JPH08314563A - Operation force adjusting device at operation lever - Google Patents

Abstract

PURPOSE: To adjust the operation force of an operation lever corresponding to an individual operator. CONSTITUTION: The energizing force of an elastic device 14 for giving operation force to the operation lever 4 is adjusted by the vertical movement of an elastic device underside receiving base 30. The elastic device underside receiving base of back and forth is vertically moved by the driving of a first driving motor 35 and the elastic device underside receiving base of right and left is vertically moved by the driving of a second driving motor 36.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of operating levers used in control devices for construction machines and the like.

[0002]

2. Description of the Related Art Generally, for example, there is one in which the working speed and working amount of a working actuator provided in a construction machine are adjusted by the swinging operation angle of an operating lever. In such a case, the operation control of the working actuator is performed based on the swing operation angle detection value of the operation lever detected by the angle detector.
The operating lever is provided with an ammunition that is biased as the swinging operation angle of the operating lever increases to increase the swinging operating force, and the operator controls the operation of the work actuator by the swinging operating force of the operating lever. There are things that you can feel.

[0003]

However, conventionally, the urging force of the ammunition follows the inherent spring coefficient of the ammunition. Therefore, depending on the operator's ability or physical strength, the operating force of the operating lever is too heavy to perform a light operation, and some people accumulate fatigue in the early stage, while others are too light and operate more than necessary. However, some operators may lose operability, and to avoid this, it is sufficient to select an ammunition corresponding to each operator. This is unrealistic because it requires troublesome ammo replacement every time. Moreover, when performing work such as underwater work, night work, blind spot work, and remote work in which the work site cannot be visually observed, the operator cannot actually feel the load state working on the work actuator. Therefore, there is a problem that the work may exceed the load limit, resulting in failure or damage of various member devices, or unreasonable work, and there is a problem to be solved by the present invention. .

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances in order to solve these problems, and the operation of the working actuator is performed by swinging the operating angle of the operating lever. An operating lever that is set to be adjusted while adjusting the rocking operation angle of the operating lever to change the rocking operation force of the operating lever; With respect to the swinging operation force based on the change in the urging force, the swinging operation force is adjusted to be increased or decreased to adjust the swinging operation force. It can be adjusted according to the ability and physical strength of each operator. In this configuration, the operating force adjusting means of the present invention may be an urging force adjusting means capable of adjusting the urging force of the ammunition, and the urging force adjusting means is further provided in the urging direction of the ammunition. It can be configured by using a movable movable bullet receiver, an adjusting actuator for moving the movable bullet receiver, and a control unit for operating the adjusting actuator. Also, in this one, the ammunition is a return ammunition for returning the operation lever to the neutral position, and the operation lever is a joystick type operation lever provided in each of the front and rear and left and right operation directions. There are two sets of actuators for the front-rear operation direction and for the left-right operation direction, and the corresponding front-rear or left-right movable ammunition carrier can be moved by each actuator. ,
By using one adjusting actuator, the operating force of the operating lever in the opposite directions can be adjusted, and the members can be commonly used and the structure can be simplified. Further, in this configuration, the operating force adjusting means of the present invention may be an operating force adding means capable of further adding an operating force to the operating force associated with the urging force of the bullet, and the operating force adding means further comprises: A proportional electromagnet whose excitation force can be varied, a plunger which is attracted by the excitation of the proportional electromagnet, an additional member for adding the attraction force of the plunger to the operation force of the operating lever, and the excitation force adjustment of the proportional electromagnet And a control unit for Also, in this one, the ammunition is a return ammunition for returning the operation lever to the neutral position, and the operation lever is a joystick type operation lever provided in each of the front and rear and left and right operation directions, and the proportional The electromagnet, the plunger, and the additional member are respectively provided corresponding to the respective return ammunition, and the additional members arranged in opposite directions with the neutral position sandwiched therebetween can be integrally connected. . Furthermore, in these devices, the control section may be provided with an adjustment output means for outputting a control command to increase or decrease the initial swing operation force when swinging the operation lever from the neutral position. Further, the control unit may be provided with adjustment output means for outputting a control command so that the increase of the swing operation force due to the swing operation of the operation lever is adjusted to be larger than the natural increase state of the bullet urging force. In this case, in this case, the output of the control command from the adjustment output means can be set to an operation after the preset intermediate position in the swing operation range of the operation lever is exceeded. Furthermore, the control unit is connected to a work load detection means provided on the work actuator side, and is for adjusting the swinging operation force of the operation lever based on the magnitude of the load detected by the work load detection means. Work load adjustment output means for outputting a control command can be provided. Furthermore, when it is determined that the load on the work actuator exceeds a preset load value, the work load adjustment output means
It is also possible to set the control command to be output in preference to the adjustment output means. By doing so, there is an advantage that the operator can actually feel the load of the work actuator.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Next, three embodiments of the present invention will be described with reference to the drawings. First, a first embodiment is shown in FIGS. 1 and 2. In the drawings, reference numeral 1 is a joystick type operation lever device for operating a hydraulic working actuator provided in a construction machine such as a hydraulic excavator. The swing body 3 is supported on the upper surface of the case body 2 that constitutes the operation lever device 1 so as to be swingable in any direction via the universal joint 3a. The base end portion of the operating lever 4 is integrally fixed to this.

