Control device

Abstract

To provide a control device that increases the degree of freedom in attachment to a construction machine.SOLUTION: A control device for operating a construction machine comprises a mounting member 21, a mounting plate 26, and a drive mechanism 30. The mounting member 21 is a member that can engage with a fixed member 16 that is fixed around an operating lever L1 in the construction machine. The mounting plate 26 is disposed above the mounting member 21, and the drive mechanism 30 is supported by the mounting plate 26. The mounting member 21 is configured to be mountable to a plurality of positions on the mounting plate 26. The drive mechanism 30 moves the operating lever L1 back and forth and right and left in response to a control signal using a first arm 34 and a second arm 35 attached to the operating lever L1.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a control device for remotely and automatically operating a construction machine. [Background technology]

[0002] A remote control device to be attached to a construction machine operated by a worker has been studied (see, for example, Patent Document 1). The remote control device for construction machine described in this document is equipped with an operating device attached to the periphery of a control rod of the construction machine that can tilt around an operating fulcrum, and operates the control rod in response to an operating signal from a transmitter. This operating device has two sets of drive units, each of which includes a link that swings around a position near the operating fulcrum as its axis of rotation, and a rod-shaped guide member that is connected to the link and guides the control rod in its length direction. Furthermore, these two sets of drive units are connected to the control rod at the position where both guide members intersect. The guide members are configured in an arc shape, and one guide member moves along the other guide member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-172174 Summary of the Invention [Problem to be solved by the invention]

[0004] In a remotely or automatically operated control device, the operating device that moves the control lever back and forth and left and right is sometimes located near the control lever. In this case, for example, the control lever is fixed by a surrounding member such as a housing that fixes the cover.

[0005] However, the positions and heights of the surrounding components differ depending on the construction machine, so when attaching the control device, it is necessary to individually prepare the mounting components in accordance with the arrangement of the surrounding components to which the control device is to be attached. [Means for solving the problem]

[0006] A control device that solves the above problem is a control device for operating a construction machine, and is equipped with an attachment member that can engage with a fixed member fixed around the periphery of the operation lever of the construction machine, an attachment block that is arranged above the attachment member, and a drive mechanism unit that is supported by the attachment block, wherein the attachment member is configured to be attachable to a plurality of positions relative to the mounting block, and the drive mechanism unit moves the operation lever back and forth and left and right in response to a control signal using an arm attached to the operation lever. [Effects of the Invention]

[0007] According to the present disclosure, the degree of freedom in attaching a control device to a construction machine can be increased. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a main part illustrating a state in which an operating device according to an embodiment is attached to a driver's seat of a hydraulic excavator. FIG. [Figure 2] FIG. 1 is a conceptual diagram of a control device system according to an embodiment. [Figure 3] FIG. 2 is an explanatory diagram of a hardware configuration according to an embodiment. [Figure 4] FIG. 2 is a plan view of the operating device according to the embodiment. [Figure 5] FIG. 2 is a front view of the operating device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a control device will be described below with reference to Figures 1 to 5. The control device of this embodiment will be described as a remote control device that operates a construction machine such as a hydraulic excavator from a remote location. This remote control device includes an operating device that applies force to an operating lever to move the operating lever, and a remote control device that transmits a control signal to operate the operating device. In this embodiment, the operating device includes an operating unit that is attached to each of the multiple operating levers.

[0010] 1 shows the main components of the driver's seat of a hydraulic excavator as a construction machine. In this embodiment, a pair of control levers L1, L2 for operating the hydraulic excavator are arranged on either side of the seat S1 inside the driver's seat of the hydraulic excavator. In the case of a manual operation, the driver sitting in the driver's seat grips grips L1g, L2g provided at the tops of the control levers L1, L2, respectively, and tilts the control levers L1, L2 forward, backward, left, and right to operate the hydraulic excavator.

[0011] A left operation unit U1 and a right operation unit U2 are attached to the operation levers L1 and L2, respectively. The left operation unit U1 and the right operation unit U2 have the same configuration and are arranged symmetrically. These operation units U1 and U2 are fixed on top of the console box C1 of the hydraulic excavator.

