JP2010100389A - Operation device of working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation device of a working machine capable of realizing work of high safety and reliability, by enabling easy and precise composite operation, in the operation device using a cross-shaped joy stick. <P>SOLUTION: This operation device of the working machine has the cross-shaped joy stick, and is constituted so as to perform specific operation to the working machine in an operation fixing state of the joy stick to an operation fixing position, by setting the operation fixing position capable of fixing operation of the joy stick within a movable range of the joy stick. Such a constitution improves the safety and the reliability of the work, by precisely and stably performing the specific operation, by fixing the joy stick to the operation fixing position. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an operating device for a working machine equipped with a telescopic boom that can be extended and retracted, such as a crane truck and an aerial work vehicle.

  For example, in an in-vehicle crane, a movement operation that maintains a constant hook height, that is, a horizontal movement operation, or a movement operation that maintains a hook position with respect to a boom, that is, a parallel movement operation, is a work safety or This is useful in terms of convenience.

  This horizontal movement operation may be performed in conjunction with boom expansion / contraction operation and winch hoisting / lowering operation, and boom hoisting operation and winch hoisting / lowering operation may be performed in conjunction with each other. In the former, it is necessary to perform the winch hoisting / lowering operation while expanding and contracting the boom, and in the latter, it is necessary to perform the winch hoisting / lowering operation while raising and lowering the boom. Further, in the parallel movement operation, it is necessary to perform the hoist hoisting / lowering operation while raising and lowering the boom.

  In any of these cases, it is necessary to simultaneously operate the actuators involved in the boom operation and the actuators involved in the winch operation. As a technique for that purpose, for example, to maintain the hook height constant. The operator adjusts the amount of boom telescopic operation and winch hoisting / lowering operation automatically, or a cross-shaped joystick with different operations assigned in two orthogonal directions. A manual operation method has been proposed (see, for example, Patent Document 1).

JP 2005-178978 A

  However, in the former method based on arithmetic control, since it is necessary to have two control modes of the interlocking automatic control mode and the individual operation control mode, the switching operation between the above modes is complicated in the actual load moving operation. In addition, there is a problem that the operation for changing the hook height is difficult during the operation in the interlocked automatic control mode.

  On the other hand, in the latter manual operation method using a cruciform joystick, the operator needs to visually check the vertical movement of the hook and correct the tilting direction of the operation lever so that this vertical movement is eliminated. However, the correction operation itself is troublesome. In addition, the amount of winch operation varies depending on the hoisting angle of the telescopic boom (for example, when the hoisting angle is 45 degrees or more, the winch unwinding operation amount is large, and when the hoisting angle is 45 degrees or less, the telescopic boom is reduced. The amount of winch hoisting operation associated therewith becomes smaller), and it is difficult to determine the optimum tilting amount of the operating lever for moving the hook horizontally.

  SUMMARY OF THE INVENTION Accordingly, the present invention provides an operating device for a working machine that enables easy and accurate combined operation in an operating device using a cross-shaped joystick, and that can realize a safe and highly reliable operation. It was made for the purpose.

  In the present invention, the following configuration is adopted as a specific means for solving such a problem.

  In the first invention of the present application, in the operating device for a working machine provided with a cross-shaped joystick that enables a composite operation to simultaneously drive two actuators related to driving of the working machine, the joystick has a movable range within the movable range. An operation fixing position where the operation of the joystick can be fixed is set, and a specific operation with respect to the work implement is executed in the operation fixing state of the joystick to the operation fixing position.

  In a second invention of the present application, in the operating device for a working machine according to the first invention, a movable range regulating member having an opening in the joystick is attached in a state where the joystick is inserted inside the opening, The inner peripheral edge of the opening functions as the movable range restricting portion of the joystick, while the corner of the opening functions as the operation fixing position.

  According to a third invention of the present application, in the operating device for a work machine according to the first invention, a movable range regulating member having a polygonal opening in the joystick is inserted in the opening of the joystick. In addition, the inner peripheral edge of the opening functions as a movable range restricting portion of the joystick, while a concave portion is provided on the inner peripheral edge so that the concave portion functions as the operation fixing position.

  According to a fourth invention of the present application, in the operating device for a work machine according to the second or third invention, the work machine includes a boom that can be expanded and contracted and a hook that is suspended from a tip of the boom. A winch that moves up and down, and the specific operation is for moving the hook in the horizontal direction, or for moving the hook while maintaining a constant vertical distance from the boom. It is a composite operation.

  According to a fifth invention of the present application, in the operating device for a work machine according to the second or third invention, the work machine includes a boom that can be expanded and contracted, and the specific operation is performed at a tip portion of the boom. It is characterized by the above-mentioned combined operation for moving the boom in the horizontal direction or for moving the tip of the boom in the vertical direction.

  According to a sixth invention of the present application, in the operating device for a working machine according to the third invention, the specific operation includes a single operation of each actuator.

  In the present invention, the following effects can be obtained.

