JP7217557B1 - Equipment mounting unit - Google Patents

Abstract

An object of the present invention is to provide a device mounting unit that can be easily attached to and detached from a device to be mounted. The device can be attached to a device to be mounted that is operated by tilting an operation lever A, and has a main body portion 2 that is mounted to the device to be mounted. , the main shaft 211 tilted by receiving the driving force of the drive unit 22, and the main shaft 211 and the operating lever A are connected to each other so that the tilting of the main shaft 211 is interlocked with the tilting of the operating lever A. and a lever-side connecting portion 213 , and the lever-side connecting portion 213 is attachable to and detachable from at least one of the main shaft 211 and the operating lever A. [Selection drawing] Fig. 4

Description

TECHNICAL FIELD The present invention relates to a device mounting unit that is used by being mounted on a device to be mounted that is operated by tilting an operation lever.

As an example of a device having a device mounting unit, there is an invention of a "remote control device for heavy machinery" by the inventor of the present application (Patent Document 1). The device described in Patent Literature 1 includes an operating device that is attached around an operating rod (operating lever) of a heavy machine that is a device to be attached. This operating device includes a link that swings near the operating rod, and an arc rod-shaped guide member that is connected to the link and guides the operating rod along its length direction.

Japanese Patent No. 6641211

However, in this configuration, the operation device cannot be removed from the operation rod unless the guide member is disassembled, so maintenance is troublesome.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a device attachment unit that can be easily attached to and detached from a device to be attached.

The present invention is capable of being mounted on a device to be mounted that is operated by tilting an operation lever, and includes a body portion that is mounted on the device to be mounted, wherein the body portion includes a driving portion that generates a driving force, and the driving portion. a main shaft that tilts by receiving the driving force of the portion; and a lever-side connecting portion that connects the main shaft and the operating lever so that the tilting of the operating lever is linked to the tilting of the main shaft. The lever-side connecting portion is a device mounting unit that is attachable to and detachable from at least one of the main shaft and the operating lever.

According to this configuration, the lever-side connecting portion is detachable from at least one of the main shaft and the operating lever, so that the main body can be easily separated from the operating lever.

Further, the lever-side connecting portion includes a long member provided to connect the main shaft and the operating lever, and the long member can be detachable from at least one of the main shaft and the operating lever.

According to this configuration, since the lever connecting portion includes the elongated member, attachment and detachment can be facilitated.

Further, the lever-side connecting portion is composed of one or more elongated members and a sub-member that can be connected to and separated from the elongated member, and the elongated member and the sub-member are separated. By setting the state, the elongated member can be removed from at least one of the main shaft and the operating lever.

According to this configuration, the main shaft and the operating lever can be reliably connected to each other by the elongated member and the sub-member, and attachment and detachment can be facilitated.

Further, the elongated member is composed of a pair facing each other so as to sandwich the main shaft and the operating lever, and the pair of elongated members are arranged facing each other and connected to each other by a connecting member, By removing the connecting member, the elongate member can be removed from at least one of the main shaft and the operating lever.

According to this configuration, the pair of elongated members can reliably connect the main shaft and the operating lever to each other, and the connecting member facilitates attachment and detachment.

Further, the body portion includes a transmission mechanism for transmitting the driving force from the drive portion to the main shaft, and the transmission mechanism is switchable between a transmission state in which the driving force is transmitted and a non-transmission state in which the driving force is not transmitted. can be done.

According to this configuration, it is possible to make it difficult for a load to be applied to the operating lever through the main shaft by setting the non-transmitting state.

Further, the transmission mechanism includes a tilting action section that is connected to the main shaft and operates corresponding to the tilting of the main shaft, and a drive section side connection section that connects the tilting action section and the drive section to each other. , the driving section side connecting section can be detachable from at least one of the tilting operation section and the driving section.

This configuration facilitates switching between the transmission state and the non-transmission state.

Further, the device to be mounted includes a base portion that supports the base end portion of the operation lever so as to tilt, and the device mounting unit is a mounting device disposed between the device to be mounted and the main body portion. and the attachment portion is attached to the base portion so that the position of the main body portion with respect to the base portion can be adjusted.

According to this configuration, the device mounting unit can be mounted at the optimum position according to the dimensional difference of each mounted device.

According to the present invention, it is possible to provide a device mounting unit that can be easily attached to and detached from a device to be mounted.

FIG. 2 is a perspective view showing the main part of the layout of the cockpit of the equipment to be worn of the present invention; It is the perspective view seen from the front of the cockpit which shows 1st Embodiment of this invention. FIG. 4 is a perspective view showing a state in which the main shaft and the operating lever are tilted in the first embodiment; FIG. 5 is a perspective view showing an example of releasing the connection of the lever-side connecting portion in the first embodiment; FIG. 4 is a perspective view showing an example of releasing the coupling of the drive section side coupling portion in the first embodiment. FIG. 3 is a perspective view showing a partially extracted form of an attachment portion in the first embodiment. It is a block diagram which shows the structure of the said 1st Embodiment. It is a perspective view which shows 2nd Embodiment of this invention. FIG. 11 is a perspective view showing a state in which the main shaft and the operating lever are tilted in the second embodiment; FIG. 11 is a perspective view showing an example of releasing the coupling of the drive section side coupling portion in the second embodiment. FIG. 12 is a block diagram showing the configuration of a third embodiment of the present invention; FIG. It is a perspective view which shows another example of a structure of the said lever side connection part.

