JPH11154030A - Operation lever device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the manipulated variable and manipulation direction of an operation lever by using an angular velocity sensor, etc. SOLUTION: The lower-end side of the operation lever 17 is fitted turnably onto a casing 21 provided in an operation room and an operation detector 29 consisting of the angular velocity sensor, an acceleration sensor, etc., is provided integrally to the grip part 19 of the operation lever 17. Further, the operation detector 29 is connected to the input side of a controller 38 and electromagnetic proportional type direction control valves 39 and 40 which operate an actuator are connected to the output side of the controller 38. Consequently, the angular velocity of the operation lever 17 is detected by the operation detector 29, whose detection signal is outputted to the controller 38. Then the detection signal is processed by the controller 38 to selectively output the control signal corresponding to the manipulated variable of the operation lever 17 to the direction control valves 39 and 40 according to the operation direction of the operation lever 17.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation lever device for a construction machine, which is provided in a construction machine such as a hydraulic shovel and is preferably used to control the operation of the construction machine.

[0002]

2. Description of the Related Art Generally, construction machines such as hydraulic excavators are
A lower traveling structure, an upper revolving structure rotatably provided on the lower traveling structure, and a boom provided on the upper revolving structure;
An operating lever device for operating the upper revolving unit, turning the upper revolving unit, operating the operating device, and the like is generally provided with operating devices such as an arm and a bucket.

An operation lever device of this type according to the prior art includes a pressure reducing valve type pilot valve for supplying a pilot pressure to a turning or working direction control valve, and a base end side of the operation lever device connected to the pilot valve via a universal joint or the like. It generally includes an operation lever and the like that are connected to be able to rotate in the front, rear, left, and right directions (hereinafter, referred to as a first related art). In this case, one of the directional control valves is used for drive control of a swing motor that drives the upper swing body to swing, and the other directional control valve is used for drive control of a hydraulic cylinder that constitutes a working device. Used.

When the operating lever is tilted forward or backward, for example, a turning pilot valve is pressed to switch a directional control valve for a turning motor, thereby turning the upper turning body. Is controlled. When the operation lever is tilted left and right, for example, the direction control valve for the hydraulic cylinder is switched by the work pilot valve, and the operation of the arm or the like is controlled.

Japanese Patent Application Laid-Open No. 63-307701 (hereinafter referred to as "second prior art") discloses an electric lever device using a contact sensor such as a potentiometer. Then, the amount of tilt operation of the operation lever is detected using a contact sensor, and the operation of an actuator such as a working device is controlled by an output signal from the sensor.

[0006]

In the operation lever device according to the first prior art, the switching operation of the direction control valve is performed by a hydraulic device such as a pilot valve. There is a problem that it becomes complicated. In addition, since the pilot valve is connected to the direction control valve side through a plurality of hydraulic pipes composed of pilot pipes and the like and these pilot pipes are routed on the floor panel side of the cab, the shape of the floor panel becomes complicated. Therefore, there is a problem that it is structurally difficult to enhance the sealing property of the cab on the floor panel side.

In the operation lever device according to the second prior art, the amount of tilting operation of the operation lever is set to four values of front, rear, left and right.
It is necessary to provide a contact-type sensor consisting of four potentiometers, etc., in order to detect each direction separately.
There is a problem that the structure of the entire device including each sensor becomes complicated and the entire device becomes large.

Further, in each of the above prior arts, a spring for constantly biasing the operation lever toward the neutral position is provided.
For example, since it is configured to be attached to a pilot valve (potentiometer) or the like, there is a problem that the rigidity (operability) of the lever cannot be easily adjusted, the burden on the operator increases, and the arm tends to be tired.

The present invention has been made in view of the above-described problems of the prior art, and the present invention detects the operation amount and operation direction of an operation lever using operation detection means such as an angular velocity sensor, so that the entire apparatus can be operated. It is an object of the present invention to provide an operation lever device capable of simplifying the structure of the control lever and miniaturizing the whole.

Another object of the present invention is to generate a reaction force when the operation lever is tilted, thereby improving the operation feeling, simplifying the structure of the reaction force applying means, and operating the reaction force. Is to provide an operation lever device that can be easily adjusted according to the preference of the operator.

[0011]

According to a first aspect of the present invention, there is provided an operating lever device provided in a cab of a construction machine, and at least an angular velocity sensor provided on the operating lever. Operation detection means for outputting a detection signal relating to the operation amount and operation direction of the operation lever, and control corresponding to the detection signal from the operation detection means for operating an actuator in accordance with the operation of the operation lever And signal output means for outputting a signal.

