JPH10220411A - Hydraulic pilot operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain the operability of an operation lever and improve the stability of a body even during the high-speed drive of an actuator. SOLUTION: This hydraulic pilot operation device is formed out of reaction cylinders 7a and 7b driven with pressure oil from a hydraulic pilot pump 40, a solenoid proportional reducing valve 8 to lower the pressure of pressure oil fed from the hydraulic pilot pump 40 to the reaction cylinders 7a and 7b, and a controller 81 to detect a drive signal to be sent to the solenoid proportional reducing valve 8, depending on the real speed of an engine 10 detected with a speed sensor 11, and to output the detected signal thereto. In this case, output current I from the controller 81 to the solenoid proportional reducing valve 8 increases, according an increase in the real speed N of the engine 10, and the pressure of pressure oil fed from the hydraulic pilot pump 40 to the reaction cylinders 7a and 7b on the operation of the solenoid proportional reducing valve 8 rises, thereby causing an increase in a reaction force applied to an operation lever 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic pilot operating device for a construction machine such as a crane or a hydraulic excavator, and more particularly to a hydraulic pilot operating device for applying a reaction force to an operating lever when operating a hydraulically driven actuator. Related to the device.

[0002]

2. Description of the Related Art A conventional hydraulic pilot operating device is disclosed in Japanese Patent Application Laid-Open No. 2-261595. This hydraulic pilot operation device includes an operation lever and a pilot valve that generates a command pilot pressure, and is provided between the hydraulic pump and the actuator by a command pilot pressure generated by the pilot valve according to the operation amount of the operation lever. By controlling the directional switching valve, the flow rate of the pressure oil supplied from the hydraulic pump to the actuator is controlled.

[0003] In addition, this hydraulic pilot operating device includes:
A reaction force cylinder that generates a reaction force in the direction opposite to the operation direction of the operation lever and is provided to the operation lever is provided, and pressure oil supplied from a hydraulic pump to the actuator is provided on a bottom side of the reaction force cylinder. Then, the pressure of the pressure oil becomes the thrust of the reaction force cylinder, and a reaction force corresponding to the pressure of the pressure oil is applied to the operation lever. Therefore, as the load pressure of the actuator increases, the reaction force applied from the reaction force cylinder to the operation lever increases, and the operator can operate while sensing the change in the load pressure applied to the actuator by the operation lever.

[0004]

In a general hydraulic pilot operating device, the reaction force applied to the operating lever is the same regardless of whether the actuator is driven at high speed or at low speed.
If the operation lever is operated with the same force at the time of high-speed driving of the actuator as at the time of low-speed driving, the same speed change as at the time of low-speed driving occurs. However, when the actuator is driven at a high speed, a change in speed is more likely to cause a shock to the operator than when the actuator is driven at a low speed, and the operability of the operation lever and the stability of the vehicle body are significantly reduced.

For example, when the upper revolving unit is turned, if the operation lever swings, turning jerk occurs. In this case, the turning jerk during the high-speed turning gives a greater shock to the operator than the turning jerk during the low-speed turning, and the operability of the operation lever and the stability of the vehicle body are significantly reduced.

Further, for example, when the front of a hydraulic excavator is extended from a contracted state to an extended position to stop at a target position, an operator fully operates an operation lever to set the front to a maximum speed. When the target position is reached, return the control lever to neutral and stop the front. In this case, when the maximum front speed is high, the shock given to the operator when the operation lever is returned to the neutral position is greater than when the maximum speed is low, and the operability of the operation lever and the stability of the vehicle body are significantly reduced. I do.

On the other hand, in the above-mentioned prior art, a reaction force is applied to the operation lever in accordance with the load pressure applied to the actuator. However, since the same reaction force is applied to the operation lever, there is a similar problem in the above-described related art.

An object of the present invention is to provide good operability of an operation lever even when an actuator is driven at a high speed.
Another object of the present invention is to provide a hydraulic pilot operating device capable of improving the stability of a vehicle body.

[0009]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides an operation lever, a pilot valve switched by the operation lever to generate a command pilot pressure, and a reaction force in a direction opposite to an operation direction of the operation lever. And a reaction force actuator that applies the reaction force to the operation lever, switches the direction switching valve by the command pilot pressure, and controls the flow rate of pressure oil supplied from the hydraulic pump to the actuator. In the pilot operating device, detecting means for detecting a parameter related to the driving speed of the actuator, and a signal from the detecting means is input, and the reaction force applied to the operating lever is increased or decreased according to the parameter. Control means for controlling the reaction force actuator.