The present invention will be described with reference to first to third embodiments. However, the first and second embodiments relate to the device mounting unit 1, and are embodiments having a difference in form between them. On the other hand, the third embodiment relates to the construction machine detection device 10 included in the equipment mounting unit 1, and is an embodiment from the viewpoint of information output. In the following description, the directions are expressed in the vertical direction corresponding to the up-down direction when the mounted equipment (hydraulic excavator) is in use. corresponding to each direction when viewed from

-First Embodiment-
First, the first embodiment shown in FIGS. 2 to 5 will be described. The device attachment unit 1 of this embodiment can be attached to a device to be attached that is operated by tilting the operation lever A. As shown in FIG. The device mounting unit 1 can remotely control the device to be mounted, and can record the operation (log) when the operator gets on the vehicle. An example of a device to be mounted is a hydraulic machine, specifically a hydraulically driven construction machine, more specifically a hydraulic excavator or a bulldozer. In the following, a description will be given of a case in which the equipment to be mounted is a hydraulic excavator (also called "excavator").

FIG. 1 schematically shows the arrangement of the operation lever A and the like in the cockpit of the mounted equipment (hydraulic excavator). Operation levers A (AL, AR) are provided on the left and right sides of the operator on the cockpit S in the cockpit (in FIG. 1, the grip of the operation lever A (see FIG. 2) is not shown; The shaft is shown exposed). The device to be worn has a base portion B that supports the base end portion of the operation lever A so as to tilt. As a result, each operating lever A can be tilted. An operating lever A protrudes above the base portion B. As shown in FIG. A pilot valve (not shown) of a hydraulic system is provided inside the base portion B, and by tilting the operation lever A, the pilot valve can be operated so as to input an addition amount according to the tilt angle. The operating lever A is tiltable in two mutually intersecting axial directions belonging to a plane orthogonal to its own axial direction in the neutral state. In this embodiment, it is possible to tilt in the front-rear direction (Y-direction) and in the orthogonal left-right direction (X-direction) with respect to the operator (including combined directions of front-rear and left-right). By tilting each operation lever A back and forth and right and left on the basis of the operator, the hydraulic excavator can perform, for example, vertical movement of the boom, front and rear movement of the arm, turning (turning of the upper mechanism with respect to the traveling part such as the crawler), and turning of the bucket. can manipulate motion. By the way, the crawler operating pedal/lever C in front of the operator can be used to move forward, backward, and turn the traveling part.

In the mounting device, an operation mode is set, which is an input/output relationship between the tilting motion of the operating lever A as an input motion and the motion of the device-side driving section provided in the hydraulic excavator as an output motion. The device-side driving section includes a plurality of operating sections that perform predetermined actions, and a plurality of hydraulic mechanisms that operate the plurality of operating sections by being coupled to the plurality of operating sections. In the case of a hydraulic excavator, the operating parts correspond to a boom, an arm, and a bucket, and the hydraulic mechanism corresponds to hydraulic actuators (hydraulic cylinders, hydraulic motors, etc.) provided corresponding to the respective operating parts. The operation mode includes information that associates the prescribed tilting direction, which is the set tilting direction of the operating lever A, with the drive of the hydraulic mechanism. Regarding the operation mode, as a situation specific to construction machinery, although there is a JIS regulation, it is not unified, and the current situation is that it differs depending on the manufacturer of the equipment to be mounted. There are four patterns of operation modes in Japan. In addition, this operation mode can be changed by the operator operating the operation mode setting section (see FIG. 11 ) of the device to be worn. In other words, the operation mode is set to a plurality of patterns in which the content of the input/output relationship is different. In response to this, an operation mode acquisition section, which will be described later, includes an operation mode input section through which the operator inputs a specific operation mode selected from the plurality of patterns.

The device mounting unit 1 of the present embodiment is mounted on a device to be mounted, and can be used by an operator to perform remote control while the cockpit is unmanned. In addition, especially in construction machinery, in order to output information that can be used to improve construction machinery, such as improving safety and work efficiency, for example, while the operator is in the cockpit, Used to operate construction equipment and output information about the operation. The device mounting unit 1 includes a body portion 2 to be mounted on a device to be mounted, and an attachment portion 3 arranged between the device to be mounted and the body portion 2 .

For convenience of explanation, the mounting portion 3 will be explained first. The attachment portion 3 is attached to the base portion B of the device to be worn so that the position of the body portion 2 with respect to the base portion B can be adjusted. Although the mounting portion 3 is not shown in FIGS. 2 to 5, for example, as shown in FIG. The vertical position can be adjusted by adjusting the screwing degree of 31 . In addition, the slidable configuration of the slit 32 and the like enables position adjustment in the front-rear direction. With this configuration, the device mounting unit 1 can be mounted at the optimum position according to the dimensional difference of each mounted device.