Further, 5X and 5Y are a pair of arc-shaped operation lever guide members to be assembled on the upper side of the case main body 2, and 5X is for left and right directions (± X directions), 5X.
Y is for the front-rear direction (± Y direction), but the guide member 5Y for the front-rear direction has a support shaft portion 5a protruding in both the left-right direction and the front-rear direction on the case body 2 via the bearing 6. The guide hole 5b is swingably supported and has a guide hole 5b that is long in the left-right direction. The guide member 5X for the left-right direction has the same structure as the guide member 5Y, although there is a difference between the front-rear direction and the left-right direction, and the operation lever 4 has guide holes for the guide members 5X, 5Y. 5
By projecting upward through b, the operation lever 4 is not limited to the front-back direction (± Y direction) and the left-right direction (± X direction), but also any direction including an oblique direction (360 degrees).
Rocking operation is permitted.

Further, 7X and 7Y are the guide members 5
An angle detector attached to one of the front and rear of X and 5Y, or one of the left and right support shaft portions 5a, wherein the angle detectors 7X and 7Y are guide members based on the swing operation of the operation lever 4. It is configured to detect the swing angles of the 5X and 5Y in the left-right direction and the front-back direction and output a signal to the control unit 8 described later. Then, in the control unit 8, the angle detector 7
Based on input signals from X and 7Y, a command is output to the control valve 28 or the like to operate the work actuator corresponding to the operation amount of the operation lever 4.

Further, 9X and 9Y are cam bodies integrally attached to the other support shaft portion 5a.
The cam surface 9a of 9Y faces the switch lever 10a of the limit switch 10 mounted on the case body 2 side. The limit switch 10 is provided with the guide member 5
When X and 5Y are at the preset positions,
The cam surface 9a is set so that it can be switched by pressing the switch lever 10a, so that, for example, the neutral position (zero point) of the operating lever 4 can be detected.

Reference numeral 11 designates four front, rear, left and right push rods which are vertically movably inserted into the case body 2 via bearings 11a. The push rods 11 are integrally fixed to the lower end portion of the push rod. Is constantly urged upward by an ammunition (return ammunition) 14 interposed between an upper ammunition receiver 12 and a lower ammunition receiver 13 described later, and the operation lever 4 is neutral. In this state, the upper ends of all four push rods 11 are rocker 3
Is set to touch the underside of. Then, the push rod 11 moves downward against the ammunition 14 based on the rocking of the rocking body 3 accompanying the rocking operation of the operation lever 4. At this time, the rocking operation angle θ of the operation lever 4 is It is configured to move downward as it increases to urge the ammunition 14, whereby the operation lever 4 is configured to require a large operation force as the swing operation angle θ increases. ing.

The lower bullet receiver 13 is formed by integrally forming a flange-like bullet receiving surface portion 13b on an upper end of a cylindrical portion 13a, and the bullet receiving surface portion 13b is formed on the case body 2. It is fitted inside the ammunition storage chamber 2a so as to be movable up and down so as to support the lower side of the ammunition 14 in abutment, and the cylindrical portion 13a is formed by the case body 2 A through hole 15a is provided in a support plate 15 that is integrally assembled to the lower side of the support plate 15 so as to be vertically movable. Here, reference numeral 2b denotes an engagement side portion for preventing rotation provided on the inner peripheral surface portion of the bullet housing chamber 2a, which is formed on the outer peripheral surface portion of the bullet receiving surface portion 13b on the engagement side portion 2b. Since the engaging groove 13c is vertically slidably engaged, the lower bullet carrier 1
It is configured so that a detent 3 is provided.

On the other hand, 16 is a lower casing which is assembled to the lower side of the support plate 15 via bolts 16a, and the control unit 8 is provided on the lower surface of the lower casing 16.
The drive motor 17 that is driven in the forward and reverse directions based on the above command is assembled. A ball screw 19 is interlockingly connected to an output shaft 17a of the drive motor 17 via a joint 18. The ball screw 19 is provided on the inner peripheral surface of the cylindrical portion 13a of the lower shell receiver 13. A ball nut 20 attached integrally is screwed. Then, when the ball screw 19 is rotated forward and backward based on the forward and reverse drive of the drive motor 17, the ball nut 20 screwed to the ball screw 19 has the lower ammunition receiver 13 prevented from rotating as described above. Therefore, it is configured to move up and down integrally with the lower bullet carrier 13, and thus the lower bullet carrier 1
The urging force of the ammunition machine 14 can be adjusted by moving 2 up and down. Reference numeral 29 is a motor rotational position detection sensor for detecting the position of the lower bullet carrier 13.