In the present invention configured as described above,
When the operation lever is operated, the control means controls the reaction force actuator so that the reaction force applied to the operation lever increases or decreases in accordance with a parameter related to the drive speed of the actuator detected by the detection means. The reaction force changes between high-speed driving and low-speed driving, so that a shock applied to the operator during high-speed driving can be effectively prevented, good operability of the operation lever can be obtained, and stability of the vehicle body can be improved.

(2) In order to achieve the above object, the present invention provides an operation lever, a pilot valve which is switched by the operation lever and generates a command pilot pressure, and an operation direction of the operation lever. A reaction force actuator that generates a reaction force in the opposite direction and applies the reaction force to the operation lever, switches the direction switching valve by the command pilot pressure, and supplies the pressure supplied from the hydraulic pump to the operation target actuator. In a hydraulic pilot operating device for controlling a flow rate of oil, a detecting means for detecting a rotational speed of an engine for driving the hydraulic pump, a signal from the detecting means is input, and the operating lever is operated in accordance with the rotational speed of the engine. And control means for controlling the reaction force actuator so as to increase or decrease the reaction force applied to the actuator.

In the present invention configured as described above,
When the operation lever is operated, the control means controls the reaction force actuator such that the reaction force applied to the operation lever increases or decreases in accordance with the engine speed detected by the detection means. Here, when the engine speed increases, the maximum discharge flow rate of the hydraulic pump increases, and the maximum speed of the actuator increases. Therefore, when the engine speed is high, there is a possibility that the actuator is driven at a high speed, and by increasing the reaction force at this time, it is possible to effectively prevent a shock given to the operator during the high speed drive, Good operability of the operation lever can be obtained, and stability of the vehicle body can be improved.

(3) In the above (2), preferably,
The detection means is means for detecting an actual rotation speed of the engine.

(4) In the above (2), preferably, the detection means is means for detecting a target rotation speed of the engine.

(5) Further, in the above (2), preferably, a work mode for selectively instructing the engine to set an engine speed to a first target value or a second target value lower than the first target value. A selection switch is provided, and the detection means is a means for detecting a signal of the work mode selection switch.

(6) In order to achieve the above object, the present invention provides an operation lever, a pilot valve which is switched by the operation lever and generates a command pilot pressure, and an operation direction of the operation lever. A reaction force actuator that generates a reaction force in the opposite direction and applies the reaction force to the operation lever, switches the direction switching valve by the command pilot pressure, and supplies the pressure supplied from the hydraulic pump to the operation target actuator. In a hydraulic pilot operation device for controlling a flow rate of oil, a detecting means for detecting a supply flow rate of the pressure oil to the operation target actuator, and a signal from the detection means being input to supply the pressure oil to the operation target actuator Control means for controlling the reaction force actuator so that the reaction force applied to the operation lever increases or decreases according to the flow rate. To.

In the present invention configured as described above,
When the operation lever is operated, the control unit increases or decreases the reaction force applied to the operation lever according to the supply flow rate of the pressure oil to the operation target actuator detected by the detection unit. here,
When the supply flow rate to the actuator is large, the actuator is driven at a high speed. By increasing the reaction force at this time, it is possible to effectively prevent a shock due to the movement of the operation lever at the time of high speed driving, and to provide a good operation lever. Operability and stability of the vehicle body can be improved.

(7) In the above (6), preferably,
The detecting means includes means for detecting the number of revolutions of the engine that drives the hydraulic pump, means for detecting the tilt angle of the hydraulic pump, and hydraulic pressure based on the detected engine speed and pump tilt angle. Means for calculating the discharge flow rate of the pump.

(8) In the above (6), preferably, the detecting means is a resistance generating means provided in a flow path of pressure oil supplied from the hydraulic pump to the actuator to be operated, and It has means for detecting a differential pressure across the generating means, and means for calculating the flow rate of pressure oil flowing through the flow path from the detected differential pressure across the resistance generating means.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment of the present invention is shown in FIG.
This will be described below with reference to FIG. In FIG. 1, reference numeral 1 denotes a hydraulic pump driven by an engine 10, and pressure oil discharged from the hydraulic pump 1 is supplied to an actuator 3 by controlling a flow rate and a direction by a direction switching valve 2, and the actuator 3 is driven. . The rotation speed of the engine 10 can be arbitrarily switched by operating the control dial 82 by an operator.

