Controls

Abstract

To provide a control device which is easily installed on a construction machine, can remotely or automatically operate a travel lever and an operation lever, and enables an operator to manually control the machine without removing the machine from the construction machine. [Solution] The remote control device 200 has a base 220 attached to the floor surface in front of the operator's seat of the hydraulic excavator, travel lever operating units 230L, 230R provided on the base 220 and operating the travel levers of the hydraulic excavator, support units 240L, 240R provided on the base 220, work lever operating units 250L, 250R supported by the support units 240L, 240R and operating the work levers of the hydraulic excavator, and a control unit 260 that controls the travel lever operating units 230L, 230R and the work lever operating units 250L, 250R based on an external control signal.

Description

[Technical field]

[0001] The present invention relates to a control device that enables remote or automatic control of a construction machine. [Background technology]

[0002] 2. Description of the Related Art As a control device that enables remote control of construction machinery, there is a control unit that operates the control lever of the construction machinery, which is driven by an actuator such as a pneumatic or electric motor.

[0003] For example, the remote-controlled robot described in Patent Document 1 is attached to a seat in the cockpit of a work vehicle, and operates the travel lever and operation lever of the work vehicle with a pneumatically driven robot arm.

[0004] Moreover, the remote control device described in Patent Document 2 is fixed to the floor surface of the cabin of the construction machine, and operates the travel lever of the construction machine by means of an electrically driven swing arm, a link member, and an attachment member. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-106213 A [Patent Document 2] JP 2023-173747 A Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, the remote-controlled robot described in Patent Document 1 can be detachably attached to the seat, but when an operator manually controls the robot from the seat, the robot must be removed from the seat.

[0007] On the other hand, the remote control device described in Patent Document 2 allows the operator to operate the travel lever without removing it from the cabin, but does not allow the operator to operate the work lever. If an actuator was to be retrofitted to operate the work lever, it was necessary to fix the actuator in accordance with the various shapes of components around the operator's seat, which differ depending on the manufacturer and model of the construction machine.

[0008] The present invention has been made in consideration of the above-mentioned circumstances, and has as its object to provide a control device that is easy to install on a construction machine, can operate the travel lever and the work lever remotely or automatically, and allows the operator to manually control the machine without having to remove it from the construction machine. [Means for solving the problem]

[0009] In order to solve the above problems, the operating device of the present invention is characterized in having a base attached to the floor surface in front of the operator's seat of a construction machine, a travel lever operating unit provided on the base and operating the travel lever of the construction machine, a support unit provided on the base, a work lever operating unit supported on the support unit and operating the work lever of the construction machine, and a control unit that controls the travel lever operating unit and the work lever operating unit based on a control signal from an external source.

[0010] According to this control device, a travel lever operating unit that is controlled based on an external control signal is provided on a base, and a work lever operating unit that is similarly controlled based on a control signal is provided on the base via a support unit. When the base is attached to the floor surface in front of the operator's seat of the construction machine, the travel lever operating unit and work lever operating unit are installed around the operator's seat, so that it can be easily installed on the construction machine, and the travel lever and work lever can be operated remotely or automatically using a control signal.

[0011] In addition, the travel lever operating unit is provided on a base attached to the floor surface in front of the operator's seat and positioned at the operator's feet, and the work lever operating unit can be positioned to the side of the operator from the base via the support unit.This prevents the travel lever operating unit and work lever operating unit from encroaching on the operator's operating space, making it possible for the operator to manually operate the construction machine without removing the operating device from the construction machine.

[0012] The operating device of the present invention has a first adjustment unit that can adjust the widthwise position of the support part relative to the base or the widthwise position of the work lever operating part relative to the support part, so that the widthwise position of the work lever operating part can be adjusted to match the position and shape of the work lever, which differs for each construction machine; by having a second adjustment unit that can adjust the heightwise position of the work lever operating part relative to the support part, the heightwise position of the work lever operating part can be adjusted to match the position and shape of the work lever, which differs for each construction machine; and by having a third adjustment unit that can adjust the tilt angle of the work lever operating part when viewed from the front relative to the support part, the orientation of the work lever operating part can be adjusted to match the orientation of the work lever, which differs for each construction machine.

