JP2022080648A - Industrial remote controller - Google Patents

Abstract

To provide an industrial remote controller capable of avoiding damage to a switch or a substrate when a strong force is applied to a joystick.SOLUTION: A remote controller 30 including a joystick 40 that moves between a neutral position P1 and a tilting position P4 tilted from the neutral position P1 and can operate a switch 45 with a finger (thumb F), comprises: an elastic member 43 that supports the joystick 40 by elastic force in a direction opposite to a pressing direction in which the joystick 40 is pressed in the neutral position P1 and the tilting position P4; and a stopper portion 42b that is provided in the joystick 40 and arranged at intervals in the pressing direction for a stopper receiving portion 33a fixed to a housing 33 in the neutral position P1 and the tilting position P4, wherein at least one of facing surfaces facing each other of the stopper portion 42b and the stopper receiving portion 33a is formed of a spherical surface.SELECTED DRAWING: Figure 3

Description

The present invention relates to an industrial remote controller having a finger-operable joystick.

In recent years, an operator has remotely controlled a work machine equipped with a telescopic boom that can be expanded and contracted and undulated, such as a mobile crane and an aerial work platform, from a position away from the work machine by using an industrial remote controller. .. As such an industrial remote controller, a joystick type controller is known (see, for example, Patent Document 1).

Patent Document 1 discloses an operating device for a working machine including a joystick that tilts in an arbitrary direction.

Japanese Unexamined Patent Publication No. 2018-097607

By the way, industrial remote controllers are expected to be used at construction sites and factories. An industrial remote controller used in such a place may be dropped on the ground or hit with materials at a construction site. Therefore, industrial remote controllers are required to be more durable and robust than hobby controllers.

However, the invention of Patent Document 1 has a problem that when a strong force is applied to the joystick, this force is directly transmitted to the switch, the substrate, or the like, and damage to the switch, the substrate, or the like cannot be avoided.

Therefore, an object of the present invention is to provide an industrial remote controller capable of avoiding damage to a switch or a substrate when a strong force is applied to the joystick.

To achieve the object, the industrial remote controller of the present invention has an industrial joystick that moves between a neutral position and a tilted position tilted from the neutral position so that the switch can be operated with a finger. A remote controller, an elastic member that supports the joystick by an elastic force in a direction opposite to the pressing direction in which the joystick is pressed in the neutral position and the tilted position, and a housing in the neutral position and the tilted position. A stopper receiving portion fixedly attached to the joystick and a stopper portion provided on the joystick arranged at intervals in the pressing direction are provided, and at least one of the stopper portion and the stopper receiving portion is provided. However, the facing surfaces facing each other are characterized in that they are formed of a spherical surface.

The industrial remote controller of the present invention configured in this way can avoid damage to the switch and the substrate when a strong force is applied to the joystick.

It is a side view which shows the crane of Example 1. FIG. It is a perspective view which shows the remote controller of Example 1. FIG. It is sectional drawing which shows the periphery of the joystick of the remote controller of Example 1. FIG. It is a perspective view which shows the stick part of Example 1. FIG. It is sectional drawing explaining the operation of the joystick of Example 1, and is the figure which shows the state which moved from the neutral position to the pressing position. It is sectional drawing explaining the operation of the joystick of Example 1, and is the figure which shows the state which moved from the neutral position to the push position. It is sectional drawing explaining the operation of the joystick of Example 1, and is the figure which shows the state which moved from the neutral position to the tilting position. It is sectional drawing explaining the operation of the joystick of Example 1, and is the figure which shows the state which moved from the tilting position to the pressing position. It is sectional drawing explaining the operation of the joystick of Example 1, and is the figure which shows the state which moved from the tilting position to the over-pushing position.

Hereinafter, embodiments for realizing an industrial remote controller according to the present invention will be described with reference to Example 1 shown in the drawings.

The industrial remote controller (hereinafter referred to as a remote controller) in the first embodiment is applied to an industrial remote controller for remotely controlling a truck crane (hereinafter referred to as a crane).