With the above arrangement, when the operation lever is tilted, the operation detection means outputs a detection signal relating to the operation amount and operation direction of the operation lever to the signal output means. The signal output means outputs a control signal corresponding to the detection signal from the operation detection means, thereby switching, for example, an electromagnetic valve or the like, and supplying and discharging pressure oil from a hydraulic source to the actuator, thereby operating the actuator. Can be controlled.

The operating lever device according to the second aspect of the present invention includes a lever support provided in a cab of a construction machine,
A base end side is connected to the lever support via a universal joint, and a distal end side is a free end, and includes an operation lever that is tilted and operated, and at least an angular velocity sensor provided on the operation lever, the operation of the operation lever Operation detection means for outputting a detection signal related to an amount and an operation direction; signal output means for outputting a control signal corresponding to a detection signal from the operation detection means for operating an actuator in accordance with operation of the operation lever; And a reaction force applying means which is provided on the lever support member and applies a reaction force when the operation lever is tilted.

With the above arrangement, when the operation lever is tilted, the operation detection means can output a control signal corresponding to the operation amount and the operation direction of the operation lever from the signal output means. The operation of the actuator can be controlled by the operation lever in the same manner as in the first invention. Also, no matter which direction the operation lever is tilted, the reaction force applying means can always apply a reaction force in the opposite direction to the operation direction to the operation lever.

Further, in the invention of claim 3, the reaction force applying means is constituted by an elastic body which is elastically deformed by the tilting operation of the operation lever.

Further, according to the invention of claim 4, the elastic body comprises a spring which constantly biases the operation lever toward the neutral position, and the lever support has an adjusting screw for adjusting the spring force of the spring. It is configured to be provided.

Thus, the operating lever can always be held at the neutral position by utilizing the spring force of the elastic body, and when operating the operating lever, the spring force of the spring is applied to the operating lever as a reaction force. Can be. Also, the spring reaction force from the spring applied to the operation lever by the adjusting screw can be easily changed, and the operation hardness of the operation lever by the spring can be appropriately adjusted according to the preference of the operator.

Further, in the invention according to claim 5, the reaction force applying means includes a plurality of guide holes provided around the universal joint and provided in a lever support, and one end side slides into each of the guide holes. A plurality of pushers movably provided, the other end of which protrudes out of the lever support, and a plurality of springs provided between the lever support and each pusher and constantly biasing each pusher in the extending direction; A plurality of adjusting screws which are attached by screwing to the lever support and adjust the spring force of the respective springs with the respective pushers, and which are provided on the base end side of the operation lever and abut against the respective pushers. And a cam for pressing each pusher against each spring.

Thus, when the operating lever is tilted, the cam integrated with the operating lever presses at least one of the pushers against the spring. Can be applied to the operation lever via the pusher. Also, by changing the screw position of the adjustment screw,
The magnitude of the reaction force from the spring can be freely set.

On the other hand, in the invention of claim 6, the operating lever is provided on a rod portion whose base end is rotatably connected to the lever support via the universal joint, and on the distal end of the rod. And the operation detecting means is provided in the grip portion of the operation lever.

Further, in the invention according to claim 7, the operating lever is provided on a rod portion whose base end is rotatably connected to the lever support via the universal joint, and on the distal end of the rod. And the operation detecting means is provided on the rod side of the operation lever.

[0022]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Here, FIGS. 1 to 7 show a case where the operation lever device of the construction machine according to the first embodiment of the present invention is applied to a hydraulic shovel.

In the drawing, reference numeral 1 denotes a lower traveling body, 2 denotes an upper revolving body mounted on the lower traveling body 1 so as to be pivotable, and the upper revolving body 2 has a revolving frame 3;
A driver's cab 4, a machine room 5, a counterweight 6, and the like are provided above. The cab 4 is formed as a cab box having a floor plate 4A and the like as shown in FIG. Further, a turning motor as an actuator, a turning speed reducer (both not shown) and the like are provided on the turning frame 3, and the upper turning body 2 is turned by the turning motor via the speed reducer.

Reference numeral 7 denotes a working device provided at the front of the upper swing body 2 so as to be able to move up and down. The working device 7 includes a boom 8 pin-connected to the swing frame 3 of the upper swing body 2, and the boom The arm 9 is roughly constituted by an arm 9 pin-connected to the distal end of the arm 8 and a bucket 10 pin-connected to the distal end of the arm 9. Then, the boom 8, the arm 9, and the bucket 10 are rotated by a boom cylinder 11, an arm cylinder 12, a bucket cylinder 13, and the like as other actuators.

