JPS5820688Y2 - Remote control device for work equipment - Google Patents

Description

[Detailed description of the invention] The present invention has an arm attached to a boom that can freely swing up and down, and an arm that can swing freely around a swing fulcrum axis that is parallel to the swing fulcrum axis.
In addition, a working device is constructed by attaching a working tool to the tip side of the arm, and the boom and arm can be remotely operated by operating a model that is configured in a proportionate manner to the boom and arm. The present invention relates to a remote control device for a work machine configured as follows.

In the above-mentioned work equipment, it is necessary to construct a module by proportionally reducing the boom and arm itself, and to interlock the boom and model arm and the arm and model arm by interlocking mechanisms using separate operation systems. , the boom and arm have a bending and extending configuration, and the operating system part of one interlocking mechanism is operated and swung around the other interlocking mechanism, so the model is installed in the operator's cab and the operating force is In order to reduce the weight, rotating shafts are interposed in both interlocking mechanisms, and in passing these rotating shafts through the driver's cab wall, a large operation opening is made in the driver's cab wall to allow movement of one of the rotating shafts. Therefore, the original significance of having a driver's cab for the purpose of improving the working environment in winter or during rainy seasons has been lost.

By rationally configuring the dual-speed mechanism, the present invention achieves
In order to solve the above-mentioned drawbacks and to easily avoid damage to the interlocking mechanism, in the above-mentioned remote control device for a work machine, the motile is mounted inside the mounting base and pivoted with respect to the mounting base. A first link is pivotally supported at its base end so as to be pivotable around a support shaft, and a first link is pivotably pivoted on the distal end side of the first link via another pivot shaft parallel to the pivot shaft. and a supported second link, and a contact body is provided on one of the links and a detection body that is actuated by contact with the contact body is provided on the other between each link and each of the pivot shafts, Among the detection bodies, as the detection body provided between the first link and the pivot shaft contacts the contact body, the boom of the work equipment is moved in the operating direction of the first link. The control valve of the boom driving device is actuated so that the arm of the work equipment moves in the same direction as the arm of the work equipment as the detection body provided between the second link and its pivot shaft comes into contact with the contact body. These detection bodies are connected to the control valve of the arm drive device so as to move the control valve of the arm drive device in the same direction as the operating direction of the second link. A rotating cylindrical shaft shaped like a cylinder is interposed in a linkage member that transmits the swinging motion to the first link, and a linkage member that transmits the swinging motion of the arm of the working device to the second link. The rotating shaft is loosely fitted inside the rotating cylinder shaft having the shape of a cylinder shaft, and the rotating cylinder shaft and the rotating shaft constitute a double shaft-like rotating shaft type interlocking mechanism, and the rotating shaft and the rotating cylinder shaft are connected to each other. is disposed concentrically with the swinging fulcrum shaft of the boom so as to pass through the mounting base from outside to inside, and is interlocked with an inner module from an outer working device with respect to the mounting base. shall be.

That is, although the operation interlocking mechanisms for the boom and the arm are configured separately, the rotating shafts interposed in both interlocking mechanisms have a dual shaft structure, so that the boom or arm can be remotely operated around one axis. Therefore, by installing the double shaft so that it penetrates the mounting base forming the driver's cab wall etc. from the outside to the inside, the two rotating shafts can be installed as separate shafts and penetrate from the outside of the mounting base to the inside. It is no longer necessary to provide a flexible large cutout opening in the wall of the driver's cab to allow the interlocking mechanism to swing, unlike when the interlocking mechanism is installed in parallel.

Furthermore, since there is a difference between the amount of displacement of the interlocking mechanism attachment part of the double rotating shaft and the displacement of the interlocking mechanism attachment part of the boom or arm, it is necessary to change the position between the double rotating shaft and the boom by, for example, lengthening the operating wire. Alternatively, it is necessary to provide considerable flexibility in the interlocking system with the arm to compensate for the differences mentioned above, but it is possible to arrange the double rotation shaft and the swing axis of the boom coaxially, and to use only the double rotation shaft. The model and working equipment inside and outside the mounting base are configured so that their operations can be transmitted.
Compared to the case where they are arranged on separate axes, the amount of flexibility required for each linkage mechanism between each link part of the model and each operating part of the working device can be kept to a minimum. This makes it easier to avoid damage to the interlocking mechanism due to contact with other objects.

