TW202210989A - Operation device - Google Patents

Abstract

The present invention provides an operation device with which it is possible to operate with one hand an operation target having a plurality of movable parts. An operation device 100 comprises: a base 40; a first operation unit 10 that is tiltable in a first direction and a second direction; a second operation unit 20 that is tiltable in at least the first direction; a third operation unit 30 that is tiltable in at least the first direction; a first detection unit 51 that is capable of detecting a first position L1 which is the relative position of the base 40 and the first operation unit 10; a second detection unit 52 that is capable of detecting a second position L2 which is the relative position of the first operation unit 10 and the second operation unit 20; a third detection unit 53 that is capable of detecting of a third position L3 which is the relative position of the second operation unit 20 and the third operation unit 30; and an output unit 50 that is capable of outputting the first position L1, the second position L2, and the third position L3 to drive systems that drive three or more movable parts of a operation target. The first operation unit 10 is coupled to the base 40 via a first tilting unit 11 so as to protrude in a perpendicular direction from the base 40.

Description

operating device

The present invention relates to an operation device for controlling the motion of an operation object having a plurality of movable parts.

For the operation of machinery or vehicles, such as the operation of the arm or boom of a power shovel, the operation of the ladder of a fire truck, etc., an operating device with a rod-shaped rod is used. Conventionally, in such an operating device, in order to operate the motion of each movable part of a machine or a vehicle, one operating lever is allocated to each. For example, the power shovel P shown in FIG. 15 has four rotation axes J1 to J4 in order to rotate the arm, the boom, the bucket, and the like. Four individual operation levers LV1 to LV4 are arranged side by side and independently operated so that the arm, boom, or bucket is moved in the directions of the arrows by the rotation of these rotating shafts J1 to J4.

However, in such a configuration, since only one movable part can be operated by one lever, the operation with one hand is difficult, and there is a problem that the operation with both hands is always required. In addition, since a plurality of levers are arranged indiscriminately, there is also a problem that it is difficult to intuitively understand actions such as the moving direction of the operation object assigned to each lever. Therefore, it is difficult for those with little operation experience, such as beginners, to intuitively grasp which lever should be operated in which direction in order to move which member in which direction, and it is difficult to operate easily. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Laid-Open No. 9-62392

[The problem to be solved by the invention]

An object of the present invention is to provide an operation device that can easily operate an operation object having a plurality of movable parts even with one hand. [Technical mechanism for solving problems and effects of invention]

An operation device according to a first aspect of the present invention is an operation device for controlling the movement of an operation object that can move three or more movable parts by a drive system, respectively; and the operation device includes : a base; a first operation part, which is rod-shaped and has one end side mounted on the base via a first tilting part that can be tilted in a first direction and a second direction intersecting with each other; a rod-shaped second an operation part, one end side of which is attached to the other end side of the first operation part through a second tilting part which can be tilted at least in the first direction; a third operation part is installed at least in the first direction through a third operation part The tilting third tilting part is installed on the other end side of the second operating part; the first detecting part can detect the relative position between the base and the first operating part, that is, the first position; the second detecting part can detect the relative position of the base and the first operating part Detect the relative position of the first operation part and the second operation part, that is, the second position; the third detection part, which can detect the relative position of the second operation part and the third operation part, that is, the third position; and the output part, which The first position detected by the first detection unit, the second position detected by the second detection unit, and the third position detected by the third detection unit can be respectively driven to drive three objects to be operated. The drive systems of the above movable parts are individually output; and the first operation part can be connected to the base through the first tilting part so as to protrude from the base in the vertical direction. According to the above configuration, the operation functions of a plurality of movable parts are integrated into one operation device, and the operability can be improved. Moreover, since there is no need to provide a plurality of operating levers for operating three or more movable parts, respectively, it can be installed in a narrow place.

Moreover, according to the operation device of the second aspect of the present invention, in addition to the above-mentioned configuration, the tilting direction of the first operating portion with respect to the base and the tilting direction of the second operating portion with respect to the first operating portion may be made . The tilting direction of the third operating portion relative to the second operating portion corresponds to the moving direction of each of the three or more movable parts of the object to be operated. According to the above configuration, by matching the tilting direction of the operating device with the moving direction of the operation object, the moving direction of the operation object can be intuitively grasped, and even a beginner can easily perform intuitive operation, thereby improving operability.

Furthermore, according to the operation device of the third aspect of the present invention, in addition to any one of the configurations described above, the second tilting portion may be configured to tilt in the second direction intersecting with the first direction. According to the above configuration, the direction in which the second tilting portion can be tilted can be increased. As a result, the number of movable parts of the operable operation object can be increased, and there is an advantage in that the convenience is improved.

Furthermore, according to the operation device of the fourth aspect of the present invention, in addition to any of the above-mentioned configurations, the third tilting portion is configured so as to be also capable of tilting in the second direction intersecting with the first direction. operating device. According to the above configuration, by increasing the direction in which the third tilting portion can be tilted, the number of movable parts of the operable operation object can be increased, and there is an advantage of improving convenience.

Furthermore, according to the operation device of the fifth aspect of the present invention, in addition to any of the above-mentioned configurations, the third tilting portion may be configured in a rocker shape that can be operated by a thumb. According to the above configuration, the third rocker-shaped tilting portion can be easily operated with the thumb.

Furthermore, according to the operation device of the sixth aspect of the present invention, in addition to the above-mentioned configuration, it is possible to set the stress for tilting the third tilting portion to be smaller than the stress for tilting the second tilting portion , the stress for tilting the second tilting portion is set to be smaller than the stress for tilting the first tilting portion. According to the above configuration, the operator can easily grasp the feeling of which part is tilted by differentiating the stress for tilting the plurality of tilting portions arranged side by side.

Furthermore, the operation device according to the seventh aspect of the present invention is also an operation device in which the first tilting portion and the first operation portion are formed in a rocker shape in addition to any one of the configurations described above.