  (A) According to the operating device for a working machine according to the first invention of the present application, in which the cross-type joystick capable of performing the combined operation of simultaneously driving two actuators for driving the working machine is provided, An operation fixing position where the operation of the joystick can be fixed (fixed by restricting movement of the joystick in at least two directions) is set within the movable range of the joystick, and in the operation fixing state of the joystick to the operation fixing position Since the specific operation for the work implement is executed, the specific operation can be executed accurately and stably by fixing the joystick at the operation fixing position. Safety and reliability are improved.

  (B) According to the operating device for a working machine according to the second invention of the present application, in addition to the effect described in the above (a), the following specific effect can be obtained. That is, according to the present invention, a movable range restricting member having a polygonal opening is attached to the joystick in a state where the joystick is inserted inside the opening, and the inner peripheral edge of the opening is a movable range restricting portion of the joystick. On the other hand, since the corner portion of the opening is configured to function as the operation fixing position, a part of the movable range restricting member essential for the function of the joystick, that is, the corner portion of the opening is formed. For example, the structure of the operation portion can be simplified and the cost can be reduced as compared with a case where a member that functions as the operation fixing position is separately provided.

  (C) According to the operating device for a working machine according to the third invention of the present application, in addition to the effect described in the above (a), the following specific effect can be obtained. That is, according to the present invention, a movable range restricting member having a polygonal opening is attached to the joystick in a state where the joystick is inserted inside the opening, and an inner peripheral edge of the opening is a movable range restricting portion of the joystick. On the other hand, a concave portion is provided on the inner peripheral edge so that the concave portion functions as the operation fixing position. Therefore, by appropriately setting the formation position and the number of the concave portions on the inner peripheral edge, Therefore, it is possible to easily cope with diversification of the types of specific operations and diversification of operation patterns, and as a result, the operability of the entire operation device using the joystick is improved.

  (D) According to the operating device for a work machine according to the fourth invention of the present application, in addition to the effect described in the above (b) or (c), the following specific effect can be obtained. That is, in the present invention, the working machine includes a boom that can be expanded and contracted and a winch that winds and unwinds a hook suspended from the tip of the boom, and the hook is removed by the specific operation. Since the combined operation for moving the hook in the horizontal direction or moving the hook while maintaining a constant vertical distance from the boom is performed, the operator fixes the operation of the joystick. If fixed to the position, the movement of the hook in the horizontal direction or the movement of the hook with the boom kept constant in the vertical direction can be easily and reliably realized. Compared to when it is necessary to operate the joystick while adjusting the relative relationship between the hoisting actuator and the winch actuator. It attained remarkable improvement of of.

  (E) According to the operating device for a working machine according to the fifth invention of the present application, in addition to the effect described in the above (b) or (c), the following specific effect can be obtained. That is, according to the present invention, the working machine includes a boom that can be expanded and contracted, and the tip of the boom is moved in the horizontal direction by the specific operation, or the tip of the boom is moved in the vertical direction. Since the compound operation for moving is performed, if the operator fixes the joystick at the operation fixing position, the operator moves in the horizontal direction of the tip of the boom or in the vertical direction of the tip of the boom. For example, the operability of the joystick is adjusted while adjusting the relative relationship between the telescopic and undulating actuators as in the prior art. Improvement can be achieved.

  (F) According to the operating device for a working machine according to the sixth invention of the present application, in addition to the effect described in (c) above, the following specific effect is obtained. That is, in the present invention, since the specific operation includes single operation of each actuator, the concave portion is provided in the outer periphery of the opening corresponding to the single operation position, and the joystick is fixed to the concave portion. The individual operation of each actuator can be performed accurately and stably, and the operability and its reliability are further improved.

  Hereinafter, the present invention will be specifically described based on preferred embodiments.

I: 1st Embodiment A: Whole structure In FIG.1 and FIG.2, the crane vehicle 1 provided with the operating device which concerns on 1st Embodiment of this invention is shown. In this crane vehicle 1, a telescopic boom 4 that is telescopically driven by a built-in telescopic cylinder 11 is attached to a swivel base 3 that is turnably mounted on the vehicle 2, and the telescopic boom 4 is connected to the swivel base 3. The undulation is driven by the undulation cylinder 12 disposed between the two. The swivel base 3 is provided with a winch 8, and a wire rope 6 fed from the winch 8 is suspended from a boom head 5 portion at the tip of the telescopic boom 4 and a hook 7 is attached thereto. .

  The crane 1 is suspended from the hook 7 by performing the telescopic operation and the hoisting operation of the telescopic boom 4 and the hoisting and lowering operations of the winch 8 independently or in association with each other. The suspended load (not shown) is moved to an arbitrary position in three dimensions, and there are various movement forms. In the first embodiment, the hook 7 is particularly expanded by the expansion and contraction movement of the telescopic boom 4. The main purpose is to horizontally move or translate.

  Here, the “horizontal movement” means that, as shown in FIG. 1, with the telescopic boom 4 fixed at its undulation angle, the hook 7 is moved horizontally at a predetermined height by the expansion and contraction of the telescopic boom 4. It is a movement form to move. In addition, the “parallel movement” means that, as shown in FIG. 2, the telescopic boom 4 is fixed to the telescopic boom 4 by the telescopic movement of the telescopic boom 4 with the undulation angle being fixed. This is a moving form in which the telescopic boom 4 is moved in parallel with the telescopic direction while maintaining the vertical interval constant.

