JPH08249080A - Automatic operation device for joy stick lever device - Google Patents

Abstract

PURPOSE: To automatically operate an operation lever accurately and easily in the joy stick lever device. CONSTITUTION: The operation lever is supported by a first guide arm 18, which has a guide hole 18c formed in the transverse direction and is slid together with the operation level in the longitudinal direction as one body, and a second guide arm 19 which has a guide hole 19c formed in the longitudinal direction and is slid together with the operation lever in the transverse direction as one body, and first and second driving motors 20 and 21 are interlocked with and coupled to sliding shafts of respective guide arms.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic operating device for a joystick lever device provided in a working machine such as a hydraulic excavator.

[0002]

BACKGROUND OF THE INVENTION Generally,
This kind of joystick lever device is swingably supported via a universal joint so that the lever can be operated in any direction including X-axis and Y-axis directions that are orthogonal to each other, and the operation lever grasped by the operator can be operated freely. The actuator for work is manually operated by operating in the direction.

When such a joystick lever device is installed in a work machine, various lever operations such as rapid lever operation, constant speed lever operation, ultra-low speed lever operation, and lever operation for accelerating and decelerating at a constant rate are performed. It is required to perform a performance evaluation test to operate the work actuator by performing the above operation. However, it is practically difficult for the operator to artificially perform such an evaluation lever operation.

On the other hand, it is also proposed to utilize a mechanism for remotely controlling the work actuator for performance evaluation. However, this remote control device uses a pilot valve as a control valve for controlling the operation of the work actuator. Since the mechanism for supplying pressure oil is to be switched by remote control instead of the pilot valve provided in the joystick lever device for switching by lever operation, there is no direct relation with the operating lever, and this Therefore, it was not possible to evaluate the performance directly based on the lever operation of the operation lever.

[0005]

SUMMARY OF THE INVENTION The present invention was conceived with the object of providing an automatic operating device in a joystick lever device which can eliminate these drawbacks in view of the above-mentioned circumstances. In a joystick lever device, an operating lever for operating a work actuator is swingably supported via a universal joint so that the operating lever can be operated in any direction including X-axis and Y-axis directions orthogonal to each other. On the operating lever,
An X-direction guide, which is swingably supported about an axis oriented in the X-axis direction and which guides the operation lever to swing in the X-axis direction, is integrally swingable in the Y-axis direction with the operation lever. A first guide arm and a Y-direction guide that is swingably supported about an axis parallel to the Y-axis and that guides the operation lever to swing in the Y-axis direction are formed. A second guide arm that swings integrally with the lever is provided, and an automatic operation actuator for forcibly swinging the guide arm to automatically operate the operation lever is interlockingly connected to the swing shaft of each guide arm. It is characterized by having done.

According to the present invention, the operation lever can be automatically operated accurately and easily.

[0007]

Embodiments of the present invention will now be described with reference to the drawings. In the figure, reference numeral 1 denotes a joystick type lever device arranged in a driver's seat of a construction machine such as a hydraulic excavator, and an operating lever 2 constituting the lever device 1 is usually a grip portion 2a held by an operator. (See FIG. 5) is used, but in the present embodiment, instead of this, an automatic operating one is attached.

On the other hand, 3 is a case main body which constitutes the lever device 1, and the central portion of the upper surface of the case main body 3 is
A base end portion of the operating lever 2 is swingably attached via a universal joint (ball joint, universal joint, etc.) 4 and a connecting bolt 5, whereby the operating lever 2 is moved in the left-right direction (X-axis direction). Or front-back direction (Y
Not only in the axial direction, but also in any direction including the diagonal direction (360
Swinging operation is allowed.

Reference numeral 6 denotes a swing cam body integrally attached to the connection bolt 5, and the swing cam body 6 swings integrally with the swing operation of the operating lever 2. However, on the lower surface of the swing cam body 6, the case body 3
The upper ends of four front, rear, left and right push rods 7, which are provided on the upper part of the table so as to be vertically movable, are in contact. Further, 8 is a return bullet that always urges the push rod 7 upward, and the push rod 7 receives the urging force of the return bullet 8 and the lower end of the push rod contacts the lower end of the guide member 35. The operating lever 2 is set to be in the neutral position in a state in which it is located at the uppermost end position, and the push rod 7 is integrated with the swinging operation of the operating lever 2 so that the swing cam body 6 is integrated. It is configured to move downward against the biasing force of the return bullet 8 by swinging.