Furthermore, according to the operation device of the eighth aspect of the present invention, in addition to any one of the above-mentioned configurations, the output unit is also an operation device that wirelessly transmits the output to the outside. According to the above-mentioned configuration, complicated cables and the like for connection can be omitted, and the degree of freedom of remote operation can also be improved.

Hereinafter, embodiments of the present invention will be described based on the drawings. However, the embodiments shown below are examples for embodying the technical idea of the present invention, and the present invention is not specific to those described below. In addition, this specification does not specify the member shown in a claim as a member of an embodiment at all. In particular, the dimensions, materials, shapes, relative arrangements, and the like of the constituent members described in the embodiments are not intended to limit the scope of the present invention only to these unless otherwise specified. In addition, the size, positional relationship, etc. of the members shown in each drawing are exaggerated in order to clarify the description. Furthermore, in the following description, the same or homogeneous members are shown with the same names and symbols, and detailed descriptions are appropriately omitted. Furthermore, each element constituting the present invention may be implemented in a form in which a plurality of elements are constituted by the same member and a plurality of elements are used by one member, or conversely, the function of one member may be shared by a plurality of members. [Embodiment 1]

1 to 12 show an operating device according to Embodiment 1 of the present invention. In these figures, respectively: FIG. 1 shows a perspective view of the operating device according to Embodiment 1 of the present invention and its state of use with a partial enlarged view, FIG. 2A shows a front view of the operating device of FIG. 1 in the state of use, 2B shows a side view of the operating device of FIG. 1 in a state of use, FIG. 2C shows a side view of another state of use of the operating device of FIG. 1 , and FIG. 3 shows a state of the connection of the operating device and the distribution part of FIG. 1 . Schematic diagram, FIG. 4 shows a perspective view of the operating device of FIG. 1, FIG. 5 shows a perspective view of the tilting state of the operating device of FIG. 4, FIG. 6 is an enlarged view of a part of the operating device and the power shovel of FIG. Figure 8 shows a perspective view of the tilting of the device and the movement in the horizontal plane of the base of the power shovel. Figure 8 shows a perspective view of the tilting of the operating device and the movement in the vertical plane of the boom of the power shovel. Figure 9A shows a part of the power shovel. Fig. 9B shows a perspective view of the tilting of the second operation part and the third operation part of the operation device of Fig. 4; Fig. 10A shows a side view of the movement of the arm; The side view of the tilting during operation, FIG. 11 is a diagram showing an example of the distribution image displayed on the display unit, and FIG. 12 is a diagram showing another example of the distribution image displayed on the display unit. (Operating Device 100)

As shown in FIG. 1 , an operation device 100 according to Embodiment 1 of the present invention is used by an operator to operate an operation object, which has a plurality of movable parts and can be actuated by a drive system. The operation device of the present embodiment can operate an arbitrary operation object such as a machine or a vehicle having a plurality of movable parts. As an example, in Embodiment 1, the power shovel PS is used as the operation object, and an example of operation by the operation device 100 will be described.

The power shovel PS has four respective rotating shafts AX1 to AX4 as a drive system. And by the rotation of these rotation axes AX1-AX4, the base OP, the boom BM, the arm AM, and the bucket BK can each move in the direction of an arrow. Moreover, the rotation axis AX1 and AX2 are operated by the 1st operation part 10 mentioned later, the rotation axis AX3 is operated by the 2nd operation part 20, and the rotation axis AX4 is operated by the 3rd operation part 30. In this operating device 100 , instead of the conventional operating device shown in FIG. 15 , which is configured to provide individual levers for individual operations, and to independently operate the actions of each, a plurality of operating parts are integrated into one operating device. By.

In the operating device of the present embodiment, by integrating a plurality of operating parts in one operating device, an operating environment that is easy to operate even with one hand is realized. For example, as shown in FIG. 15, as shown in FIG. 15, such as the boom boom of the conventional power shovel, or the bucket, a plurality of individual operating levers are arranged and operated independently. However, in this way, it is necessary to change the grip of a plurality of operating levers for operation, and the operation under both hands is required, which causes the problem that the operation is difficult. On the other hand, according to the above-mentioned configuration, by assembling a plurality of operation parts in one operation device, it is not necessary to provide a plurality of operation levers, so that installation in a narrow place can be realized.

Furthermore, by assigning the operation of each operation part in such a way that the operation of the operation object coincides with the operation of the operation object, an intuitive operation environment is realized, and the operation is easy even for beginners with little operation experience.

In the conventional manipulation device, the manipulation device in which the operations of a plurality of movable parts are integrated into one is structured as shown in FIG. 16 (Patent Document 1). As shown in FIG. 16 , in this operation device, operation buttons 91 , 92 , and 93 are provided at the distal end of the operation lever 90 . The three-dimensional position information of the operating lever 90 is calculated by detecting the rotation angles of the respective stepping motors of the drive mechanisms 94 and 95 and the reciprocating action spring mechanism 96 . The calculated position information is output to the industrial robot side. In addition, by applying each of the operation buttons 91, 92, and 93, a predetermined specific motion command is transmitted to the industrial robot side. Thereby, on the industrial robot side, each operation set for each operation button is performed.

However, in the manipulation device of FIG. 16, the movement of the lever 90 kept in the upright position is restricted in the horizontal direction using the link members 97 and 98, so it is different from the case where the operation object is a power shovel or a ladder truck. The moving direction of the operation object moving in the vertical plane is inconsistent, and it is still difficult to intuitively understand the corresponding relationship between the operation direction of the operating device and the movement of the operation object. Therefore, a beginner cannot intuitively grasp what operation is required to move the operation object in a desired direction, and the problem of difficulty in operation has not been solved.

