JPH0612122B2 - Actuator operating device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator operating device that applies an operating reaction force to an operating lever of a construction machine such as a crane.

[Conventional technology]

Conventionally, as means for applying an operation reaction force to an operation lever in accordance with a hoisting load of a winch, for example, an actual opening sho 55-141.
As shown in Japanese Patent Publication No. 99, the reaction valve cylinder is attached to the pilot valve, and the load pressure taken out between the winch hydraulic motor and the counter balance valve is formed on the back surface of the piston in the reaction force cylinder. The pressure is applied to the chamber, and the pressure pushes out the rod connected to the piston to bring it into contact with the rotating part connected to the operation lever, so that the operation reaction force, that is, the force to return the lever to the neutral position, is applied to the operation lever. It is known that it is given.

[Problems to be Solved by the Invention]

The above conventional device requires a high-pressure, high-strength reaction cylinder to directly input the load pressure of the motor into the chamber formed on the back surface of the piston of the reaction cylinder.
Manufacturing cost is high. Moreover, since the piston has a constant diameter (pressure receiving area) and the load pressure of the motor is directly input to the chamber formed on the back surface of the piston to control the operation reaction force, the operation reaction force is the chain line in FIG. As indicated by b ', the linear control is performed at a constant ratio in proportion to the load pressure.

By the way, in this type of operating device, as shown by the solid line in FIG. 6, the neutral holding force for always holding the lever neutral with respect to the operating lever and the secondary pressure reaction force of the pilot valve are the reaction force F ₁ peculiar to them. The total of the operation reaction force F (F ₁ + F ₂₎ that is acting and the sum of the specific reaction force F ₁ and the operation reaction force F ₂ controlled in proportion to the load pressure is as shown by the solid line B in the figure. ) Acts on the lever. Therefore, when the operation reaction force F ₂ is controlled, the total operation reaction force F is the maximum lever operation possible value F _max.
Must not exceed.

Therefore, conventionally, the diameter and the like of the piston are set so that the operation reaction force F ₂ is controlled in proportion to the load pressure as shown by the chain line B ′ in FIG. If the control is performed as shown by the chain line B ′, the operability is good because the ratio of the operation reaction force F ₂ to the total operation reaction force F is large at the time of heavy load, but the operation reaction force F against the total operation reaction force F at the time of light load. _Since the ratio of ₂ is small, it is difficult for the operator to manually detect the changing state of the reaction force F, and it is difficult to detect the start of the movement of the suspended load. The operation reaction force F ₂ controlled in proportion to the load pressure
If the rate of increase in the total operation reaction force F is controlled so that the total operation reaction force F has the characteristic shown by the broken line C in FIG. 6, it is possible to detect the change in the total operation reaction force F even under a light load, but At the same time, the total operation reaction force F becomes too large and exceeds the maximum value F _max that can be operated by the lever, making it impossible to operate.

An object of the present invention is to enable the operating reaction force to be appropriately controlled according to the operating state of the actuator, for example, the load pressure, regardless of whether the actuator is under a light load or a heavy load. To provide an actuator operating device capable of improving operability and safety by allowing the operator to easily detect a change in the operating state of the actuator, particularly the start of movement, even when working in a position invisible to the operator. It is in. And for other purposes,
It is to improve the versatility of the machine so that the optimum reaction force control can always be performed according to the work content. Still another object is to improve the control accuracy and prolong the life of the equipment.

[Means for Solving the Problems]

In order to achieve the above object, the present invention provides a reaction force mechanism that applies an operation reaction force to an operation lever of an actuator, a detection unit that detects an operating state of the actuator, and a signal from the detection unit that is input and responds to the signal. A control mechanism for outputting a reaction force control signal to the reaction force mechanism, wherein the control mechanism is provided with a control means for changing a rate of change of the reaction force control signal with respect to the signal from the detection means. ).

