Actuator performing drive of one-axis operation type operation lever

Abstract

To provide an actuator which does not interfere an operation by an operator even in an installed state, and performs drive of a one-axis operation type operation lever.SOLUTION: An actuator 5 which performs drive of one-axis operation type operation levers L1, L2 includes: a motor 51; one or more gears 52 rotating by a rotation force of the motor 51; a connection arm 53 having a fixing part 53a fixed to the operation lever at one end, and having a gear part 53b connected to the gear 52 on the other end; and an electromagnetic clutch 54 for transmitting the rotation force of the motor 51 to the gear 52. By control of an electric signal to the electromagnetic clutch 54, drive of the operation levers L1, L2 by the actuator 5 and drive of the operation levers L1, L2 by a manual operation can be switched.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an actuator that drives a one-axis operation type operation lever.

Background Art

[0002] Non-Patent Document 1 discloses an independent type retrofittable attachment for a construction machine remote operation system, and also discloses an actuator that operates an operation lever. Specifically, an operation unit for operating the operation lever is arranged beside the driver's seat, and a long rod-shaped connecting component having a gripping portion fixed to the operation lever is used to connect the operation lever and the driving portion of the operation unit.

Prior Art Documents

Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Non-Patent Document 1, unlike the humanoid robot type that requires a person to sit in the driver's seat, manned work can be performed while it is installed. However, since the gripping portion of the connection part is connected to the portion gripped by the operator of the operation lever, etc., it is expected that it will be used after releasing the gripping state, etc., and it takes time for manned work.

[0005] In addition, an operation unit is arranged beside the operation lever. If an operator attempts to operate the operation lever without removing this operation unit, it is expected that the operation unit will interfere with the operation.

[0006] The present invention has been made in view of such circumstances, and an object thereof is to provide an actuator that drives a single-axis operation type operation lever and does not interfere with the operation by an operator even when installed.

Means for Solving the Problems

[0007] The present invention is grasped by the following configuration in order to achieve the above object. (1) The actuator that drives a single-axis operation type operation lever of the present invention includes a motor, one or more gears that rotate by the rotational force of the motor, a fixing portion fixed to the operation lever at one end, and a gear portion connected to the gear at the other end. A connection arm, and an electromagnetic clutch that transmits the rotational force of the motor to the gear. By controlling the electrical signal to the electromagnetic clutch, it is possible to switch between driving the operation lever by the actuator and driving the operation lever manually.

Effects of the Invention

[0008] According to the present invention, it is possible to provide an actuator that drives a single-axis operation type operation lever and does not interfere with the operation by an operator even when installed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0010] Hereinafter, with reference to the accompanying drawings, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail. Throughout the description of the embodiments, the same elements are denoted by the same numbers or symbols.

[0011] (First Embodiment) FIG. 1 is a side view showing a working machine 1 to which an actuator 5 (see FIGS. 4 and 5) according to the first embodiment of the present invention is attached. In the present embodiment, as the working machine 1, the case of a wheel loader classified as a construction machine is shown, but it is not necessarily limited thereto, and the object is not particularly limited as long as the actuator 5 described later can be suitably used.

[0012] As shown in FIG. 1, the working machine 1 includes a body portion 11 having a cab 11a used when an operator directly operates, a pair of left and right front-side wheels 12 provided on the body portion 11, a pair of left and right rear-side wheels 12, an arm 13 extending forward from the front body portion 11 and provided so as to be vertically drivable with respect to the body portion 11, and a bucket 14 provided at the front-end portion of the arm 13 and rotatable with respect to the end portion of the arm 13. Note that the above left and right refer to the direction orthogonal to the direction connecting the front and rear of the body portion 11.

[0013] As shown in FIG. 1, the working machine 1 includes a control unit 15 that controls the driving of various parts during automatic driving, and various measuring instruments (such as an inclinometer 16, a 3D-LiDAR 17, a gyro 18, a GNSS 19, etc.) for obtaining necessary information and the like during automatic driving.

[0014] Although not shown in the drawings, as a configuration attached to the working machine 1, when the working machine 1 is in the state of automatic operation, a user interface 1a (for example, a PC, a tablet, etc.) for the operator to remotely check the operation state and give operation instructions as necessary is provided, but it is not necessarily required. However, since there may be a situation where remote operation is desired during work, it is more preferable to provide the user interface 1a.