[Crane configuration]
FIG. 1 is a side view showing the crane of the first embodiment. Hereinafter, the configuration of the crane of the first embodiment will be described. The front-back direction of the crane is the front-back direction D.

As shown in FIG. 1, the crane 10 extends in the front-rear direction D, and has a main frame 14 provided with front wheels 11 and rear wheels 12, 13 and a turning post 15 provided on the main frame 14 so as to be able to turn. An undulating boom 16 on the top of the post 15, a pair of outrigger devices 17 on both sides of the main frame 14 near the swivel post 15, and a front side of the swivel post 15 on the main frame 14. It is provided with a cabin 18 provided in the above, a loading platform 20 provided on the rear side of the cabin 18, and the like.

The swivel post 15 has a pair of opposing holding portions 21 that hold the telescopic boom 16 in an undulating manner. The telescopic boom 16 has a base boom 16a, intermediate booms 16b and 16c, and a tip boom 16d.

A bracket 22 to which the undulating cylinder 23 is attached is attached to the base boom 16a. As the undulating cylinder 23 expands and contracts, the base boom 16a undulates with respect to the swivel post 15. When the swivel post 15 swivels, the telescopic boom 16 swivels.

The crane 10 includes a plurality of actuators for driving each part of the crane 10. Actuators include a hydraulic motor that swivels the swivel post 15 (not shown), an undulating cylinder 23 that undulates the telescopic boom 16, a telescopic cylinder that expands and contracts the telescopic boom 16 (not shown), and a wire that suspends a suspended load (not shown). A winch and a speed reducer for winding and feeding the cylinder, and the like.

The crane 10 is provided with a control device 24 for controlling each of the actuators in the vicinity of the base end portion of the swivel post 15. The control device 24 is composed of a computer including a CPU, a memory, and the like.

The crane 10 includes a remote controller 30 that gives an operation instruction to the control device 24. The control device 24 and the remote controller 30 can send and receive operation instructions and data necessary for crane work by known wireless communication.

[Remote controller configuration]
FIG. 2 is a perspective view showing the remote controller 30 of the first embodiment. Hereinafter, the configuration of the remote controller 30 of the first embodiment will be described.

As shown in FIG. 2, the remote controller 30 includes a substantially columnar grip portion 31 gripped by the operator and an operation unit main body 32 provided at one end of the grip portion 31.

The operation unit main body 32 includes a substantially box-shaped housing 33. A control unit (not shown), various sensors, a battery, and the like are housed in the housing 33. On the front of the housing 33, there is a display unit 34 consisting of a liquid crystal display or the like that displays an image or the like showing the working state of the crane 10, various operation buttons 35 such as a power button or a mode switching button, and an actuator for driving. Two joysticks 40 and the like are provided. The two joysticks 40 are provided side by side on the front surface of the operation unit main body 32 at predetermined intervals. The two joysticks 40 are formed in a size that can be operated by the operator with the thumb.

An accelerator lever 37 is provided behind the grip portion 31. The accelerator lever 37 is a trigger type switch for adjusting the operating speed of the actuator of the crane 10. The accelerator lever 37 is formed in a size that can be operated by the operator with the index finger.

In the remote controller 30 configured in this way, when the operator operates the accelerator lever 37 and the joystick 40, a signal corresponding to the operation amount (angle) is input to the control unit by a sensor such as an angle sensor. The control unit that receives this signal determines the operating speed, operating direction, and the like of each actuator of the crane 10 based on this signal.

[Joystick configuration]
FIG. 3 is a cross-sectional view showing the periphery of the joystick 40 of the remote controller 30 of the first embodiment. FIG. 4 is a perspective view showing the stick portion of the first embodiment. Hereinafter, the configuration of the joystick 40 of the first embodiment will be described.

The joystick 40 has an initial position, the neutral position P1 (see FIG. 3), a tilted position P4 tilted from the neutral position P1 (see FIG. 7), and a pressing position pressed axially from the neutral position P1 or the tilted position P4. By moving between P2 and P5 (see FIGS. 5 and 8), the operation of the switch 45 can be operated with the thumb.

