JPH04112197A - Reaction force control unit and load sensitive operation device for winch - Google Patents

Abstract

PURPOSE:To facilitate the transport of a reaction control unit only through the transfer of an electric wire cable by constituting the unit so that a reaction spring is compressed by an electric actuator and the force for urging an operat ing lever to an erection state is adjusted. CONSTITUTION:As for the actuator 43 of a reaction control unit 55, a signal is inputted into a controller by the turn of a winch drum, and a reaction instruction signal is outputted into the actuator 43. A rod 42 is raised by the drive of the actuator 43, and an elastic body 41 for reaction is compressed by a sliding block 35. When an operating lever 16 is tilted in this state, the repulsive force of the elastic body 41 is transmitted as reaction force on hands, besides the repulsive forces of the elastic bodies 32 and 33 for restoration which tend to return the lever 16 to a vertical state. Accordingly, the repulsive force can be adjusted by the operation of the actuator connected by a cable. Further, a unit 55 can be easily shifted, and remote operation is facilitated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a reaction force control unit and a load-sensitive operation device for a windshield.

[Prior Art] In general, the operating lever of the hoisting winch of a hydraulic crane can be operated by the operator with a constant force, regardless of the weight of the suspended load acting on the winch.
When hoisting a load that cannot be seen by the driver, if the operator suddenly operates the hoisting winch operating lever without considering the weight of the load, load swing may occur, especially when lifting. If the weight of the load is large, there is a risk that dynamic loads will act on the hoisting wire lobes and winches when the load swings, causing damage to these wire lobes, winches, etc.

Therefore, in recent years, as disclosed in Japanese Unexamined Patent Publication No. 1-226697, when the weight of the suspended load is large, an operation reaction force is applied to the operating lever of the hoisting winch and the operating lever is moved to a position where the winch is activated. A winch operation reaction force control device has been proposed that allows a driver to sense the weight of a suspended load by making the load more difficult.

Hereinafter, the structure of the operating valve 2 used in the winch operation reaction force control device will be explained with reference to FIG. 9.

When the operating lever 1 is tilted, the operating valve 2 is operated by the operating plate 1.
One of the bushing rods 3.4 is pushed down by the bushing rod 3.4, the pilot pressure reducing valve 5.6 corresponding to the bushing rod 3.4 opens with an opening degree corresponding to the amount of operation (tilting angle) of the operating lever 1, and the hydraulic pump 8 discharges. The control valve 7 of the winch is switched by the hydraulic oil, so that the hydraulic oil is supplied to a hydraulic motor (not shown) of the winch.

Further, the operation valve 2 is provided with a reaction force piston 10.11 that can be slid up and down in parallel with the Butschrodt 3.4.
The pressure increases due to the secondary pressure of the electromagnetic proportional pressure reducing valve 9 connected to the
When the operating lever 1 is tilted, the reaction force piston 10.11
One tip of the lever contacts the lower surface of the operating plate la to apply an operating reaction force to the operating lever 1.

[Problems to be Solved by the Invention] However, the winch operation reaction force control device disclosed in JP-A-1-226897 applies pilot pressure to the winch control valve 7 by operating the operation valve 2. However, since the control valve 7 is switched, in order to disconnect the operation valve 2 from the crane body and remotely control the crane, a heavy hydraulic hose must be connected between the control valve 7 and the operation valve 2. It is difficult for the driver to carry the operating valve 2 with him when he moves, and when the driver moves,
Pulling on the hydraulic hose can damage the hydraulic hose.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to enable a driver to easily move while carrying a winch control device when controlling the operation reaction force of a winch by remote control.

[Means for Solving the Problems] In order to achieve the above object, in the reaction force control unit of the present invention, two holes 17a and 1lla are provided in the base block 14, penetrating from the upper surface to the lower surface.

17b and 18b are bored between the holes 17a and 17b at the upper end of the base block 14, and the base end of the operating lever 16 is centered at the neutral position where the operating lever 16 is in an upright state. A sensor 25 is provided to support the operating lever 16 so as to be tiltable along a vertical plane connecting the operating lever 16 and to output a signal when the operating lever 16 is tilted.
The restoring rods 27a and 27b are inserted into the holes 18a and 17b so that they can be raised and lowered so that their upper ends can come into contact with the bottom surface of the base end of the operating lever 16, and the restoring rods 27a and 27b are inserted into the respective holes 18a and 18
Push-up members 28a, 28b are inserted into b so that they can be raised and lowered and their upper ends can abut the lower ends of the restoring rods 27a, 27b, and between each push-up member 28a, 28b and the base block 14. , a guide casing in which a restoring elastic body 32, 33 is interposed so that each restoring rod 27a, 2 is urged upward, and a sliding block 35 is fitted to the lower end of the base block 14 so as to be able to move up and down. 34, and guide holes 37a, 37b are formed in the sliding block 35 so as to be located below the holes 18a, 18b, penetrating from the upper surface to the lower surface, and the respective guide holes 37a, 37 are fixed.
b, the reaction rods 39a and 39b are inserted so that they can be raised and lowered and their upper ends can abut the lower ends of the push-up members 28a and 28b.

39b and the sliding block 35, a reaction force elastic body 41 is provided.
are interposed so that the reaction rods 39a and 39b are urged upward when the sliding block 35 is raised, and a rod 4 that can be raised and lowered is placed below the sliding block 85.
2, an electrically driven actuator 43 is provided to connect the sliding block 35 and the b-rad 42, and a sensor 49 is further provided to detect the displacement of the sliding block 35 and output a signal. be.

