JPH10147492A - Control device and control method of starting-stopping of actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate delicate operation by transmitting symptomatic information on a movement start of an actuator to an operator, and accurately getting the timing of operation. SOLUTION: A control device 20 of starting and stopping is composed of a strain detecting sensor, a control part 22 of a controller and a warning generating part 23. The strain detecting sensor to detect a symptom, constitutes a strain gauge by a piezoelectric element into which a bridge is incorporated, and outputs a signal by converting the magnitude of strain into electricity. The strain detecting sensor is adhered to a rubber hose 16. The strain detecting sensor uses a magnetostrictive element of a magnetoelectric converting element, an MR element and a Hall element. A warning generating part 23 is composed of a loudspeaker, and outputs sound pressure and a tone color by a command of the control part 22 of the controller. An operator is informed of that starting of an actuator 2 is commenced. The operator can get that a suspending cargo 8 starts to descend.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device and a control method for starting / stopping an actuator,
In a construction machine such as a crane, when starting or stopping an actuator such as a hydraulic motor of a winch or a cylinder such as a boom, a starter / stop controller and a control method of an actuator which transmits the operation and stop of the actuator to an operator in advance are described. .

[0002]

2. Description of the Related Art As is well known, in a crane operation of a crane vehicle, when lifting or suspending a load, a winch is operated to lift or lower, or a boom is raised or lowered. This is done by causing These tasks are difficult and require skill,
In particular, lifting and lowering a load to a fixed position requires a delicate operation. However, since the cab of construction machines such as cranes in recent years has soundproofing measures, it is difficult for external sounds to be transmitted. In addition, outside air is hardly audible due to air conditioning. For this reason, it is extremely difficult for the operator in the operator's cab to grasp the timing of lifting or suspending or suspending the load during the lifting or suspending work, and it is even more difficult to perform a delicate operation. I have to.
In particular, when suspending, it is difficult to grasp the timing of starting or stopping the suspension, so the operator is likely to make an operation error, and the suspended load may swing and hinder work that requires delicate operation. Many.

[0003] As a countermeasure, for example, in winch work of a crane, a device for transmitting the speed of the winch by vibration is provided at the tip of the operating lever of the winch so that the operator can sense the speed of the winch to improve the fine operability. A method is used. Alternatively, a method utilizing the transmission of the throttle sound to the operator cab, such as sensing the operating speed of the working machine by directly transmitting the throttle sound of the hydraulic drive winch or the operating valve of the hydraulic cylinder to the operator, has been used. I have.

[0004]

However, in each of the above methods, the transmission of speed information after the actuator has started to move. In the case of transmission of speed information when the actuator is moved, a time delay of "transmission required time on the machine side + transmission required time on the human side (100 msec or more)" from the speed detection to the transmission of a signal to the operator Physically occur, and the steering characteristics deteriorate. For this reason, an operation error is likely to occur, and for example, there is a problem that a swing of a suspended load occurs in a crane operation.

The present invention has been made in view of the above problems, and relates to a control method and a control device for starting and stopping an actuator. A method of controlling the start / stop of an actuator that reduces operation errors and improves fine operability by grasping the timing more accurately than before, for example, to reduce swing of a suspended load in the case of hanging work of a crane operation. And a control device.

[0006]

Means for Solving the Problems, Functions and Effects In order to achieve the above object, in the invention of a control device for starting and stopping an actuator according to the present invention, a pressure is supplied to the actuator from a pressure source to a construction machine. In a start / stop control device for an actuator that controls an operating actuator to start or stop smoothly when starting or stopping operating a work machine, a winch, etc., a sign at the time of starting or stopping the actuator. Sign detecting means for detecting a sign signal, a control means for receiving a sign signal from the sign detecting means and transmitting a required control signal,
It is configured to include a warning generation unit that receives a control signal from the control unit and generates a sound or vibration. As a result, a sign of starting or stopping the actuator can be accurately and reliably transmitted to the operator by sound or vibration, and the operator can grasp the operation timing at an early stage. Therefore, in the case of the hanging operation of the crane operation, the starting time can be accurately and reliably grasped, so that the swing of the suspended load can be reduced. Further, since the control means is provided, it is possible to arbitrarily adjust the generation of the warning.

