JP7015739B2 - Remote control device for construction machinery - Google Patents

Description

The present invention relates to a remote control device for construction machines capable of remotely controlling a construction machine such as a hydraulic excavator (backhoe).

Construction machines such as hydraulic excavators (backhoes) have been active in various construction sites for some time.
In addition, this type of construction machine is expected to play an active role not only in ordinary construction sites but also in sites where it is dangerous for humans to enter. For example, repair work at an accident site at a nuclear power plant, restoration work at a volcanic eruption disaster site, restoration work at a site where slope collapse is expected such as landslides, buildings and structures partially destroyed by an earthquake or fire. The activity of this kind of construction machinery is indispensable in many situations such as demolition of things.

However, in such a work site, in the first place, the work that humans enter is an environment that entails a great danger, so in order to ensure the safety of construction, even humans engaged in the work should enter the site. I want to limit it as much as possible.

Furthermore, in recent years, there is a tendency to dislike engaging in dangerous work, and there is always a shortage of construction machine workers (operators) in dangerous environments, so due to natural disasters, etc. If it is desired to work in a sudden and large-scale dangerous environment, it is extremely difficult to secure workers (operators).
For this reason, there is a demand for unmanned and labor-saving construction machinery that is active in dangerous environments.

As an example of unmanned construction machinery, a worker (operator) operates a wireless remote control device to operate a construction machine such as a hydraulic excavator (backhoe) unmanned, for so-called radio control backhoes. A remote control device is known (Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-191249

However, remote control by radio control requires a completely different operation from the control operation in the cockpit of the hydraulic excavator (backhoe), so in general, an operator who operates the hydraulic excavator (backhoe) cannot handle it at all. Instead, it is necessary to hire a specialist in radio control operation technology separately.
Furthermore, even if you are an expert in radio control operation technology, you need to give considerable training to learn the required operation of hydraulic excavators (backhoes), so you can immediately respond in place of the lacking operator. It also has the problem that it is not something like that.

Therefore, the present invention is intended to solve these problems, and an object thereof is construction capable of remotely controlling an unmanned construction machine without requiring skill of operation of an operator (operator). It is to provide a remote control device for a machine.

In order to achieve the above object, the first invention as a technical means made by the present invention is a control unit that controls a construction machine, an operation unit that can remotely control the control unit, and the construction machine or the control. A photographing unit provided in either or both of the units and photographing an area similar to an area visible from the cockpit of the construction machine, and a control unit provided with a wireless device connecting the control unit and the operation unit. Consists of
The operation unit is a cockpit of the construction machine including at least a driver's seat on which the operator sits, an operation rod operated by the operator, a display unit for displaying a landscape photographed by the photographing unit, and an operation terminal. A similar cockpit-type control device,
The control unit is a robot-type control unit that is arranged in the cockpit of the construction machine and includes left and right arms and left and right legs that can be operated by remote control from the operation unit. The left and right arms have a plurality of joints and arm connections that can be connected to the left and right work levers provided in the cockpit of the construction machine, and each joint has an individual drive source. It is configured to work through
The left and right legs have a plurality of joints and leg connecting portions that can be connected to the left and right traveling levers provided in the cockpit of the construction machine, and the leg connecting portions are connected via a drive source. It is a remote control device for construction machinery, which is characterized by being configured to be operable.

According to the second aspect of the present invention, in the first aspect of the invention, the arm connecting portion has a connecting portion that can be screwed to and connected to the grip of the working lever provided in the cockpit of the construction machine. It is a remote control device for construction machinery that features.

A third aspect of the invention, according to the first or second invention, comprises a fuselage that is seated and secured in a seating area in the cockpit of the construction machine.
The torso has a fixed portion that is seated and fixed in a seat area in the cockpit of the construction machine, left and right arm support portions that connect the left and right arms, and left and right leg supports that connect the left and right legs. It consists of a department
The photographing unit is rotatably connected up, down, left and right between the left and right arm support portions.
The left and right arm portions include a shoulder portion connected to the left and right arm support portions, a first upper arm portion connected to the shoulder portion, an elbow portion connected to the first upper arm portion, and the elbow portion. It consists of a lower arm part connected to the lower arm part and an arm connection part formed integrally with the lower arm part and connected to the work lever.
The shoulder portion forms a first shoulder joint portion that is horizontally rotatable via a drive source with the arm support portion, and is driven with the first upper arm portion. Forming a second shoulder joint that is configured to be vertically rotatable through the source,
The elbow portion forms a first elbow joint portion that is vertically rotatable via a drive source with the first upper arm portion, and is driven with the lower arm portion. Forming a second elbow joint configured to be vertically rotatable through the source,
The left and right legs have a root portion connected to the left and right leg support portions, an upper leg portion connected to the root portion, a knee portion connected to the upper leg portion, and a lower leg connected to the knee portion. It consists of a portion and a leg connection portion that is integrally formed with the lower leg portion and is connected to the traveling lever.
The root portion forms a first lumbar joint portion rotatably configured in the horizontal direction with the leg support portion, and can rotate vertically with the first lumbar joint portion. Forming a second lumbar joint composed of
The knee portion is a remote control device for construction machinery configured to be rotatable in a direction perpendicular to the upper leg portion via a drive source.

A fourth aspect of the invention has a second upper arm portion connected to the shoulder portion and the elbow portion in the third invention, and the shoulder portion is perpendicular to the second upper arm portion. A third shoulder joint portion rotatably configured in the direction is formed, and the elbow portion forms a third elbow joint portion rotatably configured in the vertical direction with the second upper arm portion. The third shoulder joint portion is formed and arranged at a predetermined distance in the horizontal direction from the second shoulder joint portion, and the third elbow joint portion is horizontally arranged from the first elbow joint portion. The horizontal distance between the second shoulder joint and the third shoulder joint and the horizontal distance between the first elbow joint and the third elbow joint are The remote control device for construction machinery is characterized by being the same.

A fifth aspect of the invention is the fourth invention, wherein the first upper arm portion and the second upper arm portion are formed by being curved in a direction away from the second shoulder joint portion, respectively. It is a featured remote control device for construction machinery.
A sixth aspect of the present invention is that, in any one of the third to fifth inventions, the first shoulder joint portion is configured so that the rotation range with respect to the left and right arm support portions is limited. It is a featured remote control device for construction machinery.
According to a seventh aspect of the present invention, in any one of the third to sixth aspects, the knee portion is configured to be rotatable in the vertical direction with the upper leg portion via a drive source. A remote control device for construction machinery characterized by having a second knee joint portion that is vertically rotatable between the knee joint portion 1 and the lower leg portion. Is.

According to the present invention, it is possible to provide a remote control device for a construction machine capable of remotely controlling an unmanned construction machine without requiring a skill of operation of a worker (operator).

It is a schematic perspective view which shows the operation part of the apparatus of this invention. It is a schematic front view which shows the control part of the apparatus of this invention. It is a schematic side view which shows the control part of the apparatus of this invention installed in the cockpit of a construction machine, and shows the state which pushes down a work lever forward, and pulls down a traveling lever backward. It is an exploded schematic perspective view which shows the leg support part of the body part of the control part, and the root part of a leg part. It is a schematic perspective view which shows the chest part of the torso part and the arm support part. It is a schematic perspective view which shows the arm part. FIG. 3 is a partially enlarged perspective view showing an enlarged connection area between the shoulder portion, the first upper arm portion, and the second upper arm portion. It is a schematic perspective view which shows the shoulder part. It is a schematic perspective view which shows the 1st upper arm part. It is a schematic perspective view which shows the 2nd upper arm part. It is a schematic perspective view which shows the elbow part. It is a schematic perspective view which shows the connection area of the lower arm part and the arm connection part enlarged. It is a schematic perspective view which shows the state which the arm connection part is connected to a work lever in an enlarged manner. It is a schematic perspective view which shows the leg part. It is an exploded schematic perspective view which shows the upper leg part and the drive source of a leg part. It is a schematic perspective view which shows the knee part. It is a schematic perspective view which shows the lower leg part. It is a schematic enlarged perspective view which shows the state which the leg connection part is connected to a traveling lever partially enlarged. It is a schematic side view which shows the control part of the apparatus of this invention installed in the cockpit of a construction machine, and shows the state which the work lever is pulled backward and the traveling lever is pushed forward. It is a schematic side view explaining the movement of each joint part of an arm part, (a) shows the state which the first upper arm part and the second upper arm part face down, (b) is the first. It shows a state in which the upper arm portion and the second upper arm portion swing forward. It is a schematic side view which shows the control part by another embodiment of this invention, and shows the state which pushes down a work lever forward, and pulls down a traveling lever backward.

Hereinafter, an embodiment of the remote control device for construction machinery of the present invention will be described with reference to the accompanying drawings. In the present embodiment, a hydraulic excavator (backhoe) is given as an example of a construction machine, and the remote control device for a construction machine of the present invention is used for the hydraulic excavator (backhoe). It should be noted that the present embodiment is merely one embodiment of the present invention, and is not construed as being limited to these, and the design can be changed within the scope of the present invention.

The hydraulic excavator (backhoe) has left and right work levers 302 and 303 that rotate the arm to perform the desired work and voluntarily operate the bucket at the tip of the arm, and left and right to move the construction machine in the desired direction. The cockpit 24 is equipped with left and right traveling levers 304 and 305 that operate forward and backward movements of the endless track (track), respectively (see FIG. 3). A traveling pedal (not shown) linked to the traveling levers 304 and 305 may be provided.

In the present invention, the control unit 2 of the hydraulic excavator (backhoe) is operated by the operator (operator) with the operation unit 3 (see FIG. 1) located away from the hydraulic excavator (backhoe). It operates in conjunction with the operation of the cockpit 24, and enables work with an unmanned hydraulic excavator (backhoe) in which no operator is present in the cockpit 24.

The remote control device 1 for construction machinery according to the present invention includes a control unit 2 that controls a hydraulic excavator (backhoe), an operation unit 3 that can remotely control the control unit 2 from a location away from the hydraulic excavator (backhoe), and a hydraulic excavator. It includes a photographing unit 4 that captures an area similar to an area that can be visually recognized when operated by an operator in the cockpit 24 of the (backhoe), and a control unit 5 that causes the control unit 2 to reproduce the operation of the operation unit 3.

The operation unit 3 includes at least a driver's seat 31 on which an operator (not shown) sits, an operation pestle 32, and a display unit 33, and is a cockpit-type control device similar to the cockpit 24 of a hydraulic excavator (backhoe). (See FIG. 1).
The operating keys 32 correspond to the left and right working levers and the left and right traveling levers provided in the hydraulic excavator (backhoe), and are arranged in the same arrangement as in the cockpit 24 of the hydraulic excavator (backhoe). As a result, it is possible to provide the operator with an operation feeling that is the same as that of the operation with the hydraulic excavator (backhoe). That is, that is, since the operator of the hydraulic excavator can perform the same operation as the operation of the normal hydraulic excavator, it can be easily operated without any special practice. Therefore, compared with the case where the hydraulic excavator is wirelessly operated by the radio control operation, the operation ease and the operation certainty are very excellent.

Of the operating pestle 32, the left and right working operating pestle 34a and 34b correspond to the left and right working levers 302 and 303 of the hydraulic excavator (backhoe) and are operated as so-called joysticks that are tilted back and forth and left and right. In this case, the displacement amount of the tilt of the working operation punches 34a and 34b in the front-back and left-right directions is electrically detected.
Further, of the operating pestle 32, the left and right traveling operating pestle 35a and 35b correspond to the left and right traveling levers 304 and 305 of the hydraulic excavator (backhoe) and are operated as levers for pulling and tilting back and forth. In this case, the amount of displacement of the front and rear tilts of the traveling operating punches 35a and 35b is electrically detected.

The display unit 33 is a display device that displays an image in an area similar to the area visible from the cockpit 24 photographed by the photographing unit 4.
In the present embodiment, a liquid crystal display device for displaying the image on a thin liquid crystal panel is adopted, and three display devices 33a, 33b, 33c are arranged in a horizontal row in front of the driver's seat 31. In this case, the central display device 33a displays an image of the viewpoint from the operator who gazes at the bucket, and the left and right display devices 33b and 33c display the outer frame of the cockpit 24 of the hydraulic excavator (backhoe). The viewpoint in the bucket direction is displayed from 24a.

In the present embodiment, three display devices 33a, 33b, 33c are arranged in parallel, but the display format, number, and arrangement of the display devices are not limited to this, and the video is concerned. If it can be projected, it may be freely set according to the installation site of the operation unit 3 and the demand for operation.
For example, one horizontally long display device or a display device curved in an annular shape may be arranged. Furthermore, the image of the projection type display device (projector type display device) may be projected on the screen (curtain), and further, a display device (HMD: Head mounted display, etc.) that the operator wears in front of the eyes may be used. It may be displayed as). In that case, the display device detects the movement of the operator's head, and based on the detection result, the center of the displayed image is controlled to move according to the movement of the operator's head. Is also good.
In addition, if a pair of left and right images of the shooting unit are displayed in front of the left and right eyes to provide parallax in the images so that a three-dimensional sense of distance can be identified, the positional relationship between the bucket and the object to be constructed can be determined. It is easy to recognize, so it is useful for accurate operation.