On the other hand, in the operation device of the present embodiment, a plurality of operation parts are collected in one operation device, and the tilt direction of each operation part corresponds to the movable direction of the operation object, thereby obtaining an intuitive operation feeling. That is, the arms, booms, or buckets of the previous power shovel are as described above, as shown in Figure 15, if you push the plurality of operating levers in which direction, what will be the operating results, for beginners and others with less operating experience difficult to grasp.

Furthermore, as shown in FIG. 16, even if a plurality of movable parts of the control device are integrated, the inclination of the movable parts does not coincide with the actual movement direction. Therefore, if the movable parts and movement directions assigned to each member are not memorized in advance, it is difficult to move towards the desired direction. Operation in the desired direction turns out to be difficult for beginners to handle. On the other hand, according to the above-mentioned configuration, a plurality of operation parts are integrated into one operation device, and the operation of each operation part is distributed so as to coincide with the inclination direction of each member of the power shovel, thereby realizing an intuitive operation environment. As a result, it is easy to operate even for those with little operation experience, such as beginners. Moreover, since there is no need to provide a plurality of operating levers, it can be installed in a narrow place.

The operation device 100 shown in the enlarged view of FIG. 1 includes: a base 40; a rod-shaped first operation part 10 having one end side attached to the base 40; and a rod-shaped second operation part 20 for the first operation The other end side of the part 10 is attached to one end side; and the third operation part 30 is attached to the other end side of the second operation part 20 . The operation device 100 is installed in the operation area of the base OP installed in the power shovel PS, eg, the operation table OB installed in front of the user UR, and operates while checking the operation of the boom BM and the like.

In addition, one end side of the first operating portion 10 is attached to the base 40 via the first tilting portion 11 which is tiltable in the intersecting first direction D1 and the second direction D2. The first direction D1 and the second direction D2 may be any direction. In the present embodiment, as an example, the front-back direction as viewed from the user UR is the first direction D1, and the lateral direction is the second direction D2. That is, in this example, the first direction D1 and the second direction D2 are orthogonal. One end side of the second operating portion 20 is mounted on the other end side of the first operating portion 10 via a second tilting portion 21 that can tilt at least in the first direction D1. Furthermore, the third operation part 30 is attached to the other end side of the second operation part 20 via the third tilting part 31 which can be tilted at least in the first direction D1.

The operation device 100 is provided with a first operation part 10 , a second operation part 20 , and a third operation part 30 in this order from the base 40 side. With this arrangement, as shown in FIGS. 2A to 2C , the user can operate the operating device 100 by holding the portion from the front end side of the first operating portion 10 to the third operating portion 30 with one hand. At this time, the third operation part 30 is arranged at a position corresponding to the user's thumb, or at a position where the user can easily operate with the thumb. Here, in the example shown in FIG. 2A , the first operation part 10 is operated by moving the arm to the left and right. On the other hand, in the example shown in FIG. 2B , the user operates the second operation part 20 by holding the vicinity of the second operation part 20 with his hand, and operates the third operation part 30 with his finger. Furthermore, in the example shown in FIG. 2C , hold the second tilting portion 21 in a way of crossing, adjust the bending in the middle by the pairing of the index finger and the middle finger, and the pairing of the ring finger and the little finger, and use the thumb to operate the third operation department. By the arrangement of each operation part and the way of holding the operation device, it is possible to operate a plurality of operation parts with one hand.

The operation device 100 further includes a first detection unit 51 , a second detection unit 52 , a third detection unit 53 , and an output unit 50 as shown in FIG. 3 . The first detection part 51 can detect the angle between the base and the first operation part, that is, the first position L1 representing the tilt angle of the first tilting part 11 . The second detection part 52 can detect the angle between the first operation part and the second operation part, that is, the second position L2 representing the angle of the tilting of the second tilting part 21 . The third detection part 53 can detect the angle between the second operation part and the third operation part, that is, the third position L3 indicating the angle of the tilt of the third tilting part 31 . As an example, in this embodiment, the first detection part 51 , the second detection part 52 and the third detection part 53 are respectively provided in the vicinity of the first tilting part 11 , the second tilting part 21 and the third tilting part 31 . The first position L1 detected by the first detection unit 51 , the second position L2 detected by the second detection unit 52 , and the third position L3 detected by the third detection unit 53 are output from the output unit 50 described later to the operation object. At this time, each detection unit and the output unit 50 may be connected by wire, or may be connected by wireless.

The first position L1 is detected as the relative position between the base 40 and the first operation unit 10 . For example, a position detection sensor such as a potentiometer (including a contact type using a resistance, an optical type, a non-contact type such as a magnetic detection type, etc.) can be appropriately used to convert the rotation angle or the amount of movement, or it can be appropriately used by tilting A sensor, a gyroscope sensor, a count value counted by a rotary encoder, etc. can detect a known configuration of a rotation angle or a rotation position. In addition, the first position L1 can be detected as an absolute position with respect to the earth axis in addition to the relative position. For detection of, for example, absolute position, a gyroscope sensor, a G sensor, or GPS, etc. can be used. Similarly, the second position L2 is used as the relative position between the first operation part 10 and the second operation part 20, and the third position L3 is used as the relative position between the second operation part 20 and the third operation part 30. Detected as absolute position. Regardless of the detection method, the detected first position L1, second position L2, or third position L3 is converted into a tilt angle, and output from the output unit 50 as an output value indicating the corresponding rotation amount or movement amount.