[0012] In addition, a control unit 50, which will be described later, is installed inside the driver's seat of the hydraulic excavator. Furthermore, a camera (not shown) is provided in the seat S1 to capture an image in front of the driver's seat. The image from this camera is displayed on a display device 65 arranged near the remote control device 60, which will be described later. The display device 65 is a display or the like. The operator operates the construction machine while checking this image.

[0013] <Conceptual diagram of remote control device> FIG. 2 shows a conceptual diagram of the remote control device 10 of this embodiment. The remote control device 10 includes an operating device 15 attached to the hydraulic excavator and a remote control device 60. The operating device 15 includes operating units U1 and U2 that operate operating levers L1 and L2, respectively, and a control unit 50 that serves as a control section. The remote control device 60 operates a first motor 31 and a second motor 33 of the operating units U1 and U2 by sending a control signal (remote operation control signal) to the control unit 50. Each motor (31, 33) is a drive section and is composed of a stepping motor that can rotate forward and backward, and moves the operating levers L1 and L2 forward, backward, left and right.

[0014] (Example of hardware configuration) FIG. 3 shows an example of the hardware configuration of an information processing device H10 that functions as the control unit 50 and the remote control device 60.

[0015] The information processing device H10 includes a communication device H11, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and the information processing device H10 may include other hardware. The communication device H11 is an interface that establishes a communication path with another device and transmits and receives data. In this embodiment, for example, since communication is performed wirelessly, the communication device H11 is, for example, a network interface card or a wireless interface.

[0016] The storage unit H14 is a storage device that stores data and various programs for executing various functions of the control unit 50 and the remote control device 60. Examples of the storage unit H14 include a ROM, a RAM, and a hard disk.

[0017] The processor H15 controls each process in the control unit 50 and the remote control device 60 using programs and data stored in the storage unit H14. Examples of the processor H15 include a CPU and an MPU. The processor H15 loads programs stored in a ROM or the like into a RAM and executes various processes corresponding to the various processes. For example, when an application program for the control unit 50 or the remote control device 60 is started, the processor H15 runs a process that executes each process described below.

[0018] The processor H15 is not limited to a processor that performs all of the processing it executes using software. For example, the processor H15 may include a dedicated hardware circuit (e.g., an application-specific integrated circuit (ASIC)) that performs hardware processing for at least part of the processing it executes.

[0019] (Functions of the control unit 50) As shown in FIG. 2, the control unit 50 functions as a drive control section 51 and a monitoring section 52 by executing a drive control program.

[0020] The drive control unit 51 controls the direction and amount of rotation of each of the motors (31, 33) of the operation units U1, U2 in response to a control signal from the remote control device 60. In this embodiment, the drive control unit 51 stores the angle θ1 from an attachment line AL1 (described later) of the drive mechanism 30 of the operation units U1, U2 to a first reference line SL1 and the maximum range of tilt.

[0021] The monitoring unit 52 monitors whether or not there is an abnormality in each of the motors (31, 33). For example, when a torque exceeding an allowable range is generated in any of the motors (31, 33) driven in response to a control signal, the monitoring unit 52 determines that an abnormality has occurred and stops the operation of the hydraulic excavator.

[0022] (Functions of remote control device 60) The remote control device 60 includes an input device 61 and a display device 65 . In this embodiment, the input device 61 is a joystick equipped with a lever, and the direction and amount of operation are input by tilting the lever back and forth or left and right. The remote control device 60 wirelessly supplies a control signal corresponding to the direction and amount of tilt of the input device 61 to the control unit 50 of the operating device 15. Furthermore, the remote control device 60 displays items on the display device 65 and obtains information about the item selected on the display device 65 .

[0023] <Configuration of operation unit> Next, the configuration of the operation units U1 and U2 will be described. Below, only the left operation unit U1 that engages with the left operation lever L1 will be described, and the right operation unit U2, which has a symmetrical configuration to the left operation unit U1, will be assigned the same reference numeral and its description will be omitted.

