JP6573320B2 - Operation device in construction machinery - Google Patents

Description

  The present invention relates to the technical field of operation devices in construction machines such as hydraulic excavators.

  In general, when the construction machine is a hydraulic excavator, for example, the front work machine is composed of a boom, an arm (stick), and a bucket. In this case, an operator is seated in a driver seat provided in the upper swing body. In this state, the front working machine is moved by operating the operation levers provided on the left and right. In such a work using a hydraulic excavator, in a site where the ground is not stable, such as a disaster site, the front work machine may be operated by remote operation to protect the operator. In this case, a remote operation device is required. As such a remote operation device, there is one that can be operated remotely by operating an operation lever protruding from a remote operation tool (see, for example, Patent Document 1). .

JP-A-9-268603

  However, since the conventional device is operated with the belt provided on the remote control device being worn around the neck, not only the remote control device becomes unstable and difficult to operate, but also the operation provided on the remote operation device. Because the operation is performed by picking the lever with your finger, even if the operating direction is the same as the operating lever (joystick lever) provided in the driver's seat, fine finger movement is required for operability. There is a problem of being inferior, and these have problems to be solved by the present invention.

The present invention was created with the object of solving these problems in view of the above circumstances, and the invention of claim 1 is an operating device for operating an actuator provided in a construction machine. The operating device is portable and can be placed on either the left or right side of the operator, and the front half and the forearm can be placed on the little finger side of the operator's hand. The main body has a rear half that can be pivoted, and is pivotally supported by the inner edge of the front half of the main body in the left-right direction. The retracted posture is stored in the front half of the main body from above, and the back of the operator's hand faces outward When the hand is placed on the front half of the main body, it stands up to the inner side in the left-right direction opposite to the palm and rises up to an operation posture that can be remotely operated to operate the actuator by grasping with the finger of the placed hand. Operation tool An operating device in a construction machine characterized in that it is configured with.
The invention of claim 2 further comprises an elbow rest that can move in and out in the front-rear direction from the rear end of the rear half of the main body and can project the operator's elbow in a state of projecting backward. The operating device for a construction machine according to claim 1.
The invention of claim 3 is pivotally supported by the outer edge in the left-right direction of the rear half of the main body so as to be swingable, and is stored in the rear half of the main body from above, and the forearm standing on the outer side of the operator forearm The operation in the construction machine according to claim 1 or 2, further comprising a forearm part disengagement restricting body that rises and falls in a standing posture that restricts the disengagement of the part from the rear half in the left-right direction. Device.
According to a fourth aspect of the present invention, in the operating device for a construction machine according to any one of the first to third aspects, the storage space for storing the operation tool is recessed in the first half of the main body. is there.
The invention according to claim 5 is the operating device for the construction machine according to claim 4, wherein the storage space is a through hole.
According to a sixth aspect of the present invention, there is provided the operating device in the construction machine according to any one of the first to fifth aspects, wherein a binding body with a hook-and-loop fastener capable of being bound to an armrest of a vehicle on which the main body is placed is provided. Or it is the operating device of the construction machine of 2.
The invention according to claim 7 is the operating device in the construction machine according to any one of claims 1 to 6, wherein the operating tool is a 3D operating tool capable of remotely operating a plurality of actuators.
The invention according to claim 8 is the construction machine according to any one of claims 1 to 7, wherein the construction machine is a hydraulic excavator, and the actuator is a boom cylinder, an arm cylinder, or a bucket cylinder. It is an operating device.

According to the invention of claim 1, when the operator remotely operates the actuator, the operating device is arranged on either the left or right side of the operator, and the little finger part of the hand is placed on the front half of the main body, When the forearm is placed in the second half, the operating tool is in a natural posture facing the palm of the hand, and the operator can hold the operating tool with his / her finger in that posture, forcing an unreasonable operating posture. The operability is improved.
By setting it as invention of Claim 2, an elbow can be placed by pulling out the elbow rest stored in the latter half part of a main part, and more stable operation can be performed.
By making it the invention of claim 3, it becomes possible to restrict the forearm part in the main body part from coming off in the left-right direction by the forearm part disengagement restricting body, and further operability can be improved. Become.
According to the fourth and fifth aspects of the present invention, the operation tool can be stored in the form of being inserted into the storage space formed in the main body, so that a compact storage can be performed while the operation unit is provided.
By setting it as invention of Claim 6, arrangement | positioning in the state which tightly bound the main body to the armrest can be performed, and operativity improves.
By setting it as invention of Claim 7, 3D operation can be performed with an operation tool, and operativity improves.
According to the eighth aspect of the invention, the operation of the boom, arm, and bucket, which are the front attachment of the hydraulic excavator, can be easily performed.

