JPS603325A - Operating device for radio controlled type excavating loader - Google Patents

Abstract

PURPOSE:To make easier the operation of a radio controlled type excavating loader as well as improve the controllability of the loader by using a system in which a throttle lever is operated, a switching mechanism is actuated, the solenoid valve of a servo mechanism is operated, and an actuator is operated for controlling an electric servo motor. CONSTITUTION:A throttle lever 16 is operated, a switching mechanism 230 is operated, the solenoid valve 161 of a servo mechanism 301 is operated, and a cylinder 97 for lever locking as an actuator 302 is operated to fix each operation mechanism to the vehicular body frame side. At the same time, a cylinder 134 for locking electric servo motor as an actuator 300 is actuated, the connection of the fore and aft side operating devices of a radio controlled type switching mechanism is released, and the locking of each electric servo motor is released. Remote control of each electric servo motor can thus be made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an operating device for a radio-controlled excavator and loader that is capable of switching between radio-controlled operation and manual operation.

As shown in FIG. 1, a conventional lug-controlled excavator and loader includes a receiver 2 that receives command signals from an operation panel 1, and an air solenoid valve 3 that operates according to commands from the receiver 2. It is equipped with an air cylinder 4 that is operated by the operation of an air solenoid valve 3, and an operation valve 5 that is operated by the operation of the air cylinder 4, and because it has an air circuit, the main body requires many modifications and maintenance. The controllability was very poor due to the 0N-OF, F control, making it impossible for the operator to control it as desired, and switching between radio control and manual operation was not possible with one touch.

The present invention has been made in view of the above circumstances, and its purpose is to provide a radio control system that allows one-touch switching between manual operation and radio control, provides good controllability, and allows operators to perform control as desired. An object of the present invention is to provide an operating device for a type excavating and loading machine.

Hereinafter, the present invention will be explained with reference to FIG. 2 and subsequent figures.

The radio-controlled excavation loading machine according to the present invention includes a receiver 11 that receives a command signal from the operation panel 10, an electric servo motor 117 that operates according to the command from the receiver 11, and an electric servo morph 117. It is equipped with an operating valve 13 that is operated by.

In the operator's cab of the radio-controlled private excavator, there is a right control lever 14 for raising the arm, lowering the boom, dumping packets, and excavating packets.
A left control lever 15 for arm dumping and arm removal, a throttle lever 16 for switching between radio control operation and manual operation, and left and right travel levers 17 and 18 are provided.

The boss portions 22', 23 of the left and right traveling levers 17, 18 and the left and right bosses 24. , 25 are rotatably provided. The arm 26 protruding from the boss portion 22 of the left running lever 17 is connected to the rod 2 which is the front operating portion 211.
The second lever 30-1 of the radio-controlled manual switching mechanism A□ is connected to a lever 28-1 of a radio-controlled manual switching mechanism A1, which will be described later, via a pin 29 via a rod 31 that is the rear operating section 212. Through the operating lever 33 of the left travel valve 32
These components constitute a left travel valve operating mechanism 200.

An arm 35 protruding from the boss portion 23 of the right travel lever 1g is connected to the second lever 2g-2 of the radio-controlled manual switching mechanism A2 via a rod 36, which is the front operating section 213, by a pin 40, and the radio-controlled manual switching mechanism Second lever 3o-2 for
is connected to the operating lever 39 of the right traveling valve 38 via a pin 41 via a rod 37 which is the rear operating portion 214, and these constitute the right traveling valve operating mechanism 20+.

The arm 4 is rotatably operated by the left operating lever 15.
9 is connected by a pin 51 to the second lever 28-3 of the radio-controlled manual switching mechanism A3 via a rod 5° which is the front operation part 215, and is connected to the second lever 3o for the radio-controlled manual switching mechanism.
-3 is connected to the operating lever 55 of the arm valve 53 by a pin 56 via a rod 52 which is the rear operating part 216;
These constitute an arm valve operating mechanism 203.

