A machine that moves a lever, and a computer connected to that machine.

Abstract

A machine according to one embodiment of the present disclosure moves a lever that is movable in a first direction and a second direction orthogonal to the first direction. This machine comprises a base member, a first actuator, a second actuator, a connector, a first frame, a second frame, and a third frame. The first actuator has a first output shaft that moves along the first direction. The second actuator has a second output shaft that moves along the second direction. The first frame has a first proximal end at which a first joint is arranged, and a first distal end at which a second joint is arranged. The second frame has a second proximal end connected to the first distal end via the second joint, and a second distal end at which a third joint is arranged. The third frame has a third proximal end and a third distal end, the third distal end being coupled to the second output shaft of the second actuator.

Description

Technical Field

[0001] The present disclosure relates to a machine that moves a lever, and a computer connected to the machine.

Background Art

[0002] Patent Document 1 discloses a remote control device attached to an operation lever of a power shovel. The operation lever can tilt forward, backward, left and right around a fulcrum. The remote control device includes a front-rear guide that receives a force along the front-rear direction from a first actuator to move the operation lever in the front-rear direction, and a left-right guide that receives a force along the left-right direction from a second actuator to move the operation lever in the left-right direction.

[0003] Patent Document 2 discloses a remote control device attached to an operation lever of a power shovel. The operation lever can tilt forward, backward, left and right around an operation fulcrum. The remote control device includes a power transmission member that receives a force along the front-rear direction from a first actuator to move the operation lever in the front-rear direction. The power transmission member also receives a force along the left-right direction from a second actuator to move the operation lever also in the left-right direction.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problem to be Solved by the Invention

[0005] The present disclosure provides a machine that moves an operation lever and a computer connected to the machine, which are different from the prior art.

Means for Solving the Problem

[0006] A machine according to one aspect of the present disclosure moves a lever that is movable in a first direction and in a second direction perpendicular to the first direction. The machine comprises a base member, a first actuator, a second actuator, a connector, a first frame, a second frame and a third frame. The base member extends in the first direction and is connectable to a base on which the lever is fixed. The first actuator has a first output shaft that moves along the first direction. The second actuator has a second output shaft that moves along the second direction. The connector is connectable to the lever. The first frame has a first near end on which a first joint rotatable in the first direction is located, and a first far end opposite the first near end on which a second joint rotatable in the first direction is located. The second frame has a second near end connected to the first far end via a second joint, and a second far end opposite the second near end on which a third joint rotatable in the first direction is located. The third frame has a third near end and a third far end opposite the third near end, the third far end being connected to the second output shaft of the second actuator. The lever is fixed to the base via a fourth joint. In this machine, the first joint, second joint, third joint and fourth joint, the lever, first frame, second frame and base member form a four-bar linkage mechanism. The first actuator is integrated with one of the first, second, and third joints, and the first output shaft moves the joint along a first direction. The second actuator moves the entire linkage mechanism along a second direction via the third frame. A connector transmits the movement along the first direction by the first actuator and the movement along the second direction by the second actuator to the lever.

[0007] A computer according to one aspect of this disclosure is connected to the above-mentioned machine. The lever is configured to automatically return to the neutral position when the force applied to it is removed, if it is displaced from the neutral position by a force applied to it. The first actuator has backdrivability to allow movement along the first and second frames in a first direction based on a force applied to the lever when the first actuator is inactive. The second actuator has backdrivability to allow movement along the first actuator and third frame in a second direction based on a force applied to the lever when the second actuator is inactive. The computer detects the position of the lever as the neutral position when the first and second actuators are inactive. [Effects of the Invention]

[0008] The above-mentioned machines and computers are different from conventional technologies. [Brief explanation of the drawing]

[0009] [Figure 1] A perspective view showing an apparatus according to one embodiment of the present disclosure. [Figure 2] A schematic diagram showing an overview of an apparatus according to one embodiment of the present disclosure. [Figure 3] A perspective view showing an apparatus according to another embodiment of the present disclosure. [Figure 4] A front view showing an apparatus according to another embodiment of the present disclosure. [Figure 5] A block diagram showing a system according to one embodiment of this disclosure. [Figure 6] A flowchart showing the control flow according to one embodiment of this disclosure. [Modes for carrying out the invention]

[0010] As shown in Figure 1, the lever 10 is movable in a first direction 11 and a second direction 12 perpendicular to the first direction 11. The lever 10 is fixed to a base 14 by a ball joint (an example of a fourth joint) 13. The lever 10 is installed in construction machinery with a driver's cab, such as a power shovel, bulldozer, or crane. The lever 10 is not limited to this and may be used in other industries, such as aerospace, maritime, medical, automotive, military, entertainment, and other industries.

