Remote control device

Abstract

To provide a remote control device with a simple configuration.SOLUTION: A remote control device 1 comprises: a first motor whose output shaft is disposed along a longitudinal direction; a first link mechanism 5 connecting the output shaft of the first motor and an operation lever 2; a second motor whose output shaft is disposed along a lateral direction; and a second link mechanism 7 connecting the output shaft of the second motor and the operation lever 2. The first link mechanism 5 is connected to the output shaft of the first motor so as to integrally rotate with the output shaft of the first motor and to rotate around an axis along the lateral direction, and is connected to the operation lever 2 so as to rotate around an axis along the longitudinal direction and to rotate around the axis along the lateral direction. The second link mechanism 7 is connected to the output shaft of the second motor so as to integrally rotate with the output shaft of the second motor and to rotate around the axis along the longitudinal direction, and is connected to the operation lever 2 so as to rotate around the axis along the lateral direction and to rotate around the axis along the longitudinal direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a remote control device. In particular, it relates to the structure of a remote control device that can remotely control an operation lever installed on a heavy machine or the like.

Background Art

[0002] Generally, in heavy machines such as power shovels, an operator sits in the driver's seat and operates an operation lever to perform operations such as excavation and transportation. However, in places where it is difficult for an operator to enter in dangerous areas during disasters, etc., a remote control device that can remotely control the operation lever has been required.

[0003] Conventional remote control devices have required separate manufacturing of the operation mechanism as a dedicated machine for remote operation or modification of existing heavy machines to be suitable for remote operation. However, a remote control device that can remotely control the operation lever by simply installing it on an existing heavy machine without the need to modify the existing heavy machine has been disclosed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The remote control device according to Patent Document 1 includes a remote control device main body, a receiver, and a transmitter. The remote control device main body can surround an operation lever that can tilt in the x-axis direction or the y-axis direction. Further, the remote control device main body is composed of a pair of x-axis guides and a pair of y-axis guides, and is driven by different motors respectively. The signal lines of these motors are electrically connected to the receiver.

[0006] The remote control device according to Patent Document 1 can drive the motor for x-axis guide and the motor for y-axis guide via a receiver by a wireless signal for operation transmitted from a transmitter. Accordingly, the remote control device according to Patent Document 1 states that it can operate the operation lever from a remote location only by installing the remote control device main body on an existing heavy machine.

[0007] However, the remote control device according to Patent Document 1 surrounds the periphery of the operation lever with a rectangular frame body. Further, this frame body incorporates a conversion mechanism, such as a rack and pinion mechanism, which converts the rotational motion of the motor into the linear motion of the x-axis guide or the y-axis guide.

[0008] As described above, the remote control device according to the prior art has a large and complicated configuration. Therefore, there is a demand for a remote control device with a simple configuration. And the above can be said to be the problem of the present invention.

[0009] The present invention has been made in view of such problems, and an object thereof is to provide a remote control device for operating an operation lever from a remote location, the remote control device having a simple configuration.

Means for Solving the Problem

[0010] The inventor considered that by connecting the output shaft of the first motor and the operation lever by a first link mechanism and connecting the output shaft of the second motor and the operation lever by a second link mechanism, the function of the remote control device can be satisfied while simplifying the configuration, and based on this, the inventor has invented the following new remote control device.

[0011] (1) The remote control device according to the present invention is a remote control device for remotely operating an operation lever that can tilt in the front-rear direction and the left-right direction, and includes a first motor whose output shaft is arranged along the front-rear direction, a connection between the output shaft of the first motor and the operation lever, and a first link member that is integrally rotatable with the output shaft of the first motor and is connected to the output shaft of the first motor so as to be rotatable about an axis along the left-right direction, and a second link member that is rotatable about an axis along the front-rear direction and is rotatable about an axis along the left-right direction and is connected to the operation lever, and a first link mechanism for tilting the operation lever in the left-right direction, a second motor whose output shaft is arranged along the left-right direction, a connection between the output shaft of the second motor and the operation lever, and a third link member that is integrally rotatable with the output shaft of the second motor and is connected to the output shaft of the second motor so as to be rotatable about an axis along the front-rear direction, and a fourth link member that is rotatable about an axis along the left-right direction and is rotatable about an axis along the front-rear direction and is connected to the operation lever, and a second link mechanism for tilting the operation lever in the front-rear direction.

