JP5145931B2 - Lever operating reaction force control device for construction machinery - Google Patents

Description

  The present invention relates to a lever operation reaction force control device that applies an operation reaction force to an operation lever of a construction machine.

  Conventionally, when turning a swinging body of a construction machine such as a crane, an operation reaction force is applied to the operation lever to make the operator sense the change in the acceleration of the swinging body, and the swinging body to the target position is subtle. A lever operation reaction force control device that makes it possible to easily perform a turning operation is known (see, for example, Patent Document 1).

  The lever operation reaction force control device disclosed in Patent Document 1 is applied to a turning neutral-free turning control device in which the turning motor for turning the turning body is turned free when the operating lever is in the neutral position. Yes. In this turning control device, as the operating lever is tilted from the neutral position, the hydraulic pressure supplied to the turning motor increases and the turning of the turning body is accelerated. The lever operation reaction force control device detects a hydraulic pressure supplied to the swing motor, a reaction force mechanism that applies an operation reaction force to the operation lever, and generates an operation reaction force in the reaction force mechanism. An operation hydraulic pump for supplying an operation hydraulic pressure, an electromagnetic proportional pressure reducing valve provided in a hydraulic pressure supply path from the operation hydraulic pump to the reaction force mechanism, and the detection result of the detector A controller for controlling an operation reaction force applied to the operation lever by the reaction force mechanism by adjusting an operation hydraulic pressure supplied to the reaction force mechanism by controlling the electromagnetic proportional pressure reducing valve.

When the hydraulic pressure supplied to the swing motor increases during acceleration of the swing body, the detector detects the increase, and the controller controls the electromagnetic proportional pressure reducing valve according to the detection result of the detector and supplies it to the reaction force mechanism. By increasing the hydraulic pressure for operation, the reaction force applied to the operation lever by the reaction force mechanism is increased. By such a mechanism, the operator can perform the turning operation of the revolving body while sensing the acceleration state of the revolving body from the magnitude of the reaction force applied to the operation lever.
JP 2006-188356 A

  By the way, the turning control device includes a turning neutral brake (lock) type in which the turning body is braked to stop turning as the operation lever is returned from the tilted state to the neutral position, in addition to the turning neutral free type. When the lever operation reaction force control device of Patent Document 1 described above is applied to such a turning neutral brake type turning control device, when the operator returns the operating lever to the neutral position in order to decelerate and brake the turning body. There arises a problem that the operation reaction force cannot be felt.

  That is, in the above-described turning neutral free-type turning control device, when the turning of the turning body is decelerated, the operating lever is tilted in the reverse direction to brake the turning body, and therefore when the operating lever is returned from the tilted state to the neutral position. There is no need to make the operator feel the reaction force. For this reason, in the lever operation reaction force control device, the reaction force mechanism applies an operation reaction force to the operation lever when the operation lever is tilted from the neutral position, but the reaction force mechanism applies a reaction force when the operation lever is returned from the tilted state to the neutral position. The force mechanism does not apply an operation reaction force to the operation lever.

  On the other hand, in the turning neutral brake type turning control device, since the turning body is braked according to the degree to which the operating lever is returned from the tilted state to the neutral position, when the operating lever is returned to the neutral position. However, when the lever operation reaction force control device is applied to the turning control device on the turning neutral brake side, the operation lever is moved to the neutral position. The operational reaction force cannot be felt when returning, and delicate adjustment becomes difficult in speed adjustment for decelerating the turning body and adjustment of the stop position of the turning body.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is not only when the operation lever is tilted but also when the operator operates the reaction force of the operation lever when returning to the neutral position. It is to provide a lever operation reaction force control device for construction machinery capable of feeling the above.

  In order to achieve the above object, the invention according to claim 1 includes a driving body that is driven by driving a motor, and the movement of the driving body is accelerated in response to the operation lever being tilted from the neutral position. The operating lever is provided in a construction machine in which movement of the driving body is braked in response to returning the operating lever from the tilted state to the neutral position, and the operating lever is operated when the operating body is operated by the operating lever. A lever operation reaction force control device for a construction machine that adjusts an operation reaction force applied to the operation lever according to an operation hydraulic pressure supplied when the operation lever is tilted from the neutral position. An acceleration reaction force applying portion for applying a reaction force and an operation reaction force applied to the operation lever according to an operation hydraulic pressure supplied when the operation lever is tilted back to the neutral position. A reaction force mechanism having a reaction force applying unit at the time of deceleration, an operation hydraulic pump for supplying the operation hydraulic pressure to the reaction force mechanism, and the operation hydraulic pressure from the operation hydraulic pump to An operating pressure switching means for supplying to either one of the force applying portion and the deceleration reaction force applying portion, an operation state detecting means for detecting whether the movement of the driving body is accelerating or decelerating, and the operating state Based on the detection result of the detection means, when the driving body is accelerating, the operation hydraulic pressure is supplied to the acceleration reaction force applying unit, while when the driving body is decelerating, the operation is performed. And a controller for controlling the operation pressure switching means so that the hydraulic pressure for the operation is supplied to the reaction force application unit at the time of deceleration.

  According to the first aspect of the present invention, when the operating lever is tilted from the neutral position to accelerate the movement of the driving body, the operating pressure switching means is provided so that the operating hydraulic pressure is supplied to the acceleration reaction force applying section. The control reaction force can be applied to the operation lever from the reaction force application section during acceleration, while when the operation lever is tilted back to the neutral position to decelerate the movement of the driver, the reaction force during deceleration The operating pressure switching means can be controlled such that the operating hydraulic pressure is supplied to the applying portion, and the operating reaction force can be applied to the operating lever from the deceleration reaction force applying portion. Therefore, the operator can feel the operation reaction force of the operation lever not only when the operation lever is tilted but also when the operation lever is returned to the neutral position.

  The invention according to claim 2 is the lever operation reaction force control device for the construction machine according to claim 1, wherein the construction machine tilts the operation lever from the neutral position to one side or the other side. Accordingly, the direction of operation of the drive body is switched, and the reaction force mechanism is a pair of reaction forces that can function as either the acceleration reaction force application unit or the deceleration reaction force application unit. When the operating lever is tilted to the one side, one reaction force application portion of the pair of reaction force application portions functions as the acceleration reaction force application portion, while the other When the reaction force application portion functions as the deceleration-time reaction force application portion and the operating lever is tilted to the other side, the one reaction force application portion functions as the deceleration-time reaction force application portion, The other reaction force imparting part has a reaction force during acceleration It is characterized in that functions as a part.

