JP2000038744A - Remote control method and device for backhoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote control method and a device for a backhoe capable of having it controlled by an operator with the same sense and operating tools as controlling it with actual controlling levers and pedals when controlling from the backhoe controlling seat in remote controlling the backhoe even if the operator is at a remote place. SOLUTION: A backhoe controlling seat side A and a remote controlling seat side B are arranged with a control lever 1 and a pedal having respectively the same mechanism. Respective variations at the time of controlling the control lever 1 and the pedal on the remote controlling seat B side are detected, respective detected signals multiplexed W to the backhoe side, the control lever 1 and the pedal on the backhoe controlling seat A side simultaneously operated with identical variations by the signals received.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly relates to a case where a backhoe is operated by remote control when the backhoe is driven in an underwater work area or a dangerous work area. In this case, a pilot operates in a cockpit of an actual backhoe. The present invention relates to a method and an apparatus for remotely controlling a backhoe that can be steered in a manner similar to driving.

[0002]

2. Description of the Related Art When maneuvering a backhoe in a dangerous work area such as an underwater work area or a volcanic area, for example, the Japanese Patent
As known in the invention related to the operation device of the radio controlled excavator of No. 27408, a radio signal is transmitted by radio control to remotely drive the hydraulic device of the backhoe.

[0003] However, the control feeling by the radio control is completely different from the control of the actual backhoe, and when the backhoe operator attempts to remotely control the vehicle by radio control, accurate control cannot be performed due to inexperience. There was a problem that the condition was very bad. In addition, the conventional remote control device uses a two-axis electric controller having a potentiometer, an angle transmitter, and the like attached to the remote control seat side, so that the moving direction of the operation lever is limited, and two operations are performed like the existing pilot valve. At the same time.

[0004] In addition, the electric controller and the existing pilot valve have a problem that the amount of change of the operation lever and the amount of operation of the backhoe associated therewith do not match, and it is difficult to steer.

[0005]

SUMMARY OF THE INVENTION According to the present invention, when remotely operating a backhoe, the operator can operate the backhoe in the same manner as an actual operating lever or pedal when driving in the cockpit of the backhoe, even if the operator is remote. Provided is a method and an apparatus for remotely controlling a backhoe, which can be controlled by feeling and movement.

[0006]

According to the present invention, there is provided a remote control method for a backhoe, in which an operation lever and a pedal having the same mechanism are respectively disposed in the backhoe cockpit and the remote cockpit, and the operation lever and the pedal on the remote cockpit side are provided. The amount of change at the time of operation of the pedal is detected, the respective detection signals are multiplexed and transmitted to the backhoe side, and the operation signal and the pedal of the backhoe cockpit are simultaneously moved with the same amount of change by the received signal.

Further, the remote control apparatus for a backhoe according to the present invention, which is applied to the above remote control method, comprises a drive fork and a pilot valve including a control lever and the like having the same mechanism and structure in the backhoe control seat and the remote control seat. A multiplex transmission transmitter that multiplexes a detection signal of a change amount between the X-axis direction of the operation lever and the Y-axis direction perpendicular to the operation lever detected by the pulse generator on the remote cockpit side to the backhoe side. And a multiplex transmission receiver are provided, and the operation lever is moved via the drive fork by a servomotor with a pulse generator attached to the pilot valve on the backhoe side according to the received signal, and the backhoe of the present invention is further provided. Has the same mechanism and structure for the backhoe cockpit and the remote cockpit. A multiplex transmission transmitter that is provided with a pedal to which a pulse generator for right driving is attached, and multiplex-transmits, to the backhoe side, a detection signal of a change amount for forward and backward movement of the pedal detected by the left and right pulse generators on the remote cockpit side. And a multiplex transmission receiver, respectively, and the pedal is moved by a received signal via a servomotor with a pulse generator on the backhoe side.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a remote control device applied to a backhoe remote control method according to the present invention will be described below with reference to the drawings. FIG. 1 is a schematic plan cross-sectional view of a remote control device of a pilot valve 8 including an operation lever 1 in the embodiment, wherein the device shown on the (A) side shows the device of the backhoe body, and the (B) side shows the remote control side. Device is shown. FIGS. 4A and 4B described later show the same relationship. 2 is a side view of the pilot valve on the backhoe body side in FIG. 1, and FIG. 3 is a side view of the pilot valve on the remote cockpit side.

Therefore, this device has the same mechanism on the cockpit side of the backhoe body shown in FIG. 1A and FIG. 2 and on the remote cockpit side shown in FIG. 1B and FIG. And a pilot valve 8 including a nut 2, a plate 3, a push rod 4, a joint 5, and a valve body 6 through a drive fork 7 for the X-axis direction and the Y-axis direction perpendicular to the X axis. For each pulse generator 9
And a multiplex transmission transmitter for detecting a change signal of the operation lever 1 in the X-axis direction and the Y-axis direction detected by each of the pulse generators 9 and 10 on the remote cockpit side (B) in FIG. The multiplex transmission is transmitted from the multiplex transmission receiver 12 to the multiplex transmission receiver 13 on the backhoe side (A) as shown by the arrow W, and the received signal is used to attach each of the pilot valves 8 attached to the pilot valve 8 on the backhoe cockpit side (A) via the servo controllers 14 and 15. Servo motors 17, 1 with pulse generators 9, 10
At 8, the operation lever 1 is moved via the drive fork 7.