[0011] The lever 10 can be freely tilted around the ball joint 13 in the positive direction 111 and negative direction 112 of the first direction 11, and in the positive direction 121 and negative direction 122 of the second direction 12. In this embodiment, the lever 10 is a control lever installed on the right side of the driver's seat of the construction machine, and the machine 20 is attached and fixed from the rear of the lever 10. Therefore, in this embodiment, the first direction 11 coincides with the front-to-back direction of the construction machine on which the lever 10 is mounted. That is, the positive direction 111 of the first direction 11 coincides with the front of the construction machine, and the negative direction 112 of the first direction 11 coincides with the rear of the construction machine. In addition, the second direction 12, which is perpendicular to the first direction 11, coincides with the width direction of the construction machine on which the lever 10 is mounted. That is, the positive direction 121 of the second direction 12 coincides with the outside of the construction machine, and the negative direction 122 of the second direction 12 coincides with the inside of the construction machine.

[0012] The machine 20 is not limited to this configuration and can be attached to the lever 10 from various directions in the front, rear, left, and right directions of the construction machine. The correspondence between the first direction 11 and the second direction 12 of the machine 20 and the front, rear, and width directions of the construction machine is changed according to the mounting position of the machine 20 to the lever 10 and the base 14.

[0013] Furthermore, the lever 10 is always biased toward the neutral position O by a spring (not shown). As a result, the lever 10 automatically returns to the neutral position O when not operated by the machine 20.

[0014] The machine 20 is configured to move the lever 10. The machine 20 includes a base plate (an example of a base member) 21 that can be connected to the base 14. In this embodiment, the base plate 21 is fixed, for example, to the base 14 or peripheral equipment of the base 14. The machine 20 may be fixed in various ways, such as fastening with bolts or chemical bonding. In this embodiment, the machine 20 is attached to the lever 10 and the base 14 from the rear 112 in the first direction 11.

[0015] In this embodiment, the base plate 21 is a plate-shaped component that extends in the first direction 11 along the shape of the base 14. In this embodiment, in the second direction 12, the base plate 21 is approximately the same size as the base 14. That is, the machine 20 is fixed without protruding from the base 14 in the second direction 12. As a result, the machine 20 can be installed in a construction machine on which the lever 10 is installed without compromising space.

[0016] The machine 20 comprises a first actuator 30 and a second actuator 40.

[0017] The first actuator 30 has a first output shaft 31 that moves along a first direction 11. The first actuator 30 is, for example, a stepping motor, a servo motor, a DC motor, or other rotary motor. The first actuator 30 rotates along the first direction 11 about the first output shaft 31 which is located coaxially with the rotation axis. The first actuator 30 may be a geared motor including a reduction gear, or a direct drive motor without a reduction gear. In this embodiment, the first actuator 30 is a direct drive motor.

[0018] In this embodiment, the rotation of the first actuator 30 corresponds to the movement of the lever 10 along the first direction 11. That is, when the first actuator 30 rotates in the positive direction 111 of the first direction 11, the lever 10 moves in the positive direction 111 of the first direction 11 according to the driving amount of the first actuator 30. Furthermore, when the first actuator 30 rotates in the negative direction 112 of the first direction 11, the lever 10 moves in the negative direction 112 of the first direction 11 according to the driving amount of the first actuator 30.

[0019] The second actuator 40 has a second output shaft 41 that moves along the second direction 12. Like the first actuator 30, the second actuator 40 is a rotary motor. The second actuator 40 rotates along the second direction 12 around the second output shaft 41 arranged coaxially with the rotation shaft. The second actuator 40 may be the same as or different from the first actuator 30. In this embodiment, the second actuator 40 is a direct drive motor. The second actuator 40 has the second output shaft 41. The second output shaft 41 is connected to a third frame 70 which will be described later.

[0020] In this embodiment, the rotation of the second actuator 40 corresponds to the movement of the lever 10 along the second direction 12. When the second actuator 40 rotates in the positive direction 121 of the second direction 12, the lever 10 moves in the positive direction 121 of the second direction 12 according to the rotation amount of the second actuator 40. Furthermore, when the second actuator 40 rotates in the negative direction 122 of the second direction 12, the lever 10 moves in the negative direction 122 of the second direction 12 according to the rotation amount of the second actuator 40.

[0021] The first output shaft 31 of the first actuator 30 is positioned parallel to a plane perpendicular to the second output shaft 41 of the second actuator 40. In other words, the first output shaft 31 of the first actuator 30 and the second output shaft 41 of the second actuator 40 are positioned with their rotation axes approximately perpendicular to each other. That is, the first output shaft 31 of the first actuator 30 is positioned approximately parallel to the second direction 12. In this disclosure, the term "approximately parallel" means an angle range from 0 to 45 degrees. The second output shaft 41 of the second actuator 40 is positioned approximately parallel to the first direction 11. Furthermore, the first actuator 30 is positioned within the projected area M11 obtained by projecting the second actuator 40 onto a plane M1 perpendicular to the second output shaft 41 of the second actuator 40. This allows the first actuator 30 and the second actuator 40 to be positioned in a small space. As a result, the machine 20 can be miniaturized. As a result, the machine 20 can be installed regardless of the shape or type of the lever 10, or the arrangement of peripheral equipment on the lever 10 and the base 14.

