JPH06161583A - Operating physical force commanding manipulator - Google Patents

Abstract

PURPOSE:To reduce fatigue caused by long-time manipulation and to improve fine operations by detecting operating physical force loaded to an operating means and controlling an actuator corresponding to the detecting signal. CONSTITUTION:An operator supports the body by grasping a palm rest 11 with the palm and when the operating physical force in the direction of an arrow A is applied to an operating knob 12 by the fingers, the operating physical force is transmitted through a T-shaped member 13 and an upper end plate 14 to a cylinder 15. Then, compressing stress corresponding to the operating physical force is generated on the side of a strain gauge 19a, and tensile stress is generated on the side of a strain gauge 19b. The generated stress of these strain gauges 19a and 19b is respectively outputted through lead wires 21a and 21b to a controller as resistance values and corresponding to the operating physical force of the operating knob 12, an operating signal is generated by a bridge circuit. This signal enables the stretching operation control of a hydraulic cylinder through a pilot operating valve and a pilot cylinder. On the other hand, since the motion of the operating knob 12 is quite a little, a gap between the knob and the palm rest 11 can be sufficiently sealed by an elastic member 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating force command type operating device for operating a traveling device or a working machine of a hydraulic excavating machine.

[0002]

2. Description of the Related Art A conventional technique common to the present invention and a conventional technique will be described below with reference to FIG.
In FIG. 5, 1 is a hydraulic pump, 2 is a hydraulic cylinder driven by the hydraulic pump 1, 3 is an operation valve provided in a hydraulic line connecting the hydraulic pump 1 and the hydraulic cylinder 2, and 3a and 3b are A pilot cylinder for operating the operation valve, 4 is a pilot pump, 5 is a pilot operation valve for controlling pressure oil supplied from the pilot pump 4 to the pilot cylinders 3a, 3b, and 5a, 5b are the pilot operation valve 5. A solenoid for operating the control valve 6, a relief valve for maintaining the pressure oil of the pilot pump 4 at a constant pressure, 7 an operating lever, and 8 for outputting an electric signal according to the operation amount of the operating lever 7. Is an operation signal generator of. Reference numeral 9 is a controller for inputting an electric signal of the operation signal generator 8 and outputting a control signal according to the electric signal. FIG. 7 is a detailed view of the operation lever 7 and the operation signal generator 8 in the figure. 8a is a pivot point of the operation lever 7, 8b is a terminal of the operation lever 7, and 8c is a resistance.

Next, the operation of the above configuration will be described.
When the operating lever 7 is swung around the pivot point 8a, the resistance value from the contact point A between the terminal 8b of the operating lever 7 and the resistor 8c to the end B of the resistor 8c changes depending on the swing amount of the operating lever 7. Although it changes, the resistance value is output to the controller 9. Since the controller 9 outputs an electric signal according to the input resistance value to the solenoids 5a and 5b of the pilot operated valve 5, the pilot operated valve 5 is operated according to the electric signal. The pressure oil discharged from the pilot pump 4 which is held at a constant pressure by the relief valve 6 is reduced in pressure according to the operation amount of the pilot operation valve 5 and is supplied to the pilot cylinders 3a and 3b of the operation valve 3, so that the pilot oil The operation valve 3 is operated according to the pilot pressure of the cylinders 3a and 3b, and the pressure oil discharged from the hydraulic pump 1 is supplied to the hydraulic cylinder 2 according to the operation amount of the operation valve 3, and the supply amount of the pressure oil is increased. The hydraulic cylinder 2 expands and contracts at a corresponding speed.

[0004]

However, in the above-mentioned conventional technique, as shown in FIG. 7, the operating lever 7 is operated by swinging about the pivot point 8a by a predetermined amount .theta. There was a problem that it was easy to get tired when it was necessary, and it was difficult to perform fine operation.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems in the prior art. Claim 1 discloses an operating means and an operating force detection for detecting an operating force applied to the operating means. And an actuator controlled according to a detection signal of the operating force detector, wherein the operating means is an operating knob, the operating force detector is a strain gauge, and the strain gauge is detected. A controller for inputting a signal and outputting a control signal according to the detection signal;
A control unit for inputting a control signal output from the controller, and an actuator controlled by the control unit, wherein a hydraulic pump, a hydraulic cylinder, and
An operation valve interposed in a hydraulic line connecting the hydraulic pump and the hydraulic cylinder, an operation force detector acting on the operation means of the hydraulic cylinder, and a detection signal of the operation force detector are inputted, and the detection signal is inputted. In accordance with the above, the controller outputs an operation signal of the operation valve.