The control unit 2 is arranged in the cockpit 24 of the hydraulic excavator (backhoe), and the operation of the operation keys 32 (working operation keys 34a, 34b and running operation keys 35a, 35b) in the operation unit 3 can be performed on the left and right sides. By reproducing the movements of the arms 6, 6 and the left and right arms 7, 7, the remote operation of the hydraulic excavator (backhoe) is realized.
Further, the control unit 2 includes a body portion 21, a pair of left and right arm portions 6 and 6 provided on the left and right sides of the body portion 21, a pair of left and right leg portions 7 and 7 provided on the lower side of the body portion 21, and an arm. It is composed of a plurality of drive sources 101, 102, 103, 104 for operating the portions 6 and 6 and a plurality of drive sources 201 and 202 for operating the legs 7 and 7, and has a robot-type form.

The body portion 21 is a portion that becomes a body portion in a robot-type form, and is a base portion that is continuously arranged at a fixed portion 21a and a lower portion of the fixing portion 21a and placed on a seat portion 306a of a hydraulic excavator (backhoe). It is composed of 21b, a chest portion 21c continuously arranged on the upper part of the fixing portion 21a, and arm support portions 22 and 22 arranged on the left and right sides of the chest portion 21c.
The fixing portion 21a is formed in a prismatic shape having a height dimension capable of holding the chest portion 21c at a predetermined height in the cockpit 24, and the base portion 21b and the chest portion 21c are integrated so that their rear surfaces are continuous. It is configured in.

The base portion 21b is formed in the shape of a flat plate in the horizontal direction.
Further, on the front side of the base portion 21b (closer to the tip in the direction indicated by the arrow B in FIG. 3), the left and right leg support portions 21f and 21f that mount and support the left and right leg portions 7 and 7 are located on the left side and the right side, respectively. It is provided at a predetermined distance from the position. In the present embodiment, the holes penetrating the base portion 21b in the vertical direction function as the leg support portions 21f and 21f.
Therefore, the front-rear length dimension of the base portion 21b is set so that the left and right leg portions 7, 7 can be arranged in front of the seat portion 306a when the base portion 21b is placed on the seat portion 306a.

Further, the width dimension of the base portion 21b in the left-right direction (dimension in the direction indicated by the arrow C in FIGS. 2 and 4) does not tilt or move back and forth and left and right when placed on the seat portion 306a. It suffices if it is set to a width dimension of about.
Regarding the thickness dimension of the base portion 21b, it is sufficient that each member can be reliably positioned without bending or bending when placed on the seat portion 306a. It may be set freely in consideration of the balance.

The chest portion 21c is formed in a box shape, and the left and right arm support portions 22 and 22 are continuously provided on the left and right sides thereof, respectively.
In the present embodiment, the length dimension of the chest 21c in the anteroposterior direction is set to be slightly longer than the left and right arm support portions 22 and 22 (see FIG. 5).
The width dimension of the chest portion 21c (the dimension in the direction indicated by the arrow C in FIG. 5) is set to, for example, a dimension corresponding to the distance between the left and right working levers 302 and 303 of the hydraulic excavator (backhoe). With this setting, the left and right arm portions 6, 6 connected to the left and right arm support portions 22, 22 and the left and right work levers 302, 303 have approximately the same left-right separation width, so that the left and right arms are separated from each other. The arrangement is such that the work levers 302 and 303 can be easily operated.

As shown in FIG. 5, the left and right arm support portions 22, 22 are symmetrical U-shaped members that are opened outward in the left-right direction (direction indicated by the arrow C in FIG. 5, respectively). It is arranged in. Since the shape is symmetrical, one arm support portion 22 will be specifically described here.

The arm support portion 22 includes a substrate 22a formed flat in the vertical direction and an upper horizontal plate 22b formed by extending horizontally from the upper end of the substrate 22a continuously outward (outward in the left-right direction). It is composed of a lower horizontal plate 22c formed by extending horizontally from the lower end of the substrate 22a continuously outward (outward in the left-right direction).
Become. Since both the upper horizontal plate 22b and the lower horizontal plate 22c extend horizontally, they are in a positional relationship parallel to each other.
The substrate 22a is fixed to the side surface 21d (21e) of the chest 21c and arranged integrally. As a means for fixing the substrate 22a to the side surface 21d (21e), for example, it may be firmly fixed by fastening with bolts and nuts, welding, riveting, etc., and here, in particular, the fixing means is used. Not limited. The other arm support portion 22 is also fixed to the opposite side surface of the chest portion 21c in the same manner.

The upper horizontal plate 22b and the lower horizontal plate 22c are in the vertical direction (indicated by arrows AD in FIG. 5) toward the outer corners of their respective front ends (tips in the direction indicated by arrow B in FIG. 5). It has an upper connecting hole 22d and a lower connecting hole 22e penetrating in the direction), and the upper connecting hole 22d and the lower connecting hole 22e are coaxially provided with one virtual axis 2B as a central axis. There is.
Further, the upper horizontal plate 22b has an elongated hole 22g which penetrates in the vertical direction and is formed in an arc shape having a diameter larger than that of the upper connecting hole 22d.

The drive source 101 is arranged on the upper connecting hole 22d of the upper horizontal plate 22b, and is fixed to the upper horizontal plate 22b by the stay 101a.
At this time, the drive shaft 101b of the drive source 101 is inserted into the upper connecting hole 22d coaxially with the virtual axis 2B and faces the lower side of the upper horizontal plate 22b.
As the drive source 101, a drive source capable of arbitrarily controlling the rotation operation may be appropriately selected. For example, in this embodiment, an electric motor that can be remotely controlled is adopted.

An example of fixing the body portion 21 to the cockpit 24 of the hydraulic excavator (backhoe) will be described here. The lower surface of the base portion 21b is in contact with the upper surface of the seat portion 306a, and the continuous rear surface of the fixing portion 21a and the chest portion 21c is the seat 306. It is placed so as to be in contact with the backrest portion 306b.
Next, the seat belt 307 is hung around the lower side of the fixing portion 21a and fastened with the buckle of the seat belt 307. Further, by tightening the fixing portion 21a together with the backrest portion 306b of the seat 306 with the belt 307a, the control portion 2 is firmly fixed in the cockpit 24 of the hydraulic excavator (backhoe).

In the present embodiment, by adopting such a fixing method, the control unit 2 is placed in the cockpit 24 of the hydraulic excavator (backhoe) without making any changes to the seat 306 portion of the existing hydraulic excavator (backhoe). Since it can be fixed, it adds high versatility to the remote control device for construction machinery according to the present invention.
The method of fixing the control unit 2 in the cockpit 24 of the hydraulic excavator (backhoe) is not limited to this, and can be freely set according to the configuration of the hydraulic excavator (backhoe) and the demand of the work site. It's fine. For example, the seat 306 in the cockpit 24 may be removed, and a fixture for fixing the control unit 2 to a predetermined position may be separately installed and fixed.

Although the prismatic fixing portion 21a is adopted in the present embodiment, the fixing portion 21a may have another shape as long as the chest portion 21c can be held at a predetermined height. For example, a plurality of thin prisms extending between the base 21b and the chest 21c may be formed as a skeleton only, or a truss structure steel material may be extended between the base 21b and the chest 21c. May be there.
Further, although the box-shaped chest portion 21c is adopted in the present embodiment, other shapes may be used as long as the left and right arm support portions 22 and 22 can be positioned at predetermined positions. For example, a truss-structured steel material may be assembled between the left and right arm support portions 22 and 22 to form the chest 21c. Alternatively, the body portion 21 may not have the chest portion 21c. In that case, the left and right arm support portions 22, 22 may be closely fixed to each other with the substrates 22a, and may also be closely fixed to the upper part of the fixing portion 21a.

The left and right arm portions 6 and 6 are robot-shaped arms, and are composed of a shoulder portion 61, an upper arm portion 62, an elbow portion 63, a lower arm portion 64, and an arm connecting portion 8, respectively.
Further, the left and right arm portions 6 and 6 are connected to the left and right arm support portions 22 and 22, respectively, and function as arm portions, so that the left and right arm portions have the same configuration. Therefore, here, one arm portion 6 will be described, and the description of the other arm portion 6 will be omitted.

The shoulder portion 61 is formed in a box shape that is sandwiched between the upper horizontal plate 22b and the lower horizontal plate 22c of the arm support portion 22 and is rotatably supported in the left-right direction (see FIG. 8).
Specifically, the vertical plate 61a, the top plate 61b extending horizontally from the upper end of the vertical plate 61a, and the top plate 61b extending horizontally from the lower end of the vertical plate 61a in the same direction as the top plate 61b. It consists of a bottom plate 61c that has been pulled out, and a pair of side plates 61d and 61e that hang down continuously from both ends (sides orthogonal to the vertical plate 61a) in the left-right direction (direction of arrow C in FIG. 8) of the top plate 61b, respectively.

The vertical dimension of the vertical plate 61a is the spatial dimension between the upper horizontal plate 22b and the lower horizontal plate 22c of the arm support portion 22 (the dimension in which the upper horizontal plate 22b and the lower horizontal plate 22c are vertically separated from each other). It is set to a slightly smaller dimension than.
The vertical dimension of the pair of side plates 61d, 61e is set to about half of the vertical dimension of the vertical plate 61a.
A shaft fitting hole 66a is bored in the top plate 61b, and a lower shaft 66b is vertically provided in the bottom plate 61c toward the bottom. The shaft fitting hole 66a and the lower shaft 66b are coaxially provided with one virtual axis 2E (see FIG. 6) as a central axis.
Further, the rotation control pin 61h is integrally projected upward on the top plate 61b. The rotation control pin 61h is provided at a predetermined distance from the shaft fitting hole 66a, and the separation dimension is the same as the separation dimension between the upper connecting hole 22d of the arm support portion 22 and the elongated hole 22g. ing.

The side plate 61d and the side plate 61e have a first communication hole 63a and a first communication hole 63b that are coaxially provided with one virtual axis 2C (see FIG. 8) as a central axis and penetrate in the horizontal direction. Further, it has a second communication hole 64a and a second communication hole 64b that are coaxially provided with one virtual axis 2D (see FIG. 8) as a central axis and penetrate in the horizontal direction.
Further, the first communication holes 63a and 63b (virtual axis 2C) and the second communication holes 64a and 64b (virtual axis 2D) have a predetermined distance E back and forth in the horizontal direction (direction of arrow B in FIG. 8). It will be set up open.

In the shaft fitting hole 66a of the shoulder portion 61, the drive shaft 101b of the drive source 101 provided on the upper horizontal plate 22b of the arm support portion 22 is inserted from above and fitted integrally, and is fitted under the shoulder portion 61. The shaft 66b is slidably inserted into the lower connecting hole 22e of the arm support portion 22. As a result, the shoulder portion 61 is rotatably connected horizontally by the drive source 101 between the upper horizontal plate 22b and the lower horizontal plate 22c of the arm support portion 22.
At this time, the shaft fitting hole 66a and the lower shaft 66b and the upper connecting hole 22d and the lower connecting hole 22e are arranged so that the virtual axis 2E and the virtual axis 2B overlap each other, and the shoulder portion 61 is between the arm support portion 22. It functions as a first shoulder joint portion 66 (joint portion) that is rotatably configured in the horizontal direction (horizontal direction).
Further, since the drive shaft 101b is arranged on the virtual axis 2B, the drive source 101 becomes a drive source for the first shoulder joint portion 66.

As for the connecting means between the arm support portion 22 and the shoulder portion 61, the shoulder portion 61 may be connected to the arm support portion 22 in a horizontal direction so as to be rotatable left and right without falling off due to an external force during work. Here, the connection means is not limited.
A friction reducing means (for example, a rolling bearing) may be interposed between the drive shaft 101b of the drive source 101 and the shaft fitting hole 66a, and between the lower shaft 66b and the lower communication hole 22e, respectively. preferable. For example, although not shown, the fixed ring of the rolling bearing is fitted into the shaft fitting hole 66a and the lower connecting hole 22e, respectively, and the rotating wheel of the rolling bearing is fitted into the drive shaft 101b and the lower shaft 66b, respectively. , Shall be rotatably connected.
Further, the drive shaft 101b of the drive source 101 may be configured to be engaged and connected in the shaft fitting hole 66a of the shoulder portion 61 so as not to slip. For example, a spline (shaft groove) may be connected to the drive shaft 101b. ) Is formed, a spline hole (hole groove) is formed in the shaft fitting hole 66a, and a connection means for fitting the spline and the spline hole may be adopted.
Further, when the drive shaft 101b of the drive source 101 is inserted and fitted into the shaft fitting hole 66a of the shoulder portion 61, the rotation control pin 61h of the shoulder portion 61 is inserted into the elongated hole 22g of the arm support portion 22. Is inserted. Since the rotation control pin 61h can move only within the angle range of the elongated hole 22g formed in an arc shape, the angle range of the rotation operation of the shoulder portion 61 with respect to the arm support portion 22 is restricted.