In the above structure, the control mechanism controls the rate of change of the reaction force control signal with respect to the signal input from the detection means when the actuator is in the light load range, and the reaction force control with respect to the signal input from the detection means when the actuator is in the heavy load range. A control means for controlling the signal to be higher than the rate of change of the signal is provided (claim 2).

Further, the control means includes a control pattern setting means for setting a plurality of control patterns having different rates of change in the reaction force control signal from the detection means, and a control pattern selection for selecting the control pattern set in the setting means. Means and
A signal output means for outputting a reaction force control signal corresponding to the control pattern selected by the selection means to the reaction force mechanism may be provided (claim 3).

In this case, at least one control pattern among the plurality of control patterns is such that the rate of change of the reaction force control signal with respect to the signal from the detection means when the actuator is in the light load range, and the signal from the detection means when the actuator is in the heavy load range. It can be set so as to be higher than the rate of change of the reaction force control signal with respect to (claim 4).

The control means is provided with an initial value setting means for changing the initial value of the reaction force control signal.

The detecting means includes a shuttle valve arranged between oil passages communicating with both ports of the actuator, and a pressure sensor for detecting a pressure selected by the shuttle valve to have a high pressure (claim 6).

The detecting means is a pair of pressure sensors connected to oil passages communicating with ports on both sides of the actuator, and an effective load of the actuator by obtaining a differential pressure between the oil passages from detection values detected by the sensors. You may comprise by the means which computes pressure (Claim 7).

The operation lever is connected to a rotation member, the rotation member is rotatably supported by a fixed member by a pivot, and a reaction mechanism has a cylinder provided with a chamber for controlling an operation reaction force, and a shaft for the cylinder. A piston supported slidably in a direction and a rod connected to the piston, and the rod is arranged to face the rotating member (claim 8).

The cylinder of the reaction mechanism is integrally connected to the valve case of the pilot valve, the fixing member is connected to the valve case, the rotating member is the push rod for controlling the output of the pilot valve, and the reaction force mechanism. Placed opposite the rod of
The pilot oil passage for outputting the pilot pressure from the pilot valve is connected to the receiving portion of the pilot type directional control valve for supplying and discharging oil from the hydraulic pressure source to the actuator (claim 9).

The control mechanism has a controller that inputs an electrical signal from a pressure sensor that detects the load pressure of the actuator and outputs an electrical reaction force control signal that corresponds to the load pressure, and a controller that responds to the signal from the controller. It is constituted by an electromagnetic proportional pressure reducing valve for inputting the next pressure to the chamber of the cylinder of the reaction mechanism (claim 10).

[Work]

According to the actuator operating device of the first aspect, the operation reaction force can be controlled according to the operation state of the actuator. Therefore, the operator operates the actuator by manually detecting a change in the operation reaction force. You can easily know the condition and the start of movement. Moreover, the reaction force control is properly performed by changing the rate of change of the reaction force control signal according to the work content.

According to the actuator operating device of the second aspect, the rate of change of the operation reaction force is increased when the actuator is in the light load range. Therefore, even a slight change in the actuator causes a large change in the operation reaction force to result in the operation lever. An operator who is manually operating can reliably detect and improve operability.

Further, by detecting the operation reaction force, the movement start of the load (hanging load) can be easily known, and the safety can be improved. Moreover, instead of controlling the operation reaction force at a constant rate as in the past, the operation pressure is controlled at a rate of change that is smaller than the rate of change at the time of light load during heavy load, so that the total operation reaction force is the lever operation. It is possible to set easily so as not to exceed the maximum possible value, and it is possible to eliminate the inconvenience that the lever is too heavy and the operation becomes impossible.

According to the actuator operating device of the third aspect, the control means is provided with control pattern setting means for setting a plurality of control patterns having different reaction force control signal change rates, which is suitable for the work content. It is possible to arbitrarily select a different pattern.

That is, by inputting the most suitable desired pattern to the setting means via the control pattern selection means,
The signal output means outputs the rate of change that matches the work content, so that proper operation can always be performed, and the versatility of the device can be improved.