[0024] 4 and 5 are top and front views of the operation unit U1. A plurality of fixing members 16 are fixed inside the console box C1 of the construction machine. These fixing members 16 are members for fixing the housing of the cover that covers the operating lever L1 to the console box C1. In this embodiment, the operation unit U1 is attached to the fixing members 16 that are exposed when the housing of the cover is removed.

[0025] 4, in this embodiment, four fixing members 16 are arranged symmetrically with respect to a first reference line SL1 and a second reference line SL2 of the operating lever L1. Each fixing member 16 has a screw hole 16h. The first reference line SL1 and the second reference line SL2 are reference lines that indicate the front-rear and left-right directions of the operating lever L1, respectively.

[0026] The operation unit U1 of this embodiment includes a mounting portion 20 and a drive mechanism portion 30. The mounting section 20 includes four mounting members 21, a mounting plate 26, and a support member 27. The mounting members 21 are detachably attached to the mounting plate 26 at any position (multiple positions). Each mounting member 21 includes a cylindrical housing portion 22 having a bottom surface, a bolt portion 23 extending downward from the center of the bottom surface of the housing portion 22, and a disk-shaped magnet 25 housed in the housing portion 22. The bolt portion 23 of the mounting member 21 has a size that allows it to be screwed into the fixing member 16.

[0027] The mounting plate 26 functions as a mounting block and has a ring shape with a hole 26h in the center, with both opposing ends (upper and lower ends in FIG. 4) removed in parallel. In this embodiment, the mounting plate 26 has a shape with a large arc cut out on the operator side. The mounting plate 26 is made of a magnetic material to which the magnet 25 of the mounting member 21 can be attracted.

[0028] A support member 27 is fixed on the mounting plate 26. This support member 27 has an L-shape with a horizontal portion and a vertical portion. The horizontal portion of the support member 27 is attracted to the mounting plate 26 by a magnet 28 placed on top. A first motor 31 of the drive mechanism 30 is fixed to the vertical portion of the support member 27.

[0029] The drive mechanism 30 includes a first motor 31, a connecting member 32, a second motor 33, a first arm 34, a second arm 35, a joint member 36, a universal joint 37, and a protruding member L1a.

[0030] The first motor 31 rotates forward and backward to move the operating lever L1 in a first direction D1. The first direction D1 is a direction in which the rotation of the first motor 31 can move the operating lever L1 linearly. The connecting member 32 has an L-shape, and is fixed to the output shaft (rotation shaft) of the first motor 31, and also fixes the second motor 33 thereto.

[0031] The second motor 33 rotates forward and backward to move the operating lever L1 in a second direction D2. The second direction D2 is a direction that can be moved linearly by the rotation of the second motor 33 and is a direction perpendicular to the first direction D1 on a plane. One end of a plate-shaped first arm 34 is fixed to the output shaft (rotation shaft) of the second motor 33. This first arm 34 is provided with a plurality of holes 34h spaced apart from each other from the center to the other end.

[0032] An engagement hole 35h is formed in one end of the second arm 35. In this embodiment, with one hole 34h in the first arm 34 and the engagement hole 35h in the second arm 35 aligned, a nut (not shown) is fixed to a bolt (not shown) inserted through these holes (34h, 35h). This fixes the ends of the first arm 34 and the second arm 35. Note that the position of the hole 34h with which the engagement hole 35h is aligned can be changed depending on the distance between the operating lever L1 and the drive mechanism 30.

[0033] A joint member is fixed to the other end of the second arm 35. One end of a universal joint 37 is fixed to this joint member . The other end of the universal joint 37 is fixed to a protruding member L1a provided below the grip portion L1g of the operating lever L1. This protruding member L1a is composed of multiple divided components that surround the upper periphery of the shaft portion of the operating lever L1. These divided components are then fastened together with bolts and nuts to fix the protruding member L1a to the shaft portion.

[0034] <How to install on construction machinery> Next, a method for attaching the above-mentioned operation unit U1 to a construction machine will be described with reference to Figures 4 and 5. Here, too, only the left operation unit U1 that engages with the left operation lever L1 will be described.

