to the operation direction or a difference between the operation force in the operation direction and the operation force in the opposite direction) is generated. A reaction force is applied to the operated member 71 by the force generating means 75. In this case, the muscular strength burden when the operator stops the operated member 71 is reduced. In addition, since the operator exerts a force on the arm even during a fine operation and the activities of the main and antagonist muscles antagonize, the reaction force from the operation support means 77 is detected when the state is detected by the braking action detection means 78. As a result, the operation of the operated member 71 becomes heavy.

  As described above, according to the present embodiment, the operation characteristics of the operated member 71 can be dynamically adjusted. Specifically, since the reaction force does not act (or is weak) during fast and rough operation, it can be operated with a light force and fatigue is small. On the other hand, in a scene where the rigidity of the operator's arm is increased by careful operation, such as when the operated member 71 is suddenly braked or finely operated, the operating reaction force of the operated member 71 increases, so that the arm shakes, etc. The effect of reducing fatigue can be expected in that the erroneous operation caused by the above can be suppressed and the muscular force burden required for the braking operation of the operated member 71 by the operator can be reduced. Thus, according to the present embodiment, an appropriate operation reaction force is applied to the operated member 71 by incorporating the movement of the operator's muscle based on the motion analysis into the control concept and dynamically changing the characteristics of the operating device. Since it can be given in a timely manner, it is possible to achieve both improvement in operational feeling or operability during sudden operations and suppression of erroneous operations. As a result, the operational feeling and operability can be improved. As a result, the operational stability, work accuracy and work efficiency of the work machine can be improved, and the burden and fatigue on the operator can be reduced.

  In the present embodiment, the force sensor attached to the operated member 71 is described as an example of the braking operation detection unit 78, but the present invention is not limited thereto. The resistance reaction force 61 shown in FIG. 5 (d) assists the viscous resistance when the arm rigidity increases, so that the resistance reaction force command value increases when the arm rigidity increases. The resistance reaction force command value generation means 73 can also be configured. In this case, for example, an electromyographic sensor for measuring the degree of muscle tension is attached as a braking operation detecting means 78 to muscles that can be the main and antagonist muscles of the arm when the operator operates the operated member 71, and both muscles are attached. It is also possible to adopt a configuration in which the resistance reaction force command value generation means 73 generates a command value to the resistance reaction force generation means 75 according to the degree of antagonism of the simultaneous output of the main and antagonist muscles when the two are simultaneously tense. it can. With this configuration, when the arm stiffness is low, such as when moving the arm quickly, the resistance reaction force of the operated member 71 becomes small, and when moving slowly and carefully avoiding erroneous operations such as arm shake, Further, when the arm has high rigidity, such as during fine operation or when stopped, the resistance reaction force of the operated member 71 increases. Thereby, appropriate operation support can be performed at an appropriate timing, and the operational feeling and operability are improved.

  Further, when operating the operating device 70, the operator tends to grip the operated member 71 at the same time as the rigidity of the arm is increased. Therefore, instead of directly measuring the stiffness of the arm, the operator does not directly measure the operated member 71. It is also possible to adopt a configuration in which a gripping pressure or gripping force for gripping is detected, and the resistance reaction force command value generating means 71 determines the resistance reaction force command value according to the detected value. In this case, for example, a pressure distribution sensor is installed as a bronze motion detecting unit 78 in the grip portion of the operated member 71, and the resistance reaction force command value generating unit 71 corresponds to the measured value of the grip pressure of the operated member 71 of the operator. It can be set as the structure which determines resistance reaction force command value. In addition, instead of using a pressure distribution sensor, one or more sensors (such as force sensors) whose output changes due to the pushing force are used to measure the force applied to the finger or palm, and a resistance reaction force command value is generated according to the measured value. The means 71 may be configured to determine the resistance reaction force command value.

  Furthermore, when the operated member 71 is configured as the operation lever 15 shown in FIG. 3, the operator not only increases the force for gripping the grip 15B when a viscous reaction force is required, but also in the direction of the axis 15A. There is a tendency to push in the operation lever 15. Utilizing this phenomenon, for example, a force sensor or a pressure distribution sensor for measuring the force or pressure that is pressed against the shaft 15A in the axial direction is provided as the braking operation detecting means 78, and the resistance reaction force command value generating means 71 according to the measured value. Can also be configured to determine the resistance reaction force command value.

