JPH08722Y2 - Electric joystick device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to an electric joystick device used for controlling a hydraulic control valve in a construction machine such as a hydraulic excavator or a crane.

(Prior Art) Among the conventional joystick devices, there is an electric device having a structure as shown in FIGS. 8 and 9, for example. That is, the operation lever 62 is attached to the case 61 so as to be tiltable in any direction, and the arms 63 and 64 are attached to the pins 65,
66 and the input shafts 67a and 68a of the potentiometers 67 and 68 are rotatably attached to the arms 63 and 64 to form elongated holes 69 and 70,
The operating lever 62 is passed through the long holes 69, 70. Therefore, by tilting the operating lever 62 in any direction,
Since the arms 63 and 64 rotate and the input shafts 67a and 68a of the potentiometers 67 and 68 rotate integrally with the arms 63 and 64, the potentiometer 6 depending on the tilt angle of the operation lever 62 in the X and Y axis directions.
The output of 7,68 changes (see Japanese Utility Model Laid-Open No. 60-31103).

Another electric joystick device has a structure as shown in FIG. 10, for example. Ie arm
Use 63, 64 that are convex upward and use the operation lever 62
A receiving plate 72 is attached to the lower end of the push plate 73, the upper ends of the push rods 73 are brought into contact with the four corners of the lower surface of the receiving plate 72, and the push rods 73 are biased upward by a coil spring 74. Therefore, the operating lever 62 is biased by the coil spring 74 so as to always maintain the neutral position (see Japanese Utility Model Laid-Open No. 62-140636). Further, similarly to the conventional example shown in FIGS. 8 and 9, by tilting the operation lever 62 in an arbitrary direction, the arm 6
3,64 rotate, and the potentiometer 6
Since the input shafts 67a and 68a of 7,68 rotate, the operation lever 62
The outputs of the potentiometers 67 and 68 change according to the tilt angles in the X and Y axis directions. The potentiometer 67 is not shown in FIG.

(Problems to be Solved by the Invention) In the conventional device shown in FIGS. 8 to 10, if there is rattling δ at the fitting portion between the operation lever 62 and the arms 63 and 64 as shown in FIG. As shown in Fig. 13, hysteresis occurs in the outputs of potentiometers 67 and 68, resulting in poor inching operability.

Further, in the conventional device shown in FIG. 10, the relationship between the tilt angle in the X and Y axis directions from the neutral position of the operating lever 62 and the operating force is the first.
As shown in FIG. 4, the relationship between the tilt angles in the Y and Y axis directions from the neutral position of the operating lever 62 and the output voltages of the potentiometers 67 and 68 is as shown in FIG. That is, in the case of the hydraulic joystick device as in the conventional example shown in FIG. 11, when the secondary pressure (pilot pressure) rises as shown in FIG. 16, that amount is added to the operating force of the operating lever 62. The sudden increase in the operating force caused a shake before the hydraulic actuator started to operate, which was a preferable operation feeling for the operator.However, in the conventional example of FIG. 10, there is no discontinuity in the operating force, so especially in the case of inching operation. , Difficult to operate. The horizontal axis in Fig. 16 is the lever displacement, that is, the operating lever.
The tilt angle in the X and Y axis directions from the neutral position of 62, the vertical axis represents the operating force, and the horizontal axis in FIG. 17 represents the lever displacement, that is, the tilt angle in the X and Y axis directions from the neutral position of the operating lever 62, the vertical axis. Is the secondary pressure.

(Means for Solving the Problem) In the first claim, the operating lever 3 supported so as to be tiltable in an arbitrary direction around a fulcrum, and the first lever orthogonal to the axis of the operating lever 3 in the neutral position. Has a first elongated hole 16 formed along a straight line of which the operating lever 3 is fitted, and both ends thereof are arcuate plate-like first rotatably supported about the first straight line. Of the rotating arm 14 and this first
For outputting a voltage according to the rotation angle of the rotation arm 14 of the first
Second potentiometer 18 and a second axis orthogonal to both the axis and the first straight line in the neutral position of the operating lever 3.
Second arc-shaped plate having a second elongated hole 17 formed along the straight line of which the operation lever 3 is fitted and having both ends rotatably supported about the second straight line. Rotation arm 15, a second potentiometer 19 for outputting a voltage according to the rotation angle of the second rotation arm 15, and the operation lever 3 so as to urge the operation lever 3 to operate the operation lever 3 when not operated. Regardless of the inclination angle of the operating lever 3, the plurality of first springs 13 held in the neutral position and the first and second rotating arms 14 and 15 are urged so that the first and second rotating arms are always urged. A plurality of second springs 28, 29 for bringing the rotating arms 14, 15 into contact with the operation lever 3 are provided, and the acting force on the operation lever 3 by the urging force of the first spring 13 is set to the second. Is set to be larger than the acting force on the operating lever 3 by the urging force of the springs 28, 29 of It is a pneumatic joystick device.