As shown in FIG. 3, a switch 45 is provided inside the housing 33. A lever 45a is provided on the upper portion of the switch 45 so as to project upward.

The lever 45a can move from the initial posture (neutral posture) to the tilting posture that tilts in all directions. When the tilting operation force on the lever 45a is released, the lever 45a returns to the initial posture. The lever 45a can move from the initial posture or the tilted posture to the pressing posture pressed in the axial direction. When the pressing operation force on the lever 45a is released, the lever 45a returns to the initial posture or the tilted posture.

The switch 45 includes a sensor that detects the initial posture of the lever 45a, the tilted posture, and the pressing posture. The switch provided with the sensor for detecting the pressing posture can be a tact switch. The signal corresponding to the detection result by this sensor is output to the control unit of the operation unit main body 32.

As shown in FIG. 3, the joystick 40 includes a stick portion 42 that is tiltably supported by the lever 45a and a knob 41 connected to the tip of the stick portion 42.

The stick portion 42 includes a main body portion 42a formed in a cylindrical shape and an umbrella-shaped stopper portion 42b formed extending outward from the side surface of the main body portion 42a.

A knob 41 is attached to the upper end of the main body portion 42a. A lever 45a is slidably fitted in the lower portion of the main body portion 42a formed in a cylindrical shape in the axial direction. That is, the joystick 40 is configured to be slidable in the axial direction with respect to the lever 45a.

An elastic member 43 is arranged inside the main body portion 42a. The elastic member 43 may be, for example, rubber, a spring, or the like.

The elastic member 43 is arranged so as to be sandwiched between the lower end surface of the knob 41 and the upper end surface of the lever 45a. In other words, the elastic member 43 is interposed between the lower end surface of the knob 41 and the upper end surface of the lever 45a. As a result, the elastic member 43 supports the joystick 40 at the neutral position P1 (see FIG. 3) and the tilted position P4 (see FIG. 7) by the elastic force in the direction opposite to the pressing direction in which the joystick 40 is pressed. ing.

As shown in FIG. 4, the stopper portion 42b is formed so as to extend outward in an umbrella shape from the outer peripheral surface of the main body portion 42a. In other words, the stopper portion 42b is formed in a bowl shape outward from the outer peripheral surface of the main body portion 42a. The lower surface of the stopper portion 42b is formed in a spherical shape.

As shown in FIG. 3, a stopper receiving portion 33a is arranged between the stopper portion 42b and the switch 45. The stopper receiving portion 33a is formed in an umbrella shape so as to cover the upper part of the switch 45, and is attached to the housing 33. In other words, the stopper receiving portion 33a is formed in a bowl shape so as to cover the upper portion of the switch 45. The upper surface of the stopper receiving portion 33a is formed of a spherical surface concentric with the lower surface of the stopper portion 42b. That is, the facing surfaces of the stopper portion 42b and the stopper receiving portion 33a facing each other are formed by a spherical surface.

The stopper receiving portion 33a has a circular hole portion 33b formed in the central portion when viewed from above. A stick portion 42 is inserted into the hole portion 33b.

The stopper portion 42b is arranged at a neutral position P1 (see FIG. 3) and a tilted position P4 (see FIG. 7) at a distance from the stopper receiving portion 33a in the pressing direction. The pressing direction is the direction in which the joystick 40 is pressed in the axial direction.

[Joystick operation]
FIG. 5 is a cross-sectional view illustrating the operation of the joystick 40 of the first embodiment, and is a diagram showing a state in which the joystick 40 is moved from the neutral position P1 to the pressing position P2. FIG. 6 is a cross-sectional view illustrating the operation of the joystick 40 of the first embodiment, and is a diagram showing a state in which the joystick 40 is moved from the neutral position P1 to the excessively pushed position P3. FIG. 7 is a cross-sectional view illustrating the operation of the joystick 40 of the first embodiment, and is a diagram showing a state in which the joystick 40 is moved from the neutral position P1 to the tilted position P4. FIG. 8 is a cross-sectional view illustrating the operation of the joystick 40 of the first embodiment, and is a diagram showing a state in which the joystick 40 is moved from the tilted position P4 to the pressed position P5. FIG. 9 is a cross-sectional view illustrating the operation of the joystick 40 of the first embodiment, and is a diagram showing a state in which the joystick 40 is moved from the tilted position P4 to the excessively pushed position P6. Hereinafter, the operation of the joystick 40 of the first embodiment will be described.