Next, a second embodiment of the present invention will be described with reference to FIGS.
It will be described with reference to FIG. Here, 1 is a joystick type operation lever device, 2 is a case main body, 2a is an ammunition storage chamber, 3 is an oscillating body, 3a is a universal joint, 4 is an operation lever, and 5X is a lever for left and right directions (± X directions). Guide member, 5Y is a lever guide member for the front-back direction (± Y direction), 5a is a support shaft portion, 5b is a guide hole, 6 is a bearing, 7X and 7Y are angle detectors, 9X and 9Y are cam bodies, 9
a is a cam surface, 10 is a limit switch, 10a is a switch lever, 11 is four front, rear, left and right push rods, 11
a is a bearing, 14 is an ammunition (return ammunition) provided corresponding to each of the push rods 11, 12 is an upper ammunition receiver, and 15 is a support plate. Since they are the same (same) as the embodiment, the same reference numerals are given and the details thereof are omitted. Incidentally, as for FIG. 2, the one of the first embodiment can be shared.

Further, in this, reference numeral 30 denotes a lower bullet receiver provided corresponding to each of the bullets 14, and the lower bullet receiver 30 has a flange-shaped bullet at the upper end of the cylindrical portion 30a. The machine receiving surface portion 30b is integrally formed, and the projectile receiving surface portion 30b is fitted in the projectile accommodating chamber 2a so as to be vertically movable so as to support and support the lower side of the projectile 14. And the cylindrical portion 30a has the support plate 15
The through hole 15a is formed so as to be vertically movable.
On the other hand, upper end portions of front and rear and left and right actuating shafts 31Y and 31X facing vertically are integrally fixed to the cylindrical portion 30a of each lower shell receiver 30, respectively. An intermediate portion of 31X is supported by a lower portion of the supporting plate 15 above a cylindrical lower casing 32 integrally assembled with a bolt 32a so as to be vertically movable via bearings 32b.

Further, 33 and 34 are the lower casing 3
2 is a pair of upper and lower discs that are rotatably supported in the middle of 2 by ball bearings 32c, respectively. Rotation shafts 33a and 34a are integrally suspended from the central portions of the discs 33 and 34, respectively. However, the upper disc rotating shaft 33a is the hollow inner cylindrical portion 3 formed at the shaft core of the lower disc rotating shaft 34a.
It penetrates 4b and is projected below the lower end part of the lower disk rotary shaft 34a. Further, these rotary shafts 33a, 3
On the outer peripheral surface of the lower end portion of 4a, the first and second gears 33c, 3
4c are engraved respectively, but the first and second gears 3
3c and 34c are output shafts 35 of the first and second drive motors 35 and 36 assembled on the lower surface of the lower casing 32.
the third and fourth gears 35 that are integrally provided on the a and 36a
b and 36b are in mesh with each other. And the control unit 8
Based on the drive command from the first and second drive motors 35,
When 36 is driven in the forward and reverse directions, the third and fourth gears 35b and 36b and the first and second gears 33c and 34c meshing with the third and fourth gears 35b and 36b are rotated in the forward and reverse directions.
3, 34 are configured to rotate respectively.

Further, a pair of front and rear circular arc-shaped guide grooves 33d are provided on the upper surface of the upper disk 33, and the front and rear and left and right actuating shafts 31X and 31Y are formed on the bottom surfaces of the guide grooves 33d. Guide rollers 37 attached to the lower ends of the front and rear actuating shafts 31Y are in contact with each other. In addition, a pair of left and right arc-shaped through holes 33e through which the lower ends of the left and right actuating shafts 31X penetrate is formed in the upper disc 33, and the left and right actuating shafts 31X penetrate through the through hole 33e.
Are in contact with the bottom surfaces of the pair of left and right arc-shaped guide grooves 34d formed on the upper surface of the lower disk 34.

Here, the guide grooves 33d and 34d and the through holes 33e formed in the upper and lower disks 33 and 34 are
The rotary shafts 33a and 34a are formed in an arcuate shape, and when the disks 33 and 34 rotate forward and backward based on the forward and reverse driving of the drive motors 35 and 36, the respective operating shafts 31Y,
The lower end of 31X is set to be relatively moved from one end to the other end of the groove bottom surface of the corresponding guide groove 33d, 34d. Further, the groove bottom surfaces of the guide grooves 33d and 34d are formed in an inclined shape so that one end side is low and the other end side is high. Therefore, the operation shafts associated with the forward and reverse rotations of the disks 33 and 34 are described above. The relative movement of 31Y and 31X causes the operating shafts 31Y and 31X to move up and down. The lower ammunition receiver 30 vertically moves integrally with the operating shafts 31Y and 31X, so that the urging force of the ammunition 14 can be adjusted. Reference numeral 29 is a motor rotation position detection sensor for detecting the rotation positions of the first and second drive motors 35, 36 so as to detect the position of the lower bullet carrier 30.