1 is an overall side view of a hydraulic excavator. (A), (B), (C), (D), and (E) are a front view, a side view, a plan view, a rear view, and a bottom view of the operating device in the retracted posture. (A), (B), and (C) are a front view, a side view, and a plan view of the operating device in the operating posture. It is a perspective view of the operating device in the retracted posture. It is a perspective view which shows the state which attached the operating device to the armrest. It is a side view which shows the state which attached the operating device to the armrest. It is a block circuit diagram which shows a control state. It is a hydraulic circuit diagram.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the figure, 1 is a traveling machine body of a hydraulic excavator which is an example of a construction machine, and the traveling machine body 1 includes a crawler-type lower traveling body 2 and an upper revolving body 3 which can be swung freely. The upper swing body 3 includes various members such as a cab 5 in which a driver's cockpit (not shown) is installed, a boom 6 constituting a front attachment, an arm 7, a bucket 8, and an engine hood 9 in which an engine is installed. The boom cylinder 6a, the arm cylinder 7a, and the bucket cylinder 8a, which are actuators, are actuated by operation of operation levers (not shown) provided on the left and right sides of a driver's seat (not shown). , The swing operation of the arm (stick) 7 and the bucket 8, and the steering motor of the traveling machine body 1 by steering motors (not shown) and the left and right traveling motors are operated. Any such that turning operation of the forward-reverse operation the upper turning body 3 is to be carried out also conventional.

  Reference numeral 10 denotes an operating device for remotely operating the boom cylinder 6a, the arm cylinder 7a, and the bucket cylinder 8a which are actuators in which the present invention is implemented. The operating device 10 is independent (separated) from the traveling machine body 1. The operator can freely carry it, for example, in a state where the operator is seated on a seat of a vehicle (for example, a vehicle for the operator to move to the work site) different from the traveling machine body 1, In this example, a case where the operator is arranged on the right side of the operator will be described. Needless to say, it is an arrangement configuration.

  And the operating device 10 is provided with the main body 11 which is provided with the front half part 11a which can mount the little finger side site | part of an operator's right hand, and the latter half part 11b which can mount a right arm forearm part, and the lower surface opened. The front half portion 11a is formed with a through hole 11c penetrating in the vertical direction. The left end edge of the front half portion 11a (the inner edge in the left-right direction) is pivotally supported by the support shaft 12a on the left end edge of the base 12, and the base 12 covers the upper surface of the through hole 11c. A cover posture that covers from the upper side and an upright posture that stands on the left edge of the front half portion 11a (in this embodiment, it is lying slightly to the left of the vertical posture and may return to the cover posture in its natural state due to its own weight. Oscillates with no posture).

An operating tool 13 is provided on the base 12 so as to be positioned on the lower surface in the cover posture, and the operating tool 13 is stored so as to be fitted into the through hole 11c in the cover posture of the base 12. It is in posture. On the other hand, when the base 12 is in the standing posture, the operating tool 13 is placed in the palm of the right hand when the right hand is placed on the front half 11a of the main body with the back of the right hand of the operator facing outward. On the other hand, it stands up in a state facing the inside in the left direction, and is gripped with the finger of the right hand placed as described above and rotated around the front and rear direction operation, the up and down direction operation, and the axis facing the left and right direction. Although the rotation operation can be performed, the operation in the front-rear direction and the operation in the up-down direction are mixed (the operation in the oblique direction in which the front-rear and up-down operations are mixed).
The operation tool 13 includes a detector for detecting the operation amounts X, Y, and Z of these operations, that is, a front-rear direction operation amount detector 14, a vertical direction operation amount detector 15, and a rotation direction operation amount detector 16. The detected amounts X, Y, and Z can be wirelessly transmitted (transmitted by aerial transmission waves) by the transmission means 17.

