JP2015188957A - Remote control system of work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote control system of a work machine capable of achieving work efficiency equal to work efficiency achieved when an operator controls it on the work machine.SOLUTION: The remote control system of a work machine includes: a work machine 1 having at least one actuator; and a controller 200 for outputting a control signal to the at least one actuator from a place remote from the work machine. The controller includes: a frame 143 to be attached to a body of an operator; an arm 103a one end of which is fixed to the frame; a control lever 104a attached to the other end of the arm, for creating the control signal according to operation by the operator; and position adjustment mechanisms 112a, 113a for adjusting a position of the control lever 104a with respect to the frame.

Description

  The present invention relates to a remote control system for a work machine including a portable operation device.

  Some remote control systems for work machines including construction machines such as hydraulic excavators include a receiver mounted on the work machine and a transmitter that transmits a remote control signal to the receiver. If there is a risk of danger to the driver who has boarded the work machine during work at a disaster site, or work that cannot be seen by the driver in the cab of the work machine (for example, drilling a deep hole) It is used when performing.

  In this type of remote operation system, a portable operation device may be used as a transmitter for transmitting a remote operation signal. For example, Japanese Patent Application Laid-Open No. 7-203568 discloses a technique using a shoulder-type operation panel as an operation device, and a main body in which an operation lever operated by a finger is attached to the upper surface, and left and right sides of the main body. An operation panel including a hand table provided on a side surface is disclosed. Providing a handstand on the left and right sides of the main body of the operation panel in this way prevents the hand from wobbling up and down during operation because the hand is supported by the handstand when operating the operation lever. Is reduced.

JP-A-7-203568

  However, since the operation panel according to the above technique is designed to be small and light with emphasis on portability, the shape and position of the operation panel are significantly different from those of the operation device actually mounted on the work machine. For this reason, there is a possibility that the operational efficiency is reduced due to a difference between the operational sensation by the operating device mounted on the work machine and the operational sensation by the remote operation panel.

  The present invention has been made in view of such circumstances, and the object thereof is a work machine capable of obtaining work efficiency equivalent to that obtained when a work machine is boarded in a work machine remote control system. It is to provide a remote control system.

  In order to achieve the above object, the present invention provides a work machine including a work machine having at least one actuator and an operation device that outputs an operation signal to the at least one actuator from a location remote from the work machine. In the remote operation system, the operating device is attached to the frame attached to the operator's body, an arm having one end fixed to the frame, and the other end of the arm. An operation signal generator that generates the operation signal according to an operation, and a position adjustment mechanism that adjusts the position of the operation signal generator with respect to the frame.

  According to the present invention, it is possible to obtain the same working efficiency as when actually working on a work machine.

The slope view of the working machine which concerns on embodiment of this invention. The top view of the working machine shown in FIG. The figure of the working tool used with the working machine shown in FIG. The figure which shows the operating device mounted in the working machine shown in FIG. The block diagram which showed the control system of the working machine shown in FIG. The perspective view of the operating device for remote control of the working machine shown in FIG. The side view of the operating device shown in FIG. The figure which shows the position adjustment mechanism in the up-down direction of the operation lever etc. which concern on embodiment of this invention. The figure which shows the case where the position of the operation arm bracket with respect to the fixing plate which concerns on embodiment of this invention is fixed upwards rather than the case of FIG. The figure which shows the case where the position of the operation arm bracket with respect to the fixing plate which concerns on embodiment of this invention is being fixed below rather than the case of FIG. The side view of the left arm operation part which concerns on embodiment of this invention. The figure which shows the case where the position of the 1st operation arm part with respect to the 2nd operation arm part which concerns on embodiment of this invention is fixed ahead rather than the case of FIG. The figure which shows the case where the position of the 1st operation arm part with respect to the 2nd operation arm part which concerns on embodiment of this invention is fixed back rather than the case of FIG. The block diagram which showed the control system of the operating device shown in FIG. The perspective view of the modification of the operating device for remote control which concerns on embodiment of this invention. 1 is a perspective view of a hydraulic excavator according to an embodiment of the present invention. The figure which shows the operating device mounted in the hydraulic shovel shown in FIG. The block diagram which showed the control system of the hydraulic shovel shown in FIG. The perspective view of the operating device for remote control of the hydraulic shovel shown in FIG. The block diagram which showed the control system of the operating device shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
A remote control system for a work machine according to an embodiment of the present invention includes a work machine 1 having a plurality of hydraulic actuators (see FIGS. 1 and 2), and a place away from the work machine 1 with respect to the plurality of hydraulic actuators. A remote operation device 200 (see FIG. 6 described later) for outputting an operation signal is provided.

  FIG. 1 is a perspective view of a work machine 1 according to an embodiment of the present invention, and FIG. 2 is a top view of the work machine 1 shown in FIG.

  As shown in FIGS. 1 and 2, the work machine 1 according to the present embodiment is based on a hydraulic excavator, and has two work fronts that are multi-joint type work devices in front of the revolving unit 4. I have. The work machine 1 includes a traveling body 3 having a pair of left and right cover strips 2a and 2b, a revolving body 4 that is pivotably attached to the upper portion of the traveling body 3, and an operation signal that is wirelessly output from an operation device 200 for remote operation. The receiver 151 is provided.

  The covering bands 2a and 2b are provided with travel motors 18a and 18b for driving the covering bands 2a and 2b. A turning motor 19 for turning the turning body 4 is provided at the center of the turning body 4. A driver's cab 5 is installed in front of the center of the revolving structure 4. Two work fronts A and B are attached to the left and right sides of the cab 5, one by one.

  A work front (left work front) A located on the left side as viewed from the operator seated in the driver's seat 49 in the cab 5 is a first bracket 6a provided on the front left side of the revolving structure 4 and the first bracket 6a. A swing post 7a attached to the vertical axis about the swing post 7a, a boom 10a attached to the swing post 7a to swing up and down, and an arm attached to the boom 10a so as to swing back and forth. 12a and a work tool (attachment) 14a attached to the arm 12a so as to be rotatable up and down.

  The work front A is connected to the swing post 7a and the swing body 4, and is connected to the swing post cylinder 9a that swings the swing post 7a in the left-right direction around the vertical axis, and the swing post 7b and the boom 10a. A boom cylinder 11a that swings 10a up and down, is connected to a boom 10a and an arm 12a, and is connected to an arm cylinder 13a that swings the arm 12a up and down, an arm 12a, and a work tool 14a. And a work tool cylinder 15a for rotating 14a in the vertical direction. That is, the work front A is driven by these cylinders 9a, 11a, 13a, 15a.

  FIG. 3 shows a structural example of a work tool (attachment) 14a according to the work machine 1 shown in FIG. The work tool 14a includes a gripping device main body 141a attached to the distal end of the arm 12a, a pair of gripping claws 161a provided so as to grip an object on the distal end side, and a work tool claw that opens and closes the gripping claws 162a. And a cylinder 17a. In addition to the grapple shown in the drawing, the work tool 14a can be arbitrarily replaced with any one of a cutter, a breaker, a bucket, and other work tools in accordance with the work content of the work machine 1.

