JP6548563B2 - Remote control robot - Google Patents

Description

  The present invention relates to a remote control robot, and more particularly, to a remote control robot that receives a control signal transmitted from a transmitter and operates a control unit of a work vehicle by an operation unit to control the work vehicle.

  In the event of a disaster such as bad weather, earthquake, landslide or tunnel collapse due to volcanic activity, or radiation leak at a nuclear power plant, there is a possibility that a secondary disaster may occur at the disaster site, so workers can work In some cases, it is not possible to get on the vehicle and perform restoration work.

  In view of such a case, from the viewpoint of mainly securing the safety of the worker, for example, it is installed in the cockpit of the work vehicle, and is remotely operated in the installed state to remotely control the work vehicle. A robot has been proposed (see, for example, Patent Document 1).

  For example, when the work vehicle is a hydraulic excavator, such a remote control robot is generally a so-called dedicated system that is suitable only for hydraulic excavators manufactured and sold by the operator for each enterprise that manufactures and sells the hydraulic excavator. The model is ready.

  When installing the remote control robot prepared as such a dedicated model on a hydraulic shovel, the operator removes the seat which gets on and sits in the cockpit of the hydraulic shovel, and installs the remote control robot in the removed portion.

JP 2005-186218 gazette

  By the way, the seat of the work vehicle in recent years adopts a highly accurate shock absorbing structure, such as an air suspension type seat, from the viewpoint of absorbing the impact generated by traveling on a rough road to improve the maneuverability of the pilot. It is installed in the cockpit of the work vehicle by a complex mechanism.

  Therefore, when installing the remote control robot prepared as a dedicated model of the work vehicle, it is necessary to remove the seat installed by a complicated mechanism, which consumes time for the removal operation.

  Thus, as a result of spending time for removing work, spending a long time, such as about 3 to 4 hours, or even about half a day, from removing the seat to installing the remote control robot, for installing the remote control robot It becomes.

  In particular, in the case of an emergency when a disaster occurs, it is necessary to quickly install the remote control robot on the work vehicle, so if it takes a long time to remove the seat and install the remote control robot, It is concerned that it may affect the progress.

  Furthermore, while there are various types of work vehicles used for different purposes, such as hydraulic shovels and bulldozers, for example, even if they are the same type of work vehicles, there are multiple operators that manufacture and sell the work vehicles. Because the specifications are different for each work vehicle, if it is prepared as a dedicated model a remote control robot adapted to each work vehicle or each work vehicle with different specifications even if it is a work vehicle of the same type, There is concern that the development cost and manufacturing cost of the operation robot will increase.

  On the other hand, from the viewpoint of a business operator who introduces a remote control robot, for example, when a work vehicle used for a purpose different from that of the currently used work vehicle is adopted, or a work vehicle of the same type has different specifications. When a vehicle is employed, the remote control robot installed on the work vehicle also needs to prepare a remote control robot adapted to the work vehicle. Therefore, there is a concern that the introduction cost of the operator who introduces the remote control robot also increases.

  The present invention has been made in view of the above circumstances, and can be installed in an existing work vehicle regardless of the difference in vehicle type or specification of the work vehicle, and moreover, the installation work can be performed quickly. It is an object of the present invention to provide a remote control robot.

In order to solve the above-mentioned problems, a remote control robot according to the invention according to claim 1 receives a control signal transmitted from a transmitter for a work vehicle provided with a cockpit in which a seat having a seat cushion and a seat back is installed. A remote control robot for operating the control means of the work vehicle by operating the control means to steer the work vehicle, the control means being connected to the control means at a neutral position of the control means; comprising a robot body disposed on the seat cushion of the seat to be positioned at the neutral position, and a fixing means for fixing the robot to the cockpit of the work vehicle, the fixing means, the robot body A first support member attached to the upper part of the robot, a second support member attached to the upper side of the robot body in the chamber of the cockpit, and Characterized in that it comprises a fixing bracket for connecting the support member first support member.

According to this configuration, the working vehicle is naturally disposed in a state where the robot body is disposed on the seat cushion of the seat generally provided to the working vehicle without the seat of the working vehicle being removed. The remote control robot is installed on the work vehicle by fixing the robot body by the fixing means to the equipped cockpit. This installation can constitute the fixing means with a small number of members such as the first support member, the second support member, and the fixing bracket, whereby the robot body can be easily fixed in the cabin of the cockpit.