The second claim is formed along the operation lever 3 supported so as to be tiltable in any direction around the fulcrum, and the first straight line orthogonal to the axis at the neutral position of the operation lever 3. First elongated hole 16 into which the operating lever 3 is fitted
And a circular arc plate-shaped first rotating arm 14 having both ends rotatably supported about the first straight line, and a rotating angle of the first rotating arm 14. A first potentiometer 18 for outputting a voltage and a second straight line which is orthogonal to both the axis of the operating lever 3 at the neutral position and the first straight line are fitted to the operating lever 3. A second rotating arm 15 having an arcuate plate shape having a second elongated hole 17 and having both ends rotatably supported about the second straight line, and the second rotating arm 15 A second potentiometer 19 for outputting a voltage according to a rotation angle of the first lever 13, a plurality of first springs 13 for biasing the operation lever 3 to hold the operation lever 3 in a neutral position when not operated, When the operation lever 3 is tilted by a predetermined angle or more, the operation lever 3 is attached on the side opposite to the tilt direction. An electric joystick device characterized in that a plurality of biasing third springs 50 are provided.

(Operation) In the electric joystick device according to claim 1,
The second springs 28 and 29 absorb the looseness of the fitting portion between the operation lever 3 and the first and second rotating arms 14 and 15.

In the electric joystick device according to claim 2,
The third spring in spite of being an electric joystick device
50 causes a discontinuity in the operating force of the operating lever 3.

(Example) Hereinafter, one example of Claim 1 is described based on FIGS. 1-3.

FIG. 1 is a cross-sectional plan view of an electric joystick device according to an embodiment, and FIG. 2 is a vertical sectional front view of the same. An operating lever 3 is provided at a center portion of an upper surface of a casing 1 through a joint 2 at a predetermined angle in an arbitrary direction. It is installed so that it can be tilted. That is, the joint 2 is a joint member 4 having a substantially U-shaped section attached to the center of the upper surface of the casing 1, and a joint member 5 having a substantially U-shaped section connected to the shaft portion 3a of the operating lever 3 by the adjusting nut 8. And a cross pin 6 that connects the joint member 4 and the joint member 5 to each other, and the shaft portion 3a of the operation lever 3 is tiltable in any direction around the cross pin 6. A male screw is screwed on the outer periphery of the upper end of the joint member 5 from the upper end to a predetermined length. A substantially disk-shaped receiving plate portion 7 is screwed onto this male screw, and an adjusting nut 8 is screwed onto the upper side thereof. are doing. A male screw is screwed on the outer periphery of the lower end portion of the operating lever 3 from the lower end to a predetermined length. An adjusting nut 8 is screwed to the male screw, and a lock nut 9 is screwed to the upper side thereof. That is, the operating lever 3 is configured by the shaft portion 3a, the receiving plate portion 7, the adjusting nut 8 and the lock nut 9, and the receiving plate portion 7 adjusts the screwing position of the operating lever 3 in the axial center direction by the adjusting nut 8. It is possible.
Four holes of a predetermined depth are formed around the center of the upper surface of the casing 1, and these tips are vertically guided by a guide cylinder 10 so that the tip ends contact the lower surface of the receiving plate portion 7. A push rod 11 in contact therewith and a coil spring 13 as an example of a first spring for urging the push rod 11 upward via a spring seat 12 are installed. That is, the operation lever 3
In the non-operated state of, the four push rods 11 are the coil springs 13 and the spring seats 12 are the guide cylinders as shown in FIG.
It is urged upward until it abuts on 10, and the operating lever 3 is held at the neutral position via the receiving plate portion 7. Operating lever 3
When is operated, one or two push rods 11 corresponding to the operation direction are pushed down by the receiving plate portion 7 together with the spring seat 12 against the biasing force of the coil spring 13. On the upper surface of the casing 1, four flat plate-shaped protrusions 1a are provided around the center, and the protrusions 1a form the arc-shaped first and second rotating arms 14 and 15 respectively. It is rotatably supported in directions orthogonal to each other. First and second rotating arms 14,15
First and second elongated holes 16 and 17 are formed along the longitudinal direction, and the operating lever 3 penetrates both elongated holes 16 and 17. That is, one end of each of the first and second rotating arms 14 and 15 has a first and a second potentiometer 18,1 attached to the protrusion 1a.
It is fitted and fixed to the outer circumference of the nine rotatable input shafts 18a and 19a.
The other ends of the first and second turning arms 14 and 15 are fitted and fixed to the outer circumferences of pins 20 and 21 rotatably attached to the protrusion 1a. The first and second potentiometers 18, 19 are a plurality of bolts 2
It is fixed to the protruding portion 1a by 2,23. Brackets 24 and 25 are further attached to the protruding portion 1a to which the pins 20 and 21 are attached by a plurality of bolts 26 and 27.
Coil springs 28 and 29 as an example of a second spring are interposed between the pin 25 and the pins 20 and 21. The one ends 28a, 29a and the other ends 28b, 29b of the coil springs 28, 29 are linear as shown in FIG. 3, and the one ends 28a, 29a are the grooves 20a, 21 of the heads of the pins 20, 21.
The other end 28b, 29b is fitted in the groove 24a, 2 of the bracket 24, 25.
It is fitted to 5a. The coil springs 28 and 29 are the operation lever 3
Regardless of the inclination angle of the first and second rotating arms 14,1
5 is attached in a pre-twisted state so that the adjustment nut 8 of the operation lever 3 comes into contact with the operation lever 3, and the coil springs 28 and 29 are connected to the operation lever via the first and second rotating arms 14 and 15. The force for inclining 3 is much smaller than the force for the coil spring 13 to hold the operating lever 3 in the neutral position via the spring seat 12 and the push rod 11.