The body portion 2 mainly includes a mechanism portion 21 and a drive portion 22 . The mechanism portion 21 is a portion that is connected to the operating lever A and operates to tilt the operating lever A. As shown in FIG. The mechanism section 21 mainly has a main shaft 211 , a transmission mechanism 212 and a lever side connecting section 213 . Each part will be explained later. The drive unit 22 includes a motor (an electric motor, specifically a servomotor) as a drive source and, if necessary, a reduction mechanism and the like, and generates a driving force for operating the mechanism unit 21 . The driving force generated by the driving portion 22 is set to a magnitude that allows the operation lever A to which the device mounting unit 1 is connected to be tilted without any trouble. Further, the driving portion 22 is connected to the mechanism portion 21 so as to be able to intermittently supply the driving force to the mechanism portion 21 so as to supply the driving force to the mechanism portion 21 . Intermittence of the driving force is performed by the transmission mechanism 212 (specifically, the drive section side connection section 2122). As will be described later, the drive unit 22 is composed of two units, a first drive unit 22a and a second drive unit 22b, in which the directions in which the rotation shafts extend are perpendicular to each other.

The main shaft 211 is a rod-shaped portion that receives the driving force of the driving portion 22 and tilts. The tilting is such that the upper located tip moves relative to the lower located base. Therefore, the mechanism portion 21 rotates within a predetermined angle range so as to tilt the operating lever A. As shown in FIG. As described above, the operating lever A belongs to a plane orthogonal to the axial direction in the neutral state, and can be tilted in two intersecting axial directions. Correspondingly, the mechanism section 21 is rotatable around each rotation axis corresponding to each of the two axes. Specifically, it can rotate in the front-rear direction and the left-right direction, and can also rotate in an oblique direction combining the front-rear direction and the left-right direction (see FIG. 3). The main shaft 211 is arranged so that its axial direction is parallel to the axial direction of the shaft portion of the operation lever A. As shown in FIG. As described above, in the present embodiment, positioning can be performed more easily than when the operation center of the mechanism portion 21 is aligned with the axis of the control lever A at the neutral position. is easy. Therefore, it is suitable for retrofitting to an existing wearable device.

The transmission mechanism 212 is a part that transmits the driving force from the driving portion 22 to the main shaft 211 . The transmission mechanism 212 includes a tilting motion part 2121 that is connected to the main shaft 211 and operates corresponding to the tilting of the main shaft 211, and a driving part side connecting part 2122 that connects the tilting motion part 2121 and the driving part 22 to each other. .

The transmission mechanism 212 can be switched between a transmission state in which the driving force is transmitted and a non-transmission state in which the driving force is not transmitted. By setting the non-transmitting state, it is possible to make it difficult for the load to be applied to the operating lever A through the main shaft 211 . Therefore, the operation lever A alone can be tilted, and can be operated with almost the same usability as if the device mounting unit 1 were not mounted in the non-transmitting state.

The tilt motion part 2121 has a first direction guide part 2121 a and a second direction guide part 2121 b acting on the main shaft 211 . The first direction guide portion (left-right guide portion) 2121a has two rod-shaped bodies 214, 214 that are arranged in parallel in the left-right direction and have an upwardly convex arc shape (arch shape). The two rod-shaped bodies 214, 214 are arranged so as to sandwich the main shaft 211, and the main shaft 211 penetrates between the two rod-shaped bodies 214, 214 in the vertical direction. The two rod-like bodies 214, 214 are fixedly provided with a fixed interval. The first direction guide portion 2121a has its end portion rotatably supported, and rotates in the front-rear direction around an axis extending in the left-right direction. The first direction guide portion 2121a guides the main shaft 211 in the left-right direction by coming into contact with the outer peripheral surface of the main shaft 211 . The second direction guide portion (front-rear guide portion) 2121 b has a rotating frame 215 . The rotating frame 215 of the present embodiment is a frame having a square shape in a plan view and having a space penetrating vertically. The rotating frame 215 rotates in the left-right direction about an axis extending in the front-rear direction. The rotating frame 215 supports the base (lower end) of the main shaft 211 so as to be rotatable in the front-rear direction about an axis extending in the left-right direction. Therefore, the rotating frame 215 has a rotating shaft 2151 that rotates in the front-rear direction about an axis extending in the left-right direction, and the base of the main shaft 211 is fixed to the rotating shaft 2151 . The first direction guide portion 2121a and the second direction guide portion 2121b are supported by the support metal fittings 216, which are immovable portions in the device mounting unit 1. As shown in FIG. The support metal fitting 216 of this embodiment is fixed to the front of the box in which the operation lever A is provided, and has, for example, a cross shape in a plan view with both ends raised upward. However, the shape of the support fitting 216 is merely an example, and can be changed in various ways. The first direction guiding part 2121a and the second direction guiding part 2121b operate independently. Therefore, the driving section 22 is provided with a first driving section 22a for operating the first direction guiding section 2121a and a second driving section 22b for operating the second direction guiding section 2121b. Depending on the rotational displacement of each part, the main shaft 211 can be arbitrarily moved forward, backward, leftward, or rightward within the movable range, such as obliquely oriented as shown in FIG. Note that the configuration of the tilt motion unit 2121 described here is merely an example, and various configurations can be adopted.