(Neutral position)
As shown in FIG. 3, at the neutral position P1, the elastic member 43 is slightly elastically deformed by the weight of the joystick 40, but is hardly elastically deformed. At the neutral position P1, a gap D1 is formed between the stopper portion 42b and the stopper receiving portion 33a.

(Pressing position)
As shown in FIG. 5, at the pressing position P2, the elastic member 43 is in a state of being slightly elastically deformed by the pressing operation of the joystick 40 by the thumb F.

For the pressing operation, for example, a pressing pressure of 1 kg can be assumed. By the pressing operation, the joystick 40 is pushed down by, for example, about 0.2 to 0.4 mm. At the pressing position P2, a gap D2 smaller than the gap D1 is formed between the stopper portion 42b and the stopper receiving portion 33a.

The elastic member 43 is set in the elastic deformation range of the elastic force that can be pressed against the switch 45 when the joystick 40 moves to the pressing position P2. As a result, the pressing operation of the joystick 40 by the thumb F enables the pressing operation on the switch 45.

(Excessive push position)
As shown in FIG. 6, at the over-pushing position P3, for example, when the remote controller 30 is dropped, the stone G collides with the joystick 40, and a strong axial force is applied to the joystick 40, so that the pressing position P2 It is in a state of being pushed further in the axial direction. At the over-pushed position P3, for example, the elastic member 43 is elastically deformed due to the collision of the stone G with the joystick 40.

The pressing force due to the collision of the stone G with the joystick 40 can be assumed to exceed, for example, 10 kg. The collision of the stone G with the joystick 40 pushes the joystick 40 down by, for example, about 1.0 mm. At the over-pushed position P3, the stopper portion 42b comes into contact with the stopper receiving portion 33a.

The elastic force of the elastic member 43 is set to be within the range of the vertical allowable load of the switch 45 at the over-pushing position P3. That is, at the overpushed position P3, the elastic member 43 is not damaged by the elastic force.

(Tilt position)
As shown in FIG. 7, the tilting position P4 is a state in which the joystick 40 is tilted from the neutral position P1 by an operation with the thumb F. At the tilted position P4, the elastic member 43 is slightly elastically deformed by the weight of the joystick 40, but is hardly elastically deformed. At the tilted position P4, a gap D4 is formed between the stopper portion 42b and the stopper receiving portion 33a.

(Pressing position)
As shown in FIG. 8, at the pressing position P5, the elastic member 43 is in a state of being slightly elastically deformed by the pressing operation of the joystick 40 by the thumb F.

For the pressing operation, for example, a pressing pressure of 1 kg can be assumed. By the pressing operation, the joystick 40 is pushed down by, for example, about 0.2 to 0.4 mm. At the pressing position P5, a gap D5 smaller than the gap D4 is formed between the stopper portion 42b and the stopper receiving portion 33a.

The elastic member 43 is set in the elastic deformation range of the elastic force that can be pressed against the switch 45 when the joystick 40 moves to the pressing position P5. As a result, the pressing operation of the joystick 40 by the thumb F enables the pressing operation on the switch 45.

(Excessive push position),
As shown in FIG. 9, at the excessively pushed position P6 in the tilted state, for example, the remote controller 30 is dropped, the stone G collides with the joystick 40, and a strong axial force is applied to the joystick 40 in the tilted state. Therefore, it is in a state of being further pushed in the axial direction from the pressing position P5. At the over-pushed position P6, for example, the elastic member 43 is elastically deformed due to the collision of the stone G with the joystick 40.