  In these horizontal movement and parallel movement, the height change of the boom head 5 based on the expansion and contraction movement of the telescopic boom 4 is corrected by the hoisting / lowering operation of the winch 8, and thereby the horizontal movement or the parallel movement. Therefore, it is necessary to simultaneously operate the telescopic operation of the telescopic cylinder 11 and the hoisting / lowering operation of the winch 8 with a certain relative relationship corresponding to the undulation angle of the telescopic boom 4. This is realized by the operation device described below, and in this embodiment, the operation device adopts a configuration unique to both hardware and software, which will be described in detail below. To do.

B: Configuration of operation device B-1: Configuration of operation unit The crane 1 includes an operation unit 20 as shown in FIG. The operation unit 20 includes a first joystick 21 having an operation lever portion 22 tiltable around the entire circumference and a second joystick 23 having an operation lever portion 24 similarly tiltable around the entire circumference. Configured. Each of these joysticks 21 and 23 is constituted by a cross-shaped joystick having a single operation position in two directions orthogonal to each other through a neutral position.

  In the present embodiment, as will be described later, the first joystick 21 is assigned with the single telescopic operation position of the telescopic boom 4 and the single hoisting / lowering single operation position of the winch 8. In addition to this, a horizontal operation position and a parallel operation position are allocated to be used as a “horizontal operation and parallel operation joystick”.

  As shown in FIGS. 3 to 5, the first joystick 21 supports a portion near the lower end of the rod-shaped operation lever portion 22 so as to be tiltable in an arbitrary direction by a ball bearing 25, and is neutralized by a biasing means (not shown). It is biased back to a position (a position indicated by a solid line in FIG. 4), and can be tilted in any direction with the ball bearing 25 as the center of tilting.

  A movable range restricting member 28 having a restricting opening 30 having a square planar shape is provided at a position closer to the upper end of the operation lever portion 22 of the first joystick 21 than the ball bearing 25. The operation lever portion 22 is inserted through the inner shaft center portion of the 30. As shown in FIG. 6, the restriction opening 30 includes four outer peripheral edges 30 </ b> A to 30 </ b> D. The outer peripheral edges 30 </ b> A to 30 </ b> D are operated by the operation lever portion 22 by the tilting operation of the first joystick 21. By abutting, it has a function of regulating the further tilting of the first joystick 21 (specifying the maximum tilting amount).

  One feature of the present invention is that the operation lever portion 22 is engaged with the outer peripheral edges 30A to 30D of the restricting opening 30 and a recess for fixing the operation lever portion 22 is provided. Various arrangement patterns of the recesses are conceivable. Hereinafter, several arrangement patterns of the recesses will be described.

"First arrangement pattern"
The first arrangement pattern is the pattern shown in FIG. That is, four intersections between two straight lines L1 and L2 that pass through the center Q of the restriction opening 30 and are perpendicular to the outer peripheral edges 30A to 30D and the outer peripheral edges 30A to 30D, and the center At the two intersections of the straight line L4 and the outer peripheral edges 30A, 30C at a position rotated by a predetermined angle (<45 °) around the center Q from one diagonal straight line L3 passing through Q, each has an arcuate shape. Concave portions 31A to 31D, 31F, and 31H that open in an open shape on the outer peripheral edge with a bottom surface are provided, and these function as a fixing portion that fixes and holds the first joystick 21, and a pair on the straight line L3. These corners also function as the recesses 31E and 31G.

  In addition, each said recessed part 31A-31D and 31F, 31H was made into the shape opened in an open shape on an outer periphery with an arc-shaped bottom face, The said operation lever part 22 of the said 1st joystick 21 is a specific recessed part. When the operation lever portion 22 is disengaged and moved to the side from the state of being engaged and fixed in the operation, the operation becomes smoother, which can contribute to improvement in operability.

  In the first arrangement pattern, the operation direction along the straight line L1 is set as the single operation direction for expansion and contraction of the telescopic boom 4, and the operation amount on the straight line L1 is set to zero. The first recess 31A on the straight line L1 is set as the maximum tilt amount toward the extension side, and the third recess 31C is set as the maximum tilt amount toward the reduction side.

  In addition, the operation direction along the straight line L2 is defined as a single operation direction for winding and unwinding the winch 8, and the operation amount of the telescopic boom 4 is set to zero in the operation on the straight line L2. One of the second recesses 31B on the straight line L2 is set as the maximum tilt amount to the winding side, and the other fourth recess 31D is set as the maximum tilt amount to the winding side.

  Further, the operation direction along the straight line L3 is set as an operation direction for realizing the horizontal movement of the hook 7. In the operation on the straight line L3, the telescopic boom 4 is expanded and retracted and the winch 8 is wound up and down. Are linked at a predetermined ratio. Then, one fifth concave portion 31E on the straight line L3 is set to the maximum amount of horizontal movement accompanying the contraction movement of the telescopic boom 4, and the other seventh concave portion 31G is set to the maximum tilt of horizontal movement accompanying the expansion movement of the telescopic boom 4. Amount.