  By the way, the work front (right work front) B located on the right side when viewed from the operator seat 49 in the driver's cab 5 is attached to the front right side of the swing body 4. The right work front B is configured in the same manner as the left work front A, and the same members are indicated by changing the subscripts from “a” to “b”, and description thereof is omitted here.

  4 is a diagram showing an operating device mounted on the work machine 1 shown in FIG. 1, and FIG. 5 is a block diagram showing a control system of the work machine 1 shown in FIG.

  In the operating device 1 of the work machine 1 shown in FIG. 4, the left arm operation unit 50 a for operating the left work front A on the left side of the driver seat 49 and the right work front B for operating the right side of the driver seat 49. A right arm operation unit 50b is provided.

  The left arm operation unit 50a is provided with an operation arm bracket 51a provided on the left side of the driver's seat 49, an operation arm 52a attached to the operation arm bracket 51a so as to be able to swing left and right, and instructing left and right swinging of the left work front A. The armrest 53a attached to the upper part of the operation arm 52a is provided.

  The armrest 53 a has an elbow joint support portion 77 a that assumes that the elbow joint of the operator seated in the driver seat 49 is located. The elbow joint designating part 77a is located on the swing center axis 73a of the operation arm 52a.

  The left arm operation unit 50a is attached to the tip of the operation arm 52a so as to be rotatable (swingable) up and down and back and forth, and a horizontal operation lever 54a for instructing the operation of the boom 10a and the arm 12a of the left work front A. Around the operation lever 54a, a work tool rotation lever 55a which is rotatably attached around the rotation center axis 74a of the operation lever and instructs the rotation of the work tool 14a, and the tip end portion of the operation lever 54a in the vertical direction. A work tool operation switch 56a which is attached so as to be swingable and instructs to drive / stop the work tool 14a is provided.

  As shown in FIG. 5, the left arm operation unit 50a is provided on the operation arm bracket 51a, detects an oscillation displacement amount of the operation arm 52a, and transmits a signal, and an operation arm displacement detector 57a. An operation lever vertical displacement detector 581a that detects the amount of displacement of the operation lever 54a in the vertical direction and transmits a signal, and the operation arm 52a includes a displacement amount in the front-rear direction of the operation lever 54a. An operation lever longitudinal displacement detector 582a that detects and transmits a signal, and a work tool rotation lever displacement detector that is provided on the operation arm 52a and detects a rotational displacement amount of the work tool rotation lever 55a and transmits a signal. 59a and a work tool operation switch displacement detector that is provided in the work tool rotation lever 55a and detects a displacement amount of the work tool operation switch 56a and transmits a signal. Have a 0a.

  By the way, the right arm operation unit 50 b is provided on the right side of the driver seat 49. This is configured in the same manner as the left arm operation unit 50a, and the same member is indicated by changing the subscript from “a” to “b”, and the description is omitted here.

  In the driver's cab 5, a left travel instruction device 80, a right travel instruction device 81, and a turn instruction device 82 that are operated by the operator's feet are provided in front of the driver seat 49. The left travel instruction device 80 is for controlling the drive of the left travel motor 18a, and can swing in the front-rear direction of the driver seat 49. The right travel instruction device 81 is for controlling the driving of the right travel motor 18b, and can swing in the front-rear direction of the driver seat 49. The turning instruction device 82 is for controlling the driving of the turning motor 19 for turning the turning body 4, and can swing in the left-right direction of the driver seat 49.

  As shown in FIG. 5, the left travel instruction device 80 includes a left travel instruction device displacement detector 83 that detects a displacement amount in the front-rear direction and transmits a signal, and the right travel instruction device 81 includes Further, a right travel indicator displacement detector 84 for detecting a displacement amount in the front-rear direction and transmitting a signal is provided, and the turning instruction device 82 detects a displacement amount in the left-right direction and transmits a signal. A pointing device displacement detector 85 is provided.

  Next, the relationship between the operation of the operation units 50a and 50b, the left travel instruction device 80, the right travel instruction device 81, and the turn instruction device 82 and the operation of the actuator will be described with reference to FIG.

  In FIG. 5, when the operator swings the operation arms 52 a and 52 b, the operation arm displacement detectors 57 a and 57 b transmit detection signals to the drive signal generation unit 90 </ b> A in the control device 90. Next, the drive signal generator 90A that has received the detection signal transmits a drive signal to the swing cylinder drive systems 92a and 92b. Further, the swing cylinder drive systems 92a and 92b that have received this drive signal expand and contract the swing cylinders 9a and 9b. As a result, the swing posts 7a and 7b are swung.

  As an example of the swing cylinder drive systems 92a and 92b and each drive system to be described later, a main pump (not shown) that supplies discharged oil to a plurality of hydraulic actuators including the swing cylinder, and between the plurality of hydraulic actuators and the main pump. Examples thereof include a hydraulic circuit including a control valve (not shown) that controls the flow rate to each hydraulic actuator. Further, drive signals from the drive signal generation unit 90A and drive signal generation units described later adjust the opening of a control valve (not shown). As a specific example, an electromagnetic pressure reducing valve (not shown) is provided between a pilot pump (not shown) and a control valve provided for generating a control pressure for controlling the main pump and the control valve, and the drive signal generator 90A sends the drive signal to this control signal. Outputs to the electromagnetic pressure reducing valve. The electromagnetic pressure reducing valve reduces the discharge pressure of the pilot pump in response to this drive signal and outputs it to the control valve. The control valve receives the reduced pressure and adjusts the opening according to the pressure.

  When the operation levers 54 a and 54 b are displaced in the vertical direction, the operation lever vertical displacement detectors 581 a and 581 b transmit detection signals to the drive signal generation unit 90 B in the control device 90. Next, the drive signal generator 90B that has received this detection signal transmits a drive signal to the boom cylinder drive systems 93a and 93b. Further, the boom cylinder drive systems 93a and 93b that have received this drive signal expand and contract the boom cylinders 11a and 11b. Thereby, the booms 10a and 10b are swung.

  When the operation levers 54a and 54b are displaced in the front-rear direction, the operation lever front-rear direction displacement detectors 582a and 582b transmit detection signals to the drive signal generation unit 90C in the control device 90. Next, the drive signal generator 90C that has received the detection signal transmits a drive signal to the arm cylinder drive systems 94a and 94b. Further, the arm cylinder drive systems 94a and 94b receiving this drive signal extend and contract the arm cylinders 13a and 13b. As a result, the arms 12a and 12b are swung.

  When the work tool rotation levers 55a and 55b are displaced in the front-rear direction, the work tool rotation lever displacement detectors 59a and 59b transmit detection signals to the drive signal generation unit 90D in the control device 90. Next, the drive signal generator 90D that has received this detection signal transmits a drive signal to the work implement cylinder drive systems 95a and 95b. Further, the work tool cylinder drive systems 95a and 95b that have received this drive signal expand and contract the work tool cylinders 15a and 15b. Thereby, the work tools 14a and 14b are swung.