The arm 6 is rotatably operated by the right operating lever 14.
2 is connected by a pin 64 to the radio-controlled manual switching mechanism No. Δ lever 28-4 via a rod 63 which is the front operation part 219, and this radio-controlled manual switching pATi'/7,
(The second lever 30-4 of 4 is connected to the υ lever 66 of the packet valve 65 via the rod 42 which is the rear operating part 220, and these constitute the packet valve operating device ζ204. are doing.

An arm 6 that can be rotated by the left operating lever 15
8 is the radio-controlled manual switching Fl't MQ 4'! via the rod 69 which is the front operation part 217. A Rubber 28-5
The second lever 30-5 of this radio-controlled manual switching mechanism AI3 operates the swing valve 72 via the rod 71 which is the rear operating part 218.
is connected to the swivel valve operating mechanism 2 by a pin 74.
05.

The arm 75 of the left boss 60, to which the arm 6g is fixed, is connected to a rod 77 of a spring cylinder 76 by a pin 78, and the spring cylinder 76 is supported by the vehicle body frame 19. The arm 7 is attached to the right boss 61 of the right operating lever 14.
The arm 79 is connected to the lever 28-6 of the radio-controlled manual switching mechanism A6 by a pin 83 via the rod B2 that extends from the front operating section 221. The second lever 30-6 of A6 is connected to the actuation lever 86 of the boom high-side valve 85 via a rod 84, which is the rear operation part 222, with a pin 87, and these actuate the boom high-side valve operation fJ-%. It constitutes 2o6. Arm 8° is a rod 88 which is the front operating section 223.
Through the radio-controlled manual switching machine gA7 No. 28-7
It is connected with pin 89 to the radio-controlled manual switching mechanism A,
The second lever 30-7 of r is connected to the actuation lever 92 of the boom lower side valve 91 by a pin 93 via a rod 90 which is the rear operation part 224, and these constitute the boom lower side valve operation mechanism 207. are doing.

The arm of the right boss 61 is connected to the rod 95 of a spring cylinder 94 supported by the Nd vehicle body frame 19 by a pin 96.

As mentioned above, the left operating lever I5 is the swing valve operating device q.
, y 205 , controls the arm valve operation mechanism 203, and the right operation lever I4 is used for packet valve operation +
2i 4+' 204, boom height, and controls the lower side valve operating machine I'b 206 and 207.

The radio-controlled manual switching machines 14j4 A1, 4 to 7 are equipped with an electric servo motor 103 fixed to the vehicle body frame 19, and the output shaft 104 of the electric servo motor +03 is connected to the second levers 30-1 to 30-7. The upper ends are connected by a bottle 105, and the second levers 30-1 to 30-7 and the J-th levers 28-1 to 28-7 are connected by a link 106 (see FIGS. 19 and 23). ).

In the drawing, reference numeral 208 denotes a lever lock machine (111), which is equipped with a lever lock cylinder 97 as an actuator 302 provided in the lever lock me A groove 208i'j single frame 19, and the rod 107 of the lever lock cylinder 97 is It is connected to the lever +09 at the end of the shaft body 108 with a pin 110.An arm 111 is protruded from the shaft body 108, and the arm 111 is connected to the mounting platen II3 of the lock plate 112 with a pin 114. Yes, rock play) 112? j: It is guided by a guide 115 provided on the vehicle body frame 19 and is able to move up and down.

And the rod 27° 36 of the left and right travel valve operating rocks if 200, 201, and the rod 5 of the arm valve operating mechanism 203.
o, swivel valve operation (rod 69 of mechanism 205, rod 63 of packet valve operation machine YR204, boom valve height, lower side valve operation machine 4'7J 206, 207 (D rod 8
2. , F3BK is attached with the engagement member +16 that the lock plate 112 engages with.