  The operation direction along the straight line L4 is an operation direction for realizing the parallel movement of the hook 7. In the operation on the straight line L4, the telescopic boom 4 is expanded and retracted and the winch 8 is wound up and down. Are linked at a predetermined ratio. One of the sixth recesses 31F on the straight line L4 is set as the maximum tilt amount of the parallel movement accompanying the contraction movement of the telescopic boom 4, and the other eighth recess 31H is set as the maximum tilt of the parallel movement accompanying the extension movement of the telescopic boom 4. Amount.

Therefore,
(A) When the first joystick 21 is operated along the straight line L1, only the telescopic boom 4 is expanded and contracted,
(B) When the first joystick 21 is operated along the straight line L2, only the hoisting / lowering movement of the winch 8 is performed,
(C) When the first joystick 21 is operated along the straight line L3, the hook 7 is moved horizontally,
(D) When the first joystick 21 is operated along the straight line L4, the hook 7 is translated.

  The setting of the operation amounts of the telescopic cylinder 11 and the winch 8 in each operation will be described later.

  As shown in FIGS. 4 and 5, a guide surface 27 a configured by a substantially hemispherical concave surface may be formed on the guide plate 27 disposed below the first joystick 21. The guide surface 27a is provided with four guide grooves 34A to 34D passing through the center Q thereof. These guide grooves 34A to 34D are provided corresponding to the respective straight lines L1 to L4, and are provided in the respective guide grooves 34A to 34D so as to be able to advance and retract at the lower end of the operation lever portion 22 of the first joystick 21. When the slide engaging element 26 is engaged, the first joystick 21 is provided with an operation directionality and an accurate operation is possible. When the first joystick 21 is operated in the turning direction, the slide engagement element 26 moves over the guide grooves 34A to 34D.

  In addition, as shown in FIG. 6, a dead band having a predetermined width along the straight line L1 corresponding to the single expansion / contraction operation of the telescopic boom 4 and the straight line L2 corresponding to the single up / down operation of the winch 8. 32 and 33 can also be provided. These dead bands 32 and 33 are inherently caused by, for example, a slight pitching of the first joystick 21 when the first joystick 21 is extended and retracted alone and when the hoisting and lowering is operated independently. Unexpected hoisting / lowering movement of the winch 8 is added to inhibit the telescopic boom 4 alone, or conversely, by the slight roll of the first joystick 21 during hoisting / lowering operation alone. In order to avoid the occurrence of a situation in which the hoisting / lowering movement of the winch 8 alone is hindered due to an unexpected expansion / contraction movement of the telescopic boom 4, the area of the dead zone 32. In the inside, the hoisting / lowering operation of the winch 8 is invalidated, and in the dead zone 33, the telescopic operation of the telescopic boom 4 is invalidated.

"Second arrangement pattern"
The second arrangement pattern is the pattern shown in FIG. The second arrangement pattern is based on the first arrangement pattern, and is different from the first arrangement pattern in that the fifth arrangement pattern 31E on the straight line L3 related to the horizontal operation in the first arrangement pattern and Whereas the seventh recess 31G is composed of the corners of the restriction opening 30, an additional recess is provided at each corner to form a fifth recess 31E and a seventh recess 31G. It is. In the case of such a configuration, the function of fixing the first joystick 21 to the operation lever portion 22 by the fifth concave portion 31E and the seventh concave portion 31G is superior to the case of using the corner portion as a concave portion. The accuracy of operation during operation is good.

"Third arrangement pattern"
The third arrangement pattern is the pattern shown in FIG. In the third arrangement pattern, in the first arrangement pattern and the second arrangement pattern, the restriction opening 30 is a square-shaped opening. Then, the restriction opening 30 is formed in an octagonal shape in which each of the four corners of a square is cut off obliquely to form a hypotenuse, and has eight outer peripheral edges 30A to 30H.

  Of the two outer peripheral edges facing each other across the center Q, that is, the first outer peripheral edge 30A and the third outer peripheral edge 30C, and the second outer peripheral edge 30B and the fourth outer peripheral edge 30D, the former side is extended and contracted. In the case of the first and second arrangement patterns described above, the first recess 31A and the third recess 31C are provided, and the second recess 31B and the fourth recess 31D are provided on the latter side. It is the same. However, in the third arrangement pattern, the fifth concave portion 31E and the seventh concave portion 31G related to the horizontal operation are configured by corner portions positioned on the diagonal straight line L3, and the sixth concave portion 31F related to the balancing operation and The 8th recessed part 31H is comprised by the corner | angular part located on the diagonal straight line L4, and this point is different from the said 1st, 2nd arrangement pattern.

  In the embodiment described so far, an appropriate speed adjusting means (not shown) is attached to the operation unit 20, and the operation direction and operation amount (tilt amount) of each joystick 21, 23 in the operation unit 20. ) Is set based on the operation ratio between the telescopic cylinder 11 and the winch 8 and the speed set by the speed adjusting means, so that the outputs of the telescopic cylinder 11 and the hoisting cylinder 12 are determined. (This will be described later).

B-2: Configuration of Control System Next, the configuration of the control system based on the operation of the operation unit 20 will be specifically described taking the first arrangement pattern as an example.