The hydraulic pilot operating device according to the present embodiment includes an operating lever 5, a pilot valve 4 which is switched by the operating lever 5 and generates a command pilot pressure for switching the direction switching valve 2, and a hydraulic pilot pump 40.
A reaction force cylinder 7 that is driven by pressure oil from the controller and applies a reaction force to the operation lever 5 in a direction opposite to the operation direction of the operation lever 5
a, 7b, a rotation speed sensor 11 for detecting the rotation speed of the engine 10, an electromagnetic proportional pressure reducing valve 8 for reducing the pressure of the pressure oil supplied from the hydraulic pilot pump 40 to the reaction cylinders 7a, 7b, A drive signal (output current) to the electromagnetic proportional pressure-reducing valve 8 is obtained in accordance with the rotation speed of the engine 10 detected by the sensor 11 and output to the electromagnetic proportional pressure-reducing valve 8. A controller 81 for obtaining a target rotation speed and outputting the target rotation speed to the engine 10 is provided.

Here, the electromagnetic proportional pressure-reducing valve 8 and the controller 81 actuate the reaction cylinders 7a and 7b so that the reaction force applied to the operation lever 5 increases or decreases according to the rotation speed of the engine 10.
Is configured as control means for controlling the control.

The pilot valve 4 is supplied with pressurized oil discharged from a hydraulic pilot pump 40 via a pipeline 41. When the operating lever 5 is tilted in the direction A in the drawing, the pusher 6a is lowered, and the operating lever 5 A command pilot pressure corresponding to the operation amount is generated and supplied to the hydraulic drive unit 2a of the direction switching valve 2 via the pilot line 21a, and the direction switching valve 2
Is switched to the position shown in FIG. On the other hand, when the operating lever 5 is tilted in the direction B in the figure, the pusher 6b is lowered, a command pilot pressure corresponding to the operation amount of the operating lever 5 is generated, and the hydraulic drive unit 2b of the directional control valve 2 is controlled via the pilot line 21b. To switch the direction switching valve 2 to the position shown in FIG.

The reaction force cylinders 7a and 7b are provided at the upper end of the pilot valve 4, respectively. When the operation lever 5 is at the neutral position shown in FIG. And the upper part of the piston 9b of the reaction force cylinder 7b is in contact with the lower right end of the operating lever 5 in the figure. From this state, when the operating lever 5 is tilted in the direction A in the figure, the upper part of the piston 9b Moves away from the operation lever 5, only the piston 9a comes into contact with the operation lever 5, and when the operation lever 5 is tilted in the direction B in the drawing, the upper part of the piston 9a separates from the operation lever 5, and only the piston 9b comes into contact with the operation lever 5. . The pressure oil from the hydraulic pilot pump 40, which has been depressurized by the electromagnetic proportional pressure reducing valve 8, is guided to the bottom side of the reaction force cylinders 7 a, 7 b via the pipe line 43, and the pistons 9 a, 9b is moved in the extension direction. As a result, when the operating lever 5 is tilted in the illustrated direction A, only the piston 9a acts on the operating lever 5 to apply a reaction force to the operating lever 5 in the direction opposite to the illustrated direction A, which is the operating direction of the operating lever 5. When the operating lever 5 is tilted in the illustrated direction B, only the piston 9b acts on the operating lever 5 to apply a reaction force to the operating lever 5 in a direction opposite to the illustrated direction B, which is the operating direction of the operating lever 5.

When there is no output current from the controller 81, the electromagnetic proportional pressure reducing valve 8
0, the pressure oil supplied to the reaction cylinders 7a, 7b is shut off, and when there is an output current from the controller 81, the pressure oil is supplied from the hydraulic pilot pump 40 to the reaction cylinders 7a, 7b. Switching, and as the output current increases, the reaction force cylinders 7a, 7b
Is set so that the pressure of the pressure oil supplied to is increased.