[0022] The first actuator 30 may have backdrivability. In other words, when the first actuator 30 is inactive, the first actuator 30 may allow movement along the first direction 11 of the member connected to the first output shaft 31 based on the force applied to the lever 10. The second actuator 40 may have backdrivability, similar to the first actuator 30. In other words, when the second actuator 40 is inactive, the second actuator 40 may allow movement along the second direction 12 of the member connected to the second output shaft 41 based on the force applied to the lever 10. Inactive means that the motor is not receiving motor current from the motor driver. Generally, direct drive motors have backdrivability. This allows the lever 10 to be manually operated by an operator on board the construction machine while the machine 20 remains attached.

[0023] The machine 20 further comprises a first frame 50, a second frame 60, a third frame 70, a first joint 81, a second joint 82, and a third joint 83.

[0024] The first frame 50 is a rod-shaped member made of, for example, an ferrous metal, a non-ferrous metal, a resin, carbon fiber, glass fiber, or a composite material thereof. The first frame 50 has a first near end 51 and a first far end 52 opposite the first near end 51. The first near end 51 is connected to the connector 95 via a first joint 81, which will be described later. The first far end 52 is connected to the second frame 60 via a second joint 82, which will be described later. In other words, the first frame 50 is a link member that connects the first joint 81 and the second joint 82.

[0025] The second frame 60 is a rod-shaped member made of, for example, an iron-based metal, a non-ferrous metal, a resin, carbon fiber, glass fiber, or a composite material thereof. The second frame 60 has a second near end 61 and a second far end 62 opposite to the second near end 61. The second near end 61 is connected to the first far end 52 of the first frame 50 via a second joint 82. In this embodiment, the second far end 62 is connected to the first output shaft 31 of the first actuator 30, which is integrated with the third joint 83. In other words, the second frame 60 is a link member connecting the second joint 82 and the third joint 83.

[0026] The third frame 70 is made of, for example, an iron-based metal, a non-ferrous metal, a resin, carbon fiber, glass fiber, or a composite material thereof. In this embodiment, the third frame 70 is an L-shaped component consisting of a mounting portion 71 extending in a first direction 11 and a flange portion 72 extending in a second direction 12. The third frame 70 has a third near end 73 and a third far end 74 opposite the third near end 73. The third near end 73 is connected to the first actuator 30. The third far end 74 is located on the flange portion 72 and is connected to the second output shaft 41 of the second actuator 40. That is, the third frame 70 connects the first actuator 30 and the second output shaft 42 of the second actuator 40. As a result, the third frame 70 transmits the movement of the second actuator 40 along the second direction 12 to the first actuator 30 and the first frame 50 and second frame 60 connected to the first actuator 30.

[0027] The first joint 81 connects the attitude changing unit 90 (described later) and the first frame 50, and is rotatable along the first direction 11. In this embodiment, the first joint 81 is positioned at the first near end 51 of the first frame 50. As a result, the first joint 81 transmits the movement along the first direction 11 input from the first actuator 30 to the lever 10 via the attitude changing unit 90 and the connector 95 (described later) from the first frame 50. In addition, the movement of the lever 10 is transmitted from the lever 10 to the first frame 50 via the connector 95 and the attitude changing unit 90.

[0028] The second joint 82 connects the first frame 50 and the second frame 60 and is rotatable along the first direction 11. In this embodiment, the second joint 82 is positioned at the first far end 52 of the first frame 50 and the second near end 61 of the second frame 60. As a result, the second joint 82 transmits the movement along the first direction 11 input from the first actuator 30 to the first frame 50 via the second frame 60. In addition, the movement of the lever 10 is transmitted from the lever 10 to the second frame 60 via the connector 95, the attitude change section 90, and the first frame 50.

[0029] The third joint 83 connects the second frame 60 and the first output shaft 31 of the first actuator 30, and is rotatable along the first direction 11. In this embodiment, the third joint 130 is formed integrally with the first output shaft 31 and transmits the rotation of the first actuator 30 to the second frame 60. In addition, the movement of the lever 10 is transmitted from the lever 10 to the first actuator 30 via the connector 95, the attitude change section 90, the first frame 50, and the second frame 60.

[0030] The machine 20 further comprises a posture changing unit 90 and a connector 95.

[0031] The attitude changing section 90 connects the first joint 81 and the connector 95, which will be described later. The attitude changing section 90 has a shaft section 901 and a bearing section 902. The shaft section 91 is connected to either the connector 95 or the first joint 81. In this embodiment, the shaft section 901 is connected to the connector 95. The bearing section 902 is connected to the first joint 81. The shaft section 901 may also be connected to the first joint 81. The bearing section 902 may also be connected to the connector 95.

[0032] The shaft portion 901 is positioned with a predetermined gap between it and the inner circumferential surface of the bearing portion 902. That is, the outer diameter of the shaft portion 901 is smaller than the inner diameter of the bearing portion 902. This allows the bearing portion 902 to be configured to change its orientation relative to the shaft portion 901.