  First, the correlation between the operation of the first joystick 21 and the control output in the first arrangement pattern shown in FIG. 6 will be described.

"Single operation of telescopic cylinder 11 or winch 8"
When the first joystick 21 is tilted along the straight line L1 (that is, when the telescopic cylinder 11 is operated alone), when the first joystick 21 is tilted to the right from the center Q (neutral point), As the tilting amount increases, the extension operation amount of the expansion / contraction cylinder 11 gradually increases from zero, and reaches the maximum extension operation amount (100%) when the tilting is restricted by the first locking portion 31A. Conversely, when the first joystick 21 is tilted to the left from the center Q (neutral point), the amount of reduction operation of the telescopic cylinder 11 gradually increases from zero as the tilt amount increases, and the third The maximum reduction operation amount (100%) is reached when the tilt is restricted by the locking portion 31C.

  Further, when the first joystick 21 is tilted along the straight line L2 (that is, when the winch 8 is operated alone), the first joystick 21 is moved upward (front side) from the center Q (neutral point). As the tilting amount increases, the hoisting operation amount of the winch 8 gradually increases from zero, and when the tilting is restricted by the second locking portion 31B, the maximum hoisting operation amount (100 %). Conversely, when the first joystick 21 is tilted downward from the center Q (neutral point) (near side), the unwinding operation amount of the winch 8 gradually increases from zero as the tilt amount increases. The maximum lowering operation amount (100%) is reached when the tilting is restricted by the fourth locking portion 31D.

Here, the speed adjustment of the telescopic cylinder 11 and the winch 8 in this single operation will be described. For example, in the single operation of the telescopic cylinder 11, the first joystick 21 is pressed against the first concave portion 31A or the third concave portion 31C in a state where the speed adjusting means is set to the maximum speed position (that is, The first joystick 21 is set to the maximum tilt amount (100%)), and the operating speed of the telescopic cylinder 11 at this time is defined as the maximum speed [Vmax]. If the set amount of the speed adjusting means is Va% with respect to the maximum speed [Vmax], the operating speed of the telescopic cylinder 11 is “[Vmax] × Va × (actual tilt amount / maximum tilt amount)”. "
Is obtained by calculation.

  For example, when the tilt amount of the first joystick 21 is [50%], the operating speed of the expansion / contraction cylinder 11 is “Vmax /” regardless of how much the speed adjusting means is set to the maximum speed position (100% position). 2 ”, conversely, even if the tilt amount of the first joystick 21 is [100%], if the speed adjusting means is set to the intermediate speed position (for example, 50% position), the operation of the telescopic cylinder 11 is activated. The speed is set to “Vmax / 2”.

  If the dead zone 32 is provided on the telescopic operation side and the dead zone 33 is provided on the winch operation side, an operating element for the winch 8 is not involved in the independent operation of the telescopic cylinder 11, and the winch 8 In this single operation, the operation element for the telescopic cylinder 11 is not involved, and in any of these operations, a highly reliable single operation can be realized.

"Combined operation of telescopic cylinder 11 and winch 8"
(A) Compound operation within the range of the turning operation angle “0 ° to 90 °” Within this range, the extending operation of the telescopic cylinder 11 and the hoisting operation of the winch 8 are performed simultaneously. When the first joystick 21 is operated from the first locking portion 31A to the turning operation angle increasing side along the first outer peripheral edge 30A, the extension operation amount is “100%” and the hoisting operation amount is “0%”. When the hoisting operation amount gradually increases from “0%” while maintaining the extension operation amount “100%” and reaches the corners of the first outer peripheral edge 30A and the second outer peripheral edge 30B, The extension operation amount is “100%” and the hoisting operation amount is “100%”.

  Further, when the rotation operation of the first joystick 21 is continued and the first joystick 21 is operated from the corner along the second outer peripheral edge 30B toward the second recess 31B, the extension operation is performed. From the state of the amount “100%” and the hoisting operation amount “100%”, the elongating operation amount gradually decreases from “100%” while maintaining the hoisting operation amount “100%” and enters the second recess 31B. At this point, the extension operation amount is “0%” and the hoisting operation amount is “100%”.

  The compound operation within the range of the turning operation angle “180 ° to 270 °” is the same as the compound operation within the range of the above-described turning operation angle “0 ° to 90 °”, and thus the description thereof is omitted. To do.

  The change state of the tilt angle in the above case is shown by a curve “Lc1” in FIG. In this case, the change state of the expansion / contraction operation amount is indicated by a solid curve “La1” in FIG. 10B, and the change state of the hoisting / lowering operation amount is indicated by a broken line curve “Lb1” in FIG. (Refer to the range of the turning operation angle of 0 ° to 90 °, 180 ° to 270 °).

  On the other hand, when the first joystick 21 is rotated at an intermediate tilt angle without being along the outer peripheral edge of the restriction opening 30 (for example, the first joystick 21 is rotated along the rectangular line P in FIG. 6). (Refer to the line “Lc2” in FIG. 10 (a)), the expansion / contraction operation amount and the hoisting / lowering operation amount are generally reduced as compared with the operation along the outer peripheral edge ( (See the corresponding angular range of line “La2” in FIG. 10B).