[0012] (2) The first link mechanism preferably includes a plurality of link members including the first link member, the second link member, and one or more first intermediate link members provided between the first link member and the second link member, and adjacent link members are connected so as to be rotatable about an axis along the left-right direction. The second link mechanism preferably includes a plurality of link members including the third link member, the fourth link member, and one or more second intermediate link members provided between the third link member and the fourth link member, and adjacent link members are connected so as to be rotatable about an axis along the front-rear direction.

[0013] (3) The first link mechanism and the second link mechanism preferably have a bending prevention portion for preventing a state of bending inwardly.

Advantages of the Invention

[0014] The remote control device according to the present invention can connect the output shaft of the first motor and the operation lever by the first link mechanism, and connect the output shaft of the second motor and the operation lever by the second link mechanism, thereby simplifying the configuration while fulfilling the functions of the remote control device.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[0017] As shown in FIGS. 1 to 4, a remote control device (hereinafter abbreviated as a control device) 1 according to an embodiment of the present invention can operate an operation lever 2 arranged in a driver's seat of a heavy machine or the like from a remote location. The operation lever 2 can tilt in the front-rear direction and the left-right direction. As shown in FIGS. 1 to 4 and 6, the control device 1 of the present embodiment includes a plate-shaped base plate 3, a first motor 4 having an output shaft (not shown), a first link mechanism 5 connecting the output shaft of the first motor 4 and the operation lever 2, a second motor 6 having an output shaft (not shown), and a second link mechanism 7 connecting the output shaft of the second motor 6 and the operation lever 2.

[0018] The base plate 3 is substantially rectangular plate-shaped in top view, and a notch 8 that opens rightward is formed in the upper part of the right side. The base plate 3 is fixed, such as by screws 10, above a housing portion 9 that houses the lower part of the operation lever 2 with the plate surface facing vertically. At this time, the operation lever 2 passes through the notch 8 of the base plate 3 and extends upward from the housing portion 9.

[0019] It is preferable to use a servo motor for the first motor 4 whose rotation angle of the output shaft can be controlled by an electric signal. The first motor 4 houses, for example, a control board, a motor, and a gear mechanism inside. By transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the first motor 4, the first motor 4 can be driven controllably. Similarly to the first motor 4, it is also preferable to use a servo motor for the second motor 6. By transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the second motor 6, the second motor 6 can be driven controllably.

[0020] As shown in FIGS. 1 to 4 and 6, the first motor 4 and the second motor 6 are provided on the base plate 3 via motor mounting members 11. As shown in FIG. 6, the motor mounting member 11 is a plate material substantially L-shaped in top view, and has a piece 12 extending in the left-right direction and another piece 13 extending in the front-rear direction. Mounting materials 14 for attaching the motor mounting member 11 to the base plate 3 are fixed, such as by screws 15, to the inner surface of the piece 12 and the inner surface of the other piece 13. The mounting material 14 is columnar along the vertical direction, and a screw hole 16 is formed on the upper surface.

[0021] As shown in FIG. 6, the first motor 4 is fixed inside one piece 12 of the motor mounting member 11, and the second motor 6 is fixed inside the other piece 13 of the motor mounting member 11. In this state, as shown in FIGS. 1 to 4, the screws 17 are screwed into the screw holes 16 of the mounting member 14 through the through holes formed in the base plate 3, so that the first motor 4 and the second motor 6 are fixed to the base plate 3. At this time, the first motor 4 is fixed to the front end portion of the base plate 3, and the second motor 6 is fixed to the left end portion of the base plate 3. The first motor 4 is arranged such that the output shaft extends along the front-rear direction in a state of being fixed to the front end portion of the base plate 3. The second motor 6 is arranged such that the output shaft extends along the left-right direction in a state of being fixed to the left end portion of the base plate 3.

[0022] As shown in FIGS. 1 to 4, the first link mechanism 5 includes a first link member 18 connected to the output shaft of the first motor 4, a second link member 19 connected to the operation lever 2, and a first intermediate link member 20 provided between the first link member 18 and the second link member 19. That is, the first link mechanism 5 has three link members 21 including the first link member 18, the second link member 19, and the first intermediate link member 20. The first link member 18, the second link member 19, and the first intermediate link member 20 are plate members having a substantially U-shape.

[0023] As shown in FIG. 5, of the adjacent link members 21, 21, a first connecting member 22 is provided on one of the link members 21. The first connecting member 22 is a plate member having a substantially T-shape with a horizontal piece 23 and a vertical piece 24. The first connecting member 22 is fixed to the inner surface of one of the link members 21 by bolts, nuts 25, etc. At this time, the vertical piece 24 of the first connecting member 22 extends outward from one of the link members 21. A second connecting member 26 is provided on the other of the adjacent link members 21, 21. The second connecting member 26 is a plate member having a substantially U-shape. The second connecting member 26 is fixed to the inner surface of the other link member 21 by bolts, nuts 27, etc. in a state of opening outward.

