WO1996032670A1 - Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler - Google Patents

Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler Download PDF

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Publication number
WO1996032670A1
WO1996032670A1 PCT/JP1996/000983 JP9600983W WO9632670A1 WO 1996032670 A1 WO1996032670 A1 WO 1996032670A1 JP 9600983 W JP9600983 W JP 9600983W WO 9632670 A1 WO9632670 A1 WO 9632670A1
Authority
WO
WIPO (PCT)
Prior art keywords
reaction force
acceleration
lever
working machine
control device
Prior art date
Application number
PCT/JP1996/000983
Other languages
English (en)
Japanese (ja)
Inventor
Masahiro Ikeda
Keisuke Miyata
Nobuyoshi Hayakawa
Yoshie Ideura
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to EP96909331A priority Critical patent/EP0821299A4/fr
Priority to KR1019970706690A priority patent/KR100301627B1/ko
Publication of WO1996032670A1 publication Critical patent/WO1996032670A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the present invention relates to a device for controlling an operation reaction force applied to an operation lever for operating a work machine such as a boom in a work machine such as a crane.
  • An operation reaction force control device that applies an operation reaction force to an operation lever in order to improve the operability of an operation lever that operates the winch in a winch operation of a crane is already known.
  • Japanese Utility Model Publication No. 62-140777 discloses a control device that changes the operation reaction force so as to be in proportion to the weight of the suspended load.
  • the operating reaction force is generated not only according to the weight of the suspended load but also according to the lever operation amount (winch hoisting speed), and this reaction force is applied to the winch operation lever. In this way, the lever operability is further improved.
  • the work machine when the conventional technology that applies an operation reaction force proportional to the weight of the suspended load is applied, the work machine may be operated for a long time on a heavy load, or the work machine may be operated at a large constant speed for a long time.
  • a large operation reaction force is applied to the operation lever for a long time, and there is a problem that the operator becomes tired:
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation reaction force control device capable of easily performing an operation for effectively suppressing load deflection and reducing an operator's fatigue. What you do:
  • an operation reaction force control device for an operation lever of a working machine, wherein an operation reaction force is applied to an operation lever for operating the working machine in a direction opposite to an operation direction.
  • An acceleration detecting means for detecting an acceleration; and an operation reaction force applying means for applying an operation reaction force to the operation lever, the operation reaction force increasing with an increase in the acceleration detected by the acceleration detection means.
  • an operation reaction force that increases as the acceleration detected by the acceleration detection unit increases is applied to the operation lever: That is, when a load swing occurs in the work machine. For example, as shown in Fig. 5, the load 22 suspended from the work equipment 21 swings in the traveling direction of the work equipment (the rotation direction of the work equipment 23 in the turning operation, and the C or D direction in the undulating operation). In the event of occurrence, it is necessary to operate the work equipment 21 or 23 to accelerate or decelerate to reduce load swing
  • FIG. 1 is a diagram showing a configuration of an embodiment of an operation reaction force control device for an operation lever of a working machine according to the present invention.
  • FIG. 2 is a control characteristic diagram showing a relationship between work machine acceleration and operation reaction force:
  • FIG. 3 is a diagram showing another embodiment of the present invention.
  • FIG. 4 is a diagram showing another embodiment of the present invention.
  • FIG. 5 is a side view of the mobile crane applied to the embodiment:
  • FIG. 1 is a diagram showing a configuration of a device for controlling an operation reaction force of an operation lever 1 disposed in a cab of a crane 20 shown in FIG.
  • a work implement raising spool 5 and a lowering spool 6 are disposed below the two pistons 3 and 4, respectively.
  • the spool 5 or 6 on the side corresponding to the pressed down piston is a metering spring. By being pushed by 7 or 8, lower Moved in this case, since spool 3 is depressed, spool 5 is moved downward.
  • the port pressure P1 or P2 rises to a magnitude proportional to the operation stroke of the operation lever 1, and the port pressure P1 or P2 of this magnitude rises to the pilot port 9a or 9b of the control valve 9.
  • the operating lever 1 is operated in the direction of the boom, and the port pressure P 1 proportional to the operating stroke acts on the pilot port 9 a of the control valve 9:
  • the control valve 9 is operated, the hydraulic cylinder for driving the boom 21 is driven at a speed corresponding to the valve opening, and the boom 21 is raised.
  • the control valve 9 acts on the pilot port 9b, the control valve 9 is moved in the reverse direction, and the boom 21 is lowered via the hydraulic cylinder.
  • the rotating shaft 10a of the motor 10 is connected to the base of the shaft 1b of the operating lever 1, and the operating lever 1 is operated in the operating direction or in the opposite direction to the operating direction according to the rotation of the motor 10.
  • the rotation direction and the rotation torque of the motor 10 are changed according to the electric command signal (voltage) output from the controller 11.
  • Pressure sensors 12 and 17 that detect the pipe pressures Pl and P2 as the lever operation amount Pl in the boom raising direction and the lever operation amount P2 in the boom lowering direction are provided in the lines 16 and 17 respectively. 13 are provided respectively, and the detected pressures Pl and P2 of the pressure sensors 12 and 13 as lever operation amount detecting means are output to the controller 11
  • the acceleration detector 14 is a detector that detects acceleration when the boom 21 moves up or down, and includes, for example, a speed sensor (for example, a rotary encoder or a laser speed). And a differentiation circuit that differentiates the output of this speed sensor and outputs acceleration ⁇ . Also, a servo-type acceleration sensor or the like is used as the acceleration sensor 14. The detected acceleration ⁇ of the acceleration detector 14 may be output to the controller 11:
  • the function of the differentiating circuit may be incorporated in the controller 11: Also, as the lever operation amount detecting means, the operation amount of the operation lever 1 is replaced with the rotation amount instead of the pressure sensor 1 2 1 3 A potentiometer or the like that detects the current may be used.
  • the lever operation amount may be detected as the speed of the boom 21.
  • the acceleration detector 14 is configured by a combination of a speed sensor and a differentiation circuit, the detection value of the speed sensor is It can be used as it is as the lever operation amount detection value, and it is not necessary to separately provide a lever operation amount detection means, and the cost can be reduced.
  • the acceleration ⁇ of the boom 21 may be detected by differentiating the pressure Pl P2 by regarding the pressure Pl ⁇ 2 as the speed of the boom 21:
  • the controller 11 gives the direction opposite to the operating direction of the operating lever 1 based on the boom acceleration ⁇ detected by the acceleration detector 14 and the lever operation amount P l ⁇ 2 detected by the pressure sensor 1 2 1 3
  • An operation reaction force F to be obtained (see FIG. 1) is determined as described later, an electric command signal corresponding to the operation reaction force F is generated, and the electric command signal is output to the motor 10 ".
  • FIG. 2 is a graph showing the control characteristics of such a reaction force control.
  • the relationship between the boom acceleration ⁇ , the lever operation amount P l ⁇ 2, and the lever operation reaction force F is shown by the control characteristics (L 1 to: LM L 2 ) Is stored in the memory of controller 11:
  • control characteristic L is set so that the operation reaction force F gradually increases as the acceleration ⁇ of the boom 21 increases.
  • the operation reaction force F is used to prevent the operation reaction force from reversing when the boom is decelerated (when the direction of the speed of the boom 21 by the lever operation is opposite to the direction of the acceleration). Is set to a low value close to zero
  • the controller 11 selects L1 as the control characteristic: and the lever operation amount Pl , ⁇ 2 is equal to or greater than a second threshold value set as a value larger than the first threshold value, the control characteristic L2 is selected, and the lever operation amount P l, ⁇ 2 is When the value becomes larger than the first threshold value and smaller than the second threshold value, as the operation amount increases in the range of L 1 to L 2 as shown by the arrow.
  • Control characteristic L ⁇ is selected such that operation reaction force F increases.
  • an operation reaction force F corresponding to the current boom acceleration ⁇ is obtained, an electric command signal corresponding to the operation reaction force F is generated, and output to the motor 10.
  • the motor 10 is driven, and an operation reaction force F is applied to the operation lever 1:
  • the operator can grasp the acceleration / deceleration state of the boom 21 as a working machine based on the operation reaction force F applied to the operation lever 1, and accelerate or decelerate the boom 21.
  • the operation reaction force F can be easily controlled by hand, and the deflection of the load can be suppressed effectively.