  According to the second aspect of the present invention, in the construction machine in which the operation direction of the drive body is switched depending on whether the operation lever is tilted from the neutral position to one side or the other side, the operation of the drive body is changed. Even in the case of moving in the direction, an operation reaction force can be applied to the operation lever during both acceleration and deceleration braking of the drive body.

  According to a third aspect of the present invention, in the lever operating reaction force control device for the construction machine according to the second aspect, the motor is a hydraulic motor, and the operation state detecting means detects an operation direction of the drive body. An operating direction detector for detecting the hydraulic pressure on both sides of the motor in a path through which the hydraulic oil flows through the motor, and the controller detects the operating direction detector Based on the result and the detection result of the operating pressure detector, the operating direction of the driving body is determined and whether the driving body is accelerating or decelerating is determined. .

  According to the third aspect of the invention, it is possible to configure a specific structure for detecting the operation direction of the drive body and detecting whether the drive body is accelerating or decelerating.

  According to a fourth aspect of the present invention, in the lever operating reaction force control device for the construction machine according to the third aspect, the controller determines that the driving body operates in a predetermined direction and is accelerating. In this case, the hydraulic pressure for operation is supplied to the one reaction force applying portion, while the other reaction force is determined when it is determined that the driving body operates in the one direction and is decelerating. When it is determined that the hydraulic pressure for operation is supplied to the force applying unit, the driving body operates in the other direction opposite to the one direction, and acceleration is being performed, the other reaction force applying unit is While operating hydraulic pressure is supplied, when it is determined that the driving body operates in the other direction and the vehicle is decelerating, the operating hydraulic pressure is supplied to the one reaction force applying unit. Thus, the operation pressure switching means is controlled.

  According to the fourth aspect of the present invention, it is determined whether the driving body is operating and accelerating or decelerating, and an operating hydraulic pressure is applied to an appropriate one of the reaction force applying sections according to the operating state. A specific structure for applying an operation reaction force to the operation lever by supplying the control lever can be configured.

  According to a fifth aspect of the present invention, in the lever operation reaction force control device for a construction machine according to the third or fourth aspect, the operation direction detection unit is configured such that the operation lever is tilted to the one side or the other side. A lever tilt direction detection unit for detecting whether the drive body is operated, and the controller determines an operation direction of the driving body based on a tilt direction of the operation lever detected by the lever tilt direction detection unit. To do.

  According to the fifth aspect of the present invention, a specific structure for detecting the operation direction of the driving body can be configured.

  According to a sixth aspect of the present invention, in the lever operating reaction force control device for the construction machine according to the third or fourth aspect, the motor is a turning motor for turning the driving body, and the construction machine is The turning direction of the drive body is switched to the left or right according to whether the lever is tilted from the neutral position to one side or the other side, and the operation direction detection unit is configured to turn the drive body. And the controller determines a turning direction of the driving body based on a detection result of the turning angle detector.

  According to the sixth aspect of the present invention, in the construction machine that turns the drive body to the left and right, a specific structure for detecting the turning direction of the drive body can be configured.

  The invention according to claim 7 is the lever operation reaction force control device for a construction machine according to any one of claims 3 to 6, wherein the operation pressure switching means is supplied to each reaction force applying section. The controller has a function of adjusting the hydraulic pressure for operation, and the controller applies the hydraulic pressure for operation according to the hydraulic pressure difference on both sides of the motor to the reaction force applying unit based on the detection result of the operating pressure detector. The operation pressure switching means is controlled to be supplied.

  According to the seventh aspect of the present invention, the hydraulic pressure for operation corresponding to the hydraulic pressure difference on both sides of the motor is supplied to the reaction force applying section, and the operation reaction force corresponding to the rotational torque of the motor is supplied to the reaction force applying section. Can be applied to the operation lever. For this reason, the operation reaction force according to the acceleration force and the deceleration force of a drive body can be provided to an operation lever.

  The invention according to claim 8 is the lever operation reaction force control device for the construction machine according to any one of claims 2 to 7, wherein each of the reaction force application portions is in accordance with the operation hydraulic pressure. Each rod has a rod that presses the operation lever, and the stroke amount of the rod of the one reaction force applying portion is such that the rod contacts the operation lever even when the operation lever is tilted to the maximum side. While the stroke amount of the rod of the other reaction force applying portion is set to the possible stroke amount, the rod contacts the operation lever even when the operation lever is tilted to the maximum side. It is characterized by being set to a possible stroke amount.

  According to the eighth aspect of the present invention, the corresponding rod can press the operation lever even when the operation lever is tilted to the maximum from one side to the other side from the neutral position. An operation reaction force can be applied to the operation lever in the entire tilt range.

  As described above, according to the present invention, the operator can feel the operation reaction force of the operation lever not only when the operation lever is tilted but also when the operation lever is returned to the neutral position.

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

  FIG. 1 shows a crane 100 as an example of a construction machine to which a lever operation reaction force control apparatus according to an embodiment of the present invention is applied. The crane 100 includes a crawler-type lower traveling body 102, an upper revolving body 104 that is mounted on the lower traveling body 102 so as to be rotatable about a vertical axis, and an attachment 106 attached to the upper revolving body 104. I have. The upper turning body 104 turns counterclockwise or clockwise by the operation of an operation lever 6 which will be described later disposed in the operator room of the cab.

  FIG. 2 shows a control system of the turning control device of the crane 100. The upper turning body 104 turns by driving the turning motor 3 composed of a hydraulic motor. This turning motor 3 is included in the concept of the motor of the present invention. The turning motor 3 is switched in its rotating direction by switching the direction switching valve 2 by operating the operation lever 6, and accordingly, the turning direction of the upper swing body 104 is switched to the left and right. This will be specifically described below.

  The direction switching valve 2 is a pilot-type switching valve. The direction switching valve 2 is connected to the oil passages 31 and 32 connected to the turning motor 3 while being connected to the oil passage from the hydraulic pump 1. A load check valve 11 is provided in the oil path from the hydraulic pump 1 to the direction switching valve 2 to prevent the backflow of pressure oil from the swing motor 3 when the direction switching valve 2 is operated.

  A pilot valve 4 is used to switch the direction switching valve 2. The pilot valve 4 has a pair of operation pressure reducing valves 5 and 5 ′. Each of the operation pressure reducing valves 5 and 5 ′ is configured such that spools 53 and 53 ′ are slidably inserted into valve chambers 51 and 51 ′ provided in the valve body 41. The valve chambers 51 and 51 'are provided with an input port 42, a return port 43, and output ports 44 and 44', respectively. Oil holes 52 and 52 'are formed in the spools 53 and 53', respectively.