The output unit 50 can output the first position L1, the second position L2, and the third position L3 to each drive system that drives the movable portion of the operation object. Then, the outputs of the first position L1, the second position L2, and the third position L3 from the output unit 50 are distributed so as to correspond to the moving directions of the respective movable parts of the operation object. Specifically, the tilt direction of the first operation part 10 relative to the base 40 , the inclination direction of the second operation part 20 relative to the first operation part 10 , and the inclination direction of the third operation part 30 relative to the second operation part 20 The tilting directions are allocated in such a way that they correspond to the moving directions of each of the three or more movable parts of the operation object. As a result, the moving direction of the operation object can be intuitively grasped, and the intuitive operation can be easily performed even by a beginner, and the operability can be improved. (Abutment 40)

As shown in FIG. 4 , the base 40 is mounted on one end side of the rod-shaped first operation part 10 via the first tilting part 11 which can be tilted, and the first operation part 10 is tiltably supported. The shape of the base 40 can be any shape that can support the first operation part 10 and the first tilting part 11 . For example, a rectangular parallelepiped shape, a cube shape, a columnar shape, etc. are mentioned. The material of the base 40 can also be arbitrary, for example, plastic or metal can be used. As an example, the base 40 has a substantially rectangular parallelepiped shape made of plastic. Moreover, on the upper surface of the base 40, a mounting hole 41 for mounting the first operation part 10 is formed. Furthermore, in order to accommodate the 1st tilting part 11, the inside of the base 40 is made hollow. (1st operation part 10)

The first operation unit 10 is used to operate two movable parts among the operation objects having a plurality of movable parts. That is, the amount of movement is output for each of the two movable parts. In Embodiment 1, as an example, the rotation in the horizontal plane of the pedestal OP and the rotation in the vertical plane of the boom BM are respectively operated through the rotation axes AX1 and AX2 of the power shovel PS of FIG. 1 . The first operation part 10 is rod-shaped, and a first tilting part 11 which can be tilted is connected to one end side. The first operation part 10 is connected to the base 40 via the first tilting part 11 so as to protrude from the base 40 in the vertical direction. Specifically, the first tilting portion 11 is housed in the base 40 , and the first operating portion 10 is tiltably erected through the mounting hole 41 . Moreover, the 1st detection part 51 of FIG. 3 detects the 1st position L1 which shows the tilting angle of the 1st tilting part 11, and outputs this from the output part 50 to the power shovel PS.

The operation device 100 including the first operation part 10 and the first tilting part 11 can be configured to detect and output the first position L1 of the first tilting part 11, and a known operation mechanism can be used. For example, in Embodiment 1, the position detection mechanism of the rocker is used. This rocker is also called an analog rocker.

In the example shown in FIG. 4 , the first tilting portion 11 is accommodated in the first casing 12 . And it tilts with the orthogonal 1st tilting axis|shafts 13-1 and 13-2 as a center. In this embodiment, the first tilting axis 13-1 is provided along the second direction D2, and the first tilting portion 11 is tilted in the first direction D1 with the first tilting axis 13-1 as the center. On the other hand, the first tilting axis 13-2 is provided along the first direction D1, and the first tilting portion 11 is tilted in the second direction D2 with the first tilting axis 13-2 as the center. The first casing 12 that accommodates the first tilting portion 11 is accommodated inside the base 40 . Furthermore, the first operation part 10 is erected on the base 40 via the first tilting part 11 accommodated in the first casing 12 .

The first operating portion 10 can be tilted and erected according to the tilt of the first tilting portion 11 which can tilt in the intersecting first direction D1 and the second direction D2. Also, as shown in FIG. 5 , the first operating portion 10 can detect the first position L1-1 when tilted in the first direction D1, or the first position L1-2 when tilted in the second direction D2, and Output it to the power shovel PS.

The information of the first position L1 output from the output unit 50 is input to the input unit of the power shovel PS. The output of the first position L1 is configured to be pre-assigned to the movement direction of the base part OP or the boom BM of the power shovel PS via the rotation axes AX1 and AX2, so as to operate the base part OP or the boom BM. For example, as shown in FIG. 6 , the tilt directions of the first operation portion 10 are ax1L and ax1R in the left-right direction as viewed from the user, and ax2D and ax2U in the front-rear direction. In addition, the rotation directions in the horizontal plane of the pedestal portion OP of the power shovel PS through the rotation axis AX1 are AX1L and AX1R, and the upward and downward moving directions of the boom BM through the rotation axis AX2 are AX2D and AX2U.

Furthermore, in a procedure to be described later, the rotation direction AX1L of the base portion OP is assigned to the first position L1 when the first operating portion 10 is tilted in the direction of ax1L, and the first position when the first operation portion 10 is tilted in the direction of ax1R is assigned L1 assigns the rotation direction AX1R of the pedestal portion OP. Similarly, the downward movement direction AX2D of the boom BM is assigned to the first position L1 when the first operating part 10 is tilted in the direction of ax2D, and the boom BM is assigned to the first position L1 when the first position L1 is tilted in the direction of ax2U. The moving direction above is AX2U.

By performing such assignment, as shown in FIG. 7 , when the user tilts the first operation part in the direction of ax1L, the operation part OP can be rotated in the direction of AX1L via the rotation axis AX1 . Moreover, as shown in FIG. 8, when the user tilts the first operation part 10 in the direction of ax2U (the front side in the figure), the boom BM can move in the direction of AX2U via the rotation axis AX2. In this way, by aligning the operation direction of the first operation unit 10 with the movement direction of the operation object, an intuitive operation environment can be realized. (Second operating unit 20)

The second operation part 20 is used to operate a movable part different from the movable part operated by the first operation part 10 of an operation object having a plurality of movable parts. In Embodiment 1, as an example, the arm AM is operated via the rotation axis AX3 of the power shovel PS shown in FIG. 9A . The second operation part 20 of FIG. 9B is rod-shaped, and one end side is connected to the other end side of the first operation part 10 via the second tilting part 21 which can be tilted. The second tilting portion 21 is provided so that the rotation axis R is substantially orthogonal to the first operating portion 10, and can tilt in the first direction D1. Along with the tilting of the second tilting portion 21 , the second operating portion 20 can also tilt in the first direction D1 . Moreover, the 2nd detection part 52 of FIG. 3 detects the 2nd position L2 which shows the angle of inclination of the 2nd tilting part 21, and outputs it from the output part 50 to the power shovel PS.

