JP4398825B2 - Joystick device - Google Patents

Description

  The present invention relates to a joystick device used as an operation device when operating a construction machine such as a hydraulic excavator and a crane.

  In order to control the operation of various actuators (hydraulic cylinders, motors, etc.) provided in construction machines such as hydraulic excavators and cranes, joystick devices have been widely used.

  FIG. 8 is a side view of the excavator, and FIG. 9 is a side view of the operation chamber of the excavator. As shown in FIG. 8, the excavator includes a bucket 102, an arm 103, a boom 104, and the like. The operator of the hydraulic excavator controls the operation of the actuator by tilting the operation lever 202 of the joystick device 201 provided at an appropriate position in the operation chamber from front to back and from side to side. Accordingly, for example, operations such as excavation / dumping of the bucket 102, raising / lowering of the arm 103 and the boom 104, and rotation of the main body to the left / right can be performed.

  Further, one or a plurality of operation buttons 203 are provided on the surface of the grip portion of the joystick device 201. The operator can turn on / off a switch built in the joystick device 201 by pressing the operation button 203. Thereby, for example, expansion and contraction of a hydraulic cylinder, which is an actuator for an attachment (for example, a crusher and a grapple) of the bucket 102, and left and right rotation of the motor can be controlled.

  Such operation buttons 203 are normally provided as a set of two, and one switch corresponds to each of the two operation buttons 203. Then, by alternately turning on / off the switches related to the respective operation buttons 203, the expansion / contraction of the hydraulic cylinder or the left / right rotation of the motor is switched.

  Meanwhile, the conventional joystick device 201 has a function of outputting a hydraulic signal or an electric signal proportional to the operation amount of the operation lever 202 when the operation lever 202 described above is tilted. Therefore, high operability can be obtained, for example, the expansion / contraction of the hydraulic cylinder, the rotation of the motor, and the like can be controlled at a speed proportional to the angle at which the operation lever 202 is tilted. As a result, for example, a delicate operation such as positioning of the bucket 102 can be easily performed.

  On the other hand, since the attachment operation as described above is performed by turning on / off the switch by pressing the operation button 203, the expansion / contraction of the hydraulic cylinder, which is an actuator for these attachments, or the rotation of the motor is performed at a constant speed. It could only be controlled. Therefore, in the case of these attachments, there is a problem that it is difficult to perform a delicate operation such as positioning.

  Further, in the conventional joystick device 201, since the arrangement of the two operation buttons 203 and the direction in which the attachment is displaced do not correspond to each other, the operability may not be good. That is, for example, when two operation buttons 203 are arranged in a vertical line, when operating an attachment that rotates in the horizontal direction using these operation buttons 203, the arrangement of the two operation buttons 203 is arranged. Since the (vertical direction) does not correspond to the direction in which the attachment is displaced (horizontal direction), there is a problem that an operator who is not familiar with the operation must be aware of the difference every time the operation is performed.

  This invention is made | formed in view of such a situation, The objective can improve operativity compared with the past by changing arrangement | positioning of an operation means according to the direction which displaces an operation target. It is to provide a joystick device.

In order to solve the above-described problems, a joystick device according to the present invention is provided with an operation lever configured to be pivotably supported at a base end thereof, and detachably provided at a distal end portion of the operation lever. an operation panel provided with a first operation means provided on the operation panel so as to be movable in a predetermined direction, the operation panel, the first center line around the operation panel extending in the thickness direction It is configured to be able to be rotated together with the operation means and fixed to the operation lever.

According to the present invention, when the operation panel is rotated, the first operation means is also rotated, so that the moving direction of the first operation means can be changed. Therefore, it is possible to adjust the moving direction of the first operating means according to the direction in which the operation target is displaced . When controlling the rotation of the motor is an actuator used to rotate the operation target on the left and right For example, the moving direction of the first operating means that to adjust the operating panel so that the left-right direction. Meanwhile, when controlling the expansion and contraction of the hydraulic cylinder is an actuator used to move the operation target in the vertical direction, the moving direction of the first operating means that to adjust the operating panel so that the vertical direction.