[0013] The support portion may have a first arm portion provided on the base and extending laterally from the base, and a second arm portion extending upward from the first arm portion and supporting the working lever operating portion, thereby making it possible to position the working lever operating portion to the side of the operator via the first arm portion and second arm portion extending laterally and upward from the base, thereby preventing the support portion from encroaching on the operator's operating space.

[0014] The upper part of the base may be provided with a planar portion that is approximately parallel to the floor surface when the base is attached to the floor surface, thereby enabling the operator to take a comfortable operating position with his / her feet placed on the planar portion.

[0015] Furthermore, the base may have a base body on which the travel lever operating unit and the support unit are provided, legs attached to the floor surface to support the base body, and a fourth adjustment unit capable of adjusting the attachment angle of the legs relative to the base body, so that even if the floor surface has an inclination, the inclination can be absorbed by adjusting the attachment angle by the fourth adjustment unit, and the base body on which the working lever operating unit is provided via the travel lever operating unit and the support unit can be installed in a substantially horizontal position.

[0016] At this time, the legs may be attached to the floor surface by magnetic force, thereby shortening the work time required to attach the legs to the floor surface. Effect of the Invention

[0017] The control device of the present invention is easy to install on a construction machine and allows the travel lever and operation lever to be operated remotely or automatically, enabling the operator to manually control the machine without having to remove it from the construction machine. [Brief description of the drawings]

[0018] [Figure 1] 1 is a perspective view showing a hydraulic excavator equipped with a remote control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view showing a hydraulic excavator. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. 2 is a plan view showing the internal structure of the base of the remote control device. [Figure 7] FIG. 2 is a perspective view showing a support bracket of the remote control device. [Figure 8] FIG. 2 is a perspective view showing a motor and a drive transmission mechanism in the remote control device. [Figure 9] FIG. 2 is an exploded perspective view of the drive transmission mechanism. [Figure 10] FIG. 2 is a perspective view showing the remote control device with the drive transmission mechanism disassembled. [Figure 11] FIG. [Figure 12] (a) is a bottom view showing the motor and the drive transmission mechanism, and (b) is a cross-sectional view taken along line AA in (a). [Figure 13] FIG. [Figure 14] FIG. 2 is a perspective view showing a drive mechanism and a driven mechanism. [Figure 15] FIG. 4 is a perspective view showing a spiral spring in the clamping mechanism. [Figure 16] FIG. [Figure 17] 11 is an explanatory diagram showing a driving plate, a driven plate, and a clamping portion when an overload occurs; FIG. [Figure 18] FIG. 4A is an explanatory diagram showing an example of current when there is no overload protection mechanism, and FIG. 4B is an explanatory diagram showing an example of current when there is an overload protection mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings.

[0020] As shown in Figures 1 and 2, the remote control device 200 of this embodiment remotely operates the travel levers 110L, 110R and the work levers 120L, 120R, which are the operating levers of the hydraulic excavator 100. The drive transmission mechanism 300 used in the remote control device 200 is interposed between a motor 400 (described later) and a work lever operation unit 250L that operates the work lever 120L, and transmits the drive force (output) of the motor 400 to the work lever operation unit 250L.

[0021] The hydraulic excavator 100 has crawlers 130L, 130R for traveling, a cab 140, and a boom 150, and an arm and a bucket (not shown) are provided at the tip of the boom 150.

[0022] An antenna (not shown) that receives a control signal transmitted from a remote control 210 outside the remote control device 200 (drive transmission mechanism 300) is provided on the roof 141 of the cab 140, and a cockpit 160 is provided inside the cab 140. A cockpit 161 where a pilot sits is provided on a floor 162 in the cockpit 160.

[0023] Travel levers 110L, 110R for moving the crawlers 130L, 130R are provided in front of the operator's seat 161 so as to extend upward from the floor surface 162, and work levers 120L, 120R for moving the boom 150, arm, and bucket are provided to the left and right of the operator's seat 161 so that their upper portions are inclined inward when viewed from the front. In the hydraulic excavator 100, the crawlers 130L, 130R rotate to move forward, backward, or turn by operating the travel levers 110L, 110R, and the boom 150, arm, and bucket are operated to perform excavation work, etc.