  When the work tool operation switches 56a and 56b are displaced in the vertical direction, the work tool operation switch displacement detectors 60a and 60b transmit detection signals to the drive signal generation unit 90E in the control device 90. Next, the drive signal generation unit 90E that has received this detection signal transmits a drive signal to the work tool claw cylinder drive systems 96a and 96b. Further, the work tool claw cylinder drive systems 96a and 96b that have received this drive signal extend and contract the work tool claw cylinders 17a and 17b. As a result, the gripping claws 161a and 162a and the gripping claws 161a and 162b are opened and closed.

  When the left travel instruction device 80 is displaced in the front-rear direction, the left travel instruction device displacement detector 83 transmits a detection signal to the drive signal generation unit 90F in the control device 90. Next, the drive signal generation unit 90F that has received this detection signal transmits a drive signal to the left traveling drive system 97. Further, the left traveling drive system 97 that has received this drive signal drives the traveling motor 18a. Thereby, the cover 2a of the work machine 1 is driven.

  When the right travel instruction device 81 is displaced, the right travel instruction device displacement detector 84 transmits a detection signal to the drive signal generation unit 90G in the control device 90. Next, the drive signal generation unit 90G that has received this detection signal transmits a drive signal to the right traveling drive system 98. Further, the right traveling drive system 98 that has received this drive signal drives the traveling motor 18b. Thereby, the cover 2b of the work machine 1 is driven.

  When the turning instruction device 82 is displaced, the turning instruction device displacement detector 85 transmits a detection signal to the drive signal generation unit 90H in the control device 90. Next, the drive signal generator 90 </ b> H that has received this detection signal transmits a drive signal to the turning drive system 98. Further, the turning drive system 99 that has received this drive signal drives the turning motor 19. Thereby, the turning body 4 of the work machine 1 turns.

  The change-over switch 152 is a switch that is attached to the work machine 1 and switches the operation method of the work machine 1 by switching signals input to the drive signal generation units 90A to 90H. Specifically, by using the changeover switch 152, a method in which an operator operates (boarding operation) via the operation devices 50 a, 50 b, 80, 81, 82 mounted on the work machine 1, and the work machine 1 It is possible to switch to a method in which the operator operates (remotely operates) via the operating device 200 (see FIG. 6 described later) at a position away from the remote controller. The change-over switch 152 of the present embodiment is installed in the cab 50 from the viewpoint of reducing the possibility of inadvertent switching operation, but the installation position is not particularly limited from the functional viewpoint. For example, the changeover switch 152 may be installed outside the cab 50, or the changeover switch 152 may be provided in the operation device 200 for remote operation to be described later and switched by remote operation.

  6 is a perspective view of the operating device 200 for remote operation of the work machine 1 shown in FIG. 1, and FIG. 7 is a side view of the operating device 200 shown in FIG. Hereinafter, the directions may be referred to based on the three-dimensional coordinate system set in the controller device 200 shown in FIG.

  The remote control device 200 shown in these figures includes a backpack 100, a left arm operation unit 101a for operating the left work front A attached to the left side of the backpack 100, and a right work front attached to the right side of the backpack 100. A right arm operation unit 101b for operating B and a transmitter 150 that transmits an operation signal from the operation device 200 to the receiver 151 of the work machine 1 are provided.

  The transmitter 150 transmits an operation signal from the operation device 200 to the receiver 151 when the work machine 1 is remotely operated by the operation device 200, and is fixed to the backpack 100. When the operator switches the changeover switch 152 from the position shown in FIG. 5, instead of disconnecting the connection between the various detectors related to the operating device mounted on the work machine 1 and the control device 90, the control is performed with the receiver 151. The connection of the device 90 is established, and the work machine 1 can be remotely operated by the operation device 200.

  The backpack 100 includes a frame 143 formed by connecting a plurality of pipe members 143a to 143e, a backrest 141 attached to the frame 143, and a pair of backrest belts 142 attached to the backrest surface of the backrest 141. I have. In the present embodiment, the frame 143 is fixed to the operator's body in such a manner that the backpack 100 is tied to the operator by the backpack belt 142 while the backrest 141 is applied to the operator's back.

  In the present embodiment, the backpack 100 is used as a means for fixing the frame 143 to which the operation units 101a and 101b are attached to the operator's body. The frame 143 may be tied to the waist, or the frame 143 may be lowered from the operator's neck.

  The plurality of pipe members 143 a to 143 e are metal (for example, stainless steel) coupled to each other, and form a frame 143 that is a framework of the backpack 100. The pipe member 143a according to the present embodiment is formed by bending a pipe member into an inverted U shape in accordance with the shape of the backrest 141. Two pipe members 143c and 143e extending in a substantially horizontal direction are stretched over the pipe member 143a, and a pipe member 143b bent into a U shape is attached to the lower end portion of the pipe member 143a. Yes. A pipe member 143d extending in a substantially horizontal direction is stretched over the pipe member 143b.

  A fixing plate 111a for fixing the left arm operating portion 101a to the backpack 100 is attached to the left end of the pipe members 143c, 143d, 143e, and the right arm of the pipe members 143c, 143d, 143e is attached to the right arm. A fixing plate 111b for fixing the operation unit 101b to the backpack 100 is attached.

  The left arm operation unit 101a has an operation arm bracket 102a attached to the fixing plate 111a so that its position can be adjusted via a plurality of fixing bolts 114a (see FIG. 8), and one side to the fixing plate 111a via the operation arm bracket 102a. And an operation lever 104a attached to the other end (tip portion) of the operation arm 103a.

  The operation arm 103a is formed of a member extending in the front-rear direction on a horizontal plane, and is attached to the lower surface of the operation arm bracket 102a at one end. The operation arm 103a is configured to be swingable in the left-right direction about the rotation center axis 123a set at the attachment position to the operation arm bracket 102a on the horizontal plane set with respect to the backpack 100. By swinging by the operation, an operation signal for instructing left and right swinging of the left work front A (extension and contraction of the swing post cylinder 9a) is output. The operation signal output from the operation arm 103a is generated according to the swing amount (displacement) of the operation arm 103a from the reference position with the position of the operation arm 103a shown in FIG. 6 as a reference position. The swing amount of the operation arm 103a is detected by an operation arm displacement detector 107a provided in the operation arm bracket 102a. The operation signal output from the operating arm 103a (the swinging amount of the operating arm 103a) determines the swinging speed of the left work front A. If the swinging amount from the reference position is increased, the swinging speed of the left working front A is relative. When the swing amount is decreased, the swing speed of the left work front A is relatively decreased.