[0035] When installing the operation unit U1, first, the cover that covers the periphery of the shaft portion of the operation lever L1 of the construction machine is removed. 4, in this case, the fixing members 16 of the console box C1 are arranged around the operating lever L1. Here, four fixing members 16 are arranged.

[0036] Then, the bolt portions 23 of the four mounting members 21 are screwed into the screw holes 16h of each fixing member 16. In this case, using a level and a non-magnetic plate member or the like, the amount by which the bolt portions 23 are screwed into the fixing members 16 (amount of engagement) is adjusted so that the top surfaces of the mounting members 21 are at the same height.

[0037] Next, the mounting plate 26 is placed on the upper surfaces of the four mounting members 21. As a result, the mounting plate 26 is attracted by the magnets 25 of the mounting members 21 and is fixed in place. Next, the drive mechanism 30 assembled to the support member 27 is attached to the mounting plate 26. Specifically, first, the first motor 31, connecting member 32, second motor 33, first arm 34, second arm 35, joining member 36, universal joint 37, and protrusion member L1a that constitute the drive mechanism 30 are assembled together. Then, the support member 27 is attached to the first motor 31. Furthermore, the protrusion member L1a is fixed to the operating lever L1, and the horizontal surface of the support member 27 is placed on the mounting plate 26. Here, the integrally assembled drive mechanism 30 is attached so that the horizontal part of the support member 27 is positioned directly above the magnet 25 that is arranged below the mounting plate 26.

[0038] In this case, as shown in FIG. 4, the axis of the second arm 35 becomes an attachment line AL1 indicating the attachment position. This completes the installation of the operation unit U1. Here, the attachment line AL1 is a reference line in a neutral state in which the motors (31, 33) that are the drive parts of the operation unit U1 (U2) are not driven, and is an attachment reference line at the actual attachment position.

[0039] 2 executes an initial correction process for the operation unit U1 after the installation is completed. Specifically, the drive control section 51 of the control unit 50 acquires the neutral position (coordinates).

[0040] Specifically, when the remote control device 60 and the display device 65 are turned on for the first time after the installation of the operation unit U1 is complete, the remote control device 60 displays the calibration mode, operation mode, etc. on the display device 65. When the calibration mode is selected via the input device 61, the remote control device 60 displays instructions to tilt the operating lever L1 forward or backward on the display device 65. The operator follows the displayed instructions to manually tilt the operating lever L1 forward or backward to its maximum operating range (full stroke). As a result, the remote control device 60 acquires the coordinates of the first reference line SL1 according to the movement of the operating lever L1. Next, the remote controller 60 displays an instruction to tilt the operating lever L1 to the left or right on the display device 65. By tilting the operating lever L1 to the left or right to its maximum operating range in accordance with the displayed instruction, the remote controller 60 acquires the coordinates of the second reference line SL2 in accordance with the movement of the operating lever L1. The remote controller 60 then calculates the angle θ1 from the acquired first and second reference lines SL1, SL2 and the coordinates of the attachment line AL1 of the operating lever L1, and identifies the coordinates of the maximum operating range on this attachment line AL1. The remote controller 60 transmits the calculated angle θ1 and the coordinates of the maximum range to the control unit 50, which records them in the drive control section 51.

[0041] <Remote control device operation> Next, the operation of the remote control device 10 will be described. When an operation mode displayed on the display device 65 is selected, the remote control device 60 displays an image acquired from the camera on the display device 65. The operator operates the construction machine using the input device 61 while viewing the image displayed on the display device 65. In this case, a control signal corresponding to the direction of movement of the left and right operating levers L1, L2 input from the input device 61 is supplied from the remote control device 60 to the operation device 15.

[0042] The drive control section 51 of the control unit 50 of the operating device 15 uses the acquired control signal and angle θ1 to move the operating lever L1 in a direction corresponding to the instruction from the remote control device 60. Specifically, the drive control section 51 determines the rotation amount of each motor (31, 33) so that the movement direction becomes the acquired movement direction. In this case, the drive control section 51 converts the movement direction and movement amount according to the angle θ1 from the first reference line SL1, on which the motors (31, 33) are attached, to the attachment line AL1, and then controls each motor (31, 33). As a result, the operating levers L1, L2 move in the movement direction corresponding to the operation of the operator input using the remote control device 60.