  The distal end side (upper end side) of the spools 53 and 53 ′ is inserted into a proximal end side hole of a push rod 54 and 54 ′ provided so as to protrude upward from the valve body 41. Coil springs 55 and 55 ′ are interposed between the spools 53 and 53 ′ and the push rods 54 and 54 ′, and between the rear end side of the spools 53 and 53 ′ and the valve body 41. Coil springs 56 and 56 'are interposed in the inner wall.

  The input port 42 is connected to the operation hydraulic pump 50 through an oil passage, and a relief valve 12 that regulates the discharge pressure of the operation hydraulic pump 50 is provided in the oil passage. The return port 43 is connected to the tank 33 through an oil passage. The output ports 44 and 44 'are connected to the pilot port of the direction switching valve 2 through pilot oil passages 34 and 34'.

  The operating lever 6 is swingably supported by the valve body 41 via a pivot 61. The operation lever 6 is provided with left and right actuating portions 62 and 62 ′ so as to face the pair of operation pressure reducing valves 5 and 5 ′, and by rotating the operation lever 6 around the pivot 61. The pilot valve 4 can be operated. The lower surfaces of the operation parts 62, 62 'are arranged horizontally at the neutral position of the operation lever 6. By tilting the operation lever 6 from the neutral position to one side, the lower surface of the left operation part 62 is moved. Inclining downward, the lower surface of the right actuating portion 62 'is tilted upward, and by tilting the operating lever 6 from the neutral position to the other side, the lower surface of the left actuating portion 62 is tilted upward and the right actuating portion 62' The lower surface is inclined downward. Then, the turning direction of the upper swing body 104 is switched to the left or right according to whether the operation lever 6 is tilted from the neutral position to one side or the other side.

  FIG. 2 shows a state in which the operation lever 6 of the pilot valve 4 is tilted from the neutral position to one side (left side in the figure). Hereinafter, in the description of the present embodiment, when the operation lever 6 is tilted to one side, the upper swing body 104 turns left, while when the operation lever 6 is tilted to the other side (right side in FIG. 2) A description will be given assuming that the swing body 104 turns right.

  By tilting the operation lever 6 from the neutral position to the one side, the push rod 54 of one of the operation pressure reducing valves 5 is pushed down, and the spool 53 is pushed down accordingly, and the operation lever 6 is moved from the output port 44 to the operation lever 6. A pilot pressure corresponding to the operating angle is output to the pilot oil passage 34, and the direction switching valve 2 is switched from the neutral position A to the position B by the pilot pressure. As a result, the hydraulic oil discharged from the hydraulic pump 1 flows through the oil passage 31 in the direction of the arrow and is introduced into the turning motor 3, and the turning motor 3 is rotated forward and the upper turning body 104 is turned leftward.

  On the other hand, when the operation lever 6 is tilted from the neutral position to the other side, the same operation as described above is performed in the other operation pressure reducing valve 5 ′, and the operation angle of the operation lever 6 from the output port 44 ′. The pilot pressure corresponding to is output to the pilot oil passage 34 ', and the direction switching valve 2 is switched from the neutral position A to the position C by the pilot pressure. As a result, the hydraulic oil discharged from the hydraulic pump 1 flows into the oil passage 32, the turning motor 3 is reversed, and the upper turning body 104 is turned rightward.

  When the operation lever 6 is set to the neutral position, the direction switching valve 2 is set to the neutral position A, and the hydraulic oil discharged from the hydraulic pump 1 is returned to the tank 33, while the oil passages 31 and 32 are closed and the hydraulic oil is closed. No longer flows, the rotation of the swing motor 3 is stopped, and the swing of the upper swing body 104 is stopped.

  Further, in the process of returning the operation lever 6 from the one side to the neutral position, a pilot pressure corresponding to the operation angle of the operation lever 6 is output to the pilot oil passage 34, and the direction switching valve 2 is activated according to the pilot pressure. The position B returns to the neutral position a. In this process, the meter-out opening area of the spool of the direction switching valve 2 is reduced, and accordingly, a brake pressure is generated on the oil passage 32 side, which is the hydraulic oil outlet side of the swing motor 3. Is braked and decelerates. At this time, at the same time, the bleed-off opening area of the spool of the direction switching valve 2 increases and the meter-in opening area decreases, and accordingly, the oil passage on the inlet side of the hydraulic oil of the swing motor 3 When the supply pressure on the 31st side falls below the brake pressure, the turning motor 3 stops.

  On the other hand, in the process of returning the operation lever 6 from the other side to the neutral position, a pilot pressure corresponding to the operation angle of the operation lever 6 is output to the pilot oil passage 34 ′, and the direction switching valve 2 according to the pilot pressure. Returns from the position c to the neutral position i. In this process, as in the case of returning the operation lever 6 from the one side to the neutral position, a brake pressure is generated on the oil passage 31 side, the right turn of the turning motor 3 is braked and decelerated, When the supply pressure on the oil passage 32 side falls below the brake pressure on the oil passage 31 side, the turning motor 3 stops.

  With the above configuration, in this embodiment, a turning neutral brake (lock) type turning control device is configured in which the upper turning body 104 is braked to stop turning as the operation lever 6 is returned from the tilted state to the neutral position. ing.

  The lever operating reaction force control device according to the present embodiment not only moves the operating lever 6 from the neutral position to the one side and the other side, but also moves the operating lever 6 from the tilted state to the neutral position. An operation reaction force is applied to the operation lever 6 also when returning. Thus, when the operator turns the upper swing body 104, not only the acceleration state of the upper swing body 104 but also the deceleration braking state can be detected from the operation reaction force applied to the operation lever 6. Subtle adjustments can be easily made in speed adjustment during both acceleration and deceleration and adjustment of the stop position of the upper swing body 104.

  Specifically, the lever operation reaction force control device includes an operation hydraulic pump 50, a reaction force mechanism 30, an operation pressure switching unit 8, a turning state detection unit 90, and a controller 9.

  The operation hydraulic pump 50 sucks and discharges the pressure oil from the tank 33, thereby supplying operation hydraulic pressure to the reaction force mechanism 30.