[0006]

According to the present invention, when the operating means is operated, the operating force applied to the operating means is detected by the operating force detector, and the actuator is controlled according to the detection signal of the operating force detector. According to a second aspect, when the operation knob is operated, the operation force applied to the operation knob is detected by the strain gauge, and when the detection signal of the strain gauge is input to the controller,
A control signal corresponding to the detection signal is output from the controller to the control means, and the control means controls the actuator according to the control signal. According to a third aspect of the present invention, when the operating means is operated, the operating force applied to the operating means is detected by the operating force detector, and the detection signal of the operating force detector is output to the controller. Is output from the controller to the operation valve, the pressure oil discharged from the hydraulic pump is controlled by the operation valve according to the operation signal and supplied to the hydraulic cylinder, and the hydraulic oil is supplied at a speed corresponding to the amount of pressure oil. Drive the cylinder.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment relating to an operating force command type operating device of the present invention will be described in detail with reference to the accompanying drawings. 1 to 4 are views showing each embodiment of the present invention, FIG. 1 is a view showing a first embodiment of the present invention, FIG. 2 is a view showing a second embodiment of the present invention, and FIG.
Is a diagram showing a third embodiment of the present invention, FIG. 4 is a diagram showing a fourth embodiment of the present invention, and FIG. 5 is a diagram showing a hydraulic circuit for operating a hydraulic cylinder according to the present invention, which is common to conventional techniques. Yes,
The parts common to the conventional techniques are designated by the same reference numerals, and the description thereof will be omitted. Further, FIG. 6 shows the controller 9a in FIG.
FIG.

In FIG. 1 showing the first embodiment of the present invention,
Reference numeral 11 is a palm rest, 11a is a mounting surface of the palm rest 11, 11b is a mounting surface of an operating force detector, 11c is a lead wire through hole, 12 is an operating knob, 13 is a T-shaped member in which the lower surface of the operating knob 12 is fixed, 14 Is an upper end plate fixed to the lower end of the T-shaped member 13, 15 is an upper end plate fixed to the upper end plate 14, and a cylinder for adhering a strain gauge to the cylindrical portion, 16 is a lower end of the cylinder 15 fixed, and a screw A lower end plate fixed to the mounting surface 11b of the operating force detector by 18; 19a and 19b are attached to the cylindrical portion of the cylinder 15; strain gauges having resistance values R _{1 and} R ₂ ; and 21a and 21b, respectively. Lead wires for taking out the respective outputs of the strain gauges 19a, 19b, 17 is an elastic material for sealing a gap between the operation knob 12 and the palm rest 11, and 10 is an operation lever having the above-mentioned configuration. .

The operation of FIG. 1 will be described. The operator supports the body by grasping the palm rest 11 with the palm of the hand, and applies an operating force in the direction of arrow A to the operating knob 12 with the finger, the operating force is transmitted to the cylinder 15 via the T-shaped member 13 and the upper end plate 14. A compressive stress corresponding to the operating force is generated on the strain gauge 19a side, and a tensile stress is similarly generated on the strain gauge 19b side. Thus, the strain gauge 19
The compressive stress of a and the tensile stress of 19b are resistance values R _1,
When R ₂ is output to the controller 9a via the lead wires 21a and 21b, the bridge circuit formed by the resistance values R _{1 and} R ₂ and the predetermined constant resistance values R _{3 and} R _{4 in the} controller 9a. Current i according to output voltage e,
That is, an operation signal corresponding to the operation force of the operation knob 12 is transmitted from the controller 9a to the solenoid 5a of the pilot operation valve 5.
Alternatively, the pilot pressure corresponding to the operation signal is supplied to the pilot cylinder 3a or 3b of the operation valve 3. Therefore, the amount of pressure oil from the hydraulic pump 1 corresponding to the operating force of the operation knob 12 is supplied to the hydraulic cylinder 2, and the hydraulic cylinder 2 expands and contracts at a speed corresponding to the amount of pressure oil. Since the movement of the operation knob 12 is extremely small,
The gap between the operation knob 12 and the palm rest 11 is made of elastic material 1.
7 can provide a sufficient seal. Operating knob 12
The same applies to the case where an operating force in the direction of the arrow B is given to, so the description will be omitted.