In the first and second embodiments, the control section 8 is constructed by using a microcomputer or the like. This is as shown in the block diagram of FIG. In addition to the angle detectors 7X and 7Y and the motor rotation position detection sensor 29, an operation force adjusting dial 21, a pattern switching dial 22, and a setting switch 2 which will be described later are provided.
3, increase / decrease rate setting dial 24, angle setting dial 25,
Signals from various detection means such as the execution switch 26 and the work load detection means 27, an adjusting means, a switching means, a setting means, a switch means, etc. are input, and the control valve 28, the first embodiment based on the input signals. It is configured to output a control command to the drive motor 17 in the above, or the drive motors 35 and 36 in the second embodiment. The work load detecting means 27 detects the load acting on the work actuator by, for example, detecting the pressure of the hydraulic oil supplied to the work actuator, or detecting the strain stress acting on the work actuator mechanism. However, since a commonly used general-purpose means is adopted, detailed description thereof will be omitted.

The operating force adjusting dial 21 is for adjusting the minimum initial load (initial operating force) α when the operating lever 4 is swung from the neutral position to the front, rear, left and right. α is determined by the initial position β of the lower shell receiver 13 or 30 when the operation lever 4 is in the neutral position. That is, when the initial position β of the lower bullet receiver 13 or 30 is the lowest position where the bullet receiving surface portion 13b or 30b contacts the support plate 15, the initial load α is the smallest, and the initial position β is upward. The initial load α is set to increase as the position is increased.

Further, the pattern switching dial 22
Is a dial for selecting the operation force pattern of the operation lever 4, and in the present embodiment, three patterns A, B, and C can be selectively switched. That is,
When the pattern A is selected, the increase / decrease rate γ of the operation force with respect to the change of the swing operation angle of the operation lever 4 (the swing operation angle θ of the operation lever-the inclination of the operation force shown in FIG. It is set to comply with the inherent spring constant that it has. on the other hand,
When the pattern B is selected, the increase / decrease rate γ is set to be larger (the inclination is larger) than in the case of the pattern A. Incidentally, the increase / decrease rate γ can be arbitrarily set by the increase / decrease rate setting dial 24. When the pattern C is selected, the increase / decrease rate γ is set in the same manner as in the case of the pattern A when the swing operation angle θ of the operation lever 4 is less than the set angle δ (θ <δ), and The swing operation angle θ of the operating lever 4 is equal to or greater than the set angle δ (θ ≧ δ)
Then, the increase / decrease rate γ is set to be large as in the case of the pattern B. By the way, this set angle δ
Can be freely set by the angle setting dial 25.
The increase / decrease rate γ is strictly the increase / decrease rate of the operating force with respect to the vertical movement change of the push rod 11 accompanying the swinging operation of the operating lever 4, but in the present embodiment, the lower surface of the swinging body 3 is inclined. Since the vertical movement change of the push rod 11 is set to be substantially proportional to the change of the swing operation angle of the operation lever 4, the operation for the change of the swing operation angle of the operation lever 4 is approximately performed. It was defined as the rate of increase or decrease in force.

Next, the control of the operating force of the operating lever 4 will be described with reference to the flow charts shown in FIGS. First, in the main routine shown in FIG. 8, when the system is started and initialization is performed, it is determined whether the setting switch 23 is ON. ON here
If it is determined that, the control proceeds to a setting control subroutine. In other words, if the operator wants to set various conditions such as setting the initial load α and selecting the operating force pattern,
Since the setting switch 23 is turned on, it is possible to freely set these various conditions.
On the other hand, if it is determined that the setting switch 23 is OFF, then the detection value ε from the work load detecting means 27 is continued.
However, it is determined that it is not preferable that a load more than this is applied to the work actuator, and it is determined whether or not the set load value ζ is set in advance or more. If the set load value ζ is not greater than or equal to (ε <ζ), the operation force control subroutine is executed. If the set load value ζ is greater than or equal to (ε ≧ ζ), the work load control subroutine is executed.

In the setting control sub-routine, the control unit 8 first has various adjusting means such as the operating force adjusting dial 21, the pattern changing dial 22, the increase / decrease rate setting dial 24, the angle setting dial 25, the changing means, the setting means. A signal from the etc. is input. These input signals are
It is stored in the control unit 8 when the operator turns on the execution switch 26. Next, the control unit 8 determines whether or not the position of the lower shell receiver 13 or 30 is the initial position β set by the operating force adjustment dial 21. If it is determined that the initial position β has been set, the process directly returns. On the other hand, when it is determined that the initial position β is not the set initial position β, the control unit 8 outputs a drive command to the drive motors 17 or 35 and 36 to set the lower ammunition receiver 13 or 30 to the initial position set. Move up and down to β before returning.