Further, 9 is a spool that is vertically movable in the case body 3, and a head 9a of the spool 9 is retained in a spool fitting groove 7a formed in the lower portion of the push rod 7. It is fitted so that it can move up and down. Reference numeral 10 denotes a spool ammunition machine interposed between the lower end portion of the push rod 7 and the middle portion of the spool 9, and the spool 9 is always directed downward by the urging force of the spool ammunition machine 10. It is hung from the push rod 7 while being urged. Further, the lower half portion of the spool 9 has a hollow cylindrical shape with an open lower side.
Second ports 9c and 9d are formed.

The case body 3 also serves as a case body for the pilot valve 11. That is, the case body 3
Is a pump port P connected to the pilot pump 12, a tank port T connected to the oil tank 13, a first port 11a connected to a first pilot port 14a of the control valve 14, which will be described later, and a first port of the control valve 14. Second port 11 connected to two pilot ports 14b
Each port of b is formed. When the operation lever 2 is in the neutral position and the push rod 7 is in the uppermost position, the spool 9 moves from the pump port P of the pilot valve 11 to the first and second ports 11.
a, 11b valve paths are closed, and the first and second ports 1
It is located in a non-actuated position where a valve passage from 1a, 11b to the tank port T via the spool first port 9c is opened.
On the other hand, when the push rod 7 is moved downward by swinging the operation lever 2 and the spool 9 is moved downward accordingly, the spool 9 passes from the pump port P through the second port 9d. The valve paths to the first and second ports 11a and 11b are open, and the first and second ports 11a and 11b
The pilot pressure oil from the pilot pump 12 is supplied to the pilot ports 14a and 14b of the control valve 14 by displacing the valve path from the tank port T to the tank port T. In this case, the pilot pressure oil from the pump port P to the first and second ports 11a and 11b is also supplied to the inside of the cylinder portion 9b of the spool 9 and acts as a force for moving the spool 9 upward. As a result, the spool 9 moves upward against the urging force of the spool bullet 10 to throttle the valve path from the pump port P to the first and second ports 11a and 11b. The pilot ports 14a and 14b are configured to be supplied with pilot pressure oil having a pressure corresponding to the swing operation angle of the operation lever 2.

On the other hand, reference numeral 15 is a working hydraulic actuator provided in the construction machine, and a hydraulic pressure supply circuit from the hydraulic pump 16 to the working hydraulic actuator 15 includes:
The control valve 14 is provided. The control valve 14 is switched by supplying pilot pressure oil to the pilot ports 14a and 4b based on the operation of the operation lever 2, as described above, and the hydraulic pump 16 causes the first hydraulic actuator 15 to operate. , The valve passages to the second ports 15a and 15b and the valve passages from the first and second ports 15a and 15b to the oil tank 13 are opened and closed, whereby pressure oil is supplied to the working hydraulic actuator 15. Has become. Incidentally, the lever device 1 is provided with four push rods 7 and can operate two kinds of working hydraulic actuators independently or in combination, but for convenience of description, one kind of working hydraulic actuator is used. Only the configuration of the part related to the hydraulic actuator is described.

On the other hand, 36 is an automatic operating device assembled to the operating lever 2, and the automatic operating device 36 includes a pedestal 17, first and second guide arms 18, 19, which will be described later.
It is composed of respective members such as the first and second drive motors 20 and 21.