[0015] (Control unit 15) The control unit 15 includes a control panel 15a provided on the lower outer side surface of the cab 11a, and an input / output control panel 15b provided on the inner rear side in the cab 11a and connected to an antenna WF provided on the outer ceiling surface of the cab 11a. This antenna WF is, for example, a wireless antenna for performing data communication with the user interface 1a. Note that the control panel 15a and the input / output control panel 15b are fixed to the working machine 1 in a state of being respectively housed in boxes.

[0016] The control panel 15a is in charge of all operations such as controlling the movement during automatic operation and controlling the driving of the arm 13 and the bucket 14 during automatic operation. For example, it may be configured using an integrated circuit, or may be configured by combining a central processing unit (CPU) and a storage device (RAM, ROM), etc.

[0017] Even during remote operation where the operator sends an operation command using the user interface 1a, the control panel 15a of the control unit 15 that receives the command controls the operations of each part of the working machine 1.

[0018] The input / output control panel 15b is in charge of the transmission and reception of the control unit 15 and is responsible for data communication between the control panel 15a and the user interface 1a and various measuring devices provided on the working machine 1.

[0019] (Measuring device) In the construction machine 1 of the present embodiment, as various measurement devices mentioned above, an inclinometer 16, a 3D-LiDAR 17 (Light Detection and Ranging), a gyro 18, a GNSS 19 (Global Navigation Satellite System), etc. are provided.

[0020] (Inclinometer 16) The inclinometer 16 is provided at three locations: the surface facing the cab 11a side of the bucket 14, near the intermediate position in the longitudinal direction of the arm 13, and the outer surface of the ceiling of the cab 11a. During automatic operation, based on the inclination data detected by the inclinometers 16 provided on the arm 13 and the bucket 14, the control unit 15 controls the rotation of the motor 51 of the actuator 5, which will be described later, to control the appropriate operation amount of the arm 13 and the bucket 14.

[0021] The inclinometer 16 provided on the outer surface of the ceiling of the cab 11a is for detecting the inclination state of the construction machine 1 itself. For example, the detection data is used to correct the influence of the inclination of the construction machine 1 itself when operating the arm 13 and the bucket 14.

[0022] (3D-LiDAR 17) The 3D-LiDAR 17 is provided at three locations: the lower side in the vertical direction on the front outer surface of the body part 11, the front side of the outer surface of the ceiling of the cab 11a, and on the rear body of the body part 11. Note that the vertical direction may be read as the vertical direction following gravity, and the same applies hereinafter.

[0023] The 3D-LiDAR 17 acquires point cloud data represented by three-dimensional coordinate axes according to the shape, position, etc. of surrounding structures, etc. centered on the construction machine 1. And since the point cloud data can be used to create 3D mapping, etc. that three-dimensionally represents the surrounding state centered on the construction machine 1, it is preferable that all the 3D-LiDAR 17s are arranged at the center in the left-right direction. Note that the center in the left-right direction refers to the approximate center when viewed in the direction orthogonal to the direction connecting the front and rear of the body portion 11, and the same applies hereinafter.

[0024] The 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged on the lower side in the vertical direction of the front outer surface so that when the work machine 1 moves, the bucket 14 is positioned on the upper side in the vertical direction within a range where it can move safely, that is, a range that does not hinder movement, and the front side in the front becomes the measurement area.

[0025] Specifically, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is preferably positioned below the uppermost position H1 (see FIG. 1) on the upper side in the vertical direction of the front wheel 12 on the front side.

[0026] If the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged at such a position, as shown in FIG. 1, within a range where there is no problem with the running of the work machine 1, by simply positioning the bucket 14 on the upper side in the vertical direction, the front view FV of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 can be secured.

[0027] Also, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is preferably positioned above the position H2 (see FIG. 1) of the rotation center of the front wheel 12 on the front side in the vertical direction.

[0028] If the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged at such a position, even when the work machine 1 travels on rough ground and the protrusion of the ground hits the front outer surface of the body portion 11, a collision with the 3D-LiDAR 17 can be avoided, and a failure of the 3D-LiDAR 17 can be suppressed.

[0029] When the working machine 1 moves in the forward direction, as shown in FIG. 1, basically, the bucket 14 is positioned on the upper side in the vertical direction within a range that does not obstruct the movement of the working machine 1, and the front view field FV of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is ensured. Thus, this 3D-LiDAR 17 functions as a state detection unit that detects the front state on the front side.