Reference numeral 14 denotes a driver's seat provided on the floor plate 4A of the driver's cab 4, and reference numeral 15 denotes a floor plate 4A located on both left and right sides of the driver's seat 14.
1 shows an operation lever device (only one is shown) provided on the upper side, and the operation lever device 15 is erected on a floor plate 4 </ b> A and forms a shell of the operation lever device 15.
6 and an operation lever 17, an operation detector 29, a controller 38, and the like, which will be described later, and operate the turning of the upper swing body 2, the operation of the working device 7, and the like.

Reference numeral 17 denotes an operation lever which is provided to be tiltable in the cab 4 via a lever stand 16 and the like. As shown in FIG. It comprises a rod portion 18 rotatably connected to a casing 21 via a universal joint 20 and the like, and a grip portion 19 screwed to an upper end (free end) of the rod portion 18 at the tip end. I have.

As shown in FIG. 4, the grip 19 has an accommodating portion 19A in which the operation detector 29 is accommodated.
And an insertion hole 19B for a lead wire 36 to be described later. When the operator of the excavator grips the grip portion 19, the operation lever 17 is moved, for example, in the directions indicated by arrows A, A ', B, and B' in FIG.
(Left, right).

Reference numeral 20 denotes a universal joint as a universal joint in which the operating lever 17 is rotatably connected to the casing 21.
As shown in FIG. 5, the control lever 17 is constituted by a cross joint mounted on the casing 21 and allows the operation lever 17 to swing in an arbitrary direction.

Reference numeral 21 denotes a casing as a lever support provided at the lower end side of the operation lever 17 and provided in the cab 4. The casing 21 has a bottomed cylindrical portion as shown in FIG. 21A and a lid plate 21B fixed to the upper end side of the cylindrical portion 21A form a box structure.

The casing 21 has an outer peripheral side of a cover plate 21B integrally attached to the lever stand 16 via bolts (not shown) or the like, and a mounting bolt 20A of the universal joint 20 is provided at the center of the cover plate 21B. By screwing, the lower end side of the operation lever 17 is rotatably supported on the cover plate 21B via the universal joint 20.

Are positioned around the mounting bolt 20A of the universal joint 20, and
The front, rear, left and right guide holes formed in the cover plate 21B are shown. Each of the guide holes 22 is formed as a through hole extending in the axial direction of the cylindrical portion 21A. A pusher 23 is slidably inserted.

Reference numerals 23, 23,... Denote front, rear, left, and right pushers provided in the guide holes 22 of the casing 21 so as to be extendable and retractable. These pushers 23 are shown in FIGS. As shown, one end is slidably inserted into each guide hole 22, and the other end protrudes out of each guide hole 22 by a certain dimension by the spring force of a spring 24 described later. At the lower end of the pusher 23, an annular flange 23A is formed so as to protrude radially outward, and the flange 23A is attached to the cover plate 21B.
, The pusher 23 is prevented from being pulled out of the guide hole 22.

Here, each pusher 23 normally holds the operation lever 17 at a neutral position shown in FIGS. 4 and 5 by pressing a cam member 27 described later upward. The operation lever 17 is indicated by arrows A, A ',
When the tilting operation is performed in the directions B and B ′, at least one of the pushers 23 corresponding to the operation direction of the operation lever 17 is pressed downward by the cam member 27.

Reference numerals 24, 24,... Denote springs (only two are shown) compressed between the pushers 23 and the casing 21.
Of the pusher 23 and an adjustment screw 26 described later as an elastic body. The springs 24 are connected to the respective pushers 23.
The operation lever 17 is always biased to the neutral position via the cam member 27, and when the operation lever 17 is tilted, a reaction force in a direction opposite to the operation direction is applied to the operation lever 17. ing.

Are screw holes (2) formed in the cylindrical portion 21A of the casing 21 corresponding to the respective guide holes 22.
The screw holes 25 extend in the axial direction on the bottom side of the cylindrical portion 21A and are opened in the casing 21 in total.
It is formed as individual through holes. Reference numerals 26, 26,... Denote adjustment screws (only two are shown) screwed into the respective screw holes 25 of the casing 21.
5 is configured to adjust the spring force of the spring 24 between the pusher 23 and the flange 23A by changing the screwing position with respect to the screw hole 25 as shown in FIG.