[0007] Further, the indication signal is any one of pressure, sound pressure and vibration from a pressure source to the actuator. This makes it possible to accurately and reliably detect an increase or decrease in the flow rate of the fluid, and it is difficult to pick up other vibration noise unlike detection means such as a microphone that collects sound, so that it is possible to reliably detect a sign of starting or stopping the actuator. .

The indication signal is the stroke of an operating lever for operating the actuator or the pressure of a pressure proportional control valve attached to the operating lever. As a result, the operation of the operation valve can be accurately recognized, and the sign detection can be performed even earlier.

The sound pressure or vibration generated by the warning generating means outputs a predetermined value from the detection of the sign to the start of operation of the actuator, and thereafter, according to the speed of the actuator or the operation amount of the operation lever. The sound pressure or the magnitude or frequency of the vibration is continuously changed and output. Thus, the operator is strongly warned only when necessary, so that the timing of the sign becomes clear, and the operator does not always receive the strong warning, so that there is no trouble.

Further, depending on the type of the actuator, the sound pressure,
Either the tone or the magnitude of the vibration, or the frequency of the sound or the vibration is changed. Thereby, for example, even when a plurality of actuators such as a winch and a boom cylinder are operated at the same time, each actuator can be distinguished, and the worker can know the operation status of each actuator and work easily. Become.

According to the invention, a method of controlling the start / stop of an actuator according to the present invention is to supply a pressure from a pressure source to the actuator to smoothly operate or stop a work machine, a winch or the like of a construction machine. In a start / stop control method of an actuator that controls to start or stop at a time, at the time of start or stop, a sign before and after the start of the actuator or before the stop and a moving speed of the actuator are detected, and the detection is performed. This information is transmitted to the operator by sound or vibration to notify the start or stop of the actuator, and the start or stop is performed smoothly. This allows the operator to predict the start or stop of the actuation before the start or stop of the actuator. Therefore, the operation timing can be quickly grasped, and a delicate operation can be easily performed. In particular, it is possible to perform a highly accurate operation by reducing the swing of the load in the hanging operation of the crane operation.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following describes the operation of the actuator according to the present invention.
Regarding the first embodiment of the stop control device and control method,
This will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a start / stop control device 20 of an actuator 2 mounted on a self-propelled crane vehicle 1, and FIG. 2 is a start / stop control device 2.
0 is a block diagram of FIG. In FIG. 1, a work machine boom 6 that is raised and lowered by an operator cab 5 and an actuator 2 such as a hydraulic cylinder is attached to an upper swing body 4 that is swingably mounted on a lower running body 3 of a self-propelled crane vehicle 1. ing. A suspended load 8 is suspended from the work implement boom 6 by a wire 7. The operator operates the operating lever 9 to raise and lower the suspended load 8 by raising and lowering the work equipment boom 6 by the actuator 2 or by rotating a winch (not shown) to wind up or rewind the wire 7 to lift the suspended load 8. Up and down.

In FIG. 2, a hydraulic pump 11 is driven by an engine 12 to supply oil from a tank 13 to a switching valve 14.
Is supplied to the actuator 2 via. The switching valve 14 and the actuator 2 are connected by a first steel pipe 15, a rubber hose 16, and a second steel pipe 17. Switching valve 14
Is switched from the neutral position (N) to the raised position (U) or the lowered position (D) by the operation lever 9, and supplies the hydraulic oil from the hydraulic pump 11 to the actuator 2. The start / stop control device 20 includes a strain detection sensor 21,
It comprises a controller 22 such as a controller and a warning generator 23. The strain detection sensor 21 that detects a sign constitutes a strain gauge with a piezoelectric element incorporating a bridge, and converts a magnitude of strain into electricity and outputs a signal. The strain detection sensor 21 is adhered to the rubber hose 16. The distortion detection sensor 21 uses a magnetostrictive element (piezo element), an MR element (ferromagnetic element), or a Hall element, which is a magnetoelectric element. In the above description, the strain detection sensor 21 is attached to the rubber hose 16, but the first steel pipe 15 and the second
The steel pipe 17 may be used.