The drive section side connection section 2122 connects the mechanism section 21 (specifically, the tilt movement section 2121) and the drive section 22 to transmit driving force. Two driving section side connecting sections 2122 are provided for one device mounting unit 1 . The first direction guiding portion 2121a and the first driving portion 22a in the tilting motion portion 2121 are connected by the first driving portion side connecting portion 2122a, and the second direction guiding portion 2121b and the second driving portion 22b in the tilting motion portion 2121 are connected. It is connected by the second drive unit side connecting portion 2122b. The driving section side connecting section 2122 is physically connected to the mechanism section 21 and the driving section 22 and can be removed from at least one of the mechanism section 21 and the driving section 22 . By removing, the connection state between the mechanism section 21 and the driving section 22 is released. With this configuration, the configuration for releasing the connected state can be simplified. Also, switching between the transmission state and the non-transmission state can be facilitated. The driving section side connecting section 2122 of this embodiment can be attached to and detached from both the mechanical section 21 (tilting operation section 2121) and the operation lever A. As shown in FIG.

The drive unit-side connecting portion 2122 of this embodiment has a substantially U-shape in which the short member 218 is rotatably connected to each end of the long member 217 . The short member 218 on the upper side is connected so as to rotate together with the mechanism section 21 , and the short member 218 on the lower side is connected so as to rotate together with the driving section 22 . When removing the driving section side connecting section 2122 from the mechanism section 21 or the driving section 22, for example, the long members 217 can be removed from the upper and lower short members 218 as indicated by arrows in FIG. In addition, the short member 218 may be removed from the rotation shaft of the mechanism section 21 or the driving section 22, for example. Alternatively, the elongated member 217 may be composed of a plurality of members connected in the longitudinal direction, and the connecting portions of the members may be separated. In addition, in the present embodiment, the long member 217 and the short member 218 are shaped like elongated plates whose axes extend in the linear direction, but the long member 217 can also be shaped like a curved plate. Also, the short member 218 can be disc-shaped or polygonal plate-shaped.

The lever-side connecting portion 213 is a portion that connects the main shaft 211 and the operating lever A to each other so that the tilting of the main shaft 211 and the tilting of the operating lever A are interlocked. The tilting state of the main shaft 211 belonging to the device mounting unit 1 and the operating lever A belonging to the mounted device can be matched by the lever side connecting portion 213 . The lever-side connecting portion 213 is attachable to and detachable from at least one of the main shaft 211 and the operation lever A (specifically, the shaft portion of the operation lever A shown in FIG. 1 and the like). In this embodiment, both the main shaft 211 and the operating lever A can be attached and detached.

The lever-side connecting portion 213 includes an elongated member 2131 provided so as to connect the main shaft 211 and the operating lever A at least partly between the main shaft 211 and the operating lever A. Since the lever-side connecting portion 213 includes the long member 2131, attachment and detachment can be facilitated. The elongated member 2131 can be composed of, for example, a rod-shaped body or an elongated plate-shaped body. In this embodiment, it is composed of one elongated plate-like body. In addition, the long member 2131 may be a single member, or may be an assembly of a plurality of members. The elongated member 2131 is physically connected to the main shaft 211 and the operating lever A, and is attachable to and detachable from at least one of the main shaft 211 and the operating lever A. In this embodiment, both the main shaft 211 and the operating lever A can be attached and detached. The "attachment/removal" may be such that the main shaft 211 and the operating lever A can be switched between a state in which the main shaft 211 and the operating lever A are interlocked and a state in which they are not interlocked (a state in which the edges are cut off). The lever-side connecting portion 213 is composed of, for example, one or more long members 2131 and a sub-member 2132 that can be connected to and separated from the long member 2131 . By separating the elongated member 2131 and the secondary member 2132, the elongated member 2131 is removed from at least one of the main shaft 211 and the operating lever A (both in this embodiment). Such configuration of the elongated member 2131 and the sub-member 2132 is advantageous in that a detachable configuration with respect to the main shaft 211 or the operation lever A can be realized with a small number of components. The shape of the elongated member 2131 and the shape of the secondary member 2132 can each be various shapes. Specifically, in this embodiment, a cylindrical spindle-side bracket (an example of the secondary member 2132) provided so as to surround the main shaft 211, and a tubular bracket provided so as to surround the shaft portion of the operation lever A have. and the operation lever side bracket (an example of the secondary member 2132). The long member 2131 is connected to each of the main shaft side bracket and the operation lever side bracket by connecting members such as bolts and pins, and the long member 2131 can be removed by removing the connecting members.