Reference numeral 27 denotes a cam member integrally provided on the lower end side of the rod portion 18 of the operation lever 17.
4 and 5, a boss 27A integrally attached to the lower end of the rod portion 18 of the operation lever 17 and a stepped cylindrical cam 27 integrally formed at the lower end of the boss 27A.
B, and constitutes a part of the rod portion 18. The lower surface of the cam 27B is formed as a convex curved surface having a gentle and constant curvature.

The cam member 27, together with the guide holes 22, the pushers 23, the springs 24 and the adjusting screws 26, constitutes a reaction force applying means.
When the tilting operation is performed, the cam 27 </ b> B presses the pusher 23, and the pressing reaction force from the pusher 23 via the spring 24 is transmitted to the operation lever 17.

Reference numeral 28 denotes a bellows-like cover provided on the lever stand 16 so as to surround the rod portion 18 of the operation lever 17 from the outside. The cover 28 prevents rainwater or the like from entering the lever stand 16. It is.

An operation detector 29 is provided in the grip 19 of the operation lever 17 as operation detection means.
The operation detector 29 includes angular velocity sensors 30 and 3 described later.
1, 32 and acceleration sensors 33, 34, 35, etc., and are formed as a semiconductor chip having a size of, for example, about 5 mm. The operation detector 29 is housed in the housing portion 19A of the grip portion 19, and outputs a detection signal (angular velocity signal, acceleration signal, and the like) related to the operation direction and the operation amount of the operation lever 17.

Reference numerals 30, 31, and 32 denote angular velocity sensors which constitute a part of an operation detector 29 provided in the grip portion 19 of the operation lever 17, and the angular velocity sensors 30, 3
The reference numerals 1 and 32 include, for example, generally known gyro sensors and the like, and are disposed on X, Y, and Z axes orthogonal to each other, for example, as shown in FIG.

Here, the angular velocity sensors 30, 31, 3
2, the angular velocity sensor 30 detects the angular velocity when the operating lever 17 is tilted forward and backward, that is, when the grip portion 19 is rotationally displaced in the directions indicated by arrows A and A 'about the universal joint 20. And outputs a detection signal to a controller 38 described later.

The angular velocity sensor 31 is connected to the operation lever 1.
7 is rotated left and right, that is, the angular velocity at which the grip portion 19 is rotationally displaced in the directions indicated by arrows B and B 'about the universal joint 20 is detected. Output. Further, regarding the angular velocity sensor 32, the operation lever 17 is also indicated by an arrow A,
When the tilting operation is performed in the A ′ direction and the arrow B and B ′ directions, the angular velocity of the grip portion 19 is detected together with the angular velocity sensors 30 and 31.

Reference numerals 33, 34, 35 denote angular velocity sensors 30, 3,
7 shows an acceleration sensor that constitutes the operation detector 29 together with the acceleration sensors 33, 34, and 35. The acceleration sensors 33, 34, and 35 also have respective X, Y, and Z axes as shown in FIG. It is arranged in.

Here, the acceleration sensors 33, 34, 3
5, the acceleration sensor 33 operates when the operating lever 17 is tilted forward or backward in the directions indicated by arrows A and A '.
Along with this, the acceleration when the grip 19 is relatively displaced in the Y-axis direction is detected, and the detection signal is output to the controller 38. When the operation lever 17 is tilted left and right in directions indicated by arrows B and B ′, the acceleration sensor 34 relatively displaces the grip 19 with respect to the X-axis direction. The acceleration at that time is detected, and the detection signal is output to the controller 38. Further, the acceleration sensor 35 detects an acceleration when the grip 19 is relatively displaced in the Z-axis direction, and outputs a detection signal to the controller 38.

Numeral 36 denotes a lead wire for connecting the angular velocity sensors 30 to 32 and the acceleration sensors 33 to 35 to a controller 38 via a connector 37. The lead wire 36 extends from the operation detector 29 to the insertion hole 19B of the grip 19. Is pulled out into the cover 28 through the middle portion, and an intermediate portion thereof is spirally wound around the rod portion 18.

Reference numeral 38 denotes a controller as signal output means constituted by a microcomputer or the like. The controller 38 has an input side connected to the operation detector 29 via a lead wire 36, and an output side connected to an electromagnetic proportional type described later. Are connected to the directional control valves 39 and 40.