Next, the operation will be described. When the operating force is not applied to the operating lever 3, the push rod 11 is urged upward by the coil spring 13 and is in the upper limit position.
The support plate 7 is pressed upward by 11 and the operation lever 3
Is held in a neutral position. When the operation lever 3 is tilted in any direction against the biasing force of the coil spring 13,
The second rotating arms 14 and 15 rotate about the pins 20 and 21. Here, the rotation angle of the first rotation arm 14 corresponds to the tilt angle of the operation lever 3 in the X-axis direction, and the input shaft 18a of the first potentiometer 18 is integrated with the first rotation arm 14. Turn to. Therefore, the resistance value of the first potentiometer 18 changes according to the tilt angle of the operation lever 3 in the X-axis direction, and the output voltage changes. Similarly, the second pivot arm
The rotation angle of 15 corresponds to the tilt angle of the operation lever 3 in the Y-axis direction, and the input shaft 19a of the second potentiometer 19 rotates integrally with the second rotation arm 15. Therefore, the resistance value of the second potentiometer 19 changes according to the tilt angle of the operation lever 3 in the Y-axis direction, and the output voltage changes.

Here, the first and second rotating arms 14 and 15 have coil springs 28,
Since it is constantly pressed against the operation lever 3 from a predetermined direction by the urging force of 29, even if there is a fitting portion between the first and second rotating arms 14 and 15 and the operation lever 3, ,
Hysteresis does not occur in the outputs of the first and second potentiometers 18 and 19, and the inching operation becomes easy.

In this way, the first and second rotating arms 14 and 15 are urged so that the first and second rotating arms 14 and 15 are always adjusted regardless of the tilt angle of the operating lever 3. Since the coil springs 28 and 29 to be brought into contact with 8 are provided, it is possible to absorb the rattling of the fitting portion between the first and second rotating arms 14 and 15 and the operating lever 3, and the first and second potentiometers. There is no hysteresis in the output of 18,19. Further, from this, it is not necessary to precisely process the first and second elongated holes 16 and 17 of the first and second rotating arms 14 and 15 in order to reduce rattling, and the manufacturing cost is reduced. it can. Further, since the acting force on the operating lever 3 by the urging force of the coil spring 13 is set to be larger than the acting force on the operating lever 3 by the urging force of the coil springs 28, 29, the urging force of the coil springs 28, 29 when not operated. Therefore, the neutral position of the operating lever 3 is not displaced.