The upper arm portion 62 is arranged over a pair of first upper arm portions 621 and 622 (see FIGS. 6 and 9) arranged over the shoulder portion 61 and the elbow portion 63, and also over the shoulder portion 61 and the elbow portion 63. It consists of a pair of second upper arm portions 623, 624 (see FIGS. 6 and 10).
The first upper arm portions 621 and 622 are each formed to have the same shape, and are arranged in parallel at predetermined intervals. The specific shape is formed in a thin plate shape in the left-right direction (direction indicated by the arrow C in FIG. 9), and the upper portions 621a, 622a, the lower portions 621b, 622b, and the front ends of the upper portions 621a, 622a (in FIG. 9). It is composed of a bow-shaped intermediate portion 621c, 622c that extends forward (the tip in the direction indicated by the arrow B) and the front end of the lower portions 621b, 622b, and is greatly curved toward the front. Therefore, spaces 627 and 627a are provided between the upper portion 621a (622a) and the lower portion 621b (622b).

The first upper arm portion 621 and the first upper arm portion 622 communicate with each other in the upper portions 621a and 622a so as to penetrate in the horizontal direction coaxially with one virtual axis 6A (see FIG. 9) as a central axis. A lower communication hole 626 and an upper side that have a hole 625 and an upper communication hole 625a and are provided coaxially with one virtual axis 6B (see FIG. 9) as a central axis in the lower parts 621b and 622b. It has a communication hole 626a.
The upper communication hole 625 and the upper communication hole 625a are connected to the shoulder portion 61, and the lower communication hole 626 and the upper communication hole 626a are connected to the elbow portion 63.

The first upper arm portion 621 has an upper support portion 628 in a region below the upper communication hole 625 (direction indicated by arrow D in FIG. 9), and further above the lower communication hole 626 (in FIG. 9). The lower support portion 629 is provided in the region (direction indicated by the arrow A).
The first upper arm portion 622 has an upper support portion 628a in a region facing the upper support portion 628 (a region facing the lower region of the upper communication hole 625a) and a region facing the lower support portion 629 (lower). A lower support portion 629a is provided in a region facing the region above the side communication hole 626a).

The drive source 102 is formed to have the same width as the gap between the first upper arm portion 621 and the first upper arm portion 622, and is sandwiched and fixed between the upper support portion 628 and the upper support portion 628a.
The drive shafts 102a and 102a penetrate the upper communication hole 625 of the first upper arm portion 621 and the upper communication hole 625a of the first upper arm portion 622, and axis one virtual axis 6A (see FIG. 9). Each is fitted as. At this time, the respective tip portions of the drive shafts 102a and 102a project to the outside of the upper support portion 628 and the upper support portion 628a.
As a result, the power of the drive shafts 102a and 102a is transmitted to the first upper arm portions 621 and 622 via the upper connecting holes 625 and 625a, and the first upper arm portions 621 and 622 are configured to be rotatable in the vertical direction. ..

The drive source 103 is formed to have the same width as the gap between the first upper arm portion 621 and the first upper arm portion 622, and is sandwiched and fixed between the lower support portion 629 and the lower support portion 629a. To.
At this time, the drive shafts 103a and 103a of the drive source 103 are slidably inserted into the lower communication hole 626 of the first upper arm portion 621 and the lower communication hole 626a of the first upper arm portion 622. It is arranged coaxially on one virtual axis 6B (see FIG. 9). At this time, the respective tip portions of the drive shafts 103a and 103a penetrate the lower support portion 629 and the lower support portion 629a and project outward.

As the drive source 102 and the drive source 103, a drive source capable of arbitrarily controlling the rotation operation may be appropriately selected. For example, in this embodiment, an electric motor that can be remotely controlled is adopted.
Further, the means for fixing the drive source 102 between the upper support portion 628 and the upper support portion 628a and the means for fixing the drive source 103 between the lower support portion 629 and the lower support portion 629a are driven. Since the fixing position may be firmly fixed so as not to shift due to the operation of the source 102 and the drive source 103 or an external force, the fixing means is not specified here. For example, the drive source 102 and the drive source 103 may be fixed by screws penetrating the first upper arm portion 621 and the first upper arm portion 622.

When connecting the first upper arm portions 621 and 622 to the shoulder portion 61, the upper communication hole 625 of the first upper arm portion 621 is arranged so as to overlap from the inside of the first communication hole 63a of the shoulder portion 61. The upper communication hole 625a of the first upper arm portion 622 is arranged so as to overlap from the inside of the first communication hole 63b of the shoulder portion 61, and is pivotally supported by the drive shaft 102a. Ru.
By being axially supported in this way, when the first upper arm portions 621 and 622 are in the downward position, the spaces 627 and 627a of the first upper arm portions 621 and 622 escape and the shoulders. Accommodates the bottom plate 61c of the portion 61. As a result, interference between the first upper arm portions 621 and 622 and the bottom plate 61c can be avoided.
At this time, the first communication holes 63a and 63b of the shoulder portion 61 and the upper communication holes 625 and 625a of the first upper arm portions 621 and 622 are arranged so that the virtual axis 2C and the virtual axis 6A overlap each other, and the shoulder portion. It functions as a second shoulder joint portion 67 (joint portion) that is rotatably configured in the vertical direction (vertical direction) between the 61 and the first upper arm portions 621 and 622.
Further, since the drive source 102 in which the drive shaft 102a is sandwiched between the upper communication holes 625 and 625a of the first upper arm portions 621 and 622 is also arranged on the virtual axis 2C, it overlaps with the virtual axis 6A and the second shoulder. It serves as a drive source for the joint portion 67.

Regarding the connecting means between the shoulder portion 61 and the first upper arm portions 621 and 622, the first upper arm portions 621 and 622 can be rotated horizontally with respect to the shoulder portion 61 and fall off due to an external force in the work. It suffices to be connected without any limitation, and the connection means is not limited here.
For example, the upper communication holes 625 and 625a of the first upper arm portions 621 and 622 are fixed to the drive shaft 102a of the drive source 102 which is supported and fixed between the upper support portions 628 and 628a of the first upper arm portions 621 and 622. It may be connected and the first communication holes 63a and 63b of the shoulder portion 61 may be rotatably connected to the drive shaft 102a.
In that case, it is preferable that friction reducing means (for example, a rolling bearing) is interposed between the first communication holes 63a and 63b of the shoulder portion 61 and the drive shaft 102a, respectively. For example, the fixed ring of the rolling bearing may be fitted into the first communication holes 63a and 63b of the shoulder portion 61, respectively, and the rotating ring of the rolling bearing may be fitted into the drive shaft 102a so as to be rotatably connected. ..

The second upper arm portions 623 and 624 are formed in the same shape, and are arranged in parallel at predetermined intervals. Further, in the present embodiment, the second upper arm portions 623 and 624 are arranged outside the first upper arm portions 621 and 622 so as to sandwich the first upper arm portions 621 and 622 in between. The specific shape is a thin plate in the left-right direction (direction of arrow C in FIG. 10), and is continuously inclined forward (in the direction of arrow B in FIG. 10) from the upper portions 623a and 624a. The inclined portions 623c and 624c formed so as to protrude, the front side portions 623d and 624d hanging continuously downward (in the direction of arrow D in FIG. 10) from the inclined portions 623c and 624c, and the front side portions 623d and 624d. From the upper part 623a, 624a to the lower part 623b, 624b formed so as to have the same width in the front-rear direction from the lower part 623b, 624b formed in a continuous inclined shape backward (in the direction opposite to the arrow B in FIG. 10). Has been done. Therefore, there are spaces 627b and 627c between the upper parts 623a and 622a and the lower parts 623b and 624b.

The second upper arm portion 623 and the second upper arm portion 624 communicate horizontally with one virtual axis 6C (see FIG. 10) coaxially with the upper portions 623a and 624a. A lower communication hole 637 having a hole 636 and an upper communication hole 636a, which are coaxially provided in the lower portions 623b and 624b with one virtual axis 6D (see FIG. 10) as a central axis and penetrates in the horizontal direction. It has a lower communication hole 637a.
The upper communication hole 636 and the upper communication hole 636a are connected to the shoulder portion 61, and the lower communication hole 637 and the lower communication hole 637a are connected to the elbow portion 63.

When connecting the second upper arm portions 623 and 624 to the shoulder portion 61, the upper communication hole 636 of the second upper arm portion 623 is arranged so as to overlap from the outside of the second communication hole 64a of the shoulder portion 61. The shaft is rotatably supported, and the upper communication hole 636a of the second upper arm portion 624 is arranged so as to overlap with the outside of the second communication hole 64b of the shoulder portion 61 and is rotatably supported.
By being axially supported in this way, when the second upper arm portions 623 and 624 are positioned downward, the spaces 627b and 627c of the second upper arm portions 623 and 624 become an escape in the forward direction. Therefore, the bottom plate 61c of the shoulder portion 61 is accommodated, and interference between the second upper arm portions 623 and 624 and the bottom plate 61c can be avoided.
At this time, the second communication holes 64a and 64b of the shoulder portion 61 and the upper communication holes 636 and 636a of the second upper arm portions 623 and 624 are arranged so that the virtual axis 2D and the virtual axis 6C overlap each other. It functions as a third shoulder joint portion 80 (joint portion) that is rotatably configured in the vertical direction (vertical direction) between the portion 61 and the second upper arm portion 623, 624.

Regarding the connecting means between the shoulder portion 61 and the second upper arm portion 623, 624, the shoulder portion 61 can be rotated in the direction perpendicular to the second upper arm portion 623, 624 and does not fall off due to an external force in the work. It suffices to be connected, and the connection means is not limited here.
When connecting the second upper arm portion 623, 624 to the shoulder portion 61, the space between the second communication hole 64a of the shoulder portion 61 and the upper communication hole 636 of the second upper arm portion 623, and the shoulder portion. It is preferable that a friction reducing means (for example, a rolling bearing) is interposed between the second communication hole 64b of 61 and the upper communication hole 636a of the second upper arm portion 624, respectively. For example, the fixed ring of the rolling bearing is fitted into the second communication holes 64a and 64b, respectively, and the rotation fitted to the rotary wheel of the rolling bearing is fitted into the upper communication holes 636 and 636a of the second upper arm portions 623 and 624, respectively. It suffices if the shaft is fitted so as to be rotatably connected.

The elbow portions 63 are composed of a pair of elbow constituent plates 631,632 having the same shape and formed in a thin plate shape in the left-right direction (arrow C direction in FIG. 11), and are arranged in parallel at predetermined intervals. There is.
Specifically, the elbow constituent plates 631, 632 have upper sides 631a, 632a formed horizontally and front inclined sides 631b, 632b formed continuously downward from the front ends of the upper sides 631a, 632a. , The front side sides 631c and 632c continuously formed in the vertical direction from the front ends of the front inclined sides 631b and 632b, and continuously formed over the lower ends of the front side sides 631c and 632c and the rear ends of the upper sides 631a and 632a. It is composed of curved sides 631d and 632d.

The elbow configuration plate 631 and the elbow configuration plate 632 are coaxial with the region on the rear end side of the upper sides 631a and 632a (the region on the curved sides 631d and 632d side) with one virtual axis 6E (see FIG. 11) as the central axis. It has a first communication hole 633 and a first communication hole 633a that penetrate in the horizontal direction.

Further, one virtual axis 6F (see FIG. 11) is coaxially provided in the lower end side region (curved side 631d, 632d side region) of the front side sides 631c and 632c with one virtual axis 6F (see FIG. 11) as the central axis, and penetrates in the horizontal direction. It has two communication holes 634 and a second communication hole 634a.

Further, in the region on the front end side of the upper sides 631a and 632a (the region on the front inclined sides 631b and 632b side), one virtual axis 6G (see FIG. 11) is provided coaxially with the central axis and penetrates in the horizontal direction. It has 3 communication holes 635 and a 3rd communication hole 635a.

The distance F at which the third communication holes 635 and 635a are separated from the first communication holes 633 and 633a is the distance E at which the second communication holes 64a and 64b of the shoulder portion 61 are separated from the first communication holes 63a and 63b. Is set to the same distance as.