Here, another configuration example of the lever-side connecting portion 213 will be described. As one example, as shown in FIG. 12, the long member 2131 can be composed of a pair of members facing each other so as to sandwich the main shaft 211 and the operating lever A (particularly, the shaft portion). At both ends of the elongated member 2131, as shown in FIG. 12, the hole 2134 of the elongated member 2131 is removably fitted into the projections 2111 and A1 provided on the main shaft 211 and the operation lever A side. Positioning in the longitudinal direction is performed, and the main shaft 211 and the operating lever A are interlocked. One end of the elongated member 2131 is provided with a plurality of holes 2134 (three in this embodiment) as shown in the drawing, which can correspond to the distance between the shaft centers of the main shaft 211 and the operation lever A. By adopting such a facing structure, the strength against torsion in the longitudinal direction can be increased, and the tilting of the operating lever A can be interlocked with the tilting of the main shaft 211 with little distortion. The pair of long members 2131 are connected to each other by a connecting member (an example of the secondary member 2132) while facing each other. That is, the pair of long members 2131 are connected with the main shaft 211 and the operating lever A interposed therebetween by interposing the connecting member. In the example shown in FIG. 12, the connecting member is formed as a plate-shaped protruding piece that is integrated with one and the other of a pair, and a pin 2133 that is a connecting member is formed in a state of being superimposed in the thickness direction. permeated and integrated. By removing this connecting member from the pair of other elongated members 2131, the pair of elongated members 2131 are no longer fixedly opposed to each other, and at least one of the main shaft 211 and the operating lever A is removed. (both in the configuration shown in FIG. 12). A handle (specifically, a ring) can be provided on the pin 2133 to facilitate removal of the connecting member. In the configuration shown in FIG. 12 , the operator simply pulls out the pin 2133 from the connecting member to release the pair of elongated members 2131 from the state in which they sandwich the main shaft 211 and the operating lever A, thereby separating the main shaft 211 and the operating lever A from each other. It can be easily separated and disassembled. Thus, the main shaft 211 and the operating lever A can be reliably connected to each other by the pair of elongated members 2131, and the connecting members facilitate attachment and detachment.

Next, a plurality of further configuration examples of the lever side connecting portion 213 will be shown. The following configuration examples are not limited to the configuration of the lever-side connecting portion 213 itself, and the state in which the main shaft 211 and the operating lever A are mutually connected (a state in which driving force can be transmitted) and the state in which they are not connected (a state in which driving force can be transmitted). This is an example for switching between non-communicable states). It should be noted that these enumerated examples are merely examples, and other examples not explicitly shown here can also be implemented.
(1) A configuration in which the main shaft 211 itself can be removed from the mechanism section 21 .
(2) A configuration in which the spindle-side bracket (secondary member 2132 ) can be removed from the spindle 211 .
(3) A configuration in which the operation lever side bracket (secondary member 2132) can be removed from the shaft portion of the operation lever A.
(4) A configuration in which the lever-side connecting portion 213 is detachable from the shaft portion of the operating lever A itself.
(5) A configuration in which the lever-side connecting portion 213 is composed of a plurality of members connected in the longitudinal direction, and the connecting portions are separated.
(6) The lever-side connecting portion 213 is a plurality of members connected in the longitudinal direction, the main-shaft-side end portion that is inseparable from the main shaft 211, and the operation that is inseparable from the operating lever A. Consists of the lever side end and the central part that is located between both ends and can be separated from both ends.

The device mounting unit 1 of this embodiment is configured as described above. According to the configuration of this embodiment, the lever-side connecting portion 213 can be attached to and detached from at least one of the main shaft 211 and the operation lever A, so that the body portion 2 can be easily separated from the operation lever A. Therefore, by separating the main body part 2 from the operation lever A so as not to interlock with it, the attachment and detachment work of the main body part 2 is easy.

Next, a description will be given from the viewpoint of detecting the tilting motion of the operating lever A. FIG. The main purpose of the detection is to record (log) the operation by detecting the operation of the control lever A corresponding to the operation of the pilot in the cockpit (the purpose is to not limited to this). The description up to this point has been from the perspective of using the equipment mounting unit 1 for remote control with an unmanned cockpit, so the following description is from a different perspective. However, it is also possible to apply the matters described below to remote operation. The point of view of detecting the tilting motion of the operating lever A is partly common to the following third embodiment.

From this point of view, the device mounting unit 1 of the present embodiment includes a tilt detection section 23 that detects the tilting motion of the operating lever A (note that "23" in the drawing does not indicate the tilt detection section 23 itself). (the position where the tilt detector 23 is provided is shown). The tilt detection section 23 can detect the tilting motion of the operating lever A even when the transmission of the driving force from the drive section 22 to the mechanism section 21 is cut off. Since the tilt detection unit 23 can detect the tilting motion of the operating lever A in a state in which transmission of the driving force from the drive unit 22 to the mechanism unit 21 is cut off, the tilt detection unit 23 can be detected in a state in which no load is applied to the drive unit 22. can be detected. Therefore, using the detection result of the tilt detection unit 23 while the operator is on board, it is possible to contribute to the improvement of safety and work efficiency.

The tilt detection unit 23 detects information regarding the operation of the mechanism unit 21 as information regarding the tilting operation of the operation lever A. FIG. The "operation of the mechanism portion 21" is the operation of the mechanism portion 21 corresponding to the tilting operation of the operation lever A. As shown in FIG. The tilt detection section 23 of this embodiment is attached to the mechanism section 21 instead of the drive section 22 . Therefore, the detection can be performed regardless of whether the mechanical portion 21 and the driving portion 22 are connected or disconnected by the driving portion side connecting portion 2122 . With this tilt detector 23 , a detected value can be obtained inside the equipment mounting unit 1 without directly detecting the tilting motion of the operating lever A. Note that the tilt detection unit 23 is arranged at a position away from the driving unit 22 (referred to as “external attachment”), and the displacement itself associated with the operation of the driving unit 22 or the displacement is converted into an electric signal and transmitted to the tilt detection unit 23 . may be configured to Further, depending on the convenience of design, the tilt detector 23 can be provided in the drive unit 22 .