Drawing 209 shows a throttle control mechanism, and throttle control mechanism 209 is electric servo motor 11.
The output shaft 11g of the electric servo motor 117 of the radio-controlled manual switching mechanism An is connected to the lower M of the lever ++9 by a pin 20, and one end of the push-pull wire 121 is connected to the upper end of the lever 119. The other end of the push-pull wire 121 is connected to the engine throttle lever 122. The lower end of the lever 119 is connected to a lever 124 via a link 123, and the upper end of the lever 124 is connected to the lower end of the throttle lever 16 via a link 126. Throttle lever ~1
The upper part 127 of 6 can be bent to the left about the bin 128, and the upper part 127 can be switched to the upper part 127.
The limit switch 129, which is K230, is a fixed throw. A cutout 131 is formed in a panel 130 in the driver's cab, and a mounting bracket 132 is formed in this panel 130.
A pusher 133 made of a bolt is attached to the upper part 127 of the throttle lever 16 through the notch 1.
31, the limit switch 129 is brought into contact with the presser 133 and the limit switch 129 is activated.

In the drawing, 210 is a radio control mechanism, and this radio control (210 is a body frame 19)
The rod 135 of the electric servo motor lock cylinder 134 is connected to a shaft body 136 rotatably provided on the vehicle body frame 19.
The arm 137 is connected to the arm 137 by a bottle 13B. Shaft body 13
6 is provided with arms +39, 140, 141, and 142, and the arms 139, 140, and 141 are for the boom height, the lower side valve operating machine right'q206, 207, and the radio-controlled manual switching mechanism for the left traveling valve deafening mechanism 200. , A , As
The locking hook 142 is connected via a link 144 to the arm portion 143 of a locking hook 142 which is pivotally supported on the upper part of the l-6°28-7.28-1. It is biased in the direction of releasing the bond with +05.

An arm 142' of the shaft 136 is connected to the rear end of the connecting rod 146 with a pin.

A shaft body 148 is rotatably provided in the vehicle body frame 19.
The shaft body 148 has arms 149 and 150.

151 , 152 , 153 , and 231 are fixedly installed, and the arms 149 , 150 , 151 , and 152 are connected to each of the packet valve operating mechanism 204 , right travel valve operating mechanism 2o1 , arm valve operating mechanism 203 , and swing valve operating mechanism 205 . Radio controlled manual switching +', 'f 4, A2, 4, 4
No. 28-4.2.8-2.28-3.2.8-
The locking hook 142 is connected via a link 144 to the arm portion 134 of the locking hook 142, which is pivotally supported on the upper end of the pin 105. has been done. The arm 153 of the shaft body 148 is connected to the arm 156 of the shaft body 155 which is rotatably provided to the vehicle body frame 19 via a link +54, and the other arm 158 of the shaft body 155.
is connected to the front end of the connecting rod 146 with a pin 159.

The arm 231 of the HII body 148 is connected to the arm portion 234 of a locking hook 233 provided on the lever 124 of the radio-controlled manual switching mechanism A9 of the stomach 209, and the locking hook 233 is connected to the spring 235. is urged in the direction of being released from the pin 120.

The output side of the limit switch 129 is a lead heel 160.
It is connected to the input side of the receiver 11 via. receiver 1
The output side of No. 1 is incorporated into the electric circuit of the solenoid 162 of the electromagnetic valve 161 of the servo mechanism 301. Solenoid valve 161
The pump port 161-1 is connected to the discharge side of the pump 162', and the port 161-1 of the solenoid valve 161 is connected to the discharge side of the pump 162'.
is connected to the head side of the lever lock cylinder 97 via a conduit 163. Also, the port of the solenoid valve 161)
+61-3 is connected to the electric servo motor lock cylinder 134 (1) head side via the conduit 164;
The discharge side of the pump 162 is connected to the respective rod sides of the lever lock cylinder and the electric servo motor lock cylinder 134 via conduits 165 and 166.