[0033] The connector 95 is configured to be connectable to the lever 10. The connector 95 has a pair of gripping portions 951 and a pair of bolts 952. The pair of gripping portions 951 clamp the lever 10 along the first direction 11 from the positive direction 111 and the negative direction 112 of the first direction 11. The pair of bolts 952 is configured to adjust the distance between the pair of gripping portions 951. In this embodiment, the pair of bolts 952 extend in the first direction 11 and are mounted across the pair of gripping portions 951. The distance between the pair of gripping portions 951 can be adjusted by changing the degree of tightening of each bolt. With this configuration, the connector 95 and the lever 10 are integrally connected regardless of the shape of the lever 10. As a result, the machine 20 and the lever 10 can be linked. The configuration of the connector 95 is not limited to a pair of gripping portions 951 and a pair of bolts 952, and may be a mechanical fastener such as a clamp, clip, bolt and nut, for example. Alternatively, or in addition to this, the connector 95 may connect the lever 10 by a chemical fastener, such as an adhesive.

[0034] Figure 2 is a schematic diagram showing a simplified side view of an embodiment of the present invention along the second direction 12. The machine 20 forms a link mechanism L between the ball joint 13, first joint 81, second joint 82, and third joint 83 of the lever 10.

[0035] The link mechanism L has four links: a first link L1, a second link L2, a third link L3, and a fourth link L4. In this embodiment, the first link L1 is part of a lever 10 that connects the ball joint 13 and the first joint 81. The second link L2 is a first frame 50 that connects the first joint 81 and the second joint 82. The third link L3 is a second frame 60 that connects the second joint 82 and the third joint 83. The fourth link L4 is part of a base plate 21 that connects the third joint 83 and the ball joint 13. Of the links L1 through L4, the fourth link L4 is a fixed link, while the other links L1 through L3 are movable links. That is, the link mechanism L is a four-bar linkage mechanism with 1 degree of freedom, with the fourth link L4 fixed.

[0036] In this embodiment, the first actuator 30 is integrally configured with the third joint 83. As a result, when the first actuator 30 rotates along the first direction 11, the first link L1 moves along the first direction 11 via the third link L3 and the second link L2. Consequently, the lever 10, which is the first link L1, moves along the first direction 11 in response to the rotation of the first actuator 30. Therefore, the machine 20 can move the lever 10 along the first direction 11 by rotationally driving the first actuator 30.

[0037] In this embodiment, the first actuator 30 is integrated with the third joint 83, but the first actuator 30 may be integrated with either the first joint 81 or the second joint 82. That is, the machine 20 is configured such that the first actuator 30 moves one of the four joints of the link mechanism L, which is a four-bar link mechanism, along the first direction 11, excluding the ball joint 13 of the lever 10, namely the first joint 81, the second joint 82, and the third joint 83. In either case, the amount of movement of the lever 10 along the first direction 11 based on the amount of drive of the first actuator 30 can be determined geometrically.

[0038] The second actuator 40 is connected to the first actuator 30 via the third frame 70. That is, the second actuator 40 rotates in a second direction 12 (not shown), thereby moving the entire link mechanism L along the second direction 12 via the third frame 70. As a result, the machine 20 can move the lever 10 along the second direction 12 by rotating the second actuator 40. The amount of movement of the lever 10 along the second direction 12 based on the amount of drive of the second actuator 40 can be determined geometrically.

[0039] The machine 20 can move the lever 10 freely by moving the first link L1 of the link mechanism L along the first direction 11 by the first actuator 30 and by moving the entire link mechanism L along the second direction 12 by the second actuator 40. In this embodiment, the machine 20 is attached to the lever 10 such that the first direction 11 corresponds to the front-rear direction of the construction machine on which the lever 10 is installed. The machine 20 is also attached to the lever 10 such that the second direction 12 corresponds to the width direction of the construction machine. Therefore, if you want to move the lever 10 along the front-rear direction of the construction machine, the machine 20 can rotate the first actuator 30 based on the desired amount of movement of the lever 10. If you want to move the lever 10 along the width direction of the construction machine, the machine 20 can rotate the second actuator 40 based on the desired amount of movement of the lever 10. As a result, the machine 20 can move the lever 10 to any position by a combination of rotations of the first actuator 30 and the second actuator 40.

[0040] Figure 3 is a schematic perspective view of another embodiment of the present invention. Figure 4 is a front view of the other embodiment of Figure 3, viewed along the first direction 11, from the side where the first actuator 30 and the second actuator 40 are located.

[0041] In this embodiment, the machine 20 is attached and fixed from the rear of the lever 10. Therefore, in this embodiment, the first direction 11 coincides with the front-rear direction of the construction machine on which the lever 10 is mounted. That is, the positive direction 111 of the first direction 11 coincides with the front of the construction machine, and the negative direction 112 of the first direction 11 coincides with the rear of the construction machine. Also, the second direction 12, which is perpendicular to the first direction 11, coincides with the width direction of the construction machine on which the lever 10 is mounted. That is, the positive direction 121 of the second direction 12 coincides with the inside of the construction machine, and the negative direction 122 of the second direction 12 coincides with the outside of the construction machine. Also, the third direction 15, which is perpendicular to the first direction 11 and the second direction 12, coincides with the vertical direction of the construction machine on which the lever 10 is mounted. That is, the positive direction 151 of the third direction 15 coincides with the top of the construction machine, and the negative direction 152 of the third direction 15 coincides with the bottom of the construction machine.