  The reaction force mechanism 30 applies an operation reaction force to the operation lever 6 and is provided in the pilot valve 4. The reaction force mechanism 30 includes a pair of reaction force application portions 30 a and 30 b provided on the valve body 41 of the pilot valve 4. These reaction force application portions 30 a and 30 b are arranged separately on both sides with a vertical plane passing through the pivot 61. These reaction force application units 30a and 30b are an acceleration reaction force application unit that applies an operation reaction force to the operation lever 6 when the operation lever 6 is tilted from the neutral position to accelerate the turning of the upper swing body 104, and When the operating lever 6 is tilted back to the neutral position to decelerate and brake the turning of the upper-part turning body 104, it can function as any of the deceleration-time reaction force applying units that apply the operating reaction force to the operating lever 6. Is. When one of the reaction force application units 30a and 30b functions as the acceleration reaction force application unit, the other functions as the deceleration reaction force application unit, and these reaction force application units 30a and 30b The function is interchanged between the acceleration reaction force application unit and the deceleration reaction force application unit.

  Specifically, when the operation lever 6 is tilted to the one side (the left side in FIG. 2), one reaction force application portion 30a functions as an acceleration reaction force application portion, while the other reaction force application portion. When the operating lever 6 is tilted to the other side (right side in FIG. 2), the one reaction force applying part 30a functions as a deceleration reaction force applying part. On the other hand, the other reaction force application portion 30b functions as an acceleration reaction force application portion.

  The one reaction force applying portion 30a includes a reaction force cylinder 7 integrally incorporated in the valve body 41 of the pilot valve 4, a piston 71 slidably inserted into the reaction force cylinder 7, and the piston 71 and a rod 72 arranged to correspond to the operating portion 62 of the operation lever 6. An oil chamber 73 is formed on the back surface side of the piston 71 in the reaction force cylinder 7, and this oil chamber 73 is connected to an electromagnetic proportional pressure reducing valve 8 a described later of the operation pressure switching means 8 through an oil passage 81. Yes.

  The rod 72 applies an operation reaction force to the operation lever 6 by pressing the operating portion 62 of the operation lever 6 from below to above according to the hydraulic pressure for operation. The operating hydraulic pressure supplied from the operating hydraulic pump 50 is supplied to the oil chamber 73 through the electromagnetic proportional pressure reducing valve 8 a and the oil passage 81, and the piston 71 is pushed up by the hydraulic pressure, so that the rod 72 moves the operating lever 6. The operation part 62 is pressed. The rod 72 is provided so as to be movable up and down with respect to a position where the operation lever 6 is disposed at the neutral position and the lower surface of the operating portion 62 is disposed horizontally. The stroke amount of the rod 72 of the one reaction force applying portion 30a is such that the tip (upper end) of the rod 72 is on the lower surface of the operating portion 62 of the operating lever 6 even when the operating lever 6 is tilted to the maximum side. The stroke amount that can be contacted is set. That is, the rod 72 is configured to abut against the operating portion 62 in the entire operation range of the operation lever 6 and to apply an operation reaction force to the operation lever 6.

  The other reaction force applying portion 30b is constituted by the reaction force cylinder 7 of the one reaction force applying portion 30a, the reaction force cylinder 7 ′ corresponding to the piston 71 and the rod 72, the piston 71 ′ and the rod 72 ′. . An oil chamber 73 ′ is formed on the back side of the piston 71 ′ in the reaction force cylinder 7 ′, and this oil chamber 73 ′ is an electromagnetic proportional pressure reducing valve to be described later of the operation pressure switching means 8 through the oil passage 81 ′. 8b.

  The rod 72 'of the other reaction force applying portion 30b is configured in the same manner as the rod 72 of the one reaction force applying portion 30a. The rod 72 ′ is provided so as to be movable up and down with respect to a position where the operation lever 6 is disposed at the neutral position and the lower surface of the operating portion 62 ′ is disposed horizontally. The stroke of the rod 72 ′ is such that the tip (upper end) of the rod 72 ′ can contact the lower surface of the operating portion 62 ′ of the operation lever 6 even when the operation lever 6 is tilted to the maximum side. The stroke amount is set correctly. That is, the rod 72 ′ is configured to abut against the operating portion 62 ′ in the entire operation range of the operation lever 6 and to apply an operation reaction force to the operation lever 6.

  The operating pressure switching means 8 performs switching for supplying the operating hydraulic pressure from the operating hydraulic pump 50 to either one of the reaction force applying units 30a and 30b, and a pair of electromagnetic proportional pressure reducing valves 8a. , 8b.

  The electromagnetic proportional pressure reducing valves 8a and 8b function as an electro-oil converting means for performing pressure reduction control on the secondary side pressure in accordance with a control signal input from the controller 9. The primary sides of the electromagnetic proportional pressure reducing valves 8 a and 8 b are connected to the operation hydraulic pump 50. The secondary side of one electromagnetic proportional pressure reducing valve 8a is connected to the oil chamber 73 of the one reaction force applying unit 30a through an oil path 81, and the secondary side of the other electromagnetic proportional pressure reducing valve 8b is connected to the oil path. 81 'is connected to the oil chamber 73' of the other reaction force applying portion 30b. Control signals from the controller 9 are input to the receiving portions of the electromagnetic proportional pressure reducing valves 8a and 8b, respectively. The electromagnetic proportional pressure reducing valves 8a and 8b select either one of the reaction force applying units 30a and 30b according to the input control signal and supply the operating hydraulic pressure, and control the supplied hydraulic pressure. Adjust according to the signal. The operation reaction force is controlled by the operation hydraulic pressure supplied from the electromagnetic proportional pressure reducing valves 8a and 8b to the reaction force application units 30a and 30b.

  For example, when the control signal output from the controller 9 is input to one of the electromagnetic proportional pressure reducing valves 8a, the hydraulic pressure for operation corresponding to the control signal is supplied to the oil chamber 73 via the oil passage 81, The rod 72 is pushed out in the projecting direction (upward) through the piston 71 by the hydraulic pressure, and the operating portion 62 of the operation lever 6 is pressed. This pressing force acts as an operation reaction force of the operation lever 6. At this time, a force to return the push rod 54 of the operation pressure reducing valve 5 to neutral and a secondary pressure reaction force of the pilot valve 4 act as an inherent reaction force on the operation lever 6, and this inherent reaction force And the operation reaction force act on the operation lever 6 as a total operation reaction force. The specific reaction force is determined by the sliding resistance of the coil spring 56 of the operation pressure reducing valve 5 and the spool 53 in the pilot valve 4.