The warning generating section 23 is constituted by a speaker, and outputs a sound pressure or a timbre according to a command from the control section 22 such as a controller. The sound pressure and the tone of the sound generated from the speaker of the warning generation unit 23 can be arbitrarily changed or synthesized by the control unit 22. Therefore, by adjusting the intensity of the sound, the warning sound is transmitted only to the worker in the room, and can be adjusted so as not to be ambient noise. Further, the strain detection sensor 2 mounted on the reciprocating motion of the actuator 2
The discrimination can be made by changing the timbre according to the signals from the first and the second A or the signals from a plurality of actuators. The warning generator 23 may be a display 24 or a vibration device attached to an operation lever 9 or a chair, which will be described later. The control unit 22 includes a sound pressure selection switch 25 for changing the intensity of the sound pressure generated by the warning generation unit 23, and a sound generation time selection switch 26 for selecting the length of the sound generated by the warning generation unit 23. It is attached and can be switched at the request of the operator.

Before describing the operation, first, a method of detecting a sign before the actuator 2 is started or stopped will be described. Hydraulic piping 1 connected to an actuator 2 such as a hydraulic drive winch or hydraulic cylinder
The pressure fluctuations in the pipes and the pipe vibrations at 5, 16, and 17 correspond to the actuator speed. As an example, FIG. 3 shows a relationship between the vibration of the hydraulic pipes 15, 16, and 17 connected to the actuator 2 and the actuator speed of the actuator 2. FIG. 3 is a time chart in which the vertical axis shows the piping vibration, the lower part shows the change in the actuator speed, and the horizontal axis shows the time. As is apparent from the figure, when the actuator is started, the pipe 2 vibrates due to the pressure increase of the switching valve 14, and after passing the time A, B, and C, the actuator 2
Is running. That is, the times A, B, and C are the start sign regions, and indicate that the sign of the start of the actuator 2 can be detected by measuring the pipe vibration. Also, as shown in part X of FIG. 3, when the actuator is stopped, the actuator speed starts to decrease after the pipe vibration of the actuator 2 is reduced, and a sign of stopping is detected from a change in the pipe vibration of the actuator 2. Is also possible.

Also, the pressure fluctuation in the pipe corresponds to the actuator speed. By measuring the pressure fluctuation in the pipe in the same manner as the above-mentioned vibration of the pipe, activation of the actuator 2 can be performed.
It is possible to detect a sign of an outage, an example of which is shown in FIG.
Is shown in the time chart of FIG. FIG. 4A shows a sound pressure level generated at the time of the sign. FIG. 4B shows a pressure proportional control valve 32 for switching the switching valve 31, which will be described later with reference to FIG.
Indicates the pilot pressure at which the pressure occurs. FIG. 4C shows the pressure on the actuator that operates upon receiving the pressure oil from the switching valve 31. FIG. 4D shows the speed of the actuator. In FIG. 4, a period from the point (D) at which the pilot pressure for switching the switching valve 31 is generated to the point (F) at which the pressure on the actuator reaches the holding pressure can be set as the sign region. In addition, the actuator can notify the operator by generating a sound during the above-mentioned predictive zone in order to start operation (G) after the pressure of the actuator reaches the holding pressure (F). The sound pressure level decreases as the speed of the actuator increases. In addition,
Point E indicates the pressure applied to the pump when the switching valve 31 is neutral.