  • big operation counter Since the force F does not act on the control lever 1, even when the boom 21 is operated for a long time against a heavy load or when the boom 21 is operated at a large constant speed for a long time, a large operation reaction force is generated. F is not applied to the operation lever 1 for a long time, and the fatigue of the operation is greatly reduced.
  • the control characteristic L shown in Fig. 2 is an example. Pattern can be set
  • control characteristic L is changed according to the lever operation amount.
  • control characteristic L is fixed (for example, fixed to L1).
  • FIGS. 3 and 4 show another embodiment of the present invention.
  • a detector for detecting the acceleration of the boom up-and-down movement is arranged at the boom tip.
  • the acceleration sensor is expensive, a sensor for detecting the boom angle or the boom position is used as a detector for detecting the acceleration of the boom undulating movement, and the detection values of these sensors are differentiated by the second order.
  • the position of the boom tip in the front-rear direction can be estimated from the boom undulation angle 0 (see Fig. 3) and the boom length L. Due to the movement of the boom caused by the wind, etc., complex movements are caused:
  • the accelerometer is mounted on an up-and-down cylinder 30 for raising and lowering the boom, the acceleration clock is used to measure the up-and-down acceleration of the boom, and a torque corresponding to the measured value is given as an operation reaction force. Therefore, it is difficult for the crane operator to accurately grasp the movement of the boom tip.
  • the up-and-down cylinder 30 and the boom 21 are linked to each other, the up-and-down The relationship between the speed and the boom hoisting angular velocity is not linear, which also makes the method of attaching the accelerometer to the hoisting cylinder 3 difficult for the crane operator to grasp the movement of the boom tip.
  • the angle detector 25 is attached to the tip of the boom 21.
  • the output of the angle detector 25 is input to the controller 11 as shown in FIG.
  • the controller 11 calculates a component cos 0 in the front-rear direction of the boom angle 0 input from the angle detector 25 (more precisely, the front-rear direction with respect to the boom 21 and not the vehicle front-rear direction). By calculating the second-order derivative of the calculated value cos 0, a component in the longitudinal direction of the acceleration of the boom tip, cos 0, is obtained. Then, as in the previous embodiment, the controller 11 calculates the acceleration of the boom tip obtained in this manner.
  • the operation reaction force F to be applied in the direction opposite to the operation direction of the operation lever 1 is determined based on the component cos ⁇ in the front-rear direction and the lever operation amounts P l and ⁇ 2 detected by the pressure sensors 12 and 13. Obtained from the relationship shown in FIG. 2, generates an electric command signal corresponding to the operation reaction force F, and outputs the electric command signal to the motor 10 to thereby drive the motor 10 and operate Lever 1 has front and rear acceleration An operation reaction force F proportional to the direction component cos 0 is applied.
  • the torque proportional to the acceleration in the front-rear direction of the boom tip is applied to the up / down operating lever as a reaction force.
  • Direction of movement acceleration
  • the sensor for detecting the acceleration of the boom tip is: An inexpensive boom angle sensor is used, and the output of this sensor is second-order differentiated to determine the acceleration at the tip of the boom, which can also reduce equipment costs.
  • the longitudinal acceleration of the boom tip is determined, but the vertical acceleration of the boom tip is determined, and a force proportional to this acceleration is applied to the up / down lever as an operation reaction force. Also good Further, in the above embodiment, the boom angle sensor for calculating the boom angle at the tip of the boom is used. You can also determine the tip acceleration:
  • a crane boom is assumed as a working machine, but the working machine can be applied to any working machine as long as the working machine is driven to suppress load deflection.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Operation Control Of Excavators (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un dispositif qui permet d'éviter les oscillations de charge en soumettant un levier de commande (1) à une force de réaction opérationnelle (F) qui augmente proportionnellement à l'accroissement d'une accélération α décelée par un détecteur d'accélération (14). En outre, le système permet de soulager la fatigue de l'opérateur.
PCT/JP1996/000983 1995-04-08 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler WO1996032670A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP96909331A EP0821299A4 (fr) 1995-04-10 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler
KR1019970706690A KR100301627B1 (ko) 1995-04-08 1996-04-10 작업기의조작레버의조작반력제어장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/84069 1995-04-10
JP8406995 1995-04-10