[0024] As shown in Figures 3 to 6, the remote control device 200 has a base 220 attached to the floor surface 162 in front of the cockpit 161, travel lever operation units 230L, 230R provided on the base 220 and operating the travel levers 110L, 110R, support units 240L, 240R provided on the base 220, working lever operation units 250L, 250R supported by the support units 240L, 240R and operating the working levers 120L, 120R, and a control unit 260 that receives a control signal from the remote control 210 via an antenna and controls the travel lever operation units 230L, 230R and the working lever operation units 250L, 250R based on this control signal.

[0025] The base 220 has a base body 221 and four legs 222. As described below, the base body 221 is provided with travel lever operating units 230L, 230R via drive transmission mechanisms 300A, 300B that are substantially similar to the drive transmission mechanism 300, and is also provided with support units 240L, 240R. The four legs 222 support the base body 221 at four points: the front left, front right, rear left, and rear right.

[0026] The legs 222 are attached to the base body 221 via ball joints 223, and the attachment angle can be adjusted by the ball joints 223. The legs 222 are magnet holder bases, and have switches 222b on their side surfaces 222a, and the magnetic force of the bottom surface 222c can be switched on and off by operating the switches 222b. The legs 222 are attached to the floor surface 162 by magnetic force, and even if the floor surface 162 is not necessarily flat, the legs are magnetically attached to the floor surface 162, thereby contributing to the stable fixation of the base 220.

[0027] The base body 221 has a box-shaped portion 224 supported by the legs 222, and a box-shaped portion 225 located below the box-shaped portion 224 and between the left and right legs 222. An opening 226a is formed in the front surface 226 of the box-shaped portion 224, an opening 227a communicating with the box-shaped portion 225 is formed in the bottom surface 227, and an opening 228 is formed in the side. A top surface 229 of the box-shaped portion 224 is flat and can be made approximately parallel to the floor surface 162 when the base 220 is attached to the floor surface 162 by the legs 222.

[0028] The box-shaped portion 225 is provided with motors 400A, 400B controlled by the control unit 260, and drive transmission mechanisms 300A, 300B located near the opening 227a and transmitting the driving force of the motors 400A, 400B to the travel lever operating units 230L, 230R, the travel lever operating units 230L, 230R extending forward of the base body 221 through the opening 226a.

[0029] The front ends of the travel lever operating parts 230L, 230R are provided with gripping parts 231L, 231R for gripping the travel levers 110L, 110R. The travel lever operating parts 230L, 230R are driven by the motors 400A, 400B to move forward and backward, and tilt the travel levers 110L, 110R gripped by the gripping parts 231L, 231R in the forward and backward directions to operate them.

[0030] The support portions 240L, 240R are formed by bending or joining a cylindrical metal tube, and have arm portions 241L, 241R extending in the width direction (left and right direction), and arm portions 242L, 242R which extend upward and forward (diagonally upward) from the tips of the arm portions 241L, 241R and then bend further to extend upward.

[0031] The arm portions 241L, 241R are attached to the bottom surface 227 by two mounting brackets 243 with their widthwise positions relative to the box-shaped portion 225 adjusted, and are inserted through the opening 228. Two mounting brackets 244 are attached to the upper portions of the arm portions 242L, 242R with their heightwise positions adjusted, and plate-shaped support brackets 245 and 246 are attached to the mounting brackets 244.

[0032] As shown in FIG. 7, the support bracket 245 has two linear elongated holes 245a arranged vertically and two circular holes 245b arranged vertically, and is attached to the mounting bracket 244 with its widthwise position adjusted by screws (not shown) that are inserted through the elongated holes 245a.

[0033] The support bracket 246 has an arc-shaped long hole 246a and a round hole 246b. A screw (not shown) is inserted through the lower of the two round holes 245b of the support bracket 245 and fixed into the long hole 246a, and a screw (not shown) is inserted through the upper of the two round holes 245b of the support bracket 245 and fixed into the round hole 246b. However, since the long hole 246a is arc-shaped, the inclination angle of the support bracket 246 with respect to the support bracket 245 when viewed from the front changes depending on the insertion position of the screw, and therefore the inclination angle of the support bracket 246 is adjusted before being attached to the support bracket 245.

