JPH0438544B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for remotely controlling a working device in a hand machine, a power shovel, a profiling machine, etc., which is configured to be bendable, rotatable, telescopic, and more particularly, to a device for remotely controlling a working device having a structure similar to that of the working device. The present invention relates to a similar actuating device, which is provided with an operating device having an operating device, and configured to move the working device in a manner similar to the movement of the operating device.

The present applicant had previously developed this type of similar actuating device and filed a patent application [Patent Application No. 55-115289 (Japanese Unexamined Patent Publication No. 57-1999)
-41185) and international application number PCT/JP81/00167
(International Publication No. 82/00611)]. What is disclosed in these publications is that a separate driving hydraulic cylinder is provided for each movable member of a working device consisting of a plurality of movable members, and these multiple hydraulic cylinders are connected to a single hydraulic cylinder having a structure similar to that of the working device. The operating device is controlled by operating the operating device to cause the working device to follow the movement of the operating device. According to this device, the desired movement can be achieved simply by applying the movement intended to be applied to the work equipment to the operating device, so it is far superior to the conventional method of operating the operating lever corresponding to each hydraulic cylinder. It has the advantage of being easy to operate. By the way, this operating device does not simply swing around a single fulcrum like a conventional operating lever, but is capable of complex movements.For example, a handle is attached to the tip of the operating device, and this handle When operating by holding, this handle can move up, down, left and right. However, it has been found that the action of grasping the handle, which can move vertically and horizontally, and moving it to a desired position causes extremely great fatigue to the operator.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a similar actuating device that can be easily operated without causing too much fatigue to the operator.

According to the present invention, there is provided a device for remotely controlling a working device having a plurality of movable members, including an operating device having a mechanism substantially similar to the working device, and an operating device configured to follow the displacement of the operating device. In a similar actuating device for remote control comprising a drive device and a control device for moving a working device, a hand rest having a mechanism substantially similar to that of the operating device is provided in proximity to the operating device, and the hand rest is used for the operation. A similar actuating device for remote control is provided, which is characterized by being provided with a mechanism that moves the device to follow it.

Embodiments of the present invention shown in the accompanying drawings will be described below.

FIG. 1 shows an embodiment in which the present invention is applied to a power shovel, and the power shovel has a working device 1, an operating device 2, a manual stand 3, a control device 4, and the like.

The working device 1 consists of a column 11 fixed on a machine base (not shown), a first link 12, a second link 13, and a shovel 14 at the tip of the second link 13, and serves as a drive device for each link and the shovel. Three hydraulic cylinders 15, 16, 17 are provided. Thus, the working device 1 has three movable members and three hydraulic cylinders that drive each movable member individually.

The operating device 2 has a mechanism similar to that of the working device 1. That is, the operating device 2 has a support 21 corresponding to the support 11 and a first link 2 corresponding to the first link 12.
2. It has a second link 23 corresponding to the second link 13 and a handle 24 corresponding to the shovel 14.

An operating device 2 is provided between the operating device 2 and the work device 1.
A control device 4 is provided which causes the working device 1 to follow the movement of
and as disclosed in International Publication No. 82/00611,
A brief explanation will be given here. Each hydraulic cylinder 15,
Although directional control valves 16 and 17 are provided corresponding to the directional control valves 16 and 17, in order to simplify the drawing, in FIG. Only shown. The directional control valve 41 is a 4-port type,
It has an input port connected to the hydraulic pump 42, a discharge port connected to the hydraulic tank 43, and two output ports connected to the hydraulic cylinder 16, and has a moving spool 44 for port switching. The moving spool 44 is connected to a planetary gear 46 (see FIG. 2) of a differential gear mechanism 45. The differential gear mechanism 45 has two sun gears 4 facing each other.
7, 48, one gear 47 is driven by a belt 49 and the other gear 48 is driven by a belt 50. The belt 49 is connected to a pulley 53 fixed to the second link 23 via a pulley 51 and a belt 52, and transmits the rotation of the second link 23 relative to the first link 22 to the sun gear 47. the other belt 5
0 similarly transmits the rotation of the second link 13 relative to the first link 12 of the working device 1 to the sun gear 48 in cooperation with the pulley 54, belt 55, and pulley 56. Note that, while the second links 13 and 23 rotate in the same direction, the sun gears 47 and 48 rotate in opposite directions. Thus, when the second link 23 of the operating device 2 is rotated by an appropriate angle with respect to the first link 22, the sun gear 47 rotates accordingly, and the planet gear 46 is moved to rotate the spool 44 of the direction control valve 41. Supply hydraulic pressure to the hydraulic cylinder 16. This causes the second link 13 to rotate relative to the first link 12, but
This rotation is fed back to the sun gear 48,
Return the planetary gear 46 to its original position. In this way, the second link 13 of the working device 1 follows the second link 23 of the operating device 2. Here, the operating device 2
When the second link 23 of the directional control valve 41 rotates only slightly relative to the first link 22, the spool 4 of the directional control valve 41
4 is configured to move to the ultimate position, and therefore, by only slightly rotating the second link 23, the second link 13 of the working device 1 immediately moves to follow it, and therefore, the second Link 13
can be controlled accurately. Although a control device similar to that described above is not shown, other hydraulic cylinders 15, 1
7, so no matter how you move the operating device 2, the working device 1 will follow the movement. In addition, in FIG. 1, the link 60 and pulley 61 near the shovel 14 are connected to the second link 13.
This is to detect the rotation angle of the shovel 14 relative to the rotation angle of the shovel 14.If the pulley 61 is attached directly to the shovel 14, there is a risk that the pulley will break during excavation work with the shovel 14.
The pulley 61 is mounted at a position away from the shovel 14 by using the pulley 61.