[0024] As shown in FIG. 5, in a state where the tip of the vertical piece 24 of the first connecting member 22 is disposed between the open both ends of the second connecting member 26, while passing through the vertical piece 24 of the first connecting member 22, a pin 28 is provided along the left - right direction so as to span between the open both ends of the second connecting member 26, whereby the adjacent link members 21, 21 are rotatably connected around the pin 28. Therefore, the adjacent link members 21, 21 are rotatably connected around an axis along the left - right direction.

[0025] As shown in FIGS. 1 to 4, the second link mechanism 7 includes a third link member 29 connected to the output shaft of the second motor 6, a fourth link member 30 connected to the operation lever 2, and a second intermediate link member 31 provided between the third link member 29 and the fourth link member 30. That is, the second link mechanism 7 has three link members 32 including the third link member 29, the fourth link member 30, and the second intermediate link member 31. Note that the third link member 29, the fourth link member 30, and the second intermediate link member 31 are plate members having a substantially U - shaped cross - section.

[0026] In the second link mechanism 7, the adjacent link members 32, 32 are connected using the first connecting member 22 and the second connecting member 26 in the same manner as in the case of the first link mechanism 5. At this time, the pin 28 is arranged along the front - rear direction. Therefore, in the case of the second link mechanism 7, the adjacent link members 32, 32 are rotatably connected around an axis along the front - rear direction.

[0027] In this embodiment, the connection structure between the first link mechanism 5 and the first motor 4 and the connection structure between the second link mechanism 7 and the second motor 6 are the same structure. Therefore, here, the second link mechanism 7 is used for explanation, and the explanation for the case of the first link mechanism 5 is omitted.

[0028] As shown in FIGS. 1 to 4 and FIG. 6, a first connecting member 33 is provided on the output shaft of the second motor 6. The first connecting member 33 has a disk-shaped plate portion 34 and a protruding portion 35 protruding from one plate surface of the plate portion 34. The protruding portion 35 is columnar, and a recess is formed by being recessed inward at the tip surface. The first connecting member 33 is integrally and rotatably fixed to the output shaft of the second motor 6 with the output shaft of the second motor 6 inserted into the recess formed in the protruding portion 35.

[0029] A plate-shaped second connecting member 37 is provided on the first connecting member 33. The second connecting member 37 is fixed to the plate portion 34 by a screw 38 or the like with one plate surface in contact with the other plate surface of the plate portion 34 of the first connecting member 33. At this time, the upper portion of the second connecting member 37 extends upward from the first connecting member 33.

[0030] A third connecting member 39, which is a plate member having a substantially U-shape, is provided on the second connecting member 37. The third connecting member 39 is fixed to the upper portion of one plate surface of the second connecting member 37 by a bolt-nut 40 or the like in a state of being open upward.

[0031] On the other hand, a fourth connecting member 41 is provided on the third link member 29 connected to the output shaft of the second motor 6. The fourth connecting member 41 is a plate member having a substantially T-shape with a horizontal piece 42 and a vertical piece 43. As shown in FIG. 4, the horizontal piece 42 of the fourth connecting member 41 is fixed to the inner surface of the third link member 29 by a bolt-nut 44 or the like. At this time, the vertical piece 43 of the fourth connecting member 41 extends outward from the third link member 29.

[0032] As shown in FIGS. 2 and 4, in a state where the tip end portion of the vertical piece 43 of the fourth connecting member 41 is disposed between the open both ends of the third connecting member 39, while passing through the vertical piece 43 of the fourth connecting member 41, a pin 45 is provided along the front-rear direction so as to bridge between the open both ends of the third connecting member 39. Thus, the third link member 29 is rotatably connected to the third connecting member 39 around the pin 45. That is, the third link member 29 is connected to the output shaft of the second motor 6 via the connecting members 33, 37, 39, and 41.