Next, the operation will be explained.

When the throttle lever 16 is not inserted into the notch 131, the limit switch 129 is not activated.

In this case, left and right travel levers +7. The left and right operating levers 15.14 are operated manually.

In this case, the solenoid 162 of the solenoid valve 161 is not energized and the position I is in the 9 port (ii:j), so the oil discharged from the pump 162' enters the rod side of the lever lock cylinder 97. , the oil on the head side flows into the tank 167, and the lever lock cylinder 97 is compressed.For this reason, the shaft body 108, arm 111, pin +
The lock plate 112 has been raised through the lock plate +12fd and is not engaged with the lock plate +12fd engaging member 116, so that the lever lock is released.

In addition, pressure oil is supplied to the head side and rod side of the cylinder 134 for motor locking, but due to the difference in pressure receiving area, cylinder 134 for motor locking cylinder 134
is in a stretched state.

For this, left via Rajiman control Seishu 2io,
Right traveling valve operating mechanism 200, 201, arm valve operating mechanism 203, packet valve operating dust 4.1 yen 204, swivel valve operating arm 205, boom height, lower side valve operating slope 206,
207, the locking hook 142 engages with the pin +05 in each radio-controlled manual switching mechanism A,,A,''~A, and connects the front and rear rods 27 and 31, 36.! =37.50 and 52.6
3, 42.69, 71.82 (8g), and 83 (89) are in a connected state.

Also, in the radio-controlled manual switching mechanism A of the throttle control mechanism 209, the locking hook 233 is connected to pin 1.
20, the front and rear levers 124 and 119 are brought into an interlocked state, and the engine throttle lever 122 is controlled by operating the throttle lever 16.

When the throttle lever 16 is inserted into the notch 131, the suppressor +33 provided on the throttle lever 16 presses the limit switch 129, thereby turning on the receiver 11.

When the operation panel 10 is operated to send a signal and the solenoid 162 of the solenoid valve 161 is energized via the receiver 11, the position opening is located on the port side and pressure oil is introduced into the head side and rod side of the lever lock cylinder 97. As a result, the lever lock cylinder 97 is extended. For this purpose, the lock plate 112 is connected via the shaft body 1og, arm II+, pin]
is lowered, and the lock plate 112 engages with the engaging member 116 to lock the lever.

Further, the oil on the head side of the electric servo motor locking cylinder 134 flows into the tank 167, and pressure oil is supplied to the rod side, so that the electric servo motor locking cylinder 134 is in a wired state.

For this, the left via the radio control machine A210,
Right travel valve operation (2) measure 200, 20+, arm valve operation (da; lif 203, packet valve operation mechanism 204
, swivel valve operation (k4''+'; ff2os, boom height, lower side valve operating device 9, 206, 207) Each radio-controlled manual switching mechanism A1, A3 to A, locking hook 14 at t
2 comes off from the pin 105, and each of the above-mentioned operation inserts 201~
207's front and rear rods 27 and 31.36 and 3
7.50, 52.63, 42.69 and 71.82 (88
') and 83 (89) are released.

In addition, the locking hook 233 comes off from the bin 120 and the front and rear levers +24.
+19 is released from the linked state.

For this purpose, the left and right travel valve operation procedures are 14 min'I200,2
01, arm valve operating mechanism 203, packet valve operating mechanism 2
04, 9205 for swivel valve operating device, boom height, low side valve operating mechanism 206, 207 radio-controlled manual switching mechanism A
The electric servo motor 103 of 1° A2 to Aq and the electric servo morph 117 of the radio-controlled manual switching machine A, ', and A of the throttle control 1 209 are operated by operating the operation panel 10, and each of the above-mentioned operating mechanisms 200 to 2
07 and throttle control machine t1. 'ft 2
09 remotely.

In addition, since electric servo motors 103 and 117 are used for proportional control, controllability is very good and the operator can perform control as desired.