(B) Compound operation within the range of the turning operation angle “90 ° to 180 °” Since compound operation within this range includes horizontal movement operation and parallel movement operation within the range, Is also different from the combined operation in the range of the above-described turning operation angle “0 ° to 90 °”.

  Within this angle range, it is necessary to set the ratio of the expansion / contraction operation amount and the hoisting / unwinding operation amount so that horizontal movement and parallel movement can be realized. It is convenient to determine the other manipulated variable based on one of the manipulated variables, and it is also necessary to avoid the occurrence of a sudden change in operation within this range.

  Considering such circumstances, in this embodiment, in the range of the turning operation angle “90” ° to the turning operation angle “180 °” in FIG. While the first joystick 21 is moved as it is along the third outer peripheral edge 30C from the second outer peripheral edge 30B of the restriction opening 30, the amount of hoisting / lowering operation is adopted as it is. The turning operation angle is set so as to smoothly draw a curve from “90 °” to “180 °” so as to have a predetermined ratio with the amount of expansion / contraction operation. In this case, the angular position corresponding to the horizontal movement is set to a ratio that can realize the horizontal movement, and the angular position corresponding to the parallel movement is set to a ratio that can realize the parallel movement.

  A method for setting the ratio of the operation amount will be described later. As described above, the ratio changes in accordance with the undulation angle of the telescopic boom 4. Moreover, even if the undulation angle of the telescopic boom 4 is the same, it varies depending on the number of the wire rope 6 that supports the suspension of the hook 7 on the sheave. That is, the relationship between the winding length of the wire rope 6 and the amount of movement of the hook 7 changes depending on the multiplication number. Therefore, in practice, control data as shown in FIG. 10 is prepared for each undulation angle and for each wire multiplier.

  Here, a method for setting the ratio between the expansion / contraction operation amount and the hoisting / lowering operation amount in each of the horizontal movement and the parallel movement will be described. The ratio is geometrically set based on the correlation between the telescopic boom 4 and the hook 7. For example, in horizontal movement, the amount of change in the boom tip height associated with the expansion and contraction of the telescopic boom 4 and the amount of change in the height of the hook 7 associated with the hoisting / lowering operation of the winch 8 are always the same. In addition, the ratio between the amount of expansion / contraction operation and the amount of operation of hoisting / lowering is determined geometrically. In this case, it goes without saying that the undulation angle of the telescopic boom 4 and the multiplication factor of the wire rope 6 are taken into account.

  For example, when the ratio “A1 / B1” of the expansion / contraction movement amount “B1” and the hoisting / lowering movement amount “A1” during horizontal movement is obtained by the geometric method, the tilt amount of the joystick 21 is MAX. When the maximum tilt amount at the turning operation angle of 135 ° in FIG. 10A (ie, when the joystick 21 is positioned in the fifth recess 31E in FIG. 6), this ratio “A1 / B1” is realized. The ratio “A1a / B1a” between the expansion / contraction operation amount “B1a” and the hoisting / lowering operation amount “A1a” is determined as shown in FIG.

Under the expansion / contraction operation amount “B1a” and the hoisting / lowering operation amount “A1a” thus determined, the speeds of the telescopic cylinder 11 and the winch 8 are determined by the set amount of the speed adjusting means. The For example, if the set amount of the speed adjusting means is Va% with respect to the maximum speed [Vmax], the operating speed “Va1” of the telescopic cylinder 11 is
Va1 = Vmax × Va / 100 × B1a
As required. The operating speed “Va2” of the winch 8 is
Va2 = Vmax × Va / 100 × A1a
As required.

  Therefore, when the joystick 21 is positioned in the fifth recess 31E in FIG. 6, the telescopic cylinder 11 is at the operating speed “Va1” based on the set amount of the speed adjusting means, and the winch 8 is set to the speed adjusting means. Each of the hooks 7 is operated at an operation speed “Va2” based on the amount, and the horizontal movement of the hook 7 is realized. According to the method for setting the amount of expansion / contraction, hoisting / lowering operation, the joystick 21 is fixed by the fifth recess 31E to perform a reliable horizontal movement even if the guide surface 27a does not have the guide grooves 34a to 34D. Can do. In addition, since the fifth recess 31E of the joystick 21 is concave and the position of the joystick 21 is accurately set and held stably, reliable horizontal operation and speed control are realized. .

  The compound operation within the range of the turning operation angle “270 ° to 360 °” is the same as the compound operation within the range of the above-described turning operation angle “90 ° to 180 °”. The description of is omitted.

  Moreover, since the speed control in the parallel movement is the same as the case of the speed control in the horizontal movement described above, the corresponding explanation regarding the speed control in the horizontal movement is cited, and the description here is omitted.