The operation device 100 including the second operation portion 20 and the second tilting portion 21 may be configured to detect and output the second position L2, and a known operation mechanism may be used. For example, in Embodiment 1, the second position L2 is detected using a potentiometer.

The information of the second position L2 output from the output unit 50 is input to the input unit of the power shovel PS. The output of the second position L2 is assigned in advance to the movement direction of the arm AM via the rotation axis AX3 to operate the arm AM, as in the case of the first position L1 described above. For example, as shown in FIG. 9B , the second position L2 corresponding to each of the situations in which the second operation portion 20 is tilted in the first direction D1 is assigned to the arm AM passing through the rotation axis AX3 shown in FIG. 9A in advance. The direction of movement in the vertical plane. By pre-assigning in this way, the movement of the operation arm AM, that is, the movement of the arm AM approaching or leaving the user UR can be operated in accordance with the tilting of the second operation portion 20 .

Specifically, for example, as shown in FIG. 10B , when the second operation unit 20 is tilted in the direction of the arrow Y1 , as shown in FIG. 10A , the arm AM moves in the direction of the arrow Y2 . In this way, by aligning the operation direction of the second operation unit 20 with the movement direction of the arm AM, an intuitive operation environment can be realized.

However, the tilting direction of the second tilting portion 21 is not limited to the first direction D1. Besides the first direction D1, it can also tilt in the second direction D2. In Embodiment 2 below, the state in which the second tilting portion tilts in the first direction D1 and the second direction D2 will be described. (third operation unit 30)

The third operation part 30 is used to operate a movable part different from the movable parts operated by the first operation part 10 and the second operation part 20 of the operation object having a plurality of movable parts. In Embodiment 1, as an example, the bucket BK is operated via the rotation axis AX4 of the power shovel PS of FIG. 9A . The third operation part 30 of FIG. 9B is attached to the other end side of the second operation part 20 via the storage case 34 in which the third tilting part 31 is accommodated. The third tilting portion 31 can tilt at least in the first direction D1, and the third operating portion 30 can also tilt at least in the first direction D1. Moreover, the 3rd detection part 53 of FIG. 3 detects the 3rd position L3 which shows the angle of inclination of the 3rd tilting part 31, and outputs it from the output part 50 to the power shovel PS.

The operation device 100 including the third operation part 30 and the third tilting part 31 can be configured to detect and output the third position L3 of the third tilting part 31, and a known operation mechanism can be used. For example, in Embodiment 1, the position detection mechanism of the rocker is used. The joystick is also called an analog joystick.

Specifically, as shown in FIG. 9B , the third tilting portion 31 is accommodated in the third casing 32 . And it tilts around the orthogonal third tilt axes 33-1 and 33-2. In this embodiment, the third tilting shaft 33-1 is provided along the second direction D2, and the third tilting portion 31 is tilted in the first direction D1 with the third tilting shaft 33-1 as the center. On the other hand, the third tilting axis 33-2 is provided along the first direction D1, and the third tilting portion 31 is tilted in the second direction D2 with the first tilting axis 33-2 as the center. The third casing 32 for accommodating the third tilting portion 31 is accommodated in the storage box 34 . The storage case 34 has a substantially rectangular parallelepiped shape, and the upper surface is chamfered and opened.

In addition, the third operation part 30 is connected to the third tilting part 31 and protrudes from the opening of the storage box 34 . Furthermore, the bottom surface of the storage case 34 is attached to the other end side of the second operation portion 20 . As a result, the third operation part 30 is provided on the front end side of the operation device 100 . That is, as shown in FIG. 10B and the like, when the user grips the portion from the front end side of the first operation part 10 to the third operation part 30 in order to operate the power shovel PS, the third operation part 30 is arranged on the The position corresponding to the user's thumb, or the position that the user can easily operate with the thumb. Therefore, by making the third operation part 30 in the shape of a button, it can be easily operated by the user's thumb, for example, and the operability can be improved.

In the present embodiment, the third operation portion 30 is formed in a rocker shape, and can be tilted around the third tilt shafts 33-1 and 33-2. And only the 3rd position L3 which shows the inclination angle of the 3rd tilting part 31 in the 1st direction D1 is detected, and it outputs to the power shovel PS. As a result, as shown in FIGS. 9A and 9B , the tilting direction of the third operating portion 30 is aligned with the moving direction in the vertical plane of the bucket BK, and an intuitive operating environment can be realized.

However, the position of detecting the third position L3 is not limited to the first direction D1. In addition to the first direction D1, detection can also be performed in the second direction D2. In this way, by increasing the detection part of the third position, the number of movable parts of the operable operation object can be increased, and there is an advantage of improving convenience.

In addition, the third tilting portion 31 that can be moved in multiple axes is not limited to the rocker shape as shown in FIG. 9B , and other known input devices, such as multi-touch panels or optical pointing devices, VR Use an input device, etc.

The information of the third position L3 output from the output part 50 is input to the input part of the power shovel PS. The output of this third position L3 is pre-assigned to the operation direction of the bucket BK via the rotation axis AX4 to operate the bucket BK, as in the case of the first position L1 described above. For example, as shown in FIG. 9A , the third position L3 corresponding to each of the situations in which the third operating portion 30 is tilted in the first direction D1 is allocated in advance in the vertical plane of the bucket BK via the rotation axis AX4 direction of movement. By pre-assigning in this way, it is possible to operate the bucket BK in response to the front and back tilts observed by the user of the third operating portion 30, that is, to operate the bucket BK to dig into the sand, etc. Or the action of dumping the sand that has been smashed in, etc. In this way, by aligning the operation direction of the third operation portion 30 with the movement direction of the bucket BK, an intuitive operation environment is achieved. Specifically, since the bucket BK moves back and forth in accordance with the front and rear tilting of the third operating portion 30, the tilting of the third operating portion 30 and the motion of the bucket BK can be operated in the same manner.