On the other hand, in the operation force control subroutine, it is first judged whether or not the pattern switching dial 22 is set to the pattern A. Where pattern A
If it is set to, it returns as it is.
On the other hand, if the pattern A is not set, then it is determined whether or not the pattern B is set next. When the pattern B is set, the control unit 8
Calculates the target position κ of the lower shell receiver 13 or 30 based on the increase / decrease rate γ set by the increase / decrease rate setting dial 24 and the swing operation angle θ of the operation lever 4.
Subsequently, the control unit 8 determines whether or not the position of the lower shell receiver 13 or 30 is the calculated target position κ, and when it is not the target position κ, the drive motor 17 or 35, 36. Output a drive command to the lower shell receiver 1
Move 3 or 30 to the target position κ and then return. Further, when neither the pattern A nor the pattern B is set, that is, the pattern C is set, the control unit 8 sets the swing operation angle θ of the operation lever 4 by the angle setting dial 25. Set angle δ
A determination is made whether it is less than. If the angle is less than the set angle δ (θ <δ), the process directly returns. On the other hand, when the angle is not less than the set angle δ (θ ≧ δ),
Similarly to the case of the pattern B, the lower ammunition receiver 13 or 3 is set based on the increase / decrease rate γ set by the increase / decrease rate setting dial 24 and the swing operation angle θ of the operation lever 4.
The target position κ of 0 is calculated, and the lower shell receiver 13 or 30 is moved to the target position κ.

Further, in the work load control subroutine, the control unit 8 first calculates the target position λ of the lower shell receiver 13 or 30 based on the detection value ε from the work load detecting means 27. At this time, the target position λ is set so that the operator can recognize that it is not preferable that a work load is applied to the work actuator.
Is set to a position where the operating force of is sufficiently heavy. Next, the control unit 8 determines whether or not the position of the lower shell receiver 13 or 30 is the target position λ, and if it is not the target position λ, outputs a drive command to the drive motor 17 or 35, 36. Then, the lower shell receiver 13 or 30 is moved to the target position λ and then the process returns.

In the first and second embodiments constructed as described above, the operating force of the operating lever 4 increases or decreases based on the urging force of the ammunition 14, but The driving force is the drive motor 1 based on the drive command from the control unit 8.
Lower ammunition receiver 13 associated with forward or reverse drive of 7 or 35, 36
Or it can be adjusted by moving up and down by 30. That is, the operator turns on the setting switch 23 and then
Operation force adjustment dial 21, pattern switching dial 2
2. By setting the increase / decrease rate setting dial 24 and the angle setting dial 25 to desired positions, and then turning on the execution switch 26, the initial loads α, A, B and C of the operation lever 4 are set.
It is possible to set various conditions such as three kinds of operating force patterns, an increasing / decreasing rate γ of the operating force with respect to a change in the swinging operating angle of the operating lever 4, and a set angle δ at which the increasing / decreasing rate γ changes. Then, the control unit 8 controls the adjustment of the urging force of the bullet 14 by moving the lower bullet receiver 13 or 30 based on these set conditions, but in this case, the work load When the detection value ε from the detection means 27 is equal to or larger than the preset load value ζ which is set as being unfavorable when the work actuator is loaded with more load,
Regardless of the setting conditions, the operating force is controlled so as to correspond to the load of the work actuator.

As described above, in the first and second embodiments of the present invention, the urging force of the ammunition 14 is adjusted by vertically moving the lower ammunition receiver 13 or 30.
The operation force of the operation lever 4 can be arbitrarily adjusted by the operator's ability and physical strength. As a result, it becomes possible to operate with an operation force corresponding to each operator, and operability is improved. Moreover, in this configuration, when the load on the work actuator is equal to or greater than the preset load value ζ, the operating force of the operating lever 4 becomes heavy in response to the load on the work actuator, so that underwater work or nighttime work is performed. Even when performing work such as work, blind spot work, and remote work, where the work site cannot be visually observed, the operator can actually feel the increase in the load on the work actuator. It is possible to avoid such troubles.

Further, in the second embodiment, the first driving motor 35 vertically moves the front and rear working shafts 31Y, and the second driving motor 36 vertically moves the left and right working shafts 31X. Therefore, operating force adjustment in opposite directions of the operating lever 4 (for example, when the boom of the hydraulic excavator is moved up and down by swinging the operating lever 4 in the front-back direction, the boom raising side and the boom lowering side) Can be done with one drive motor 35 or 36,
There is an advantage that the members can be commonly used and the structure can be simplified.