Furthermore, instead of the above means, two holes 109a and HOa are provided in the base block 107, penetrating from the upper surface to the lower surface.

109b and 110b, and the base block 1 (1
Between the holes 109a and 109b at the upper end of 7, the operating lever 1 is inserted.
The base end of the operating lever 118 is supported so as to be tiltable along a vertical plane connecting the holes 109a and 109b around a neutral position where the operating lever 118 is in an upright state, and when the operating lever 118 is tilted. A sensor 116 for outputting a signal is provided in each of the holes 109a and 110a.

109b, 110b, restored (17rad 114a, IL
4b is inserted so that it can be raised and lowered and its upper end can come into contact with the bottom surface of the base end of the operating lever 118, and between each of the restoration rods 114a, 114b and the base block 107,
The restoring elastic body 113 is attached to each restoring rod 114a, 114b.
An equalizer 123 is attached to the lower end of the base block 107 via a universal joint 121 so that the upper surface thereof is a restoring rod 114a.

A guide casing 34 is disposed below the base block 107 and fitted with a sliding block 35 so as to be able to move up and down. Penetrating guide hole 37a
, 37b are bored so as to be located below the holes 110a, 110b, and the guide hole 37a.

The reaction force rods 39a and 39b are inserted into the slide block 37b so that they can be raised and lowered and their upper ends can contact the lower surface of the equalizer 123, and the reaction force rods 39a and 39b are inserted between each of the reaction force rods 39a and 39b and the sliding block 35. When the force elastic body 41 raises the sliding block 35, each reaction force rod 39a, 39b
An electrically driven actuator 43 having a rod 42 that can be raised and lowered is disposed below the sliding block 35 to connect the sliding block 35 and the rod 42. In addition, the sliding block 35
A configuration may also be provided in which a sensor 49 that detects the displacement of and outputs a signal is provided.

Furthermore, in the winch load-sensitive operating device of the present invention, a hydraulic motor 59 that drives the winch drum 58 and pipes 72 and 73 that supply hydraulic oil to the hydraulic motor 59 are provided.
a pilot valve 7 connected to and for performing position switching;
0.71 and the pilot valve 7.
Pilot line 82 that applies pilot pressure to 0.71
．． 83 and has a solenoid 80, 81 for position switching, and a rotation speed detection signal 99 that detects the rotation speed of the winch drum 58.
and a sensor 97 that detects the internal pressure of the pipe line 72.73 and outputs a pressure detection signal 95.96.
．． 9g and a signal current 91 output by the sensor 25 or 116 when the operating lever 16 or 118 is tilted.
to the reaction force control unit 55 or 128 which outputs to the solenoid 80.81, the rotation speed detection signal 99, the pressure detection signal 95.96 and the signal current 102 output by the sensor 49 of the reaction force control unit 55 or 128. The controller 100 outputs a reaction force command signal current 101 to the actuator 43 of the reaction force control unit 55 or 128 based on the reaction force control unit 55 or 128.

[Function] In the reaction force control unit according to claim 1 of the present invention, when the actuator 43 is driven to raise the rod 42, the reaction force elastic body 41 is compressed by the sliding block 35.

In this state, when the driver grasps the operating lever 16 and tilts the operating lever IB, the driver's hand holds the operating lever 1.
The restoring elastic body 32. which tries to restore the 6 to the upright state.
In addition to the repulsive force of the reaction force 33, the repulsive force of the reaction force elastic body 41 is transmitted as a reaction force.

In the reaction force control unit according to the second aspect of the present invention, when the actuator 43 is driven to raise the rod 42, the reaction force elastic body 41 is compressed by the sliding block 35.

When the driver grips the operating lever 118 and drives the operating lever 118 in this state, in addition to the repulsive force of the restoring elastic body 113 that attempts to restore the operating lever 118 to the upright state, The repulsive force of the reaction force elastic body 41 is transmitted as a reaction force.

In the winch load-sensitive operation operating device according to claim 3 of the present invention, the reaction force control unit 55.12
When the operation levers 16 and 118 of 8 are tilted, the sensor 2
5.11Ei outputs a signal current 91 to switch the electromagnetic proportional pressure reducing valve 79, and the pilot pump 7
The main switching valve 69 is switched by the pressure of the hydraulic oil discharged by the main pump 67, and the hydraulic oil discharged by the main pump 67 is transferred to the hydraulic motor 5.
9 and the winch drum 58 rotates.

When the winch drum 58 rotates, the pressure detection signals 95.96 from the sensors 97 and 98 and the rotation speed detection signal 99 from the sensor 60 are input to the controller 100, and the controller 100 detects the reaction force based on the signals 95 and 96.99. The command signal current 101 is output to the actuator 43 of the reaction force control unit 55 or 128, and the actuator 43 is activated.

When the actuator 43 operates, the rod 42 rises and the reaction force elastic body 41 is compressed by the sliding block 35, as described above, and the reaction force elastic body 41 is placed in the driver's hand while holding the operation lever 16 or 118. The repulsive force is transmitted as a reaction force.

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

1 to 3 show an embodiment of the reaction force control unit of the present invention, and the reaction force control unit 55 includes a control lever unit 12 and a reaction force load device 13.
It is equipped with

The structure of the control lever unit 12 will be explained below.

The base end of a universal joint 15 extending in the vertical direction is placed in the center of the upper surface of the base block 14, with the tip end facing forward (
A side), rear side (B side), left side (C side), right side (D side)
The operating lever 16 is fixed to the tip of the universal joint 15 so that it can be tilted in four directions.