According to the actuator operating device of the fourth aspect, since the change rate of the reaction force control signal signal when the actuator is in the light load range is controlled to be higher than that in the heavy load range, the operator is required to lift the load. Can easily detect when the load is light and can prevent overaction due to light load.

According to the actuator operating device of the present invention, since the control means is provided with an initial value setting means for freely changing the initial value of the reaction force control signal, the operation is performed by the initial value setting means. The initial value of the reaction force can be arbitrarily set, the controllability under a light load can be further improved, and as a result, the movement start of the suspended load can be detected more easily.

According to another aspect of the actuator operating device of the present invention, the detection means includes a shuttle valve arranged between oil passages communicating with both ports of the actuator, and a pressure sensor for detecting a pressure selected by the shuttle valve to have a high pressure. Therefore, as compared with the case where the pressures on both sides of the actuator are detected by the two pressure sensors, only one pressure sensor needs to be used, and the equipment cost can be reduced.

According to the actuator operating device of the seventh aspect, the detection means includes a pair of pressure sensors respectively connected to oil passages communicating with ports on both sides of the actuator, and the both oils based on detection values detected by the both sensors. Since it is composed of means for calculating the effective load pressure of the actuator by obtaining the differential pressure of the path, the pressure communicating with the ports on both sides of the actuator is detected by the pair of pressure sensors,
If the differential pressure is calculated by the above calculation means and the control is performed based on this calculation result, even if a plurality of actuator circuits are connected in series, it will always be appropriate without being affected by the load pressure of other actuators. Pressure control can be performed.

According to the actuator operation device of claim 8, the operation lever is coupled to the rotating member, the rotating member is rotatably supported by the fixed member by the pivot, and the reaction force mechanism controls the operation reaction force. And a piston axially slidably supported by the cylinder, and a rod connected to the piston, the rod being arranged to face the rotating member. Therefore, the operation of the operation lever is reliably transmitted, and as a result, delicate control is possible and the control accuracy can be improved.

According to the actuator operating device of claim 9, the cylinder of the reaction mechanism is integrally connected to the valve case of the pilot valve, the fixing member is connected to the valve case, and the rotating member is the pilot valve. Output control push rod,
A pilot oil passage that is arranged to face the rod of the reaction mechanism and that outputs pilot pressure from the pilot valve is connected to the receiving portion of the pilot type directional control valve that supplies and discharges oil from the hydraulic source to the actuator. Therefore, if the operation lever is operated in a desired direction, the operation amount is
The signal can be reliably transmitted to the receiving portion of the pilot type directional control valve via the push rod and the pilot oil passage, and the directional control valve can be operated to change the rotational drive direction of the actuator or stop the rotational drive.

According to the actuator operating device of claim 10,
The control mechanism is a controller that inputs an electric signal from a pressure sensor that detects the load pressure of the actuator and outputs an electric reaction force control signal according to the load pressure,
Since it is composed of an electromagnetic proportional pressure reducing valve that inputs a hydraulic signal according to the signal from the controller to the chamber of the cylinder of the reaction force mechanism, an electric reaction force control signal according to the load pressure is output from the controller. The solenoid proportional control valve that received this reaction force control signal has an opening corresponding to this signal, and the reaction force piston is pushed up by the hydraulic pressure corresponding to that opening, so that the operator can operate the reaction reaction force corresponding to the load pressure. give.

In this way, by controlling the operation reaction force with the signal output from the controller via the electromagnetic proportional pressure reducing valve, delicate control becomes possible and control accuracy can be improved. Moreover, this control enables the use of low-voltage equipment such as the cylinder of the reaction mechanism, and improves the service life of the machine.