Here, the controller 38 receives the detection signals from the angular velocity sensors 30 to 32 and the detection signals from the acceleration sensors 33 to 35 as described later, and operates the operation lever 17 in accordance with these detection signals. The direction and the operation amount are obtained by calculation. The controller 38 sends a control signal corresponding to the operation amount of the operation lever 17 to the direction control valve 39,
The directional control valves 39 and 40 are selectively output to the 40 solenoids 39A, 39B, 40A and 40B to control the switching of the directional control valves 39 and 40.

Numeral 39 denotes an electromagnetic proportional directional control valve for controlling the operation of the swing motor.
Numeral 9 is provided in the middle of a main conduit (both not shown) for connecting the turning motor to a hydraulic power source, and holds the turning motor in a stopped state while in the neutral position (a). When the solenoid 39A is excited by the control signal from the controller 38, the direction control valve 39 is set to the neutral position (a).
From the neutral position (a) to the switching position (c) when the solenoid 39B is excited.
To rotate the swing motor forward and backward.

Numeral 40 designates an electromagnetic proportional type directional control valve for controlling the operation of the arm cylinder 12. The directional control valve 40 is provided in the middle of the main line like the directional control valve 39, and has a neutral position. Arm cylinder 1 while in (a)
2 is stopped. And the direction control valve 40 is
Solenoid 40 according to a control signal from controller 38
When A is excited, it is switched from the neutral position (a) to the switching position (b), and when the solenoid 40B is excited, it is switched from the neutral position (a) to the switching position (c). 12 is expanded and contracted.

The hydraulic shovel according to the present embodiment has the above-described configuration, and its operation will be described next.

First, when the operation lever 17 is tilted in the directions indicated by the arrows A and A '(forward and rearward), the angular velocity sensors 30, 32 of the angular velocity sensors 30 to 32 and the acceleration sensors 33 to 35 are used. Detection signal and acceleration sensor 3
With the detection signals from 3, 35, the controller 38
It is determined in which direction of the operation lever 17 the arrow A or A 'is tilted, and the amount of tilt operation from the neutral position of the operation lever 17 is calculated.

When it is determined that the operation lever 17 has been tilted in the direction of arrow A, a control signal corresponding to the tilt operation amount of the operation lever 17 is sent from the controller 38 to the solenoid 39A of the direction control valve 39. Is output. As a result, the direction control valve 39 is switched from the neutral position (a) to the switching position (b) by a stroke corresponding to the operation amount of the operation lever 17, whereby the swing motor of the upper swing body 2 is operated, for example. Can be rotated in one direction.

On the contrary, when the controller 38 determines that the operation lever 17 has been tilted in the direction of arrow A ', the control signal corresponding to the tilt operation amount of the operation lever 17 is transmitted to the controller 38. Is output to the solenoid 39B of the directional control valve 39 from the directional control valve 39.
Is switched from the neutral position (a) to the switching position (c), and the swing motor of the upper swing body 2 can be rotated in the reverse direction.

On the other hand, when the detection signals from the angular velocity sensors 31 and 32 and the detection signals from the acceleration sensors 34 and 35 are input to the controller 38, the controller 38
Indicates that the operation lever 17 indicates the arrow B,
It is determined in which direction of the B 'direction the tilt operation has been performed, and the tilt operation amount from the neutral position of the operation lever 17 is calculated.

If it is determined that the operation lever 17 has been tilted in the direction of arrow B, a control signal corresponding to the amount of tilt operation of the operation lever 17 is output to the solenoid 40A of the direction control valve 40. Thereby, the arm cylinder 12 can be operated, for example, in the extension direction. When it is determined that the operation lever 17 has been tilted in the direction indicated by the arrow B ', a control signal corresponding to the tilt operation amount of the operation lever 17 is output to the solenoid 40B of the direction control valve 40. The arm cylinder 12 can be operated, for example, in the reduction direction.

Further, even when the operating lever 17 is tilted in the directions indicated by arrows A 'and B', that is, in the direction indicated by arrows C in FIGS. At this time, the angular velocity components and the like of the angular velocity and the acceleration of the grip portion 19 in the direction indicated by the arrow A 'are calculated.
2 and the acceleration sensors 33 and 35, and the angular velocity component and the like in the direction indicated by the arrow B 'can be detected by the angular velocity sensors 31 and 32 and the acceleration sensors 34 and 35.