Next, the control function of the controller 81 will be described below with reference to FIGS. 2, a controller 81 obtains a target rotation speed Na of the engine 10 according to an operation amount X of a control dial 82, and outputs a target rotation speed signal to a control unit of the engine 10; An output current calculation unit 102 for obtaining an output current I from the actual rotation speed N of the engine 10 detected by the rotation speed sensor 11 using the relationship shown in FIG. 3 and outputting the output current I to the solenoid 8 a of the electromagnetic proportional pressure reducing valve 8. ing.

In this embodiment constructed as described above, the controller 81 outputs the output current I to the electromagnetic proportional pressure reducing valve 8 in accordance with the actual rotational speed N detected by the rotational speed sensor 11.
Is output to the solenoid portion 8a of the electromagnetic proportional pressure reducing valve 8 to switch the electromagnetic proportional pressure reducing valve 8, change the pressure of the pressure oil from the hydraulic pilot pump 40 to a pressure corresponding to the output current I, and this pressure is It is applied to the reaction cylinders 7a and 7b. For this reason, when the operation lever 5 is operated in the illustrated direction A or B, a reaction force in the direction opposite to the operation direction of the operation lever 5 is applied to the operation lever 5, and the higher the actual rotation speed N of the engine 10, the larger the output. Since the current I is supplied to the electromagnetic proportional pressure reducing valve 8, the pressure of the pressure oil supplied from the hydraulic pilot pump 40 to the reaction force cylinders 7a and 7b increases, and the reaction force applied to the operation lever 5 increases.

Here, when the actual rotation speed N of the engine 10 is low, the discharge flow rate of the hydraulic pump 1 is also small, and the operation lever 5
The speed of the actuator 3 when the valve 10 is fully operated (the maximum speed of the actuator 3) is also low, the discharge flow rate of the hydraulic pump 1 increases when the actual rotation speed N of the engine 10 increases, and the actuator when the operation lever 5 is fully operated. 3 (the maximum speed of the actuator 3) also increases.

That is, in this embodiment, the engine 10
When the actual rotation speed N is low and the actuator 3 is driven at low speed, the reaction force applied to the operation lever 5 is small. When the actual rotation speed N of the engine 10 is high and the actuator 3 is driven at high speed, the reaction force is applied to the operation lever 5. The reaction force increases.

Therefore, according to the present embodiment, when the actuator 3 is driven at a high speed (when the actual rotation speed N is high), it is applied to the operating lever 5 as compared with when the actuator 3 is driven at a low speed (when the actual rotation speed N is low). Since the reaction force increases, even if the operating lever 5 is operated with the same force during high-speed driving of the actuator 3 as at low-speed driving, the change in speed of the actuator 3 at high-speed driving is smaller than that at low-speed driving, resulting in a shock to the operator. Can be effectively prevented. Therefore, good operability of the operation lever can be obtained, and stability of the vehicle body can be improved.

For example, when the actuator 3 is a swing motor for driving an upper swing body (not shown), when the actual rotation speed N is high, the reaction force applied to the operation lever 5 is higher than when the actual rotation speed N is low. Therefore, turning jerk is less likely to occur during high-speed turning, shocks given to the operator can be effectively prevented, good operability can be obtained, and stability of the vehicle body can be improved.

Further, for example, when the actuator 3 is an arm cylinder for driving a part of an arm of a front device (not shown), when the operation of extending the arm from the contracted state and stopping at the intended position is performed, the actual rotation is performed. When the number N is high, the reaction force applied to the operation lever 5 is larger than when the actual rotation number N is low, so that the speed change of the arm is small, and the shock given to the operator can be effectively prevented. The operability can be obtained, and the stability of the vehicle body can be improved.

A second embodiment of the present invention will be described with reference to FIGS. In the figure, members and functions equivalent to those shown in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof is omitted.

In FIG. 4, this embodiment is different from the hydraulic pilot operation device of the first embodiment in that a rotation speed sensor 11 is provided, and a controller 81A having a different control function is provided in place of the controller 81. Other configurations are the same as those of the first embodiment.

In FIG. 5, the controller 81A is configured to calculate a target rotation speed calculating unit 101 similar to that of the first embodiment and a target rotation speed Na of the engine 10 obtained by the target rotation speed calculating unit 101 as shown in FIG. And an output current calculation unit 103 for obtaining an output current I using the same device as described above and outputting the obtained output current I to the solenoid 8a of the electromagnetic proportional pressure reducing valve 8.