The first upper arm portion 621 is connected to the first communication hole 633 of the elbow configuration plate 631, and the first upper arm portion 622 is connected to the first communication hole 633a of the elbow configuration plate 632.
The lower arm portion 64 is connected to the second communication hole 634 of the elbow configuration plate 631 and the second communication hole 634a of the elbow configuration plate 632.
A second upper arm portion 623 is connected to the third communication hole 635 of the elbow configuration plate 631, and a second upper arm portion 624 is connected to the second communication hole 634a of the elbow configuration plate 632.

When connecting the first upper arm portion 621 to the elbow constituent plate 631 of the elbow portion 63, the lower communication hole 626 of the first upper arm portion 621 overlaps with the inside of the first communication hole 633 of the elbow constituent plate 631. It is arranged in such a manner and is pivotally supported by the drive shaft 103a. Further, when connecting the first upper arm portion 622 to the elbow constituent plate 632 of the elbow portion 63, the lower communication hole 626a of the first upper arm portion 622 is inside the first communication hole 633a of the elbow constituent plate 632. It is arranged so as to overlap with each other and is pivotally supported by the drive shaft 103a.
At this time, the first communication holes 633 and 633a of the elbow constituent plates 631, 632 of the elbow portion 63 and the lower communication holes 626 and 626a of the first upper arm portions 621 and 622 are the virtual axis 6E and the virtual axis 6B. Are arranged to overlap each other, and function as a first elbow joint portion 68 (joint portion) that is vertically rotatable between the elbow portion 63 and the first upper arm portions 621 and 622.
Further, since the drive source 103 in which the drive shaft 103a is sandwiched and fixed between the lower communication holes 626 and 626a of the first upper arm portions 621 and 622 is also arranged on the virtual axis 61B, it overlaps with the virtual axis 6E. It serves as a drive source for the first elbow joint portion 68.

When connecting the second upper arm portion 623 to the elbow constituent plate 631 of the elbow portion 63, the lower communication hole 637 of the second upper arm portion 623 overlaps with the outside of the third communication hole 635 of the elbow constituent plate 631. The shafts are rotatably supported by arranging them in such a manner. Further, when the second upper arm portion 624 is connected to the elbow constituent plate 632 of the elbow portion 63, the lower communication hole 637a of the second upper arm portion 624 is outside the third communication hole 635a of the elbow constituent plate 632. The shafts are rotatably supported by arranging them so as to overlap with each other.
At this time, the third communication holes 635 and 635a of the elbow constituent plates 631, 632 of the elbow portion 63 and the lower communication holes 637 and 637a of the second upper arm portions 623 and 624 are the virtual axis 6G and the virtual axis 6D. Are arranged to overlap each other, and function as a third elbow joint 81 (joint portion) that is vertically rotatable between the elbow 63 and the second upper arm 623, 624.

Regarding the means for connecting the first upper arm portion 621, 622 and the elbow constituent plate 631, 632 of the elbow portion 63, the first upper arm portion 621, 622 is rotated in the direction perpendicular to the elbow constituent plate 631, 632. It suffices to be movable and connected without falling off due to an external force in the work, and the connection means is not limited here.
For example, the lower communication hole 626 of the first upper arm portion 621, 622 in the drive shaft 103a of the drive source 103 (supported and fixed between the lower support portions 629, 629a of the first upper arm portion 621, 622). The 626a may be fixedly connected, and the first communication holes 633, 633a of the elbow constituent plates 631, 632 may be rotatably connected to the drive shaft 103a.
In that case, it is preferable that a friction reducing means (for example, a rolling bearing) is interposed between the drive shaft 103a and the first communication holes 633 and 633a of the elbow constituent plates 631, 632, respectively. For example, the fixed wheels of the rolling bearings are fitted into the first communication holes 633 and 633a of the elbow constituent plates 631, 632, respectively, and the rotating shaft fitted to the rotating wheels of the rolling bearings is fixed to the drive shaft 103a. It suffices if it is rotatably connected.

Regarding the means for connecting the elbow constituent plates 631,632 and the second upper arm portions 623 and 624, the elbow constituent plates 631,632 can be rotated in the direction perpendicular to the second upper arm portions 623 and 624 and can be rotated. It suffices to be connected without falling off due to an external force in the work, and the connection means is not limited here.
When connecting the second upper arm portions 623 and 624 to the elbow constituent plates 631, 632, the third communication hole 635 of the elbow constituent plate 631 and the lower communication hole 637 of the second upper arm portion 623 are connected. It is preferable that a friction reducing means (for example, a rolling bearing) is interposed between the space and between the third communication hole 635a of the elbow constituent plate 632 and the lower communication hole 637a of the second upper arm portion 624, respectively. For example, the fixed ring of the rolling bearing is fitted into the third communication holes 635 and 635a, respectively, and the rotation fitted to the rotary wheel of the rolling bearing into the lower communication holes 637 and 637a of the second upper arm portions 623 and 624, respectively. By fixing the shaft, it may be rotatably connected.

The lower arm portion 64 includes a pair of side plates 641 and 642 arranged parallel to each other in the left-right direction, a box-shaped body 643 sandwiched between the front sides of the pair of side plates 641,642 and fixed integrally, and a drive source. It consists of 104.
The side plate 641 and the side plate 642 are formed long in the front direction (direction of arrow B in FIG. 12), and are provided coaxially with one virtual axis 6H (see FIG. 12) as a central axis on the rear end side and horizontally. It has a communication hole 644 and a communication hole 644a penetrating in the direction.
The drive source 104 is formed to have the same width as the distance between the side plate 641 and the side plate 642, and is sandwiched between the side plate 641 and the rear side of the side plate 642 to be supported and fixed.
At this time, the drive shafts 104a and 104a of the drive source 104 are fitted into the communication holes 644 of the side plate 641 and the communication holes 644a of the side plate 642, and are coaxially on one virtual axis 6H (see FIG. 12). Be distributed.
As for the type of the drive source 104, a drive source capable of arbitrarily controlling the rotation operation may be appropriately selected. For example, in this embodiment, an electric motor that can be remotely controlled is adopted.

When the lower arm portion 64 is connected to the elbow configuration plate 631 of the elbow portion 63, the communication hole 644 of the thin plate 641 of the lower arm portion 64 is from the inside of the second communication hole 634 of the elbow configuration plate 631 of the elbow portion 63. They are arranged so as to overlap each other and are pivotally supported by the drive shaft 104a. Further, when the lower arm portion 64 is connected to the elbow constituent plate 632 of the elbow portion 63, the communication hole 644a of the thin plate 642 of the lower arm portion 64 becomes the second communication hole 634a of the elbow constituent plate 632 of the elbow portion 63. It is arranged so as to overlap from the inside and is pivotally supported by the drive shaft 104a.
At this time, the second communication holes 634 and 634a of the elbow constituent plates 631 and 632 of the elbow portion 63 and the communication holes 644 and 644a of the lower arm portion 64 are arranged so that the virtual axis 6F and the virtual axis 6H overlap each other. It functions as a second elbow joint portion 69 (joint portion) configured to be rotatable in the vertical direction between the elbow portion 63 and the lower arm portion 64.
Further, the drive source 104 sandwiched between the side plates 641 and 642 of the lower arm portion 64 also overlaps with the virtual axis 6F because the drive shaft 104a is arranged on the virtual axis 6H, and the drive source of the second elbow joint portion 69. Will be.

Regarding the connecting means between the elbow constituent plates 631,632 and the lower arm portion 64, the lower arm portion 64 can be rotated in the direction perpendicular to the elbow constituent plates 631,632 and is connected without falling off due to an external force during work. Here, the connection means is not limited.
For example, the communication holes 644, 644a of the lower arm portion 64 are fixedly connected to the drive shaft 104a of the drive source 104 (supported and fixed between the side plates 641 and 642), and the second communication holes of the elbow configuration plates 631 and 632 are connected. 634,634a may be rotatably connected to the drive shaft 104a.
In that case, it is preferable that friction reducing means (for example, a rolling bearing) is interposed between the second communication holes 634, 634a of the elbow constituent plates 631, 632 and the drive shaft 104a, respectively. For example, the fixed wheels of the rolling bearings are fitted into the second communication holes 634, 634a of the elbow constituent plates 631, 632, respectively, and the rotating wheels of the rolling bearings are fitted into the drive shaft 104a, so that they are rotatably connected. Just do it.

The arm connecting portion 8 is attached to the main body 810 formed in an elongated flat plate shape in the forward direction (direction of arrow B in FIG. 12) and the grip 302a (303a) at the upper end of the working lever 302 (303) of the hydraulic excavator (backhoe). On the other hand, it is composed of a connecting portion 820 that is detachably connected.
Further, the main body 810 is formed so as to be curved upward (in the direction of arrow A in FIG. 12) toward the front end (the end in the direction of arrow B in FIG. 12), and three main bodies 810 are formed from the approximately central portion to the front end. Three connecting holes 811 1, connecting holes 812, and connecting holes 813 are formed side by side.
The rear end of the main body 810 is firmly fixed to the lower surface 643a of the box-shaped body 643 of the lower arm portion 64. The fixing means between the main body 810 and the lower arm portion 64 is not limited here as long as it can be firmly fixed without falling off or shifting during operation. Further, the lower arm portion 64 and the main body 810 of the arm connecting portion 8 may be integrally molded.

The connecting portion 820 freely swings and holds the screw portion 821 inserted into any of the connecting holes 811, 821, 813 of the main body 810, the spherical portion 822 formed integrally with the screw portion 821, and the spherical portion 822. It is composed of a receiving portion 823 and a cup portion 824 that is integrally formed with the receiving portion 823 and is connected to the grip 302a (303a) of the working lever 302 (303) (see FIGS. 12 and 13).
The threaded portion 821 is set to a screw diameter slightly smaller than the connecting hole 811, 812, 813, and the screw length is below the connecting hole 811, 812, 813 (arrows in FIGS. 12 and 13). When inserted from the D direction), the dimension is set so as to project upward (in the direction of arrow A in FIGS. 12 and 13) of the connecting holes 811 and 812, 813.

The screw portion 821 protruding upward from the connecting holes 811 and 812, 813 is connected by tightening the main body 810 together by tightening the fixing nut 825 from above the connecting holes 811, 812, 813 of the main body 810. ..
Further, the screw portion 821 of the connecting portion 820 is connected to any one suitable for the operation of the control portion 2 depending on the distance between the seat 306 (seat area) and the work levers 302 and 303 in the cockpit 24. It may be connected to the hole (any of 811, 812, 813). That is, even if the distance between the seat area and the work lever is different depending on each construction machine, easy and quick connection adjustment is possible.
In the present embodiment, the case where the arm connecting portion 8 has three connecting holes 811, 812, 813 has been described, but the number of connecting holes is not limited to this and may be set arbitrarily. .. For example, one may be used, or four or five may be provided, but it is preferable to have a plurality of seats 306 because they can correspond to the installation intervals of various seats 306 and work levers 302 and 303.

Further, if the connecting portion 820 is fixed to the arm connecting portion 8, even a connection method that does not depend on the connecting hole (811, 812, 813) and the screw portion 821 is included in the scope of the present invention. For example, instead of the connecting hole (811, 812, 813), a groove portion to be inserted from the tip side of the main body 810 is provided, and the connecting portion 820 is provided with an insertion piece that can be inserted into the groove portion, and the insertion piece is provided with an insertion piece. , It may be provided with a latch mechanism for hooking and fixing to the groove portion.

The spherical portion 822 is formed in a spherical shape having a predetermined diameter, and the threaded portion 821 is integrally and continuously formed outward from the outer peripheral surface thereof.
The receiving portion 823 is formed in close contact with the support portion 823a having a concave hemisphere formed to have a diameter slightly larger than the spherical diameter of the spherical portion 822 and the upper portion of the support portion 823a, and is formed from the maximum diameter of the spherical portion 822. Also consists of a lid portion 823b having a small diameter opening 823c. Further, when the spherical portion 822 is swingably supported, the spherical portion 822 is housed in the support portion 823a so that the screw portion 821 of the spherical portion 822 projects upward from the opening 823c.
The angle at which the spherical portion 822 swings can be limited by the screw portion 821 coming into contact with the opening 823c. The range in which the spherical portion 822 swings is preferably the same as or larger than the angle range in which the work lever 302 (303) should be operated. The diameter of the opening 823c may be set according to the angle range in which the work lever 302 (303) should be operated, and is not particularly limited in this embodiment.

Further, it is preferable that a friction reducing means is interposed in the gap between the spherical portion 822 and the receiving portion 823. For example, the gap between the spherical portion 822 and the receiving portion 823 may be filled with a lubricant, or the gap between the spherical portion 822 and the receiving portion 823 penetrates from the spherical portion 822 side to the receiving portion 823 side in a mesh pattern. A hollow sphere having a large number of pockets may be fitted, and a ball bearing may be held in each pocket. In this case, the frictional resistance is reduced by rotating the ball bearing in the gap between the spherical portion 822 and the receiving portion 823.