  Further, when the control signal output from the controller 9 is input to the other electromagnetic proportional pressure reducing valve 8b, the rod 72 'is the same as when the control signal is input to the one electromagnetic proportional pressure reducing valve 8a. Presses the operating portion 62 ′ of the operation lever 6, and adds an operation reaction force to the operation lever 6.

  The turning state detecting means 90 detects the turning direction of the upper turning body 104 and detects whether the turning of the upper turning body 104 is accelerating or decelerating. This turning state detecting means 90 is included in the concept of the operating state detecting means of the present invention. The turning state detection means 90 is provided on both sides of the turning motor 3 in the turning direction detection unit 91 for detecting the turning direction of the upper turning body 104 and the oil passages 31 and 32 through which the working oil flows through the turning motor 3. And a swivel pressure detector 92 for detecting the hydraulic pressure of each.

  The turning direction detection unit 91 is included in the concept of the operation direction detection unit of the present invention, and includes a pair of pilot pressure sensors 91a and 91b.

  One pilot pressure sensor 91a detects the pilot pressure supplied from the output port 44 of the one operation pressure reducing valve 5 to the pilot port of the direction switching valve 2 in the pilot oil passage 34, and the other pilot pressure. The sensor 91b detects the pilot pressure supplied from the output port 44 ′ of the other operation pressure reducing valve 5 ′ to the pilot port of the direction switching valve 2 in the other pilot oil passage 34 ′. When the operating lever 6 is tilted, the pilot pressure of the operating pressure reducing valve 5 (5 ′) on the tilted side is output to the pilot oil passage 34 (34 ′). The tilt direction of the operation lever 6 is detected by the sensor 91a (91b). That is, the pilot pressure sensors 91a and 91b function as a lever tilt direction detection unit that detects whether the operation lever 6 is tilted to the one side or the other side. Thus, by detecting the tilt direction of the operation lever 6 by the pilot pressure sensors 91a and 91b, the turning direction of the upper swing body 104 corresponding to the tilt direction of the operation lever 6 can be detected. The detection signals PP1 and PP2 of the pilot pressure sensors 91a and 91b are input to the controller 9.

  The turning pressure detector 92 is included in the concept of the operating pressure detector of the present invention, and includes a pair of turning pressure sensors 92a and 92b. One turning pressure sensor 92 a detects the hydraulic pressure Pa in one oil passage 31 connected to the turning motor 3, and the other turning pressure sensor 92 b detects the hydraulic pressure Pb in the other oil passage 32 connected to the turning motor 3. Is detected. Detection signals PM1 and PM2 of the turning pressure sensors 92a and 92b corresponding to the detected hydraulic pressures Pa and Pb are input to the controller 9.

  Based on the detection result of the turning state detecting means 90, the controller 9 supplies the operating hydraulic pressure to the acceleration reaction force applying unit of the reaction force mechanism 30 when the turning of the upper turning body 104 is accelerating. On the other hand, when the turning of the upper turning body 104 is decelerating, the operation pressure switching means 8 is controlled so that the operating hydraulic pressure is supplied to the deceleration reaction force applying portion of the reaction force mechanism 30.

  Specifically, the controller 9 determines the side on which the operating lever 6 is tilted based on the detection signals PP1, PP2 from the pilot pressure sensors 91a, 91b, and corresponds to the side on which the operating lever 6 is tilted. The turning direction of the upper turning body 104 is determined. That is, when the detection signal PP1 is input from the pilot pressure sensor 91a to the controller 9, the controller 9 determines that the operation lever 6 is tilted to the one side, and the turning direction of the upper swing body 104 is leftward. It is judged that. On the other hand, when the detection signal PP2 is input from the pilot pressure sensor 91b to the controller 9, the controller 9 determines that the operation lever 6 is tilted to the other side, and the turning direction of the upper swing body 104 is the right direction. It is judged that.

  Then, the controller 9 accelerates the turning of the upper swing body 104 based on the determined turning direction of the upper swing body 104 and the detection signals PM1 and PM2 from the swing pressure sensors 92a and 92b of the swing pressure detector 92. Determine whether the vehicle is slowing down or slowing down.

  Specifically, when the turning direction of the upper swing body 104 is the left direction and the detection signal PM1 is greater than the detection signal PM2, the controller 9 is accelerating the upper swing body 104 in a left turn. On the other hand, when the turning direction of the upper swing body 104 is the left direction and the detection signal PM2 is larger than the detection signal PM1, it is determined that the upper swing body 104 is decelerating in the left turn. In addition, the controller 9 determines that the upper swing body 104 is accelerating rightward when the swing direction of the upper swing body 104 is the right direction and the detection signal PM2 is greater than the detection signal PM1. On the other hand, when the turning direction of the upper swing body 104 is the right direction and the detection signal PM1 is larger than the detection signal PM2, it is determined that the upper swing body 104 is decelerating in the right turn.

  The controller 9 then sends a control signal (current value) for supplying the hydraulic pressure for operation according to the hydraulic pressure difference between the oil passages 31 and 32 on both sides of the swing motor 3 to the electromagnetic proportional pressure reducing valve 8a of the operating pressure switching means 8. , 8b.

  Specifically, when the upper swing body 104 is accelerating by turning left (PM1> PM2), the controller 9 determines the hydraulic pressure difference between the oil passages 31 and 32, that is, the hydraulic pressure for operation according to PM1-PM2. Is output to the electromagnetic proportional pressure reducing valve 8a, and when the upper swing body 104 is decelerating by turning counterclockwise (PM2> PM1), the hydraulic pressure difference between the oil paths 31, 32, that is, PM2 -A control signal for supplying hydraulic pressure for operation according to PM1 is output to the electromagnetic proportional pressure reducing valve 8b. Further, when the upper swing body 104 is accelerating by turning right (PM2> PM1), the controller 9 sends a control signal for supplying the hydraulic pressure for operation according to PM2-PM1 to the electromagnetic proportional pressure reducing valve 8b. On the other hand, when the upper swing body 104 is decelerating by turning right (PM1> PM2), a control signal for supplying hydraulic pressure for operation according to PM1-PM2 is sent to the electromagnetic proportional pressure reducing valve 8a. Output.