In the present embodiment thus configured, the controller 81A controls the control dial 82.
Target speed N of the engine 10 calculated from the operation amount X of the engine 10
The output current I to the electromagnetic proportional pressure-reducing valve 8 is obtained in accordance with a, and is output to the solenoid portion 8a of the electromagnetic proportional pressure-reducing valve 8 to switch the electromagnetic proportional pressure-reducing valve 8, and the pressure of the hydraulic oil from the hydraulic pilot pump 40 is changed. Is changed to a pressure corresponding to the output current I, and this pressure is applied to the reaction force cylinders 7a and 7b.
Therefore, when the operation lever 5 is operated in the illustrated direction A or B, a reaction force in a direction opposite to the operation direction of the operation lever 5 is applied to the operation lever 5 and the target rotation speed N of the engine 10 is increased.
The larger the value of “a” is, the larger the output current I is given to the electromagnetic proportional pressure reducing valve 8. Therefore, the pressure of the pressure oil supplied from the hydraulic pilot pump 40 to the reaction force cylinders 7 a and 7 b increases, and Power grows.

Therefore, also in this embodiment, the same effects as those of the first embodiment can be obtained, and the reaction force applied to the operation lever 5 is controlled in accordance with the target rotation speed Na of the engine 10. It is not necessary to separately provide a rotation speed sensor for detecting the actual rotation speed of the device, the circuit configuration can be simplified, and the cost of the device can be reduced.

A third embodiment of the present invention will be described with reference to FIGS. In the figure, members and functions equivalent to those shown in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof is omitted.

In FIG. 6, the present embodiment is different from the hydraulic pilot operating device of the second embodiment in that the characteristic of the target rotation speed Na of the engine 10 with respect to the operation amount X of the control dial 82 is arbitrarily determined according to the working state. A mode switch 83 which can be changed to
A controller 81B having a different control function is provided instead of 1A, and the other configuration is the same as that of the second embodiment.

As shown in FIG. 7, the mode switch 83 has three modes of a heavy excavation mode, a normal mode, and a fine operation mode in which the characteristics of the target engine speed Na with respect to the control dial operation amount X are different from each other. The operator can arbitrarily select these three modes. Also, as shown in FIG. 7, the characteristics of these three modes are such that when the operation amount of the control dial 82 is fixed, the target rotation speed Na decreases in the order of the heavy excavation mode, the normal mode, and the fine operation mode. It has become.

The control function of the controller 81B will be described below with reference to FIG. In FIG. 8, the controller 81
B obtains a target rotation speed Na of the engine 10 according to the operation amount X of the control dial 82 and a selection signal from the mode switch 83, and outputs the target rotation speed signal to the engine 1
A target rotation speed calculation unit 104 that outputs to 0 and an output current calculation unit that obtains an output current I to the electromagnetic proportional pressure reducing valve 8 in accordance with a selection signal from the mode switch 83 and outputs the output current I to the solenoid 8a of the electromagnetic proportional pressure reducing valve 8 105.

The output current calculation section 105 obtains a constant value of the output current I only when the heavy excavation mode is selected by the mode switch 83, and sets the electromagnetic proportional pressure reducing valve 8 from the hydraulic pilot pump 40 to the reaction cylinders 7a, 7a. When the mode is switched to the position for supplying the pressure oil to the 7b and the normal mode or the fine operation mode is selected by the mode switch 83, the output current I is set to 0 and supplied from the hydraulic pilot pump 40 to the reaction force cylinders 7a and 7b. Block pressure oil.

In the present embodiment configured as described above, the electromagnetic proportional pressure reducing valve 8 is set only when the heavy excavation mode is selected by the mode switch 83 by the controller 81B.
Is output to the solenoid portion 8a of the electromagnetic proportional pressure reducing valve 8 to switch the electromagnetic proportional pressure reducing valve 8, and hydraulic oil is supplied from the hydraulic pilot pump 40 to the reaction force cylinders 7a and 7b. And the reaction cylinders 7a, 7b
Drives. For this reason, when the heavy excavation mode is selected by the mode switch 83, the operation lever 5 is moved to A or B in the drawing.
When operated in the direction, a reaction force in a direction opposite to the operation direction of the operation lever 5 is applied to the operation lever 5. On the other hand, when the normal mode or the fine operation mode is selected by the mode switch 83, the hydraulic pilot pump 40
The pressure oil supplied to the reaction force cylinders 7a and 7b is shut off, and no reaction force is applied to the operation lever 5.