The cup portion 824 is integrally formed at the lower end of the receiving portion 823, and has a recess 824a that is open downward (in the direction of arrow D in FIGS. 12 and 13). Further, the recess 824a is formed as a hemispherical recess slightly larger than the size of the upper part of the grip 302a (303a) of the work lever 302 (303).
Further, on the lower side of the cup portion 824, fixing screws 820,826 are provided so as to penetrate from the outer peripheral surface to the recess 824a (inner peripheral surface).
With such a configuration, the grip 302a (303a) is inserted into the recess 824a of the cup portion 824, and the fixing screws 820,826 are tightened, so that the grip 302a (303a) cannot be removed from the recess 824a. By fixing the grip 302a (303a) and the cup portion 824 in this way, the grip 302a (303a) is connected to the work lever 302 (303).

The legs 7 and 7 are robot-shaped legs, which are the left and right roots 23, 23, the upper legs 72, 72, the knees 73, 73, the lower legs 74, 74, and the legs, respectively. It is composed of a connection portion 9.
Since the legs 7 and 7 are connected to the leg support portions 21f and 21f of the body portion 21 in pairs on the left and right and have substantially the same shape, one leg portion 7 will be described here, and the other leg will be described. The description of the part 7 will be omitted.

The root portion 23 is composed of a substrate 23a and a pair of vertical plates 23b and 23c (see FIGS. 4 and 14).
The substrate 23a is formed in the shape of a flat plate in the horizontal direction, and the pair of vertical plates 23b and 23c are continuously hung from the left and right ends of the substrate 23a. With this configuration, the substrate 23a has a U-shape that opens downward (in the direction of arrow D in FIGS. 4 and 14).
Further, a shaft 23d that integrally projects upward (in the direction of arrow A in FIGS. 4 and 14) is provided at the center of the upper surface of the substrate 23a.
The vertical plate 23b and the vertical plate 23c have a connecting hole 23e and a connecting hole 23f that are coaxially provided with one virtual axis 2A (see FIGS. 4 and 14) as a central axis and penetrate in the horizontal direction. ..

When the root portion 23 is connected to the base portion 21b of the body portion 21, the shaft 23d of the substrate 23a of the root portion 23 is inserted through the leg support portion 21f of the base portion 21b, and the substrate 23a is inserted into the base portion 21b of the body portion 21. Apply from the bottom. Then, the root portion 23 can rotate horizontally with respect to the leg support portion 21f of the base portion 21b by fixing the end portion of the shaft 23d protruding upward from the leg support portion 21f of the base portion 21b with a nut 23h. Is supported by.
By being assembled in this way, the shaft 23d of the root portion 23 serves as a first lumbar joint portion 76 (joint portion) that is configured to be rotatable in the horizontal direction (left-right direction) between the root portion 23 and the base portion 21b. It is functioning.

Further, it is preferable that a smooth rotating means (for example, a rolling bearing) is interposed between the shaft 23d of the root portion 23 and the leg support portion 21f of the base portion 21b, respectively. For example, the fixed ring of the thrust rolling bearing may be fitted into each of the leg support portions 21f, and the rotary wheel may be fitted into the shaft 23d to be rotatably connected.
As an example of the means for connecting the root portion 23 to the base portion 21b of the body portion 21, the shaft 23d of the substrate 23a of the root portion 23 is communicated with the leg support portion 21f of the base portion 21b, and the base portion 21b is connected. Although the means for preventing and fixing the end portion of the shaft 23d protruding upward is shown, it may be connected by other means as long as it is rotatably connected in the horizontal direction. For example, a means may be adopted in which a communication hole is also provided in the substrate 23a, and the communication hole and the hole of the leg support portion 21f of the base portion 21b are overlapped and connected and fixed with rivets. In that case, either the communication hole of the substrate 23a or the leg support portion 2 may be provided with a friction reducing means (for example, a rolling bearing) between the stud and the communication hole.

The upper leg portion 72 is composed of a pair of side plates 721 and 722 arranged in parallel in the horizontal direction (direction indicated by arrow C in FIG. 15), and is in the vertical direction (direction indicated by arrows AD in FIG. 15). It is formed long (see FIGS. 14 and 15).

The side plates 721 (722) are curved from the upper end of the front inclined upper side 721a (722a) toward the rear and the front inclined upper side 721b (722b) formed in an inclined shape. The upper curved side 721c (722c) formed in a shape, the rear inclined upper side 721d (722d) formed in a downward inclination from the lower end (rear end) of the upper curved side 721c (722c) toward the rear, and the rear inclined side. The rear side side 721e (722e) formed vertically from the lower end of the upper side 721d (722d) and the rear side inclined lower side 721f (722f) formed so as to be inclined forward from the lower end of the rear side side 721e (722e). The lower curved side 721 g (722 g) formed in a curved shape from the lower end of the rear inclined lower side 721 f (722 f) toward the front, and the upper end (front end) of the lower curved side 721 g (722 g) to the front side 721a (722a). It is composed of a front inclined lower side 721h (722h) formed in an ascending and inclined shape toward the lower end.

The side plate 721 and the side plate 722 have an upper communication hole 723 and an upper communication hole 723a that are coaxially provided with one virtual axis 7A (see FIG. 15) as a central axis and penetrate in the horizontal direction. Further, a lower communication hole 724 and a lower communication hole 724a that are coaxially provided with one virtual axis 7B (see FIG. 15) as a central axis and penetrate in the horizontal direction are provided below the virtual axis 7B (see FIG. 15).

The side plate 721 is arranged inside the side plate 722 (see FIG. 2), and has a through hole 201c formed by horizontally penetrating the side plate 721 between the upper communication hole 723 and the lower communication hole 724. It has a through hole 202c.
The side plate 722 is arranged on the outside of the side plate 721 (see FIG. 2), and is formed through the side plate 722 in the horizontal direction between the upper communication hole 723a and the lower communication hole 724a. It has 202d.

The drive source 201 includes a drive source main body 201a formed in a long box shape in the left-right direction (direction indicated by an arrow C in FIG. 15) and a drive shaft protruding from one end in the left-right direction (right side in FIG. 2). From the rocking piece 203 that is integrally connected to the open end of the drive shaft 201b and has a predetermined length in the front-rear direction (direction indicated by the arrow B in FIG. 15) and rotates together with the drive shaft 201b. Become.

The rocking piece 203 has a connecting point (connecting hole) 203a at which the drive shaft 201b of the drive source 201 is connected and fixed, and is centered on the connecting point (connecting hole) 203a by the same distance from each other. It has a pair of separated connecting points (connecting holes) 203b and 203c.

The drive source 202 includes a drive source main body 202a formed in a box shape long in the left-right direction, a drive shaft 202b protruding from one end in the left-right direction (on the right side in FIG. 2), and an open end of the drive shaft 202b. The rocking piece 204 is integrally connected, has a predetermined length in the front-rear direction, and rotates together with the drive shaft 202b, and has a predetermined length.

The rocking piece 204 has a connecting point (connecting hole) 204a at which the drive shaft 202b of the drive source 202 is connected and fixed, and is centered on the connecting point (connecting hole) 204a by the same distance from each other. It has a pair of separated connecting points (connecting holes) 204b and 204c. The separation distance between the connecting points (connecting holes) 204b and 204c and the separation distance between the connecting points (connecting holes) 203b and 203c are the same.

The rocking piece 203 and the rocking piece 204 are connected to each other on the outside (on the right side in FIG. 2) via the connecting points (connecting holes) 203b and 203c and the connecting points (connecting holes) 204b and 204c, respectively. It is rotatably connected to the rods 205 and 206 (see FIGS. 14 and 15).

The drive source 201 is inserted through the through hole 201c of the side plate 721 and the through hole 201d of the side plate 722, and is held and fixed by a fixing means (not shown). At this time, the drive source 201 is arranged so that the drive shaft 201b and the swing piece 203 project to the outside of the side plate 722 (see FIGS. 2 and 14).
The drive source 202 is inserted through the through hole 202c of the side plate 721 and the through hole 202d of the side plate 722, and is held and fixed by a fixing means (not shown). At this time, the drive source 202 is arranged so that the drive shaft 202b and the swing piece 204 project to the outside of the side plate 722 (see FIGS. 2 and 14).

For the drive source 201 and the drive source 202, a drive source capable of arbitrarily controlling the rotational operation may be appropriately selected. For example, in this embodiment, an electric motor that can be remotely controlled is adopted.
The means for fixing the drive source 201 and the drive source 202 may be firmly fixed so that the fixed positions do not shift due to the operation or external force of the drive sources 201 and 202. Therefore, the fixing means here. Do not specify. For example, it may be fixed by a screw penetrating the side plate 721 and the side plate 722.

The connecting rod 205 is formed in a vertically elongated rod shape, and is arranged on the outside of the side plate 722 (on the right side in FIG. 2). Further, the upper part of the connecting rod 205 has an upper connecting point (upper connecting hole) 205a that is rotatably connected to the connecting point 203b of the rocking piece 203, and the middle part is rotated to 204b of the rocking piece 204. It has a middle connecting point (middle connecting hole) 205b that is movably connected, and has a lower connecting point (lower connecting hole) 205c below it.
The connecting rod 206 is formed in a rod shape having the same shape and length as the connecting rod 205, and is arranged on the outside of the side plate 722 (on the right side in FIG. 2). Further, the upper part of the connecting rod 206 has an upper connecting point (upper connecting hole) 206a that is rotatably connected to the connecting point 203c of the rocking piece 203, and the central part thereof is the 204c of the rocking piece 204. It has a middle connecting point (middle connecting hole) 206b that is rotatably connected, and has a lower connecting point (lower connecting hole) 206c below the middle connecting point (middle connecting hole) 206b.

When the upper leg portion 72 is connected to the root portion 23, the upper communication hole 723 of the side plate 721 of the upper leg portion 72 is arranged so as to overlap from the inside of the connecting hole 23e of the vertical plate 23b of the root portion 23 to support the shaft. At the same time, the upper communication hole 723a of the side plate 722 of the upper leg portion 72 is arranged so as to overlap from the inside of the connecting hole 23f of the vertical plate 23c of the root portion 23 and is pivotally supported.
At this time, the upper communication holes 723 and 723a of the side plates 721 and 722 of the upper leg portion 72 and the connecting holes 23e and 23f of the vertical plates 23b and 23c of the root portion 23 are arranged so that the virtual axis 7A and the virtual axis 2A overlap each other. It functions as a second lumbar joint portion 77 (joint portion) that is vertically rotatable between the upper leg portion 72 and the root portion 23.
The connection between the connecting rods 205 and 206 and the swinging pieces 203 and 204 will be described in the connection between the upper leg portion 72 and the knee portion 73, which will be described later.

Regarding the means for connecting the upper leg portion 72 and the root portion 23, it is sufficient that the upper leg portion 72 can be rotated in the direction perpendicular to the root portion 23 and is connected without falling off due to an external force in the work. , Does not limit the connection means.
When connecting the upper leg portion 72 to the root portion 23, the space between the connecting hole 23e of the vertical plate 23b of the root portion 23 and the upper communication hole 723 of the upper leg portion 72, and the vertical plate 23c of the root portion 23. It is preferable that a friction reducing means (for example, a rolling bearing) is interposed between the connecting hole 23f of the above and the upper communication hole 723a of the side plate 722 of the upper leg portion 72, respectively. For example, the fixing ring of the rolling bearing is fitted into the upper communication holes 723 and 723a of the upper leg portion 72, respectively, and the rotating shaft fitted to the rotating wheel of the rolling bearing is fixed to the connecting holes 23e and 23f of the root portion 23, respectively. It suffices if it is rotatably connected by being connected.

The knee portions 73 have the same shape and are formed in a thin plate shape in the left-right direction (direction of arrow C in FIG. 16), and are arranged in parallel at predetermined intervals with a pair of knee portion constituent plates 731 and 732. It is composed of a connecting portion 750 that connects the knee portion constituent plate 731 and the knee portion constituent plate 732.
Specifically, the knee constituent plates 731 and 732 are formed in a downwardly inclined shape having horizontally formed upper sides 731a and 732a and recesses 751 and 752 continuous from the front ends of the upper sides 731a and 732a. The forward tilted inclined sides 731b, 732b, the front side sides 731c, 732c continuously formed in the vertical direction from the front ends of the forward tilted curved diagonal sides 731b, 732b, and the rearward inclined continuously from the lower ends of the front side sides 731c, 732c. The rear inclined sides 731d, 732d formed in a shape, the lower sides 731e, 732e formed substantially horizontally from the lower ends of the rear inclined sides 731d, 732d, and the lower sides 731e, 732e continuously ascending from the rear end. The rear edges 731f and 732f formed in an inclined shape, the rear end edges 731g and 732g formed in a steep slope continuously from the rear ends of the rear edges 731f and 732f, and the upper ends and the upper edges of the rear edge edges 731g and 732g. It is formed in a peculiar form composed of front inclined sides 731h and 732h formed continuously over the rear ends of 731a and 732a.
In FIG. 16, reference numeral 750 connects the rear side 731f of the knee component plate 731 and the rear side 732f of the knee component plate 732.