〔Example〕

FIG. 1 shows an embodiment of the present invention. In this figure, the direction switching valve 2 is a pilot type switching valve, and a pilot valve 4 is used to switch the direction switching valve 2. The pilot valve 4 has a pair of pressure reducing valves 5 and 5 '. Each pressure reducing valve 5, 5 ′ has an input port 42, a return port 43, and an output port 4 provided in the valve body 41.
Into chambers 51 and 51 'corresponding to 4 and 44', spools 53 and 53 'having oil holes 52 and 52' are slidably inserted. Push rods 54, 54 'are provided with springs 55, 5 at the tip ends of the spools 53, 53'.
It is connected via 5 '. The rear ends of the spools 53, 53 'are supported by the valve body 41 by springs 56, 56'. The operation hydraulic pump 50 is connected to the port 42, the port 43 is connected to the tank 10, and the output ports 44 and 44 'are connected to the switching pilot portion of the directional switching valve 2 through the pilot oil passages 21 and 21'. It is connected. An operating lever 6 for operating the pilot valve 4 is swingably supported by a valve body 41 via a pivot 61, and left and right actuating portions 62, 62 'connected to the lever 6 are connected to the pair of pressure reducing valves 5, 5. It is arranged so as to face 5 '.

FIG. 1 shows a case where the lever 6 of the pilot valve 4 is operated from the neutral position to the winding side. By this winding operation, the push rod 54 of the operating pressure reducing valve 5 on the winding side is pushed down, and the spool 5 is pushed down. The pilot pressure corresponding to the lever operation angle is output from the output port 44 to the pilot oil passage 2
1 and the pilot pressure causes the directional control valve 2 to be switched to the hoisting position. As a result, the oil discharged from the pump 1 flows in the direction of the arrow and flows into the motor 3,
Is normally rotated, a winch drum (not shown) is rotated in a hoisting direction, and a suspended load is hoisted.

During this hoisting operation, the operating state of the actuator, that is, the motor 3 is detected, and the operation reaction force is controlled. For this control, a shuttle valve 33 and a pressure sensor 91 are provided as detecting means. A controller 9 and an electromagnetic proportional pressure reducing valve 8 are provided as a control mechanism. Then, at the time on the winding, after being pressure selected by the shuttle valve 33 the pressure of the hoisting side of the oil passage 31 of the motor 3 as a load pressure P _M, is detected by the pressure sensor 91 is input to the controller 9, the load pressure Based on P _M , the controller 9 sends a reaction force control signal i to the electromagnetic proportional pressure reducing valve 8.
(Control current) is output. The electromagnetic proportional pressure reducing valve 8 is connected at its primary side to the operating hydraulic pump 50 via the switching valve 81, receives the reaction force control signal i from the controller 9 in its receiving portion, and responds to the signal by the reaction force control signal Pi. (Pilot pressure) is output. The operation reaction force is controlled by this pilot pressure Pi.

The reaction force mechanism is composed of reaction force cylinders 7 and 7'integrated in the valve body 41 of the pilot valve 4. That is, reaction force cylinder chambers are provided in the valve body 41 at positions corresponding to the pressure reducing valves 5 and 5 ', and pistons 71 and 71' are slidably inserted into the cylinder chambers.
The rods 72, 72 'connected to 1, 71' are levers 6
Are arranged so as to correspond to the respective operating portions 62, 62 '. The rods 72 and 72 'are provided with the lever 6 when the lever is neutral.
The maximum stroke is such that the tip end contacts the lower surface of the operating portions 62, 62 'in the lever-neutral state in the maximum protruding state so that the operation reaction force is applied simultaneously with the start of the lever operation without applying the operation reaction force to the. It is set.

Then, when the lever 6 is operated, the pilot pressure Pi from the electromagnetic proportional pressure reducing valve 8 is input to the chambers 73, 73 'formed on the rear surface of the pistons 71, 71' through the oil passages 81, 81 ', and the pilots Pi Pistons 71, 7 due to pressure Pi
The rods 72, 72 'are urged in the projecting direction via 1', and the projecting force acts on the operating portion 62 of the lever 6 as the operation reaction force Fb.