Furthermore, the stress for tilting the third tilting portion 31 can be set smaller than the stress for tilting the second tilting portion 21 , and the stress for tilting the second tilting portion 21 can be set smaller than the stress for tilting the first tilting portion 31 . Tilt stress. By setting the stress for tilting each tilting portion as the third tilting portion 31<second tilting portion 21<first tilting portion 11 , the plurality of operation portions can be tilted by different forces through the tilting portion.

As described above, in Embodiment 1, the first operation part 10 , the second operation part 20 , and the third operation part 30 are provided in this order from the base 40 side. As shown in FIG. 2B and the like, in order for the user to operate the operation device 100 by grasping the part from the front end side of the first operation part 10 to the third operation part 30 , the third operation part 30 is arranged in a position with the user. The finger corresponds to the position of the finger, or the position where the user is easy to operate with the finger. That is, the third operation part 30 can be operated by the user's finger, the second operation part 20 can be operated by the hand, and the first operation part 10 can be operated by the arm. Here, in the user's body, the magnitude of the force imparted is usually finger<hand<arm. Therefore, by preliminarily corresponding to the magnitude of the force imparted from each part of the user's body, the stress for tilting each tilting portion is set as the third tilting portion 31 < the second tilting portion 21 < the first tilting portion 11 , and It is easy to handle, and the operability can be improved. In addition, by making the stress for tilting the plurality of tilting parts in a row different, the operator can easily grasp the feeling of which part is tilted. (output unit 50)

As shown in FIG. 3, the output part 50 outputs the 1st position L1, the 2nd position L2, and the 3rd position L3 to an operation target object, and is output to the power shovel PS in Embodiment 1. The output portion 50 may be provided corresponding to each of the first tilting portion 11 , the second tilting portion 21 and the third tilting portion 31 , or the position of each tilting portion may be output from one output portion like the output portion 50 in FIG. 3 . News. As such an output part, a CPU, a microcomputer, a program sequencer, etc. can be used, for example.

Moreover, the output part 50 is wirelessly connected to the rotating shafts AX1, AX2, AX3, and AX4 which are the drive systems provided in the power shovel PS. The wireless connection eliminates the need for complicated connection cables, etc., and also improves the freedom of remote operation. In addition to a dedicated communication method, the wireless connection method can also use a known standardized method, such as WiFi, Bluetooth, or Zigbee (all are commodity or service names). However, the operation device of the present invention is not limited to the form of wireless connection with the operation object. Of course, a wired connection to the operation object is also possible. (distribution section 60)

The distribution part 60 of FIG. 3 distributes the output of each of the first position L1, the second position L2, and the third position L3 of the output part 50 so as to correspond to the moving direction of each movable part of the operation object. As an example, the assignment unit 60 includes a display unit 61 that displays an assignment image 63 to be described later, and an assignment input unit 62 . As the distribution unit 60, a known one such as an external PC can be used, for example. In addition, as the input unit 62, known ones, such as a mouse and a keyboard, can be used, for example.

FIG. 11 shows an aspect of the assignment image 63 for assigning the movement direction to the power shovel PS. The assignment image 63 includes an operation object display column 64 that displays an operation object and its movement direction, and an operation device display column 65 that displays an operation device and its movement direction. In this figure, the operation object display field 64 displays the moving direction of the power shovel PS and the pedestal OP. In addition, the operation device display field 65 displays the tilt directions of the operation device 100 and the first operation unit 10 .

The assignment image 63 further includes action/movement direction columns 64a and 64b for displaying the action and movement direction of the operation object, and position display columns 65a and 65b for indicating the position of each operation part of the operation device moving in a specific direction . In FIG. 11, the motion/movement direction columns 64a and 64b show the rotational motion of the pedestal OP of the power shovel PS, and the moving direction thereof. In addition, the position display fields 65a and 65b display the first position L1 when the first operation unit 10 is tilted.

As an assignment method, for example, the assignment input unit 62 of the assignment unit 60 selects from each display column of the assignment image 63 or assigns it to each display column. Specifically, as shown in FIG. 11 , the rotation direction AX1L of the base OP of the power shovel PS is assigned in accordance with the first position L1 when the first operation portion 10 is tilted in the direction of ax1L. On the other hand, the rotation direction AX1R of the pedestal OP is assigned corresponding to the first position L1 when the first operation part 10 is tilted in the direction of ax1R. Then, the assignment in this way is input to the power shovel PS via the output unit 50 .

Similarly, by assigning the arm AM of the power shovel PS to the second position L2 of the second tilting portion 21, and assigning the bucket BK to the third position L3 of the third tilting portion 31, etc., the operation target can be The moving direction of the object corresponds to the tilting direction of each operating portion of the operating device 100, thereby realizing an intuitive operating environment.

Here, in the above-mentioned example, after the images of the power shovel PS and the operation device 100 are displayed, the assignment is performed. However, in this embodiment, the distribution method can be set in any form, as long as the action or moving direction of the operation object corresponds to the position of each tilting part of the operation device 100 . For example, the operation object display column 64 and the operation device display column 65 of the assignment image 63 may be omitted, and the assignment may be performed by the action/movement direction columns 64a and 64b and the position display columns 65a and 65b. On the other hand, assignment may be performed only by the operation object display column 64 and the operation device display column 65 .

Furthermore, such assignment is not limited to the power shovel PS. For example, FIG. 12 shows an example of the assignment image 63 when the operation device 100 according to the first embodiment operates the elevator car FE. In this figure, the operation object display field 64 displays the moving direction of the elevator vehicle FE and the elevator. In addition, the operation device display field 65 displays the tilt directions of the operation device 100 and the first operation unit 10 . Furthermore, in the same procedure as described above, the moving direction AX2U' of the elevator of the elevator car can be assigned corresponding to the first position L1 when the first operation part 10 is tilted in the direction of ax2U. Similarly, the movement direction AX2D' of the ladder can be assigned corresponding to the first position L1 when the first operation part 10 is tilted in the direction of ax2D. Thereby, the operator can understand the movement of the ladder in the vertical direction, that is, the tilting action of the ladder, as the inclination of the first operation part 10 in the vertical direction, thereby realizing an easy-to-understand operating environment.