The base block 14 has a universal joint L.
The base block 14 is placed at four locations on the front, back, left and right with 5 as the center.
a small diameter hole 17a extending vertically downward from the top surface;
17b, 17c, 17d, and small diameter holes 17a, 17b, 17c, 1 extending vertically upward from the bottom surface.
Large diameter holes 18a, 18b, 18 coaxially penetrating through 7d
c and 18d are drilled.

At the lower end of the operating lever 16, there are pressing parts 19a, 19b, and 19c that protrude in each direction: front side (A side), rear side (B side), left side (C side), and right side (D side).

19d are formed, and the pressing portions 19a, L9b,
19c.

The bottom surface of 19d is the small diameter hole 17a, 17b, 17c, 1
It is located directly above 7d.

A slit 21 extending from the front side (A side) to the rear side (B side) and opening upward is provided in the cover member 20 having the shape of an upside-down bowl, and the operating lever 16 is fitted into the slit 21. , support portions 22a and 22b formed on the peripheral edge of the cover member 20 and protruding toward the front side (A side) and the rear side (B side) are positioned coaxially with one cross bin 23 of the universal joint 15. is supported on the upper surface of the base block 14 so that the operating lever 16 can be tilted forward (A side) and rearward (B side) while being guided by the slit 21 around the other cross pin 24 of the universal joint 15. In addition, the operating lever 16 can be tilted to the left (C side) and to the right (D side) about the cross bin 23.

A potentiometer 25 is attached to one support portion 22a of the cover member 20, and the potentiometer 25 is fixed so as not to rotate with respect to the base block 14, and an annular top member is attached to the upper surface of the base block 14. 26,
The ring 1 member 2B is fixed so as to surround the cover member 20 in the circumferential direction, and the cover member 20 is attached to the base block 1.
Make sure you don't fall off from 4.

The potentiometer 25 outputs a signal current when the operating lever 16 is tilted to the left (C side) or to the right (D side).

Furthermore, a microswitch (not shown) is built into the base block 14, and the microswitch is activated when the operating lever 16 is tilted to the front side (A side) or the rear side (B side). It looks like this.

Each of the small diameter holes 17a, 17b, 17c, 17c [
The restoration rods 27a, 27b, 27c, 27d can be raised and lowered freely, and each restoration rod 27a, 27b, 27c, 27
The upper end of d is the pressing part 19a, 19b of the operating lever 16.
, 19c, 19d so as to be able to come into contact with the bottom surfaces of the large diameter holes 18a, 18b, 18c, 18d.
The push-up members 28a, 28b, 28c, 28d can be raised and lowered freely, and each push-up member 28a, 28b, 28c, 28
The upper surface of d is the restoration rod 27a, 27b, 27c, 27d
each large diameter hole 18a,
Cylindrical stopper 29 at the bottom of L8b, 18c, and L8d
a, 29b, 29c, 29cl are inserted into the push-up members 28a, 28b, 28c, 28d or the large diameter hole 18.
Make sure that the picks do not fall from a, 18b, 18c, and 18d.

Furthermore, each large diameter hole 18a, 18b, 18c, 18d
Inside, a small diameter restoring spring 32 and a large diameter restoring spring 33, respectively.
are inserted coaxially, and the large diameter holes 18a, 18b, 1
A hole 18a having a smaller diameter and larger diameter than those of 8c and 18d; 1. ．．
Guide hole 3 drilled coaxially with 8b, 18c, 18d
A bottom plate 30 having ia, 31b, 31c, and 31d is fixed to the bottom surface of the base block 14.

The small-diameter restoring springs 32 and the large-diameter restoring springs 33 normally push up the respective push-up members 28a, 28b, 28 by their repulsive force.
c.

28d upwardly to open the large diameter holes 18a, 18b, 18c.
, 18d, and the push-up member 28a
, 28b.

A restoring rod 27a pushed up by 28c and 28d,
27b.

27c and 27d maintain the operating lever 16 in an upright position.

Next, the structure of the reaction force loading device 13 will be explained.

A sliding block 35 is inserted into a cylindrical guide casing 34 that can come into contact with the lower surface of the base block 14 so as to be movable up and down.

The sliding block 35 has a guide hole 31a in the bottom plate 30 extending downward from the top surface of the sliding block 35.

Splash receiver 36a extending coaxially with 31b, 31c, 31d
, 36b.

3ee, 3ed, and the spring receiver 3 from the bottom surface upward.
A guide hole 37a coaxially penetrates through 6a, 38b, 36d, and 36d.

37b, 37c, and 37d are bored, and furthermore, a rod sensor hole 38 is bored vertically between the guide holes 38a and 3Bd of the sliding block 35.

Anticarosodes 39a, 39b, 39c extending in the vertical direction,
An annular stopper 40 extending in the circumferential direction is externally fitted and fixed to the longitudinally intermediate portion of 39d, and the reaction rods 39a, 39b, 3
9c.

39d to the reaction force rods 39a, 39b, 39c.
, 39d from above so that they can move up and down.
37b.

37c, 37d, and each spring receiver 3
6a, 38b, 36c, 36d bottom and each reaction force lot 3
9a, 39b.

Reaction force springs 41 are interposed between the stoppers 40 of 39c and 39d, respectively, to form reaction rods 39a, 39b, and 39c.
, 39d are urged upward.

An electric power cylinder 43 having a rod 42 on its upper part that can be raised and lowered is disposed below the sliding block 35, and the upper end of the rod 42 is connected to the lower surface of the sliding block 35.

[The E-type power cylinder 43 is configured such that when a current is passed through the motor 45, the motor 45 rotates forward or backward, and the rod 42 is raised or lowered.