  The functions of these control systems are shown in FIG. From the operation selection lever 40 (that is, the first joystick 21), the tilt direction (that is, a signal related to the operation ratio between the telescopic cylinder 11 and the winch 8) and the tilt amount (that is, the operating speed of the telescopic cylinder 11 and the winch 8). Signal) is input to the computing means 42. The calculation means 42 corrects the input information from the operation selection lever 40 based on the signal relating to the undulation angle from the undulation angle detector 43 and the signal relating to the multiplication factor of the wire rope 6 from the multiplication unit. A signal related to the corrected operation amount is output to the control means 45. The control means 45 receives the information related to the operation amount from the calculation means 42 and the information related to the set speed from the speed adjustment means 41, and drives the expansion / contraction drive actuator 46 (ie, the expansion / contraction cylinder 11) and winch drive. The valve operation amount for operating the actuator (that is, the hydraulic motor of the winch 8) is obtained and output to each actuator.

  By providing the operating device configured as described above, in the crane vehicle 1, it is easy to extend / contract or wind / unwind alone, as well as to perform expansion / contraction / winding / unwinding combined operation. Accurate crane operation is realized, and the effect is particularly remarkable in combined operation with horizontal movement and parallel movement.

II: Second Embodiment FIG. 11 shows a crane 1 provided with an operating device according to a second embodiment of the present invention. In this embodiment, the hoisting operation of the telescopic boom 4 and the hoisting / lowering operation of the winch 8 are interlocked so that the horizontal movement (horizontal feed and horizontal pull-in) of the suspended load can be realized simply and accurately. The basic concept is the same as that in the first embodiment. Therefore, here, for the same configuration and operational effects as the first embodiment, the corresponding description of the first embodiment is used, and here, the configuration specific to the second embodiment, specifically, Only the operation mode of the first joystick 21 will be described.

  Also in the crane vehicle 1 according to the second embodiment, as in the case of the first embodiment, the operation unit is provided with a pair of joysticks. Since the hoisting / lowering operation of the winch 8 is linked, as shown in FIG. 12, the hoisting operation of the telescopic boom 4 and the hoisting / lowering operation of the winch 8 are orthogonal to the first joystick 21. Each is assigned to a direction.

  That is, in the second embodiment, as shown in FIG. 12, the four outer peripheral edges 30 </ b> A to 30 </ b> D pass through the center Q into the rectangular restriction opening 30 attached to the first joystick 21. Recesses 31A to 31D that open in an expanded manner on the outer periphery with arcuate bottom surfaces are provided at the four intersections of the two straight lines L1 and L2 that are perpendicular to each of the outer periphery 30A to 30D, The concave portions 31A to 31D function as the fixing portions for fixing and holding the first joystick 21, and a pair of corner portions positioned on a diagonal line L3 passing through the center Q. The recesses 31E and 31F function.

  The operation direction along the straight line L1 is the single operation direction for raising and lowering the telescopic boom 4, and the operation direction along the straight line L2 is the single operation direction for hoisting and lowering the winch 8. Further, the operation direction along the straight line L3 is set as an operation direction for realizing the feeding and withdrawal of the hook 7 in the horizontal direction (that is, horizontal movement). And the hoisting / lowering movement of the winch 8 is interlocked at a predetermined ratio.

  With such a configuration, the operator applies the first joystick 21 to the fifth recess 31E and fixes it to horizontally feed the hook 7, and the first joystick 21 to the sixth recess 31F. The horizontal pull-in of the hook 7 can be performed easily and accurately by fixing it against the hook.

III: Third Embodiment FIG. 13 shows an aerial work vehicle 10 equipped with an operating device according to a third embodiment of the present invention. The aerial work vehicle 10 has a telescopic boom 4 that is telescopically driven by an internal telescopic cylinder 11 attached to a swivel base 3 that is turnably mounted on the vehicle 2, and the telescopic boom 4 is mounted on the swivel base. 3 is driven up and down by a cylinder 12 for raising and lowering. A bucket 9 is attached to the tip of the telescopic boom 4. The bucket 9 is configured so as to be always held in a horizontal position by a leveling mechanism (not shown).

  In the aerial work platform 10, the telescopic boom 4 can be moved to an arbitrary three-dimensional position by performing the telescopic operation and the hoisting operation independently or in association with each other. In particular, the main purpose is to move the bucket 9 in the horizontal direction (ie, horizontal movement) and to move in the vertical direction (ie, vertical movement) by interlocking the expansion and contraction and undulation movement of the telescopic boom 4. However, the basic idea is the same as in the case of the first embodiment. Therefore, here, for the same configuration and operation effect as the first embodiment, the corresponding description of the first embodiment is used, and here, the configuration unique to the third embodiment, specifically, Only the operation mode of the first joystick 21 will be described.

  In the “horizontal movement” horizontal pull-in operation, the retracting operation and the raising operation of the telescopic boom 4 are linked, and in the horizontal feed operation, the extending operation and the lying down operation of the telescopic boom 4 are linked. Further, in the “vertical movement” vertical raising operation, the extending operation and the raising operation of the telescopic boom 4 are linked, and in the vertical lowering operation, the contracting operation and the lying down operation of the telescopic boom 4 are linked.

  The aerial work vehicle 10 according to the third embodiment also includes a pair of joysticks in the operation unit, as in the case of the crane vehicle 1 of the first and second embodiments. In addition, since the hoisting operation and the telescopic operation of the telescopic boom 4 are linked, as shown in FIG. 14, the telescopic operation and the hoisting operation of the telescopic boom 4 are respectively assigned to the first joystick 21 in the orthogonal direction. Yes.