[0033] In this way, since the third link member 29 is fixed to the output shaft of the second motor 6, the third link member 29 is connected to the output shaft of the second motor 6 so as to be rotatable integrally with the output shaft of the second motor 6 and rotatable about an axis along the front-rear direction. Note that the connection between the first link member 18 and the output shaft of the first motor 4 is made in the same manner as the connection between the third link member 29 and the output shaft of the second motor 6. That is, the first link member 18 is connected to the output shaft of the first motor 4 via the respective connection members 33, 37, 39, 41 and the pin 45. At this time, the pin 45 is arranged along the left-right direction. Therefore, the first link member 18 is connected to the output shaft of the first motor 4 so as to be rotatable integrally with the output shaft of the first motor 4 and rotatable about an axis along the left-right direction.

[0034] In the present embodiment, the connection structure between the first link mechanism 5 and the operation lever 2 and the connection structure between the second link mechanism 7 and the operation lever 2 have the same structure. Therefore, here, the first link mechanism 5 will be described, and the description of the case of the second link mechanism 7 will be omitted.

[0035] As shown in FIGS. 1 to 4, a substantially rectangular block-shaped base material 46 is fixed below the upper part of the operation lever 2. A fifth connection member 47 is provided on the base material 46. The fifth connection member 47 is in the shape of a plate having a substantially L shape in a top view, and has a piece 48 arranged with its plate surface facing the front and rear and another piece 49 arranged with its plate surface facing the left and right. The fifth connection member 47 is fixed to the base material 46 by screws 50 or the like with the inner surface of the other piece 49 in contact with the left surface of the base material 46.

[0036] A boss portion 51 that protrudes outward is formed on the outer surface of the piece 48 of the fifth connection member 47. A recess is formed by denting inward on the tip surface of the boss portion 51. A bearing (not shown) is held on the inner peripheral surface of the recess. In the present embodiment, a ball bearing is used as the bearing.

[0037] In this way, a sixth connecting member 52 is connected to the boss portion 51 in which the bearing is held. The sixth connecting member 52 has a plate portion 53 having a substantially rectangular plate shape and a protruding portion 54 provided to protrude rearward on one plate surface of the plate portion 53. The protruding portion 54 is gradually reduced in diameter toward the tip side, and a large-diameter portion 55, a medium-diameter portion 56, and a small-diameter portion (not shown) are formed in order from the base end side. As shown in FIGS. 1 to 4, the small-diameter portion of the protruding portion 54 is fitted into the inner ring of the bearing held by the boss portion 51, whereby the sixth connecting member 52 is connected to the boss portion 51. Therefore, the sixth connecting member 52 is connected to the fifth connecting member 47 so as to be rotatable about an axis along the front-rear direction.

[0038] On the other hand, a seventh connecting member 57, which is a plate material having a substantially U-shape, is provided on the second link member 19 connected to the operation lever 2. The seventh connecting member 57 is fixed to the inner surface of the second link member 19 by a bolt nut 58 or the like in a state of being open outward.

[0039] An eighth connecting member 60 is connected to the seventh connecting member 57 via a pin 59. The eighth connecting member 60 is a plate material having a substantially T-shape having a horizontal piece 61 and a vertical piece 62. As shown in FIG. 1, in a state where the tip end portion of the vertical piece 62 of the eighth connecting member 60 is disposed between the open both ends of the seventh connecting member 57, while passing through the vertical piece 62 of the eighth connecting member 60, the seventh connecting member 57 The eighth connecting member 60 is connected to the seventh connecting member 57 by providing a pin 59 along the left-right direction so as to span between the open both ends. At this time, the seventh connecting member 57 and the eighth connecting member 60 are rotatably connected about the pin 59.

[0040] A pair of ninth connection members 63, 63 are connected to the eighth connection member 60. The ninth connection member 63 is a substantially L-shaped plate material having one piece 64 and the other piece 65. Among the pair of ninth connection members 63, 63, one of the ninth connection members 63 has one piece 64 fixed to one plate surface of the horizontal piece 61 of the eighth connection member 60 by a screw 66 or the like. Among the pair of ninth connection members 63, 63, the other ninth connection member 63 has one piece 64 fixed to the other plate surface of the horizontal piece 61 of the eighth connection member 60 by a screw or the like. At this time, for the pair of ninth connection members 63, 63, the other pieces 65 extend outward from each other.

[0041] As shown in FIG. 1, the pair of ninth connection members 63, 63 are connected to the sixth connection member 52. Specifically, the pair of ninth connection members 63, 63 are connected to the plate portion 53 of the sixth connection member 52 by a screw 67 or the like in a state where the other pieces 65 are in contact with the other plate surface of the plate portion 53 of the sixth connection member 52.