In this case, the push rod 54 of the pressure reducing valve 5 is attached to the lever 6.
Of the pilot valve 4 and the secondary pressure reaction force of the pilot valve 4 act as a specific reaction force Fa, and the operation reaction force controlled according to the specific reaction force Fa and the load pressure P _M. The sum of Fb acts on the lever 6 as the total operation reaction force F (F = Fa + Fb). However, the specific reaction force Fa is determined by the spring 56 of the pressure reducing valve 5 in the pilot valve 4, the sliding resistance of the spool 53, etc., and is substantially constant as shown by the solid line I in FIG. 4 (a). On the other hand, the operation reaction force Fb by the rod 72 of the reaction force mechanism is basically controlled according to the operating state of the actuator, that is, the load pressure P _M of the motor 3. Moreover the rate of change of the operation reactive force Fb at light loads to the load pressure P _M (proportional gain) is high, so that the rate of change of the operation reactive force Fb at heavy load on the load pressure P _M (proportional gain) is low, the controller 9 The arithmetic processing is performed by the arithmetic unit (control means) provided in the. Then, the operation reaction force Fb is controlled by a broken line according to the load pressure P _M , for example, as shown by a chain line II ′ in FIG. 4 (a). As a result, the total operation reaction force F shown by the solid line II in FIG.
(Fa + Fb) acts.

By this control, a slight change in the load pressure P _M can be converted into a large change in the operation reaction force Fb, especially when the load is light, and the change can be sensed by the operator via the lever 6. Then, the movement start of the load in the initial stage of the operation can be easily sensed through the change of the operation reaction force Fb, that is, the change of the total operation reaction force F, and the operation and the work can be safely performed even in the operation where the load cannot be seen. . Moreover, even if the proportional gain of the operation reaction force Fb with respect to the load pressure P _M is increased when the load is light as described above, the total operation reaction force F is reduced to the maximum lever operation value F by decreasing the proportional gain when the load is heavy. may exceed the _max is not, and can properly control the operation reaction force Fb in accordance with the load pressure P _M even when a heavy load. This allows smooth operation and work over the entire load range from light load to heavy load.

When the lever 6 is operated in the lowering direction, pilot pressure is output from the pressure reducing valve 5 on the lowering side, the direction switching valve 2 is switched to the lowering position, and the motor 3 is rotated in the lowering direction.
In this case, the pressure in the oil passage 32 on the unwinding side is detected by the pressure sensor 91 via the shuttle valve 33, and the operation reaction force is controlled by the same action as described above.

In FIG. 1, by holding the switching valve 82 at the position shown in the figure, the primary pressure is input to the electromagnetic proportional pressure reducing valve 8 to perform the above-described operation reaction force control, so that the lever is frequently operated. When the operation reaction force control is not required, the switching valve 82 is switched to the position on the drawing, the electromagnetic proportional pressure reducing valve 8 is released to the tank 10, and the operation reaction force control is stopped. This switching valve 82 may be omitted if desired.

Further, in FIG. 1, reference numeral 92 indicates a selection switch as a control pattern selection means. When the selection switch 92 is used, the controller 9 is previously provided with, for example, FIG.
A plurality of control patterns as shown by solid lines II, III, and IV are set, and any one of the control patterns is selected by the selection switch 92. By this selection, the operation reaction force control according to the work content can be performed, and the versatility of the device can be improved. In this case, the control pattern is not necessarily limited to the polygonal line as described above, and the control pattern is changed, for example, as shown in FIG. 4 by changing the rate of change (proportional gain) of the operation reaction force Fb with respect to the load pressure P _M by the selection switch 92. b) It can be changed as shown by solid lines V, VI, and VII, and the control pattern is selected according to the load, such as solid line V at heavy load, solid line VI at medium load, and VII at light load. May be. In addition, the control pattern selection switch 92 may be configured to change the control pattern depending on the winding time and the winding time.