It can be assumed that the pressing force due to the collision of the stone G with the joystick 40 exceeds, for example, 10 kg. The collision of the stone G with the joystick 40 pushes the joystick 40 down by, for example, about 1.0 mm. At the over-pushed position P6 in the tilted state, the stopper portion 42b comes into contact with the stopper receiving portion 33a.

The elastic force of the elastic member 43 is set to be within the range of the vertical allowable load of the switch 45 at the excessively pushed position P6 in the tilted state. That is, at the excessively pushed position P6 in the tilted state, the elastic member 43 is not damaged by the elastic force.

The joystick 40 is set so that when it tries to tilt beyond the tilting position P4, it bends or breaks and is destroyed.

The elastic member 43 may be set so as to start elastic deformation when the joystick 40 is pushed beyond the pressing positions P2 and P5.

[Crane action]
Hereinafter, the operation of the remote controller 30 of the first embodiment will be described.

The remote controller 30 of the first embodiment is a remote controller 30 having a joystick 40 that can move between the neutral position P1 and the tilted position P4 tilted from the neutral position P1 and operate the switch 45 with the thumb F. Therefore, in the neutral position P1 and the tilted position P4, the elastic member 43 that supports the joystick 40 by the elastic force in the direction opposite to the pressing direction in which the joystick 40 is pressed, and in the neutral position P1 and the tilted position P4, the housing 33 It includes a stopper receiving portion 33a that is fixedly attached and a stopper portion 42b provided on the joystick 40 that is arranged at a distance in the pressing direction, and at least one of the stopper portion 42b and the stopper receiving portion 33a. The facing surfaces facing each other are formed of a spherical surface (FIG. 3).

As a result, the stopper portion 42b is stopped when a strong force that presses the remote controller 30 in the axial direction by dropping or hitting the remote controller 30 is applied to the joystick 40 regardless of whether the remote controller 30 is in the neutral position P1 or the tilted position P4. It can be brought into contact with the receiving portion 33a. Therefore, when a strong force pressing in the axial direction is applied to the joystick 40, the axial force input to the joystick 40 is released from the stopper portion 42b to the stopper receiving portion 33a so as not to be transmitted to the switch 45 or the board. can do. As a result, damage to the switch 45 and the substrate can be avoided when a strong force is applied in the axial direction of the joystick 40.

Further, when a strong force is applied in the axial direction of the joystick 40, the elastic member 43 can absorb the force and prevent it from being transmitted to the switch 45 or the substrate. Therefore, when a strong force is applied in the axial direction of the joystick 40, damage to the switch 45 and the substrate can be avoided.

Further, since the stopper portion 42b and the stopper receiving portion 33a are arranged at intervals in the neutral position P1 and the tilted position P4, the operability of the joystick 40 is not affected.

That is, while maintaining the operability of the joystick 40, it is possible to avoid damage to the switch 45 and the substrate when a strong force is applied in the axial direction of the joystick 40.

In the remote controller 30 of the first embodiment, the joystick 40 moves from the neutral position P1 or the tilted position P4 to the pressing positions P2 and P5 pressed in the axial direction, and the operation for the switch 45 can be operated with the thumb F. The elastic member 43 is set in an elastic deformation range in which the joystick 40 can be pressed against the switch 45 when the joystick 40 is moved to the pressing positions P2 and P5 (FIGS. 5 and 8).

As a result, the joystick 40 can be pressed via the elastic member 43 when a predetermined force is applied in the axial direction of the joystick 40 regardless of whether the position is the neutral position P1 or the tilted position P4. .. On the other hand, when the joystick 40 is pushed beyond the pressing positions P2 and P5 and a force exceeding a predetermined force is applied in the axial direction, the elastic member 43 absorbs this force and does not transmit it to the switch 45 or the substrate as much as possible. Can be done. Therefore, it is possible to avoid damage to the switch 45 and the substrate when a strong force is applied to the joystick 40 while enabling the pressing operation regardless of whether the position is the neutral position P1 or the tilted position P4.