The pedestal 17 is detachably attached to the console box 22 so as to fix the automatic operation device 36 to the vehicle body side, and the pedestal 17 is provided with the first and second guide arms 18, 19 ,. And the first and second drive motors 20 and 21 are attached. That is, the first guide arm 18 has a support shaft portion 18b protruding in the left-right direction at both left and right ends of an arc-shaped guide portion 18a that faces the left-right direction (X-axis direction). Shaft 18b
Is supported by a support bracket 23 integrally provided on the pedestal 17 so as to be swingable in the front-rear direction (Y-axis direction) via a bearing 24. Further, the guide portion 18a is formed with a guide hole 18c directed in the left-right direction, and the operation lever 2 is inserted and supported in the guide hole 18c via a slide piece 25. This allows the operating lever 2
Is movable in the left-right direction with respect to the first guide arm 18 along the guide hole 18c, but the first guide arm 18 swings back and forth integrally with the first guide arm 18. Supported by.

The second guide arm 19 is different from the left-right direction and the front-back direction in the first guide arm 18.
And a circular arc shaped guide portion 19
A guide hole 19c facing the front-rear direction is formed in a, the support shaft portion 19b is supported by the support bracket 23 so as to be swingable in the left-right direction, and the operation lever 2 is provided with respect to the second guide arm 19. Although it is movable in the front-rear direction along the guide hole 19c, the second guide arm 19 is supported so as to swing together with the second guide arm 19 when the second guide arm 19 swings left and right. The first guide arm 18 and the second guide arm 19 are provided in a vertically displaced state so as not to interfere with each other.

Further, the first and second drive motors 20,
21 is fixed to the pedestal 17 via a mounting bracket 26, and the output shaft 20a of the first drive motor 20 is provided with one support shaft portion 18b of the first guide arm 18 and the second drive motor 21. One of the support shaft portions 19b of the second guide arm 19 is connected to the output shaft 21a of the joint 2
7 and the key 28 are interlocked and connected, whereby the first and second guide arms 18 and 19 are moved forward and backward or left and right based on forward and reverse driving of the first and second drive motors 20 and 21. It is configured to swing.

Further, 29 is the first and second drive motors 2
A control unit that controls the drive control of 0 and 21.
9, the rotational speeds of the first and second drive motors 20 and 21,
Various setting operation tools 30 for arbitrarily setting the rotation amount and the like are connected, and the control unit 29 controls the first and second drive motors 20 and 21 based on input signals from these setting operation tools 30. It is configured to output a drive command.

In the embodiment of the present invention constructed as described above, various lever operations such as rapid lever operation, constant speed lever operation, ultra-low speed lever operation, and lever operation for accelerating / decelerating at a constant rate are performed. Hydraulic actuator for work 1
When performing a performance evaluation test for operating 5, the automatic operation device 36 is attached to the console box 22 and the operation lever 2 is inserted through the guide holes 18b and 19b of the first and second guide arms 18 and 19. In this state, by operating the setting operation tool 30 to drive the first and second drive motors 20 and 21, the operation lever 2 can be swung at any speed, angle, and number of times.

That is, for example, when only the first drive motor 20 is driven, the first guide arm 18 swings in the front-rear direction about the support shaft portion 18b as a result of the drive of the first drive motor 20. The operation lever 2 also swings in the front-back direction integrally, but in this case, the second guide arm 1
Since 9 does not swing, the operating lever 2 swings along the guide hole 19c facing the front-back direction. Similarly, when only the second drive motor 21 is driven, the operation lever 2
Will swing in the left-right direction along with the guide hole 18c of the first guide arm 18 integrally with the second guide arm 19. Further, when the first and second drive motors 20 and 21 are driven simultaneously, the operation lever 2 is brought into a state in which the above-described front-back direction and left-right direction swings are combined.
Can be swung at any angle.

In the embodiment of the present invention as described above, the first and second drive motors 2 are operated by operating the setting operation tool 30.
By driving 0 and 21, the operating lever 2 can be oscillated by an arbitrary angle at an arbitrary speed. As a result, a rapid lever operation, a lever operation at a constant speed, and an ultra-low speed operation can be performed. It is possible to perform a performance evaluation test that operates various actuators by operating various levers such as lever operation and lever operation that accelerates and decelerates at a fixed rate easily and reliably, and to perform highly reliable performance evaluation tests. Become.