  The operation lever 104a is attached to the operation arm 103a via an operation lever bracket 108a attached to the other end of the operation arm 103a. The operation lever 104a at the reference position shown in FIG. 6 is fixed so that its axial direction coincides with the left-right direction, and is attached substantially horizontally to the operation arm 103a. The operation lever 104a is configured to be rotatable (swingable) up and down and back and forth with the attachment position to the operation arm 103a as a base point. The operation lever 104a generates an operation signal instructing the operation of the boom 10a and the arm 12a of the left work front A according to an operation by the operator, and functions as an operation signal generator. The operation signal to the boom 10a is detected as the vertical displacement amount of the control lever 104a by the control lever vertical displacement detector 1081a provided in the control lever bracket 108a. The operation signal to the arm 12a is detected as the amount of displacement of the operation lever 104a in the front-rear direction by an operation lever front-rear direction displacement detector 1082a provided in the operation lever bracket 108a.

  The left arm operation unit 101a is attached to the periphery of the operation lever 104a so as to be rotatable about the rotation center axis 124a of the operation lever 104a, and the work tool rotation lever 105a for instructing the rotation of the work tool 14a and the operation lever 104a. A work tool operation switch 106a is attached to the distal end portion so as to be swingable up and down via a switch bracket 166a, and instructs to drive / stop the work tool 14a. The work tool rotation lever 105a generates an operation signal for instructing the work tool 14a to rotate in response to an operation by the operator, and the work tool operation switch 106a receives an operation signal for instructing driving / stopping of the work tool 14a. The work tool rotation lever 105a and the work tool operation switch 106a function as an operation signal generator. The operation signal for instructing the work tool 14a to rotate is detected as the rotational displacement amount of the work tool rotation lever 105a by the work tool rotation lever displacement detector 109a provided on the operation lever 104a. The operation signal for instructing to drive / stop the work tool 14a is detected as a displacement amount of the work tool operation switch 106a by the work tool operation switch displacement detector 110a provided in the switch bracket 166a.

  By the way, the right arm operation unit 101b is provided on the right side of the backpack 100 symmetrically with the left arm operation unit 101a. Therefore, in the right arm operation unit 101b, in principle, the description of the same components as those of the left arm operation unit 101a is omitted, and the subscripts are indicated by “b”, and the parts related to the left arm operation unit 101a are separated from the parts. Separately shown.

  A turning instruction switch 132 for controlling the driving of the turning motor 19 that turns the turning body 4 left and right is provided on the upper part of the operation lever bracket 108a related to the left arm operation unit 101a. On the upper part of the operation lever bracket 108b related to the right arm operation unit 101b, a left travel instruction switch 130 for controlling the drive of the left travel motor 18a and a right travel instruction switch for controlling the drive of the right travel motor 18b. 131 is provided. The turn instruction switch 132, the left travel instruction switch 130, and the right travel instruction switch 131 also function as an operation signal generator. An operation signal for controlling the driving of the turning motor 19 is detected as a displacement amount of the turning instruction switch 132 by a turning instruction switch displacement detector 135 provided in the turning instruction switch 132. Further, the operation signals for controlling the driving of the left and right traveling motors 18a and 18b are the left traveling instruction switch 130, the left traveling instruction switch displacement detector 133 provided in the right traveling instruction switch 131, and the right traveling. The displacements are detected as displacement amounts of the instruction switch displacement detector 134 and the left travel instruction switch 130 and the right travel instruction switch 131, respectively.

  Here, the left travel instruction switch 130 and the right travel instruction switch 131 are arranged at the upper part of the right operation arm 103b tip of the backpack 100, and the turning instruction switch 132 is arranged at the upper part of the left operation arm 103a tip. The arrangement of the switches 130, 131, and 132 is not particularly limited. For example, the left travel instruction switch 130 and the right travel instruction switch 131 may be disposed on the upper end of the left operation arm 103a of the backpack 100, and the turning instruction switch 132 may be disposed on the upper end of the right operation arm 103b. The left travel instruction switch 130, the right travel instruction switch 131, and the turn instruction switch 132 may be disposed at the distal ends of the left and right operation arms 103a and 103b, respectively.

  FIG. 8 is a diagram showing a position adjustment mechanism in the vertical direction of the operation lever 104a, the work tool rotation lever 105a, and the work tool operation switch 106a according to the embodiment of the present invention. As shown in this figure, a plurality of position adjustment holes 112a for screwing the fixing bolts 114a are provided on the fixing plate 111a, and the fixing bolts 114a are screwed to the operation arm bracket 102a. There are provided a plurality of fixing bolt holes 113a.

  When the position adjustment hole 112a through which the fixing bolt 114a is passed when the operation arm bracket 102a is fixed to the fixing plate 111a is changed, the positions of the operation lever 104a, the work tool rotation lever 105a, and the work tool operation switch 106a with respect to the frame 143 are adjusted. Can do. That is, the position adjustment hole 112a, the fixing bolt hole 113a, and the fixing bolt 114a function as position adjustment functions of the operation lever 104a, the work tool rotation lever 105a, and the work tool operation switch 106a.

  FIG. 9 is a diagram showing a case where the position of the operation arm bracket 102a with respect to the fixing plate 111a is fixed above the case of FIG. 8, and is located above the position adjustment holes 112a used for fixing the fixing bolts 114a in FIG. The fixing bolts 114a are fastened to the position adjustment holes 112a located at the positions. FIG. 10 is a diagram showing a case where the position of the operation arm bracket 102a with respect to the fixing plate 111a is fixed below the case of FIG. Thus, in the present embodiment, the fixed position in the vertical direction of the left arm operation unit 101a can be changed in accordance with the height and body shape of the operator.

  In the above description, the change in the vertical fixing position of the left arm operation unit 101a has been described. However, if the fixing bolt 114a is fastened to the position adjustment hole 112a having a different position in the front / rear direction, the front / rear direction of the left arm operation unit 101a. The position can be adjusted. Further, the fixture of the operation arm bracket 102a is not limited to the bolt 114a described above, and other fixtures such as a pin may be used.

  Further, the position adjustment mechanism according to the operation device 200 also includes the length in the front-rear direction of the operation arm 103a (that is, the fixed position in the front-rear direction of the operation lever 104a, the work tool rotation lever 105a, and the work tool operation switch 106a). It is preferable. In the present embodiment, the position adjustment function is realized by making it possible to adjust the length of the operation arm 103a in the front-rear direction.

  FIG. 11 is a side view of the left arm operation unit 101a, and shows a position adjustment mechanism for the length of the operation arm 103a in the front-rear direction. As shown in this figure, the operation arm 103a is divided into a first operation arm portion 115a and a second operation arm portion 116a in the front-rear direction (length direction).

  The second operation arm portion 116a is a member formed so as to sandwich the first operation arm portion 115a from above and below, and is a member located on the operation arm bracket 102a side. The second operating arm portion 116a is provided with fixing holes 118a, which are two sets of holes penetrating the second operating arm portion 116a in the vertical direction, with a predetermined interval in the front-rear direction.