[0042] As shown in Figures 3 and 4, the base plate 21 may be L-shaped, extending in the first direction 11 and partly extending in a third direction 15 perpendicular to the first direction 11 and the second direction 12. This allows the machine 20 to be mounted along the side of the base 14. As a result, the machine 20 can be made smaller. Consequently, the machine 20 can be installed regardless of the shape or type of lever 10. The base plate 21 can be changed to various shapes depending on the shape of the lever 10 and base 14, the arrangement of peripheral equipment and mounting space.

[0043] In this embodiment, the base plate 21 is attached to the base 14 along the first direction 11, but the attachment direction can be changed in various ways. For example, the base plate 21 may be attached to the base 14 along the second direction 12. In this case, the first direction 11 corresponds to the width direction of the construction machine on which the lever 10 is installed, and the second direction 12 corresponds to the front-rear direction of the construction machine.

[0044] The first actuator 30 may have a first output shaft 31 positioned within the projected area M21 obtained by projecting the second actuator 40 onto a surface M2 stretched in the first direction 11 and the second direction 12. In this embodiment, the first actuator 30 is positioned near the L-shaped bend 22 of the base plate 21. This makes it possible to miniaturize the machine 20 without hindering the operation of the first actuator 30.

[0045] The connector 96 of this embodiment may have a pair of gripping portions 961, a pair of bolts 962, an elongated hole 963, and a position adjustment bolt 964. The elongated hole 963 is formed so that its longitudinal direction is the second direction 12. The position adjustment bolt 964 has its shaft positioned along the first direction 11 and is inserted into the elongated hole 963 and fixed in any position. This allows the connector 96 to be connected to the lever 10 in any position and orientation. This ensures that the machine 20 can be securely attached regardless of the shape or orientation of the lever 10.

[0046] Figure 5 illustrates a system 200 that utilizes the above-described machine. System 200 enables remote control of the power shovel 190 by an operator.

[0047] System 200 includes a power shovel 190. The power shovel 190 includes, for example, four movable axes: a slewing axis 191 between the crawler and the cab, an articulation axis 192 between the cab and the boom, an articulation axis 193 between the boom and the arm, and an articulation axis 194 between the arm and the bucket. The slewing axis 191 allows the cab to slewing left and right. The articulation axis 192 allows the boom to move up and down. The articulation axis 193 allows the arm to dump and dig. The articulation axis 194 allows the bucket to dump and dig.

[0048] The power shovel 190 is equipped with a left joystick 10a and a right joystick 10b. Both the left joystick 10a and the right joystick 10b are the same as the lever 10 shown in Figures 1, 2, 3, and 4. The left joystick 10a provides two-axis operation of the power shovel 190: longitudinal and widthwise. The right joystick 10b, like the left joystick 10a, provides two-axis operation of the power shovel 190: longitudinal and widthwise. Each of the four movable axes of the power shovel 190 is assigned to one of the four axes, the left joystick 10a and the right joystick 10b. This assignment pattern depends on the construction equipment company or the model of the construction equipment.

[0049] In one example, the forward and backward movement of the left joystick 10a controls the left and right turns of the driver's seat, the widthwise movement of the left joystick 10a controls the dumping and digging of the arm, the forward and backward movement of the right joystick 10b controls the up and down movement of the boom, and the widthwise movement of the right joystick 10b controls the dumping and digging of the bucket.

[0050] In another example, the forward and backward movement of the left joystick 10a controls the dumping and digging of the bucket, the widthwise movement of the left joystick 10a controls the up and down movement of the boom, the forward and backward movement of the right joystick 10b controls the left and right rotation of the driver's seat, and the widthwise movement of the right joystick 10b controls the dumping and digging of the arm.

[0051] The system 200 further includes a machine 20a connected to the left joystick 10a and a machine 20b connected to the right joystick 10b. Machines 20a and 20b are the same as machine 20 shown in Figure 1 or Figure 3.

[0052] In this embodiment, as shown in Figure 1, machine 20a is mounted to the lever 10 and base 14 along the front-rear direction of the power shovel 190. Therefore, the first direction 11 of machine 20a coincides with the front-rear direction of the power shovel 190, and the second direction 12 of machine 20a coincides with the width direction of the power shovel 190. The same applies to machine 20b. That is, when the levers 10a and 10b of the power shovel 190 are moved in the front-rear direction, machines 20a and 20b move the levers 10a and 10b along the first direction 11. Also, when the levers 10a and 10b of the power shovel 190 are moved in the width direction, machines 20a and 20b move the levers 10a and 10b along the second direction 12.