Next, the operation will be described. When the operator wants to lower the suspended load 8 using the actuator 2, for example, the operating lever 9 is operated to switch the switching valve 14.
To the lower position (D). Thereby, the pressure oil from the hydraulic pump 11 is supplied from the switching valve 14 to the actuator 2 via the first steel pipe 15, the rubber hose 16, and the second steel pipe 17. At this time, the first steel pipe 15, the rubber hose 16, and the second steel pipe 17 vibrate as shown in FIG. This piping vibration is detected by a strain detection sensor 21 attached to the rubber hose 16 and sent to the control unit 22. The control unit 22 determines the magnitude of the vibration sent from the strain detection sensor 21 and, when the magnitude becomes equal to or more than a predetermined value,
A signal having a predetermined current value is output to the warning generator 23. The warning generating unit 23 outputs a predetermined sound pressure or tone in response to a command from the control unit 22, and the
Tells the operator to start booting. Thus, the operator can grasp as a sign of the start of the activation of the actuator 2 and can grasp that the suspended load 8 starts to descend. In the above description, the magnitude of the vibration as a judgment of the sign is obtained by previously grasping the relationship between the actuator vibration and the piping vibration of the actuator corresponding to FIG.

In the above, the operator feels troublesome if the aforementioned pipe vibration signal is constantly transmitted. Also,
It is more effective to give a strong warning when necessary. Therefore, the warning generation unit 23 is controlled by the control unit 22 as shown in FIG.
As shown in the sound pressure pattern (1), the sound pressure or the frequency is increased at the time of the sign, and a warning is issued. The vertical axis of the upper part a of the graph of FIG. 5 is the actuator speed and the horizontal axis is time, the vertical axis of the lower part b is the speaker sound pressure, and the horizontal axis is time. As shown in FIG. 5, the speaker output in the time zone t1 of the activation sign region is increased to a predetermined value or more to increase the sound pressure, and the sound pressure is gradually decreased in the time period t2 in which the actuator speed increases in the very low speed region after the activation. Time period t during which actuator speed increased
In step 3, the output is lower than the predetermined value to lower the sound pressure or the sound is muted. In the time zone t4 of the stop sign area, the output is again higher than the predetermined value to increase the sound pressure.

The frequency of the sound is equal to or higher than a predetermined frequency to prevent masking due to the engine sound. Further, the sound pressure level is set higher than the sound pressure of the entire inside of the cab. The sound pressure, the tone, or the magnitude of the vibration is changed depending on the type of the actuator, for example, the winch and the boom cylinder, so that the operator can easily determine the sound pressure, the tone, or the vibration. Further, the sound pressure may be increased in accordance with an increase in the engine rotation speed, or a sound pressure adjusting volume may be provided. As described above, the sound pressure of the sound generated from the speaker 14,
The timbre can be arbitrarily changed or synthesized by the control unit 22. Therefore, by adjusting the intensity of the sound, the warning sound can be transmitted only to the worker in the room, and can be adjusted so as not to be ambient noise. Also,
Even when a plurality of actuators are operated at the same time, it is possible to determine by changing the timbre.

Referring to FIG. 6, a description will be given of a second embodiment of a control device 20A and a control method for starting and stopping an actuator according to the present invention. In the first embodiment, the strain detection sensor 2
In the second embodiment, the indication is determined based on the position of the operation lever or the pilot pressure for switching the switching valve. FIG.
, The oil discharged from the hydraulic pump 11
At the neutral position (N) where 1 is not operated, the tank 13 returns to the tank 13 from the PA port through the next switching valve such as a winch (not shown) as in the first embodiment. The switching valve 31 is operated,
When the position is switched to the raising position (U) or the lowering position (D) as shown, the oil discharged from the hydraulic pump 11 is supplied to the actuator 2. The switching valve 31 has a P port connected to the hydraulic pump 11, an A port and a B port connected to the actuator 2, a PA port connected to the next switching valve (not shown), and a T port connected to the tank 13. I have. Further, the switching valve 31 is provided with pilot chambers 31a and 31b at both ends, and the pilot chambers 31a and 31b are provided.
1b are connected to the pressure proportional control valve 32, respectively, receive the pilot pressure from the pressure proportional control valve 32, and
3 is moved in the left-right direction to switch. An operation lever 34 is attached to the pressure proportional control valve 32, and the pressure proportional control valve 3
Reference numeral 2 denotes a pilot pressure, which will be described later, corresponding to the operation amount of the operation lever 34.