Next, embodiments of the present invention will be described in detail based on the drawings.

To configure the backhoe, a swivel base 2 is attached to a crawler type traveling machine base 1, a driver's cab 3 and an engine 4 are mounted on the swivel base 2, and an excavation work device A is connected to the swivel base 2.

The excavation work equipment A has a boom 5 connected to the swivel base 2 so as to be swingable around a swinging fulcrum axis P on the horizontal axis, and a boom 5 that is connected to the tip of the boom 5 parallel to the boom swinging fulcrum axis P. Alternatively, an arm 6 is connected so as to be swingable around a substantially parallel swing fulcrum axis P1, a packet 7 is connected to the tip of this arm 6 as a working tool so as to be swingable around a horizontal axis P2, and each axis P.

P1. A fluid pressure cylinder 8 is interposed between the bending members around P2.

Inside the operator's cab 3, a model B configured to be proportionally smaller than the boom 5 and arm 6 is installed.

This model B consists of a first link, a mobile boom B1, which is a proportionate reduction of the boom 5 as a boom equivalent part, and a second link, a mobile arm B2, which is an arm equivalent part, which is a proportionate reduction of the arm 6. The arm 6 and the mobile arm B2 are interlocked and connected by different interlocking mechanisms.

Further, an operating tool 28 for operating the model B is attached to the model arm 6.

The beam interlocking mechanism has a structure as shown in FIGS. 2 and 3.

That is, two connecting links 9 a and 9 b are pivotally connected to the boom 5 and the swivel bracket 10 to form a parallel four-speed link mechanism 9 .

Of the two pins 11 and 11 that pivotally connect the boom 5 and the swivel base bracket 10, a rotary shaft 12 that is rotatable relative to the pin 11 is coaxially attached to the one on the driver's cab 3 side. The rotary shaft 12 is extended into the driver's cab 3 by passing through the driver's cab wall 13 serving as a mounting base.

Further, the driver's cab 3 is closer to the pivot pin 11 of the rotating shaft 12.
A rotary cylindrical shaft 14 that is rotatable relative to the rotary shaft 12 about the same axis is fitted and held on the side portion, and the rotary cylindrical shaft 14
is extended into the driver's cab 3 by penetrating the driver's cab wall 13.

In other words, a rotary shaft type interlocking mechanism C is constructed in which the rotary shaft 12 and the rotary cylinder shaft 1-4 are formed into a double shaft shape.

Furthermore, a first rotating member 16 that is rotatable relative to the shaft 15 is supported on a fixed shaft 15 erected indoors from the driver's cab wall 13, and the mobile boom B is mounted on the fixed shaft 15.
1 is rotatably supported relative to both a fixed shaft 15 and the first rotating member 16.

Then, the four-speed link mechanism 9 and the outside of the driver's cab of the rotary cylinder shaft 14 are interlocked and connected by a push-pull wire 17, and the first rotating member 16 and the inside of the driver's cab of the rotary cylinder shaft 14 are transmitted. They are interlocked and connected by a linking device using a belt 18.

Two limit switches S1. which actuate the boom cylinder control valve (1) on the first rotating member 16; Detectors using S1 are provided facing each other, and these limit switches S1. A contact body 19 for operating Sl is connected to the model boom B1 with its operating part located between the two mitt switches S, , S.

That is, when the model boom B1 is rotated, one of the switches S1 is actuated to cause the boom 5 to swing around the swinging fulcrum shaft P, and the amount of swinging is determined by the connecting device made of the wire 17, the rotating cylinder shaft 14, and is fed back to the first rotating member 16 via the transmission belt 18, so that the operation amount for changing the position and attitude of the mobile boom B1 itself is transmitted to the boom 5.

The arm interlocking mechanism is constructed as shown in FIGS. 2 and 3.

That is, the two connecting links 20 a and 20 b are connected to the boom 5 and the arm 6 to form the parallel four-speed link mechanism 20
and this link mechanism 20 and the rotating shaft 1
The pivot pin side end of No. 2 is interlocked and connected with the push-pull wire 21.

