Operating force controlling device for operating lever

An operating force controlling device includes a pair of reactive force mechanisms (70, 70') disposed in an opposing relationship to each other in the direction of operation of an operating lever (60). A load pressure of a motor (30) is detected by a detector (91, 91'), and a controlling signal is outputted from a controller (90) in response to the load pressure. A pilot pressure is outputted from an electromagnetic proportional pressure reducing valve (80) in response to the control signal. The pilot pressure is inputted into one of the chambers of the reactive force mechanisms (70, 70') which moves a rod (72, 72') to project, to apply an operation reactive force to the lever (60). The operation reactive force is controlled such that the rate of change thereof may be high when the load pressure of the motor (30) is low but may be low when the load pressure is high. A plurality of control patterns wherein the rate of change of the operation reactive force to the load pressure is different from each other are set to a controller. As an operator manually senses a change of the operation reactive force which is operating the lever (60), a change of the load pressure is sensed and initiation of movement of a suspended cargo is sensed.

BACKGROUND OF THE INVENTION 
1. Field of the Invention 
This invention relates to an operating force controlling device for use 
with a construction equipment such as a crane, and more particularly to an 
operating force controlling device for providing an operation reactive 
force corresponding to a load pressure to an operating lever in order for 
an operator to sense initiation of movement of a suspended cargo with a 
hand manually when the suspended cargo is to be lifted or lowered. 
2. Description of the Invention 
A crane is equipped with a winch drum for lifting or lowering a suspended 
cargo, and a hydraulic motor for driving the drum is connected to the drum 
as disclosed in Japanese Utility Model Laid-Open No. 55-14199. The crane 
has a valve mechanism for controlling rotation of the motor. The valve 
mechanism includes a pilot valve connected to be operated by an operating 
lever, and a pilot type directional control device connected between the 
motor and a fluid supply source. When the lever of the crane is operated 
in the lifting direction, a pilot pressure is outputted from the pilot 
valve, and the directional control valve is changed over to its lifting 
position by the pilot pressure so that pressurized fluid is supplied from 
the fluid supply source to the motor. Then, the pressure (load pressure) 
on the fluid inlet side of the motor increases gradually, and when the 
load pressure exceeds a pressure corresponding to the magnitude of the 
load (load of the suspended cargo), the motor is activated to start the 
drum in its lifting direction. After that, the motor is driven with the 
load pressure corresponding to the magnitude of the load of the suspended 
cargo to carry out a lifting operation of the suspended cargo. 
Accordingly, if a change in load pressure of the motor is discriminated, 
then initiation of movement of the suspended cargo will be discriminated. 
The crane disclosed in Japanese Utility Model Laid-Open No. 55-14199 
mentioned above includes an operating force controlling device for 
enabling an operator to sense such change in load pressure of the motor 
with a hand which is operating the lever. The operating force controlling 
device includes a pilot valve connected to be operated by a lever, and a 
pair of cylinders operatively connected to the pilot valve for providing 
an operation reactive force to the lever. If the lever is operated to the 
lifting side to change over the directional control valve to cause the 
motor to rotate in order to lift a suspended cargo, the load pressure of 
the motor is inputted to a chamber of one of the cylinders by way of a 
corresponding one of pilot pipe lines from pipe lines communicating with 
ports on the opposite sides of the motor to push up a piston of the pilot 
valve and a rod connected to the piston. The rod is contacted with a 
pivotal position portion connected to the lever to urge the lever to 
return to its neutral position. An operation reactive force thus acts upon 
the lever. The operation reactive force increases in proportion to the 
load pressure of the motor. Accordingly, when an operator operates the 
lever, the load pressure of the motor can be sensed by sensing the 
operation reactive force by way of the lever. 
However, the operating force controlling device has such a structure that 
the load pressure of the motor upon lifting and lowering of a suspended 
cargo is inputted directly to the chambers of the cylinders, and 
particularly when the load of the suspended cargo is heavy and the load 
pressure of the motor is high, the high pressure fluid will flow into the 
chambers of the cylinders. Accordingly, seal portions and so forth of the 
cylinders are required to have a sufficiently high strength to bear a high 
pressure. Consequently, the device is high in cost. 
Further, the operating force controlling device is constituted such that 
the diameter (pressure receiving area) of the piston on the lifting 
operation side is equal to the diameter (pressure receiving area) of the 
piston of the lowering operation side, and as the load pressure is 
inputted to one of the chambers behind the pistons, the operation reactive 
force is controlled linearly at a fixed rate in proportion to the load 
pressure. However, when the suspended cargo is lowered, the load pressure 
varies only a little after changing over of the directional control valve 
until a counterbalance valve interposed between the directional control 
valve and the motor is opened, and after the counterbalance valve is 
opened and the suspended cargo starts to move in the lowering direction, 
the load pressure becomes substantially fixed irrespective of the 
magnitude of the load of the suspended cargo. Accordingly, even if the 
load pressure of the motor upon lowering operation is inputted to the 
chambers of the cylinders in the operating force controlling device, since 
the amount of change of the load pressure is small, the amount of change 
of the operation reactive force is so small that it is difficult to 
manually sense such change and accordingly it is difficult to manually 
sense initiation of movement in the lowering direction of the suspended 
cargo. On the other hand, when the suspended cargo is lifted, particularly 
where the load of the suspended cargo is small and the motor has a low 
load (the motor is in a region wherein the load pressure is low), the 
amount of change of the operation reactive force is so small that it is 
difficult to manually sense a change of the load pressure as a change of 
the operation reactive force. Accordingly, it is difficult to manually 
sense initiation of movement of the suspended cargo. 