  When the operation lever 6 is tilted from the neutral position to the one side by the control of the electromagnetic proportional pressure reducing valves 8a and 8b by the controller 9 as described above, and the upper swing body 104 is accelerating in the left turn, the electromagnetic proportional Hydraulic pressure for operation corresponding to the current value of the control signal is supplied from the pressure reducing valve 8a through the oil passage 81 to the oil chamber 73 of one reaction force applying unit 30a, and the upper portion of the operating lever 6 is swung upward from the rod 72. An operation reaction force corresponding to the turning acceleration torque of the body 104 is applied. On the other hand, when the operation lever 6 is returned to the neutral position from the state where the operation lever 6 is tilted to the one side, and the upper swing body 104 is decelerating by turning counterclockwise, the other lever is connected from the electromagnetic proportional pressure reducing valve 8b through the oil passage 81 '. The hydraulic pressure for operation corresponding to the current value of the control signal is supplied to the oil chamber 73 ′ of the reaction force applying unit 30b, and the turning deceleration torque of the upper swing body 104 is supplied from the rod 72 ′ to the operating unit 62 ′ of the operating lever 6. A corresponding operation reaction force is applied.

  When the operation lever 6 is tilted from the neutral position to the other side and the upper swing body 104 is accelerating by turning right, the other reaction force is applied from the electromagnetic proportional pressure reducing valve 8b through the oil passage 81 '. The hydraulic pressure for operation corresponding to the current value of the control signal is supplied to the oil chamber 73 ′ of the portion 30b, and the operation according to the turning acceleration torque of the upper swing body 104 is supplied from the rod 72 ′ to the operating portion 62 ′ of the operating lever 6. Reaction force is applied. On the other hand, when the operation lever 6 is returned to the neutral position from the state where the operation lever 6 is tilted to the other side, and the upper swing body 104 is decelerating by turning to the right, the one is sent from the electromagnetic proportional pressure reducing valve 8a through the oil passage 81. The hydraulic pressure for operation corresponding to the current value of the control signal is supplied to the oil chamber 73 of the reaction force applying portion 30a, and the operating portion 62 of the operating lever 6 is supplied from the rod 72 to the operating portion 62 according to the turning deceleration torque. An operational reaction force is applied.

  As described above, according to the present embodiment, when the operation lever 6 is tilted from the neutral position to accelerate the turning of the upper swing body 104, the hydraulic pressure for operation is supplied to the acceleration reaction force applying unit. The control pressure can be applied to the operation lever 6 from the acceleration reaction force applying portion by controlling the electromagnetic proportional pressure reducing valves 8a and 8b of the operation pressure switching means 8 while the operation lever 6 is tilted neutrally. When returning to the position and decelerating the turning of the upper-part turning body 104, the electromagnetic proportional pressure reducing valves 8a and 8b of the operating pressure switching means 8 are controlled to decelerate so that the operating hydraulic pressure is supplied to the deceleration reaction force applying section. An operation reaction force can be applied to the operation lever 6 from the hour reaction force application unit. For this reason, the operator can feel the reaction force of the operation lever 6 not only when the operation lever 6 is tilted but also when the operation lever 6 is returned to the neutral position.

  In the present embodiment, when the operation lever 6 is tilted to the one side, one of the reaction force application units 30a and 30b of the reaction force mechanism 30 is applied with the reaction force application during acceleration. While the other reaction force application portion 30b functions as a deceleration portion, the other reaction force application portion 30b functions as a deceleration reaction force application portion, and when the operating lever 6 is tilted to the other side, one reaction force application portion 30a is a deceleration reaction force. On the other hand, the other reaction force application unit 30b functions as an application unit, and functions as an acceleration reaction force application unit. For this reason, in the crane 100 in which the turning direction of the upper swing body 104 switches to the left and right according to whether the operation lever 6 is tilted from the neutral position to one side or the other side, the upper swing body 104 is turned to the left or right. Even in this case, it is possible to apply an operation reaction force to the operation lever 6 both during acceleration and deceleration braking of the upper swing body 104.

  Further, in the present embodiment, the turning state detection means 90 includes the turning direction detection unit 91 for detecting the turning direction of the upper turning body 104 and the oil passages 31 and 32 through which the working oil flows through the turning motor 3. The controller 9 includes a swing pressure detector 92 that detects hydraulic pressures on both sides of the swing motor 3, and the controller 9 detects the upper swing body based on the detection result of the swing direction detector 91 and the detection result of the swing pressure detector 92. It is determined whether the turning direction of 104 is right or left and whether the upper turning body 104 is accelerating or decelerating. Accordingly, it is possible to configure a specific structure for detecting whether the turning direction of the upper swing body 104 is right or left and detecting whether the upper swing body 104 is accelerating or decelerating. .

  In the present embodiment, when the controller 9 determines that the upper swing body 104 is accelerating in a left turn, the operating hydraulic pressure is supplied to one reaction force applying unit 30a, while the upper swing body is When it is determined that 104 is decelerating in a left turn, the hydraulic pressure for operation is supplied to the other reaction force applying unit 30b, and when it is determined that the upper swing body 104 is accelerating in a right turn. While the operation hydraulic pressure is supplied to the other reaction force applying unit 30b, when it is determined that the upper swing body 104 is decelerating by turning right, the operation hydraulic pressure is applied to one reaction force applying unit 30a. The electromagnetic proportional pressure reducing valves 8a and 8b of the operating pressure switching means 8 are controlled so as to be supplied. Therefore, the turning direction of the upper swing body 104 and whether it is accelerating or decelerating is determined, and the operating hydraulic pressure is supplied to the appropriate one of the reaction force applying portions 30a and 30b according to the turning situation. An operation reaction force can be applied to the operation lever 6.

  In the present embodiment, the turning direction detection unit 91 includes pilot pressure sensors 91a and 91b that function as a lever tilt direction detection unit that detects whether the operation lever 6 is tilted to the one side or the other side. The controller 9 determines the turning direction of the upper swing body 104 based on the tilting direction of the operation lever 6 detected by the pilot pressure sensors 91a and 91b. Thereby, the specific structure for detecting the turning direction of the upper turning body 104 can be comprised.

  In the present embodiment, the electromagnetic proportional pressure reducing valves 8a and 8b of the operating pressure switching means 8 have a function of adjusting the hydraulic pressure for operation supplied to the reaction force applying units 30a and 30b, and the controller 9 detects the turning pressure. On the basis of the detection results of both turning pressure sensors 92a and 92b of the vessel 92, the electromagnetic proportionality is supplied to the reaction force applying unit 30a (30b) so that the operating hydraulic pressure corresponding to the hydraulic pressure difference on both sides of the turning motor 3 is supplied. The pressure reducing valves 8a and 8b are controlled. For this reason, the hydraulic pressure for operation according to the hydraulic pressure difference between both sides of the swing motor 3 is supplied to the reaction force applying unit 30a (30b), and the operation reaction force according to the rotational torque of the swing motor 3 is supplied to the reaction force applying unit 30a. (30b) can be applied to the operation lever 6. Thereby, the operation reaction force according to the turning torque of the upper turning body 104 can be applied to the operation lever 6.