In FIG. 2 showing the second embodiment of the present invention,
Reference numeral 23 is a palm rest, 23a is a mounting surface of the palm rest 23, 23b is a mounting surface of an operating force detector, 23c is a lead wire through hole, 24 is an operating knob, 24a is an operating shaft integrated with the operating knob 24, and 24b is the operating shaft. A flange integral with the operating shaft 24a, 24c is a threaded portion integral with the flange 24b, and the threaded portion 24c is a palm rest until the lower surface of the flange 24b firmly contacts the mounting surface 23b of the operating force detector of the palm rest 23. It is fastened to 23. 25a, 25b
Are attached to the operation shaft 24a and have resistances R _{1 and} R _1, respectively _.
R ₂ strain gauge, 26 A and 26 B are lead wires for taking out the respective detection values of the strain gauges 25 a and 25 _b , 27 is an elastic material for sealing the gap between the operation knob 24 and the palm rest 23, and 20 is the above It is an operation lever composed of components.

The operation of FIG. 2 will be described. The operator supports the body by grasping the palm rest 23 with the palm of the hand, and applies an operating force in the direction of the arrow A to the operating knob 24 with the finger, and the operating force of the operating shaft 24 integrated with the operating knob 24 is exerted by the operating force.
A compressive stress corresponding to the operating force is generated on the strain gauge 25a side of a, and a tensile stress is similarly generated on the strain gauge 25b side. Thus, the compressive stress of the strain gauge 25a,
When the tensile stress of 25b is output to the controller 9a via the lead wires 26a and 26b, respectively, the controller 9a forms the resistance values R _{1 and} R ₂ and the predetermined constant resistance values R _{3 and} R _4. Output voltage of bridge circuit e
The electric current i corresponding to the electric current i, that is, the operation signal corresponding to the operating force of the operating knob 24 is transmitted from the controller 9a to the pilot operating valve 5
Output to the solenoid 5a or 5b of the pilot cylinder 3 of the operation valve 3 according to the operation signal.
a or 3b. Therefore, the operation knob 12
The amount of pressure oil from the hydraulic pump 1 according to the operating force is supplied to the hydraulic cylinder 2, and the hydraulic cylinder 2 expands and contracts at a speed according to the amount of pressure oil. Since the movement of the operation knob 24 is extremely small, the gap between the operation knob 24 and the palm rest 23 can be sufficiently sealed by the elastic material 27. The same applies to the case where an operation force in the direction of arrow B is applied to the operation knob 24, and the description thereof will be omitted.

In FIG. 3 showing the third embodiment of the present invention,
Reference numeral 31 is a palm rest, 31a is a mounting surface of the palm rest 31, 31b is a mounting surface of an operating force detector, 31c is a lead wire through hole, 32 is an operating knob, 33 is a T-shaped member in which the lower surface of the operating knob 32 is fixed, 34 Is a disc fixed to the lower end of the T-shaped member 33, and 35 is the outer periphery of the disc 34, which is the mounting surface 31b.
A tightening plate for tightening with bolts 36, 37a,
37b was attached to the circular plate 34, the strain gauge having a resistance value of R _1, respectively, R _2, 38a, 38b is the strain gauges 37a, 37b lead wire for taking out the respective detection signals of 39 the operation Knob 32 and palm rest 31
An elastic material for sealing the gap between them, and 30 are operation levers having the above-mentioned configuration.