  A second embodiment of the operating device of the present invention will be described.

  FIG. 7 is a functional block diagram of the second embodiment of the operating device of the present invention. In FIG. 7, the same reference numerals are given to the same parts as those in the above-described drawings, and the description is omitted.

  In the present embodiment, the operating device of the first embodiment described with reference to FIGS. 5 and 6 employs a configuration in which the operating force 60 is measured by attaching a force sensor to the operated member 71 as the braking operation detecting means 78. On the other hand, this is an example in which the resistance reaction force applied to the operated member 71 is calculated based on the acceleration component of the operation signal that is the output of the operation signal generating means 72. Since the acceleration component of the operation signal tends to fluctuate in the same manner as the rate of change of the operation force applied to the operated member 71, the acceleration component of the operation signal is controlled for the operation reaction force instead of the operation force applied to the operated member 71. Can be used as a basis for

  In the present embodiment, acceleration calculation means for calculating the acceleration component of the operation signal output from the operation signal generation means 72 is provided as the braking operation detection means 78A. The acceleration of the operation signal calculated by the braking operation detection unit 78A is output to the resistance reaction force command value generation unit 73. The resistance reaction force command value generation unit 73 increases the absolute value of the acceleration component of the operation signal calculated by the braking operation detection unit 78A to a predetermined first threshold or higher and then reverses the positive / negative acceleration component. When it increases beyond a preset second threshold value (can be set to a value different from the first threshold value or the same value), a command value to the resistance reaction force generating means 75 is generated according to the acceleration component at that time. On the other hand, when the absolute value of the acceleration component is equal to or smaller than the third threshold value smaller than the first and second threshold values, the output of the command value to the resistance reaction force generating means 75 is stopped.

  According to this embodiment, the same effect as that of the first embodiment can be obtained.

  A third embodiment of the operating device of the present invention will be described.

  In each of the above-described embodiments, the configuration in which the operation reaction force is applied to the operated member using viscous friction resistance or dry friction resistance has been described as an example. However, in the present embodiment, the active force resisting the movement of the operated member is described. A reaction force is created and applied to the operated member.

  FIG. 8 is a schematic view schematically showing the reaction force generation structure of the third embodiment of the operating device of the present invention. In FIG. 8, the same reference numerals are given to the same parts as those in the above-described drawings, and the description thereof is omitted.

  As shown in FIG. 8, in the operating device 11 of the present embodiment, the operating lever 15 is inserted into the long holes 51a and 52a provided at the tops of the arch-shaped guide members 51 and 52 that rotate in the front-rear direction and the left-right direction, respectively. Has been passed. For example, when the operation lever 15 is operated in the front-rear direction, the operation lever 15 moves in the longitudinal direction of the elongated hole 52 a in the elongated hole 52 a of the guide member 52, while the guide member 51 is moved along the longitudinal movement of the operation lever 15. Rotate back and forth. On the other hand, when the operation lever 15 is operated in the left-right direction, the operation lever 15 moves in the long hole 51a of the guide member 51 in the longitudinal direction of the long hole 51a, while the guide member is moved in the left-right direction. 52 rotates left and right. When the operation lever 15 is operated in combination, for example, when the operation lever 15 is operated to the left front, the guide members 51 and 52 are rotated forward and left in accordance with the operation of the operation lever 15, respectively.

  At this time, output shafts of electric motors 53 and 54, which are resistance reaction force generating means, are connected to the support shafts of the guide members 51 and 52, respectively. These electric motors 53, 54 apply torque to the guide members 51, 52 in a direction (opposite direction) opposite to the rotation direction of the guide members 51, 52, and generate reaction reaction force applied to the operation lever 15. Functions as force generation means.

  Therefore, in the resistance reaction force command value generation means 73, the electric motor 53, based on the detection value from the braking operation detection means under the same conditions as the resistance reaction force command value generated in the first or second embodiment. A command value to 54 is calculated, and a control signal is output to the electric motors 53 and 54 via the resistance reaction force control means 74 in accordance with this command value, so that the operation reaction force is applied to the operated member 71 in a timely manner. Can be made. Therefore, the present embodiment can provide the same effects as those of the first and second embodiments.