  Further, in the present embodiment, even when the stroke amount of the rod 72 of one reaction force applying portion 30a tilts the operating lever 6 to the maximum side, the rod 72 contacts the operating portion 62 of the operating lever 6. While the stroke amount of the rod 72 ′ of the other reaction force applying portion 30b is set to the stroke amount that can be contacted, the rod 72 ′ is operated even when the operation lever 6 is tilted to the maximum side. The stroke amount is set so as to be able to come into contact with the six actuating portions 62 '. Therefore, the corresponding rod 72 (72 ′) can press the operation lever 6 even when the operation lever 6 is tilted from the neutral position to one side or the other side to the maximum. An operation reaction force can be applied to the operation lever 6 in the entire tilt range.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes meanings equivalent to the scope of claims for patent and all modifications within the scope.

  For example, unlike the above-described embodiment, as in the modification of the above-described embodiment shown in FIG. 3, the turning direction detector 91 is configured by a turning angle detector 91d, and the operation pressure switching means 8 is one electromagnetic proportional pressure reducing valve. You may comprise by 8c and the electromagnetic switching valve 8d.

  Specifically, the turning angle detector 91d detects the turning angle of the upper turning body 104. As this turning angle detector 91d, the turning angle of the upper turning body 104 is detected by detecting the number of rotations of the turning motor 3, or the inner teeth and valleys of the ring gear for turning the upper turning body 104 are located at the top. A device that detects the turning angle of the upper swing body 104 by using a proximity switch for detecting the number of passes when the swing body 104 is turned, and various other configurations are applied. The detection signal of the turning angle detector 91d is input to the controller 9.

  Based on the detection signal of the turning angle detector 91d, the controller 9 determines that the upper turning body 104 is turning right when the right turning angle of the upper turning body 104 is gradually increased. When the left turning angle of the turning body 104 is gradually increased, it is determined that the upper turning body 104 is turning left. Further, the controller 9 is accelerating the turning of the upper swing body 104 based on the determined turning direction of the upper swing body 104 and the detection signals PM1 and PM2 from the swing pressure sensors 92a and 92b of the swing pressure detector 92. It is also determined whether the vehicle is decelerating. This determination is made in the same manner as in the above embodiment. And the control signal according to the turning condition (turning direction and acceleration / deceleration state) of the upper turning body 104 determined from the controller 9 is input to the electromagnetic proportional valve 8c and the electromagnetic switching valve 8d. .

  An operation hydraulic pump 50 is connected to the primary side of the electromagnetic proportional pressure reducing valve 8c, and the secondary side of the electromagnetic proportional pressure reducing valve 8c is connected to the oil passages 81 and 81 'via the electromagnetic switching valve 8d. Has been. The electromagnetic proportional pressure reducing valve 8c is controlled in accordance with the control signal from the controller 9, and the hydraulic pressure for operation supplied to the secondary side of the electromagnetic proportional pressure reducing valve 8c is adjusted. Switching control between the neutral position D and the switching position E is performed by a control signal from 9.

  Specifically, when the operation lever 6 is tilted from the neutral position to the one side and the upper swing body 104 is accelerating in a left turn, the electromagnetic proportional pressure reducing valve 8c responds to the current value of the control signal. When the hydraulic pressure for operation is supplied and the electromagnetic switching valve 8d is held at the neutral position D, the hydraulic pressure for operation according to the current value of the control signal is passed through the oil passage 81 to the one reaction force applying unit 30a. It is supplied to the oil chamber 73. On the other hand, when the operation lever 6 is returned to the neutral position from the tilted state to the one side and the upper swing body 104 is decelerating by turning counterclockwise, the current value of the control signal is changed from the electromagnetic proportional pressure reducing valve 8c. The corresponding operation hydraulic pressure is supplied and the electromagnetic switching valve 8d is switched to the switching position E, so that the operation hydraulic pressure corresponding to the current value of the control signal is supplied to the other reaction force applying section through the oil path 81 ′. 30b is supplied to the oil chamber 73 '.

  Further, when the operation lever 6 is tilted from the neutral position to the other side and the upper swing body 104 is accelerating by turning right, the operation signal corresponding to the current value of the control signal is output from the electromagnetic proportional pressure reducing valve 8c. When the electromagnetic switching valve 8d is switched to the switching position E, the hydraulic pressure for operation according to the current value of the control signal is supplied to the oil in the other reaction force applying portion 30b through the oil passage 81 ′. It is supplied to the chamber 73 ′. On the other hand, when the operation lever 6 is tilted to the other side and returned to the neutral position, and the upper swing body 104 is decelerating in a right turn, the current value of the control signal from the electromagnetic proportional pressure reducing valve 8c. The operation hydraulic pressure according to the control signal is supplied and the electromagnetic switching valve 8d is held at the neutral position D, so that the hydraulic pressure for the operation according to the current value of the control signal is applied to the one reaction force through the oil passage 81. It is supplied to the oil chamber 73 of the applying unit 30a.

  Other configurations of this modification are the same as those of the above embodiment.

  In the configuration of the above embodiment, instead of the operating pressure switching means 8 comprising the pair of electromagnetic proportional pressure reducing valves 8a and 8b, the operating pressure switching comprising the electromagnetic proportional pressure reducing valve 8c and the electromagnetic switching valve 8d used in this modification. Means 8 may be applied. Conversely, in the configuration of this modification, instead of the operating pressure switching means 8 including the electromagnetic proportional pressure reducing valve 8c and the electromagnetic switching valve 8d, the operation pressure switching including the pair of electromagnetic proportional pressure reducing valves 8a and 8b of the above embodiment. Means 8 may be applied.

  Moreover, in the said embodiment, although pilot pressure sensor 91a, 91b was used for the lever inclination direction detection part which comprises the turning direction detection part 91, you may use a pressure switch instead. In addition, a limit switch that detects the operation of each part of the operation lever 6 and detects whether the operation lever 6 is tilted to the one side or the other side may be used as the lever tilt direction detection unit.