[0034] The working lever operating part 250L is supported on the support metal fitting 246 on the support part 240L side via a drive transmission mechanism 300C substantially similar to the drive transmission mechanism 300 and the drive transmission mechanism 300. The drive transmission mechanism 300C is attached to the support metal fitting 246 at a portion corresponding to a driven plate 324 (of the drive transmission mechanism 300) described later, and transmits the driving force of a motor 400C controlled by the control part 260 to the drive transmission mechanism 300 as a rotational force in a plane whose normal direction substantially coincides with the front-rear direction. The drive transmission mechanism 300 is attached to a main body 410C of the motor 400C, and transmits the driving force of the motor 400 controlled by the control part 260 to the working lever operating part 250L as a rotational force in a plane whose normal direction substantially coincides with the width direction.

[0035] The support bracket 246 on the support portion 240R supports the working lever operation portion 250R via a drive transmission mechanism 300D substantially similar to the drive transmission mechanism 300, and a drive transmission mechanism 300E substantially similar to the drive transmission mechanism 300. The drive transmission mechanism 300D is attached to the support bracket 246 at a portion corresponding to the driven plate 324, and transmits the driving force of the motor 400D controlled by the control portion 260 to the drive transmission mechanism 300E as a rotational force in a plane whose normal direction substantially coincides with the front-rear direction. The drive transmission mechanism 300E is attached to a main body 410D of the motor 400D, and transmits the driving force of the motor 400E controlled by the control portion 260 to the working lever operation portion 250R as a rotational force in a plane whose normal direction substantially coincides with the width direction.

[0036] The rear ends of the working lever operating parts 250L, 250R are provided with gripping parts 251L, 251R for gripping the working levers 120L, 120R. The working lever operating parts 250L, 250R are driven by motors 400C, 400D to move leftward and rightward, and driven by motors 400, 400E to move forward and backward, and operate the working levers 120L, 120R gripped by the gripping parts 251L, 251R by tilting them in the front-rear and left-right directions.

[0037] As shown in FIGS. 8 to 10, the drive transmission mechanism 300 is attached to a body 410 of a motor 400, and includes a drive mechanism 310, a driven mechanism 320, a return spring 330, a bracket 340, and a clamping mechanism 350.

[0038] A servo horn 440 is fixed to a rotating shaft 420 of the motor 400 by a screw 430. The return spring 330 is a coil spring and has a coil portion 331 formed by winding a steel wire or the like into a coil shape, and an arm portion 332 and an arm portion 333 formed from the end portion of the steel wire or the like and extending from the coil portion 331.

[0039] Driving mechanism 310 has an annular core 311, C-shaped positioning members 312 and 313, and a plate-like driving plate 314, and driving plate 314 is provided with an axis member 315. Coil portion 331 of return spring 330 is attached to core 311, which is sandwiched between positioning members 312 and 313, and arm portions 332 and 333 are positioned along the C-shape. In this state, core 311, positioning member 312 and positioning member 313 together with driving plate 314 are screwed to servo horn 440 by three screws 316.

[0040] In detail, a circular opening 311a is formed in core 311, and when return spring 330 is assembled to core 311, coil portion 331 is located in opening 311a, arm portion 332 is located on the left side (upper side in FIG. 9) of core 311, and arm portion 333 is located on the right side (lower side in FIG. 9) of core 311. Arm portion 332 is positioned by abutting against abutment surface 312a formed on the lower side (lower left side in FIG. 9) of the C-shaped slit of positioning member 312, and arm portion 333 is positioned by abutting against abutment surface 313a formed on the upper side (upper right side in FIG. 9) of the C-shaped slit of positioning member 313.

[0041] 11, driving plate 314 has opening 314a and round hole 314b, and shaft member 315 has head 315a, cylindrical shaft portion 315b, and cylindrical insertion portion 315c having a smaller diameter than shaft portion 315b. Shaft member 315 is attached to driving plate 314 by inserting insertion portion 315c into round hole 314b so that insertion portion 315c passes through round hole 314b.