The upper end of a rod sensor 46 extending in the vertical direction is inserted and fixed into the rod sensor hole 38 of the sliding block 35 from below.

A rack 47 extending in the vertical direction is formed on the rod sensor 4B.

A rotary encoder 49 having a pinion 4B that can be engaged with the rack 47 is fixed to the electric power cylinder 43 via a mounting fitting 50, and a pinion 48 is engaged with the rack 47.

Base block 1 of the control lever unit 12
The upper surface of the guide casing 34 of the reaction force loading device 13 is fixed to the lower surface of 4 to form reaction rods 39a and 39b.

The upper parts of 39c and 39d are inserted into the guide holes 31a, 31b, and 31.
c, 31d to large diameter hole 18a, L8b, 18c,
18d, reaction force rods 39a, 39b, 39C
, 39d is pushed up by the member 28a.

It is brought into contact with the lower surfaces of 28b, 28c, and 28d.

Further, the lower end of the electric power cylinder 43 is connected to the upper surface of the base plate 52 via a bracket 51, and a control lever stand 5 is installed so as to surround the base block 14, guide casing 34, and electric power cylinder 43.
3, the lower peripheral edge of the top member 26 is fixed to the upper surface of a circumferentially extending annular mounting seat 54 attached to the upper end of the control lever stand 53, and the lower end of the control lever stand 53 is fixed to the substrate 52. .

The operation of the reaction force control unit 55 will be explained below.

In the reaction force control unit 55, the sliding block 35 is normally located at the lower part of the guide casing 34.

In this state, the driver grips the operating lever 16 and uses a predetermined operating force to move the operating lever 16 to either the front side (A side), the rear side (B side), the left side (C side), or the right side (D side). When tilted to one side, the restoring rod 27a corresponds to the tilting direction of the operating lever 16.

27b, 27c, 27d are pressing parts], 9a, 19
The push-up members 28a, 28b, 28c, 28d and the reaction force rods 39a, 39b, 39c, 39d, which are pushed down by the restoring rods 27a, 27b, 27c, and 27d, are pushed down by the restoring rods 27a, 27b, 27c, and 27d.
7a, 27b, 27c, and 27d, the small diameter restoring spring 32, the large diameter restoring spring 33, and the reaction spring 41 are compressed.

Further, when the driver releases his hand from the operating lever 16 and the operating force is no longer applied to the operating lever 16, the small diameter restoring spring 32, the large diameter restoring spring 33, which had been compressed by tilting the operating lever 16, The reaction spring 41 extends to a length before being compressed by the repulsion force, and pushes up the push-up members 28a, 28b, 28c corresponding to the tilting direction of the operating lever 16.
, 28d are raised, and the push-up members 28a, 28b, 28
Restoration rods 27a, 27b, 27c by c, 28d
, 27d are pushed up, and the operating lever 16 is urged into an upright state by the repulsive forces of the small-diameter restoring springs 32, the large-diameter restoring springs 33, and the reaction springs 41.

On the other hand, when the motor 45 of the electric power cylinder 43 is driven to project the rod 42 and raise the sliding block 35, each reaction spring 41 is compressed as the sliding block 35 rises. The repulsive force of the reaction spring 41 acts to bias the reaction rods 39a, 39b, 39c, and 39d upward, and the force that tends to bias the operating lever 16 into the upright state increases.

Therefore, if the driver attempts to tilt the operating lever 16 in this state, the repulsive force of the reaction spring 41, which has already been compressed due to the rise of the sliding block 35, acts to bias the operating lever 16 into the upright state. Therefore, the force becomes a reaction force and the aforementioned sliding block 35 is moved against the guide casing 34.
A greater operating force is required compared to when it is located at the inner lower part.

Furthermore, when the rod sensor 46 moves up and down together with the sliding block 35, the pinion 48 of the rotary encoder 49 that meshes with the rack 47 rotates, and the rotary encoder 49
detects the displacement of the sliding block 35 and outputs a signal current.

In this way, in the reaction force control unit 55 of the present invention, by raising and lowering the sliding block 35, it is possible to easily adjust the force that urges the operating lever 16 to the upright state.

FIG. 6 shows an example in which the winch load-sensitive operating device using the reaction force control unit 55 described above is applied to a mobile crane. The main jib is supported so that it can be raised or lowered,
58 is a winch drum provided on the rotating base 56; 59
is a hydraulic motor that drives the winch drum 58, 60 is a drum rotation speed sensor that detects the rotation speed of the winch drum 58, and 61 is a drum rotation speed sensor that is fed out from the winch drum 58, is suspended from a sheave 62 at the tip of the main jib 57, and is attached to the feed side end. 63 is a hook block suspended from the wire rope 61; 64 is a wire rope 66 for hanging loads attached to the hook 65 of the book block 63;
Shows a suspended load suspended through the.

Further, the reaction force control unit 55 including the control lever unit 12 and the reaction force load device 13 is a first
It has the same configuration as that shown in FIGS.
3. Parts designated by the same reference numerals as those in FIG. 3 represent the same parts.

A pressure oil supply pipe 68 connected to a main pump 67 driven by a prime mover 86 is provided with a main switching valve 69 which is normally set at a neutral position and whose position can be changed by applying pilot pressure to pilot valves 70 and 71. The main switching valve 69 and the hydraulic motor 59 are connected by pipes 72 and 73, the main switching valve 69 and the hydraulic oil tank 74 are connected by a pipe 75, and the main pump 67 and the hydraulic oil tank 74 are connected. are connected by a conduit 76 so that hydraulic oil discharged from the main pump 67 can be supplied to the hydraulic motor 59 when the main switching valve 69 is switched from the neutral position to the operating position.