The operation lever 34 has an operation amount detection sensor 35.
The operation amount detection sensor 35 is provided with a control unit 36.
It is connected to the. Also, the pilot rooms 31a, 31b
Circuit 3 connecting the pressure proportional control valve 32 to the
Pressure sensors 39 and 40 are interposed in 7, 38, and each is connected to the control unit 36. A pilot-operated check valve 42 is provided in a conduit 41 connecting the bottom side 2b of the actuator 2 and the B port of the switching valve 31. The pilot pressure of the pilot operation check valve 42 is received from the A port of the switching valve 31. When the pressure at the port A reaches a predetermined pressure (a predetermined pilot pressure), the pilot operation check valve 42 opens to allow oil to flow. Control unit 36
Is connected to a speaker which is a warning generating unit 23.

FIG. 7 is a graph showing the relationship between the operation amount of the operation lever 34 (or the pilot pressure generated by the pressure proportional control valve 32) and the supply pressure from the hydraulic pump 11 to the actuator 2. 7, the vertical axis represents the supply pressure to the actuator 2, and the horizontal axis represents the operation amount S (or the operation amount of the operation lever 34).
2 shows the pilot pressure P). In FIG. 7, the supply pressure to the actuator 2 does not increase at the beginning of the operation of the operation lever 34, and the supply pressure to the actuator 2 starts to increase at the stroke S1 (or the pilot pressure P1). When the stroke reaches the stroke S2 and the pilot pressure reaches P2, the actuator 2 starts operating by the pressure oil F2 from the hydraulic pump 11. Therefore, the sign can be detected by detecting the stroke S before the stroke S2 of the operation lever or the pilot pressure P slightly lower than the pilot pressure P2. Or, with a lever operation amount equal to or higher than the pilot pressure P2,
Since the pilot pressure is generated in proportion to the lever operation amount, and since the pilot pressure is almost proportional to the actuator speed, it is also possible to detect the speed change amount of the actuator. As in the first embodiment, the stroke S or the pilot pressure P is preliminarily tested to grasp the relationship, and is stored in the control unit 36.

Next, the operation will be described. For example, when the operator wants to lower the suspended load 8 using the actuator 2, the operator turns the operation lever 34 to the right as shown in the figure to operate the right pressure proportional control valve 32b,
Generate pilot pressure. As a result, the pilot pressure generated by the pressure proportional control valve 32b is
After that, the air is sent to the pilot room 31b on the right side. This pilot pressure moves the spool 33 to the left in the drawing, and switches the switching valve 31 from the neutral position (N) to the lowered position (D). Accordingly, the pilot oil in the left pilot chamber 31a returns to the tank 13 via the pilot circuit 37 and the left pressure proportional control valve 32a. By switching the switching valve 31 from the neutral position (N) to the lowered position (D), the pressure oil discharged from the hydraulic pump 11 becomes P
It is sent from the port to the head side 2a of the actuator 2 via the A port. The pressure of the oil discharged from the hydraulic pump 11 increases as shown in FIG. 7 according to the pilot pressure generated by the pressure proportional control valve 32b, and the stroke of the operation lever 34 reaches S2 (or pilot pressure P2). At this time, the head side 2 of the actuator 2 passes through the A port.
a reaches a predetermined pilot pressure value F2 for opening the pilot check valve 42. This predetermined pressure F
2, the pilot operation check valve 42 is opened, and the oil on the bottom side 2b of the actuator 2 returns to the tank 13 via the pilot operation check valve 42 and the B port to lower the actuator 2.

At this time, the predetermined pressure F before the pressure of the oil discharged from the hydraulic pump 11 reaches the predetermined value F2, that is, the stroke S before the stroke S2 of the operating lever.
With the operation amount detection sensor 35 or the pilot pressure P2
The pressure sensor 40 detects a slightly lower pilot pressure P, and outputs a signal to the control unit 36. The control unit 36 determines the magnitude of the stroke or pressure sent from the operation amount detection sensor 35 or the pressure sensor 40 and, when the stroke or pressure exceeds a predetermined value, sends a signal of a predetermined current value to the warning generation unit 23. Output. The warning generation unit 23 outputs a predetermined sound pressure or tone in response to a command from the control unit 22, and informs the operator that the actuator 2 will start to be activated soon. Thus, the operator can grasp as a sign of the start of the activation of the actuator 2 and can grasp that the suspended load 8 starts to descend.