SUMMARY OF THE INVENTION 
It is an object of the present invention to provide an operating force 
controlling device for an operating lever with which an operator can 
readily sense a change of an operating condition, particularly initiation 
of movement, of an actuator with a hand which is operating the lever. 
It is another object of the present invention to provide an operating force 
controlling device for an operating lever which can employ a cylinder for 
a low pressure as a cylinder of a reactive force mechanism and can be 
produced at a reduced cost. 
It is a further object of the present invention to provide an operating 
force controlling device for an operating lever wherein the control 
accuracy of an operation reactive force is improved to facilitate sensing 
of a change of an operation reactive force, that is, a change of a load 
pressure. 
It is still further object of the present invention to provide an operating 
force controlling device for an operating lever which can control an 
operation reactive force in accordance with the nature of an operation to 
improve the general usefulness of the device. 
An operating force controlling device of the present invention is applied 
to a construction equipment, particularly to a crane which includes a 
winch drum for lifting and lowering a suspended cargo and a motor 
connected to drive the drum. The operating force controlling device 
comprises a valve mechanism for controlling supply and discharge of fluid 
to and from an actuator, particularly a hydraulic motor, and an operating 
lever for changing over the valve mechanism. The valve mechanism may 
include a pilot valve on which the operating lever is provided, and a 
pilot type directional control valve connected between a fluid supply 
source and the motor, the secondary side of the pilot valve being 
connected to a signal receiving portion of the pilot type directional 
control valve by way of a pilot pipe line. 
The lever may be supported for pivotal motion on a valve body of the pilot 
valve and alternatively operated in two directions to a lifting side and a 
lowering side. When the lever is operated in the lifting direction, a 
pilot pressure is outputted from the pilot valve, and the directional 
control valve is changed over to the lifting position by the pilot 
pressure. Consequently, pressurized fluid is supplied from the fluid 
supply source to the motor to rotate the motor in the lifting direction, 
and consequently, the drum is rotated in the lifting direction to lift the 
suspended cargo. When the lever is operated reversely in the lowering 
direction, the suspended cargo will be lowered. Upon lifting or lowering 
operation of the suspended cargo, the pressure (load pressure) on the 
fluid inlet side of the motor rises to drive the motor. The load pressure 
varies in response to an operating condition of the motor such as, for 
example, a magnitude of the load of the suspended cargo or an operating 
direction for lifting or lowering. 
In order to enable an operator to readily sense such a change of the load 
pressure of the motor with a hand, the operating force controlling device 
of the present invention comprises a reactive force mechanism for applying 
to the operating lever a force in the direction opposite to the direction 
of the operation of the operating lever (operation reactive force). The 
operating force controlling device of the present invention may comprise 
two such reactive force mechanisms provided in an opposing relationship to 
each other at the opposite ends of a pivotal portion of the lever in order 
to apply, for each of the two operating directions of the lever, a 
reactive force in the direction opposite to the direction of operation of 
the lever. The reactive force mechanism may include a cylinder having a 
chamber for control of the operation reactive force, a piston supported 
for axial sliding movement in the cylinder, and a rod connected to the 
piston and disposed in an opposing relationship to a pivotal member 
connected to the lever. In the operating force controlling device of the 
present invention, preferably the cylinder of the reactive force mechanism 
is formed in an integral relationship with the valve body of the pilot 
valve. 
The operating force controlling device of the present invention comprises, 
in order to control such that the operation reactive force by the reactive 
force mechanism may vary in response to an operating condition of the 
motor, means for detecting an operating condition of the motor, and a 
control mechanism connected between the detecting means and the reactive 
force mechanism. The control mechanism receives a signal from the 
detecting means and delivers a reactive force controlling signal 
corresponding to the received signal to the reactive force mechanism. 
The means for detecting an operating condition of the motor may include a 
pair of pressure sensors connected to pipe lines which communicate with a 
pair of ports for supplying and discharging fluid into and from the motor 
therethrough. The pressure sensors individually detect a load pressure on 
the lifting side and a load pressure on the lowering side of the motor. 
The control mechanism may a controller for receiving a signal from the 
detecting means and for developing a reactive force controlling signal in 
response to a direction of rotation of the motor and a magnitude of the 
load pressure, and a signal outputting means for outputting control fluid 
in accordance with a signal from the controller to the reactive force 
mechanism. The signal outputting means may be an electromagnetic 
proportional pressure reducing valve for outputting to the chamber of the 
cylinder a pilot pressure in response to an electric controlling signal 
from the controller. 