It is also possible to change the placement of the first operating means by rotating the same manipulation panel. Therefore, it is possible to adjust the arrangement of the first operation means in accordance with the direction in which the operation target is displaced. That is, for example, in the case of controlling the rotation of a motor that is an actuator used to rotate the operation target left and right by alternately pressing the two first operation means, the two first operations are performed. Adjust the operation panel so that the operation means are arranged in a line on the left and right. On the other hand, in the case of controlling the expansion and contraction of a hydraulic cylinder, which is an actuator used to move the operation target in the vertical direction, the operation panel is adjusted so that the two first operation means are arranged in a vertical line. .

  In this way, by associating the direction in which the operation target is displaced with the moving direction or arrangement of the first operation means, an intuitively easy-to-understand operation is possible. As a result, operability can be remarkably improved.

  Further, in the above invention, the operation lever is a hollow body and has an opening that is shaped to fit the operation panel, and the operation panel is fitted and fixed to the opening. It is also possible. Thereby, the operation panel can be securely fixed.

  In the above invention, the fitting portion on the operation lever side is provided with a concave portion or a convex portion, and the fitting portion on the operation panel side is provided with a convex portion or a concave portion that can be engaged with the concave portion or the convex portion. It is also possible to adopt a configuration in which the operation panel is rotated by a predetermined angle and fixed by changing the combination of the concave and convex portions related to the engagement. Thereby, the moving direction or arrangement | positioning of a 1st operation means can be adjusted easily.

Further, in the above invention, a second operation means supported by the operation lever so as to be able to advance and retreat, a switch that is turned on / off when the second operation means is advanced and retracted, and is fixed to the operation panel ; The operating part of the switch may be arranged on the rotation center line of the operation panel. With this configuration, even if the operation panel is rotated, the position of the switch operating portion does not change. Therefore, even when the operation panel is rotated in order to change the moving direction of the first operation means, it is unnecessary to take measures such as changing the second operation means used for the on / off operation of the switch. Become.

  Furthermore, in the said invention, it is also possible to set it as the structure provided with the voltage output means which outputs the voltage proportional to the moving amount | distance of the said 1st operation means. This makes it possible to output a voltage proportional to the amount of movement of the first operating means.

  Since the joystick device of the present invention can change the arrangement of the operation buttons by rotating the operation panel and attaching it to the operation lever, it is possible to adjust the arrangement of the operation buttons according to the direction in which the operation object is displaced. It becomes. Therefore, the direction in which the operation target is displaced can be associated with the arrangement of the operation buttons, and an intuitively easy-to-understand operation can be realized.

  In addition, since the joystick device of the present invention can change the moving direction of the slide switch by rotating the operating panel and attaching it to the operating lever, the moving direction of the slide switch is adjusted according to the direction in which the operation target is displaced. It becomes possible to do. Therefore, the direction in which the operation target is displaced and the movement direction of the slide switch are matched, and an intuitively easy-to-understand operation can be realized.

  Embodiments of the present invention will be described below with reference to the drawings.

  The joystick device of the present invention is used as an operation device for construction machines such as a hydraulic excavator and a crane. This joystick device is provided in the operation room of the construction machine, and is arranged to face the operator when the operator is seated in the operation seat. Note that the joystick device of the present invention can be used as an operating device for a computer game machine, for example, in addition to the operating device for a construction machine.

  FIG. 1 is a perspective view showing a configuration of a joystick device of the present invention, and FIG. 2 is a front view showing a part of a casing thereof being broken. As shown in FIGS. 1 and 2, the joystick device 1 includes an operation lever 2 whose base end 1 a is pivotally supported on a base (not shown). The operating lever 2 is a hollow body and is composed of casings 2a and 2b that are divided into left and right parts. Screw holes 14 penetrating in the left-right direction are formed at appropriate locations on the casing 2a. Further, a female screw is formed in the casing 2b at a position corresponding to the screw hole. Then, as shown by the broken portion in FIG. 2, the casings 2a and 2b are fastened by screwing the male screw 15 into the female screw formed in the casing 2b through the screw hole 14 formed in the casing 2a. The