Next, a third embodiment of the present invention will be described with reference to FIG.
As shown in FIG. 16, here, 1 is a joystick type operation lever device, 2 is a case body, 2a is an ammunition storage chamber, 3
Is an oscillating body, 3a is a universal joint, 4 is an operating lever, 5X is a lever guide member for left and right directions (± X directions), 5Y is a lever guide member for forward and backward directions (± Y directions), and 5a is a spindle. , 5b is a guide hole, 6 is a bearing, 7
X and 7Y are angle detectors, 9X and 9Y are cam bodies, 9a is a cam surface, 10 is a limit switch, 10a is a switch lever, 11 is front, rear, left and right four push rods, 11a is a bearing, and 14 is each push rod. 11 is an ammunition (return ammunition) provided correspondingly, 12 is an upper ammunition receiver, and these member devices are common (the same) as in the first embodiment. Therefore, the same reference numerals are given and the details thereof are omitted. Incidentally, as for FIG. 2, the one of the first embodiment can be shared.

On the other hand, 38 is a support plate integrally assembled to the lower side of the case body 2, and the lower end of the ammunition machine 14 is supported on the upper surface of the support plate 38. Also, 3
9Y and 39X are front and rear and left and right additional shafts that face the vertical direction, and the additional shafts 39Y and 39X are the support plates 38.
Is supported by a cylindrical portion 38a formed on the inner diameter side of the bullet supporting portion so as to be vertically movable, and a portion projecting upward from the cylindrical portion 38a penetrates the inner diameter portion of each bullet 14 and It faces the lower surface of the upper shell receiver 12.

Further, the portions of the additional shafts 39Y and 39X projecting downward from the cylindrical portion 38a are housed in the lower casing 40 which is integrally assembled with the support plate 38 by the bolts 40a. Plungers 41Xa forming left and right proportional solenoids 41X, which will be described later, are integrally attached to the lower end of the shaft 39X, and the left and right additional shafts 39X are integrally connected via a connecting fitting 42. ing.

The electromagnets 41Xb forming the left and right proportional solenoids 41X are attached to the bottom surface of the lower casing 40 via a holder 41Xc. The proportional attraction force is set to attract the plunger 41Xa so as to hold it in the central position of the electromagnet 41Xb.
Here, the lower end of the plunger 41Xa and the lower casing 4
When the operation lever 4 is in the neutral position and the electromagnet 41Xb is in the non-excited state, the plunger 4 and
A holding ammunition 43X for holding 1Xa at the central position of the electromagnet 41Xb is provided. In this holding state,
The upper end of the additional shaft 39X is set to contact the lower surface of the upper shell receiver 12.

On the other hand, at the lower ends of the front and rear additional shafts 39Y,
Electromagnets 41Yb forming front and rear proportional solenoids 41Y
The holder 41Yc for holding is attached,
The holders 41Yc of the front and rear electromagnets 41Yb are integrally formed, whereby the front and rear additional shafts 39Y are integrally connected. Furthermore, this holder 41Yc
Guide part 40 provided in the middle part of the lower casing 40
It is guided by b to move up and down, and is held in the middle portion of the lower casing 40 by a holding ammunition 43Y interposed between the guide portion 40b and the holder 41Yc. The upper end of the additional shaft 39Y is set so as to contact the lower surface of the upper shell receiver 12 when the operation lever 4 is in the neutral position.

Further, the plunger 41Ya constituting the front and rear proportional solenoids 41Y is integrally attached to a support shaft 41Yd which is erected from the bottom surface portion of the lower casing 40. The plunger 41Ya is the holder. 41Yc is set to be positioned at the central position of the electromagnet 41Yb while being held by the holding ammunition 43Y. Further, the electromagnet 41Yb is set to attract the plunger 41Ya so that the plunger 41Ya is located at the central position of the electromagnet 41Yb with an attraction force proportional to the magnitude of the input current.

The holder 41Yc attached to the front and rear additional shafts 39Y has an intermediate portion at the middle of the holder 41Yc.
A long groove-shaped insertion hole 41Ye is formed in which the connecting metal fitting 42 connecting the 9X members is vertically movably inserted, whereby the front and rear additional shafts 39Y and the left and right additional shafts 39X are
It is possible to move up and down independently without interfering with each other.

Then, in the third embodiment,
In the control unit 8, as shown in the block diagram of FIG. 17, the angle detectors 7X and 7Y, the operation force adjusting dial 21, the pattern switching dial 22, the setting switch 23, the increase / decrease rate setting dial 24, the angle setting dial 25, the execution switch. Two
6. Inputting signals from various detecting means such as the work load detecting means 27, adjusting means, switching means, setting means, switch means and the like, outputting a control command to the control valve 28 based on the input signals, and predetermined. A control command is output to the proportional solenoids 41X and 41Y through the interface circuit of.

That is, the electromagnets 41Xb and 41Yb are
A current having a magnitude based on a control command from the control unit 8 is input, and the plungers 41Xa and 41Ya are held at substantially central positions of the electromagnets 41Xb and 41Yb by an attraction force proportional to the magnitude of the input current. The push rod 1 is sucked, and this suction force is caused by the swing operation of the operation lever 4 via the additional shafts 39X and 39Y and the upper bullet receiver 12.
1 acts as a force against the downward movement, and by this, a further operating force can be added to the operating force accompanying the urging force of the ammunition machine 14.