In the operating force controlling device of the present invention, when 
the lever is operated to the lifting or lowering direction to rotate the 
motor in the lifting or lowering direction to carry out a lifting or 
lowering operation of a suspended cargo, pressures in the pipe lines which 
communicate with the ports on the opposite sides of the motor are detected 
individually by the pressure sensors and inputted to the controller. The 
controller discriminates lifting or lowering and calculates an effective 
load pressure of the motor from pressure values detected by the pressure 
sensors. The controller then outputs a reactive force controlling signal 
in accordance with the effective load pressure, and a pilot pressure is 
outputted from the electromagnetic proportional pressure reducing valve in 
response to the control signal. The pilot pressure is inputted to the 
chamber of the cylinder of the reactive force mechanism so that the piston 
and the rod are pushed up to apply an operation reactive force 
corresponding to the load pressure to the lever. The pilot pressure 
inputted to the chamber is lower than the load pressure of the motor. 
Accordingly, a seal and so forth of the cylinder used may be those for a 
low pressure. Further, as a pilot pressure is inputted to the chamber to 
control the operation reactive forces, the control accuracy of the 
operation reactive force is improved, enabling delicate reactive force 
control. 
In the operating force controlling device, preferably a change-over valve 
is connected to the primary side of the electromagnetic proportional 
pressure reducing valve. The change-over valve is constructed for shifting 
movement between a position in which the primary side of the 
electromagnetic proportional pressure reducing valve is connected to the 
pilot pressure source and another position in which the primary side is 
connected to a reservoir. When control of the operation reactive force is 
required, the primary side of the electromagnetic proportional pressure 
reducing valve is connected to the pilot pressure source by way of the 
change-over valve, but when control of the operation reactive force is not 
required, such as when the lever is operated frequently, the primary side 
is connected to the reservoir by way of the change-over valve. 
The operating force controlling device of the present invention may be 
controlled such that the rate of change of the operation reactive force to 
a load pressure of the motor may be high in a light load condition but may 
be low in a heavy load condition. Particularly when the load is light in a 
lifting operation of a suspended cargo, even if the load pressure of the 
motor varies only a little, the operation reactive force changes to a 
great extent so that such small change of the load pressure can be sensed 
by an operator, which facilitates sensing of a change of the operating 
condition of the suspended cargo, particularly sensing of initiation of 
movement of the suspended load upon lifting. On the other hand, the load 
is light also upon lowering of the suspended cargo, and accordingly, also 
upon lowering, the load pressure of the motor which varies a little at an 
initial stage of changing over of the directional control valve 
irrespective of the magnitude of the load of the suspended cargo is 
converted into a great operation reactive force so that an operator can 
sense a change of the operation reactive force with high sensitivity. 
Consequently, initiation of movement of the suspended cargo upon lowering 
is sensed with certainty. 
In the operating force controlling device, if it is assumed that the rate 
of change of the operation reactive force corresponding to the load 
pressure of the motor is constant and is so left when the motor has a 
heavy load, particularly when the load of a suspended cargo in a lifting 
operation is heavy, to be high similarly as in the case of the light load 
condition described above, then the operation reactive force will be 
excessively great as the load pressure increases, and there is a 
possibility that the operation reactive force may exceed an allowable 
maximum value of the lever. However, the operating force controlling 
device of the present invention is controlled such that, when the load to 
the motor is heavy, the rate of change of the operation reactive force may 
be decreased while the operation reactive force itself is increased in 
response to the load pressure. Thus, the maximum value of the operation 
reactive force is prevented from exceeding the allowable maximum value by 
the lever. 
The operating force controlling device of the present invention may 
comprise, in order to improve the general usefulness of the device, an 
initial value setting means for changing an initial value of the reactive 
force controlling signal in accordance with the type of an operation. For 
example, when the load pressure of the motor is small, the initial value 
is set to a high value. Consequently, a high operation reactive force can 
be obtained even from a low load pressure, and a change of the load 
pressure in a light load region can be sensed more readily. 
The operating force controlling device of the present invention may 
comprise, in order to further improve the general usefulness of the 
device, a control mechanism for controlling with a plurality of control 
patterns having different rates of change of the operation reactive force 
corresponding to a load pressure of the motor, the control mechanism 
including a control pattern selecting means therein. The control patterns 
are divided into a control pattern or patterns for control upon lifting of 
a suspended cargo and a control pattern or patterns for control upon 
lowering, and the rate of change is controlled such that it may be higher 
in the control pattern or patterns for control upon lowering than in the 
control pattern or patterns for control upon lifting. The controllability, 
particularly upon lowering, is improved by such control. 
In the operating force controlling device of the present invention, the 
control patterns for control upon lifting are divided into a plurality of 
patterns, and in at least one of the control patterns, the rate of change 
of the operation reactive force corresponding to a load pressure of the 
motor in a light load condition is set such that it may be higher than the 
rate of change of the operation reactive force corresponding to a load 
pressure of the motor in a heavy load condition. With the device, an 
optimum pattern is selected from among the control patterns to accomplish 
control of the operation reactive force appropriately. 