[0042] The driven mechanism 320 includes a ball bearing 321, a plate-shaped rotating plate 322, a plate-shaped pressing plate 323 thinner than the rotating plate 322, and a plate-shaped driven plate 324 thinner than the rotating plate 322, and the driven plate 324 is provided with a shaft member 325. A circular opening 322a is formed in the rotating plate 322, and the driven plate 324 is fixed to protrude into the opening 322a. The ball bearing 321 is provided on the outer periphery of the core 311 and on the inner periphery of the opening 322a, and as shown in FIG. 12, the inner diameter portion 321a is sandwiched and pressed by the positioning member 312 and the positioning member 313, and the outer diameter portion 321b is sandwiched and pressed by the driven plate 324 (the portion protruding into the opening 322a) and the pressing plate 323, so that the rotating plate 322 is rotatable relative to the driving mechanism 310.

[0043] 13, driven plate 324 has arc-shaped long hole 324a and round hole 324b, and shaft member 325 has head 325a, cylindrical shaft portion 325b, and cylindrical insert portion 325c having a smaller diameter than shaft portion 325b. Shaft member 325 is attached to driven plate 324 by inserting insert portion 325c into round hole 324b.

[0044] As shown in FIG. 14, shaft portion 315b of shaft member 315 and shaft portion 325b of shaft member 325 are approximately parallel to rotation shaft 420 of motor 400, and insertion portion 315c protruding through round hole 314b of driving plate 314 enters long hole 324a of driven plate 324 and regulates the relative rotation range of driven plate 324 with respect to driving plate 314.

[0045] Bracket 340 is formed by bending a metal plate, and has abutment portion 340a and standing portion 340b standing from abutment portion 340a. Abutment portion 340a has two screw holes 340c, and is attached in abutment to main body 410 of motor 400 by screws (not shown) that pass through screw holes 340c. Standing portion 340b has recess 340d and groove 340e, and arm portion 332 of return spring 330 is inserted into recess 340d, and arm portion 333 of return spring 330 is inserted into groove 340e.

[0046] 14, the driving mechanism 310 and the driven mechanism 320 are in a neutral position around the rotating shaft 420 of the motor 400, and both can rotate in a forward direction (clockwise direction in FIG. 14) and a reverse direction (counterclockwise direction in FIG. 14) from this neutral position. When the rotating shaft 420 rotates and the driving mechanism 310 rotates in the forward direction, the arm portion 333 is pressed against the abutment surface 313a of the positioning member 313, and the return spring 330 rotates in the same direction, and the rotation of the arm portion 332 is restricted by the recess 340d of the bracket 340 (pressed against the bottom of the recess 340d), and the return spring 330 is elastically deformed. When the rotating shaft 420 stops in this state, the elastic force of the return spring 330 causes the arm portion 333 to push back the positioning member 313 (the abutment surface 313a), and the driving mechanism 310 returns to the neutral position. Furthermore, when the rotating shaft 420 rotates and the drive mechanism 310 rotates in the opposite direction, the arm portion 332 is pressed against the abutment surface 312a of the positioning member 312, causing the return spring 330 to rotate in the same direction, and the arm portion 333 is restricted in rotation by the groove portion 340e of the bracket 340 (pressed against the end of the groove portion 340e), causing the return spring 330 to elastically deform. When the rotating shaft 420 stops in this state, the arm portion 332 presses back against the positioning member 312 (the abutment surface 312a) due to the elastic force of the return spring 330, and the drive mechanism 310 returns to the neutral position.

[0047] The clamping mechanism 350 has a frame 351 , a plate-shaped circular plate 352 , a plate-shaped clamping plate 353 , a plate-shaped clamping plate 354 , a spiral spring 355 as an elastic body, a shaft member 356 , and a circlip 357 .

[0048] Frame 351 is made by bending a metal plate, and has opposing parts 351a and 351b that face each other, and connecting part 351c that connects these parts. Opposing part 351a is provided with a circular opening 351d, and opposing part 351b is provided with two round holes 351e.

[0049] Two round holes 352a are provided in the circular plate 352. The clamping plate 353 has a circular portion 353a and a clamping portion 353b protruding from the circular portion 353a, and two round holes 353c are provided in the circular portion 353a. The clamping plate 354 has a curved portion 354a curved in an arc shape, a clamping portion 354b protruding from the curved portion 354a, and an engaged portion 354c formed to stand upright relative to the curved portion 354a.