Further, a second rotating member 22 is rotatable relative to the fixed shaft 15.
This second rotating member 22 and the interior portion of the rotating shaft 12 are interlocked and connected by a push-pull wire 23.

Furthermore, on the shaft 24 erected at the tip of the model boom B1,
The model arm B2 is relatively rotatably supported, and the third rotating member 25 is relatively rotatably supported with respect to both the support shaft 24 and the mobile arm B2, so that the second rotating member 22 and the third rotating member The rotary member 25 is interlocked and connected by a push-pull wire 26.

Two limit switches S2 are provided on the third rotating member 25 to operate the arm cylinder control valve 2. B2
are provided facing each other, and these limit switches S2.
The contact body 27 for operating B2 is connected to both limit switches S2. It is located between the detection bodies consisting of S2 and extends from the mobile arm B2.

That is, by rotating the model arm B2, one of the switches S2. B2 is actuated and the arm 6 swings around the swing fulcrum axis P1, and the amount of the swing is determined by the three wires 21, 23, 26, the rotating shaft 12, and a part of the link that make up the link. Feedback is made to the second rotating member 25 via the third rotating member 22, so that
The operation amount itself for changing the position and posture of the model arm B2 is transmitted to the arm 6.

[Brief explanation of the drawing]

The drawings show an embodiment of the remote control device for a working machine according to the present invention, and Fig. 1 is an overall side view of the backhoe, Fig. 2 is a diagram of the interlocking mechanism between the working device and the motile, and Fig. 3 is a rotating shaft type interlocking diagram. FIG. 3 is a plan view of the mechanism and the module. 5...Boom, 6...Arm, 11.
... Pivot pin, 12 ... Rotation shaft, 14.
...Rotating tube shaft, B...Model, B1.
... Boom equivalent part, B2 ... Arm equivalent part, P, P, ... Swinging fulcrum shaft.

Claims (1)

[Scope of utility model registration request] An arm 6 is attached to a boom 5 that can freely swing up and down, and is swingable around a swing fulcrum axis P1 parallel to the swing fulcrum axis P1.
In addition, a working device A is constructed by attaching a working tool 7 to the tip side of the arm 6, and the boom 5 and a remote control device for a work machine configured to remotely control an arm 6, wherein the model B is mounted within a mounting base 13 and the pivot shaft 1 is connected to the mounting base 13.
a first link B1 whose proximal end is pivotally supported to be swingable about 5;
5 and a second link B2 swingably supported via another pivot shaft 24 parallel to each of the links B, , B.
2 and its respective pivot shaft 15.24, there is a contact body 19.27 on one of them and a detection body S1.2 actuated by contact with said contact body 19.27 on the other. B2, and its detection object S1. Among B2, the first link B
1 and its pivot shaft 15. B
2 comes into contact with the contact body 19, the work machine A
The control valve 1 of the boom driving device is operated and controlled to move the boom 5 in the same direction as the operating direction of the first link B1, and the control valve 1 is provided between the second link B2 and its pivot shaft 24. Detection object S2. The control valve V of the arm drive device moves the arm 6 of the working machine A in the same direction as the operating direction of the second link B2 as B2 comes into contact with the contact body 27.
Each of these sensing bodies S1. S2
and the control valve V1. (2) A rotating cylinder shaft 14 in the form of a cylinder shaft is interposed in a connecting tool 17.18 that connects the boom 15 of the working device A to the first Junk B1, and Connecting tools 21, 23, 22 that transmit the swing motion of the arm 6 of the working device A to the second link B2
．． The rotating shaft 12 interposed in the shaft 26 is loosely fitted inside the rotating cylinder shaft 14 in the form of a cylinder shaft, and the rotating cylinder shaft 14 and the rotating shaft 12 form a double shaft-like rotating shaft type interlocking mechanism C. consists of
The rotating shaft 12 and the rotating tube shaft 14 are arranged concentrically with the swinging fulcrum shaft P of the boom 5 so as to pass through the mounting base 13 from the outside to the inside, and operations on the outside of the mounting base 13 are performed. A remote control device for a work machine that is linked from device A to model B inside.