[0030] That is, the 3D-LiDAR 17 as a state detection unit that detects the front state on the front side is provided on the lower side in the vertical direction of the front outer surface where the front view field FV can be ensured when the bucket 14 is positioned on the upper side in the vertical direction within a range that does not obstruct the movement of the working machine 1.

[0031] As described above, since the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 that functions as this state detection unit is positioned at the center in the left-right direction of the front outer surface, the left-right direction visual field range on the front side also becomes substantially uniform. Therefore, when controlling the movement of the working machine 1, the trouble of performing correction in consideration of the deviation of the visual field range can be saved.

[0032] On the other hand, the working machine 1 may also move in the reverse direction, and the 3D-LiDAR 17 provided on the rear side body of the body portion 11 functions as a state detection unit that detects the state in front of the reverse direction during reverse movement (hereinafter, may be described as the "rear state" in some cases).

[0033] Thus, since the 3D-LiDAR 17 provided on the rear side body of the body portion 11 functions as a state detection unit that detects the rear state, it is preferably provided behind the rear side wheels 12, more specifically, at the rearward end on the rear side body so as to obtain a wide rear view field.

[0034] In this embodiment, the 3D-LiDAR 17 provided at the center in the left-right direction on the front side of the outer surface of the ceiling of the cab 11a mainly functions as a state detection unit for detecting the front state of the front side of the work machine 1, and the bucket 14 preferably detects the upper state in the vertical direction in which the field of view of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the outer surface of the front of the body portion 11 is blocked.

[0035] (Gyro 18) The gyro 18 is provided in a box that houses the input / output control panel 15b provided on the rear side of the cab 11a.

[0036] Then, the gyro 18 detects the posture state including the inclination of the body portion 11, and the detected data is used to correct the influence of the inclination of the body portion 11 and the like in the control of each part during automatic driving.

[0037] (GNSS 19) The GNSS 19 is provided at the center in the left-right direction on the rear side of the outer surface of the ceiling of the cab 11a, functions as a position detection unit for detecting the position of the work machine 1 on the map information, and the detected position is used for movement control and the like during automatic driving.

[0038] Also, the GNSS 19 also functions as an azimuth angle detection unit for detecting the azimuth angle, and the detected azimuth angle is used for movement control and the like during automatic driving.

[0039] Therefore, the GNSS 19 functions as a position and azimuth detection unit for detecting the position and azimuth of the work machine 1 on the map information. Note that hereinafter, the position detected by the GNSS 19 may be described as position information, the detected azimuth angle may be described as azimuth information, and both may be described as position and azimuth information.

[0040] (Actuator 5) Next, the actuator 5 of this embodiment will be described with reference to FIGS. 2 to 5. Figures 2 and 3 mainly show the operation lever L1 for driving the arm 13 and the operation lever L2 for driving the bucket 14. Figure 2 is a side view seen from a side orthogonal to the operation directions of the operation levers L1 and L2, and Figure 3 is a side view seen from the operation directions of the operation levers L1 and L2.

[0041] As shown in Figures 2 and 3, only the grip portions of the operation levers L1 and L2 that are held by hand when the operator performs an operation are mainly exposed. Regarding the lower portions from the grip portions, a console CS, which is a cover covering the lower portions of the operation levers L1 and L2, is provided so that mechanical structures and the like cannot be seen.

[0042] And as shown in Figure 2, the operation levers L1 and L2 are configured to be in the neutral position NP when no force is applied. As shown by the double-headed arrows in Figure 2, when a force is applied in the left-right direction of the paper surface, they move while undergoing a gentle rotation.

[0043] In this way, the operation levers L1 and L2 are one-axis operation type operation levers L1 and L2 that can move along a one-axis direction with reference to the neutral position NP, and the arm 13 and the bucket 14 are driven by hydraulic control by the operation of the operation levers L1 and L2.

[0044] Specifically, they are levers for hydraulic control that directly reflect the operation amounts of the operation levers L1 and L2 in hydraulic control, rather than detecting the operation amounts of the operation levers L1 and L2 as electrical signals. Therefore, as will be described in detail later, in order to realize automatic operation, an actuator 5 that can mechanically operate the operation levers L1 and L2 is required.

[0045] Figure 4 shows the appearance of the console CS in Figure 2 with a dotted line so that the inside of the console CS can be seen. Also, Figure 5 is an exploded perspective view of the actuator 5, showing a part of the base L11 that can receive the operation lever L1 in a drivable manner with a dotted line, and the portion shown by the solid line is the configuration of the actuator 5.