[0010] Further, this device is a backhoe cockpit shown in Fig. 5 in the side view of Fig. 4A and Fig. 4 and in Fig. 6 in the side view of Fig. 5; FIG. 7 of the front view of FIG.
A pedal 21 having left and right running pulse generators 19 and 20 having the same function and structure is provided on the remote cockpit indicated by the arrow, and the left and right pulse generators 19 and 20 on the remote cockpit (B) side. The detection signal of the change amount of the forward and backward movements of the pedal 21 to be detected is multiplex-transmitted from the multiplex transmission transmitter 12 to the multiplex transmission receiver 13 on the backhoe body (A) side as shown by the arrow W, and left and right are determined by the received signal. Each of the left and right traveling pulse generators 1 on the side of the Bakuho cockpit A via the traveling servo controllers 22 and 23 of the vehicle.
The pedal 21 is moved via servo motors 24, 25 provided with 9, 20 respectively.

In the pedal 21 of the backhoe cockpit (A) shown in FIG. 6, 26 is a body, 27 is a plunger, 28 is a cam, 29 is a pin, 30 is a driving fork, and 31 is a detection pin. By moving the pedal 21 by these components, the crawler of the backhoe can be moved forward and backward. In the remote control device of the backhoe of the present invention shown in FIGS. 1 and 4, when the backhoe is operated unmanned in an underwater area or a dangerous work area,
When the user sits on the remote cockpit side (B) in which the operation lever 1 and the pedal 21 having the same mechanism as the backhoe cockpit side (A) are arranged, and the amount of change in each operation of the operation lever 1 and the pedal 21 From the multiplex transmission transmitter 12 and the multiplex transmission receiver 1 on the backhoe cockpit A side.
3 is multiplexed.

Then, according to the received signal, for the X axis, Y
The operation lever 1 and the pedal 21 on the backhoe cockpit side A are controlled from the servo controllers 14 and 15 for the shafts and the servo controllers 22 and 23 for the left and right traveling via servo motors 17 and 18 and 24 and 25, respectively. The hydraulic pressure of each system is controlled and moved by the pulse generators 9, 10 and 19, 20.

That is, according to the remote control method for the backhoe of the present invention, the amount of change due to the manual operation of the operation lever 1 and the depression of the pedal 231 on the remote control seat B side is controlled by the operation on the backhoe cockpit A side. The same amount is simultaneously transmitted to the lever 1 and the pedal 21 to perform the operation. At this time, the operator operating on the remote cockpit B side operates the operating lever 1 and the pedal 21 while sitting on the actual backhoe cockpit A. The operation can be performed with the same feeling as the user.

The present invention can be applied to an aerial work area on land such as a volcanic area and an underwater work area.
When applied to the underwater area, it is necessary to use an underwater monitor or the like that can see the working area underwater.

[0015]

If the method and apparatus for remotely controlling the backhoe of the present invention described above are applied to remotely control the backhoe, the operator can operate the operating lever or pedal at the remote cockpit. Operate the operating lever and pedal in the backhoe cockpit and operate the backhoe in the same way as when driving the backhoe, making remote control easy and accurate remote control possible, making it possible to work without errors Can be performed, and the work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic cross-sectional plan view of a remote control device of an operation lever in an embodiment of a device applied to a remote control method of a backhoe according to the present invention.

FIG. 2 is a side view of the pilot valve on the backhoe side in FIG. 1;

FIG. 3 is a side view of the pilot valve on the remote cockpit side of FIG. 1;

FIG. 4 is a schematic plan view of a remote control device for a pedal in one embodiment of the device of the present invention.

FIG. 5 is a front view of the pedal on the backhoe side in FIG. 4;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a front view of the pedal on the remote cockpit side of FIG. 4;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Operating lever 7 Drive fork 8 Pilot valve 9 Pulse generator 10 Pulse generator 12 Multiple transmission transmitter 13 Multiple transmission receiver 17 Servo motor 18 Servo motor 19 Pulse generator 20 Pulse generator 21 Pedal 24 Servo motor 25 Servo motor (A) Backhoe operation Seat side (B) Remote cockpit side W Multiplex transmission

 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Nobuo Furumatsu 2-6-18 Minatomachi, Naha-shi, Okinawa Far East Construction Co., Ltd. F-term (reference) 2D003 AA01 AB01 AB02 AB03 AB04 BA01 BA04 CA02 DA03 DA04 DB05 EA02

Claims (3)

[Claims] An operation lever and a pedal having the same mechanism are respectively arranged in a backhoe cockpit and a remote cockpit, and each change amount when the operation lever and the pedal on the remote cockpit side are operated is detected. A backhoe remote control method in which a detection signal is multiplex-transmitted to the backhoe side, and the operation signal and the pedal of the backhoe cockpit are simultaneously moved by the same change amount by the received signal. 2. A pulse generator is attached to a pilot valve including an operation lever or the like having the same mechanism in each of a backhoe cockpit and a remote cockpit via a drive fork, and an operation lever detected by the pulse generator on the remote cockpit side. A multiplex transmission transmitter and a multiplex transmission receiver for multiplex transmission of the detection signal of the change amount to the backhoe side are provided, respectively, and the received signals are transmitted through the drive fork by a servomotor with a pulse generator attached to the pilot valve on the backhoe side. Backhoe remote control device that moves the operating lever. 3. A pedal having left and right pulse generators having the same mechanism attached to a backhoe cockpit and a remote cockpit, respectively, and a detection signal of a change amount of the pedal detected by the left and right pulse generators on the remote cockpit side. A multiplex transmission transmitter and a multiplex transmission receiver for multiplex transmission to the backhoe side, and the pedal is moved by a received signal via a servomotor with a pulse generator on the backhoe side.