  The operator moves the control lever 2 so that the thumb of the right hand (or left hand) is positioned on the front side of the tip of the control lever 2 and the other finger of the hand is positioned on the back side of the central portion of the control lever 2. Hold it. A square-shaped opening 18 is formed on the front side of the tip of the operation lever 2 where the thumb of the operator's hand is located, and the operation panel 3 is fitted into the opening 18. Yes. The operation panel 3 supports a slide switch 3a having a substantially rectangular shape that can slide in one direction on the operation panel 3. The operator operates the slide switch 3a by sliding it in the longitudinal direction of the slide switch 3a with the thumb of the hand holding the operation lever 2. 1 and 2, the slide switch 3a is slidable in the vertical direction, but may be slidable in directions other than the vertical direction, as will be described later. The operation panel 3 supports two circular operation buttons 3b and 3b which can be moved forward and backward with respect to the operation panel 3. The operator similarly operates the operation buttons 3b and 3b by pressing with the thumb or the like.

  On the other hand, on the back side of the central portion of the operation lever 2, that is, on the opposite side to the side on which the operation panel 3 is fitted, the operation button 4 is supported so as to be movable back and forth with respect to the operation lever 2. The operator operates the operation button 4 by depressing it with an index finger or the like of the hand holding the operation lever 2.

  3 is a cross-sectional view taken along line III-III shown in FIG. As shown in FIG. 3, the slide switch 3a is substantially T-shaped in a cross-sectional view taken along line III-III, and the bottom surface of the flange portion 3af is moved over the surface of the operation panel 3 by the slide operation of the operator. Slide in the longitudinal direction. The flange portion 3af is inclined downward by a predetermined angle from the central portion to both ends, and the surface of the operation panel 3 has a shape recessed inward along this inclination.

  A machine screw 5 is inserted through a hole formed so as to penetrate the web portion 3aw of the slide switch 3a. The upper portion of the pin 5 is fixed in the web portion 3aw, and the lower end thereof is connected to the upper surface of the shaft 16 that is pivotally supported by the lower portion of the operation panel 3 (see FIG. 4). Thus, when the slide switch 3a is slid in the longitudinal direction by the operator, the web portion 3aw of the slide switch 3a swings in the same direction as the longitudinal direction with the shaft 16 as a fulcrum.

  Piston members 7, 7 are in contact with the web portion 3aw of the slide switch 3a from above and below. The piston members 7 and 7 are urged toward the web portion 3aw by springs 8 and 8 attached to a frame 17 that covers the operation panel 3 from below. Thus, when the slide switch 3a is moved from the neutral position, which is the original position, by the slide operation of the operator, and when the operation is released, the slide switch 3a is pressed by the piston members 7 and 7 from both the upper and lower directions. Return to the neutral position.

  A non-contact potentiometer 6 is provided inside the operation panel 3. The potentiometer 6 includes a magnet 6a embedded in the lower surface of the shaft 16 and a magnetic sensor 6b composed of a pair of magnetoresistive elements connected in series. The magnetic sensor 6b is attached to an appropriate position of the frame 17 with a predetermined distance from the shaft 16. When the slide switch 3a is slid by the operator, the web portion 3aw of the slide switch 3a swings, and the shaft 16 rotates and the magnet 6a is displaced along with the swing. The intensity of the magnetic field changes according to the displacement of the magnet 6a, and as a result, the resistance value of the magnetoresistive element constituting the magnetic sensor 6b changes. When a voltage is applied to one end of the magnetic sensor 6b and the other end is grounded, a voltage proportional to the displacement of the magnet 6a is output from the connection point of the pair of magnetoresistive elements. Thereby, a voltage proportional to the amount of movement of the slide switch 3a can be output.

  Thus, the compact potentiometer 6 is realizable by setting it as the structure which attaches the magnet 6a to the axis | shaft 16. FIG. Therefore, even if the potentiometer 6 is provided inside the operation lever 2, the size of the joystick device 1 is not particularly large compared to the conventional case.

  Further, since the potentiometer 6 is a non-contact type, the potentiometer 6 is superior in durability as compared with the contact type and has an advantage of being resistant to noise.