  The first operation arm portion 115a is a member located on the operation lever 104a side, and has four fixing holes 117a in the front-rear direction that are holes that penetrate the first operation arm portion 115a in the vertical direction. The arrangement interval in the front-rear direction of the fixing holes 117a coincides with the arrangement interval in the front-rear direction of the two sets of fixing holes 118a, and the fixing bolts 119a are connected to the two fixing holes 117a and the two sets of fixing holes 118a corresponding thereto. The first operation arm portion 115a and the second operation arm portion 116a can be fixed by passing through each of them and fastening with the fixing nut 120a from the opposite side.

  Accordingly, when the first operation arm portion 115a and the second operation arm portion 116a are fixed, by appropriately selecting the fixing hole 117a through which the fixing bolt 119a is passed, the length of the operation arm 103a is set to the length of the operator's arm. It is possible to adjust according to.

  FIG. 12 is a diagram showing a case where the position of the first operation arm 115a relative to the second operation arm 116a is fixed forward than in the case of FIG. 12, and the first operation arm 115a is moved from the state of FIG. 2 Pull out forward from the operation arm 116a, and pass the fixing bolts 119a through the fixing holes 117a located behind the fixing holes 117a used for fixing the fixing bolts 119a in FIG. Thereby, the length of the operation arm 103a becomes longer than the state of FIG.

  FIG. 13 is a view showing a case where the position of the first operation arm 115a relative to the second operation arm 116a is fixed to the rear of the case of FIG. 12, and the first operation arm 115a is moved from the state of FIG. 2 Pushing back toward the operation arm 116a, the fixing bolts 119a are passed through the fixing holes 117a located in front of the fixing holes 117a used for fixing the fixing bolts 119a in FIG. Thereby, the length of the operation arm 103a becomes shorter than the state of FIG.

  As described above, in the present embodiment, it is possible to change the fixed positions in the front-rear direction of the operation lever 104a, the work tool rotation lever 105a, and the work tool operation switch 106a in accordance with the height and body shape of the operator. In addition, the fixture of the 1st operation arm part 115a and the 2nd operation arm part 116a is not limited to the volt | bolt 119a demonstrated above, You may use other fixtures including a pin etc. FIG.

  In the above description, the position adjustment of the left arm operation unit 101a has been described. However, the position adjustment of the right arm operation unit 101b is also possible.

  FIG. 14 is a block diagram showing a control system of operating device 200 shown in FIG. In addition, here, each part related to the left arm operation unit 101a and the right arm operation unit 101b will be described together in a simplified manner. However, as in the previous example, a component with a suffix “a” added to the left arm operation unit 101a. Such a part is shown, and the part with the subscript “b” added to the reference sign shows the part related to the right arm operation unit 101b (the same applies hereinafter).

  In FIG. 14, operation arm displacement detectors 107a and 107b detect the swing displacement amounts of the operation arms 103a and 103b and transmit signals. The operation lever vertical displacement detectors 1081a and 108b detect the displacement amount of the operation levers 104a and 104b in the vertical direction and transmit signals. The operation lever front / rear direction displacement detectors 1082a, 1082b detect a displacement amount of the operation lever 104a in the front / rear direction and transmit a signal. The work tool rotation lever displacement detectors 109a and 109b detect the rotational displacement amounts of the work tool rotation levers 105a and 105b and transmit signals. The work tool operation switch displacement detectors 110a and 110b detect the displacement amounts of the work tool operation switches 106a and 106b and transmit signals.

  In FIG. 14, the left travel instruction switch displacement detector 133 detects the amount of displacement of the left travel instruction switch 130 and transmits a signal. The right travel instruction switch displacement detector 134 detects the amount of displacement of the right travel instruction switch 131 and transmits a signal. The turning instruction switch displacement detector 135 detects the amount of displacement of the turning instruction switch 132 and transmits a signal.

  In the remote operation system according to the embodiment of the present invention, when the operation arms 103 a and 103 b of the operation device 200 are swung, the operation arm displacement detectors 107 a and 107 b transmit detection signals to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90 </ b> A in the control device 90. Next, the drive signal generator 90A that has received the detection signal transmits a drive signal to the swing cylinder drive systems 92a and 92b. Further, the swing cylinder drive systems 92a and 92b that have received this drive signal expand and contract the swing cylinders 9a and 9b. As a result, the swing posts 7a and 7b swing.

  Further, when the operation levers 104 a and 104 b are displaced in the vertical direction, the operation lever vertical displacement detectors 1081 a and 1081 b transmit a detection signal to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90B in the control device 90. Next, the drive signal generator 90B that has received this detection signal transmits a drive signal to the boom cylinder drive systems 93a and 93b. Further, the boom cylinder drive systems 93a and 93b that have received this drive signal expand and contract the boom cylinders 11a and 11b. As a result, the booms 10a and 10b swing.

  When the operation levers 104 a and 104 b are displaced in the front-rear direction, the operation lever front-rear direction displacement detectors 1082 a and 1082 b transmit a detection signal to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90 </ b> C in the control device 90. Next, the drive signal generator 90C that has received the detection signal transmits a drive signal to the arm cylinder drive systems 94a and 94b. Further, the arm cylinder drive systems 94a and 94b receiving this drive signal extend and contract the arm cylinders 13a and 13b. As a result, the arms 12a and 12b swing.

  Further, when the work tool rotation levers 105 a and 105 b are displaced in the front-rear direction, the work tool rotation lever displacement detectors 109 a and 109 b transmit detection signals to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90D in the control device 90. Next, the drive signal generator 90D that has received this detection signal transmits a drive signal to the work implement cylinder drive systems 95a and 95b. Further, the work tool cylinder drive systems 95a and 95b that have received this drive signal expand and contract the work tool cylinders 15a and 15b. As a result, the work tools 14a and 14b swing.

  Further, when the work implement operation switches 106 a and 106 b are displaced in the vertical direction, the work implement operation switch displacement detectors 110 a and 110 b transmit detection signals to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received this detection signal transmits a detection signal to the drive signal generation unit 90E in the control device 90. Next, the drive signal generation unit 90E that has received this detection signal transmits a drive signal to the work tool claw cylinder drive systems 96a and 96b. Further, the work tool claw cylinder drive systems 96a and 96b that have received this drive signal extend and contract the work tool claw cylinders 17a and 17b. As a result, the grip claws 161a and 161b and the grip claws 162a and 162b open and close.

  When the left travel instruction switch 130 is displaced, the left travel instruction switch displacement detector 133 transmits a detection signal to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90F in the control device 90. Next, the drive signal generation unit 90F that has received this detection signal transmits a drive signal to the left traveling drive system 97. Further, the left traveling drive system 97 that has received this drive signal drives the traveling motor 18a. Thereby, the cover 2a of the work machine 1 is driven.

  When the right travel instruction switch 131 is displaced, the right travel instruction switch displacement detector 134 transmits a detection signal to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90G in the control device 90. Next, the drive signal generation unit 90G that has received this detection signal transmits a drive signal to the right traveling drive system 97. Further, the right traveling drive system 98 that has received this drive signal drives the traveling motor 18b. Thereby, the cover 2b of the work machine 1 is driven.