[0050] As shown in FIG. 15, the spiral spring 355 is formed in a spiral shape so that the elastic plate does not come into contact with the elastic plate, and one end of the elastic plate toward the center of the spiral is fixed to an axis member 356, and the other end of the elastic plate on the outside of the spiral is bent to form an engagement portion 355a. A clamping plate 354 is disposed with respect to the spiral spring 355 such that an engaging portion 355a engages with an engaged portion 354c, and a clamping plate 353 is disposed in the same plane as the clamping plate 354 such that a circular portion 353a fits inside the curved portion 354a. Further, a circular plate 352 is disposed so as to abut the clamping plates 353 and 354 from the opposite side of the spiral spring 355. The circular plate 352 and the clamping plate 353 are fixed to a shaft member 356 (and the spiral spring 355 fixed to the shaft member 356) by a screw (not shown) that passes through a circular hole 352a and a circular hole 353c. The clamping portion 353b of the clamping plate 353 and the clamping portion 354b of the clamping plate 354 are urged in a direction approaching each other by the elastic force of the spiral spring 355.

[0051] A groove 356b is formed in a head 356a of the shaft member 356. The head 356a is inserted into an opening 351d of the frame 351, and the circular plate 352, the clamping plate 353, the clamping plate 354, and the spiral spring 355 are positioned in the opposing space between the opposing parts 351a and 351b of the frame 351, and a circlip 357 is attached to the groove 356b to prevent them from coming off, thereby assembling the clamping mechanism 350. As shown in FIG. 16, the clamping mechanism 350 is attached to the rotating plate 322 of the driven mechanism 320 by a screw (not shown) inserted through a round hole 351e of the frame 351, with the clamping part 353b and the clamping part 354b abutting against and clamping the shaft part 315b provided on the driving plate 314 and the shaft part 325b provided on the driven plate 324.

[0052] The working lever operating parts 250L, 250R are provided with arm members 252L, 252R that convert the direction of motion of the output of the drive transmission mechanisms 300, 300E. The arm member 252L is screwed to the driven plate 324 of the drive transmission mechanism 300 by a screw (not shown) and moves in the front-rear direction in response to the rotation of the motor 400, and the arm member 252R is screwed to a portion of the drive transmission mechanism 300E that corresponds to the driven plate 324 and moves in the front-rear direction in response to the rotation of the motor 400E.

[0053] The driving method in the drive transmission mechanism 300 will be described in detail. When the rotating shaft 420 of the motor 400 rotates to drive the drive mechanism 310 (drive plate 314), in normal conditions where a constant strong external force is not acting on the driven mechanism 320 (driven plate 324), the shaft portion 315b provided on the drive plate 314 and the shaft portion 325b provided on the driven plate 324 rotate in a manner such that the clamping portion 353b of the clamping plate 353 and the clamping plate 354 rotate in a manner such that the shaft portion 315b of the drive plate 314 and the shaft portion 325b of the driven plate 32 ... With the shaft portion 325b clamped between the clamping portion 354b, the shaft portion 325b is driven by the shaft portion 315b to rotate the driven mechanism 320 (driven plate 324) (the shaft portion 325b clamped between the clamping portion 353b and the clamping portion 354b rotates together with the clamping portions 353b and 354b when the shaft portion 315b rotates and the clamping portions 353b and 354b that clamp it rotate), and accordingly the arm member 252L moves in the front-rear direction.

[0054] On the other hand, in the event of an abnormality where a constant strong external force is acting on driven mechanism 320 (driven plate 324), as shown in Fig. 17, shaft member 315 (shaft portion 315b) pushes and rotates clamping portion 354b by the driving force of motor 400, but shaft member 325 (shaft portion 325b) integral with driven mechanism 320 (driven plate 324) under the action of the external force remains in place against the biasing force of spiral spring 355 from clamping portion 353b. As a result, shaft member 315 (shaft portion 315b) and shaft member 325 (shaft portion 325b) separate, and the clamping of shaft portion 315b and shaft portion 325b by clamping portion 353b and clamping portion 354b is released.