The knee component plate 731 and the knee component plate 732 communicate with the upper communication hole 733 and the upper communication hole 733, which are coaxially provided above one virtual axis 7C (see FIG. 16) and penetrate in the horizontal direction. It has a hole 733a, and has a lower communication hole 734 and a lower communication hole 734a that are coaxially provided with one virtual axis 7D (see FIG. 16) as a central axis and penetrate in the horizontal direction.

The knee component plate 732 has connecting points (connecting holes) 735a and 735b that are separated from each other by a predetermined distance with respect to the upper communication hole 733a. The distance between the connecting points (connecting holes) 735a and 735b is the same as the separation distance between the connecting point (connecting hole) 205c of the connecting rod 205 and the connecting point (connecting hole) 206c of the connecting rod 206. It is set.

When connecting the knee portion 73 to the upper leg portion 72, the lower communication hole 724 of the side plate 721 of the upper leg portion 72 is arranged so as to overlap from the inside of the upper communication hole 733 of the knee portion constituent plate 731 of the knee portion 73. The lower communication hole 724a of the side plate 722 of the upper leg portion 72 is arranged so as to overlap from the inside of the upper communication hole 733a of the knee portion constituent plate 732 of the knee portion 73 to support the shaft.
At this time, the lower communication holes 724 and 724a of the upper leg portion 72 and the upper communication holes 733 and 733a of the knee portion 73 are arranged so that the virtual axis 7B and the virtual axis 7C overlap each other, and the upper leg portion 72 and the knee portion 73. It functions as a first knee joint portion 78 (joint portion) that is rotatably configured between the knee and the knee joint portion 78 (joint portion).

Regarding the means for connecting the knee portion 73 and the upper leg portion 72, the knee portion 73 may be rotatable in the direction perpendicular to the upper leg portion 72 and may be connected without falling off due to an external force during work. , Does not limit the connection means.
When connecting the knee portion 73 to the upper leg portion 72, between the upper communication hole 733 of the knee portion 73 and the lower communication hole 724 of the upper leg portion 72, and the upper communication hole 733a of the knee portion 73. It is preferable that friction reducing means (for example, a rolling bearing) is interposed between the upper leg portion 72 and the lower communication hole 724a. For example, the fixed ring of the rolling bearing is fitted into the upper communication holes 733 and 733a of the knee portion 73, respectively, and the rotating shafts hung on the lower communication holes 724 and 724a of the upper leg portion 72 respectively rotate the rolling bearing. It suffices to be fitted and fixed to the ring and rotatably connected.

Next, the connection between the connecting rods 205 and 206 and the swinging pieces 203 and 204 of the upper leg 72 and the knee 73 will be described.
The connecting point 203b of the swing piece 203 is rotatably connected to the upper connecting point 205a of the connecting rod 205, and the connecting point 204b of the swing piece 204 is rotatably connected to the middle connecting point 205b. , The connection point 735a of the knee component plate 732 of the knee portion 73 is rotatably connected to the lower connection point 205c.
The connecting point 203c of the swing piece 203 is rotatably connected to the upper connecting point 206a of the connecting rod 206, and the connecting point 204c of the swing piece 204 is rotatably connected to the middle connecting point 206b. , The connection point 735b of the knee component plate 732 of the knee portion 73 is rotatably connected to the lower connection point 206c.

By being connected in this way, the connection points 735a and 735b of the knee component plate 732 of the knee portion 73 move up and down in conjunction with the rotational movement of the drive source 201 and the drive source 202.
Specifically, the connecting point 205c of the connecting rod 205 is interlocked with the connecting point 203b of the swing piece 203 (connecting point 205a of the connecting rod 205) and the connecting point 204b of the rocking piece 204 (connecting point 205b of the connecting rod 205). The connecting point 206c of the connecting rod 206 moves up and down with the connecting point 203c of the swing piece 203 (connecting point 206a of the connecting rod 206) and the connecting point 204c of the swing piece 204 (connecting point 206b of the connecting rod 205). It moves up and down in conjunction.
At this time, the connecting point 735a of the knee portion 73 that operates integrally with the connecting point 205c of the connecting rod 205 and the connecting point 735b of the knee portion 73 that operates integrally with the connecting point 206c of the connecting rod 206 move up and down. As a result, the knee portion 73 is controlled to rotate around the first knee joint portion 78 (upper communication hole 733, 733a).
When the knee portion 73 is rotated so as to swing up, the recesses 751 and 752 of the knee portion 73 escape, and the drive source 201 held and fixed to the upper leg portion 72 interferes with the knee portion 73. Can be avoided.

Further, in the present embodiment, since the two drive sources of the drive source 201 and the drive source 202 are connected by the connecting rod 205 and the connecting rod 206, the operating force (torque) when rotating the lower leg portion 74 is obtained. Can be strong.
In that case, the drive source 201 and the drive source 202 connected to each other may be operated in cooperation by tuning control.
In this embodiment, an example having two drive sources, a drive source 201 and a drive source 202, has been described, but the number of drive sources is not limited to this, and the rotation operation of the lower leg portion 74 is performed. It may be set by increasing or decreasing as appropriate according to the operating force (torque) required for. For example, the lower leg portion 74 may be rotated by more drive sources, for example, three drive sources. In that case, the number of connecting points of the swing pieces 203 and 204 and the connecting rods 205 and 206 may be set according to the number of drive sources.
Further, the lower leg portion 74 may be rotated by only one drive source 201. In that case, the lower leg portion 74 may be rotated by the swing pieces 203, 204 and the connecting rods 205, 206 as described in the present embodiment, or the upper leg portion 72 and the knee portion 73 may be rotated. The drive shaft of the drive source may be interposed in the first knee joint portion 78 configured between the two.
Further, in the present embodiment, an example in which the connecting rods 205, 206 and the swinging pieces 203, 204 are provided only on one side of the upper leg portion 72 has been described, but the connecting rods 205, 206 and the swinging pieces 203, 204 are on the upper side. The connecting rods 205 and 206 may be provided on both sides of the leg portion 72 and may be connected to both sides of the knee portion 73.
In that case, the drive source 201 and the drive source 202 may be configured so that the drive shaft 201b and the drive shaft 202b are projected on the side plate 721 side so that the swing pieces 203, 204 and the connecting rods 205, 206 can be connected. ..

The lower leg portion 74 is composed of a pair of side plates 741,742 formed long in the forward direction (direction of arrow B in FIG. 17) and a box-shaped body 743.
The side plate 741 and the side plate 742 are arranged in parallel in the left-right direction (direction of arrow C in FIG. 17), and are provided coaxially with one virtual axis 7F (see FIG. 17) as a central axis on the rear end side. It has a communication hole 744 and a communication hole 744a that penetrate in the horizontal direction.
The box-shaped body 743 is formed in a width dimension between the side plate 741 and the side plate 742, is sandwiched between the front side plates, and is integrally fixed.

Next, the connection between the lower leg portion 74 and the knee portion 73 will be described.
When connecting the lower leg portion 74 to the knee portion 73, the communication hole 744 of the side plate 741 of the lower leg portion 74 is arranged so as to overlap from the inside of the lower communication hole 734 of the knee portion constituent plate 731 of the knee portion 73. At the same time, the communication hole 744a of the side plate 742 of the lower leg portion 74 is arranged so as to overlap from the inside of the lower communication hole 734a of the knee portion constituent plate 732 of the knee portion 73 and is axially supported.
At this time, the lower communication holes 734,734a of the knee portion 73 and the communication holes 744,744a of the lower leg portion 74 are arranged so that the virtual axis 7D and the virtual axis 7F overlap each other, and are between the knee portion 73 and the lower leg portion 74. It functions as a second knee joint portion 79 (joint portion) that is rotatably configured in the vertical direction.
Further, the drive source 104, which is sandwiched between the communication holes 744 and 744a of the lower leg portion 74 and is supported and fixed, also overlaps with the virtual axis 7D because the drive shaft 104a is arranged on the virtual axis 7F, and the second knee. It serves as a drive source for the joint portion 79.

Regarding the means for connecting the lower leg portion 74 and the knee portion 73, the lower leg portion 74 may be rotatable in the direction perpendicular to the knee portion 73 and may be connected without falling off due to an external force in the work. Here, the connection is made. The means are not limited.
When connecting the lower leg portion 74 to the knee portion 73, between the lower communication hole 734 of the knee portion constituent plate 731 of the knee portion 73 and the communication hole 744 of the side plate 741 of the lower leg portion 74, and the knee portion 73. It is preferable that a friction reducing means (for example, a rolling bearing) is interposed between the lower communication hole 734a of the knee portion constituent plate 732 and the communication hole 744a of the side plate 742 of the lower leg portion 74, respectively. For example, the fixing wheels of the rolling bearings are fitted into the lower communication holes 734,734a of the knee portion 73, respectively, and the rotating shafts fitted to the rotating wheels of the rolling bearings are fixed to the communication holes 744, 744a of the lower leg portions 74, respectively. It suffices if it is rotatably connected by being connected.
Since the connection between the lower leg portion 74 and the leg connecting portion 9 and the connection between the leg connecting portion 9 and the traveling lever 304 (305) have already been described, the description thereof will be omitted here.

The leg connecting portion 9 is formed long in the forward direction (direction indicated by the arrow B in FIG. 18), and the pair of side plates 91 and 92 arranged in parallel at a predetermined distance from each other and the leg connecting portion 9 are provided with the lower leg portion 74. It is composed of a fixing portion 93 to be fixed to (see FIGS. 14, 17 and 18).

The side plate 91 and the side plate 92 have a communication hole 91a and a communication hole 92a that are coaxially provided with one virtual axis 9A (see FIG. 17) as a central axis and penetrate in the horizontal direction on the front end side thereof.

The fixing portion 93 includes a base portion 93a fixed to the box-shaped body 743 of the lower leg portion 74 and a rotating portion 93b assembled so as to be axially rotatable with respect to the base portion 93a, and a pair of side plates 91 are attached to the rotating portion 93b. , 92 base end side is connected and fixed. As a result, the pair of side plates 91 and 92 are axially rotatable and connected to the box-shaped body 743 of the lower leg portion 74.

When connecting the leg connecting portion 9 to the traveling lever 304 (305), the traveling lever 304 (305) is inserted between the side plate 91 and the side plate 92 to form a hole 304a (305a) in the traveling lever 304 (305). Align the communication holes 91a and 92a. Next, the bolt 94 is inserted along the virtual axis 9A and tightened with the nut 95 from the opposite side, so that the bolt 94 is connected to the traveling lever 304 (305).

The photographing unit 4 photographs an area similar to the area visible from the cockpit 24. Specifically, it is a camera capable of shooting an image arranged in an outer frame 24a of a cockpit 24 of a control unit 2 or a hydraulic excavator (backhoe). In this embodiment, three cameras (first camera 4a, second camera 4b, third camera 4c) are arranged as the photographing unit 4 (FIGS. 2, FIG. 3, FIG. 5, FIG. 7 and FIG. 19).
The first camera 4a is rotatably held in the vertical direction by the stay 41 on the upper surface of the chest 21c of the body portion 21 (between the left and right arm support portions 22 and 22) (FIGS. 2, 3 and 2). 5). Further, the stay 41 is rotatably connected to the upper surface 21f of the chest 21c in the left-right direction. By being connected in this way, the first camera 4a becomes rotatable up, down, left, and right, and the desired viewpoint (up, down, left, and right angles) can be seen from inside the cockpit to the front (direction indicated by arrow B in FIG. 3). ).
Further, the second camera 4b and the third camera 4c photograph the front from the left and right ends of the outer frame 24a (see FIG. 3) of the cockpit 24, respectively.

From the viewpoint of the first camera 4a, when the operator sits in the cockpit 24 of the hydraulic excavator (backhoe), the bucket (the tub-shaped device provided at the tip of the arm of the hydraulic excavator (backhoe)) is in a state of gazing. In the viewpoint of the second camera 4b and the third camera 4c, when the operator sits in the cockpit 24, a wider range is confirmed than the viewpoint of the first camera 4a.

In the present embodiment, an example including three cameras (first camera 4a, second camera 4b, third camera 4c) as the photographing unit 4 has been described, but the number of cameras in the photographing unit 4 has been described. And arrangement are not limited to this. For example, the photographing unit 4 may be arranged only in the control unit 3 (only the first camera 4a is arranged). In addition, the number of cameras that capture the rearward viewpoint of the hydraulic excavator (backhoe) is increased in the outer frame 24a of the cockpit 24, and the number of cameras that capture the viewpoint overlooking the endless track of the hydraulic excavator (backhoe) is increased. , The entire circumference of the hydraulic excavator (backhoe) may be photographed.
Further, the first camera 4a may not be distributed on the upper surface of the chest 21c, but may be distributed on the front surface of the chest 21c (the side surface on the arrow B side in FIG. 5).