  When the turning instruction switch 132 is displaced, the turning instruction switch displacement detector 135 transmits a detection signal to the transmitter 150. Next, the transmitter 150 receiving this detection signal transmits the detection signal to the receiver 151 shown in FIG. Next, the receiver 151 that has received the detection signal transmits the detection signal to the drive signal generation unit 90H in the control device 90. Next, the drive signal generator 90 </ b> H that has received this detection signal transmits a drive signal to the turning drive system 99. Further, the turning drive system 99 that has received this drive signal drives the turning motor 19. Thereby, the turning body 4 of the work machine 1 turns.

  With the configuration as described above, the work machine 1 is remotely operated by the left arm operation unit 101a and the right arm operation unit 101b included in the backpack 100 of the operation device 200. At this time, since the operator can use the operation device 200 having the same shape and arrangement as the operation device mounted on the work machine 1, work efficiency equivalent to the case where the work is carried on the work machine 1 is performed. Can be obtained. Furthermore, since the position of each part which concerns on the operating device 200 can be adjusted according to an operator's height and body shape, work efficiency can further be improved.

  In addition, the correspondence between the above-described operation device and the hydraulic actuator is an example, and a work machine different from the above-described correspondence includes a displacement detector and a control device 90 according to the operation device mounted on the work machine. Each drive signal generation unit can be associated. As a result, remote operation is possible even for work machines different from the above-mentioned correspondence, and versatility can be improved. In addition to this type of correspondence, when the shape of the operation device mounted on the work machine, the button / lever arrangement, and the like are different from those described above, the left arm operation unit 101a is changed according to the operation device. If the right arm operation unit 101b is replaced, the work efficiency of remote operation of all work machines can be improved.

  In the above description, the operation levers 104a and 104b are arranged so that the axial directions of the operation levers 104a and 104b are held in the horizontal direction (see FIG. 6 and the like), but the arrangement of the operation levers 104a and 104b is limited to this. Not exclusively. FIG. 15 is a perspective view of a modified example of an operation device 200A for remote operation according to the embodiment of the present invention. The operation device 200A shown in this figure includes joystick-type operation levers 404a and 404b that are rotatable (swingable) back and forth and right and left. The operation levers 404a and 404b are fixed to the distal end portions of the operation arms 103a and 103b so that the axial directions thereof are held in the vertical direction.

  In the operating device 200A, the left travel instruction switch 130 and the right travel instruction switch 131 are disposed on a bracket that protrudes toward the operation arm 103a from the inner surface at the tip of the operation arm 103b. Further, the turning instruction switch 132 is disposed on a bracket that protrudes from the inner side surface at the distal end of the operation arm 103a toward the operation arm 103b. Similar to the case shown in FIG. 6, the arrangement of the switches 130, 131, 132 is not particularly limited.

  In the above description, a remote operation system for a work machine having a total of two left and right work fronts has been described as an example. However, an operation device as a general remote operation system for a hydraulic excavator having only one work front. 200 may be used.

  FIG. 16 is a perspective view of a hydraulic excavator 301 according to the embodiment of the present invention. A hydraulic excavator 301 shown in this figure includes one work front C having the same configuration as the work front A of the work machine 1, and includes a traveling body 303 including a pair of left and right cover bands 302a and 302b, and a traveling state 303. Is provided with a swivel body 304 that is pivotably attached to the swivel body.

  The traveling body 303 is provided with traveling motors 318a and 318b for driving the covering bands 302a and 302b. A turning motor 319 for turning the turning body 304 is provided at the center of the turning body 304. A driver's cab 305 is installed on the front left side of the swivel body 304. A work front C is attached to the front center portion of the revolving unit 304.

  The work front C includes a boom 310 attached to a boom foot (not shown) provided at a front center portion of the swing body 304 so as to be swingable up and down, and an arm 312 attached to the boom 310 so as to be swingable back and forth. And a bucket 314 which is a work tool attached to the arm 312 so as to be rotatable up and down.

  The work front C is connected to the boom foot and the boom 310, and is connected to the boom cylinder 311 that swings the boom 310 in the vertical direction, and the arm cylinder that is connected to the boom 310 and the arm 312 and swings the arm 312 in the vertical direction. 313, an arm 312 and a work tool 314, and a work tool cylinder 315 that rotates the bucket 314 in the vertical direction. That is, the work front C is driven by these 311, 313 and 315.

  The bucket 314 can be arbitrarily replaced with any one of grapples, cutters, breakers, and other working tools in addition to the bucket shown in the drawing according to the work content of the work machine 301.

  In addition, the cab 305 of the work machine 301 is provided with a receiver 451 for receiving an operation signal transmitted from the transmitter 450 of the operation device 200B when the work machine 301 is remotely operated.

  17 is a diagram showing an operating device mounted on the excavator 301 shown in FIG. 16, and FIG. 18 is a block diagram showing a control system of the excavator 301 shown in FIG.

  In the operating device for the hydraulic excavator 301 shown in FIG. 17, a first operating portion 350 a and a second operating portion 350 b for operating the work front C are provided on the left and right sides of the driver's seat 349.

  The first operation portion 350a is attached to an operation lever bracket 351a provided on the left side of the driver's seat 349 and a front end portion of the operation lever bracket 351a so as to be rotatable in the front-rear and left-right directions. A vertical operation lever 354a for instructing the movement of the operation tool, and a work tool operation switch 356 for swinging in the vertical direction at the tip of the operation lever 354a and for instructing the driving / stopping of the work tool 314. . The operation signal to the boom 10a is detected as the vertical displacement amount of the operation lever 104a by the operation lever vertical displacement detector 1081a provided on the operation arm 103a. An operation signal to the arm 12a is detected as a displacement amount in the front-rear direction of the operation lever 104a by an operation lever front-rear direction displacement detector 1082a provided in the operation arm 103a.

  As shown in FIG. 17, the first operation portion 350a is provided on the operation lever bracket 351a, detects the amount of displacement of the operation lever 354a in the front-rear direction, and sends a signal to the operation lever front-rear direction displacement detector 3581a. And an operation lever left / right displacement detector 3582a that detects the amount of displacement of the operation lever 354a in the left / right direction and transmits a signal, and is provided at the tip of the operation lever 354a. A work tool operation switch displacement detector 360 that detects a displacement amount of the switch 356 in the vertical direction and transmits a signal is provided.

  The second operation portion 350b is attached to an operation lever bracket 351b provided on the right side of the driver's seat 349, and is rotatable (swingable) back and forth and left and right at the tip of the operation lever bracket 351b. A vertical operation lever 354b for instructing operations of the boom 310 and the work tool 314 is provided.

  As shown in FIG. 17, the second operation portion 350b is provided on the operation lever bracket 351b, and detects an amount of displacement of the operation lever 354b in the front-rear direction and sends a signal to the operation lever front-rear direction displacement detector 3581b. And an operation lever lateral displacement detector 3582b that detects the amount of displacement of the operation lever 354b in the left-right direction and transmits a signal.