The operation of FIG. 3 will be described. The operator supports the body by grasping the palm rest 31 with the palm of the hand, and applies an operating force in the direction of arrow A to the operating knob 32 with the finger, the operating force is transmitted to the disc 34 through the T-shaped member 33, and the strain gauge. A compressive stress corresponding to the operating force is generated on the 37a side, and a tensile stress is similarly generated on the strain gauge 37b side. In this way, the compressive stress of the strain gauge 37a and the tensile stress of 37b are respectively applied to the lead wires 38a and 38.
When output to the controller 9a via b, a current corresponding to the output voltage e of the bridge circuit formed by the resistance values R _{1 and} R ₂ and the predetermined constant resistance values R _{3 and} R _{4 in the} controller 9a. i, that is, an operation signal according to the operation force of the operation knob 32 is output from the controller 9a to the solenoid 5a or 5b of the pilot operation valve 5, and the pilot pressure according to the operation signal is the pilot cylinder 3a or 3b of the operation valve 3. Is supplied to. Therefore, the amount of pressure oil from the hydraulic pump 1 corresponding to the operation force of the operation knob 32 is supplied to the hydraulic cylinder 2, and the hydraulic cylinder 2 expands and contracts at a speed corresponding to the amount of pressure oil. Since the movement of the operation knob 32 is extremely small, the operation knob 32 and the palm rest 31
The gap between them can be sufficiently sealed by the elastic material 39. The same applies to the case where an operation force in the B direction is applied to the operation knob 32, and the description thereof will be omitted.

In FIG. 4 showing the fourth embodiment of the present invention,
41 is a palm rest, 41a is a mounting surface of the palm rest 41, 41b is a mounting surface of an operating force detector, 41c, 41c
Is a lead wire through hole, 40 is an operation lever having the above-mentioned structure, and 12 to 19a, 19b and 21a, 21b are the same as those in FIG. .

The operation of FIG. 4 is a construction in which two operating force detectors in FIG. 1 showing the first embodiment of the present invention are attached, and since the operation of each is the same as that of FIG. To do.

As described above, in each of the embodiments of the present invention, two strain gauges are used, but when controlling only the size without distinguishing the control direction of the actuator, the operation knob is a push button. Well, one strain gauge is enough.

[0017]

As described in detail above, according to the present invention, the following effects can be obtained. (1) Since it is not necessary to swing the operation lever, operator fatigue can be prevented even when the operation lever needs to be operated for a long time. (2) Even when the actuator is finely operated, it is sufficient to operate the operation knob with the fingertip while putting the palm of the palm against the palm rest, so that the fine operability can be improved. (3) Since it is not necessary to swing the operation lever, the area around the operation lever can be made compact.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a second embodiment of the present invention.

FIG. 3 is a diagram showing a third embodiment of the present invention.

FIG. 4 is a diagram showing a fourth embodiment of the present invention.

FIG. 5 is a diagram showing a hydraulic cylinder operating hydraulic circuit common to the present invention and the prior art.

FIG. 6 is a detailed view of the controller 9a of the present invention in FIG.

7 is a detailed view of a conventional operating lever 7 and an operating signal generator 8 in FIG.

[Explanation of symbols]

1 hydraulic pump 2 hydraulic cylinder 3 operation valve 3a, 3b pilot cylinder 4 pilot pump 5 pilot operation valve 5a, 5b solenoid 6 relief valve 10, 20, 30, 40 operation lever 8 operation signal generator 9a controller 11, 23, 31, 41 Palm rest 12, 24, 32 Operation knob 11a, 23a, 31a, 41a Mounting surface 11b, 23b, 31b, 41b for palm rest Mounting surface 11c, 23c, 31c, 41c for operating force detector Lead wire through hole 13, 33 T type Member 14 Upper end plate 15 Cylindrical 16 Lower end plate 19a, 19b, 25a, 25b, 37a, 37b Strain gauge 21a, 21b, 26A, 26B, 38a, 38b Lead wire 17, 27, 39 Elastic material 24a Operating shaft 24b Flange 24c Screw part 34 disk 35 tightening Board

Claims (3)

[Claims] 1. An operating force command comprising: operating means, an operating force detector for detecting an operating force applied to the operating means, and an actuator controlled in accordance with a detection signal of the operating force detector. Operation device. 2. A controller for inputting a detection signal of the strain gauge and outputting a control signal according to the detection signal, wherein the operation means is an operation knob, and the operation force detector is a strain gauge, and the controller. 2. The operating force command type operating device according to claim 1, further comprising a control unit for inputting a control signal output from the control unit and an actuator controlled by the control unit. 3. A hydraulic pump, a hydraulic cylinder, an operating valve interposed in a hydraulic line connecting the hydraulic pump and the hydraulic cylinder, an operation force detector acting on an operating means of the hydraulic cylinder, and the operation. 2. The operating force command type operating device according to claim 1, further comprising a controller which receives a detection signal of the force detector and outputs an operation signal of the operating valve according to the detection signal.