As described above, the mechanism portion 21 rotates, and the tilt detection portion 23 detects information about the rotation operation of the mechanism portion 21 as information about the tilting operation of the operation lever A. FIG. The tilt detector 23 specifically has two potentiometers. One potentiometer detects the rotation of the first direction guide portion 2121a, and the other potentiometer detects the rotation of the second direction guide portion 2121b. In this embodiment, the information about the rotating motion is detection information obtained from two potentiometers. Rotational motion is easier to detect than tilting is detected directly. The tilt detector 23 is not limited to a potentiometer, and various means such as a resolver can be used. Note that if means for detecting a relative position instead of an absolute position is used for the tilt detector 23, a procedure for determining the origin position is required.

Further, as described above, the operating lever A belongs to a plane perpendicular to the axial direction in the neutral state, and can be tilted in two intersecting axial directions. It is rotatable around an axis. The tilt detector 23 includes a sensor that detects a rotation operation about each of the rotation axes. Various sensors belonging to the internal world sensor can be used as the sensor. By configuring the tilt detection unit 23 in this manner, it is possible to easily adapt to general equipment layouts in construction machinery and the like.

In the device mounting unit 1 of the present embodiment configured as described above, the drive detection mode in which the operation lever A, the mechanism section 21, and the drive section 22 are connected, and the connection between the mechanism section 21 and the drive section 22 A non-drive detection mode in which the state is canceled and a manual operation mode in which the connection state between the operation lever A and the mechanism portion 21 is canceled and the tilt detection portion 23 cannot detect can be selected. The drive detection mode is when both the lever-side connecting portion 213 and the drive-side connecting portion 2122 are in the connected state, and is selected, for example, when performing remote control. At this time, the operation of the spindle 211 can also be recorded (logged). The non-driving detection mode is a case where the lever side connecting portion 213 is in the connected state and the driving portion side connecting portion 2122 is in the non-connected state. Selected when recording (logging) operations. The manual operation mode is when the lever-side connecting portion 213 is in a non-connected state (regardless of the connecting state of the drive-side connecting portion 2122), and is selected when the operator gets in the cockpit and performs normal operations. be done. In this manual operation mode, the load of the mechanism part 21 and the drive part 22 is not applied to the operation lever A without removing the equipment mounting unit 1 from the base part B of the equipment to be mounted. When a person gets on and performs normal operation other than remote operation, the user can operate with a feeling of use (light feeling of use) similar to the state in which the device mounting unit 1 is not attached. By implementing each mode in the device mounting unit 1 as described above, it is possible to respond to the purpose of detection and operation with a high degree of freedom.

-Second embodiment-
Next, a second embodiment shown in FIGS. 8 to 10 will be described. The description here will mainly focus on the parts that are different from the first embodiment.

In the first embodiment, the first direction guide portion 2121a and the second direction guide portion 2121b have different forms. On the other hand, in the present embodiment, the second direction guide portion 2121b has the same shape as the first direction guide portion 2121a, and is configured to intersect (specifically, perpendicularly) in plan view. The crossing is performed directly above the shaft portion of the control lever A in the neutral state (upward facing state) in the axial direction. In addition, in the present embodiment, the first direction guiding portion 2121a is positioned downward, and the second direction guiding portion 2121b is positioned upward.

The first direction guiding portion 2121a and the second direction guiding portion 2121b are supported by the support bracket 219, which is a stationary portion. The support fitting 219 of this embodiment is a frame that is fixed so as to surround the entire circumference of a part of the box in which the operation lever A is provided. to support the first direction guide portion 2121a and the second direction guide portion 2121b. However, the shape of the support fitting 219 is merely an example, and can be changed in various ways.

In the first embodiment, the motion of the main shaft 211 guided by each direction guiding portion is transmitted to the operating lever A via the lever-side connecting portion 213 . On the other hand, in the present embodiment, each direction guide portion 2121a, 2121b is configured to guide the operation lever A directly. Therefore, unlike the first embodiment, the main shaft 211 is not required in this embodiment. Further, in accordance with this, the lever-side connecting portion 213 is also unnecessary.

In the device mounting unit 1 of the present embodiment, there is a drive detection mode in which the operation lever A, the mechanism section 21, and the drive section 22 are connected, and a non-drive mode in which the connection state between the mechanism section 21 and the drive section 22 is released. A detection mode can be selected. However, unlike the first embodiment, the operation lever A is disconnected from the mechanism portion 21, and the manual operation mode in which the tilt detection portion 23 cannot detect cannot be selected.

-Third Embodiment-
In the device mounting unit 1 of the first embodiment or the second embodiment, the mounted device is a construction machine, specifically a construction machine (for example, a hydraulic excavator) that directly operates a hydraulic mechanism by operator's lever operation. ), and includes a construction machine detection device 10 that can be attached to and detached from the construction machine. The construction machine detection device 10 outputs data including lever operation information regarding the tilting operation of the operation lever A of the construction machine to the outside. The construction machine detection device 10 will be described below as a third embodiment. The physical configuration of the device mounting unit 1 itself can be the same configuration as in the first and second embodiments. The construction machine detection device 10 of the present embodiment is a device capable of outputting information that can be utilized for improving the construction machine, such as improving the safety and work efficiency of the construction machine.