In the above embodiment, the control is performed by receiving either the signal from the operation amount detection sensor 35 or the pressure sensor 40. However, the control is performed by receiving both the signals from the operation amount detection sensor 35 and the pressure sensor 40. You may. That is, when both the magnitude of the stroke and the magnitude of the pressure become equal to or larger than the predetermined value, it may be determined that the operation of the actuator will start soon. Further, the return oil is controlled using the pilot operation check valve 42, but may be controlled using an electromagnetic valve. Further, although the switching valve illustrates an open circuit, a closed circuit may be used. Further, an operation amount detection sensor 35 may be attached to an operation lever directly connected to the switching valve of the first embodiment for control.

Next, a description will be given of a third embodiment of a control device and a control method for starting and stopping an actuator according to the present invention. In the second embodiment, the sign is determined based on the position of the operation lever or the pilot pressure for switching the switching valve. In the third embodiment, the sign is determined by measuring the actuator internal pressure acting on the actuator 2. In the third embodiment, in FIG. 6, a pipe line 41 connecting the bottom side 2b of the actuator 2 to the B port of the switching valve 31 and a head side 2a of the actuator 2 and the A port of the switching valve 31 are connected. The conduit 43 is provided with actuator pressure sensors 51 and 52.

Next, as an example of an operation method for obtaining an indication of the activation of the actuator 2 from the pressure fluctuation of the fluid in the pipe, an operation method at the time of activation of the actuator 2 for raising and lowering the boom 6 will be described with reference to FIG. I do. FIG. 8 is a graph showing the relationship between the displacement of the operation lever (operation amount), the pressure in the actuator, the actuator speed, and the displacement of the tip of the boom 6 in chronological order, and the horizontal axis represents time. As shown in FIG. 8, when the operation lever 9 starts operating at time T0, the pressure in the actuator starts to fluctuate at time T1 with a slight delay. Further slightly later, at time T2, the actuator 2 starts operating, and finally, at time T3, the tip of the boom starts to move. Fluctuation start pressure Wa of the above-mentioned actuator internal pressure
Is detected by the actuator pressure sensors 51 and 52, and the detected signal is sent to the control unit 36. In the control unit 36, when the fluctuation start pressure Wa is larger than a predetermined value,
The time T1 at which the change starts is output to the warning generation unit 23 as the sign information. As a result, the warning generation unit 23 sets the time T1 earlier than the operation start time T3 of the actuator 2.
In addition, the operator can be informed of the start of the operation of the actuator 2.

To summarize the above, the operator proceeds with the operation in the following procedure. (1) At time T0, the operator starts operating the operation lever 9. (2) At time T1, the operator receives the sign information and prepares to start the actuator 2. (3) At time T2, the operator confirms the activation of the actuator 2 from the sudden fluctuation of the hydraulic pressure. (4) After the time T3, the worker recognizes a change in speed after the start of the suspended load as a change in sound or vibration, and performs a predetermined lever operation so as to perform a constant speed motion. The above operation allows a stable operation without swinging the suspended load.

In the first embodiment, the rubber hose 16 is used.
The magnitude of vibration is calculated by the strain detection sensor 21 attached to
In the third embodiment, the pressure sensor 5 for the actuator is used.
Although the judgment was made based on the pressure fluctuation time using the pressure sensors 1 and 52, the sound pressure was changed by replacing the strain detection sensor 21 of the first embodiment with a directional microphone 55 (shown in FIG. 1) disposed near the rubber hose 16. The sound pressure may be measured and determined based on the magnitude of the sound pressure or the time of occurrence.