Publications (1)

Publication Number Publication Date
WO1996032670A1 true WO1996032670A1 (fr) 1996-10-17

Family

ID=13820213

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/000983 WO1996032670A1 (fr) 1995-04-08 1996-04-10 Dispositif de controle de force de reaction operationnelle pour levier de commande d'une machine a travailler

Country Status (5)

Country Link
EP (1) EP0821299A4 (fr)
KR (1) KR100301627B1 (fr)
CN (1) CN1181140A (fr)
TW (1) TW353652B (fr)
WO (1) WO1996032670A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021049535A1 (fr) * 2019-09-12 2021-03-18 株式会社小松製作所 Véhicule de travail et procédé de commande de véhicule de travail
JP2021042018A (ja) * 2019-09-09 2021-03-18 株式会社タダノ ブームの操作システム

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1325365C (zh) * 2001-11-05 2007-07-11 日立建机株式会社 用于建筑机械的操纵杆装置
DE10260902A1 (de) * 2002-12-20 2004-07-15 Hamm Ag Selbstfahrendes Fahrzeug, insbesondere Straßenbaumaschine, sowie Verfahren zum Fahren und Lenken eines Fahrzeuges mit einem drehbaren Fahrersitz
FR2875940B1 (fr) * 2004-09-24 2006-12-22 Dav Sa Dispositif de commande a levier, notamment pour la commande d'organes d'un vehicule automobile
US7753078B2 (en) * 2007-04-19 2010-07-13 Husco International Inc. Hybrid hydraulic joystick with an integral pressure sensor and an outlet port
US7753077B2 (en) * 2007-04-19 2010-07-13 Husco International Inc. Hybrid hydraulic joystick for electrically operating valves
KR101533414B1 (ko) * 2007-08-08 2015-07-03 무그 인코포레이티드 조종간
CN103303800B (zh) * 2013-06-24 2015-06-03 中联重科股份有限公司 起重机的回转控制方法和回转控制系统及起重机
CN104627840A (zh) * 2015-01-09 2015-05-20 深圳市正弦电气股份有限公司 一种起重机力反馈系统
CN112456361A (zh) * 2020-11-25 2021-03-09 西北工业大学 一种减小吊放声纳液压绞车水下分机摆动幅度的控制方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6017510A (ja) * 1983-07-08 1985-01-29 Sumitomo Electric Ind Ltd ロ−プ吊りクレ−ンの振れ止めフイ−ドバツク制御装置
JPS6214077U (fr) 1985-07-09 1987-01-28
JPS6223285U (fr) * 1985-07-25 1987-02-12
JPH02254098A (ja) * 1989-02-20 1990-10-12 Aerospat Soc Natl Ind 特に航空機のための傾斜するスティック制御装置
JPH055755A (ja) 1991-04-25 1993-01-14 Fuji Electric Co Ltd 光変成器
JPH055755B2 (fr) * 1988-03-03 1993-01-25 Kobe Steel Ltd

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0366119B1 (fr) * 1988-10-26 1994-01-19 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif pour controler l'effort à appliquer à un levier de commande

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6017510A (ja) * 1983-07-08 1985-01-29 Sumitomo Electric Ind Ltd ロ−プ吊りクレ−ンの振れ止めフイ−ドバツク制御装置
JPS6214077U (fr) 1985-07-09 1987-01-28
JPS6223285U (fr) * 1985-07-25 1987-02-12
JPH055755B2 (fr) * 1988-03-03 1993-01-25 Kobe Steel Ltd
JPH02254098A (ja) * 1989-02-20 1990-10-12 Aerospat Soc Natl Ind 特に航空機のための傾斜するスティック制御装置
JPH055755A (ja) 1991-04-25 1993-01-14 Fuji Electric Co Ltd 光変成器

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0821299A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021042018A (ja) * 2019-09-09 2021-03-18 株式会社タダノ ブームの操作システム
WO2021049535A1 (fr) * 2019-09-12 2021-03-18 株式会社小松製作所 Véhicule de travail et procédé de commande de véhicule de travail
KR20220025016A (ko) * 2019-09-12 2022-03-03 가부시키가이샤 고마쓰 세이사쿠쇼 작업 차량 및 작업 차량의 제어 방법
KR102641401B1 (ko) 2019-09-12 2024-02-27 가부시키가이샤 고마쓰 세이사쿠쇼 작업 차량 및 작업 차량의 제어 방법

Also Published As

Publication number Publication date
TW353652B (en) 1999-03-01
KR100301627B1 (ko) 2001-09-03
CN1181140A (zh) 1998-05-06
EP0821299A1 (fr) 1998-01-28
KR19980703286A (ko) 1998-10-15
EP0821299A4 (fr) 2000-02-23

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