[0042] With such a configuration, the second link member 19 is connected to the operation lever 2 so as to be rotatable about an axis along the front-rear direction and rotatable about an axis along the left-right direction. The connection between the fourth link member 30 and the operation lever 2 is made in the same manner as the connection between the second link member 19 and the operation lever 2. In this case, a boss portion 68 in which a bearing is accommodated is formed on the outer surface of the other piece 49 of the fifth connection member 47, and the sixth connection member 52 is connected to this boss portion 68 in the same manner as in the case of the first link mechanism 5. Also, in the connection between the fourth link member 30 and the operation lever 2, the pin 59 that connects the seventh connection member 57 and the eighth connection member 60 is arranged along the front-rear direction. Therefore, the fourth link member 30 is connected to the operation lever 2 so as to be rotatable about an axis along the left-right direction and rotatable about an axis along the front-rear direction. Note that the connection between the first link mechanism 5 and the operation lever 2 and the connection between the second link mechanism 7 and the operation lever 2 may be one-touch connections.

[0043] Incidentally, the first link mechanism 5 and the second link mechanism 7 have a bending prevention portion 69 that prevents them from being curved inwardly. In the present embodiment, the bending prevention portion 69 is formed on the second link member 19 and the first intermediate link member 20, and the fourth link member 30 and the second intermediate link member 31. The bending prevention portion 69 of the second link member 19 is formed to extend outward at the end of the second link member 19 on the side of the first intermediate link member 20. The bending prevention portion 69 of the first intermediate link member 20 is formed to extend outward at the end of the first intermediate link member 20 on the side of the first link member 18. The bending prevention portion 69 of the fourth link member 30 is formed to extend outward at the end of the fourth link member 30 on the side of the second intermediate link member 31. The bending prevention portion 69 of the second intermediate link member 31 is formed to extend outward at the end of the second intermediate link member 31 on the side of the third link member 29. Thereby, it is possible to prevent the first link mechanism 5 and the second link mechanism 7 from being curved toward the operation lever 2 side.

[0044] Next, while explaining the operation of the control device 1 according to the present embodiment, the operation and effects of the control device 1 will be explained.

[0045] When the control device 1 tilts the operation lever 2 in the left - right direction, the first motor 4 is driven. In this case, by transmitting a control signal from an external transmitter (not shown), the output shaft of the first motor 4 is rotated forward and backward from a receiver (not shown).

[0046] Specifically, by rotating the output shaft of the first motor 4 counterclockwise in FIG. 2, since the output shaft of the first motor 4 and the operation lever 2 are connected by the first link mechanism 5 as described above, the operation lever 2 can be tilted to the left by the first link mechanism 5. On the other hand, by rotating the output shaft of the first motor 4 clockwise in FIG. 2, the operation lever 2 can be tilted to the right by the first link mechanism 5. When tilting the operation lever 2 in the left - right direction by the first link mechanism 5 in this way, since the output shaft of the second motor 6 and the operation lever 2 are connected by the second link mechanism 7 as described above, the second link mechanism 7 does not hinder the left - right tilting of the operation lever 2.

[0047] Also, when the control device 1 tilts the operation lever 2 in the front - rear direction, the second motor 6 is driven. In this case, by transmitting a control signal from an external transmitter (not shown), the output shaft of the second motor 6 is rotated forward and backward from a receiver (not shown).

[0048] Specifically, by rotating the output shaft of the second motor 6 counterclockwise in FIG. 3, since the output shaft of the second motor 6 and the operation lever 2 are connected by the second link mechanism 7 as described above, the operation lever 2 can be tilted backward by the second link mechanism 7. On the other hand, by rotating the output shaft of the second motor 6 clockwise in FIG. 3, the operation lever 2 can be tilted forward by the second link mechanism 7. When the operation lever 2 is tilted in the front - rear direction by the second link mechanism 7 in this way, since the output shaft of the first motor 4 and the operation lever 2 are connected by the first link mechanism 5 as described above, the first link mechanism 5 does not inhibit the tilting of the operation lever 2 in the front - rear direction.

[0049] In the case of the control device 1 of this embodiment, the output shaft of the first motor 4 and the operation lever 2 are connected by the first link mechanism 5, and the output shaft of the second motor 6 and the operation lever 2 are connected by the second link mechanism 7. Therefore, compared with the prior art, the control device 1 can have a simple configuration.

[0050] Also, in the case of the control device 1 of this embodiment, since the first link mechanism 5 and the second link mechanism 7 have the bending prevention portion 69, it is possible to prevent the first link mechanism 5 and the second link mechanism 7 from bending inward when the operation lever 2 tilts. Thereby, the tilting of the operation lever 2 can be performed smoothly.