The contents of the above-mentioned "improvement of construction machines" that can be made by utilizing the data output from the detection device 10 for construction machines include, for example, work records (logs) of construction machines, training on skill acquisition for operators, construction during operation Machine danger prediction, autopilot (completely unmanned operation), and remote control (unmanned operation of construction machinery) can be mentioned. Among the above, work records (logs) can be used, for example, to manage the working conditions of pilots, verify accidents that have occurred, extract so-called near-miss events that do not lead to accidents, identify unnecessary actions that can be omitted, and improve efficiency. It can be used to create operation manuals for work. Further, the education can be used, for example, to create training data from the operations of a skilled operator, and to extract points for improving the operation by comparing the operation details of an inexperienced operator from the training data. can. In addition, danger prediction can be used in combination with data from tilt sensors and cameras installed in construction machinery, for example, to extract dangerous work in real time and issue warnings and caution signals to operators and supervisors as necessary. can be used to issue This embodiment enables more accurate risk prediction than using only a camera. As described above, the construction machine detection device 10 of the present embodiment can output useful data that can be used in various ways. It should be noted that the contents described here are merely examples, and various matters related to improvement of construction machines are applicable.

The construction machine detection device 10 of the present embodiment includes a lever operation detection section 101 and a time detection section 102 . The lever operation detection unit 101 uses, for example, the detection result of the tilt detection unit 23 to detect lever operation information related to the actual tilting operation of the operation lever A of the construction machine. The time detection unit 102 has, for example, a real-time clock to detect the time (eg, year, month, day, hour, minute, second) at the current position of the construction machine. The detected time is the standard time of the area where the construction machine is currently working. The construction machine detection device 10 can also include a current position detection unit that uses GPS, for example.

The construction machine detection device 10, more specifically, the control unit 103 included in the construction machine detection device 10 detects the lever operation information from the lever operation detection unit 101 and detects the lever operation information from the time detection unit 102 at the time the lever operation information is detected. Output as data associated with time. The data association may be a single data in which the other data (detection time) is embedded in one data (corresponding to the lever operation information), or one data and the other data are separate data. It is data, and may be a set by combining other data for linking both (the same applies to the following description of "association"). The data may be output wirelessly to the outside of the construction machine, or may be output by wire via a cable connected to the construction machine. Furthermore, it may be output to a storage medium provided in a cockpit of a construction machine or the like. In addition, there is a time lag between lever operation (input) and operation (output) of the boom, arm, bucket, etc. of the construction machine due to the configuration of the hydraulic system. For this reason, the data may be output in a converted form in consideration of the time lag.

The construction machine detection device 10 of the present embodiment further includes an operation mode acquisition unit 104 that acquires an operation mode that may be set to a plurality of patterns depending on the JIS or construction machine manufacturer. A part of the operation mode acquisition unit 104 can be provided in the control unit 103 . Then, the construction machine detection device 10 outputs operation mode information, which is information on the operation mode acquired by the operation mode acquisition unit 104, and lever operation information acquired by the lever operation detection unit 101, as data associated with each other. The automatic acquisition of the operation mode information by the operation mode acquisition unit 104 is based on the hydraulic mechanism of the construction machine with respect to the tilting direction and the tilting angle (for example, included in the detection result of the lever operation detection unit 101) for each of the left and right operation levers A. With respect to this, it is possible to detect which hydraulic mechanism performs what kind of operation with a sensor or the like provided in the construction machine, and to perform calculations in the operation mode acquisition unit 104 itself or the control unit 103 .

By mounting the construction machine detection device 10 of the present embodiment on the construction machine, operation mode information having a plurality of patterns depending on JIS and the construction machine manufacturer can be associated with lever operation information related to the actual operation of the operation lever A. Since it can be output as data, this data can be put to practical use. In addition, since the operation mode acquisition unit 104 can specify one operation mode that may be set to a plurality of patterns, the system of the construction machine detection device 10 can be initialized according to the operation mode (initialization). is easy.

The operation mode acquisition unit 104 of this embodiment includes an operation mode input unit 1041 for inputting the specific operation mode selected from the plurality of patterns by the operator of the construction machine. The operation mode input unit 1041 can also serve as an operation mode setting unit (see FIG. 11) for setting the operation mode originally provided in the construction machine. In addition, by using both functions in this way, the configuration for acquiring the operation mode can be simplified as compared with the automatic acquisition described above. In addition, the initial value setting of the detection device 10 for construction machinery can be easily performed. By providing the operation mode input unit 1041, it is possible to use the input contents of the operation mode input unit 1041 by the operator as the operation mode information. In addition, since the construction machine detection device 10 includes the operation mode acquisition unit 104 (operation mode input unit 1041), an operation pattern corresponding to the construction machine familiar to the operator (for example, an operation mode set by the operation mode setting unit of the construction machine) can be obtained. ) can be easily identified on the construction machine detection device 10 side, the operator can avoid an unfamiliar operation pattern and operate the construction machine with a familiar operation pattern. Therefore, the construction machine can be operated safely and efficiently. In addition, based on such familiar operation, data including lever operation information can be output to the outside from the detection device 10 for construction machinery, so data in a natural form close to normal operating conditions can be output to the outside. can be output.