[0046] In addition, in FIG. 5, only the configuration on the operation lever L1 side is shown, but the operation lever L2 has the same configuration. In the following, mainly the configuration on the operation lever L1 side will be described, but it should be understood that the operation lever L2 side also has the same configuration as the description. That is, as described as (L21) in FIG. 5, the base L11 of the operation lever L1 may be read as the base L21 of the operation lever L2.

[0047] The actuator 5 of this embodiment can be retrofitted to a working machine 1 that originally does not have the actuator 5. As shown in FIG. 4, the working machine 1, in the state before attaching the actuator 5, has operation levers L1 and L2, and the operation levers L1 and L2 are attached to the drive parts of bases L11 (L21 is on the back side of L11) that can be driven by a pair of screws S1 respectively.

[0048] In addition, the base L11 is to be attached to the working machine 1 by a pair of screws S2. As will be described later, the actuator 5 of this embodiment can be retrofitted using those screws S1 and S2.

[0049] Specifically, as shown in FIG. 5, the actuator 5 mainly includes a motor 51, one or more gears 52 (one in this example) that rotate by the rotational force of the motor 51, a connection arm 53 having a fixing part 53a fixed to the operation lever L1 by a screw S1 (see FIG. 4) at one end and a gear part 53b connected to the gear 52 at the other end, and an electromagnetic clutch 54 that transmits the rotational force of the motor to the gear 52.

[0050] In this embodiment, an electromagnetic clutch 54 with a gear 52 is used, but a clutch function may be provided on the motor 51 side. That is, the gear 52 and the clutch may be separate.

[0051] The actuator 5 includes a fixed plate 55 having a plate portion 55a to which a motor 51 and a gear 52 (an electromagnetic clutch 54 attached to the gear 52) are assembled, and an attachment portion 55b attached to a base portion L11 that can receive the operation lever L1 with a screw S2.

[0052] In this embodiment, when attaching the fixed plate 55 retroactively, a configuration in which the base portion L11 is originally attached to the working machine 1 with a pair of screws S2 is utilized. Specifically, in order to enable the base portion L11 and the fixed plate 55 to be tightened together with respect to the working machine 1 with this pair of screws S2, an attachment portion 55b is provided on the fixed plate 55. And by tightening them with the screw S2, a state in which the fixed plate 55 is also attached to the base portion L11 is realized.

[0053] However, it is not necessary to be limited to such a configuration. For example, the attachment portion 55b may be omitted, and instead, a fixing form in which the plate portion 55a of the fixed plate 55 is directly fixed (for example, fixed by soldering, adhesive, double-sided tape, etc.) to the side surface of the base portion L11 in a direction orthogonal to the operation direction of the operation lever L1 may be used, as long as it is a fixing form in which the plate portion 55a of the fixed plate 55 can be arranged on the side surface of the base portion L11 in a direction orthogonal to the operation direction of the operation lever L1.

[0054] The fixed plate 55 has female screw grooves provided corresponding to through holes 51a that pass through male screw portions of male screw columns S3 provided at the four corners of the casing of the motor 51, and includes four bosses 55c protruding from the plate portion 55a.

[0055] Also, the fixed plate 55 is provided so as to be located above the vertical direction of the rotation shaft 51b of the motor 51 when the motor 51 is attached, and includes a support portion 55d that supports a connection arm 53 protruding from the plate portion 55a.

[0056] Note that, in order to avoid interference with the base L11, the connecting arm 53 has, in a side view seen from the operating direction of the operating lever L1 (side view of looking at the screw S2 in FIG. 5 from the front), from the fixing portion 53a at one end, an intermediate portion 53c that extends in an outward direction away from the operating lever L1 and then bends downward at a substantially right angle and extends. Further, it bends at a substantially right angle and extends in an outward direction away from the base L11, and is a substantially Z-shaped member in which the gear portion 53b at the other end is connected to the gear 52.

[0057] And a through hole 53d is formed at a position substantially in the center of the longitudinal direction of the intermediate portion 53c. A sliding bearing 56 provided on the support portion 55d of the fixing plate 55 is inserted into the through hole 53d, and the connecting arm 53 is rotatably supported by the support portion 55d.