Furthermore, in the third embodiment,
The operating force adjusting dial 21 is for adjusting the minimum initial load (initial operating force) α when the operating lever 4 is swung from the neutral position to the front, rear, left and right. Also,
The pattern switching dial 22 is a dial for selecting the operating force pattern of the operating lever 4, and the setting switch 23 is for the operator to set various conditions such as setting the initial load α and selecting the operating force pattern. Switch for ON operation, and increase / decrease rate setting dial 24
Is a dial for setting an increase / decrease rate γ of the operating force with respect to the swing operation angle change of the operation lever 4, and the angle setting dial 25 is a dial for setting a set angle δ at which the increase / decrease rate γ changes. However, since these are the same as those in the first and second embodiments, the details are omitted. 12 and 13 of the first and second embodiments can be commonly used for the graphs showing the relationship between the swing operation angle of the operation lever 4 and the operation force.

Next, the operation force control of the operation lever 4 in the third embodiment is shown in the flow charts of FIGS. 18 to 20. The main routine and each subroutine of setting control, operation force control and work load control are shown. The description of (1) is omitted because it is substantially the same as that of the first and second embodiments. Regarding the flowchart of the main routine, the flowchart of the first and second embodiments (FIG. 8) can be shared.

In the third embodiment constructed as described above, the operating force of the operating lever 4 increases or decreases based on the urging force of the ammunition 14, but in addition to the urging force of the ammunition 14, The electromagnet 41 based on the control command from the control unit 8.
An additional force proportional to the magnitude of the current input to Xb and 41Yb is applied to the operation lever 4 via the additional shafts 39X and 39Y.

As a result, by changing the magnitude of the electric current input to the electromagnets 41Xb and 41Yb, the operating force of the operating lever 4 can be arbitrarily adjusted by the operator's ability and physical strength, and the operability is improved. .

Further, in the third embodiment, when a control command is output from the control section 8, a current flows through the electromagnets 41Xa and 41Ya with almost no time loss, and an operating force is applied to the operating lever 4. Since it is added, there is an advantage that quick response can be made.

Further, in this one, the proportional solenoids 41X and 41Y are provided respectively corresponding to the additional shafts 39X and 39Y, but the left and right additional solenoids arranged in opposite directions with the neutral position of the operating lever 4 interposed therebetween. Since the shafts 39X and the front and rear additional shafts 39Y are integrally connected, when the operation lever 4 is operated in any direction, for example, to the right, the attraction force of the left and right electromagnets 41Xb causes the right additional shaft 39X to be attracted. It is added to the operating force of the operating lever 4 via, and as a result, there is an advantage that a large additional force can be obtained even if the electromagnets 41Xb and 41Yb are small in size.

It is needless to say that the present invention is not limited to the first to third embodiments, and in the case of increasing the swing operation force of the operation lever, the above pattern B or C is used. Instead of the linear change as described above, the curve may be changed like a parabola (or an arc shape) so that the weight becomes heavier as the pattern D shown in FIG. 21 is operated. Further, when the control command output from the adjustment output means is to be operated after the preset midway position in the swing operation range of the operation lever, the two steps, instead of the one step as in the pattern C, It may be performed in multiple stages such as three stages. In this case, it goes without saying that various patterns can be set, such as the pattern E shown in FIG. 21 in which the pattern A is combined with the pattern B. In addition, in these devices, it is also possible to perform control so that the operating force is repeatedly and repeatedly increased / decreased as in the pattern F shown in FIG. 22, and in such a case, the operation is in a loose cogging state. Therefore, there is an advantage that the operation amount can be easily recognized, which is convenient.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of an operating lever device according to a first embodiment.

FIG. 2 is a plan view of an operation lever device showing first, second and third embodiments.

FIG. 3 is a left-right direction vertical sectional view of an operation lever device according to a second embodiment.

FIG. 4 is a longitudinal cross-sectional view of an operating lever device showing a second embodiment.

5A is a plan view of the upper disk in FIG. 4, FIG.
5B is a cross-sectional view taken along the line AA of FIG.

6A is a plan view of the lower disk in FIG. 3,
FIG. 6B is a sectional view taken along line AA of FIG.

FIG. 7 is a block diagram showing input / output to / from a control unit in the first and second embodiments.

FIG. 8 is a flowchart showing a main routine in the first, second and third embodiments.

FIG. 9 is a flowchart showing a subroutine of setting control in the first and second embodiments.

FIG. 10 is a flowchart showing a subroutine of operating force control in the first and second embodiments.

FIG. 11 is a flowchart showing a workload control subroutine in the first and second embodiments.

FIG. 12 is a graph showing a relationship between a swing operation angle of an operation lever and an operation force when an initial load α is changed.

FIG. 13 is a graph showing the relationship between the swing operation angle and the operation force of the operation lever of patterns A, B, and C.