The control unit 5 is connected by wire from the operation unit 3 and includes a wireless device 51 that connects the control unit 2 and the operation unit 3 (see FIG. 1).
Further, the control unit 5 calculates and processes the detected value of the operation amount of the operation punch 32 detected by the operation unit 3, converts the operation of the operation unit 3 into a control signal to be reproduced by the control unit 2, and controls the operation. Wireless transmission is performed to unit 2.
In the present embodiment, the control unit 5 is connected to the operation unit 3 by wire and is wirelessly connected to the control unit 2, but the control unit 2 and the operation unit 3 are connected via the control unit 5. If so, the present invention is not limited to this, and the connection means is not limited. For example, the control unit 5 may be wirelessly connected to both the operation unit 3 and the control unit 2, or the control unit 5 may be connected to both the operation unit 3 and the control unit 2 by wire.

As for the materials of the members constituting the body portion 21, the arm portion 6 and the leg portion 7 of the control unit 4 described above, it suffices to have sufficient strength and durability in the operation of the control unit 4, so here. Then there is no particular limitation. For example, stainless steel may be formed by press working, or reinforced plastic resin such as ABS resin (Acrylonitrile Butadiene Styrene Resin) may be molded.

Next, the operation of the control unit 2 assembled in this way will be described.
In FIG. 3, in conjunction with the operation of pushing down the work operation punch 34a (34b) forward by the operator in the operation unit 3, the arm portion 3 is operated in the control unit 2 to operate the hydraulic excavator (backhoe). The lever 302 (303) is pulled toward you, and the leg 7 in the control unit 2 is linked to the operation of pushing down the traveling operation punch 35a (35b) forward by the operator in the operation unit 3. Is operated, and the traveling lever 304 (305) of the hydraulic excavator (backhoe) is pushed forward.
The operation of the working operation pestle 34a (34b) and the traveling operation pestle 35a (35b) performed by the operator in the operation unit 3 is arithmetically processed by the control unit 5 based on the detected displacement amount. At this time, in the control unit 5, the drive units 101, 102, 103, 104 of the control unit 2 have the same displacement amount so that the work lever 302 (303) and the traveling lever 304 (305) of the hydraulic excavator (backhoe) have the same displacement amount. , 201, 202 are transmitted to the control unit 2 as control signals to control.

The movement of the arm portion 3 in this case will be described below (see FIGS. 3 and 6).
The shoulder portion 61 is positioned by rotating in the left-right direction (horizontal direction) about the first shoulder joint portion 66 with respect to the arm support portion 22 by controlling the drive source 101.
In FIG. 3, the shoulder portion 61 is positioned so that the arm connecting portion 8 is oriented forward (in the direction indicated by the arrow B in FIG. 3).
Further, regarding the angle range when the shoulder portion 61 is rotated in the left-right direction (horizontal direction),
It is limited by the rotation control pin 61h of the shoulder portion 61 and the elongated hole 22g formed in the arc shape of the arm support portion 22.
Since the rotation control pin 61h is inserted into the arc-shaped elongated hole 22g of the arm support portion 22 when the shaft fitting hole 66a is inserted into the upper connecting hole 22d of the arm support portion 22, the rotation control pin 61h is rotated. The motion control pin 61h can move only within an angle range in which the elongated hole 22g is opened. As a result, the rotation of the shoulder portion 61 limits the angle range.

The first upper arm portions 621 and 622 are synchronized and controlled so that the drive source 102 and the drive source 103 cooperate with each other, so that the first upper arm portions 621 and 622 are vertically (vertically) with respect to the shoulder portion 61 about the second shoulder joint portion 67 as an axis. It rotates in the direction) and is positioned.
In FIG. 3, the first upper arm portions 621 and 622 are positioned so that the elbow portion 63 is positioned below the arm support portion 22.

In the second upper arm portions 623 and 624, the third shoulder joint portion 80 is located on the shoulder portion 61 together with the second shoulder joint portion 67, and the third elbow joint portion 81 is formed together with the first elbow joint portion 68. Since it is located on the plates 631, 632, it operates in accordance with the first upper arm portions 621 and 622, and is positioned by rotating in the vertical direction (vertical direction) with the third shoulder joint portion 80 as an axis.
In FIG. 3, the second upper arm portions 623 and 624 are positioned so that the elbow portion 63 is positioned below the arm support portion 22.

In the elbow portion 63, the first communication holes 633 and 633a are connected to the first upper arm portions 621 and 622, and the third communication holes 635 and 635a are connected to the second upper arm portions 623 and 624. Following the first upper arm portions 621 and 622 and the second upper arm portions 623 and 624, the second elbow joint portion 69 is positioned in the forward posture.
In FIG. 3, the elbow portion 63 is positioned below the arm support portion 22.
The operation of the work lever 302 (303) at this time is a swing around the root, and in the state of being pulled backward, the upper end of the work lever 302 (303) is compared with the state before being pulled backward. It will be in a slightly lowered position.

The lower arm portion 64 is positioned by rotating in the vertical direction (vertical direction) about the second elbow joint portion 69 by controlling the drive source 104, and is connected to the lower arm portion 64. Fine adjustment is made so that the portion 8 is in a position corresponding to the position of the upper end of the work lever 302 (303).
In FIG. 3, the lower arm portion 64 is positioned so that the arm connecting portion 8 is in a posture facing diagonally downward.

Here, the relationship between the first upper arm portions 621 and 622 and the second upper arm portions 623 and 624 will be described (see FIGS. 8 to 11 and 20).
The first upper arm portion 621, 622 and the second upper arm portion 623, 624 have a second shoulder joint portion 67 and a first elbow joint portion 68, a third shoulder joint portion 80 and a second elbow joint portion 81. The link mechanism of Section 4 is constructed by being passed to each of them.

In this four-section link mechanism, on the side plates 61d and 61e of the shoulder portion 61, the second shoulder joint portion 67 and the third shoulder joint portion 80 have the first communication hole 63a and the second communication hole 64a. Since the first communication hole 63b and the second communication hole 64b are arranged horizontally separated on the side plate 61d and horizontally separated on the side plate 61e, the horizontal direction (arrow in FIG. 20). The distance E separated in the direction indicated by C) does not change (see FIGS. 8 and 20).

Further, in the link mechanism of this section 4, on the elbow constituent plates 631, 632 of the elbow portion 63, the first elbow joint portion 68 and the third elbow joint portion 81 have the first communication hole 633 and the third communication hole 633. Since the communication holes 635 are arranged horizontally separated on the elbow constituent plate 631, the first communication hole 633a and the third communication hole 635a are arranged horizontally separated on the elbow constituent plate 632. The distance F separated in the horizontal direction (the direction indicated by the arrow B in FIG. 20) does not change (see FIGS. 11 and 20).
Further, the distance E and the distance F are set to the same distance.

Further, as shown in FIG. 20 (a), the first upper arm portions 621 and 622 are hung between the second shoulder joint portion 67 and the first elbow joint portion 68, and the second upper arm portions 623 and 624 are provided. Since it is hung from the third shoulder joint 80 and the third elbow joint 81, the upper communication holes 625 and 625a and the lower communication holes 626 and 626a of the first upper arm 621 and 622 are perpendicular to each other. The distance G in the direction (direction of arrows AD in FIG. 20) and the vertical distance H between the upper communication holes 636 and 636a of the second upper arm portions 623 and 624 and the lower communication holes 637 and 637a are It will be the same distance.

Further, as shown in FIG. 20 (b), the first upper arm portions 621 and 622 swing forward with the second shoulder joint portion 67 as a fulcrum, and the second upper arm portions 623 and 623 are synchronized with the second upper arm portions 623. Even when the 624 swings forward with the third shoulder joint portion 80 as a fulcrum, the upper communication holes 625 and 625a and the lower communication holes 626 and 626a of the first upper arm portions 621 and 622 The vertical distance J and the vertical distance K between the upper communication holes 636 and 636a of the second upper arm portions 623 and 624 and the lower communication holes 637 and 637a are the same distance.

Since the first upper arm portion 621, 622 and the second upper arm portion 623, 624 are configured in this way, at what angle the first upper arm portion 621, 622 and the second upper arm portion 623, 624 swing. Even in this case (for example, from the position (a) to the position (b) in FIG. 20), the posture of the elbow portion 63 is always the same.
That is, since the first elbow joint portion 68 and the third elbow joint portion 81 are always horizontal and maintain the same distance, the elbow constituent plate connected to the first elbow joint portion 68 and the third elbow joint portion 81. 631,632 also move while maintaining the same posture.
Further, the posture of the elbow portion 63 (elbow constituent plates 631, 632) at this time is always the posture in which the second elbow joint portion 69 is in the forward direction (direction indicated by the arrow B in FIG. 20).
Therefore, the inclination of the lower arm portion 64 connected to the second elbow joint portion 69 does not change due to the swing of the first upper arm portion 621, 622 and the second upper arm portion 623, 624, and the lower arm does not change. It becomes easy to control the height position of the arm connecting portion 8 fixed to the front side of the portion 64.

As for the height position (position in the vertical direction) of the elbow portion 63, the first upper arm portions 621 and 622 swing in the anteroposterior direction with the second shoulder joint portion 67 as a fulcrum, and the second upper arm portion 621 and 622 swing in synchronization with the second shoulder joint portion 67. The upper arm portion 623, 624 changes by swinging in the anteroposterior direction with the third shoulder joint portion 80 as a fulcrum.
That is, the height position of the elbow portion 63 is a low position when positioned below the arm support portion 22 (posture in FIG. 3), and is in a posture of being swung up toward the front of the arm support portion 22. It is in a high position when it is positioned at (the posture in FIG. 19).
Since the distance in the height direction (vertical direction) between the elbow portion 63 and the work lever 302 (303) also changes due to this change in the height position, the lower arm portion 64 has the second elbow joint portion 69 as an axis. By rotating in the vertical direction (vertical direction), the distance in the height direction (vertical direction) also corresponds to the change.

Work to connect the shoulder portion 61, the first upper arm portion 621, 622, the second upper arm portion 623, 624, the elbow portion 63, and the lower arm portion 64 to the arm connecting portion 68 by positioning as described above. The lever 302 (303) is pulled down toward you.

Next, the operation of the leg portion 7 will be described below (see FIGS. 3 and 14).
The root portion 23 can rotate in the left-right direction (horizontal direction) about the first lumbar joint portion 76 without passing through a drive source, and connects the leg connecting portion 9 to the traveling lever 304 (305). At that time, the root portion 23 and the traveling lever 304 (305) are passively rotated and positioned according to the positional relationship in the left-right direction.
The upper leg portion 72 can rotate in the vertical direction (vertical direction) about the second hip joint portion 77 without passing through a drive source, and the leg connecting portion 9 is connected to the traveling lever 304 (305). At that time, the root portion 23 and the traveling lever 304 (305) are passively rotated and positioned according to the positional relationship in the vertical direction and the front-rear direction.

The knee portion 73 is positioned by rotating in the vertical direction (vertical direction) about the first knee joint portion 78 by controlling the drive source 201 and the drive source 202 in synchronization.
The rotation of the knee portion 73 is performed via the vertical movement of the connecting rods 204 and 205 by the swing piece 203 that rotates via the drive source 201 and the swing piece 204 that rotates via the drive source 202. , The connection points 735a and 735b of the knee portion 73 are controlled by moving up and down about the first knee joint portion 78.

In FIG. 3, the swing piece 203 connected and fixed to the drive shaft 201a of the drive source 201 has a posture in which the connection points 203b and the connection points 203c are arranged in the horizontal direction with a small inclination and drives the drive source 202. The rocking piece 204 connected and fixed to the shaft 202a also has a posture in which the connecting point 204b and the connecting point 204c are arranged in the horizontal direction and have a small inclination.
Then, due to the connecting rod 205 and the connecting rod 206 rotatably connected to the swing piece 203 and the swing piece 204, the connection point 735a and the connection point 735b of the knee portion 73 also have a positional relationship with a small inclination. It has become.
The knee portion 73 rotates in the vertical direction (vertical direction) about the first knee joint portion 78 as the connection point 735a and the connection point 735b have such a positional relationship, and the second knee joint has a second knee joint. The portion 79 is positioned so as to be in a posture of pushing forward.

The lower leg portion 74 can rotate in the vertical direction (vertical direction) about the second knee joint portion 79 without using a drive source, and connects the leg connecting portion 9 to the traveling lever 304 (305). At that time, the base portion 23 and the traveling lever 304 (305) rotate subordinately according to the positional relationship in the vertical direction and the front-back direction, and when the knee portion 73 is positioned, the second knee joint portion 79 And the traveling lever 304 (305), it rotates subordinately according to the positional relationship in the vertical direction and the front-back direction.
In FIG. 3, the lower leg portion 74 is positioned so as to be pushed forward by the second knee joint portion 79 of the knee portion 73, and the traveling lever 304 (305) is pushed forward by the leg connecting portion 9. ..