A pressure oil supply pipe 78 connected to a pilot pump 77 driven by a prime mover 8B like the main pump 67 is normally set at a neutral position, and the position can be changed by applying current to a solenoid 80.81. Pressure reducing valve 79
The electromagnetic proportional pressure reducing valve 79 and the pilot valve 70.71 of the main switching valve 69 are connected to the pilot pipe 82.83.
At the same time, the proportional electromagnetic pressure reducing valve 79 and the hydraulic oil tank 74 are connected by the pipe 84, and the pilot pump 77 and the pipe 76 are connected by the pipe 85, so that the proportional electromagnetic pressure reducing valve 79 is moved from the neutral position. When switched to the operating position, the pressure of the hydraulic oil discharged by the pilot pump 77 is made to be able to act on one of the pilot valves 70, 71 of the main switching valve 69.

The upstream end of a conduit 88 having a main relief valve 87 is connected to the upstream side of the main switching valve 69 of the pressure oil supply pipe 68, and the downstream end of the conduit 88 is connected to the hydraulic oil tank 74. Connecting.

A relief valve 89 is connected to the pressure oil supply pipe 78 upstream of the electromagnetic proportional pressure reducing valve 79, and the relief valve 89 and the hydraulic oil tank 74 are connected by a pipe line 90.

Potentiometer 2 of reaction force control unit 55
The signal current 91 outputted by the amplifier 92 is led to the amplifier 92, and the signal current 93.
94 is the solenoid 80.81 of the electromagnetic proportional pressure reducing valve 79.
When the operating lever 16 of the reaction force control unit 55 is tilted in either the forward or backward direction, the electromagnetic proportional pressure reducing valve 79 opens in proportion to the tilting angle of the operating lever 16.
is switched from the neutral position to the operating position, and as a result, the pressure of the hydraulic oil discharged by the pilot pump 77 acts on one of the pilot valves 70 and 71 of the main switching valve 69, causing the main switching valve 69 to change from the neutral position to the operating position. The position is switched so that the hydraulic oil discharged by the main pump 67 can be supplied to the hydraulic motor 59 in proportion to the tilt angle of the operating lever 16.

A pressure sensor 97.9 is connected to the pipe line 72.73 and outputs a pressure detection signal 95.96 based on the pressure of the pipe line 72.73.
8 is connected, and the pressure detection signal 95,96 and the rotation speed detection signal 99 outputted by the drum rotation speed sensor 60 based on the rotation speed of the winch drum 58 are sent to the controller 10.
0, and the reaction force command signal current lot outputted by the controller 100 based on the pressure detection signal 95,96 and the rotation speed detection signal 99 is transmitted to the reaction force load device 1.
3 to the electric power cylinder 43, and further,
The signal current 102 output by the rotary encoder 49 and the mode signal 104 output by the mode setter 103 are guided to the controller 100.

The mode setting device 103 outputs a mode signal 104 for adjusting the strength and reaction sensitivity of the reaction force applied to the operating lever 16 of the control device 55 by manual operation.

Note that 129 in the figure indicates a power supply device connected to the controller 100 via the main switch 130.

The operation of the winch load-sensitive operating device will be described below.

When performing lifting work with a mobile crane, the mode setting device 103 is operated to input the strength and reaction sensitivity of the reaction force to be applied to the operating lever 16 to the controller 100 as a mode signal 104.

When the operating lever 16 is tilted, the potentiometer 2
A signal current 91 outputted by the valve 5 is guided to an amplifier 92, and a signal current 93 or 94 amplified by the amplifier 92 is applied to the solenoid 80, 81 of the electromagnetic proportional pressure reducing valve 79.
The electromagnetic proportional pressure reducing valve 79 is switched from the neutral position.

When the electromagnetic proportional pressure reducing valve 79 is switched in position, the pressure of the hydraulic oil discharged by the pilot pump 77 is changed to the pilot pipe 8.
2 or 83 to the pilot valve 7 of the main switching valve 69.
0 or 71, the main switching valve 69 is switched from the neutral position to the operating position, and the hydraulic oil discharged by the main pump 67 passes through one of the pipes 72 and 73 to the hydraulic motor 5.
9 and the winch drum 58 rotates.

In this way, the winch drum 58 is connected to the wire lobe 61.
The hook block 63 is lowered by being driven so that it is unwound, and the wire rope 6 for hanging loads is attached to the hook 65.
The suspended load 64 is secured via the winch drum 58 again.
When the suspended load 64 is lifted by driving the hydraulic pump 59, the internal pressure of the pipes 72 and 73 increases, and the pressure detection signals 95 and 96 output from the pressure sensors 97 and 9g change. , the rotation speed detection signal 99 changes as the rotation speed of the winch drum 58 increases or decreases.

As shown in FIG. 7, the controller 100 converts a pressure detection signal 95.96, a rotational speed signal 99, and a mode signal 104 into a load coefficient wf(P), a speed coefficient Vf(N), and a mode coefficient v= As f(M), calculate the amount of movement L=f (w, v, m) of the rod 42 necessary to generate the reaction force F to be applied to the operating lever ■6 based on these coefficients, and A reaction force command current 101 commensurate with the amount of movement is outputted to the electric power cylinder 43, and the rod 42 protrudes to move the sliding block 35 of the control device 55 as described above.
rises and the reaction spring 41 is compressed, and the reaction force of the reaction spring 41 becomes the reaction force 0.7 de 39a, 39b, 39c, 39d.
The force acts to bias the control lever 1 upward.
This is a reaction force that tries to push 6 back upright.