As a result, the detection signals from all of the angular velocity sensors 30 to 32 and the acceleration sensors 33 to 35 are input to the controller 38.
Transmits a control signal corresponding to the operation amount in the direction indicated by arrow A 'by the operation lever 17 and a control signal corresponding to the operation amount in the direction indicated by arrow B' by the solenoids 3 of the direction control valves 39 and 40, respectively.
9B and 40B, whereby the swing operation of the upper swing body 2 and the arm 9 can be combined.

Thus, in the present embodiment, the operation detector 29 (angular velocity sensors 30 to 32, acceleration sensors 33 to 3)
5) and the controller 38 can selectively output control signals corresponding to the operation direction and the operation amount of the operation lever 17 to the solenoids 39A, 39B, 40A, 40B.
Thus, the switching operation of the direction control valves 39 and 40 can be performed in accordance with the operation of the operation lever 17. Can be controlled with higher responsiveness.

Therefore, according to the present embodiment, the directional control valves 39 and 40 are switched by the electronic equipment such as the operation detector 29 and the controller 38. Therefore, as in the first prior art described above. Hydraulic equipment having a complicated mechanism such as a pressure-reducing valve type pilot valve is mounted on a casing 21 for example.
There is no need to mount the casing inside, the casing 21 can be formed compact, and the overall size of the apparatus can be reduced.

Further, no hydraulic piping such as a pilot piping is required, and the entire structure can be simplified. In addition, it is possible to easily route the lead wire 36 and the like connecting the operation detector 29 and the controller 38 on the floor plate 4A side of the cab 4, thereby simplifying the shape and the like of the floor plate 4A. In addition, the tightness of the cab 4 on the floor plate 4A side can be improved.

Further, the operation detector 29 comprising the angular velocity sensors 30 to 32 and the acceleration sensors 33 to 35 can be formed as one small electronic component having a size of, for example, about 5 mm. Vessel 2
9 can be accommodated compactly,
As described in the second related art, there is no need to separately arrange four sensors around the operation lever 17, and the structure of the entire apparatus can be simplified.

Further, since the operation detector 29 is provided on the grip portion 19 located on the upper end side of the operation lever 17, the operation amount (tilt operation angle) of the operation lever 17 is provided.
Is small, the operation detector 29 can be largely displaced together with the grip portion 19 in accordance with the tilting operation of the operation lever 17. Accordingly, the detection accuracy of the operation detector 29 that detects the angular velocity and the like of the operation lever 17 can be improved, and the operation of the working device 7 and the like by the operation of the operation lever 17 can be controlled with higher responsiveness.

On the other hand, the cam member 27 provided at the lower end of the operating lever 17 is pressed by the pushers 23 and the springs 24, whereby the operating lever 17 is always urged to the neutral position. At the time of operation of 17, the constant spring force from each spring 24 can be transmitted to the operator via the operation lever 17, and the operability of the operation lever 17 can be improved.

Further, on the bottom side of the casing 21, screw holes 25 are formed at positions corresponding to the pushers 23, and between the adjustment screws 26 screwed into the screw holes 25 and the pushers 23. Since each of the springs 24 is interposed, the screw force of the spring 24 transmitted to the operator when the operation lever 17 is tilted by changing the screwing position of each adjustment screw 26 (hereinafter referred to as operation rigidity). ) Can be set freely.

Thus, the operation hardness of the operation lever 17 can be appropriately adjusted according to the operator's preference, and the operator's fatigue due to the lever operation can be reduced.
The operability of the operation lever 17 can be further improved.
Further, the adjusting screw 26 is removed, and another spring having a spring characteristic different from that of the spring 24 is replaced with the spring 2.
By changing the operation lever 4, the operation hardness of the operation lever 17 can be easily adjusted.

Further, it is only necessary to accommodate these reaction force adjusting members (spring 24, adjusting screw 26, etc.) in the casing 21, and there is no need to provide a pilot valve, a potentiometer, etc. unlike the prior art. Not only can the structure be simplified, but also the spring force adjustment operation using the adjustment screw can be easily performed, and the burden on the operator can be reliably reduced.

Next, FIG. 8 shows a second embodiment of the present invention. In this embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. It shall be. However, a feature of the present embodiment is that the operation detector 29 of the operation lever device 51 is provided integrally with the cam member 27 located at the lower end side of the operation lever 17 via the bracket 52.

Here, the bracket 52 is formed by bending a flat plate material into a substantially L-shape, and
Of the boss 27A. The operation detector 29 is connected to the operation lever 17 via the bracket 52.
And is connected to the controller 38 via a lead wire 53 and the like.