Further, an initial value setting device 93 is attached to the controller 9,
By changing the initial value of the control by the initial value setting device 93, the control pattern of the solid line II can be changed (shifted up) to the solid lines II ₁ and II ₂ as shown in FIG. The operation reaction force can be increased to further improve the operability. It goes without saying that the initial values of the control patterns of the solid lines III and IV can be changed by the initial value setting device 93 in the same manner as described above. The control pattern selection switch 92
Even if the initial value setting device 93 is omitted, the intended purpose can be achieved.

In the embodiment of FIG. 1, the oil passages 31 on both sides of the motor 3 are
The pressure of 32 is selected to be high by the shuttle valve 33, and it is detected and controlled by one pressure sensor 91.
As shown in FIG. 2, the pressures of the oil passages 31 and 32 may be individually detected and controlled by the pressure sensors 91 and 91 '.
In particular, when the winch circuit is connected to another actuator circuit in a series circuit and used, each pressure sensor 9
1, 91 'individually detects the pressures in both oil passages 31 and 32 and causes the controller 9 to input the pressure. Here, it is determined whether the oil is wound up or down, and the pressure difference between the oil passages 31 and 32 is calculated. However, if this differential pressure is used as the effective load pressure of the motor 3 and the above-mentioned control is performed based on this effective load pressure, the operation reaction force can be properly adjusted even when a downstream actuator is used. Can be controlled.

By the way, in each of the above embodiments, the case where the reaction force cylinders 7 and 7'are provided integrally with the pilot valve 4 has been described, but the reaction force cylinders 7 and 7'necessarily be formed integrally with the pilot valve 4. There is no. For example, as shown in FIG. 3, an operating lever 6 is provided at a position away from the pilot valve 4, and the operating portion 63 of the pilot valve 4 and the operating lever 6 are provided.
Of the reaction force cylinder 7,
7'may be arranged. By doing so, the existing pilot valve 4 can be used as it is, the reaction force cylinders 7 and 7'can be downsized, the cost can be reduced, and the pilot valve 4, the operating lever 6 and the reaction force cylinders 7 and 7 can be reduced. The arrangement of ′ can be set arbitrarily, and even in a narrow cab such as a construction machine, it can be efficiently arranged and its utility value can be increased. Further, the operating device of the present invention is not limited to the case where an operation reaction force is applied to the operating lever of the winch hydraulic motor, and other actuators such as a boom / elevation hydraulic cylinder of a crane, a boom, an arm, and a bucket of a hydraulic excavator. It goes without saying that the present invention can also be applied to the case where an operation reaction force is applied to each operation lever of an actuator that drives a work device such as.

〔The invention's effect〕

As described above, according to the actuator operating device of the first aspect of the present invention, the operation reaction force can be controlled according to the operating state of the actuator. Therefore, when the operator senses the change in the operation reaction force by hand, the operating state of the actuator and the start of movement can be easily known. Moreover, the reaction force control is properly performed by changing the rate of change of the reaction force control signal according to the work content.

According to the actuator operating device of the second aspect, the rate of change of the operation reaction force is increased when the actuator is in the light load range. Therefore, even a slight change in the actuator causes a large change in the operation reaction force to result in the operation lever. An operator who is manually operating can reliably detect and improve operability.

Further, by detecting the operation reaction force, the movement start of the load (hanging load) can be easily known, and the safety can be improved. Moreover, instead of controlling the operation reaction force at a constant rate as in the past, the operation reaction force is controlled at a rate of change that is smaller than the rate of change at the time of light load under heavy load, so that the total operation reaction force of the lever is It can be easily established so as not to exceed the maximum operable value, and the inconvenience that the lever is too heavy to make the operation impossible can be eliminated.

According to the actuator operating device of the third aspect, the control means is provided with control pattern setting means for setting a plurality of control patterns having different reaction force control signal change rates, which is suitable for the work content. It is possible to arbitrarily select a different pattern.

That is, by inputting the most suitable desired pattern to the setting means via the control pattern selection means,
The signal output means outputs the rate of change that matches the work content, so that proper operation can always be performed, and the versatility of the device can be improved.