The operating device 2 is normally operated by grasping the handle 24 with the hand, but the handle 24 can be moved to any position vertically or horizontally. Therefore, it has been found that when operating the handle 24 by hand, there is no support and it is similar to simply moving a fist in the air, which causes fatigue. Therefore, in the present invention, the hand rest 3 is arranged close to the operating device 2.
The hand rest 3 also has a similar mechanism to the operating device 2, and includes a support 31 corresponding to the support 21, a first link 32 corresponding to the first link 22, and a second link 33 corresponding to the second link 23. There is. However, a member corresponding to the handle 24 is not required, and a hand rest 34 is used instead.
has been established. As can be clearly seen from FIGS. 3 and 4, the hand rest 3 is arranged next to the operating device 2.
In addition, the hand rest 34 is arranged so as to be able to support a part of the hand that grips the handle 24 of the operating device 2.

The hand rest 3 is provided with a mechanism that causes each link to follow the movement of the link of the operating device 2. That is, as seen in FIG. 1, a pulley 35 is fixed to the second link 33, and the pulley 35 is connected to the pulley 5 via a belt 36, a pulley 37, and a belt 38.
It is designed to be driven by 6. Since the pulley 56 is driven in accordance with the rotation of the second link 13 of the work device 1, the second link 3 of the manual stand 3
3 is also interlocked with the second link 13, and will eventually follow the second link 23 of the operating device 2. Handheld stand 3
A similar mechanism (not shown) is also provided for the first link 32 . In addition, in FIGS. 3 and 4, pulleys and belts are completely omitted for the sake of simplification of the drawings.

During operation, the operator must hold the handle 2 of the operating device 2.
4 with the hand and support the hand on the hand rest 34. In this state, move the handle 24 in the desired direction.
Then, the operating device moves in accordance with the movement of the handle 24, and the control device 4 and the drive device (hydraulic cylinder) cause the working device 1 to follow the movement. Furthermore,
Since the hand rest 3 moves in synchronization with the working device 1, the hand rest 3 follows the operating device 2. In this way, the operator can always operate the operating device 2 with his hand supported on the hand rest.

Note that although the above embodiment uses a differential gear mechanism to control the operating device and the working device, other mechanisms may be used. In addition, pulleys and belts are used as a means of transmitting movement between each link, but instead of this, a gear transmission mechanism or a motorized cable with a steel cable slidably inserted into a metal or synthetic resin pipe may be used. Good too. Furthermore, in the above embodiment, the hand rest 3 is linked to the working device 1 using a belt to follow the operating device, but instead of this,
The hand rest 3 may be directly driven by a servo motor or a hydraulic cylinder and linked to an operating device. Furthermore, it goes without saying that the present invention is not limited to the power shovel of the above embodiment, but can also be applied to other working devices having a plurality of movable members.

As described above, the present invention has excellent advantages in that the operating device can be operated with the hand always supported, making the operation easy and less likely to cause fatigue to the operator.

[Brief explanation of drawings]

FIG. 1 is a schematic explanatory diagram of one embodiment of the present invention, and FIG.
The figure is a side view of the differential gear mechanism used in the device shown in Figure 1, and Figure 3 is a side view of the hand rest 3 and the operating device 2.
FIG. 4 is a front view of the same, but for clarity, the second links 23, 33 are shown in an upwardly extended state. 1... Working device, 2... Operating device, 3... Handheld stand, 4... Control device, 11, 21, 31... Support column, 12, 22, 32... First link, 13, 2
3, 33...Second link, 14...Shovel, 2
4...Handle, 34...Handle.

Claims (1)

[Claims] 1 A device for remotely controlling a working device having a plurality of movable members, including an operating device having a mechanism substantially similar to the working device, and a drive for moving the working device to follow the displacement of the operating device. In a similar actuating device for remote control comprising a device and a control device, a hand rest having a mechanism substantially similar to that of the manipulating device is provided in proximity to the manipulating device, and the hand rest follows the manipulating device. A similar actuating device for remote control, characterized by being provided with a moving mechanism.