  In addition, as shown in FIG. 17, in the cab 305 of the work machine 301, a left travel instruction device 380 that performs an operation with an operator's foot and a right travel instruction device 381 are provided in front of the driver seat 349. ing. Further, the left travel instruction device 380 includes a left travel instruction device displacement detector 383 that detects a displacement amount in the front-rear direction and transmits a signal, and the right travel instruction device 381 detects a displacement amount in the front-rear direction. Thus, a displacement detector 384 for a right travel instruction device that transmits a signal is provided.

  Next, the relationship between the operation of the operation units 350a and 350b, the left travel instruction device 380, the right travel instruction device 381 and the turn instruction device 382 and the operation of each drive system including each hydraulic actuator will be described with reference to FIG.

  In FIG. 18, when the operator displaces the operation lever 354a in the front-rear direction, the operation lever front-rear direction displacement detector 3581a detects the detection signal to the drive signal generation unit 390A in the control device 390 mounted on the excavator 301. To send. Next, the drive signal generation unit 390A that has received this detection signal transmits a drive signal to the turning drive system 392. Further, the turning drive system 392 that has received this drive signal drives the turning motor 319. Thereby, the turning body 304 turns.

  When the operator displaces the operation lever 354a in the left-right direction, the operation lever left-right direction displacement detector 3582a transmits a detection signal to the drive signal generation unit 390B in the control device 390. Next, upon receiving this detection signal, the drive signal generator 390B transmits a drive signal to the arm cylinder drive system 393. Further, the arm cylinder drive system 393 that has received this drive signal drives the arm cylinder 313. As a result, the arm 312 swings.

  Further, when the operator displaces the operation lever 354b in the front-rear direction, the operation lever front-rear direction displacement detector 3581b transmits a detection signal to the drive signal generation unit 390C in the control device 390. Next, the drive signal generation unit 390C that has received this detection signal transmits a drive signal to the boom cylinder drive system 394. Further, the boom cylinder drive system 394 that has received this drive signal drives the boom cylinder 311. As a result, the boom 310 swings.

  When the operation lever 354b is displaced in the left-right direction, the operation lever left-right direction displacement detector 3582b transmits a detection signal to the drive signal generation unit 390D in the control device 390. Next, upon receiving this detection signal, the drive signal generator 390D transmits a drive signal to the work implement cylinder drive system 395. Further, the work tool drive system 395 that has received this drive signal expands and contracts the work tool cylinder 315. As a result, the work tool 314 swings.

  When a grapple (see FIG. 3) or the like is attached as the work tool 314, the work tool 314 can be operated by displacing the work tool operation switch 356 in the front-rear direction. For example, when the work tool is a grapple as in the previous embodiment, the work tool operation switch displacement detector 360 transmits a detection signal to the drive signal generation unit 390E in the control device 390. Next, the drive signal generator 390E that has received this detection signal transmits a drive signal to the grapple work tool claw cylinder drive system 396. Further, the work tool claw cylinder drive system 396 that receives this drive signal expands and contracts the work tool claw cylinder. This opens and closes a pair of gripping claws related to the grapple.

  When the left travel instruction device 380 is displaced, the left travel instruction device displacement detector 383 transmits a detection signal to the drive signal generation unit 390F in the control device 390. Next, the drive signal generator 390F that has received this detection signal transmits a drive signal to the left traveling drive system 397. Further, the left traveling drive system 397 that has received this drive signal drives the traveling motor 318a. As a result, the covering band 302a of the work machine 301 is driven.

  When the right travel instruction device 381 is displaced, the right travel instruction device displacement detector 384 transmits a detection signal to the drive signal generation unit 390G in the control device 390. Next, the drive signal generation unit 390G that has received this detection signal transmits a drive signal to the right traveling drive system 398. Further, the right traveling drive system 398 that has received this drive signal drives the traveling motor 318b. Thereby, the covering band 302b of the work machine 301 is driven.

  The changeover switch 452 is attached to the hydraulic excavator 301 and is a switch for switching the operation method of the hydraulic excavator 301 by switching signals input to the drive signal generation units 390A to 390G, as with the changeover switch 152.

  FIG. 19 is a perspective view of an operation device 200B for remote operation of the excavator 301 shown in FIG. The operating device 200B shown in FIG. 19 is provided on the backpack 400, the first operating section 401a and the second operating section 401b for operating the work front C, and the hydraulic excavator 301 when remotely operated. A transmitter 450 that transmits an operation signal is provided.

  The first operation unit 401a includes an operation arm bracket 402a provided on the left side of the backpack 400 so that the fixed position can be adjusted, and an operation arm 403a. The second operation unit 401b includes an operation arm bracket 402b provided on the right side of the backpack 400 so that the fixed position can be adjusted, and an operation arm 403b. The position adjustment mechanism and position adjustment method of the operation arm brackets 402a and 402b are the same as those of the operation device 200 shown in FIG.

  In addition, an operation lever 404a that is rotatable (swingable) back and forth and right and left is attached to the distal end portion of the operation arm 403a, and the operation of the revolving body 304 and the arm 312 of the work front C can be instructed by the operation lever 404a. . Further, a work tool operation switch 406a for instructing driving / stopping of the work tool 314 is attached to the distal end portion of the operation lever 404a so as to be swingable in the vertical direction. The operation lever 404a is fixed to the operation arm 403a so that its central axis is held in the vertical direction.

  In addition, an operation lever 404b that is rotatable (swingable) back and forth and right and left is attached to the distal end portion of the operation arm 403b provided in the second operation unit 401b. The operation of the boom 310 and the work tool 314 can be instructed. The operation lever 404b is fixed to the operation arm 403b so that its central axis is held in the vertical direction.

  Further, in FIG. 19, operation lever front / rear direction displacement detectors 4081a, 4081b are provided on the operation arms 403a, 403b, and detect the displacement amounts of the operation levers 404a, 404b in the front / rear direction to transmit signals. Operation lever left-right direction displacement detectors 4082a and 4082b are provided on the operation arms 403a and 403b, respectively, and detect the amount of displacement of the operation levers 404a and 404b in the left-right direction and transmit signals.

  The work tool operation switch displacement detector 410 is provided at the tip of the operation lever 404a, detects the amount of displacement of the work tool operation switch 406, and transmits a signal. The left travel instruction switch displacement detector 433 is provided in the left travel instruction switch 430, detects the amount of displacement of the left travel instruction switch 430, and transmits a signal. The right travel instruction switch displacement detector 434 is provided in the right travel instruction switch 431, detects the amount of displacement of the right travel instruction switch 431, and transmits a signal.

  As shown in FIG. 20, when the operator switches the changeover switch 452 shown in FIG. 14, an operation signal for remotely operating the work machine 301 is sent from the receiver 451 to the control device 390. Remote control is possible with 200B.

  In the operation device 200B shown in FIG. 19, when the operation lever 404a is displaced in the front-rear direction, the operation lever front-rear direction displacement detector 4081a transmits a detection signal to the transmitter 450. Upon receiving this detection signal, the transmitter 450 transmits the detection signal to the receiver 451 (see FIG. 18). Next, the receiver 451 receiving this detection signal transmits a detection signal to the drive signal generation unit 390A in the control device 390. Next, the drive signal generation unit 390A that has received this detection signal transmits a drive signal to the turning drive system 392. Further, the turning drive system 392 that has received this drive signal drives the turning motor 319. Thereby, the turning body 304 turns.