Also, at this time, the signal current 102 output from the rotary encoder 49 is input to the controller 100, and the controller 100 converts the signal current 102 into a movement coefficient θ
-f (L'), calculate the actual movement amount L' of the rod 42 based on this coefficient, and calculate the movement amount L'.
' is compared with the movement amount described above, and the reaction force command signal current 1 is applied to the electric power cylinder 43 until L and L' become equal.
Outputs 01.

The reaction force command signal 101 is transmitted to the suspended load 64 as shown in FIG.
The rod 42
The amount of protrusion, that is, the reaction force applied to the operating lever 16 is output so as to increase.

Therefore, a reaction force that tries to push the operating lever 16 back to the upright position is transmitted to the hand of the driver who is tilting the operating lever 16 in proportion to the weight and moving speed of the suspended load 64, and the driver's hand is moved while the operator is tilting the operating lever 16. A person can sense the weight of the suspended load 64 by feeling the operating lever 16 even when the suspended load 64 cannot be seen.

When changing the strength of the reaction force applied to the operating lever 16 and the reaction sensitivity, the mode setting device 103 is operated to adjust the mode signal 104.

By changing the reaction force strength mode of the mode setting device 103, it is possible to adjust the magnitude of the reaction force corresponding to the weight and moving speed of the suspended load 64, and by changing the sensitivity mode of the mode setting device 103, the actual The weight and moving speed of the hanging load 64 are calculated several times, and a reaction force corresponding to the converted value of the weight and moving speed of the hanging load 64 is applied to the operating lever 16.

Furthermore, when performing an inching operation in which the suspended load 64 is lifted to a predetermined height and stopped, and the suspended load 64 is slightly raised or lowered again, the main switch 130 is turned off to stop the function of the controller 100.

When the function of the controller 100 is stopped, the reaction force command signal current 101 is not output even when the suspended load 64 is lifted, and therefore the reaction force load device 13 is not output to the operating lever 16.
Since no reaction force is applied, a large operating force is not required to tilt the operating lever 16, and the inching operation can be easily performed.

Furthermore, a reaction force control unit 55, a controller 1
00, drum rotation speed sensor 60, pressure sensor 97.98
are connected by an electric circuit, and the reaction force control unit 55 is configured to apply reaction force electrically, so when the reaction force control unit 55 and controller lOO are disconnected from the crane body and the crane is remotely operated. To do this, the controller 100, the drum rotation speed sensor 60, and the pressure sensor 97,98 can be connected by cables, and the crane can be remotely operated using a heavy hydraulic hose using the operation valve 2 as shown in FIG. Compared to this, the cable is lighter than the hydraulic hose, making it easier to carry the reaction force control unit 55 and the controller 100, making it possible to improve operability.

In addition, the controller 100 and the drum rotation speed sensor 60,
If signals are exchanged with the pressure sensors 97, 9g via a wireless transmitter/receiver, the crane can also be remotely controlled wirelessly.

4 and 5 show other embodiments of the reaction force control unit 12 of the present invention.
8C, control leno (- equipped with unit 05 and reaction force load device 106).

In addition, in the drawings, parts given the same reference numerals as in FIGS. 1 to 3 represent the same parts.

The structure of the control unit 105 will be explained below.

At the center of the upper surface of the base block 107, the base end of a universal joint 108 extending in the vertical direction is placed such that the tip end is on the front side (A side), the rear side (B side), the left side (C side), and the right side (D side).
It is fixed so that it can be tilted in four directions (side).

The base block 107 has large diameter holes 1 extending vertically downward from the top surface of the base block 107 at four locations on the front, rear, left and right sides around the uni) <- salge joint 10B.
09a, 109b, 109c, and 109d, which extend vertically upward from the bottom surface, and have large diameter holes 109a, 10.
9b.

A small diameter hole 11 (l) coaxially penetrates through 109c and 109d.
a, 110b.

1.10c and 110d are bored.

The large diameter holes 109a, 109b, 109c, 109d
Small diameter holes 1.10a, 1Iob, 1IOc,
Restoration rods 114a, 114b, 1 each have a spring seat l11 having the same inner diameter as 110d, extend in the vertical direction, and have an annular stopper 112 fixed to the longitudinally intermediate portion.
14c, 114d have small diameter holes 11.0a, 110 in the middle.
A large diameter hole 109 is inscribed in b, 110c, and 110d.
The restoring rods 114a, 114b, 114c, and 114d are inserted from above so as to be able to rise and fall freely, and the restoring rods 114a, 114b, 114c, and 114d are normally attached upwards by interposing restoring springs 113 between each spring seat 111 and the stopper 112. be encouraged.

The restoring rod 114a has a rack 11 extending in the vertical direction.
5 is formed, and the rack 115 has a base block 10
Pinion 11 of potentiometer 116 installed in 7
7 is engaged.

An operating lever 118 is fixed to the tip of the universal joint 108.

An annular pressing portion 119 extending in the circumferential direction is formed at the lower end of the operating lever 118, and the restoring rods 114a and 114b are provided on the bottom surface of the pressing portion 119.

The tips of 114c and 114d are in contact with each other.

The upper end of a spherical joint 121 having a spherical portion 120 at the lower end is attached to the center of a bottom plate 122, the bottom plate 122 is fixed to the center of the lower surface of the base block 107, and a spherical seat 124 is formed in the center of the disc 123. At the same time, the spherical seat 12
4 into which the spherical portion 120 is fitted, and restoring rods 114a, 114b, 114c are placed on the upper surface of the disk 123.

The lower end of 114d is brought into contact.