[0058] Here, for the smooth rotation of the connecting arm 53, the sliding bearing 56 is interposed. However, when the frictional resistance of the support portion 55d is sufficiently low, the sliding bearing 56 can be omitted. Also, instead of the sliding bearing 56, a bearing with another structure such as a ball bearing may be used.

[0059] Also, the actuator 5 includes a pressing portion 57 for attaching the motor 51 to the fixing plate 55.

[0060] The pressing portion 57 is a plate-like member provided with a through hole (not visible in the figure by the single-end male screw column S3 to be described later) corresponding to the through hole for passing through the male screw portion of the single-end male screw column S3 provided at the four corners of the casing of the motor 51, and an opening 57a for passing through the rotary shaft 51b of the circular motor 51 formed at the center.

[0061] Note that, in this embodiment, the motor 51 has a circular protrusion on the rotary shaft 51b side, and the shape is also used for positioning the pressing portion 57, so the opening 57a is relatively large. However, it is not necessarily required to have such a large opening, and the opening 57a may have a size that does not hinder the rotation of the rotary shaft 51b of the motor 51.

[0062] Then, through the through holes 51a provided at the four corners of the casing of the motor 51 for passing through the male screw portions of the one-end male screw columns S3, and through the through holes of the pressing portions 57 provided correspondingly thereto, the male screw portions of the one-end male screw columns S3 are screwed and fixed to the four bosses 55c of the fixing plate 55, whereby the motor 51 is assembled to the fixing plate 55.

[0063] Note that the one-end male screw column S3 has a female screw groove formed in the column portion that is not the male screw portion, and a screw S4 is screwed and fixed to the female screw groove, which will be described later.

[0064] And the rotating shaft 51a of the motor 51 is attached to the electromagnetic clutch 54 with a gear 52. Specifically, although not visible due to the relationship of the orientation in the drawing, the electromagnetic clutch 54 has a receiving hole for receiving the rotating shaft 51b of the motor 51. Also, the gear 52 integrally assembled to the electromagnetic clutch 54 has a hole 52a provided at the rotation center. And the actuator 5 includes a regulating portion 58 for assembling the gear 52 (the electromagnetic clutch 54 with the gear 52) to the fixing plate 55.

[0065] Note that although not visible due to the relationship of the orientation in the drawing, the receiving hole of the electromagnetic clutch 54 for receiving the rotating shaft 51b of the motor 51 is formed as a semi-circular cross-section hole that matches the cross-sectional shape of the tip side of the rotating shaft 51b of the motor 51.

[0066] For this reason, since the rotating shaft 51b with a semi-circular cross-section is inserted into the semi-circular cross-section receiving hole of the electromagnetic clutch 54, the clutch side on the motor 51 side (that is, the rotor of the clutch) is fixed to the rotating shaft 51b so as not to be rotatable, and rotates together with the rotation of the rotating shaft 51b.

[0067] On the other hand, the hole 52a provided at the rotation center of the gear 52 is formed with a circular cross-section on the regulating portion 58 side described later. Although not visible in the figure, a columnar support portion provided in the restricting portion 58 is inserted into a hole 52a at the rotation center of the gear 52, and the gear 52 is rotatably supported. Note that the columnar support portion provided in the restricting portion 58 has an outer diameter slightly smaller than the inner diameter of the hole 52a in order to allow the rotation of the gear 52.

[0068] The restricting portion 58 is formed of a substantially square plate member having through holes (not visible in the figure but located at the position of the screw S4) corresponding to the through holes 51a provided at the four corners of the casing of the motor 51, and is screwed and fixed to the female screw groove formed in the column portion of the male screw column S3 at one end with the screw S4, thereby restricting the movement in the direction in which the electromagnetic clutch 54 disengages.

[0069] Also, as described above, the columnar support portion provided in the restricting portion 58 is inserted into the hole 52a at the rotation center of the gear 52, and by rotatably supporting the gear 52, the rattling during the rotation of the gear 52 is suppressed.

[0070] On the other hand, as shown in FIG. 5, one end fixing portion 53a of the connecting arm 53 has a bifurcated Y-shaped structure so as to avoid the base of the operation lever L1 (see FIG. 4), and through holes 53aa for passing the screw S1 (see FIG. 4) are provided in the bifurcated portions. Together with the operation lever L1, it is fixed to the base portion L11 that can drive the operation lever L1 by being tightened together with the screw S1, and thus is also fixed to the operation lever L1. Note that such a structure of tightening together is not necessary. For example, a structure in which the fixing portion 53a at one end grips the vicinity of the base of the operation lever L1 may be used.