According to the actuator operating device of the fourth aspect, since the change rate of the reaction force control signal when the actuator is in the light load range is controlled to be higher than that in the heavy load range, the operator can handle the suspended load. It is possible to easily detect when the load is light and light, and it is possible to prevent overaction due to a light load.

According to the actuator operating device of the present invention, since the control means is provided with an initial value setting means for freely changing the initial value of the reaction force control signal, the operation is performed by the initial value setting means. The initial value of the reaction force can be arbitrarily set, the controllability under a light load can be further improved, and as a result, the movement start of the suspended load can be detected more easily.

According to another aspect of the actuator operating device of the present invention, the detection means includes a shuttle valve arranged between oil passages communicating with both ports of the actuator, and a pressure sensor for detecting a pressure selected by the shuttle valve to have a high pressure. Therefore, as compared with the case where the pressures on both sides of the actuator are detected by the two pressure sensors, only one pressure sensor needs to be used, and the equipment cost can be reduced.

According to the actuator operating device of the seventh aspect, the detection means includes a pair of pressure sensors respectively connected to oil passages communicating with ports on both sides of the actuator, and the detection values detected by both sensors. And a means for calculating the effective load pressure of the actuator by obtaining the differential pressure of the oil passage. Therefore, the pressure communicating with the ports on both sides of the actuator is detected by the pair of pressure sensors, and the differential pressure is calculated by the calculating means. If a plurality of actuator circuits are connected in a series circuit, it is possible to always perform appropriate reaction force control without being affected by the load pressure of other actuators by calculating the You can

According to the actuator operation device of claim 8, the operation lever is coupled to the rotating member, the rotating member is rotatably supported by the fixed member by the pivot, and the reaction force mechanism controls the operation reaction force. And a piston axially slidably supported by the cylinder, and a rod connected to the piston, the rod being arranged to face the rotating member. Therefore, the operation of the operation lever is reliably transmitted, and as a result, delicate control is possible and the control accuracy can be improved.

According to the actuator operating device of claim 9, the cylinder of the reaction mechanism is integrally connected to the valve case of the pilot valve, the fixing member is connected to the valve case, and the rotating member is the pilot valve. Output control push rod,
A pilot oil passage that is arranged to face the rod of the reaction mechanism and that outputs pilot pressure from the pilot valve is connected to the receiving portion of the pilot type directional control valve that supplies and discharges oil from the hydraulic source to the actuator. Therefore, if the operation lever is operated in a desired direction, the operation amount is
The signal can be reliably transmitted to the receiving portion of the pilot type directional control valve via the push rod and the pilot oil passage, and the directional control valve can be operated to change the rotational drive direction of the actuator or stop the rotational drive.

According to the actuator operating device of claim 10,
The control mechanism is a controller that inputs an electric signal from a pressure sensor that detects the load pressure of the actuator and outputs an electric reaction force control signal that corresponds to the load pressure,
Since it is composed of an electromagnetic proportional pressure reducing valve that inputs a hydraulic signal according to the signal from the controller to the chamber of the cylinder of the reaction force mechanism, an electric reaction force control signal according to the load pressure is output from the controller. The solenoid proportional control valve that receives this reaction force control signal has an opening corresponding to this signal, and the reaction force piston is pushed up by the hydraulic pressure corresponding to this opening, and the operator reacts to the load pressure. give.

In this way, by controlling the operation reaction force with the signal output from the controller via the electromagnetic proportional pressure reducing valve, delicate control becomes possible and control accuracy can be improved. Moreover, this control enables the use of low-voltage equipment such as the cylinder of the reaction mechanism, and improves the service life of the machine.