Thus, also in the present embodiment configured as described above, when the operation lever 17 is tilted, the operation detector 29 integrated with the operation lever 17 is rotated about the universal joint 20. Therefore, substantially the same operation and effect as those of the first embodiment can be obtained.

In particular, in the present embodiment, the operation detector 29 is provided at the lower end of the operation lever 17 via the bracket 52, so that the operation detector 29 is provided as described in the first embodiment. There is no need to bury the grip portion 19, and the structure of the grip portion 19 can be simplified.
The total length of the lead wire 53 can be reduced, and the lead wire 53 can be easily routed.

In each of the above embodiments, the operation detector 29 and the controller 38 are connected to the directional control valve 39 on the swing motor side and the directional control valve 40 on the arm cylinder 12 side. For example,
By providing other directional control valves similar to the directional control valves 39 and 40 on the boom cylinder 11 side and the bucket cylinder 13 side, respectively, and connecting these directional control valves to the operation detector 29 and the controller 38, The operation of the bucket 10 may be controlled by the operation lever 17.

In the second embodiment, the operation detector 29 is provided integrally with the operation lever 17 on the cam member 27 side.
9 ', for example, as shown by a chain line in FIG.
A configuration may be provided in the rod portion 18 at a position higher than 7.

Further, in each of the above embodiments, the excavator is described as an example of a construction machine. However, the present invention is not limited to this, and may be applied to other construction machines such as a hydraulic crane and a wheel loader. Applicable.

[0074]

As described above in detail, according to the first aspect of the present invention, the operation lever is provided with a small operation detecting means including at least an angular velocity sensor, and is related to the operation amount and operation direction of the operation lever. The detection signal is output from the operation detection means, and the control signal corresponding to the detection signal is output from the signal output means to operate the actuator in accordance with the operation of the operation lever. The device can be electrically controlled by the means and the signal output means, and a device having a complicated mechanism such as a pressure reducing valve type pilot valve as in the related art is not required. Further, it is not necessary to provide a plurality of operation detecting means corresponding to the operation direction of the operation lever as in the prior art, whereby it is possible to reduce the size of the entire apparatus and to simplify the entire structure. it can.

According to the second aspect of the present invention, the base end side of the operation lever is connected to a lever support provided in the cab of the construction machine, and the lever support exerts a reaction force when the operation lever is tilted. In addition to providing reaction force applying means, the operation lever includes at least an angular velocity sensor, and operation detection means for outputting a detection signal related to an operation amount and an operation direction of the operation lever is provided, and a detection signal from the operation detection means is provided. The corresponding control signal is output by the signal output means, and by using the output control signal, the actuator is operated in accordance with the operation of the operation lever, so that the operation of the actuator is performed by the operation detection means and the signal output means. Not only can it be controlled electrically, but also when the operation lever is operated in either direction Output signal can be output by the operation detection unit, which makes it possible to obtain substantially the same effects as the invention of claim 1. In addition, when the operator tilts the operation lever, the reaction force imparting means can transmit a reaction force in the opposite direction to the operation direction to the operator, thereby improving the operation feeling of the operation lever.

Further, even when the reaction force applying means is made of an elastic body which is elastically deformed in response to the tilting operation of the operation lever, substantially the same effect as in the second aspect is obtained. be able to.

Further, according to the fourth aspect of the present invention, the elastic body uses a spring that constantly biases the operation lever toward the neutral position, and the lever support is provided with an adjusting screw for adjusting the spring force of the spring. With this configuration, the operation reaction force of the operation lever can be appropriately adjusted according to the preference of the operator by the adjustment screw, whereby the operator's fatigue required during operation can be reduced, and the operability of the operation lever can be improved. it can.

On the other hand, in the invention according to claim 5, pushers are slidably inserted into a plurality of guide holes provided in the lever support at positions around the universal joint, and between the lever support and each pusher. Is provided with a spring that constantly urges each pusher in the extension direction, and an adjusting screw that adjusts the spring force of each spring is screwed and attached to the lever support with each pusher. At the end side, a cam that presses each pusher against each spring by contacting each pusher is provided integrally, so the operating lever is tilted by changing the screwing position of the adjustment screw It is possible to freely change the reaction force from each pusher via the spring which the operator receives when operated, and this can also provide substantially the same effect as the invention of claim 4.