Here, when the normal mode or the fine operation mode is selected by the mode switch 83, the target rotation speed Na of the engine 10 becomes lower than when the heavy excavation mode is selected, and the discharge flow rate of the hydraulic pump 1 is reduced. The speed of the actuator 3 when the operation lever 5 is fully operated (the maximum speed of the actuator 3) is low, and the mode switch 83
When the heavy excavation mode is selected, the target rotation speed Na of the engine 10 increases, the discharge flow rate of the hydraulic pump 1 increases, and the actuator when the operation lever 5 is fully operated, as compared with the normal mode or the fine operation mode. 3 (the maximum speed of the actuator 3) also increases.

That is, in the present embodiment, when the normal mode or the fine operation mode is selected by the mode switch 83 and the actuator 3 is driven at a low speed, the reaction force applied to the operation lever 5 becomes small. When the mode is selected and the actuator 3 is driven at a high speed, the reaction force applied to the operation lever 5 increases.

Accordingly, also in the present embodiment, the same effects as in the first embodiment can be obtained.

A mode switch 83 is provided in each of the hydraulic pilot operation devices of the first and second embodiments. The mode switch 83 is operated in accordance with a selection signal of the mode switch 83 and the actual rotation speed N or the target rotation speed Na of the engine 10. The output current I to the proportional pressure reducing valve 8 may be obtained, and the reaction force applied to the operation lever 5 may be controlled.

FIGS. 9 and 10 show a fourth embodiment of the present invention.
This will be described below. In the figure, members and functions equivalent to those shown in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof is omitted.

In FIG. 9, the present embodiment is different from the first embodiment in that a hydraulic pump 1
Is provided with a variable displacement hydraulic pump 51, a tilt angle sensor 12 for detecting the tilt angle of the hydraulic pump 51 is further provided, and a controller 81C having a different control function is provided instead of the controller 81. Other configurations are first
This is the same as the embodiment.

The discharge flow rate of the hydraulic pump 51 is controlled, for example, by controlling the center bypass of the directional control valve 2 and the tank 52.
The negative flow control is performed by the regulator 55 to control the tilt of the hydraulic pump 41 in accordance with the pressure on the upstream side of the throttle 54 provided in the conduit 53 connecting

As shown in FIG. 10, the controller 81C includes a target rotation speed calculating unit 101 similar to that of the first embodiment.
From the tilt angle of the hydraulic pump 51 detected by the tilt angle sensor 12, the unit discharge flow rate calculating unit 106 for calculating the discharge flow rate per rotation of the hydraulic pump 51 and the unit discharge flow rate calculating unit 106 determine the discharge flow rate. The engine 1 detected by the rotation speed sensor 11 at the discharge flow rate per rotation of the hydraulic pump 51
A multiplication unit 107 for obtaining the pump discharge flow rate Q of the hydraulic pump 51 by multiplying the actual rotation number N by 0, and an output current I is obtained from the pump discharge flow rate Q obtained by the multiplication unit 107, and the solenoid 8a of the electromagnetic proportional pressure reducing valve 8 is obtained. Output current calculation unit 10 for outputting to
8 is provided.

The output current calculation unit 108 is set so that the output current I increases as the pump discharge flow rate Q obtained by the multiplication unit 107 increases.

In this embodiment, the output current I to the electromagnetic proportional pressure reducing valve 8 is obtained by the controller 81C according to the pump discharge flow rate Q of the hydraulic pump 51, and the solenoid of the electromagnetic proportional pressure reducing valve 8 The pressure is output to the section 8a, the electromagnetic proportional pressure reducing valve 8 is switched, and the pressure of the pressure oil from the hydraulic pilot pump 40 is changed to a pressure corresponding to the output current I, and this pressure is applied to the reaction cylinders 7a and 7b by the pressure oil. Is done. Therefore, when the operation lever 5 is operated in the illustrated direction A or B, a reaction force in a direction opposite to the operation direction of the operation lever 5 is applied to the operation lever 5 and the hydraulic pump 51 is operated.
As the pump discharge flow rate Q increases, the larger the output current I
Is applied to the electromagnetic proportional pressure reducing valve 8, the pressure of the pressure oil supplied from the hydraulic pilot pump 40 to the reaction force cylinders 7 a and 7 b increases, and the reaction force applied to the operation lever 5 increases.