  As described above, the operating device of the present invention can be used for an operating device of a work machine represented by a hydraulic excavator or a hydraulic crane, which is used at a work site such as civil engineering work and demolition work. It can also be used for work machines operated by operators in factories, space, and other environments.

It is a side view of the hydraulic excavator which is an example of the working machine which is the application object of the operating device of this invention. It is a side view showing the schematic structure inside the cab box with which the hydraulic excavator of FIG. 1 was equipped. It is sectional drawing showing the structure of the operation lever with which the hydraulic shovel of FIG. 1 was equipped. It is the schematic of the drive circuit of the hydraulic actuator with which the hydraulic shovel of FIG. 1 was equipped. It is a characteristic view of an operator's operation action. It is a functional block diagram of 1st Embodiment of the operating device of this invention. It is a functional block diagram of 2nd Embodiment of the operating device of this invention. It is the schematic which represented typically the reaction force production | generation structure of 3rd Embodiment of the operating device of this invention.

Explanation of symbols

11, 70 Operating device 15 Operating lever 15A Shaft 15B Grip 15C Operating lever 33A with pedal Boom cylinder 33B Arm cylinder 33C Bucket cylinder 33D Turning motor 33E, F Traveling motor 53, 54 Electric motor 59 Operation command value 60 Operation force 61 Resistance reaction force 71 Operation target member 72 Operation signal generation means 73 Resistance reaction force command value generation means 74 Resistance reaction force control means 75 Resistance reaction force generation means 76 Operation input means 77 Operation support means 78, 78A Braking action detection means P1 First threshold value P2 First 2 threshold P3 3rd threshold

Claims (6)

In an operating device that generates an operation command value of an actuator of a work machine according to an operation of an operator,
An operation input unit having an operation signal receiving unit that receives an operation input, and an operation signal generation unit that converts an operation command value of the actuator into an operation command value of the actuator and outputs an operation signal;
Braking operation detecting means for detecting an operation of the operator to brake the operated member during operation;
Resistive reaction force generating means for applying a force acting on the operated member in a direction opposite to the operation direction to attenuate the operation of the operated member, and the resistance reaction force based on a detection signal from the braking operation detecting means Resistance reaction force command value generation means for generating a command value to the generation means, and resistance reaction force control means for outputting a command signal to the resistance reaction force generation means in accordance with a command value from the resistance reaction force command value generation means An operation device comprising: an operation support means having   The resistance reaction force generating means generates a viscous frictional resistance reaction force determined by a product of a moving speed of the operated member and a viscous friction coefficient that flows along with the movement of the operated member. 1 operating device. As the braking operation detection means, an operation force detection means for detecting an operation force applied to the operated member or an acceleration calculation means for calculating an acceleration component of an operation signal output by the operation signal generation means is provided,
The resistance reaction force command value generation means is configured to increase the operation force change rate detected by the braking action detection means or the absolute value of the acceleration component change rate to a predetermined first threshold value or more, and then operate the operation force. When the rate of change of force or the rate of change of the acceleration component is reversed in the positive and negative directions and the absolute value increases to a predetermined second threshold value or more, a command to the resistance reaction force generating means according to the operating force or the acceleration component When the absolute value of the change rate of the operating force or the change rate of the acceleration component is equal to or smaller than a third threshold value smaller than the first and second threshold values, a command value to the resistance reaction force generating means is generated. The operation device according to claim 1 or 2, wherein the output of the operation is stopped. As the braking operation detecting means, muscle tension measuring means for measuring the tension of the main muscle that is active when the operator moves the operated member and the antagonistic muscle that is active when braking is provided,
The resistance reaction force command value generation unit generates a command value to the resistance reaction force generation unit according to the degree of antagonism of the simultaneous output of the main muscle and the antagonist muscle. Operating device. As the braking operation detection means, a grip amount detection means for detecting a grip pressure or a grip force with which an operator grips the operated member is provided,
3. The operating device according to claim 1, wherein the resistance reaction force command value generation unit generates a command value to the resistance reaction force generation unit according to a grip amount detected by the grip amount detection unit. . As the braking operation detecting means, a pressing amount detecting means for detecting a force or pressure by which an operator presses the operated member which is an operating lever in the axial direction is provided,
3. The operating device according to claim 1, wherein the resistance reaction force command value generation unit generates a command value to the resistance reaction force generation unit according to a pressing amount detected by the pressing amount detection unit. .

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