In addition, in the ladder vehicle FE, the telescopic movement of the ladder can be similarly assigned to any operation unit. For example, if the second operation part 20 is pushed down in the direction away from the user, the ladder will expand, and if the second operation part 20 is pushed in the direction of the user, the ladder will shrink, so that the operator can move the ladder before The sliding movement in the rearward direction is understood to be the movement of the second operating portion 20 in the forward and backward directions, and an easy-to-understand operating environment can be realized similarly to the above.

In this way, the actions assigned to each operating section are not only tilting or turning, but also any actions such as the telescopic extension of the ladder, the hoisting of the winch, the digging or dumping of the arm of the hoe, and the holding of the hand. The movement of these respective operation objects matches the direction which is easy to be intuitively understood as the movement direction of the operation part, so that the operability can be improved. (Cover part 70)

The cover portion 70 shown in FIG. 1 and the like is used to cover at least a part of the operation device 100 from the first operation portion 10 to the third operation portion 30 . The cover portion 70 can be made of known materials such as plastic or rubber. By providing the cover part 70 in this way, there is an advantage of protecting each operating part and the like from external impact, or preventing dust and dirt from accumulating inside the operating device 100 .

In the above-mentioned example, the power shovel PS has been mainly described as the operation object. However, the operating device 100 of the first embodiment is not limited to those who operate the power shovel. As described above, as long as it is a machine, a vehicle, or the like having a plurality of movable parts, any object can be manipulated. For example, the boom, boom, and winch of a crane equipped with a winch can be operated by the first operation part 10 , the second operation part 20 , and the third operation part 30 , respectively. In addition, it is also possible to separately operate the rotation or undulation of the ladder in the horizontal plane, the extension and retraction of the ladder, and the operation of the hanging basket installed at the front end of the ladder. [Embodiment 2]

In Embodiment 1, the case where the second tilting portion 21 is tilted in the first direction D1 has been described. However, the tilting direction of the second tilting portion 21 is not limited to the first direction D1. In addition to the first direction D1, it can also tilt in the second direction D2. FIG. 13 shows an operating device 100B according to Embodiment 2, which includes a second operating portion 20B attached via a second tilting portion 21B. The second operating portion 20B and the second tilting portion 21B are mounted upside down with a rocker having substantially the same structure as the first operating portion 10 and the first tilting portion 11 of the first embodiment shown in FIG. 4 and the like. By.

Specifically, as shown in FIG. 13 , the second operation portion 20B includes a rod-shaped shaft 20Ba and a frame body 20Bb. The second tilting portion 21B is accommodated in the second casing 22B. And it tilts with the orthogonal 2nd tilt axis|shafts 23B-1 and 23B-2 as a center. In this embodiment, the second tilting shaft 23B-1 is arranged along the second direction D2, and the second tilting shaft 23B-2 is arranged along the first direction D1. The second casing 22B that accommodates the second tilting portion 21B is accommodated in the frame body 20Bb.

The shape of the frame body 20Bb can be set to any shape that can accommodate the second housing 22B and the second output shaft 23B, and examples thereof include a rectangular parallelepiped shape, a cubic shape, and a columnar shape. In Embodiment 2, the shape of the frame body 20Bb is made into a substantially rectangular parallelepiped shape. Moreover, the upper surface 20Bc and the bottom surface 20Bd of the housing|casing 20Bb are made into a plate shape, and the housing|casing side attachment hole 20Be is formed in the bottom surface 20Bd.

Moreover, the shaft 20Ba of the 2nd operation part 20B is connected to the frame body 20Bb via the 2nd tilting part 21B so that one end side penetrates the frame body side mounting hole 20Be from the frame body 20Bb, and protrudes in the vertical direction. One end side of the shaft 20Ba is attached to the other end side of the first operating portion 10 . Further, the second tilting portion 21B, the frame body 20Bb, etc. are attached to the other end side of the shaft 20Ba, and a storage case 34 that accommodates the third operation portion 30 is further mounted on the upper surface 20Bc of the frame body 21Bb.

The second operation portion 20B is tiltably attached via a second tilting portion 21B that is tiltable in the intersecting first direction D1 and the second direction D2. In Embodiment 2, as shown in FIGS. 14A and 14B , the frame body 20Ba of the second operation part 20B is tilted relatively with respect to the first operation part 10 .

With this configuration, the second position L2B-1 of the second tilting portion 21B in the first direction D1 as shown in FIG. 14A can be detected, or the second tilting portion 21B in the second direction as shown in FIG. 14B can be detected. The second position L2B-2 on D2 is output from the output unit 50 to the operation object.

With this configuration, the direction in which the second tilting portion 21B can be tilted can be increased. As a result, the number of movable parts of the operable operation object can be increased, and there is an advantage in that the convenience is improved. [Industrial Availability]

The above-mentioned operation device can be preferably used for a person with little operation experience, such as a beginner, who can easily operate an operation object having a plurality of movable parts.