Here, when the pump discharge flow rate Q of the hydraulic pump 51 is small, the speed of the actuator 3 is low, and when the pump discharge flow rate Q of the hydraulic pump 51 increases, the speed of the actuator 3 also increases.

That is, in this embodiment, when the actuator 3 is driven at a low speed, the reaction force applied to the operation lever 5 is small, and when the actuator 3 is driven at a high speed, the reaction force applied to the operation lever 5 is small. Becomes larger.

Therefore, in the present embodiment, the same effects as in the first embodiment can be obtained.

FIG. 11 and FIG. 1 show a fifth embodiment of the present invention.
2 will be described. In the figure, members and functions equivalent to those shown in FIGS. 9 and 10 are denoted by the same reference numerals, and description thereof will be omitted.

Referring to FIG. 11, the present embodiment differs from the hydraulic pilot operating device of the fourth embodiment in that a rotational speed sensor 11 and a tilt angle sensor 12 are used, and a hydraulic pump 51 and a direction switching valve 2 are connected. A pressure sensor 13 for providing a check valve 15 in a pipe 50 and detecting an inlet pressure of the check valve 15
a is provided on the inlet side of the check valve 15, a pressure sensor 13b for detecting the outlet pressure of the check valve 15 is provided on the outlet side of the check valve 15, and a controller 81D having a different control function is provided instead of the controller 81C. Other configurations are the same as in the fourth embodiment.

As shown in FIG. 12, the controller 81D calculates a differential pressure P across the check valve 15 based on the pressures detected by the pressure sensors 13a and 13b.
And a pump discharge flow rate calculating section 110 for obtaining a pump discharge flow rate Q of the hydraulic pump 51 from the differential pressure P obtained by the subtraction section 109 and a pump discharge flow rate Q obtained by the pump discharge flow rate calculating section 110. Similarly to the first embodiment, there is provided an output current calculation unit 108 for obtaining the output current I and outputting the output current I to the solenoid 8a of the electromagnetic proportional pressure reducing valve 8.

In this embodiment, similarly to the fourth embodiment, the controller 81C controls the output current I to the electromagnetic proportional pressure reducing valve 8 according to the pump discharge flow rate Q of the hydraulic pump 51.
Is output to the electromagnetic proportional pressure-reducing valve 8, and the electromagnetic proportional pressure-reducing valve 8 is switched to change the pressure of the pressure oil from the hydraulic pilot pump 40 to a pressure corresponding to the output current I. , 7b. Therefore, similarly to the fourth embodiment, a reaction force is applied in a direction opposite to the operation direction of the operation lever 5, and when the pump discharge flow rate Q of the hydraulic pump 51 increases, the reaction force applied to the operation lever 5 increases. Become.

Therefore, in the present embodiment, the same effects as in the first embodiment can be obtained.

In this embodiment, the check valve 15 is provided to obtain the pump discharge flow rate Q of the hydraulic pump 51. However, other resistance generating means such as a throttle for generating a differential pressure may be provided.

In the above embodiment, the output current I to the electromagnetic proportional pressure reducing valve 8 is determined by using the actual rotation speed N of the engine 10, the target rotation speed Na of the engine 10 or the pump discharge flow rate Q of the hydraulic pump 41. Is calculated and the magnitude of the reaction force applied to the operation lever 5 is controlled. However, the output current I may be obtained from other parameters related to the driving speed of the actuator 3. For example, the output current I may be obtained by directly detecting the drive speed of the actuator 3,
The magnitude of the pilot pressure generated at the pilot valve 4 by the operation of the operation lever 5 is detected, and the output current I
You may ask.

[0064]

According to the present invention, even when the actuator is driven at high speed, good operability of the operation lever can be obtained, and stability of the vehicle body can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a hydraulic pilot operating device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a control function of a controller.

FIG. 3 is a diagram showing a relationship between an engine speed and an output current.