[0051] Furthermore, in the case of the control device 1 of the present embodiment, the connection portion between the second link member 19 of the first link mechanism 5 and the operation lever 2, and the connection portion between the fourth link member 30 of the second link mechanism 7 and the operation lever 2 are located below the upper portion of the operation lever 2. Therefore, when manually operating the operation lever 2, the control device 1 does not get in the way.

[0052] Note that the present invention is not limited to the above embodiment, and modifications and improvements within the scope that can achieve the object of the present invention are included in the present invention.

[0053] For example, in the above embodiment, one first intermediate link member 20 is provided between the first link member 18 and the second link member 19, but a plurality of first intermediate link members may be provided between the first link member and the second link member. In this case, adjacent first intermediate link members are connected in the same manner as shown in FIG. 5. In the above embodiment, one second intermediate link member 31 is provided between the third link member 29 and the fourth link member 30, but a plurality of second intermediate link members may be provided between the third link member and the fourth link member. In this case, adjacent second intermediate link members are connected in the same manner as shown in FIG. 5.

[0054] Also, in the above embodiment, one first intermediate link member 20 is provided between the first link member 18 and the second link member 19, but the first intermediate link member may not be provided. In this case, the first link member and the second link member are rotatably connected about an axis along the left - right direction. In the above embodiment, one second intermediate link member 31 is provided between the third link member 29 and the fourth link member 30, but the second intermediate link member may not be provided. In this case, the third link member and the fourth link member are rotatably connected about an axis along the front - rear direction.

Explanation of Reference Numerals

[0055] 1 Control device (remote control device) 2 Operation lever 4 First motor 5 First link mechanism 6 Second motor 7 Second Link Mechanism 18 First Link Member 19 Second Link Member 20 First Intermediate Link Member 21 Link Member 29 Third Link Member 30 Fourth Link Member 31 Second Intermediate Link Member 32 Link Member 69 Anti-bending Portion

Claims

【Claim 1】 A remote control device for remotely operating an operation lever that can tilt in the front-rear direction and the left-right direction, comprising: a first motor fixed inside the back surface of the base plate and having an output shaft arranged along the front-rear direction; a first link member that connects the output shaft of the first motor and the operation lever, is integrally rotatable with the output shaft of the first motor, and is connected to the output shaft of the first motor so as to be rotatable about an axis along the left-right direction, and a second link member that is rotatable about an axis along the front-rear direction and is rotatable about an axis along the left-right direction and is connected to the operation lever, and a first link mechanism for tilting the operation lever in the left-right direction; a second motor fixed inside the back surface of the base plate and having an output shaft arranged along the left-right direction; a third link member that connects the output shaft of the second motor and the operation lever, is integrally rotatable with the output shaft of the second motor, and is connected to the output shaft of the second motor so as to be rotatable about an axis along the front-rear direction, and a fourth link member that is rotatable about an axis along the left-right direction and is rotatable about an axis along the front-rear direction and is connected to the operation lever, and a second link mechanism for tilting the operation lever in the front-rear direction; the second link member and the fourth link member are fixed to a connection member fixed to the operation lever; the first link member is connected to the output shaft of the first motor via a connection member so as to be integrally rotatable with the output shaft of the first motor and rotatable about an axis along the left-right direction; the second link member is fixed to a connection member fixed to the operation lever via a connection member so as to be rotatable about an axis along the front-rear direction and rotatable about an axis along the left-right direction; the third link member is connected to the output shaft of the second motor via a connection member so as to be integrally rotatable with the output shaft of the second motor and rotatable about an axis along the front-rear direction; the fourth link member is fixed to a connection member fixed to the operation lever via a connection member so as to be rotatable about an axis along the left-right direction and rotatable about an axis along the front-rear direction; the first link mechanism includes a plurality of link members including the first link member, the second link member, and one or more first intermediate link members provided between the first link member and the second link member, and adjacent link members are rotatably connected to each other about an axis along the left-right direction; The second link mechanism includes a plurality of link members including the third link member, the fourth link member, and one or a plurality of second intermediate link members provided between the third link member and the fourth link member, and adjacent link members are rotatably connected about an axis along the front-rear direction. The first link mechanism and the second link mechanism have a bending prevention portion that prevents them from being bent inwardly. The second link member, the first intermediate link member, the fourth link member, and the second intermediate link member are provided with the bending prevention portion, and the first link member and the third link member are not provided with the bending prevention portion, a remote control device.

Images