  That is, as shown in FIG. 14, two straight lines perpendicular to each of the four outer peripheral edges 30 </ b> A to 30 </ b> D through the center Q into the rectangular restriction opening 30 attached to the first joystick 21. Concave portions 31A to 31D that open in an open shape on the outer peripheral edge with arcuate bottom surfaces are provided at the four intersections of L1 and L2 and the outer peripheral edges 30A to 30D, respectively. To 31D function as a fixing portion for fixing and holding the first joystick 21, and two pairs of corner portions located on two diagonal lines L3 and L4 passing through the center Q are also provided. The recesses 31E to 31G function.

  The operation direction along the straight line L1 is defined as the single operation direction for expansion and contraction of the telescopic boom 4, and the operation direction along the straight line L2 is defined as the single operation direction for raising and lowering the telescopic boom 4. Further, the operation direction along the straight line L3 is defined as a composite operation direction of horizontal movement of the bucket 9, and in the operation on the straight line L3 and the operation on the straight line L4, the expansion and contraction motion and the undulation motion of the telescopic boom 4 are predetermined. It is linked with the ratio of.

  With such a configuration, the operator applies the first joystick 21 to the sixth recess 31F and fixes it to apply the horizontal feed of the bucket 9, and also applies it to the eighth recess 31H. By fixing, the horizontal pull-in of the bucket 9 can be performed easily and accurately.

  Further, the operator applies the first joystick 21 to the fifth recess 31E and fixes it to fix the bucket 9 vertically, and applies the first joystick 21 to the seventh recess 31G to fix it. The vertical lowering can be performed easily and accurately.

It is a general view which shows the horizontal movement state of the mobile crane provided with the operating device which concerns on 1st Embodiment of this invention. It is a general view which shows the parallel movement state of the said crane vehicle. It is a perspective view which shows the operation part with which the crane vehicle was equipped. It is IV-IV sectional drawing of FIG. It is a VV arrow line view of FIG. It is VI-VI arrow line view of FIG. 4, Comprising: It is explanatory drawing of the 1st operation pattern of a 1st joystick. It is explanatory drawing of the 2nd operation pattern of an operation lever. It is explanatory drawing of the 3rd operation pattern of an operation lever. It is a control block diagram of the crane vehicle provided with the operating device of this invention. It is an operation characteristic figure of a joystick. It is a general view which shows the horizontal movement state of the mobile crane provided with the operating device which concerns on 2nd Embodiment of this invention. It is operation | movement pattern explanatory drawing of the operation lever in the said crane vehicle. It is a general view which shows the operation state of an aerial work vehicle provided with the operating device which concerns on 3rd Embodiment of this invention. It is operation | movement pattern explanatory drawing of the operation lever in the said aerial work vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ·· Crane 2 ·· Vehicle 3 ·· Swing stand 4 · · Telescopic boom 5 · · Boom head 6 · · Wire rope 7 · · Hook 8 · · Winch 9 · · Bucket 10 · · Aerial work vehicle 11 · -Cylinder 12 for expansion and contraction-Cylinder 14 for raising / lowering-Support arm 20-Operation part 21-First joystick 22-Operation lever part 23-Second joystick 24-Operation lever part 25-Ball bearing 26 ..Slide engagement element 27 ..Guide plate 28 ..Moveable range regulating member 30 ..Regulation opening 31 ..Locking part 32 ..dead zone 33 ..dead zone

Claims (6)

An operating device for a working machine having a cross-shaped joystick that enables a composite operation to simultaneously drive two actuators related to driving of the working machine,
An operation fixing position where the operation of the joystick can be fixed is set within the movable range of the joystick, and a specific operation for the work implement is executed in the operation fixing state of the joystick to the operation fixing position. An operating device for a working machine. In claim 1,
The joystick is provided with a movable range restricting member having a polygonal opening in a state where the joystick is inserted inside the opening, and the inner periphery of the joystick functions as a movable range restricting portion of the joystick. On the other hand, an operating device for a working machine, wherein the corner portion is configured to function as the operation fixing position. In claim 1,
The joystick is provided with a movable range restricting member having an opening in a state where the joystick is inserted inside the opening, and the inner peripheral edge of the opening functions as a movable range restricting portion of the joystick. An operating device for a working machine, characterized in that a concave portion is provided on the upper portion and the concave portion functions as the operation fixing position. In claim 2 or 3,
The working machine includes a boom that can be expanded and contracted and a winch that performs hoisting and lowering of a hook suspended from the tip of the boom,
The specific operation is the combined operation for moving the hook in the horizontal direction or moving the hook while maintaining a constant vertical distance from the boom. Machine operating device. In claim 2 or 3,
The working machine is provided with a boom that can be expanded and contracted,
The operating device for a working machine, wherein the specific operation is the combined operation for moving the tip of the boom in the horizontal direction or moving the tip of the boom in the vertical direction. In claim 3,
The operating device for a work machine, wherein the specific operation includes a single operation of each actuator.

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