  In the present embodiment, the magnetic sensor 6b is composed of a pair of magnetoresistive elements, but a Hall element or the like may be used instead of the magnetoresistive elements. Further, instead of the magnetic sensor, a configuration using PSD (Position Sensitive Light Detector: semiconductor position detecting element) may be used. As described above, even when the PSD is used, the rotation angle of the shaft 16 can be detected in a non-contact manner, and a voltage corresponding to the rotation angle can be output.

  A controller 9 is attached to the center of the operation lever 2. The controller 9 performs amplification and adjustment of the voltage output from the potentiometer 6 as will be described later.

  4 is a cross-sectional view taken along line IV-IV shown in FIG. 2, and FIG. 5 is a cross-sectional view taken along line VV. As shown in FIGS. 4 and 5, switches 12, 12 and a switch 13 are fixed to the operation panel 3. The switches 12 and 12 are arranged so that the operation parts 12a and 12a are activated and turned on / off when the above-described operation buttons 3b and 3b are pressed. On the other hand, the switch 13 is arranged so that the operation unit 13a is activated and turned on / off when the operation button 4 described above is pressed. Further, the operating unit 13a is arranged on a rotation center line (a chain line shown in FIG. 5) when the operation panel 3 is rotated as described later. Therefore, even if the operation panel 3 is rotated, the position of the operation part 13a does not change.

  FIG. 6 is a block diagram showing the configuration of the controller 9 described above. As shown in FIG. 6, the controller 9 includes an amplifier circuit 9a and a trimmer 9b. The amplifier circuit 9a amplifies the voltage output from the potentiometer 6, and the trimmer 9b performs bias adjustment and gain adjustment of the voltage amplified by the amplifier circuit 9a. By providing the amplifier circuit 9a in this way, even when the output from the magnetic sensor 6b is very small, it can be amplified to a practical size. Further, by providing the trimmer 9b, for example, adjustment such that a voltage half the voltage supplied from the power source is output when the slide switch 3a is in the neutral position can be easily performed.

  The controller 9 including the amplifier circuit 9a and the trimmer 9b is provided inside the operation lever 2 as described above. Therefore, the handling becomes easier as compared with the case where such an amplifier circuit and trimmer are provided outside the operation lever.

  FIG. 7 is a view taken along the line VII-VII shown in FIG. 3 for explaining that the moving direction of the slide switch 3a and the arrangement of the operation buttons 3b, 3b can be changed. As shown in FIG. 7, a convex portion 10 is provided outward on each side of the square-shaped operation panel 3. Moreover, the casings 2a and 2b are respectively provided with recesses 11 having a shape engageable with these protrusions 10. Then, the operation panel 3 is attached to the operation lever 2 by fastening the casings 2a and 2b as described above so that the convex portion 10 and the concave portion 11 are engaged with each other.

  The movement direction of the slide switch 3a and the arrangement of the operation buttons 3b and 3b can be changed as follows. First, the casings 2a and 2b are separated, and the engagement state between the convex portion 10 and the concave portion 11 is released. Then, after rotating the operation panel 90 by 90 ° or 180 °, the convex portion 10 and the concave portion 11 are engaged again and the casings 2a and 2b are fastened to fix the operation panel 3. Since the slide switch 3a also rotates together with the operation panel 3, the moving direction of the slide switch 3a and the arrangement of the operation buttons 3b and 3b are changed.

  In the case shown in FIG. 7A, the slide switch 3a that can be slid in the vertical direction is located on the right side of the joystick device 1 and the operation buttons 3b and 3b arranged in a row in the vertical direction are also located on the left side. . Here, by rotating the operation panel 3 90 degrees in the direction of the arrow and fixing it, as shown in FIG. 7B, the slide switch 3a can be slid in the left-right direction, and the operation buttons 3b, 3b are aligned in the left-right direction. Will be arranged.

  Similarly, the operation panel 3 can be attached in the state shown in FIG. 7C or 7D by rotating the operation panel 3 90 degrees in the direction of the arrow and fixing it. That is, the operation panel 3 can be attached to the operation lever 2 in four different states depending on the preference of the operator.