Next, the structure of the reaction force loading device 106 will be explained.

The reaction load device 106 has a reaction rod 39a at the upper end of the guide casing 34 of the reaction force load device t1g described above.

Guide hole 1 in which the upper parts of 39b, 39c, and 39d can slide
25a.

A guide plate 126 having L25b, 125c, and 125d drilled therein is fixed to form reaction force rods 39a, 39b, 39c,
The upper end portion 39d is configured to protrude above the guide plate 12B.

The reaction force loading device gioe is fixed inside the control lever stand 53 via the bracket 127, and
The lower end of the electric power cylinder 43 is connected to the upper surface of the board 52 via the bracket 51, and the control lever unit 105 is connected to the upper end of the control lever stand 53, and the reaction force rod 39a is attached to the lower surface of the disc 123.
The upper ends of 39b, 39c, and 39d are fixed so that they are in contact with each other.

The operation of the reaction force control unit 128 will be explained below.

In the reaction force control unit 128, the sliding block 35 is normally located at the lower part of the guide casing 34.

In this state, the driver grips the operating lever 118 and uses a predetermined operating force to move the operating lever ttS to either the front side (A side), the rear side (B side), the left side (C side), or the right side (D side). When the operating lever 118 is tilted to one side, the restoration ports 114a, 114b, L14c, 1 corresponding to the tilting direction of the operating lever 118
14d is pressed down by the pressing part 119, and the restoration opening/end 114a is pressed down.

Disk 123 by 114b, 114c, 114d
are tilted, and the restoring rods 114a, 114b, 114c,
Reaction rods 39a, 39b located below 114d,
39c and 39d are lowered, and the restoring spring 113 and the reaction spring 41 are compressed.

Further, when the driver releases the operating lever 118 and the operating force is no longer applied to the operating lever 118, the restoring spring 112 and the reaction spring 41, which had been compressed by tilting the operating lever 118, exert a repulsive force. The reaction force rods 39a, 39b, 39c, 39d and restoring rods IL4a, 114b, 114c, 114d are pushed up, and the restoring rods IL4a, 114b, 114c, 114d are extended to the length before being compressed by It is urged into an upright state by the repulsive forces of the spring 112 and the reaction spring 41.

On the other hand, similarly to the reaction force control unit 55 described above, when the motor 45 of the electric power cylinder 43 is driven to protrude the rod 42 and the sliding block 35 is raised, the reaction spring 41 is compressed, and the reaction force The repulsive force of the spring 41 acts to bias the reaction rods 39a, 39b, 39c, and 39d upward, and the force that tends to bias the operating lever 118 into the upright state increases.

Further, in the winch load-sensitive operating device shown in FIG. 6, the same effect can be obtained even if a reaction force control unit 128 is used in place of the reaction force control unit 55.

It should be noted that the reaction force control unit and the winch load-sensitive operating device of the present invention are not limited to the above-mentioned embodiments, and it is of course possible to make various changes without departing from the gist of the present invention. be.

[Effects of the Invention] As explained above, the reaction force control unit 55, 128 and the winch load-sensitive operating device of the present invention can provide various excellent effects as described below.

(1) Reaction force control unit 55, 128 of the present invention
In this case, the electrically driven actuator 43 adjusts the force that compresses the reaction force spring 41 and biases the operating levers 16, 118 to the upright state, so the winch can be controlled remotely by the reaction force control unit 55°128. When operating it, a cable can be pulled instead of a heavy hydraulic hose, and the driver can easily move the reaction force control unit 55.128 while carrying it.

(2) In the winch load-sensitive operation operating device of the present invention, the controller 100 controls each sensor at 60°97.98°.
Based on the detected value, the actuator 43 is actuated to compress the reaction force spring 41, and the reaction force control unit 55,
The driver adjusts the force that tends to bias the operating levers 18, 118 of the operating levers 18, 128 into the upright state.
The load condition of the winch can be detected by the force that tends to urge the wire rope 61 to the upright state, and the wire rope 61
, there is no risk of injury to winches, etc.

[Brief explanation of the drawing]

FIG. 1 is a partial sectional view showing an embodiment of the reaction force control unit of the present invention, FIG. 2 is a view taken along the ■-■ arrow in FIG. 1, and FIG. 3 is a view taken along the ■-■ arrow in FIG. , FIG. 4 is a partial sectional view showing another embodiment of the reaction force control unit of the present invention, FIG. 5 is a view taken along the V-■ arrow in FIG. 4, and FIG. 6 is a load-sensitive operation of the winch of the present invention. A circuit diagram showing an embodiment of the operating device, FIG. 7 is a flowchart of the winch load-sensitive operating device shown in FIG. 6, and FIG. 8 shows a reaction force of the winch load-sensitive operating device shown in FIG. 6. FIG. 9 is a hydraulic circuit diagram showing an example of a conventional winch operation reaction force control device. In the figure, 14 and 107 are base blocks, 113 and 118 are operating levers, 17a, 17b, 18a, 18b,
109a, 109b, 1lOa, 110b are holes, 25.116 are potentiometers (sensors), 27
a, 27b, 114a, 114b are restoration rods, 28a
, 28b is a push-up member, 32 is a small-diameter restoring spring (elastic body for restoring), 33 is a large-diameter restoring spring (elastic body for restoring), 34 is a guide casing, 35 is a sliding block, 37a, 37
b is a guide hole, 39a and 39b are reaction rods, 41 is a reaction spring (elastic body for reaction force), 42 is a rod, 43 is an electric power cylinder (actuator), 49 is a low pressure encoder (sensor), 55 .128 is a reaction force control unit, 58 is a winch drum, 59 is a hydraulic motor, 60 is a drum rotation speed sensor (sensor), 69 is a main switching valve, 70.71 is a pilot valve, 72.73 is a pipe line, 7
9 is an electromagnetic proportional pressure reducing valve, 80.81 is a solenoid, 82.
83 is a pilot pipe, 91 and 102 are signal currents, 92
is an amplifier, 95.98 is a pressure detection signal, 9798 is a pressure sensor (sensor), 99 is a rotation speed detection signal, 100 is a controller, 101 is a reaction force command signal current, 113 is a restoring spring (restoring elastic body), 121 123 indicates a spherical joint (universal joint) and a disc (equalizer).