[Brief description of drawings]

FIG. 1 is a structural explanatory view showing an embodiment of the present invention, FIG. 2 is a structural explanatory view showing another embodiment, FIG. 3 is a schematic layout drawing showing yet another embodiment, and FIG. 4 (a). (B) is a relationship diagram between the load pressure and the operation reaction force showing the control characteristics according to the present invention, FIG. 5 is an explanatory diagram when the initial value is changed, and FIG.
The figure is a relationship diagram between the load pressure and the operation reaction force showing the conventional control characteristics. 1 ... hydraulic pump, 2 ... direction switching valve, 3 ... winch hydraulic motor (actuator), 4 ... pilot valve, 5,5 '... operation pressure reducing valve, 6 ... operating lever,
7, 7 '... Reaction force cylinder (reaction force mechanism), 8 ... Electromagnetic proportional pressure reducing valve (control means), 9 ... Controller (control means), 33 ... Shuttle valve, 91, 91' ... Pressure sensor (Detection means), 92 ... Control pattern selection switch (same selection means), 93 ... Initial value setting device.

Claims (10)

[Claims] 1. A reaction force mechanism for applying an operation reaction force to an operation lever of an actuator, a detecting means for detecting an operating state of the actuator, and a signal from the detecting means for inputting a reaction force control signal corresponding to the signal. An actuator operating device comprising: a control mechanism for outputting to a reaction force mechanism, the control mechanism including control means for changing a rate of change of the reaction force control signal with respect to a signal from the detection means. 2. The control mechanism calculates a rate of change of a reaction force control signal with respect to a signal input from the detecting means when the actuator is in a light load range, and a reaction force with respect to a signal input from the detecting means in a heavy load range. 2. The actuator operating device according to claim 1, further comprising control means for controlling the control signal so as to be higher than a rate of change of the control signal. 3. The control means selects a control pattern setting means for setting a plurality of control patterns having different rates of change of a reaction force control signal from the detection means, and a control pattern set in the setting means. The actuator according to claim 1 or 2, further comprising: a control pattern selection means and a signal output means for outputting a reaction force control signal corresponding to the control pattern selected by the selection means to the reaction force mechanism. Operating device. 4. At least one of a plurality of control patterns
The two control patterns are the change rate of the reaction force control signal to the signal from the detection means when the actuator is in the light load range.
4. The actuator operating device according to claim 3, wherein the operating ratio is set to be higher than the rate of change of the reaction force control signal with respect to the signal from the detecting means in the heavy load region. 5. The operation of the actuator according to claim 1, wherein the control means includes initial value setting means for variably setting an initial value of a reaction force control signal. apparatus. 6. The detecting means comprises a shuttle valve arranged between oil passages communicating with both ports of the actuator, and a pressure sensor for detecting a high pressure selected by the shuttle valve. An operating device for an actuator according to claim 1. 7. The actuator, wherein the detecting means obtains a differential pressure between the oil passages from a pair of pressure sensors connected to oil passages communicating with ports on both sides of the actuator, and detection values detected by the sensors. 6. The actuator operating device according to claim 1, wherein the actuator operating device is configured by a means for calculating the effective load pressure. 8. A cylinder in which the operation lever is connected to a rotating member, the rotating member is rotatably supported by a fixed member by a pivot, and a reaction force mechanism has a chamber for controlling an operation reaction force. And a piston axially slidably supported by the cylinder, and a rod connected to the piston, wherein the rod is arranged to face the rotating member. 8. An actuator operating device according to any one of 1 to 7. 9. A cylinder of the reaction mechanism is integrally connected to a valve case of a pilot valve, the fixing member is connected to the valve case, and a rotating member is a push rod for controlling output of the pilot valve, and The pilot oil passage, which is arranged to face the rod of the reaction mechanism and outputs pilot pressure from the pilot valve, is connected to the receiving part of the pilot type directional control valve that supplies and discharges oil from the hydraulic source to the actuator. The actuator operating device according to claim 8. 10. A controller for inputting an electric signal from a pressure sensor for detecting a load pressure of an actuator and outputting an electric reaction force control signal according to the load pressure, and the control mechanism, 10. The actuator operating device according to claim 8, further comprising an electromagnetic proportional pressure reducing valve for inputting a hydraulic signal corresponding to the signal to a chamber of the cylinder of the reaction mechanism.