  The traveling machine 1 is provided with receiving means 18 for receiving the radio signal transmitted by the transmitting means 17. The received signal received by the receiving means 18 is sent to a control unit (controller) 19, The control unit 19 discriminates (discriminates) each of the operation amounts X, Y, and Z, and based on this, the control unit 19 controls the expansion and contraction of the boom cylinder 6a, arm cylinder 7a, and bucket cylinder 8a. (Electromagnetic proportional control valves) 6b, 7b, and 8b output control signals, whereby the boom cylinder 6a, arm cylinder 7a, and bucket cylinder 8a are controlled to be switched, and the boom cylinder 6a and arm are controlled. Expansion and contraction control by remote operation of the cylinder 7a and bucket cylinder 8a can be performed.

  Incidentally, in the present embodiment, expansion / contraction control (drive control) by remote operation of the boom cylinder 6a, the arm cylinder 7a, and the bucket cylinder 8a is performed as follows. As shown in FIG. 1, the control unit 19 includes a boom angle α (the swing angle of the boom 6 relative to the fuselage), an arm angle β (the swing angle of the arm 7 relative to the boom 5), and a bucket angle γ (the bucket relative to the arm 7). Detection signals from the boom angle sensor 6d, the arm angle sensor 7d, and the bucket angle sensor 8d, which respectively detect the swing angle of 8). Then, the control unit 19 determines whether or not these input detection angles α, β, and γ correspond to the operation amounts X, Y, and Z. If they do not correspond, Control commands are output to 6b, 7b and 8b, and the control valves 6c, 7c and 8c are thereby switched to control the expansion and contraction of the boom cylinder 6a, arm cylinder 7a and bucket cylinder 8a. Since the expansion / contraction control is already generally known, further details are omitted. In the hydraulic circuit diagram of FIG. 8, E is an engine, 20 is a hydraulic pump, and 21 is an oil tank.

  Further, the main body rear half part 11b can be placed up to the front half part of the right arm forearm part in this embodiment, but the main body rear half part 11b is formed with an entrance / exit 11d. A guide rail 11e is formed. From the doorway 11d, the rear half of the right arm forearm can be placed in a state of projecting rearward, and the elbow rest 22 on which the elbow can be placed can be retracted in the front-rear direction while being guided by the guide rail 11e. Although it is provided, the elbow rest portion 22 can be stored in the main body 11 and, when stored in the main body 11, a through hole 22a corresponding to the main body through hole 11c is formed and operated. The tool 13 can be stored in a penetrating state. Incidentally, in the present embodiment, the elbow rest portion 22 is set so that the front half portion where the through-hole 22a is formed has a posture to be stacked on the main body rear half portion 11b when it is in a working posture that protrudes from the main body 11 to the maximum extent. However, it can also be set so that the front half part protrudes from the main body rear half part 11b.

  Further, a forearm detachment restricting body 23 is provided on the right outer edge of the rear half 11b via a support shaft 23a so as to be swingable in the left-right direction. The stowed posture stacked in a superposed manner on the upper surface of 11b and rises to the right outer side of the rear half portion 11b (swings further outward to the right than the vertical posture and stands at a position where the stowed posture is not caused by its own weight in the natural state. ), And can be biased to a regulating posture that regulates the forearm portion from coming off the right side outward from the rear half portion.

  Further, the main body 11 and the elbow rest portion 22 are provided with three tape-like binding bodies 24 formed of hook-and-loop fasteners at the front end portions, for example, beside the seat 25 of the vehicle on which the main body 11 is placed. The tight binding body 24 is wound in a state of being placed on a placement portion such as the armrest 25a and the surface fasteners are attached to each other, so that the armrest 25a can be firmly supported and fixed.

  In the embodiment for carrying out the present invention configured as described, the boom 6, the arm 7, and the bucket 8 that constitute the front attachment of the traveling machine body 1 are connected to the boom cylinder 6 a by an operation lever (not shown) disposed in the cab 5. The arm cylinder 7a and the bucket cylinder 8a are operated by extending and contracting them. However, in the case where the present invention is implemented, the arm cylinder 7a and the bucket cylinder 8a are remotely operated by the operation device 10 that can be carried independently while being taken out from the traveling machine body 1. be able to.