In the invention of claim 6, the operation detecting means is provided in the grip portion of the operation lever.
Even if the operation amount (tilt operation angle) of the operation lever is small, the detection accuracy of the operation detection means for detecting the angular velocity of the operation lever can be improved, and the operation of the actuator by the operation of the operation lever can be more responsive. Can be controlled by

Further, even when the operation detecting means is provided on the rod portion side of the operating lever, the operation detecting means is displaced integrally with the rod portion when the operating lever is tilted. This allows
Almost the same effects as the first to sixth aspects of the invention can be obtained.

[Brief description of the drawings]

FIG. 1 is an external view showing a hydraulic excavator according to a first embodiment of the present invention.

FIG. 2 is an enlarged view showing a cab in FIG. 2;

FIG. 3 is an exploded perspective view showing, in an enlarged manner, an operation lever, a casing, an operation detection hand device, and the like in a state where a lever stand is removed from the operation lever device in FIG. 2;

FIG. 4 is a circuit configuration diagram showing the operation lever device in FIG. 3 in a partially broken state.

FIG. 5 is an enlarged longitudinal sectional view showing a casing and the like in FIG. 4;

FIG. 6 is an enlarged view as viewed from the direction indicated by arrows VI-VI in FIG. 5;

FIG. 7 is an explanatory diagram showing an arrangement relationship between an angular velocity sensor and an acceleration sensor which constitute the operation detector in FIG. 4;

FIG. 8 shows an operation lever according to a second embodiment of the present invention;
It is a principal part enlarged view which shows a pusher, an operation detector, etc.

[Explanation of symbols]

 4 Operator's Cab 11 Boom Cylinder (Actuator) 12 Arm Cylinder (Actuator) 13 Bucket Cylinder (Actuator) 15, 51 Operating Lever Device 17 Operating Lever 18 Rod Unit 19 Grip Unit 20 Universal Joint (Universal Joint) 21 Casing (Lever Support) 22 Guide hole 23 Pusher (reaction applying means) 24 Spring (elastic body) 26 Adjusting screw 27B Cam 29, 29 'Operation detector (operation detecting means) 30, 31, 32 Angular velocity sensor 33, 34, 35 Acceleration sensor 38 Controller (Signal output means)

Claims (7)

[Claims] 1. An operation detecting means comprising an operation lever provided in a cab of a construction machine, and at least an angular velocity sensor provided on the operation lever, and outputting a detection signal related to an operation amount and an operation direction of the operation lever. And a signal output means for outputting a control signal corresponding to a detection signal from the operation detection means for operating an actuator in response to operation of the operation lever. 2. A lever support provided in a cab of a construction machine, an operation lever having a base end connected to the lever support via a universal joint and a tip end serving as a free end and being tilted, An operation detection unit that includes at least an angular velocity sensor provided on the operation lever and outputs a detection signal related to an operation amount and an operation direction of the operation lever; and the operation for operating an actuator in accordance with the operation of the operation lever. A construction comprising: signal output means for outputting a control signal corresponding to a detection signal from the detection means; and reaction force applying means provided on the lever support member and applying a reaction force when the operation lever is tilted. Operation lever device of machine. 3. The operation lever device for a construction machine according to claim 2, wherein said reaction force applying means is constituted by an elastic body which is elastically deformed by tilting operation of said operation lever. 4. The elastic body according to claim 3, wherein the elastic body is formed of a spring which constantly biases the operation lever toward the neutral position, and the lever support is provided with an adjusting screw for adjusting the spring force of the spring. An operating lever device for a construction machine as described in the above. 5. A reaction force applying means, comprising: a plurality of guide holes provided on a lever support member located around the universal joint; one end side slidably provided in each of the guide holes and the other end side provided therein. A plurality of pushers protruding out of the lever support, a plurality of springs provided between the lever support and each pusher for constantly biasing each pusher in the extending direction, and screwed to the lever support; And a plurality of adjusting screws for adjusting the spring force of each spring between the pushers and the pushers. The adjusting screws are provided on the base end side of the operation lever, and come into contact with the pushers to oppose the respective springs. The operation lever device for a construction machine according to claim 2, further comprising a cam for pressing each pusher. 6. The operating lever includes a rod portion whose base end is rotatably connected to the lever support via the universal joint, and a grip provided on a distal end of the rod. The operation lever device for a construction machine according to claim 1, 2, 3, 4, or 5, wherein the operation detection means is provided in a grip portion of the operation lever. 7. The operating lever includes a rod portion whose base end is rotatably connected to the lever support via the universal joint, and a grip portion provided on the distal end of the rod. The operation lever device for a construction machine according to claim 1, 2, 3, 4, or 5, wherein the operation detection means is provided on a rod portion side of the operation lever.