The lever operation detection unit 101 is the same as the tilt detection unit 23 in the first and second embodiments. , Y direction, plus direction, minus direction) and information about the operation tilt angle are detected. Then, the specified tilting direction included in the operation mode information is associated with the operation tilting direction detected by the lever operation detection unit 101 . By associating the specified tilting direction included in the operation mode information with the operation tilting direction detected by the lever operation detection unit 101, the operation lever A corresponding to (matched with) the operation mode set in the construction machine is obtained. can output information on the tilting motion of the

As described above, a pair of control levers A are provided on the left and right sides of the cockpit of the construction machine. be. The lever operation detection unit 101 outputs information about the operation tilting direction and the operation tilting angle related to the actual tilting of each operation lever A. FIG. Since information in two directions is output by two operating levers A, four data are output. Incidentally, since the construction machine detection device 10 of the present embodiment also outputs information regarding the operation of the crawler operation pedal/lever C in the front-rear direction, a total of six pieces of data are output. As a result, the output information about the tilting direction and tilting angle in the front-rear direction and the left-right direction of each operating lever A can be utilized.

By mounting the construction machine detection device 10 of the present embodiment configured as described above to the construction machine, lever operation information related to the tilting motion of the operation lever A can be output as data associated with the detection time. can be put to use. Then, by utilizing the data in which the lever operation information output from the construction machine detection device 10 is associated with the detection time, the construction machine is improved such as by improving the safety and work efficiency of the construction machine. be able to.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

For example, the mounted device is not limited to construction machinery (hydraulic excavator), and may be various devices. In particular, it is applicable to various devices operated by tilting the operating lever A. It is also possible to apply it to a wearable device having an electronic control lever.

A Operation lever A1 Convex portion B Foundation portion C Crawler operation pedal/lever S Cockpit 1 Equipment mounting unit 10 Construction machine detection device 101 Lever operation detection unit 102 Time detection unit 103 Control unit 104 Operation mode acquisition unit 1041 Operation mode input unit 2 Body 21 Mechanism 211 Main shaft 2111 Convex 212 Transmission mechanism 2121 Tilting operation part 2121a First direction guide part 2121b Second direction guide part 2122 Drive part side connection part 2122a First drive part side connection part 2122b Second drive part side Connecting portion 213 Lever side connecting portion 2131 Elongated member (lever side connecting portion)
2132 Sub-member 2133 Pin 2134 Hole 214 Rod-shaped body 215 Rotating frame 2151 Rotating shaft 216 Support metal fitting 217 Elongated member (drive part side connecting part)
218 Short member 219 Support metal fitting 22 Driving part 22a First driving part 22b Second driving part 23 Tilt detection part 3 Mounting part 31 Bolt 32 Slit

Claims (7)

It can be attached to a device to be attached that is operated by tilting the operation lever,
comprising a main body to be attached to the attached device,
The main body is
a driving unit that generates a driving force;
a main shaft tilted by receiving the driving force of the driving unit;
a lever-side connecting portion that connects the main shaft and the operating lever so that the tilting of the operating lever is interlocked with the tilting of the main shaft;
The lever-side connecting portion is detachable from at least one of the main shaft and the operating lever,
The base of the main shaft is fixed to a rotation shaft extending in a first direction related to one of two intersecting axial directions,
The rotating shaft is rotatably supported by the main body in a second direction related to the other one of the two intersecting axial directions,
The plane to which the two intersecting axial directions with respect to the main shaft belong is a plane orthogonal to the axial direction of the operating lever at the position of the base end portion which is the tilting center of the operating lever. Equipment mounting unit that is provided in an interlocking relationship . the lever-side connecting portion includes a long member provided to connect the main shaft and the operating lever;
2. The device mounting unit according to claim 1, wherein said elongated member is attachable to and detachable from at least one of said main shaft and said operating lever. The lever-side connecting portion is composed of one or more elongated members and a sub-member that can be connected to and separated from the elongated member,
3. The device mounting unit according to claim 2, wherein the long member and the sub-member are separated from each other so that the long member can be removed from at least one of the main shaft and the operating lever. The elongated member is composed of a pair of members facing each other so as to sandwich the main shaft and the operating lever,
The pair of elongated members are connected to each other by a connecting member while facing each other,
4. The device mounting unit according to claim 2, wherein the long member is removed from at least one of the main shaft and the operating lever by removing the connecting member. the main body includes a transmission mechanism that transmits the driving force from the drive unit to the main shaft;
5. The device mounting unit according to claim 1, wherein said transmission mechanism is switchable between a transmission state in which driving force is transmitted and a non-transmission state in which driving force is not transmitted. The transmission mechanism includes a tilting action section that is connected to the main shaft and operates corresponding to the tilting of the main shaft, and a drive section side connection section that connects the tilting action section and the drive section to each other,
6. The device mounting unit according to claim 5, wherein said driving section side connecting section is attachable to and detachable from at least one of said tilting movement section and said driving section. The mounted device includes a base portion that supports the base end portion of the operation lever so as to tilt,
The device mounting unit includes a mounting portion arranged between the device to be mounted and the main body,
The device mounting unit according to any one of claims 1 to 6, wherein the attachment portion is attached to the base portion so that the position of the main body portion with respect to the base portion can be adjusted.

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