[0053] The system 200 further includes a remote interface 208. The remote interface 208 accepts manual operation by an operator. The remote interface 208 may be, for example, a left joystick 205a and a right joystick 205b. The left joystick 205a is capable of detecting operator operation in the fifth direction corresponding to the first direction 11 and the sixth direction corresponding to the second direction 12. The right joystick 205b may be the same as the left joystick 205a.

[0054] The operator's manipulated variable is detected as the movement of the remote interface 208. Instead of movement, the manipulated variable may be angular velocity, position coordinates, pressure, or other physical quantities that reflect the operator's manipulation of the remote interface 208.

[0055] The system 200 may further include a display 202. The display 202 may provide the operator with a cab view that shows the view from the cab of the power shovel 190 in real time. The operator may operate the remote interface 208 while viewing the cab view.

[0056] System 200 may include computers 195, 201, and 203 connected to the Internet 204. Computer 195 is located inside the power shovel 190. Computer 201 is located in the remote control room. Computer 203 is a cloud server.

[0057] Computer 209 receives the operation input from the remote interface 208. Computer 209 may be any of computers 195, 201, and 203 shown in Figure 5, or a combination of at least two of them.

[0058] Figure 6 shows the calibration process for the machine 20 to accurately operate the lever 10 based on the manipulated amount of the remote interface 208.

[0059] As shown in Figure 6, when calibration is started, the computer 195 deactivates the first actuator 30 (step S1). The computer 195 determines whether the first actuator 30 is deactivated or not (step S2). If it determines that the first actuator 30 is deactivated (step S2: Yes), the control proceeds to step S3. Otherwise (step S2: No), the control returns to before step S1 and the first actuator 30 is deactivated.

[0060] The computer 195 deactivates the second actuator 40 (step S3). The computer 195 determines whether the second actuator 40 is deactivated or not (step S4). If it determines that the second actuator 40 is deactivated (step S4: Yes), the control proceeds to step S5. Otherwise (step S4: No), the control returns to before step S3 and the second actuator 40 is deactivated.

[0061] When the process proceeds to step S5, the computer 195 waits until a predetermined waiting time t has elapsed (step S5). This waiting time t should be the time required for the lever 10 to automatically return to the neutral position O. This allows calibration to be performed with the lever 10 in the neutral position O. As a result, the operator can control the machine 20 to operate the lever 10 accurately via the remote interface 208.

[0062] The computer 195 performs control so that the first actuator 30 outputs a predetermined torque +A [Nm] (an example of a first power) (step S6). As a result, the machine 20 moves the lever 10 along the positive direction (an example of a first orientation) 111, which is one of the first directions 11. At this time, the predetermined torque +A [Nm] may be set to any magnitude.

[0063] The computer 195 obtains a first movement position y1, which is the movement position of the lever 10 along the first direction 11 (step S7). Furthermore, it sets the first movement position y1 obtained in step S7 as the maximum movement position in the positive direction 111 of the first direction 11 (step S8). That is, the computer 195 stores the first drive amount, which is the drive amount of the first actuator 30 in step S8, and the first movement position y1 obtained in step S10. This allows the computer 195 to obtain a correlation between the output of the first actuator 30 and the amount of movement of the lever 10 when the lever 10 is moved along the positive direction 111 of the first direction 11. Furthermore, based on this correlation, the computer 195 can generate a map showing the relationship between the amount of movement of the lever 10 along the positive direction 111 of the first direction 11 and the output of the first actuator 30 to obtain this amount of movement of the lever 10. As a result, the computer 195 can determine the output of the first actuator 30 based on the target amount of movement of the lever 10 along the positive direction 111 of the first direction 11.

[0064] The computer 195 deactivates the first actuator 30 (step S9). As a result, the lever 10 automatically returns to the neutral position O. The computer 195 waits until a predetermined waiting time t has elapsed (step S10). The waiting time t may be the same as the waiting time t in step S5, or it may be set to any other length.

[0065] The computer 195 performs control so that the first actuator 30 outputs a predetermined torque-A [Nm] (an example of a second power) (step S11). As a result, the machine 20 moves the lever 10 along the negative direction (an example of a second direction) 112, which is the other side of the first direction 11. At this time, the predetermined torque-A [Nm] may be the same as the absolute value of the first torque output in step S6, or it may be set to any different magnitude.

[0066] The computer 195 obtains a second movement position y2, which is the movement position of the lever 10 along the first direction 11 (step S12). Furthermore, it sets the second movement position y2 obtained in step S12 as the maximum movement position in the negative direction 112 of the first direction 11 (step S13). In other words, the computer 195 stores the second drive amount, which is the drive amount of the first actuator 30 in step S11, and the second movement position y2 obtained in step S12. This allows the computer 195 to obtain a correlation between the output of the first actuator 30 and the amount of movement of the lever 10 when the lever 10 is moved along the negative direction 112 of the first direction 11. Furthermore, based on this correlation, the computer 195 can generate a map showing the relationship between the amount of movement of the lever 10 along the negative direction 112 of the first direction 11 and the output of the first actuator 30 required to obtain this amount of movement of the lever 10. As a result, the computer 195 can determine the output of the first actuator 30 based on the target amount of movement of the lever 10 along the negative direction 112 of the first direction 11.