In the remote controller 30 of the first embodiment, the elastic force of the elastic member 43 is pressed beyond the pressing positions P2 and P5, and the switch 45 is pressed at the excessive pushing positions P3 and P6 where the stopper portion 42b and the stopper receiving portion 33a come into contact with each other. It is set to be within the allowable load range of (FIGS. 6 and 9).

As a result, at the over-pushed positions P3 and P6, it is possible to prevent the switch 45 from being subjected to a force exceeding the allowable load. Therefore, when a strong force is applied to the joystick 40, damage to the switch 45 and the substrate can be avoided.

In the remote controller 30 of the first embodiment, the joystick 40 is set to be destroyed when it tries to tilt beyond the tilt position P4.

As a result, when a strong force is applied in the direction of tilting the joystick 40, the joystick 40 can be destroyed. Therefore, before an excessive force is applied to the switch 45, the substrate, or the like, the joystick 40 can absorb this force. As a result, the inexpensive joystick 40 can absorb a large force in the direction of tilting, and damage to the expensive switch 45 and the substrate can be avoided.

The industrial remote controller of the present invention has been described above based on the first embodiment. However, the specific configuration is not limited to this embodiment, and design changes and the like are permitted as long as they do not deviate from the gist of the invention according to each claim.

In Example 1, an example is shown in which the lower surface of the stopper portion 42b and the upper surface of the stopper receiving portion 33a are spherical surfaces. However, at least one of the lower surface of the stopper portion 42b and the upper surface of the stopper receiving portion 33a may be spherical. In this case, the non-spherical portion may be formed of a protrusion such as a rib.

In Example 1, two joysticks 40 are provided in the remote controller 30. However, one joystick may be provided in the remote controller, or three or more joysticks may be provided.

In the first embodiment, the present invention is applied to a remote controller 30 having a joystick 40 that can move between the neutral position P1, the tilted position P4, and the pressing positions P2 and P5 and operate the switch 45 with the thumb F. An example to apply is shown. However, the industrial remote controller of the present invention has a joystick 40 that can move between the neutral position P1 and the tilted position P4 without moving to the pressing position and can operate the switch 45 with the thumb F. It may be applied to things. That is, the industrial remote controller of the present invention can also be applied to a controller that is not pressed.

In Example 1, an example is shown in which the present invention is applied to an industrial remote controller having a joystick 40 that can be operated with the thumb F. However, the present invention is not limited to the thumb, and can be applied to an industrial remote controller having a joystick that can be operated by a finger.

In Example 1, an example of applying the present invention to an industrial remote controller for operating a crane 10 is shown. However, the present invention can also be applied to construction machinery such as aerial work platforms and hydraulic excavators, and industrial machinery.

10 Crane 30 Remote controller 33 Housing 33a Stopper receiving part 40 Joystick 42b Stopper part 43 Elastic member 45 Switch F Thumb P1 Neutral position P4 Tilt position P2, P5 Pressing position P3, P6 Over-pushing position

Claims (4)

An industrial remote controller having a joystick that can move between a neutral position and a tilted position tilted from the neutral position and operate a switch with a finger.
An elastic member that supports the joystick by an elastic force in a direction opposite to the pressing direction in which the joystick is pressed in the neutral position and the tilted position.
In the neutral position and the tilted position, a stopper receiving portion fixedly attached to the housing and a stopper portion provided on the joystick arranged at intervals in the pressing direction are provided.
An industrial remote controller, characterized in that at least one of the stopper portion and the stopper receiving portion, which faces each other, is formed of a spherical surface. The joystick can be moved from the neutral position or the tilted position to the pressing position pressed in the axial direction, and the operation for the switch can be operated with a finger.
The industrial remote controller according to claim 1, wherein the elastic member is set in an elastic deformation range in which the joystick can be pressed against the switch when the joystick is moved to the pressing position. .. The first aspect of the present invention is characterized in that the elastic force of the elastic member is set so as to be within the allowable load range of the switch at an excessively pushed position where the stopper portion and the stopper receiving portion abut. Described industrial remote controller. The industrial remote controller according to any one of claims 1 to 3, wherein the joystick is set so as to be destroyed when the joystick is tilted beyond the tilted position.

Images