  Thereby, for example, when controlling the rotation of the motor, which is an actuator used to rotate the grapple or the like, using the slide switch 3a (operation buttons 3b, 3b), the slide switch 3a can slide in the left-right direction. Then, the operation panel 3 is rotated and fixed (so that the operation buttons 3b, 3b are arranged in a line on the left and right) (FIGS. 7B and 7D). On the other hand, when the expansion / contraction control of the hydraulic cylinder, which is an actuator used for moving the crusher or the like, is performed using the slide switch 3a (operation buttons 3b, 3b), the slide switch 3a is moved in the vertical direction. The operation panel 3 is rotated and fixed so as to be slidable (so that the operation buttons 3b and 3b are arranged in a vertical line) (FIGS. 7A and 7C). As a result, the direction in which the grapple or the crusher that is the operation target is displaced is associated with the moving direction of the slide switch 3a (arrangement of the operation buttons 3b and 3b). Therefore, intuitive and easy-to-understand operations are possible, and operability can be significantly improved.

  In the present embodiment, the operation panel 3 can be rotated and fixed every 90 °, but is different from 90 ° by changing the shape of the operation panel 3 and the number of the convex portions 10 and the concave portions 11. Of course, it can be fixed by rotating the angle. For example, the operation panel 3 may be formed in a circular shape, and the operation panel 3 may be rotated and fixed at an arbitrary angle by increasing the number of the convex portions 10 and the concave portions 11 as much as possible. .

  Further, as described above, the operating portion 13a of the switch 13 is arranged on the rotation center line when the operation panel 3 rotates. Therefore, the position of the operating portion 13a does not change regardless of the state of the operation panel 3 shown in FIGS. 7 (a) to 7 (d). Therefore, even when the operation panel 3 is rotated, the operation button 4 can be utilized without changing the position of the operation button 4.

It is a perspective view which shows the structure of the joystick apparatus of this invention. It is a front view which shows the structure of the joystick apparatus of this invention. It is sectional drawing in the III-III line of FIG. It is sectional drawing in the VI-VI line of FIG. It is sectional drawing in the VV line | wire of FIG. It is a block diagram which shows the structure of the controller with which the joystick apparatus of this invention is provided. It is the VII-VII arrow directional view shown in FIG. 3 for demonstrating that it is possible to rotate and attach the operation panel with which the joystick apparatus of this invention is equipped. It is a side view of a hydraulic excavator. It is a side view of the operation chamber of a hydraulic excavator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Joystick apparatus 1a Base end 2 Operation lever 2a, 2b Casing 3 Operation panel 3a Slide switch 3b Operation button 4 Operation button 6 Potentiometer 6a Magnet 6b Magnetic sensor 7 Piston member 8 Spring 9 Controller 9a Amplifying circuit 9b Trimmer 10 Convex part 11 Concave part 13 Switch 13a Actuator 16 Shaft 17 Frame 18 Opening

Claims (5)

An operation lever configured to be pivotally supported at its proximal end, and
An operation panel detachably provided at the tip of the operation lever ;
First operation means provided on the operation panel so as to be movable in a predetermined direction,
The joystick device is configured such that the operation panel can be fixed to the operation lever by rotating together with the first operation means around a center line of the operation panel extending in the thickness direction . The operating lever is a hollow body,
The operation panel has an opening with a shape that can be fitted,
The joystick device according to claim 1, wherein the operation panel is fitted and fixed to the opening. The fitting portion on the operation lever side is provided with a concave portion or a convex portion, and the fitting portion on the operation panel side is provided with a convex portion or a concave portion that can be engaged with the concave portion or the convex portion, respectively.
The joystick device according to claim 2, wherein the joystick device is configured to rotate and fix the operation panel by a predetermined angle by changing a combination of a concave portion and a convex portion related to engagement. Second operating means supported by the operating lever so as to freely advance and retract;
A switch that is turned on / off when the second operation means is advanced and retracted, and is fixed to the operation panel ;
The joystick device according to any one of claims 1 to 3, wherein the switch operating portion is arranged on a rotation center line of the operation panel.   The joystick device according to claim 1, further comprising voltage output means for outputting a voltage proportional to the amount of movement of the first operating means.

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