[0067] The computer 195 deactivates the first actuator 30 (step S14). As a result, the lever 10 automatically returns to the neutral position O. The computer 195 waits until a predetermined waiting time t has elapsed (step S15). The waiting time t may be the same as the waiting time t in step S5, or it may be set to any other length.

[0068] The computer 195 performs control so that the second actuator 40 outputs a predetermined torque +A [Nm] (an example of a third power) (step S16). As a result, the machine 20 moves the lever 10 along the positive direction (an example of a third direction) 121, which is one of the second directions 12. At this time, the predetermined torque +A [Nm] may be the same as the absolute value of the first or second torque, or it may be set to any different magnitude.

[0069] The computer 195 obtains a third movement position x1, which is the movement position of the lever 10 along the second direction 12 (step S17). Furthermore, it sets the third movement position x1 obtained in step S17 as the maximum movement position in the positive direction 121 of the second direction 12 (step S18). In other words, the computer 195 stores the third drive amount, which is the drive amount of the second actuator 40 in step S16, and the third movement position x1 obtained in step S17. This allows the computer 195 to obtain a correlation between the output of the second actuator 40 and the amount of movement of the lever 10 when the lever 10 is moved along the positive direction 121 of the second direction 12. Furthermore, based on this correlation, the computer 195 can generate a map showing the relationship between the amount of movement of the lever 10 along the positive direction 121 of the second direction 12 and the output of the second actuator 40 to obtain this amount of movement of the lever 10. As a result, the computer 195 can determine the output of the second actuator 40 based on the target amount of movement of the lever 10 along the positive direction 121 of the second direction 12.

[0070] The computer 195 deactivates the second actuator 40 (step S19). As a result, the lever 10 automatically returns to the neutral position O. The computer 195 waits until a predetermined waiting time t has elapsed (step S20). The waiting time t may be the same as the waiting time t in step S5, or it may be set to any other length.

[0071] The computer 195 performs control so that the second actuator 40 outputs a predetermined torque-A [Nm] (an example of a fourth power) (step S21). This causes the machine 20 to move the lever 10 along the negative direction (an example of a fourth direction) 122, which is the other side of the second direction 12. At this time, the predetermined torque-A [Nm] may be the same as the absolute value of the first torque, the second torque, or the third torque, or it may be set to any different magnitude.

[0072] The computer 195 obtains a fourth movement position x2, which is the movement position of the lever 10 along the second direction 12 (step S22). Furthermore, it sets the fourth movement position x2 obtained in step S22 as the maximum movement position in the negative direction 122 of the second direction 12 (step S23). In other words, the computer 195 stores the fourth drive amount, which is the drive amount of the second actuator 40 in step S21, and the fourth movement position x2 obtained in step S22. This allows the computer 195 to obtain a correlation between the output of the second actuator 40 and the amount of movement of the lever 10 when the lever 10 is moved along the negative direction 122 of the second direction 12. Furthermore, based on this correlation, the computer 195 can generate a map showing the relationship between the amount of movement of the lever 10 along the negative direction 122 of the second direction 12 and the output of the second actuator 40 to obtain this amount of movement of the lever 10. As a result, the computer 195 can determine the output of the second actuator 40 based on the target amount of movement of the lever 10 along the negative direction 122 of the second direction 12.

[0073] The computer 195 deactivates the second actuator 40 (step S24). As a result, the lever 10 automatically returns to the neutral position O. The computer 195 waits until a predetermined waiting time t has elapsed (step S25). The waiting time t may be the same as the waiting time t in step S5, or it may be set to any other length.

[0074] The computer 195 acquires the position M of the lever 10 (step S26). Furthermore, it sets position M as the reference position C (step S27). It is desirable for the computer 195 to set the reference position C when the first actuator 30 and the second actuator 40 are in a hyactive state. The computer 195 may acquire the position M of the lever 10 and set it as the reference position C after, for example, steps S5, S10, S15, and S20.

[0075] In this embodiment, calibration was performed in the order of the positive direction 111 and negative direction 112 of the first direction 11, and the positive direction 121 and negative direction 122 of the second direction 12, but this order can be changed arbitrarily. Once a map showing the relationship between the target movement amount of the lever 10 and the outputs of the first actuator 30 and the second actuator 40 is generated for each of the above directions, the calibration is completed and control is terminated.