Furthermore, since only the electric servo motors 103 and 117 are added, there is little modification to the main body, so there is little cost increase in radio control, and repair is easy, and the number of parts is small, so reliability does not deteriorate.

Since the present invention has been described in detail above, it is possible to switch by operating the throttle number bar 16 in the manual operation state:, y 23
0, actuate the solenoid valve 161 of the servo mechanism 301, operate the lever lock cylinder 97 as the actuator 302, and perform each operation 1 go 2 l! +'h, that is, left and right traveling valve operating machine grooves 200, 20 +, arm valve length operating machine 4203, swivel valve operating mechanism 205, packet valve operating = a', ff 204, '7'-m high, low position Side valve sweeping (, q! i, ': i 206 , 207 front side dressing parts 211 , 213 , 215 , 217 , 21
9, 221, 223 are fixed to the vehicle body frame 19 side, and at the same time, the electric servo motor locking cylinder 134 as the actuator 300 is actuated to operate the radio-controlled manual switching machines 713-4. A, the front and rear sweeping parts 211 to 22Il are disconnected, each electric servo motor 103, 117 is unlocked, and each electric servo morph 103, 117 is manually operated to enable remote control. and radio control can be switched with one touch.

[Brief explanation of the drawing]

(Edict) The diagram shows the 3' of a conventional radio-controlled excavator.
FIGS. 2 and 3 are explanatory diagrams of the operating device of the radio-controlled excavator ramming machine according to the present invention, FIG. 4 is a plan view of the same, FIG. 5 is a side view of the same, and FIG. Figure 6 is Figure 5 Z
7 is a sectional view taken along the line AA in FIG. 5, FIG. 8 is a sectional view taken along the line BB in FIG. A cross-sectional view along the c heel, Fig. 10 is Fig. 5D-
11 is a sectional view along line D, FIG. 11 is a sectional view along line E-E in FIG. 5, FIG. 12 is a side view of the arm valve operating mechanism, and FIG. 13 is a side view of the swing valve operating mechanism. ￥14 is a side view of the left traveling valve operating machine girder, Fig. 15 is a side view of the packet valve operating mechanism, Fig. 16 is a side view of the boom height and low side valve operating mechanism,
Figure 17 is a side view of the right travel valve operation mechanism, Figure 18 is a side view of the throttle control mechanism, and Figure 319 is Figure 5H.
20 is a sectional view taken along line J-J in Figure 5, Figure 21 is a sectional view taken along line FF in Figure 4,
2 is a sectional view taken along line D1-D' in FIG. 21, FIG. 23 is a sectional view taken along line G-G in FIG. 4, FIG. 24 is a sectional view taken along line - in FIG. The figure is a view taken from the Z direction in FIG. 11 (d receiver, 103, 117i1'1: electric servo motor, 161 is 1E magnetic valve, 200 is left traveling valve operating machine, 201 is right traveling valve sweeping machine, 203+ is arm valve operating machine) 204 is a packet valve operating device f, 2o5
is swivel valve operation 1'A 'li'ff, 206 '117
、Mumon positionill Benpay'、Sakun 6'4%20
7 is the boom lower position (1 valve sweeping mechanism, 208 is the lever lock H'2.; 210 is the lash control 230 (
Is a switch (depicted). Manufactured by Koden Co., Ltd. Price: 31+!8
Benyashi Yonehara Masaaki Patent attorney Hamamoto Tadashi 1st Blade Drawing Figure 21-J

Claims (1)

[Claims] Operation of a working machine mounted on a vehicle (an electric servo motor installed in a long groove in front of the operating equipment, which operates the radial side operating part when cutting between the side operating parts, and an actuator 300 which controls the electric servo morph; -302 and actuator 30
An operating device for a radio-controlled excavation and loading machine characterized by comprising a servo machine 'P301 that operates 0, 302, and a cut-off machine 51R230 that operates the servo machine.