The operating force controlling device of the present invention may be 
constructed otherwise in the following manner. 
The cylinder of the reactive force mechanism is formed independently of the 
valve body of the pilot valve but is connected in an integral relationship 
to a side face of the valve body by means of a connecting element. 
The cylinder of the reactive force mechanism and the pilot valve are 
constructed independently of each other and disposed at different 
positions spaced from each other, and the pivotal portion of the operating 
lever of the pilot valve is connected to the pivotal portion of the 
reactive force mechanism by way of a link. Where a cage is small as in a 
construction equipment, the reactive force mechanism and the pilot valve 
can be constructed such that they may not disturb to operation by 
disposing them in a spaced relationship from each other. 
The means for detecting an operating condition of the actuator may include 
a shuttle valve connected to the pipe lines which communicate with the two 
ports provided for supplying and discharging fluid into and from the 
actuator, and a single pressure sensor connected to the shuttle valve for 
detecting a higher pressure selected by the shuttle valve. Load pressures 
both upon operation of the actuator in one direction and upon operation in 
the other direction are detected by the single pressure sensor. In this 
instance, means for detecting a direction of operation of the operating 
lever may be provided if necessary. The means may be a switch mechanism of 
the on-off type such as, for example, a limit switch, and such switch 
mechanism detects the direction of operation of the operating lever to 
detect a direction of operation of the actuator. Or as another means, a 
pressure detecting means may be connected to at least one of the two pilot 
pipe lines connected between the two secondary side ports of the pilot 
valve and the signal receiving portions on the opposite ends of the pilot 
type directional control valve such that the direction of operation of the 
lever and the direction of operation of the actuator may be discriminated 
in response to a value detected by the detecting means. 
The operating force controlling device for an operating lever of the 
present invention has the following advantages. In particular, the 
operating force controlling device can control the operation reactive 
force in response to an operating condition of the actuator. The operating 
force controlling device of the present invention can employ a cylinder 
for a low pressure for the cylinders of the reactive force mechanism since 
the control mechanism for inputting a control signal to the reactive force 
mechanism is constructed from a controller and an electromagnetic 
proportional pressure receiving valve. Further, compared with an 
alternative arrangement wherein the load pressure of the motor is inputted 
directly to the cylinder of the reactive force mechanism to effect 
control, the device can be produced at a reduced cost and with reduced 
failures to improve the life of the machine. Besides, delicate control 
becomes available and the control accuracy can be improved. 
The operating force controlling device of the present invention detects a 
load pressure of the actuator and controls the operation reactive force in 
response to the load pressure by means of the reactive force mechanism, 
and particularly in control of the operation reactive force, since the 
rate of change of the operation reactive force to the load pressure is 
high in a light load condition, an operator can certainly sense even a 
small change of the load pressure as a great changes of the operation 
reactive force. Further, as the operator senses the operation reactive 
force, initiation of movement of the load (suspended cargo) can be 
discriminated readily, and accordingly, safety can be improved. Since the 
operating force controlling device of the present invention does not 
control the operation reactive force at a fixed ratio but controls, when 
the load is heavy, the operation reactive force at a smaller rate of 
change than that when the load is light, the operation reactive force will 
not exceed an available maximum value of the lever when the load is heavy, 
and operation of the lever can be carried out smoothly. 
The operating force controlling device of the present invention can perform 
various controls, and the general usefulness of the device can be improved 
where a plurality of control patterns are set. The operating force 
controlling device is controlled such that the rate of change of the 
operation reactive force may be high in an lowering operation of a 
suspended cargo but low in a lifting operation. Then, upon lowering of the 
suspended cargo, the load pressure of the motor which varies a little at 
an initial stage of changing over of the directional control valve can be 
changed into a great change of the operation reactive force, and 
consequently an operator can sense the change with high sensitivity. 
Accordingly, even when the operator operates at a position at which the 
suspended cargo cannot be observed, initiation of movement of the 
suspended cargo in the lowering direction can be manually sensed with 
certainty and accordingly, safe operation is assured. The operating force 
controlling device can always assure appropriate operation reactive force 
control by selecting a control pattern suitable for the type of operation 
by means of the control pattern selecting means. 
The operating force controlling device of the present invention can 
arbitrarily set an initial value of the operation reactive force by means 
of the initial value setting means. Consequently, the controllability in a 
light load condition can be further improved, and initiation of movement 
of the suspended cargo can be recognized more readily. 
Where the load pressure is detected using the shuttle valve and the single 
pressure sensor, the operating force controlling device of the present 
invention can be produced at a reduced cost compared with an alternative 
arrangement wherein the pressures on the opposite sides of the motor are 
detected by two pressure sensors, because one of such pressure sensors can 
be omitted.