  In this case, the operating device 10 fixes the main body 11 to the armrest 25a on the side of the vehicle seat 25 with the binding body 24 and fixes the operation tool 13 and the forearm disengagement regulating body 23 in the standing posture, and further the elbow The placing portion 22 is pulled out backward to be in an operable state. In this state, the operator sits on the seat 25, puts the forearm portion of the right hand on the main body 11 and the elbow rest portion 22, and operates the operation tool 13 held by the finger of the right hand in the front-rear and up-down directions. When the turning operation is performed around the left and right axis, the operation amounts X, Y, and Z are wirelessly transmitted and received by the receiving means 18 provided in the traveling machine body 1, and based on this, the boom cylinder 6a, the arm cylinder 7a, and the bucket cylinder 8a. The telescopic operation of the front attachment can be remotely controlled.

In this remote operation, the operator holds and operates the operation tool 12 in the standing posture with a finger facing inward in the left-right direction with the forearm placed on the elbow rest 22 that is pulled out from the main body 11. This makes it possible to operate in a simple posture, which makes it easier to operate and less fatigue.
In addition, in this device, the forearm detachment restricting body 23 is in an upright posture so that the forearm of the operator does not come off in the left-right direction, so that the forearm posture collapses and the work becomes difficult. Things are also avoided.

  When the operation is completed, the operation tool 11, the elbow rest part 22, and the forearm part disengagement restricting body 23 are stored in the main body 11. However, the operating device 10 itself is compact and easy to carry. In addition, since the stored operating tool 11, the elbow rest part 22, and the forearm detachment restricting body 23 are bound by the binding body 24, they do not move carelessly.

In the above embodiment, the wireless remote control is performed. However, the present invention is not limited to this, and a terminal (connector) that can connect an external storage medium such as a USB memory is provided on the traveling machine side. A terminal connected to the lead wire is provided on the operating device side where the present invention is implemented so that it can be connected to this terminal so that a wired remote operation can be performed. Of course.
In the above embodiment, the case of remote operation of the front attachment of the hydraulic excavator has been described. However, the present invention is not limited to this. In the case of a hydraulic excavator, steering (steering) by the left and right traveling motors is included. It can also be used for remote operation of forward / reverse operation and turning operation of the upper turning body by the turning motor.
Further, in the above embodiment, the right arm is used, but the left arm can also be used. In this case, it goes without saying that the left and right are symmetrical.

  The present invention can be used as a remote operation device in a construction machine such as a hydraulic excavator.

DESCRIPTION OF SYMBOLS 1 Traveling machine body 6 Boom 6a Boom cylinder 7 Arm 7a Arm cylinder 8 Bucket 8a Bucket cylinder 10 Operating device 11 Main body 11a Front half part 11b Rear half part 13 Control tool 19 Control part 22 Elbow rest part restricting body 24 Binding body

Claims (8)

An operating device for operating an actuator provided in a construction machine, the operating device can be carried independently,
A main body that is arranged on one of the left and right sides of the operator and has a front half that can place the little finger side part of the operator's hand and a rear half that can place the forearm,
Swing pivotally supported on the inner edge of the front half of the main body in the left-right direction and retracted from the upper side of the front half of the main body, and put your hand on the front half of the main body with the back of the operator facing outward An operation tool that rises up and down to an operation posture that can be remotely operated to actuate an actuator by standing with the finger of the placed hand and standing on the inner side in the left-right direction facing the palm. An operating device in a construction machine. 2. The apparatus according to claim 1, further comprising an elbow rest part that can move freely in the front-rear direction from the rear end of the rear half of the main body and project an operator's elbow in a state of projecting backward. Operation device in construction machinery. The storage posture is pivotally supported on the outer edge in the left and right direction of the rear half of the main body, and is stored in the rear half of the main body from the upper side. The operating device for a construction machine according to claim 1 or 2, further comprising a forearm detachment restricting body that rises and falls in an upright posture that restricts detachment to the outside. The operating device for a construction machine according to any one of claims 1 to 3, wherein a storage space for storing the operation tool is recessed in the front half of the main body. The operating device for a construction machine according to claim 4, wherein the storage space is a through hole. The operating device for a construction machine according to any one of claims 1 to 5, wherein a binding body with a hook-and-loop fastener that can be bound to an armrest of a vehicle on which the main body is placed is provided. The operating device for a construction machine according to claim 1, wherein the operating tool is a 3D operating tool capable of remotely operating a plurality of actuators. The construction machine according to claim 1, wherein the construction machine is a hydraulic excavator, and the actuator is a boom cylinder, an arm cylinder, or a bucket cylinder.

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