FIG. 14 is a left-right direction vertical cross-sectional view of an operation lever device according to a third embodiment.

FIG. 15 is a longitudinal sectional view in the front-rear direction of the operation lever device according to the third embodiment.

16 is a cross-sectional view taken along the line AA of FIG.

FIG. 17 is a block diagram showing input / output to / from a control unit in the third embodiment.

FIG. 18 is a flow chart showing a subroutine of setting control in the third embodiment.

FIG. 19 is a flowchart showing a subroutine of operating force control in the third embodiment.

FIG. 20 is a flow chart showing a subroutine of workload control in the third embodiment.

FIG. 21 is a graph showing the relationship between the swing operation angle and the operation force of the operation lever of patterns D and E.

FIG. 22 is a graph showing the relationship between the swing operation angle of the operation lever of pattern F and the operation force.

[Explanation of symbols]

 4 Operation lever 8 Control part 13 Lower ammunition receiver 14 Ammunition 17 Drive motor 27 Work load detection means 30 Lower ammunition receiver 35 Drive motor 36 Drive motor 39X Additional shaft 39Y Additional shaft 41Xa Plunger 41Xb Electromagnet 41Ya Plunger 41Yb Electromagnet

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Nosaka 2-8-25, Niihama, Arai-cho, Takasago, Hyogo Prefecture Takahishi Engineering Co., Ltd.

Claims (12)

[Claims] 1. An operating lever, which is set so as to adjust the operation of a work actuator while adjusting the swinging operation angle of the operating lever, and is urged based on a change in the swinging operation angle of the operating lever to swing the operating lever. An ammunition for changing the dynamic operation force, and an operation force adjustment capable of adjusting the rocking operation force by increasing / decreasing the swing operation force based on a natural change in the biasing force of the ammunition. An operating force adjusting device for an operating lever, characterized in that means is provided. 2. The operating force adjusting means according to claim 1,
An operating force adjusting device for an operating lever, which is an urging force adjusting means capable of adjusting the urging force of a bullet. 3. The urging force adjusting means according to claim 2,
A movable ammunition receiver that is movable back and forth in the urging direction of the ammunition, an adjustment actuator for moving the movable ammunition receiver, and a control unit for operating the adjustment actuator. An operating force adjusting device for an operating lever, characterized in that 4. The munition according to claim 3, wherein the ammunition is a return ammunition for returning the operation lever to a neutral position, and the operation lever is a joystick type in which the return ammunition is provided in front and rear and left and right operation directions, respectively. An operating lever, and two sets of adjustment actuators, one for front-rear operation direction and the other for left-right operation direction, and the corresponding front-rear or left-right movable bullet receivers are moved by the respective actuators. An operation force adjustment device for the operation lever. 5. The operating force adjusting means according to claim 1,
An operating force adjusting device for an operating lever, which is an operating force adding means capable of further adding an operating force to an operating force associated with the urging force of a bullet. 6. The operating force applying means according to claim 5,
A proportional electromagnet whose excitation force can be varied, a plunger which is attracted by the excitation of the proportional electromagnet, an additional member for adding the attraction force of the plunger to the operation force of the operating lever, and the excitation force adjustment of the proportional electromagnet And a control unit for controlling the operating force in the operating lever. 7. The munition according to claim 6, wherein the ammunition is a return ammunition for returning the operating lever to a neutral position, and the operating lever is a joystick type in which the returning ammunition is provided in front and rear and left and right operating directions, respectively. As an operating lever, a proportional electromagnet, a plunger and an additional member shall be provided corresponding to each return ammunition, and the additional member shall be arranged in opposite directions across the neutral position. An operating force adjusting device for an operating lever, which is connected. 8. The control unit according to claim 2, wherein:
An operation force adjusting device for an operation lever, comprising: an adjustment output means for outputting a control command to increase / decrease an initial rocking operation force when the operation lever is rocked from a neutral position. 9. The control unit according to claim 2, wherein:
It is characterized in that adjustment output means is provided for outputting a control command so that the increase of the swinging operation force caused by the swinging operation of the operation lever is adjusted to be increased more than the natural increase state of the bullet urging force. An operation force adjustment device for the operation lever. 10. The output of the control command from the adjustment output means according to claim 9, wherein the operation is set after the operation exceeds a preset midway position in the swing operation range of the operation lever. Operation force adjustment device for operating lever. 11. The control unit according to claim 3, wherein the control unit is connected to a work load detecting means provided on the work actuator side, and the magnitude of the load detected by the work load detecting means is set. An operation force adjusting device for an operation lever, comprising: a work load adjustment output means for outputting a control command for adjusting the swing operation force of the operation lever based on the operation load adjusting output means. 12. The work load adjustment output means according to claim 11, wherein when it is determined that the load of the work actuator exceeds a preset load value, the work load adjustment output means gives a control command in preference to the adjustment output means. An operation force adjusting device for an operation lever, which is set to output.