[0071] In this embodiment, the actuator 5 further includes a potentiometer 59 fixed to the connecting arm 53 and having a shaft 59a.

[0072] Specifically, the potentiometer 59 has a pair of ribs 59b protruding from the main body portion in a direction away from the shaft 59a in order to provide a pair of screws S5 with the shaft 59a interposed therebetween. Although not visible in the figure as the screw S5, through-holes for passing the screw S5 are provided in the ribs 59b.

[0073] On the other hand, the connection arm 53 is provided with a pair of female screw grooves 53e with a through-hole 53d provided at a substantially central position in the longitudinal direction of the intermediate portion 53c interposed therebetween. The female screw groove 53e is formed at a position corresponding to the through-holes provided in the pair of protruding ribs 59b of the potentiometer 59, and the potentiometer 59 is fixed to the connection arm 53 by the screw S5. In this embodiment, a spacer SP having a through-hole for passing the screw S5 is provided between the connection arm 53 and the potentiometer 59, and the position of the potentiometer 59 is adjusted.

[0074] A oval-shaped hole conforming to the cross-sectional shape of the shaft 59a of the potentiometer 59 is formed in the support portion 55d that supports the connection arm 53. When the potentiometer 59 is fixed to the connection arm 53, the shaft 59a is inserted into the hole of the support portion 55d through the through-hole 53d of the intermediate portion 53c of the connection arm 53.

[0075] In this way, the shaft 59a is non-rotatably received by the support portion 55d, and the main body portion of the potentiometer 59 also rotates with the movement of the shaft 59a in accordance with the movement of the connection arm 53 that rotates with the movement of the operation lever L1, so that data on how much the operation lever L1 is operated can be obtained.

[0076] The actuator 5 having the above configuration energizes the electromagnetic clutch 54 as an electric signal during automatic driving, so that the clutch is in a connected state, that is, the armature is attracted to the rotor of the electromagnetic clutch 54, and the gear 52 provided on the electromagnetic clutch 54 can rotate together with the rotor. Therefore, by controlling the rotation of the motor 51, the control unit 15 transmits the rotational force thereof to the gear 52 via the electromagnetic clutch 54, causing the gear 52 to rotate. Then, due to the rotation of the gear 52, the connection arm 53 also rotates around the support portion 55d, enabling the operation lever L1 to be operated automatically by driving the operation lever L1.

[0077] On the other hand, during manual operation, by stopping the energization of the electromagnetic clutch 54 as an electrical signal, the clutch is disengaged, that is, the armature separates from the rotor of the electromagnetic clutch 54, and the connection between the gear 52 and the motor 51 is released, allowing the operator to manually operate the operation lever L1.

[0078] Therefore, by controlling the electrical signal regarding the presence or absence of energization of the electromagnetic clutch 54, it is possible to switch between driving the operation lever L1 by the actuator 5 and driving the operation lever L1 manually, eliminating the need to remove the actuator 5 during manual operation.

[0079] During automatic operation, the control unit 15 rotates the motor 51 forward or backward to operate the operation levers L1 and L2 in the desired direction based on the neutral position NP. After the operation, when it is desired to hold the arm 13 and the bucket 14 in that state, the motor 51 may be controlled so that the operation levers L1 and L2 are positioned at the neutral position. However, when having the electromagnetic clutch 54 as in this embodiment, it is also possible to set the control such that the operation levers L1 and L2 automatically return to the neutral position NP by turning off the electromagnetic clutch 54 and disengaging the clutch. The electromagnetic clutch 54 also has utility value in the control during automatic operation.

[0080] Moreover, as described above, the actuator 5 has a very simple and easily miniaturizable configuration in which the fixed plate 55 fixes the motor 51 and the electromagnetic clutch 54 with the gear 52 to the base L11 and connects the operation lever L1 and the gear 52 with the connection arm 53. Therefore, it can be easily housed in the console CS without interfering with the operation of the operation lever L1 by the operator during manual operation.

[0081] Furthermore, since the potentiometer 59 is provided on the connection arm 53, it is possible to collect the operation data of the operation lever L1 by a skilled operator. For this reason, it is possible to collect basic data and the like for causing the control unit 15 to perform an automatic driving operation closer to that of a skilled operator.

[0082] (Second Embodiment) Next, with reference to FIG. 6, the actuator 5 according to the second embodiment of the present invention will be described.