DESCRIPTION OF THE PREFERRED EMBODIMENTS 
Referring first to FIG. 1, a hydraulic motor 30 is connected to a winch 
drum (not shown) of a crane (not shown). When the motor 30 is rotated 
forwardly or reversely, the winch drum is rotated forwardly or reversely 
to perform lifting or lowering of a suspended cargo. An operating force 
controlling device of the present invention includes a valve mechanism for 
controlling rotation of the motor 30. The valve mechanism includes a pilot 
type directional control valve 20 and a pilot valve 40. The directional 
control valve 20 is connected between a main pump 10 serving as a fluid 
supply source and the motor 30 such that pressurized fluid discharged from 
the pump 10 may be supplied to the motor 30 to rotate the motor 30 
forwardly or reversely in accordance with a shifted position of the 
directional control valve 20. A known counterbalance valve (not shown) is 
provided between the motor 30 and the directional control valve 20. 
The pilot valve 40 has a pair of pressure reducing valves 50 and 50' 
disposed for operation by an operating lever 60. The lever 60 is supported 
for pivotal motion on a valve body 41 by means of a pivot shaft 61. A pair 
of pivotal members 62 and 62' are provided in an integral relationship on 
the lever 60 so that they may be pivoted in an integral relationship with 
the lever 60. The pressure reducing valves 50 and 50' are provided in an 
opposing relationship to the pivotal members 62 and 62', respectively. The 
valve body 41 has a pair of chambers 51 and 51', an input port 42 
communicating with the chambers 51 and 51', a return port 43, and a pair 
of output ports 44 and 44'. Spools 53 and 53' of the pressure reducing 
valves 50 and 50' are inserted for sliding movement in the chambers 51 and 
51', respectively. A pair of springs 56 and 56' are accommodated in 
chambers 57 and 57' and support lower or rear ends of the spools 53 and 
53' thereon. respectively. The chambers 57 and 57' are communicated with 
the ports 44 and 44', respectively. A pair of push rods 54 and 54' are 
supported for axial movement in the valve body 41 such that upper or front 
ends thereof may oppose to the pivotal members 62 and 62', respectively, 
while lower or rear ends thereof are engaged for axial sliding movement 
with upper or front ends of the spools 53 and 53', respectively. A pair of 
springs 55 and 55' are disposed between flanges provided on the spools 53 
and 53' and lower or rear ends of the push rods 54 and 54', respectively, 
and urge the push rods 54 and 54' in a direction to project from the valve 
body 41, respectively. In order to prevent the push rods 54 and 54' from 
falling off from the valve body 41, flanges for abutting with walls of the 
chanbers 51 and 51' on the upper or front end side are provided at the 
lower or rear ends of the push rods 54 and 54'. The port 42 is connected 
to a pilot pump 11 while the port 43 is connected to a reservoir 12, and 
the ports 44 and 44' are connected to changing over signal receiving 
portions of the directional control valve 20 by way of a pair of pilot 
pipe lines 21 and 21', respectively. 
FIG. 1 shows the operating force controlling device in a condition when the 
lever 60 of the pilot valve 40 is operated from its neutral position to 
its lifting position. Upon such operation, the push rod 54 of the pressure 
reducing valve 50 on the lifting side is pushed down by the pivotal member 
62 and hence the spool 53 is pushed down. In this instance, fluid (primary 
pressure) discharged from the pilot pump 11 and adjusted to a 
predetermined pressure by a pilot relief valve (not shown) or the like is 
inputted to the input port 42 of the pilot valve 40. Thus, as the spool 53 
of the pressure reducing valve 50 is pushed down, a pilot pressure is 
outputted from the port 44 into the pilot pipe line 21, and the 
directional control valve 20 is changed over to its lifting position by 
the pilot pressure. Consequently, pressure fluid discharged from the pump 
10 is flowed in the direction indicated by an arrow mark 34 into the motor 
30 so that the motor 30 is rotated forwardly to rotate the winch drum (not 
shown) in the lifting direction to lift the suspended cargo. 
The operating force controlling device of the present invention includes, 
in order to enable an operator to manually sense an operating condition of 
the motor 30, that is, movement of the suspended cargo, such a reactive 
force mechanism and a control mechanism for the reactive force mechanism 
as described below. The reactive force mechanism includes a pair of 
cylinders 70 and 70', a pair of pistons 71 and 71' inserted for axial 
sliding movement in the cylinders 70 and 70', respectively, and a pair of 
rods 72 and 72' connected to the pistons 71 and 71', respectively. The 
cylinders 70 and 70' are formed in an integral relationship on the valve 
body 41 of the pilot valve 40 adjacent the pressure reducing valves 50 and 
50', respectively, of the pilot valve 40, and the rods 72 and 72' are 
disposed in an opposing relationship to the pivotal members 62 and 62', 
respectively. When the lever 60 assumes its neutral position, upper or 
front ends of the rods 72 and 72' contact with the pivotal members 62 and 
62', respectively. 