By the way, this automatic operating device can be used not only when performing the performance evaluation test but also when performing unmanned operation such as remote control. That is, the remote operation unit 31 for performing remote operation includes the remote operation tool 32 and the transmitter 33.
And a receiver 34 that receives a signal from the transmitter 33 is connected to the controller 29 that controls the drive of the first and second drive motors 20 and 21, and
Then, the drive command is output to the drive motors 20 and 21 based on the signal received by the receiver 34.
With this configuration, the operation lever 2 is automatically operated by operating the remote operation tool 32 of the remote operation unit 31, and the construction machine can be remotely operated. In this case, Remote control can be performed simply by attaching an automatic operation device to the existing lever device. For example, it can be retrofitted to the construction machine as in the case where the control valve provided in the hydraulic circuit is configured to be remotely controlled. Therefore, there is no need to separately install a dedicated switching valve, and there is an advantage that both manned operation and unmanned operation can be performed by attaching and detaching the automatic operation device as needed. Furthermore, the operating lever of this autopilot can be a manually operated type with a grip, in which case the power transmission is intermittent between the drive motor and the support arm of the guide arm. If you have an intermittent clutch,
There is also an advantage that the operation can be performed in a light state with no load on the drive motor while the automatic operation device is attached during manned operation. In this case, further, if the intermittent clutch is configured to switch the power transmission by switching the manual / automatic changeover switch, the switching of the intermittent clutch can be performed only by the switch operation, and the operability is improved.

[0022]

In summary, since the present invention is constructed as described above, the operating lever operates the actuator for automatic operation to swing the first and second guide arms to move in the X-axis direction. The first guide arm and the second guide arm in the Y-axis direction and the second guide arm in the Y-axis direction. Thus, the operating lever can be swung at any speed, angle and number of times. As a result, rapid lever operation, lever operation at constant speed, lever operation at ultra-low speed,
When performing a performance evaluation test that operates various actuators by operating various levers such as lever operation that accelerates and decelerates at a constant rate, the operating lever can be operated automatically accurately and easily, resulting in high reliability. Performance evaluation test can be carried out.

[Brief description of drawings]

FIG. 1 is a schematic view of a lever device equipped with an automatic operation device.

FIG. 2 is a vertical cross-sectional view of a lever device equipped with an automatic operation device.

FIG. 3 is a plan view of the automatic operating device.

FIG. 4 is a hydraulic circuit diagram showing pressure oil supply to a working hydraulic actuator.

FIG. 5 is a schematic view of a lever device when an operating lever with a grip is attached.

FIG. 6 is a block diagram showing input / output to / from a control unit.

FIG. 7 is a diagram showing a system of remote control.

[Explanation of symbols]

 2 Operation lever 4 Universal joint 15 Work hydraulic actuator 18 First guide arm 18b Support shaft portion 18c Guide hole 19 Second guide arm 19b Support shaft portion 19c Guide hole 20 First drive motor 21 Second drive motor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akio Tanaka 2-5-1, Marunouchi, Chiyoda-ku, Tokyo Sanryo Heavy Industries Co., Ltd. (72) Hiroshi Nosaka 2-8-25, Niihama, Arai-cho, Takasago, Hyogo Prefecture Takaryo Engineering Co., Ltd.

Claims (1)

[Claims] 1. A joystick in which an operating lever for operating a work actuator is swingably supported via a universal joint so that the lever can be operated in any direction including X-axis and Y-axis directions orthogonal to each other. In the lever device, the operation lever includes an X-direction guide that is swingably supported about an axis that faces the X-axis direction and that guides the operation lever to swing in the X-axis direction. Includes a first guide arm that swings integrally with the operating lever, and Y
A Y-direction guide that is swingably supported about an axis parallel to the axis and that guides the swing of the operating lever in the Y-axis direction is formed. The Y-direction guide swings integrally with the operating lever in the X-axis direction. A joystick, wherein two guide arms are provided, and an automatic operation actuator for forcibly swinging the guide arm to automatically operate the operation lever is interlockingly connected to the swing shaft of each of the guide arms. Automatic operation device in lever device.