[0043] <Operation of the embodiment> The magnet 25 of the mounting member 21 fixes the mounting plate 26, which is a magnetic body, to the fixed member 16 of the construction machine at any position. A support member 27 that supports the drive mechanism 30 that drives the operating lever L1 is disposed on the mounting plate 26 located around the operating lever L1.

[0044] According to this embodiment, the following effects can be obtained. (1) In this embodiment, the mounting member 21 engaged with the fixed member 16 of the construction machine is attached to the mounting plate 26 to which the drive mechanism section 30 is fixed, using the magnet 25 of the mounting member 21. The magnet 25 of the mounting member 21 can be attached to any position relative to the magnetic mounting plate 26, so even if the arrangement of the fixed member 16 on the construction machine varies (for example, even if the distance d1 in Figure 5 is different), the operation unit U1 can be attached efficiently.

[0045] (2) In this embodiment, the engagement amount of the bolt portions 23 that are respectively screwed into the fixing members 16 of the construction machine is adjusted. This allows the upper surfaces of the multiple bolt portions 23 to be efficiently level, so that the mounting plate 26 on the mounting member 21 can be efficiently installed horizontally.

[0046] (3) In this embodiment, the mounting member 21 and the support member 27 are fixed to the mounting plate 26 by the magnets 25, 28. This allows not only the mounting member 21 to be attached to the mounting plate 26 at any position, but also the support member 27 to be attached to the mounting plate 26 at any position.

[0047] (4) In this embodiment, a drive mechanism 30 is used that includes a first motor 31 and a second motor 33 that operate the operating lever L1 in a first direction D1 and a second direction D2 perpendicular to the first direction D1. This allows the operating lever L1 to be moved back and forth and left and right by the two motors (31, 33) that can move the operating lever L1 in linear directions perpendicular to each other.

[0048] (5) In this embodiment, the drive control unit 51 moves the operating lever L1 forward, backward, left, and right using the angle θ1 from the attachment line AL1 of the second arm 35 of the attached drive mechanism unit 30 to the first reference line SL1. This allows the operating lever L1 to be moved to any position forward, backward, left, and right even if the first direction D1 and the second direction D2 are not set parallel to the first reference line SL1 and the second reference line SL2.

[0049] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. In the above embodiment, the mounting portion 20 of the operation units U1, U2 has a mounting plate 26 that mounts the bolt portion 23 that engages with the fixed member 16 of the construction machine and the support member 27 that supports this bolt portion 23 and the drive mechanism portion 30 at any position using a magnet 25. The method of mounting to the mounting plate 26 is not limited to the magnet 25. For example, instead of the mounting plate 26, a mounting plate (mounting block) with screw holes (internal threads) formed in multiple positions corresponding to multiple fixed members of the construction machine may be used. In this case, both ends of the bolt portion of the mounting member may be configured with external threads, and the upper external thread may be configured to screw into the screw hole of the mounting block.

[0050] In the above embodiment, the mounting member 21 is attached to the mounting plate 26 using the magnet 25 housed in the housing portion 22 of the mounting member 21. Instead of the magnet 25 of the mounting member 21, the mounting member 21 and the support member 27 may be attached to the mounting plate 26 using a magnet 28 that attracts the support member. This allows the upper end of the mounting member to be in a flat plate shape without a housing portion. In this case, the magnetic force is shielded or a gap is secured to prevent the motor from being affected by the magnet.

[0051] In the above embodiment, the mounting plate 26 has a ring-shaped shape with the upper and lower ends thereof removed in parallel. The shape of the mounting plate is not limited to this, and may be any shape or size that can accommodate the mounting member 21 and that can support and place the drive mechanism 30.