The control mechanism described above includes a controller 90 and an 
electromagnetic proportional pressure reducing valve 80. The 
electromagnetic proportional pressure reducing valve 80 is alternatively 
connected, on the primary side thereof, to the pilot pump 11 and the 
reservoir 12 by way of a change-over valve 82. When the operation reactive 
force is to be controlled, the valve 80 is connected on the primary side 
thereof to the pump 11 by way of the change-over valve 82 and receives an 
electric reactive force controlling signal (electric current) from the 
controller 90 while it outputs, on the secondary side thereof, a pilot 
pressure corresponding to the signal received. The secondary side of the 
valve 80 is connected to a pair of chambers 73 and 73' by way of a pair of 
pilot pipe lines 81 and 81', respectively. 
In order to detect an operating condition of the motor 30, a pair of 
pressure sensors 91 and 91' are connected to oil passages 31 and 32, 
respectively, communicating with a pair of ports on the opposite sides of 
the motor 30. Thus, a load pressure Pa on the lifting side and another 
load pressure Pb on the lowering side of the motor 30 are individually 
detected by the sensors 91 and 91', respectively, and are inputted to the 
controller 90. Where required, an initial value setting means 92 and/or a 
switch 93 for selection of a control pattern are connected to signal 
receiving means of the controller 90. 
If the lever 60 is operated to the lifting side as shown in FIG. 1 to cause 
the motor 30 to rotate to the lifting side, then the load pressure Pa of 
the oil passage 31 on the lifting side of the motor 30 is detected by the 
pressure sensor 91 and inputted to the controller 90. The controller 90 
comprises reative sorce controlling means which outputs a reactive force 
controlling signal i (electric control current) to the electromagnetic 
proportional pressure reducing valve 80 in accordance with the load 
pressure Pa. The electromagnetic proportional pressure reducing valve 80 
outputs to the pipe line 81 a pilot pressure Pi proportional to the 
controlling signal. The pilot pressure Pi is inputted to the chamber 73 by 
way of the pipe line 81, and the rod 72 is urged by the pilot pressure Pi 
so that it may be projected from the valve body 41 of the pilot valve 40. 
Thus, the projecting force acts as an operation reactive force Fa to the 
pivotal member 62 of the lever 60. 
The lever 60 is normally acted upon by a force which tends to return the 
push rod 54 of the pressure reducing valve 50 to its neutral position as a 
peculiar reactive force Fo. Accordingly, when the lever 60 is operated, 
the sum of the operation reactive force Fa which is controlled in 
accordance with the load pressure Pa and the peculiar reactive force Fo 
acts as a total reactive force F (F=Fo+Fa) upon the lever 60. Here, the 
peculiar reactive force Fo depends upon the spring 56 of the pressure 
reducing valve 50 of the pilot valve 40 and a resistance to sliding 
movement of the spool 53 and so forth and is substantially constant at a 
certain lever stroke. To the contrary, the operation reactive force Fa by 
the rod 72 is basically controlled in accordance with the load pressure Pa 
of the motor 30. Further, the rate of change (proportional gain) of the 
operation reactive force Fa with respect to the load pressure Pa is 
controlled by a controlling means such as an arithmetic unit provided in 
the controller 90 such that it may be high when the load is light but may 
be low when the load is heavy. 
FIG. 2 is a diagram illustrating a relationship of the operation reactive 
forces Fa and F acting on the lever 60 to the load pressure Pa of the 
motor 30. Referring to FIG. 2, a solid line I indicates a peculiar 
reactive force Fo (constant) of the pressure reducing valve 50; a chain 
line II' indicates an operation reactive force Fa which is controlled in 
accordance with the load pressure Pa; and a solid line II indicates a 
total operation reactive force F (Fo+Fa) which actually acts upon the 
lever 60. In a lifting operation described hereinabove, the rate of change 
of the operation reactive force Fa is controlled in accordance with such a 
bent line that it may be high when the load pressure Pa is low but may be 
low when the load pressure Pa is high as seen from the solid line II'. 
Due to such control, particularly when the load is light, a small change of 
the load pressure Pa can be converted into a great change of the operation 
reactive force Fa, and the great change can be manually sensed with high 
sensitivity by an operator who is operating the lever 60. Further, the 
operator can sense initiation of movement of the load at an initial stage 
of its operation through a change of the operation reactive force Fa, that 
is, through a change of the total operation reactive force F. In the 
meantime, even if the rate of change of the operation reactive force Fa 
with respect to the load pressure Pa is raised when the load is light as 
described above, since the rate of change is lowered when the load is 
heavy, there is no possibility that the total operation reactive force F 
may exceed an available maximum value Fmax for the lever, and even when 
the load is heavy, the operation reactive force Fa can be controlled 
appropriately in accordance with the load pressure Pa. Consequently, 
smooth operation can be assured over an entire load region ranging from a 
light load condition to a heavy load condition. 