[0055] For example, if the range of motion of the working lever 120L is ±45 degrees and the range of rotation of the rotating shaft 420 of the motor 400 is ±60 degrees, if the working lever 120L reaches the limit of motion of ±45 degrees and the rotating shaft 420 continues to attempt to rotate, then without an overload prevention mechanism, the current flowing through the motor 400 will suddenly increase from i [A] at the ±45 degree boundary, as shown in Figure 18(a).

[0056] However, since the drive transmission mechanism 300 is equipped with an overload prevention mechanism consisting of the drive mechanism 310, the driven mechanism 320, and the clamping mechanism 350, even if the working lever 120L reaches the movable limit of ±45 degrees, there is room for the shaft member 315 (shaft portion 315b) to push in and rotate the clamping portion 354b, and the current flowing through the motor 400 increases gradually from i [A] at the boundary of ±45 degrees, as shown in Figure 18 (b), and the motor is protected.

[0057] The remote control device 200 of this embodiment has a base 220 attached to the floor surface 162 in front of the operator's seat 161 of the hydraulic excavator 100, travel lever operating units 230L, 230R provided on the base 220 and operating the travel levers 110L, 110R of the hydraulic excavator 100, support units 240L, 240R provided on the base 220, work lever operating units 250L, 250R supported by the support units 240L, 240R and operating the work levers 120L, 120R of the hydraulic excavator 100, and a control unit 260 that controls the travel lever operating units 230L, 230R and the work lever operating units 250L, 250R based on a control signal from outside.

[0058] According to this remote control device 200, travel lever operating units 230L, 230R, which are controlled based on an external control signal, are provided on the base 220, and work lever operating units 250L, 250R, which are similarly controlled based on a control signal, are provided on the base 220 via supports 240L, 240R. When the base 220 is attached to the floor surface 162 in front of the operator's seat 161 of the hydraulic excavator 100, the travel lever operating units 230L, 230R and the work lever operating units 250L, 250R are installed around the operator's seat 161, so that the remote control device can be easily installed on the hydraulic excavator 100, and the travel levers 110L, 110R and the work levers 120L, 120R can be operated remotely or automatically using control signals.

[0059] In addition, the travel lever operating units 230L, 230R are provided on a base 220 attached to the floor surface 162 in front of the operator's seat 161 and are positioned at the operator's feet, and the work lever operating units 250L, 250R can be positioned to the side of the operator from the base 220 via the supports 240L, 240R. This prevents the travel lever operating units 230L, 230R and the work lever operating units 250L, 250R from encroaching on the operator's operating space, making it possible for the operator to manually operate the remote control device 220 without removing it from the hydraulic excavator 100.

[0060] The remote control device 200 has a mounting bracket 243 that can adjust the widthwise position of the support parts 240L, 240R relative to the base 220, and a mounting bracket 245 that can adjust the widthwise position of the work lever operating parts 250L, 250R relative to the support parts 240L, 240R, so that the widthwise position of the work lever operating parts 250L, 250R can be adjusted to match the position and shape of the work lever, which differs for each construction machine. Since the remote control device 200 has a mounting bracket 244 that can adjust the heightwise position of the work lever operating parts 250L, 250R relative to the support parts 240L, 240R, the heightwise position of the work lever operating parts 250L, 250R can be adjusted to match the position and shape of the work lever, which differs for each construction machine. Since the remote control device 200 has a mounting bracket 243 that can adjust the widthwise position of the support parts 240L, 240R relative to the base 220, and a mounting bracket 245 that can adjust the widthwise position of the work lever operating parts 250L, 250R relative to the support parts 240L, 240R, the heightwise position of the work lever operating parts 250L, 250R can be adjusted to match the position and shape of the work lever, which differs for each construction machine. Since the remote control device 200 has a mounting bracket 246 that can adjust the tilt angle of the work lever operating parts 250L, 250R when viewed from the front, the orientation of the work lever operating parts 250L, 250R can be adjusted to match the orientation of the work lever, which differs for each construction machine.

[0061] The support portions 240L, 240R are provided on the base 220 and have arm portions 241L, 241R extending laterally from the base 220, and arm portions 242L, 242R extending upward from the arm portions 241L, 241R and supporting the working lever operating portions 250L, 250R. Therefore, the working lever operating portions 250L, 250R can be positioned to the side of the operator via the arm portions 241L, 241R and arm portions 242L, 242R extending laterally and upwardly from the base 220, thereby preventing the support portions 240L, 240R from encroaching on the operator's operating space.