[0052] In the above embodiment, the drive mechanism 30 includes a first motor 31 and a second motor 33 that move the operating lever L1 in the first direction D1 and the second direction D2, respectively. The drive mechanism 30 may be configured to sandwich the operating lever L1 and move it back and forth and left and right, or may be configured to use a linear motion mechanism that moves it in two perpendicular directions.

[0053] In the above embodiment, after the installation of the operation unit U1 is completed, the operation lever L1 is manually moved back and forth and left and right to obtain the first and second reference lines SL1, SL2, and the angle θ1 and maximum operating range are determined and stored from these. The method of obtaining the angle θ1 and maximum operating range is not limited to this. For example, the operation lever L1 may be manually moved back and forth and left and right multiple times, and the average values ​​may be used as the first and second reference lines SL1, SL2. Furthermore, the coordinates and maximum operating range of the attachment line AL1 obtained by manually moving the operation lever L1 along the attachment line AL1 may be used in combination with the obtained reference lines (SL1, SL2). Furthermore, instead of the angle θ1, the motors (31, 33) may be controlled using the angle from the attachment line AL1 to the second reference line SL2. That is, the second reference line SL2 may be used as the reference line for the direction of movement.

[0054] In the above embodiment, the operation device 15 of the remote control device 10 is attached to a hydraulic excavator as a construction machine. However, the construction machine to which the operation device 15 is attached is not limited to a hydraulic excavator, and may be any construction machine that is operated by tilting an operation lever forward and backward or left and right. In the above embodiment, the remote control device 10 is described as being operated from a remote location. However, the control device is not limited to being operated from a remote location, and may be any control device that can be operated by a control signal rather than manually. For example, the control unit may identify the tilt direction of the control lever based on environmental information, a program, etc., automatically generate a control signal to move the control lever in the tilt direction, and move the control lever in response to this control signal (automatic control signal).

[0055] Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described below. (a) The control device according to claim 2, wherein the mounting block is a mounting plate made of a plate-shaped magnetic material.

[0056] (b) the control signal is a remote control signal for remotely operating the operating lever; or an automatic control signal for automatically operating the operating lever. [Explanation of symbols]

[0057] θ1...angle, AL1...mounting line as mounting reference line, C1...console box, D1...first direction, D2...second direction, L1, L2...operating lever, L1a...protruding member, L1g, L2g...gripping portion, S1...seat, SL1...first reference line as operating direction reference line, SL2...second reference line, U1, U2...operating unit, 10...remote control device, 15...operating device, 16...fixing member, 20...mounting portion, 21...mounting member, 22...accommodating portion, 23...Bolt portion, 25, 28...Magnets, 26...Mounting plate as mounting block, 27...Support member, 30...Drive mechanism portion, 31...First motor, 32...Connecting member, 33...Second motor, 34...First arm, 34h...Hole, 35...Second arm, 35h...Engagement hole, 36...Joint member, 37...Universal joint, 50...Control unit as control portion, 51...Drive control portion, 52...Monitoring portion, 60...Remote control equipment, 61...Input device.

Claims

1. A control device for operating a construction machine, In the construction machine, a mounting member engageable with a fixing member fixed to the periphery of an operation lever of the construction machine; a mounting block disposed above the mounting member; a drive mechanism supported by the mounting block, The mounting member is configured to be mountable to the mounting block at a plurality of positions, The control device is characterized in that the drive mechanism unit moves the control lever back and forth and left and right in response to a control signal using an arm attached to the control lever.

2. The mounting member is a bolt portion that screws into a threaded hole formed in the fixing member; a magnet detachably attachable to a plurality of positions relative to the mounting block above the bolt portion, 2. The control device according to claim 1, wherein the mounting block is made of a magnetic material that is attracted to the magnet.

3. Further, a control unit that controls the driving of the driving mechanism unit is provided. The control device according to claim 1 or 2, characterized in that the control unit operates the drive mechanism unit in a direction according to the instruction of the control signal, using an angle from an attachment reference line at the attachment position of the drive mechanism unit when the operation lever is in a neutral state to an operation direction reference line which is at least one of the forward / backward direction and the left / right direction of the operation lever.

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