Subsequently, when the lever 60 is operated in the lowering direction, a 
pilot pressure is outputted from the pressure reducing valve 50' on the 
lowering side, and the directional control valve 20 is changed over to the 
lowering position. Consequently, the motor 30 is rotated in the lowering 
direction. In this instance, a pressure (load pressure) Pb of the oil 
passage 32 on the lowering side is detected by the pressure sensor 91'. 
Then, the operation reactive force is controlled in a similar manner as 
described above by the controller 90, electromagnetic proportional 
pressure reducing valve 80, cylinder 70' of the reactive force mechanism 
and so forth. In the lowering operation, however, since the load pressure 
Pb of the motor 30 is low as described hereinabove, the operation is made 
for a light load. Accordingly, the rate of change of the operation 
reactive force Fb with respect to the load pressure Pb is high, and 
therefore, the operation reactive force Fb is controlled such that it may 
vary to a great extent even if the load pressue Pb varies a little. As a 
result, the operator can manually sense with high sensitivity by the hand 
which is operating the lever 60, and initiation of movement of the load at 
an initial stage operation can be sensed readily through a change of the 
operation reactive force Fb, that is, a change of the total operation 
reactive force F. Particularly when, in a lowering operation, a suspended 
charge is hidden, for example, behind a building and the operator must 
operate at a position at which the suspended cargo cannot be observed, the 
operation can be proceeded in safety by sensing the operation reactive 
force F (Fb) with a hand to discriminate initiation of movement of the 
suspended cargo as described above. 
Where the pressures of the oil passages 31 and 32 on the opposite sides of 
the motor 30 are individually detected using the two pressure sensors 91 
and 91' as shown in FIG. 1 and inputted to the controller 90 in which 
lifting or lowering operation is distinguished and a difference in 
pressure between the oil passages 31 and 32 is calculated and such control 
as described above is executive in accordance with an effective load 
pressure of the motor 30 obtained from the calculated difference in 
pressure, and particularly where the winch circuit is connected to another 
actuator circuit by way of a series circuit, even if the downstream 
actuator is being used, the operation reactive force can be controlled 
appropriately. 
The operating force controlling device of the present invention may control 
also in the following manner. 
As shown in FIG. 1, an initial value setting device 92 may be connected to 
the controller 90. By changing the initial value of control by means of 
the initial value setting device 92, the control pattern indicated by the 
solid line II shown in FIG. 2 is changed to another control pattern 
indicated by a solid line II.sub.1 to II.sub.2. The initial value may be 
shifted up or down at a plurality of stages or may be changed infinitely. 
By such change of the initial value, the operation reactive force 
particularly in a light load condition can be increased, and the facility 
in operation can be improved further. 
Such a plurality of control patterns as indicated by solid lines II, III 
and IV in FIG. 3 may be set or stored in the controller 90 of FIG. 1. 
Meanwhile, a selection switch 93 serving as a control pattern selecting 
means may be provided for the controller 90. The control patterns of the 
solid lines II, III and IV are different in rate of change of the 
operation reactive force from each other and individually have different 
rates of change of the operation reactive force in a light load condition 
and in a heavy load condition. Then, that one of the control patterns 
indicated by the solid lines II, III and IV which corresponds to the type 
of operation is selected by means of the selection switch 93. 
Consequently, the operation reactive force can be controlled appropriately 
in accordance with the type of operation. 
The control patterns stored in the controller 90 need not necessarily make 
such bent lines as described above. For example, such three control 
patterns wherein the operation reactive force presents a linear change and 
the rate of change thereof is fixed as indicated by solid line V, VI and 
VII in FIG. 4 may be set or stored in the controller 90. Thus, one of the 
three control patterns is selected in accordance with a load (magnitude of 
the load of the suspended cargo) by the selection switch 93 such that the 
control pattern given by the solid line V may be selected in a heavy load 
operation: the solid line VI may be selected in a medium load operation: 
and the solid line VII may be selected in a light load operation. Due to 
such selection, the operation reactive force can be controlled in 
accordance with the type of operation, and the general usefulness of the 
device can be improved. 
Such control patterns as indicated by solid lines II, III and IV in FIG. 5 
may be set or stored for control for a lifting operation in the controller 
90 while such an additional control pattern for lowering as indicated by a 
solid line VIII in FIG. 5 is set or stored in the controller 90. It is to 
be noted that the control pattern VIII for lowering is set such that the 
rate of change of the operation reactive force with respect to the load 
pressure is higher than the rates of change of the operation reactive 
force for lifting. Thus, a control pattern is selected by the selecting 
switch 93 in accordance with a lifting operation or an lowering operation. 
Such selection facilitates sensing of a change of the load pressure 
particularly upon lowering and thus facilitates sensing of initiation of 
movement of a suspended cargo. 
Further, initial values of the control patterns indicated by the solid line 
II, III and IV (FIG. 3) and/or the solid line V, VI and VII (FIG. 4) and 
the solid line VIII (FIG. 5) may be changed by the initial value setting 
device 92. It is to be noted that the intended objects can be attained 
even if the initial value setting device 92 and the control pattern 
selecting switch 93 are omitted. 