As shown in Fig. 4, the input shafts 32a, 33a are projected to the
Using the first and second potentiometers 32 and 33, attach brackets 34 to the first and second potentiometers 32 and 33,
A coil spring 36 as a second spring may be interposed between the input shafts 32a, 33a of the first and second potentiometers 32, 33 and the bracket 34. In this embodiment, the first and second potentiometers 3 are driven by the urging force of the coil spring 36.
The first and second rotating arms 14, 22 via the 2, 33 input shafts 32a, 33a.
15 is pressed against the adjusting nut 8 of the operating lever 3.

In addition, FIG. 5 is through the electric joystick device according to the second aspect of the present invention, in which the spring seat 49 is fitted in the four holes of the casing 1 so as to be slidable in the vertical direction, and the spring seat 12
Is fitted to the spring seat 49 so as to be slidable in the vertical direction, and the spring seat 49 is pressed against the bottom surface of the guide cylinder 10 by the biasing force of the coil spring 50 as an example of the third spring. When the operating lever 3 is not operated, the upper surface of the spring seat 12 projects above the upper surface of the spring seat 49. Therefore, when the operating lever 3 is tilted from the neutral position, the operating force is only the repulsive force of the coil spring 13 when the inclination angle is very small, but when the inclination angle exceeds a predetermined value, the repulsive force of the coil spring 50 is increased. Is added. That is, the relationship between the tilt angle from the neutral position of the operating lever 3 and the operating force is as shown in FIG. 6, and the tilt angle from the neutral position of the operating lever 3 and the output voltage of the first and second potentiometers 18 and 19 are shown. The relationship with and is as shown in FIG. The tilt angle of the operation lever 3 to which the repulsive force of the coil spring 50 is applied is set slightly before the actuator starts to operate. Further, in this embodiment, the coil springs 28 and 29 are not provided.

As described above, since the coil spring 50 that biases the operation lever 3 in the direction opposite to the inclination direction is provided when the operation lever 3 is inclined by a predetermined angle or more, the hydraulic joystick is an electric joystick device. Like the device, an operation feeling having a discontinuous point in the operation force of the operation lever 3 as shown in FIG. 16 can be obtained, and the operation becomes very easy particularly in the inching operation.

(Effects of the Invention) As described above, according to the electric joystick device of the first aspect, the first and second rotating arms 14 and 15 are biased to constantly move the first and second rotating arms 14 and 15 regardless of the inclination angle of the operating lever 3. Since the second springs 28 and 29 for bringing the first and second rotating arms 14 and 15 into contact with the operation lever 3 are provided, the fitting between the first and second rotating arms 14 and 15 and the operation lever 3 is performed. The rattling of the joint portion can be absorbed, hysteresis does not occur in the outputs of the first and second potentiometers 18 and 19, and the inching operation becomes easy. Further, from this, it is not necessary to precisely process the first and second elongated holes 16 and 17 of the first and second rotating arms 14 and 15 in order to reduce rattling, and the manufacturing cost is reduced. it can. Further, since the acting force on the operation lever 3 by the urging force of the first spring 13 is set to be larger than the acting force on the operation lever 3 by the urging forces of the second springs 28 and 29, the second spring is not operated. 28,
The neutral position of the operating lever 3 is not displaced by the urging force of 29.

Further, according to claim 2, in the electric joystick device, by providing the third spring 50 for urging the operation lever 3 in the direction opposite to the inclination direction when the operation lever 3 is inclined by a predetermined angle or more, Although it is a type of joystick device, an operation feeling having a discontinuity point in the operating force of the operating lever 3 can be obtained like a hydraulic type joystick device, and the operation becomes very easy especially in the inching operation.