By positioning the root portion 23, the upper leg portion 72, the knee portion 73, and the lower leg portion 74 as described above, the traveling lever 304 (305) connected to the leg connecting portion 9 is pushed forward. ..

In FIG. 19, in conjunction with the operation of pulling the working operation punch 34a (34b) forward by the operator in the operation unit 3, the arm portion 3 is operated in the control unit 2 to operate the hydraulic excavator (backhoe). The work lever 302 (303) of It shows a state in which the traveling lever 304 (305) of the hydraulic excavator (backhoe) is pulled toward the front by operating the portion 7.

The movement of the arm portion 3 in this case will be described below (see FIG. 19).
The shoulder portion 61 is controlled so that the drive source 101 maintains the posture, so that the arm connecting portion 8 is connected to the shoulder portion 61 without rotating in the left-right direction (horizontal direction) about the first shoulder joint portion 66. The posture toward the front (the direction indicated by the arrow B in FIG. 19) is maintained.
The first upper arm portions 621 and 622 rotate in the vertical direction (vertical direction) about the second shoulder joint portion 67 by being synchronized and controlled so that the drive source 102 and the drive source 103 cooperate with each other. , The elbow 63 is positioned so as to be swung up toward the front.
The second upper arm portions 623 and 624 act in accordance with the first upper arm portions 621 and 622, rotate in the vertical direction (vertical direction) about the third shoulder joint portion 80, and move the elbow portion 63 forward. It is positioned so that it is in a swinging posture toward.

The elbow 63 is driven by the first upper arm 621, 622 and the second upper arm 623, 624, and the second elbow joint 69 is swung forward while maintaining the forward posture. It is positioned in the state of being.
The lower arm portion 64 rotates in the vertical direction (vertical direction) with the second elbow joint portion 69 as an axis by controlling the drive source 104, and the arm connecting portion 8 faces further diagonally downward. It is positioned so as to be.

Work in which the shoulder portion 61, the first upper arm portion 621, 622, the second upper arm portion 623, 624, the elbow portion 63, and the lower arm portion 64 are positioned as described above to be connected to the arm connecting portion 8. The lever 302 (303) is pushed forward.

Next, the operation of the leg portion 7 will be described below (see FIG. 19).
As described above, the root portion 23 and the lower leg portion 72 do not go through the drive source, and when the leg connection portion 9 is connected to the traveling lever 304 (305), the root portion 23 and the traveling lever 304 (305) are moved up and down. It is positioned by rotating subordinately according to the positional relationship in the direction and the front-back direction.

The knee portion 73 is positioned by rotating in the vertical direction (vertical direction) with the first knee joint portion 78 as an axis by controlling the drive source 201 and the drive source 202 in synchronization, and the drive shaft 201a of the drive source 201 The rocking piece 203 connected and fixed to the rocking piece 203 is in an inclined posture in which the connecting point 203b and the connecting point 203c are lined up in a downward direction, and the rocking piece 204 is connected and fixed to the drive shaft 202a of the drive source 202. Also, the connecting point 204b and the connecting point 204c are arranged in a downward-sloping posture in an inclined posture.
Then, the connecting point 735a and the connecting point 735b of the knee portion 73 are also tilted forward and downward by the connecting rod 205 and the connecting rod 206 rotatably connected to the swing piece 203 and the swing piece 204. It has a positional relationship.
The knee portion 73 rotates in the vertical direction (vertical direction) about the first knee joint portion 78 as the connection point 735a and the connection point 735b have such a positional relationship, and the second knee joint has a second knee joint. The portion 79 is positioned so as to be pulled backward.
The lower leg portion 74 is positioned in a posture of being pulled backward by the second knee joint portion 79 of the knee portion 73 without using a drive source.

When the root portion 23, the upper leg portion 72, the knee portion 73, and the lower leg portion 74 are positioned as described above, the traveling lever 304 (305) connected to the leg connecting portion 9 is pulled toward the front. Become.

When the work lever 304 (305) is tilted in the left-right direction, the shoulder portion 61 is rotated in the left-right direction (horizontal direction) around the first shoulder joint portion 66 under the control of the drive source 101. This is possible because the arm connecting portion 8 turns in the left-right direction (horizontal direction). In this case, the work lever 304 (305) is moved in the left-right direction by swiveling the arm connecting portion 8 in the left-right direction at the same time as the above-mentioned operation in the front-rear direction of pushing down or pulling down the work lever 304 (305). By tilting the work lever 304 (305), the work lever 304 (305) can be operated at all angles of front, back, left and right.

In this embodiment, there are spaces 627,627a between the upper 621a, 622a and the lower 621b, 622b of the first upper arm portion 621, 622, and the upper 623a, 622a and the lower portion of the second upper arm portion 623, 624. As a configuration having spaces 627b and 627c between 623b and 624b, interference with the bottom plate 61c of the shoulder portion 61 was avoided, but if interference with the bottom plate 61c of the shoulder portion 61 could be avoided, the first upper arm The shapes of the portions 621 and 622 and the second upper arm portions 623 and 624 are not limited to this.
For example, as in the modification shown in FIG. 21, if the second shoulder joint portion 67 and the third shoulder joint portion 80 are arranged to protrude forward (in the direction indicated by the arrow B in FIG. 20), the first The upper arm portions 621 and 622 and the second upper arm portions 623 and 624 may be formed as linear arms of equal length, respectively. Since other configurations are the same as those of the present embodiment described above, the description thereof will be omitted by using the same reference numerals in the drawings.
In this case, even when the first upper arm portions 621 and 622 and the second upper arm portions 623 and 624 are facing downward (direction of arrow D in FIG. 20), the gap between the shoulder portion 61 and the bottom plate 61c. Is sufficiently secured and does not interfere.
Further, the first upper arm portion 621, 622 and the second upper arm portion 623, 624 have the same length, and the distance between the upper node and the lower node of the two equal length arms are also equal length. Since the link mechanism is configured, the operations of the upper arm portion 62, the elbow portion 63, the lower arm portion 64, and the arm connecting portion 8 are the same as those in the present embodiment described above.

Further, in the present embodiment, an example including two left and right arm portions 6 and two left and right leg portions 7 has been described, but the number of arm portions 6 and leg portions 7 is a hydraulic excavator operated by the control unit 2. It may be set at the time of design according to the configuration of the construction machine such as (backhoe). For example, in the case of a construction machine having four work levers 302 (303), the arm portions 6 of the control unit 2 may also be set to four, and each of them may be remotely controlled to enable remote control.
Further, the leg portion 7 may be set according to the number of traveling levers 304 (305) of the construction machine, similarly to the arm portion 6.
When the construction machine is composed of a lever device in the form of a work lever instead of the traveling lever 304 (305), the same as in the case of the construction machine having four work levers 302 (303) described above. , The arm 6 of the control unit 2 may be set to four.

Further, when the cockpit 24 of the construction machine is provided with the pedal in addition to the traveling lever 304 (305), the leg connecting portion 9 connected to the pedal is provided so that the pedal can be remotely controlled. good. In that case, the control unit 2 is provided with a leg for operating the pedal of the cockpit, the operation unit 3 is provided with a pedal in addition to the traveling operating punches 35a and 35b, and the pedal of the operation unit 3 is displaced back and forth. The amount (stepping amount) may be electrically detected in the same manner as the displacement amount of the front and rear tilts of the traveling operating punches 35a and 35b. With this design, the operator can remotely control the control unit 2 and depress the pedal of the construction machine by depressing the pedal of the operation unit 3.
If the construction machine is equipped with only a pedal instead of the traveling operating punches 35a and 35b, the displacement amount of the front and rear tilt of the pedal is replaced with the displacement detection structure of the traveling operating punches 35a and 35b. Can be electrically detected and controlled.

The present invention can also be used for various construction machines other than hydraulic excavators.

2 Control unit 3 Operation unit 4 Imaging unit 5 Control unit 31 Driver's seat 32 Operation rod 24 Cockpit 33 Display unit 32 Operation rod 6 Arm 7 Leg 8 Arm connection 9 Leg joint 66 1st shoulder joint 67 2nd Shoulder joint 68 First elbow joint 69 Second elbow joint 76 First lumbar joint 77 Second lumbar joint 78 First knee joint 79 Second knee joint 80 Second knee joint 80 Third Shoulder joint 81 Third elbow joint 101, 102, 103, 104 Drive source 302, 303 Work lever 304, 305 Travel lever

Claims (7)

The control unit that controls construction machinery and
An operation unit that can remotely control the control unit and
An imaging unit provided on either or both of the construction machine and the control unit to photograph an area similar to the area visible from the cockpit of the construction machine.
It consists of a control unit equipped with a wireless device that connects the control unit and the operation unit.
The operation unit is a cockpit type similar to the cockpit of the construction machine, which includes at least a driver's seat on which the operator sits, an operation rod operated by the operator, and a display unit for displaying a landscape photographed by the photographing unit. It ’s a control device,
The control unit is a robot-type control unit that is arranged in the cockpit of the construction machine and includes left and right arms and left and right legs that can be operated by remote control from the operation unit.
The left and right arm portions have a plurality of joint portions and arm connection portions that can be connected to the left and right work levers provided in the cockpit of the construction machine, and each joint portion has an individual drive source. It is configured to work through
The left and right legs have a plurality of joints and leg connecting portions that can be connected to the left and right traveling levers provided in the cockpit of the construction machine, and the leg connecting portions are connected via a drive source. A remote control device for construction machinery characterized by being operable. The first aspect of claim 1, wherein the arm connecting portion has a plurality of connecting holes that can be screwed to and connected to a grip of the working lever provided in the cockpit of a construction machine. Remote control device for construction machinery. The control unit comprises a fuselage that is seated and secured in a seating area within the cockpit of the construction machine.
The body portion includes a fixed portion that is seated and fixed in a seat area in the cockpit of the construction machine, left and right arm support portions that connect the left and right arm portions, and leg support portions that connect the left and right leg portions. Consists of
The photographing unit is rotatably connected up, down, left and right between the left and right arm support portions.
The left and right arm portions include a shoulder portion connected to the left and right arm support portions, a first upper arm portion connected to the shoulder portion, an elbow portion connected to the first upper arm portion, and the elbow portion. It consists of a lower arm part connected to the lower arm part and an arm connection part formed integrally with the lower arm part and connected to the work lever.
The shoulder portion forms a first shoulder joint portion that is horizontally rotatable via a drive source with the arm support portion, and is driven with the first upper arm portion. Forming a second shoulder joint that is configured to be vertically rotatable through the source,
The elbow portion forms a first elbow joint portion that is vertically rotatable via a drive source with the first upper arm portion, and the drive source is formed with the lower arm portion. Form a second elbow joint that is configured to be vertically rotatable through the
The left and right legs have a root portion connected to the left and right leg support portions, an upper leg portion connected to the root portion, a knee portion connected to the upper leg portion, and a lower leg connected to the knee portion. It consists of a portion and a leg connection portion that is integrally formed with the lower leg portion and is connected to the traveling lever.
The root portion forms a first lumbar joint portion rotatably configured in the horizontal direction with the leg support portion, and can rotate vertically with the first lumbar joint portion. Forming a second lumbar joint composed of
The remote control device for construction machinery according to claim 1 or 2, wherein the knee portion is configured to be rotatable in a direction perpendicular to the upper leg portion via a drive source. .. It has a second upper arm connected to the shoulder and elbow,
The shoulder portion forms a third shoulder joint portion that is vertically rotatable between the shoulder portion and the second upper arm portion.
The elbow portion forms a third elbow joint portion that is vertically rotatable between the elbow portion and the second upper arm portion.
The third shoulder joint portion is arranged horizontally at a predetermined distance from the second shoulder joint portion.
The third elbow joint portion is arranged horizontally at a predetermined distance from the first elbow joint portion.
The horizontal distance between the second shoulder joint and the third shoulder joint and the horizontal distance between the first elbow joint and the third elbow joint are the same. The remote control device for construction machinery according to claim 3. The remote for construction machinery according to claim 4, wherein the first upper arm portion and the second upper arm portion are each curved in a direction away from the second shoulder joint portion. Operation device. The remote operation for construction machinery according to any one of claims 3 to 5, wherein the first shoulder joint portion is configured so as to limit the range of rotation with respect to the left and right arm support portions. Device. The knee portion is vertically rotatable between the first knee joint portion configured to be vertically rotatable with the upper leg portion and the lower leg portion via a drive source. The remote control device for a construction machine according to any one of claims 3 to 6, further comprising a second knee joint portion.

Images