In the above, as shown in FIG. 3, a pipe vibration signal is converted into an acceleration signal, and the signal is converted into an acceleration signal.
It is also possible to connect to the operation lever 9 which generates a reaction force proportional to the acceleration proposed in the above, and to transmit the reaction force to the worker via the operation lever 9. As another transmission method, a piping signal may be transmitted as vibration using a vibration buzzer using a pager or the like.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a control device for starting and stopping an actuator according to the present invention mounted on a self-propelled crane vehicle.

FIG. 2 is a block diagram of a first embodiment of an actuator start / stop control device according to the present invention.

FIG. 3 is a diagram illustrating a relationship between a piping vibration of an actuator and an actuator speed.

FIG. 4 is a diagram for explaining the relationship among pressure fluctuation in a pipe, pressure of an actuator, actuator speed, and sound pressure level.

FIG. 5 is a diagram showing a sound pressure pattern when a warning occurs.

FIG. 6 is a block diagram of a second embodiment and a third embodiment of an actuator start / stop control device according to the present invention.

FIG. 7 is a diagram showing a relationship between an operation amount of an operation lever (or a pilot pressure generated by a pressure proportional control valve) and a supply pressure to an actuator from a hydraulic pump.

FIG. 8 is a time-series diagram illustrating a relationship among an operation lever displacement (operation amount), an actuator internal pressure, an actuator speed, and a displacement of a boom tip.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Self-propelled crane vehicle, 3 ... Actuator, 5 ... Operator cab, 8 ... Hanging load, 9, 34 ... Operating lever, 11 ... Hydraulic pump, 14, 31 ... Switching valve, 15 ... 1st steel pipe, 16 ...
Rubber hose, 17: second steel pipe, 20: start / stop control device, 21: strain detection sensor, 22, 36: control unit, 23
... Warning generator, 25 ... Sound pressure selection switch, 26 ... Sound generation time selection switch, 32 ... Pressure proportional control valve, 35 ... Operation amount detection sensor, 39, 40 ... Pressure sensor, 42 ... Pilot operation check valve, 51 , 52... Pressure sensors for the actuator.

Claims (6)

[Claims] 1. An actuator for controlling the operation of a working machine, a winch or the like of a construction machine so as to smoothly start or stop the operating actuator at the time of starting or stopping when a pressure is supplied from the pressure source to the actuator. In the stop control device, a sign detection means for detecting a sign at the time of starting or stopping the actuator,
An actuator, comprising: a control unit that receives a sign signal from the sign detection unit and transmits a required control signal; and a warning generation unit that receives a control signal from the control unit and generates sound or vibration. Start / stop control device. 2. The method according to claim 1, further comprising:
In the stop control device, the indication signal is any one of a pressure, a sound pressure, and a vibration from a pressure source to the actuator, and the start and stop of the actuator is controlled. 3. The actuation of the actuator according to claim 1,
In the stop control device, the indication signal is a stroke of an operation lever for operating the actuator or a pressure of a pressure proportional control valve attached to the operation lever. 4. The actuation of the actuator according to claim 1,
In the stop control device, the sound pressure or vibration generated by the warning generating means outputs a predetermined value from the detection of the sign to the start of the operation of the actuator, and thereafter, according to the speed of the actuator or the operation amount of the operation lever. A control device for starting / stopping an actuator, which continuously changes the sound pressure or the magnitude or frequency of vibration and outputs the same. 5. The actuator according to claim 1, wherein one of the sound pressure, the tone color or the magnitude of the vibration, or the frequency of the sound or the vibration is changed depending on the type of the actuator. Start / stop control device. 6. The actuation of an actuator that controls the actuating actuator to start or stop smoothly when starting or stopping when operating a work machine, a winch or the like of a construction machine by supplying pressure from a pressure source to the actuator. In the stop control method, at the time of start or stop, a sign before and after the start of the actuator or before the stop and a moving speed of the actuator are detected, and the detected information is transmitted to an operator by sound or vibration to transmit the actuator to the operator. A start / stop control method for an actuator, wherein the start / stop of the actuator is notified in advance and the start / stop is performed smoothly.