[Brief description of drawings]

FIG. 1 is a cross-sectional plan view of an electric joystick device according to an embodiment of the present invention, FIG. 2 is a longitudinal front view of the same, and FIG. 3 is an enlarged perspective view of a second spring portion of the joystick device. Is an enlarged cross-sectional view of a main part of a joystick device in another embodiment, FIG. 5 is a vertical sectional front view of a joystick device in yet another embodiment, and FIG. 6 is an inclination angle from a neutral position of an operation lever in the joystick device. FIG. 7 is an explanatory view of the relationship with the operating force, FIG. 7 is an explanatory view of the relationship between the tilt angle from the neutral position of the operating lever and the output voltage in the joystick device, and FIG. 8 is a vertical sectional front view of a conventional electric joystick device. Fig. 9 is a transverse plan view of the same, Fig. 10 is a vertical sectional front view of another conventional electric joystick device, and Fig. 11 is a conventional hydraulic joystick device. FIG. 12 is a vertical sectional front view of FIG. 12, FIG. 12 is an explanatory view of rattling of a fitting portion between a control lever and a rotating arm in a conventional electric joystick device, and FIG. 13 is a tilt angle and output of the control lever in the joystick device. FIG. 14 is an explanatory view of the relationship with the voltage, FIG. 14 is an explanatory view of the relationship between the tilt angle from the neutral position of the operation lever and the operation force in the conventional electric joystick device, and FIG. 15 is the operation lever in the joystick device. FIG. 16 is an explanatory view of the relationship between the tilt angle from the neutral position and the output voltage, and FIG. 16 is an explanatory view of the relationship between the tilt angle from the neutral position of the operating lever and the operating force in the conventional hydraulic joystick device, FIG. FIG. 4 is an explanatory view of a relationship between an output voltage and an inclination angle from a neutral position of an operation lever in the joystick device. 3 ... Operation lever, 13 ... Coil spring (first spring),
14 ... 1st rotation arm, 15 ... 2nd rotation arm, 16
...... First long hole, 17 ...... Second long hole, 18 ...... First potentiometer, 19 ...... Second potentiometer, 28,29,
36 ... Coil spring (second spring), 50 ... Coil spring (third spring).

Claims (2)

[Scope of utility model registration request] 1. An operating lever (3) supported so as to be tiltable in an arbitrary direction around a fulcrum, and the operating lever (3).
Has a first elongated hole (16) formed along a first straight line orthogonal to the axis at the neutral position and into which the operating lever (3) fits, and both ends thereof form the first straight line. A circular arc plate-shaped first rotating arm (1
4), a first potentiometer (18) that outputs a voltage according to the rotation angle of the first rotation arm (14), a shaft center at the neutral position of the operation lever (3), and the first
Has a second elongated hole (17) formed along a second straight line which is orthogonal to both the straight line and the operation lever (3) and has both ends centered on the second straight line. Second pivot arm (15) rotatably supported as a circular arc plate, and a second potentiometer (19) for outputting a voltage according to the pivot angle of the second pivot arm (15). ), A plurality of first springs (13) for biasing the operation lever (3) to hold the operation lever (3) in a neutral position when not operated, and the first and second rotating arms. (14, 15) are urged so that the first and second rotating arms (14, 15) are always brought into contact with the operating lever (3) regardless of the tilt angle of the operating lever (3). Second springs (28, 29) of the second spring (28, 29) are provided, and the acting force on the operation lever (3) by the urging force of the first spring (13) is Spring (28, 29) an electric joystick device being characterized in that set to be larger than the force acting on the said control lever by the urging force (3) of the. 2. An operating lever (3) supported so as to be tiltable in an arbitrary direction around a fulcrum, and the operating lever (3).
Has a first elongated hole (16) formed along a first straight line orthogonal to the axis at the neutral position and into which the operating lever (3) fits, and both ends thereof form the first straight line. A circular arc plate-shaped first rotating arm (1
4), a first potentiometer (18) that outputs a voltage according to the rotation angle of the first rotation arm (14), a shaft center at the neutral position of the operation lever (3), and the first
Has a second elongated hole (17) formed along a second straight line which is orthogonal to both the straight line and the operation lever (3) and has both ends centered on the second straight line. Second pivot arm (15) rotatably supported as a circular arc plate, and a second potentiometer (19) for outputting a voltage according to the pivot angle of the second pivot arm (15). ), A plurality of first springs (13) for urging the operation lever (3) to hold the operation lever (3) in a neutral position when not operated, and the operation lever (3) having a predetermined angle or more. An electric joystick device comprising: a plurality of third springs (50) for urging the operation lever (3) in the direction opposite to the tilt direction when tilted.