Claims (1)

[Scope of Claims] 1) Two holes 17a, 18a, 17b, 18b penetrating from the upper surface to the lower surface are bored in the base block 14, and an operation The base end of the lever 16 is supported so as to be tiltable along a vertical plane connecting the holes 17a and 17b around a neutral position where the operating lever 16 is in an upright state, and the operating lever 16 is tilted. A sensor 25 is provided to output a signal at the time, and a restoring rod 27a,
27b is inserted so that it can be raised and lowered and its upper end is in contact with the bottom surface of the base end of the operating lever 16, and the push-up members 28a and 28b are inserted into the holes 18a and 18b so that they can be raised and lowered and that their upper ends are in contact with the bottom surface of the base end of the operating lever 16. The restoring rods 27a and 27b are inserted so as to be in contact with the lower ends thereof, and each of the push-up members 28
Restoration elastic bodies 32 and 33 are interposed between a and 28b and the base block 14 so that each restoration rod 27a and 27b is urged upward, and a sliding block is provided at the lower end of the base block 14. A guide casing 34 fitted with a guide casing 35 that can be freely raised and lowered is fixed, and guide holes 37a and 37b that pass through the sliding block 35 from the upper surface to the lower surface are formed in the holes 1 and 35.
The reaction rods 39a, 39b are provided in the respective guide holes 37a, 37b so as to be able to rise and fall freely, and the upper ends of the reaction rods 39a, 39b are located below the push-up members 28a, 28b.
A reaction force elastic body 41 is inserted between each of the reaction force rods 39a, 39b and the sliding block 35 so that it can come into contact with the lower end of the slide block 35. An electrically driven actuator 43 has a rod 42 that can be raised and lowered below the sliding block 35, and the reaction rods 39a and 39b are interposed so as to be biased upward.
A reaction force control unit characterized in that a sensor 49 is provided, which connects the sliding block 35 and the rod 42, and further includes a sensor 49 that detects the displacement of the sliding block 35 and outputs a signal. 2) 2 that penetrates the base block 107 from the top surface to the bottom surface
Holes 109a, 110a, 109b, 110b are bored in the book, and holes 109a, 10 in the upper end of the base block 107 are drilled.
9b, connect the base end of the operating lever 118 to the operating lever 1.
The hole 109a is centered around the neutral position where the hole 109a is in an upright state.
, 109b, and is provided with a sensor 116 that outputs a signal when the operation lever 118 is tilted.
, 110a, 109b, 110b, restoration rods 114
a, 114b are inserted so that they can be raised and lowered and their upper ends can come into contact with the bottom surface of the base end of the operating lever 118, and a restoring elastic body 113 is inserted between each of the restoring rods 114a, 114b and the base block 107. each restoration rod 114a,
114b is interposed so as to be biased upward, and an equalizer 123 is attached to the lower end of the base block 107 via a universal joint 121, with its upper surface being the restoring rods 114a and 1.
A guide casing 34 is disposed below the base block 107 and fitted with a sliding block 35 so as to be able to move up and down. a penetrating guide hole 37a;
37b is bored so as to be located below the holes 110a, 110b, and the reaction rod 3 is inserted into the guide holes 37a, 37b.
9a and 39b are inserted so that they can be raised and lowered so that their upper ends can come into contact with the lower surface of the equalizer 123, and between each of the reaction rods 39a and 39b and the sliding block 35,
A reaction force elastic body 41 is interposed so that the reaction rods 39a and 39b are urged upward when the sliding block 35 is raised, and a rod that can be raised and lowered is provided below the sliding block 35. 42, an electrically driven actuator 43 is provided to connect the sliding block 35 and the rod 42, and a sensor 49 is further provided to detect the displacement of the sliding block 35 and output a signal. reaction force control unit. 3) a hydraulic motor 59 that drives the winch drum 58;
a pilot valve 70 connected to pipes 72 and 73 for supplying hydraulic oil to the hydraulic motor 59 and for switching positions;
, 71, and the pilot valve 70.
, 71, a pilot line 82 for applying pilot pressure to , 71;
83 and has solenoids 80 and 81 for position switching; a sensor 60 that detects the rotation speed of the winch drum 58 and outputs a rotation speed detection signal 99; a sensor 97 that detects the internal pressure of 72 and 73 and outputs pressure detection signals 95 and 96;
98, and the reaction force control unit 55 according to claim 1, or the reaction force control unit 55 according to claim 2, which outputs a signal current 91 outputted by the sensor 25 or 116 to the solenoids 80 and 81 when the operating lever 16 or 118 is tilted. The reaction force command signal current 101 is generated based on the signal current 102 output by the reaction force control unit 128, the rotation speed detection signal 99, the pressure detection signals 95, 96, and the sensor 49 of the reaction force control unit 55 or 128. 1. A winch load-sensitive operating device comprising a controller 100 that outputs an output to an actuator 43 of a force control unit 55 or 128.