  Moreover, although the said embodiment demonstrated the example which applied the lever operation reaction force control apparatus by this invention to the turning control apparatus of the turning motor 3 which turns the upper turning body 104 of the crane 100, this thing is not limited to the above. It is possible to apply the lever operation reaction force control device according to the invention. For example, the lever operation reaction force control device of the present invention may be applied to a turning control device for a turning motor for turning a turning body of various construction machines other than excavators and other cranes. In addition to those that turn, for example, a motor control device for moving a drive body such as a hoisting member of a construction machine up and down, a control device for moving a traveling drive body forward and backward, and a suspended load part of a crane The lever operating reaction force of the present invention is applied to a control device that rotates a winch that moves up and down forwards and backwards, and a drive device control device in various construction machines that moves the drive body in one direction and the other direction with respect to the neutral position. A control device may be applied.

It is a figure showing roughly the whole crane composition concerning one embodiment of the present invention. It is a circuit diagram which shows the control system of the turning control apparatus of the crane to which the lever operation reaction force control apparatus by one Embodiment of this invention is applied. It is a circuit diagram which shows the control system of the turning control apparatus of the crane to which the lever operation reaction force control apparatus by the modification of one Embodiment of this invention is applied.

Explanation of symbols

3 Rotating motor (motor)
6 Operation lever 8 Operation pressure switching means 9 Controller 30 Reaction force mechanisms 30a, 30b Reaction force applying section 50 Operation hydraulic pumps 72, 72 'Rod 90 Turning state detection means (operation state detection means)
91 Turning direction detection unit (motion direction detection unit)
91d Turning angle detector 92 Turning pressure detector (operating pressure detector)
100 crane (construction machinery)
104 Upper swing body (swivel body)

Claims (8)

A drive body that is driven by a motor is provided, and the movement of the drive body is accelerated in response to tilting of the operation lever from the neutral position, while the operation lever is returned from the tilted state to the neutral position. Accordingly, the lever operating reaction force of the construction machine is provided in a construction machine in which the movement of the drive body is braked and the operation reaction force applied to the operation lever is adjusted when the drive body is operated by the operation lever. A control device,
The acceleration reaction force applying portion that applies an operation reaction force to the operation lever according to the operation hydraulic pressure supplied when the operation lever is tilted from the neutral position, and the operation lever from the tilted state. A reaction force mechanism having a deceleration-time reaction force application unit that applies an operation reaction force to the operation lever according to an operation hydraulic pressure supplied when returning to the neutral position;
An operation hydraulic pump for supplying the operation hydraulic pressure to the reaction force mechanism;
Operating pressure switching means for supplying the operating hydraulic pressure from the operating hydraulic pump to either one of the acceleration reaction force application unit and the deceleration reaction force application unit;
An operation state detecting means for detecting whether the driving body is accelerating or decelerating;
Based on the detection result of the operation state detection means, when the driving body is accelerating, the operating hydraulic pressure is supplied to the acceleration reaction force applying unit, while when the driving body is decelerating. And a controller for controlling the operation pressure switching means so that the operation hydraulic pressure is supplied to the deceleration reaction force applying section. A lever operation reaction force control device for a construction machine. The construction machine is configured such that the operation direction of the driving body is switched depending on whether the operation lever is tilted from the neutral position to one side or the other side,
The reaction force mechanism has a pair of reaction force application units that can function as either the acceleration reaction force application unit or the deceleration reaction force application unit.
When the operation lever is tilted to the one side, one reaction force application portion of the pair of reaction force application portions functions as the acceleration reaction force application portion, while the other reaction force application portion is Functions as a reaction force application unit during deceleration,
When the operation lever is tilted to the other side, the one reaction force application portion functions as the deceleration reaction force application portion, while the other reaction force application portion serves as the acceleration reaction force application portion. The lever operation reaction force control device for a construction machine according to claim 1, which functions. The motor is a hydraulic motor,
The operating state detecting means includes an operating direction detecting unit for detecting the operating direction of the driving body, and an operating pressure detector for detecting oil pressure on both sides of the motor in a path through which the working oil flows through the motor. Including
The controller determines an operation direction of the drive body based on a detection result of the operation direction detector and a detection result of the operation pressure detector, and whether the drive body is accelerating or decelerating. The lever operating reaction force control device for a construction machine according to claim 2, wherein:   When the controller determines that the driving body operates in a predetermined direction and is accelerating, the operating hydraulic pressure is supplied to the one reaction force applying unit, while the driving body Is operated in the one direction and is determined to be decelerating, the hydraulic pressure for operation is supplied to the other reaction force applying portion, and the drive body is moved in the other direction opposite to the one direction. When it is determined that it is operating and accelerating, the operating hydraulic pressure is supplied to the other reaction force applying unit, while the driving body operates in the other direction and is decelerating. 4. The lever of a construction machine according to claim 3, wherein when it is determined that the operation pressure switching means is controlled so that the operation hydraulic pressure is supplied to the one reaction force applying unit. Operation reaction force control device. The operation direction detection unit includes a lever tilt direction detection unit that detects whether the operation lever is tilted to the one side or the other side,
5. The construction machine lever according to claim 3, wherein the controller determines an operation direction of the driving body based on a tilt direction of the operation lever detected by the lever tilt direction detection unit. Operation reaction force control device. The motor comprises a turning motor for turning the drive body,
The construction machine is configured such that the turning direction of the driving body is switched to the left or right according to whether the operation lever is tilted from the neutral position to one side or the other side.
The operation direction detector includes a turning angle detector that detects a turning angle of the driving body,
5. The lever operation reaction force control device for a construction machine according to claim 3, wherein the controller determines a turning direction of the driving body based on a detection result of the turning angle detector. The operation pressure switching means has a function of adjusting the operation hydraulic pressure supplied to the reaction force application units,
The controller controls the operation pressure switching means based on the detection result of the operating pressure detector so that the operation hydraulic pressure according to the hydraulic pressure difference between both sides of the motor is supplied to the reaction force applying unit. The lever operation reaction force control device for a construction machine according to any one of claims 3 to 6, wherein: Each of the reaction force application units has a rod that presses the operation lever according to the operation hydraulic pressure,
While the stroke amount of the rod of the one reaction force application portion is set to a stroke amount that allows the rod to contact the operation lever even when the operation lever is tilted to the maximum side, The stroke amount of the rod of the other reaction force applying portion is set to a stroke amount that allows the rod to contact the operation lever even when the operation lever is tilted to the maximum side. The lever operation reaction force control device for a construction machine according to any one of claims 2 to 7, wherein

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