  When the operation lever 404a is displaced in the left-right direction, the operation lever left-right direction displacement detector 4082a transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 that has received the detection signal transmits the detection signal to the drive signal generation unit 390B in the control device 390. Next, upon receiving this detection signal, the drive signal generator 390B transmits a drive signal to the arm cylinder drive system 393. Further, the arm cylinder drive system 393 that has received this drive signal expands and contracts the arm cylinder 313. As a result, the arm 312 swings.

  When the operation lever 404b is displaced in the front-rear direction, the operation lever front-rear direction displacement detector 4081b transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 that has received the detection signal transmits the detection signal to the drive signal generation unit 390C in the control device 390. Next, the drive signal generation unit 390C that has received this detection signal transmits a drive signal to the boom cylinder drive system 394. Further, the boom cylinder drive system 394 receiving this drive signal expands and contracts the boom cylinder 311. As a result, the boom 310 swings.

  When the operation lever 404 b is displaced in the left-right direction, the operation lever left-right direction displacement detector 4082 b transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 receiving this detection signal transmits a detection signal to the drive signal generation unit 390D in the control device 390. Next, upon receiving this detection signal, the drive signal generator 390D transmits a drive signal to the work implement cylinder drive system 395. Further, the work tool cylinder drive system 395 that has received this drive signal expands and contracts the work tool cylinder 315. As a result, the work tool 314 swings.

  When the work tool operation switch 406 is displaced, the work tool operation switch displacement detector 410 transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 that has received the detection signal transmits the detection signal to the drive signal generation unit 390E in the control device 390. For example, when a grapple (see FIG. 3) is attached as the work tool 314, the drive signal generation unit 390E that has received the detection signal transmits a drive signal to the work tool claw cylinder drive system 396. Further, the work tool claw cylinder drive system 396 that has received this drive signal expands and contracts the work tool claw cylinder 17a. As a result, the gripping claws 161a and the gripping claws 162a open and close.

  Further, when the left travel instruction switch 330 is displaced, the left travel instruction switch displacement detector 433 transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 receiving this detection signal transmits a detection signal to the drive signal generation unit 390F in the control device 390. Next, the drive signal generator 390F that has received this detection signal transmits a drive signal to the left traveling drive system 397. Further, the left traveling drive system 397 that has received this drive signal drives the traveling motor 318a. As a result, the covering band 302a of the work machine 301 is driven.

  When the right travel instruction switch 431 is displaced, the right travel instruction switch displacement detector 434 transmits a detection signal to the transmitter 450. Next, the transmitter 450 that has received this detection signal transmits the detection signal to the receiver 451. Next, the receiver 451 that has received the detection signal transmits the detection signal to the drive signal generation unit 390G in the control device 390. Next, the drive signal generation unit 390G that has received this detection signal transmits a drive signal to the right traveling drive system 398. Further, the right traveling drive system 398 that has received this drive signal drives the traveling motor 318b. Thereby, the covering band 302b of the work machine 301 is driven.

  With the above configuration, the excavator 301 is remotely operated by the operation arms 403a and 403b and the operation levers 404a and 404b provided in the backpack 400 of the operation device 200B. At that time, since the operator can use the operation device 200B having the same shape and arrangement as the operation lever mounted on the excavator 301, work efficiency equivalent to the case where the operator rides on the excavator 301 to perform work. Can be obtained. Furthermore, since the position of each part which concerns on the operating device 200B can be adjusted according to an operator's height and body shape, work efficiency can further be improved.

  The present invention is not limited to the above-described embodiments, and includes various modifications within the scope not departing from the gist thereof. For example, the present invention is not limited to the one having all the configurations described in the above embodiments, and includes a configuration in which a part of the configuration is deleted. In addition, part of the configuration according to one embodiment can be added to or replaced with the configuration according to another embodiment.

  In addition, each configuration relating to the above-described control devices 90 and 390, functions and execution processing of each configuration, etc. are partly or entirely hardware (for example, logic for executing each function is designed by an integrated circuit, etc.) It may be realized with. The configuration related to the control devices 90 and 390 may be a program (software) that realizes each function related to the configuration of the control device by being read and executed by an arithmetic processing device (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  In the above description of each embodiment, the control line and the information line are shown to be understood as necessary for the description of the embodiment, but all the control lines and information lines related to the product are not necessarily included. It does not always indicate. In practice, it can be considered that almost all the components are connected to each other using, for example, electric wiring or hydraulic piping.

  DESCRIPTION OF SYMBOLS 1 ... Work machine, 3 ... Running body, 4 ... Revolving body, 9a, 9b ... Swing cylinder, 11a, 11b ... Boom cylinder, 13a, 13b ... Arm cylinder, 15a, 15b ... Work tool cylinder, 17a, 17b ... Work tool Claw cylinder, 18a, 18b ... travel motor, 19 ... turning motor, 49 ... driver's seat, 100 ... backpack, 101a, 101b ... operation part, 102a, 102b ... operation arm bracket, 103a, 103b ... arm, 104a, 104b ... operation Lever, 105a, 105b ... Work tool rotation lever, 106a, 106b ... Work tool operation switch, 107a, 107b ... Displacement detector for operation arm, 111a, 111b ... Fixing plate, 114a, 114b ... Fixing bolt, 115a, 115b ... No. 1 operation arm part, 116a, 116b ... 2nd operation arm part, 11 a ... fixing hole, 119a ... fixing bolt, 130 ... left travel instruction switch, 131 ... right travel instruction switch, 132 ... turning instruction switch, 400 ... back load, 401a ... first operation section, 403a, 403b ... operation arm, 404a, 404b ... operating lever, 406 ... work implement operating switch

Claims (4)

In a remote control system for a work machine, comprising: a work machine having at least one actuator; and an operation device that outputs an operation signal to the at least one actuator from a location remote from the work machine.
The operating device is:
A frame to be worn on the operator's body;
An arm having one end fixed to the frame;
An operation signal generator attached to the other end of the arm and generating the operation signal in response to an operation by an operator;
A remote control system for a work machine, comprising: a position adjustment mechanism for adjusting a position of the operation signal generator with respect to the frame. The remote control system for a work machine according to claim 1,
The remote control system for a work machine, wherein the position adjustment mechanism is capable of adjusting a vertical position of the operation signal generator with respect to the frame. The work machine remote control system according to claim 1 or 2,
The remote control system for a work machine, wherein the position adjustment mechanism is capable of adjusting a position in the front-rear direction of the operation signal generator with respect to the frame. In the remote control system of the working machine in any one of Claim 1 to 3,
The arm is fixed to the frame so as to be swingable on a predetermined surface, and the operation signal is generated according to the swing amount from a reference position.

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