[0083] FIG. 6 is a diagram for explaining the actuator 5 of the second embodiment, but some configurations are omitted for easy understanding of the configuration, and only the main parts are shown. Note that the same parts as those in the first embodiment are denoted by the same numbers and reference signs, and the description may be omitted.

[0084] Also, in the second embodiment as well, the operation lever L1 will be described, but the same configuration may be used for the operation lever L2. As shown as (L2)(L21), the base L11 of the operation lever L1 may be read as the base L21 of the operation lever L2.

[0085] In the first embodiment, only the gear 52 assembled to the electromagnetic clutch 54 was used, so there was one gear 52. However, as shown in FIG. 6, in the second embodiment, a plurality of gears 52 are provided, and a reduction mechanism is configured by adjusting their gear ratios, which is different from the first embodiment in this regard. By doing so, even when torque is required to move the operation lever L1, it becomes possible to use the actuator 5 having the required torque.

[0086] As described above, the present invention has been described based on specific embodiments, but the present invention is not limited to the above embodiments.

[0087] In the above embodiment, as an application example of the actuator 5, the case where the working machine 1 is a wheel loader classified as a construction machine has been described. Similarly, it may be applied to a bulldozer classified as a construction machine, or may be applied to a shovel loader classified as a transport machine, etc., and can be preferably used for those having a single-axis operation type operation lever.

[0088] However, many working machines such as construction machines and transport machines are equipped with a lever for hydraulic control that directly reflects the operation amount of the operation lever in hydraulic control, rather than detecting the operation amount of the operation lever as an electric signal. Therefore, the working machine is suitable as an application target of the actuator 5.

[0089] Therefore, a working machine in which the actuator 5 is provided on the operation lever of a working machine having a single-axis operation type operation lever for hydraulic control is a suitable application example to which the actuator 5 is applied.

[0090] In this way, those obtained by making changes and improvements to the embodiments are also included in the technical scope of the invention, which is obvious to those skilled in the art from the description of the claims.

Description of Reference Numerals

[0091] 1... Construction machine, 1a... User interface, 11... Body part, 11a... Cab, 12... Wheels, 13... Arm, 14... Bucket, 15... Control unit, 15a... Control panel, 15b... Input / output control panel, 16... Inclinometer, 17... 3D-LiDAR, 18... Gyro, 19... GNSS, 5... Actuator, 51... Motor, 51a... Through hole, 51b... Rotation axis, 52... Gear, 52a... Hole, 53... Connecting arm, 53a... Fixed part, 53aa... Through hole, 53b... Gear part, 53c... Intermediate part, 53d... Through hole, 53e... Female thread groove, 54... Electromagnetic clutch, 55... Fixed plate, 55a... Plate part, 55b... Mounting part, 55c... Boss, 55d... Support part, 56... Slide bearing, 57... Pressing part, 57a... Opening, 58... Regulation part, 59... Potentiometer, 59a... Shaft, 59b... Rib, CS... Console, FV... Front view, H1... Upper position, H2... Position of the rotation center, L1... Operating lever, L11... Base, L2... Operating lever, L21... Base, NP... Neutral position, S1... Screw, S2... Screw, S3... Single-end male screw strut, S4... Screw, S5... Screw, SP... Spacer, WF... Antenna

Claims

1. An actuator for driving a one-axis operation type operation lever, comprising: a motor; one or more gears rotated by the rotational force of the motor; a connection arm having a fixing portion fixed to the operation lever at one end and a gear portion connected to the gear at the other end; an electromagnetic clutch for transmitting the rotational force of the motor to the gear, wherein the driving of the operation lever by the actuator and the driving of the operation lever manually can be switched by controlling an electric signal to the electromagnetic clutch.

2. A fixed plate having a support portion for supporting the connection arm and a mounting portion mounted on a base portion for receiving the operation lever in a drivable manner, wherein the connection arm is rotatably supported by the support portion, and the motor and the gear are assembled to the fixed plate. The actuator according to claim 1.

3. A potentiometer having a shaft, wherein the potentiometer is fixed to the connection arm, and the shaft is received by the support portion in a non-rotatable manner. The actuator according to claim 2.

4. The actuator according to any one of claims 1 to 3, wherein the operation lever is a lever for hydraulic control.

5. The actuator according to any one of claims 1 to 3, wherein a plurality of the gears are provided so as to constitute a speed reduction mechanism.

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