Although a primary pressure is inputted to the electromagnetic proportional 
pressure reducing valve 80 so that such operation reactive force control 
as described above is executed if the change-over valve 82 is held at the 
position shown in FIG. 1, when no control of the operation reactive force 
is required such as, for example, during an operation wherein the lever is 
operated frequently, if the change-over valve 82 is changed over to its 
upper position in FIG. 1, then the electromagnetic proportional pressure 
reducing valve 80 is communicated with the reservoir 12. Consequently, the 
operation reactive force control is canceled. The change-over valve 82 may 
then be omitted. 
Referring now to FIG. 6, there is shown a modification to the operating 
force controlling device of FIG. 1 wherein a different detecting means is 
employed. In the modified operating force controlling device, a higher one 
of the pressures of the oil passages 31 and 32 on the opposite sides of 
the motor 30 is selected by means of a shuttle valve 33 and detected by a 
single pressure sensor 91 to effect intended control. In the case of the 
modified operating force controlling device, a switch 94 for detecting the 
direction of operation of the lever 60 may be provided where required. The 
switch 94 is mounted on a support member which may be, for example, the 
valve body 41 of the pilot valve 40 and detects the direction of operation 
of the lever 60. The detected value is inputted to the controller 90 so 
that the direction of operation of the motor 30 may be discriminated by 
the controller 90. 
Referring now to Fig. 7, there is shown a modification to the modified 
operating force controlling device of FIG. 6 wherein another different 
means for detecting the direction of operation of the lever 60 is 
provided. In the modified arrangement shown, a pressure switch 95 is 
connected to one 21 of the pilot pipe lines 21 and 21' connected between 
the ports 44 and 44' of the pilot valve 40 and the signal receiving 
portions on the opposite sides of the directional control valve 20. Thus, 
a pilot pressure is detected by means of the switch 95 to detect the 
direction of operation of the lever 60, that is, the direction of 
operation of the motor 30. 
By the way, while the cylinders 70 and 70' of the reactive force mechanism 
are provided in an integral relationship with the pilot valve 40 in any of 
the operating force controlling devices shown in FIGS. 1, 7 and 8, they 
need not necessarily be formed in an integral relationship on the pilot 
valve 40. 
In particular, the cylinders 70 and 70' of the reactive force mechanism and 
the pilot valve 40 may otherwise be provided separately from each other as 
shown in FIG. 8. Referring to FIG. 8, the cylinders 70 and 70' are 
supported on a support member at a location spaced from the pilot valve 
40, and the lever 60 is supported for pivotal motion on the support member 
such that the pivotal members 62 and 62' connected to the lever 60 may be 
opposed to the rods 72 and 72' of the cylinders 70 and 70', respectively. 
The pivotal members 62 and 62' are operatively connected to an operating 
portion 63 of the pilot valve 40 by way of a link 64 or the like. Due to 
the structue, if the lever 60 is operated, then one of the rods 72 and 72' 
of the cylinders 70 and 70' and one of the pressure reducing valves of the 
pilot valve 40 at the location spaced from the cylinders 70 and 70' are 
operated at the same time to carry out lifting or lowering of a suspended 
cargo while an operation reactive force corresponding to the load pressure 
is applied to the lever 60. Particularly where such construction as shown 
in FIG. 8 is employed, a known or existing pilot valve can be used as it 
is, and the cylinders 70 and 70' of the reactive force mechanism can be 
reduced in size, permitting reduction in production cost. Besides, the 
arrangement of the pilot valve 40 and the operating lever 60 as well as 
the cylinders 70 and 70' can be set arbitrarily, and accordingly, they can 
be disposed efficiently in a small cage as in a construction equipment to 
raise the utilization value. 
The operating force controlling device of the present invention may be 
constructed such that the operation reactive force may be controlled only 
for one of the lifting operation and lowering operation of a suspened 
cargo. 
A load measuring instrument for detecting the load of a suspended cargo may 
be adopted as another means for detecting an operating condition of the 
motor 30. A crane normally includes, as a detecting element for prevention 
of an overload to prevent lifting of a suspended cargo by an excessive 
amount or to prevent falling down of the machine or the like, a load 
measuring instrument for detecting a tensile force applied to a lifting 
rope on which a suspended cargo is carried. Accordingly, such construction 
may be employed that, making use of such a known load measuring 
instrument, a signal from the load measuring instrument may be inputted to 
the controller 90 to control the operation reactive force. 
The operating force controlling device of the present invention can be 
applied to a construction equipment such as a hydraulic shovel wherein a 
hydraulic cylinder is employed as an actuator and a working device is 
operated by the cylinder. The working device may be a bucket, an arm, a 
boom or the like, and when such working device or devices are operated to 
carry out a digging operation, control of the operation reactive force 
similar to that described above may be executed. When, for example, a tip 
end of a bucket is abutted with some article buried under the ground 
during such digging operation, the load pressure of a bucket cylinder or 
the like rises suddenly. Such a sudden change of the load pressure is 
sensed readily by such operation reactive force control as described 
hereinabove.