[0062] A top surface 229 is provided on the upper portion of the base 220, which is approximately parallel to the floor surface 162 when the base 220 is attached to the floor surface 162, so that the operator can take a comfortable operating position with his / her feet placed on the top surface 229.

[0063] Furthermore, the base 220 has a base main body 221 on which the travel lever operating units 230L, 230R and the support units 240L, 240R are provided, legs 222 that are attached to the floor surface 162 and support the base main body 221, and a ball joint 223 that can adjust the mounting angle of the legs 222 relative to the base main body 221. Therefore, even if the shape of the floor surface 162 is inclined, the inclination can be absorbed by adjusting the mounting angle using the ball joint 223, and the base main body 220 on which the work lever operating units 250L, 250R are provided can be installed in an approximately horizontal position via the travel lever operating units 230L, 230R and the support units 240L, 240R.

[0064] The legs 222 are attached to the floor surface 162 by magnetic force, so that the time required for attaching the legs 222 to the floor surface 162 can be shortened.

[0065] Although the above describes an example of the embodiment of the present invention, the embodiment of the present invention is not limited to the above, and may be modified as appropriate without departing from the spirit of the invention.

[0066] For example, in the above embodiment, the remote control device 200 was used for remote control of a construction machine, but the control device according to the present invention may be used for automatic control, for controlling a ship or the like, or for other purposes.

[0067] Furthermore, something other than spiral spring 355 may be used as the elastic body, and something other than mounting bracket 243, mounting bracket 244, support bracket 245, support bracket 246, and ball joint 223 may be used for position adjustment, tilt adjustment, and angle adjustment, and the shapes of shaft portion 315b and shaft portion 325b, clamping portions 353b and 354b, support portions 240L, 240R, bracket 340, etc. may also be arbitrary. [Explanation of symbols]

[0068] 100 Hydraulic excavator (construction machinery) 110L Travel lever 110R Travel lever 120L Working Lever 120R Working Lever 161 Cockpit 162 Floor 200 Remote control device (control device) 220 Base 221 Base body 222 Legs 223 Ball joint (fourth adjustment part) 229 Top surface (surface part) 230L Travel lever operation section 230R Travel lever operation section 240L support part 240R support part 241L Arm section (first arm section) 241R Arm section (first arm section) 242L Arm section (second arm section) 242R Arm section (second arm section) 243 Mounting bracket (first adjustment part) 244 Mounting bracket (second adjustment part) 245 Support bracket (first adjustment part) 246 Support bracket (third adjustment part) 250L Working lever operation section 250R Work lever operation part 260 Control Unit

Claims

1. a base that is attached to a floor surface in front of a driver's seat of the construction machine; a travel lever operation unit provided on the base and configured to operate a travel lever of the construction machine; A support portion provided on the base; a work lever operating unit supported by the support portion and configured to operate a work lever of the construction machine; and a control unit that controls the travel lever operation unit and the work lever operation unit based on an external control signal.

2. 2. The control device according to claim 1, further comprising a first adjustment section capable of adjusting a widthwise position of the support section relative to the base or a widthwise position of the working lever operating section relative to the support section.

3. 2. The operating device according to claim 1, further comprising a second adjustment portion that is capable of adjusting a height position of the working lever operating portion relative to the support portion.

4. 2. The operating device according to claim 1, further comprising a third adjustment portion that is capable of adjusting an inclination angle of the working lever operating portion relative to the support portion when viewed from the front.

5. The support portion is A first arm portion provided on the base and extending laterally from the base; 2. The operating device according to claim 1, further comprising a second arm portion extending upward from the first arm portion and supporting the working lever operating portion.

6. 2. The control device according to claim 1, wherein an upper portion of the base is provided with a surface portion that is approximately parallel to the floor surface when the base is attached to the floor surface.

7. The base is a base body on which the travel lever operation unit and the support unit are provided; A leg portion attached to the floor surface and supporting the base body; 2. The control device according to claim 1, further comprising a fourth adjustment unit capable of adjusting an attachment angle of the leg portion relative to the base body.

8. 8. The control device of claim 7, wherein the legs are magnetically attached to the floor surface.

Images