[0076] By implementing this control, the system 200 can obtain a correlation between the output torque of the first actuator 30 and the second actuator 40 of the machine 20 and the amount of movement of the lever 10. The system 200 can calculate the required amount of movement of the lever 10 from the amount manipulated by the operator on the remote interface 208 and determine the output to be requested from the first actuator 30 and the second actuator 40. [Explanation of Symbols]

[0077] 10: Lever 11: First direction 12: Second direction 13: Ball joint 14: Base 20: Machine 30: First actuator 31: First output shaft 40: Second actuator 41: Second output shaft 50: First frame 51: First near end 52: First far end 60: Second frame 61: Second near end 62: Second far end 70: Third frame 71: Third near end 72: Third far end 81: First joint 82: Second joint 83: Third joint 90: Attitude change unit 95: Connector 200: System 195,201,203,209: Computer O: Neutral position L: Linkage mechanism

Claims

1. A machine for moving a lever that is movable in a first direction and in a second direction perpendicular to the first direction, A base member extending in the first direction and connectable to a base to which the lever is fixed, A first actuator having a first output shaft that moves along the first direction, A second actuator having a second output shaft that moves along the second direction, A connector that can be connected to the lever, A first frame having a first near end on which a first joint rotatable in the first direction is located, and a first far end opposite the first near end on which a second joint is located, A second frame having a second near end connected to the first far end via the second joint, and a second far end opposite the second near end, on which a third joint rotatable in the first direction is located, A third frame having a third near end and a third far end opposite to the third near end, the third far end of which is connected to the second output shaft of the second actuator, Equipped with, The lever is fixed to the base via the fourth joint, The second joint allows the first frame to rotate in a first direction relative to the second frame, The first joint, the second joint, the third joint, and the fourth joint, along with the lever, the first frame, the second frame, and the base member, form a four-bar linkage mechanism. The first actuator is configured integrally with one of the first joint, the second joint, and the third joint, and the first output shaft moves the joint along the first direction. The second actuator moves the entire link mechanism along the second direction via the third frame. The connector transmits to the lever the movement along the first direction by the first actuator and the movement along the second direction by the second actuator. machine.

2. The first output shaft of the first actuator is Arranged parallel to the plane perpendicular to the second output shaft of the second actuator, The machine according to claim 1.

3. The third near end of the third frame is connected to the first actuator. The second actuator moves the first actuator and the third frame along the second direction. The machine according to claim 1.

4. The first actuator is positioned within the range of the projected area obtained by projecting the second actuator onto a plane perpendicular to the second output shaft of the second actuator. The machine according to claim 1.

5. The first output shaft of the first actuator is positioned within the range of the projected area obtained by projecting the second actuator onto a plane stretched in the first and second directions. The machine according to claim 1.

6. The device further comprises a shaft portion connected to either the connector or the first near end, and a bearing portion attached to the other of the connector or the first near end, which is capable of changing the orientation of the shaft portion, and is connected to the first near end, and further comprises an orientation changing portion, The machine according to claim 1.

7. A computer connected to a machine, The aforementioned machine, A machine for moving a lever that is movable in a first direction and in a second direction perpendicular to the first direction, A base member extending in the first direction and connectable to a base to which the lever is fixed, A first actuator having a first output shaft that moves along the first direction, A second actuator having a second output shaft that moves along the second direction, A connector that can be connected to the lever, A first frame having a first near end on which a first joint rotatable in the first direction is located, and a first far end opposite the first near end on which a second joint is located, A second frame having a second near end connected to the first far end via the second joint, and a second far end opposite the second near end, on which a third joint rotatable in the first direction is located, A third frame having a third near end and a third far end opposite to the third near end, the third far end of which is connected to the second output shaft of the second actuator, Equipped with, The lever is fixed to the base via the fourth joint, The second joint allows the first frame to rotate in a first direction relative to the second frame, The first joint, the second joint, the third joint, and the fourth joint, along with the lever, the first frame, the second frame, and the base member, form a four-bar linkage mechanism. The first actuator is configured integrally with one of the first joint, the second joint, and the third joint, and the first output shaft moves the joint along the first direction. The second actuator moves the entire link mechanism along the second direction via the third frame. The connector transmits to the lever the movement along the first direction by the first actuator and the movement along the second direction by the second actuator. The lever is configured to automatically return to the neutral position when the force applied to it is removed, if it is displaced from the neutral position by the force applied to it. The first actuator has backdrivability to allow movement of the first frame and the second frame along the first direction based on a coercive force applied to the lever when the first actuator is inactive. The second actuator has backdrivability to allow movement of the first actuator and the third frame along the second direction based on a coercive force applied to the lever when the second actuator is inactive. The aforementioned computer, The position of the lever when the first actuator and the second actuator are inactive is detected as the neutral position. computer.

8. The aforementioned computer, The first actuator is driven by a first power in a first direction along the first direction, and the first drive amount, which is the amount of drive of the first actuator, and the first movement position, which is the position of the lever, are stored. The second drive amount, which is the amount of drive of the first actuator, and the second movement position, which is the position of the lever, are stored when the first actuator is driven in a second direction opposite to the first direction by a second power source. The system stores the third drive amount, which is the amount of drive of the second actuator, and the third movement position, which is the position of the lever, when the second actuator is driven in a third direction along the second direction with a third power. The second actuator is driven in a fourth direction opposite to the third direction by a fourth power source, and the fourth drive amount, which is the amount of drive of the second actuator, and the fourth movement position, which is the position of the lever, are stored in memory. The power output by the first actuator and the second actuator is determined using the first, second, third, and fourth movement positions as the maximum movement positions of the lever. The computer according to claim 7.

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