10: The first operation department 11: The first tilting part 12: The first shell 13-1, 13-2: The first tilt axis 20, 20B: The second operating section 20Ba: Shaft 20Bb: Frame 20Bc: upper surface of frame 20Bd: Bottom of frame 20Be: Mounting holes on the frame side 21, 21B: Second tilting part 22B: Second shell 23B-1, 23B-2: Second tilt axis 30: The third operation department 31: The third tilting part 32: The third shell 33-1, 33-2: Third tilt axis 34: Storage box 40: Abutment 41: Mounting holes 50: Output part 51: The first detection department 52: Second detection part 53: The third detection section 60: Distribution Department 61: Display part 62: Assign input part\input part 63: Dispatching images 64: Operation object display column 64a, 64b: Action/Move Direction Bar 65: Operation device display bar 65a, 65b: Position display bar 70: Cover part 90: Operation lever 91～93: Operation buttons 94,95: Drive Mechanism 96: Reciprocating action push mechanism 97,98: Connecting rod members 100, 100B: Operating Devices AM: Arm AX1～AX4: Rotary axis ax1L, ax1R, ax2D, ax2U: the tilting direction of the first operating part AX1L, AX1R: Rotation direction in the horizontal plane of the base of the power shovel AX2D, AX2U: The direction in which the boom moves up and down AX2D', AX2U': The moving direction of the ladder of the ladder car BK: Bucket BM: boom D1: first direction D2: Second direction FE: Ladder car J1～J4: Rotary axis L1, L1-1, L1-2: first position L2, L2B-1, L2B-2: first position L3: Third position LV1～LV4: Operation lever OB: console OP: Pedestal P: Power Shovel PS: Power Shovel R: The rotation axis of the second tilting part UR: user Y1: Tilting direction of the second operating part Y2: the moving direction of the arm

FIG. 1 is a perspective view showing an operating device according to Embodiment 1 of the present invention and a state in which it is used, with a partial enlarged view. 2A is a front view showing a state of use of the operating device of FIG. 1 , FIG. 2B is a side view showing a state of use of the operating device of FIG. 1 , and FIG. 2C is a side view showing another state of use of the operating device of FIG. 1 view. FIG. 3 is a schematic diagram showing the connection state of the operating device and the distribution part of FIG. 1 . FIG. 4 is a perspective view showing the operating device of FIG. 1 . FIG. 5 is a perspective view showing a tilted state of the operating device of FIG. 4 . FIG. 6 is a partial enlarged view of the operating device and the power shovel of FIG. 1 . FIG. 7 is a perspective view showing the tilting of the operating device of FIG. 1 and the movement in the horizontal plane of the base of the power shovel. FIG. 8 is a perspective view showing the tilting of the operating device of FIG. 1 and the movement in the vertical plane of the boom of the power shovel. 9A is a perspective view showing the movement of a part of the power shovel, and FIG. 9B is a perspective view showing the tilting of the second operation part and the third operation part of the operation device of FIG. 4 . FIG. 10A is a side view showing the movement of the arm, and FIG. 10B is a side view showing the tilting when the second operating portion is operated in a specific direction. FIG. 11 is a diagram showing an example of a distribution image displayed on the display unit. FIG. 12 is a diagram showing another example of the assignment image displayed on the display unit. FIG. 13 is a perspective view of the attached part of the enlarged view of the operating device according to the second embodiment. FIG. 14A is a perspective view showing the tilting of the second operating portion in the first direction D1 of FIG. 13 , and FIG. 14B is a perspective view showing the tilting of the second operating portion in the second direction D2 . FIG. 15 is a perspective view showing an example of a conventional operating device. FIG. 16 is a perspective view showing yet another example of the conventional operating device.

10: The first operation department

11: The first tilting part

20: Second Operation Department

21: Second tilting part

30: The third operation department

31: The third tilting part

50: Output part

51: The first detection department

52: Second detection part

53: The third detection section

60: Distribution Department

61: Display part

62: Assign input part\input part

63: Dispatching images

100: Operating device

L1: first position

L2: Second position

L3: Third position

AX1~AX4: Rotation axis

PS: Power Shovel

Claims (8)

An operation device, which is used to control the mover of an operation object, and the operation object can move three or more movable parts respectively by means of a drive system; and the operation device is provided with: abutment; a first operating portion, which is rod-shaped and has one end side mounted on the base via a first tilting portion that can be tilted in a first direction and a second direction intersecting with each other; A rod-shaped second operating portion, one end side of which is mounted on the other end side of the first operating portion through at least a second tilting portion that can be tilted in the first direction; a third operating portion mounted on the other end side of the second operating portion via a third tilting portion capable of at least tilting in the first direction; a first detection part, which can detect the relative position of the aforesaid base and the first operation part, that is, the first position; a second detection part, which can detect the relative position of the first operation part and the second operation part, that is, the second position; a third detection part, which can detect the relative position of the second operation part and the third operation part, that is, the third position; and The output unit is capable of driving the operation objects respectively for the first position detected by the first detection unit, the second position detected by the second detection unit, and the third position detected by the third detection unit The output of each drive system of three or more movable parts of the object is individually output; and The first operating portion is connected to the base via the first tilting portion so as to protrude from the base in the vertical direction. The operating device of claim 1, wherein Make the tilting direction of the first operation part relative to the base, The tilting direction of the second operating portion relative to the first operating portion, The tilting direction of the third operating portion relative to the second operating portion, The direction of movement of each of the three or more movable parts of the operation object is the same. An operating device as claimed in claim 1 or 2, wherein The said 2nd tilting part is comprised so that it may also tilt in the said 2nd direction which crosses the said 1st direction. An operating device as claimed in claim 1 or 2, wherein The said 3rd tilting part is comprised so that it may also tilt in the said 2nd direction which crosses the said 1st direction. The operating device of claim 4, wherein The third tilting portion is configured in the shape of a rocker that can be operated by the thumb. An operating device as claimed in claim 1 or 2, wherein The stress for tilting the third tilting portion is set to be smaller than the stress for tilting the second tilting portion, The stress for tilting the second tilting portion is set to be smaller than the stress for tilting the first tilting portion. An operating device as claimed in claim 1 or 2, wherein The first tilting portion and the first operating portion are formed in the shape of a rocker. An operating device as claimed in claim 1 or 2, wherein The output unit wirelessly transmits the output to the outside.

Images