FIG. 4 is a diagram showing a hydraulic pilot operating device according to a second embodiment of the present invention.

FIG. 5 is a diagram showing a control function of a controller.

FIG. 6 is a view showing a hydraulic pilot operating device according to a third embodiment of the present invention.

FIG. 7 is a diagram showing a relationship between a control dial operation amount and a target engine speed.

FIG. 8 is a diagram showing a control function of a controller.

FIG. 9 is a diagram showing a hydraulic pilot operating device according to a fourth embodiment of the present invention.

FIG. 10 is a diagram showing a control function of a controller.

FIG. 11 is a view showing a hydraulic pilot operating device according to a fifth embodiment of the present invention.

FIG. 12 is a diagram illustrating a control function of a controller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic pump 2 Direction switching valve 2a, 2b Hydraulic drive part 3 Actuator 4 Pilot valve 5 Operating lever 7a, 7b Reaction force cylinder 8 Electromagnetic proportional pressure reducing valve 9a, 9b Piston 10 Engine 11 Speed sensor 12 Tilt angle sensor 13a, 13b Pressure sensor 15 Check valve 40 Hydraulic pilot pump 51 Hydraulic pump (variable displacement type) 81, 81A to 81D Controller 82 Control dial 83 Mode switch

Claims (8)

[Claims] An operating lever, a pilot valve that is switched by the operating lever and generates a command pilot pressure, and a reaction force in a direction opposite to the operation direction of the operation lever is generated. A hydraulic pilot operation device, comprising: a reaction force actuator applied to a lever, for switching a direction switching valve by the command pilot pressure to control a flow rate of hydraulic oil supplied from a hydraulic pump to the actuator; Detecting means for detecting a parameter associated with the control means, and a control means for receiving a signal from the detecting means and controlling the reaction force actuator so as to increase or decrease the reaction force applied to the operation lever in accordance with the parameter. A hydraulic pilot operating device, comprising: 2. An operation lever, a pilot valve which is switched by the operation lever to generate a command pilot pressure, and a reaction force in a direction opposite to an operation direction of the operation lever is generated. A hydraulic pilot operation device, comprising: a reaction force actuator applied to a lever, for switching a direction switching valve by the command pilot pressure to control a flow rate of pressure oil supplied from the hydraulic pump to an operation target actuator; Detecting means for detecting the number of revolutions of the engine that drives the engine, and a signal from the detecting means, and the reaction force actuator is configured to increase or decrease the reaction force applied to the operation lever according to the number of revolutions of the engine. A hydraulic pilot operating device, comprising: control means for controlling. 3. The hydraulic pilot operating device according to claim 2, wherein said detecting means is means for detecting an actual rotational speed of said engine. 4. The hydraulic pilot operating device according to claim 2, wherein said detecting means is means for detecting a target engine speed. 5. A work mode selection switch according to claim 2, wherein said engine mode selection switch instructs said engine to set an engine speed to a first target value or a second target value lower than said first target value. Wherein the detecting means is a means for detecting a signal of the work mode selection switch. 6. An operating lever, a pilot valve which is switched by the operating lever to generate a command pilot pressure, and a reaction force in a direction opposite to the operation direction of the operation lever is generated. A hydraulic pilot operation device, comprising: a reaction force actuator applied to a lever, for switching a direction switching valve by the command pilot pressure to control a flow rate of pressure oil supplied from a hydraulic pump to an operation target actuator; Detecting means for detecting a supply flow rate of the pressure oil to the actuator; and a signal from the detection means being inputted, and a reaction force applied to the operation lever is increased or decreased in accordance with a supply flow rate of the pressure oil to the operation target actuator. Control means for controlling the reaction force actuator to perform the operation. 7. A hydraulic pilot apparatus according to claim 6, wherein said detecting means detects a rotational speed of an engine for driving said hydraulic pump, and a means for detecting a tilt angle of said hydraulic pump. Means for calculating the discharge flow rate of the hydraulic pump from the detected engine speed and the pump tilt angle. 8. The hydraulic pilot device according to claim 6, wherein said detecting means is a resistance generating means provided in a flow path of pressure oil supplied from said hydraulic pump to said actuator to be operated, and said resistance generating means. And a means for calculating the flow rate of the hydraulic oil flowing through the flow path from the detected differential pressure across the resistance generating means.