  Therefore, the remote control robot can be installed even on work vehicles with different applications used for different purposes or work vehicles with different specifications among work vehicles of the same application, and the seat can be removed, Since the work vehicle can be installed without modification such as welding on the work vehicle or drilling on the work vehicle and attachment with the fastening member, the work vehicle can be quickly installed on the work vehicle.

  The remote control robot according to the invention described in claim 2 is the remote control robot according to claim 1, characterized in that the robot main body includes a seat belt which restrains the robot main body to the seat back of the seat. .

  According to this configuration, since the robot body is restrained by the seat belt on the seat back of the seat, the robot body disposed on the seat cushion is restricted from being displaced in the front-rear direction of the work vehicle.

  According to a third aspect of the present invention, in the remote control robot according to the first or second aspect, the robot main body includes a holding member for holding the seat cushion of the seat in the width direction. I assume.

  According to this configuration, when the robot body is disposed on the seat cushion, the robot body is biased to the side because the seat cushion is held and held in the width direction by the holding member. Is regulated.

The remote control robot according to the invention described in claim 4 is the remote control robot according to any one of claims 1 to 3 when the operating means of the robot body deviates from the neutral position of the operating means. And a correction mechanism for setting the position of the displaced operation means as a new neutral position .

  According to this configuration, when the neutral position of the operation means of the remote control robot is deviated, the correction mechanism sets the position where the operation means deviates as a new neutral position. Therefore, since the newly set neutral position can be regarded as the origin position and operated, stable remote control can be performed without affecting the operability of the remote control robot.

  According to the present invention, the remote control robot can be installed regardless of the difference in the type of work vehicle or the difference in the specification of the work vehicle. Moreover, since there is no need to remove the seat, the remote control robot can be installed on the work vehicle simply and quickly.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the outline of the hydraulic shovel with which the remote control robot which concerns on 1st Embodiment of this invention is attached. Similarly, it is a perspective view explaining the outline of the remote control robot concerning a 1st embodiment. Similarly, it is a side view explaining the outline of the remote control robot concerning a 1st embodiment. Similarly, it is a perspective view explaining the outline of the fixing | fixed part of the remote control robot which concerns on 1st Embodiment. FIG. 5 is a view on arrow A of FIG. 4; It is B arrow line view of FIG. Similarly, it is a figure explaining the outline of the master transmitter which carries out remote control of the remote control robot which concerns on this Embodiment. Similarly, it is a block diagram conceptually showing a configuration of a master transmitter which remotely operates a remote control robot according to the present embodiment. Similarly, it is a flowchart explaining processing when the neutral position of the remote control robot according to the present embodiment is deviated. It is a perspective view explaining the outline of the remote control robot concerning a 2nd embodiment of the present invention. Similarly, it is a side view explaining the outline of the remote control robot concerning a 2nd embodiment.

  Next, each embodiment of the present invention will be described with reference to FIGS. In the embodiment, the case where the work vehicle is a hydraulic shovel will be described as an example.

(First embodiment)
A first embodiment of the present invention will be described based on FIGS. 1 to 9.

  FIG. 1 is a view for explaining an outline of a hydraulic excavator 1 to which a remote control robot 10 according to the present embodiment is attached.

  As illustrated, the hydraulic shovel 1 is provided on a traveling crawler 2, a cockpit 3 provided above the crawler 2, a boom 4 provided on the side of the cockpit 3, and a tip 4a of the boom 4 An arm 5 movable with respect to the boom 4 and a bucket 6 provided at the tip 5 a of the arm 5 are provided as main components.

  A seat 7 having a seat cushion 7a and a seat back 7b, a pair of travel levers 8 located side by side in front of the seat 7, and a travel lever 8 sandwiching the travel lever 8 in the cabin of the hydraulic shovel 1 A work lever 9 which is a steering means located outside is provided.

  The operation of the travel lever 8 advances and retracts the hydraulic shovel 1, and the operation of the work lever 9 performs digging operation and turning operation by the boom 4, the arm 5 and the bucket 6.

  In the present embodiment, the remote control robot 10 is detachably attached to the seat 7. The remote control robot 10 is remotely operated by receiving a control signal from the master transmitter 40, travels the hydraulic shovel 1, and performs work by the boom 4, the arm 5, and the bucket 6.

  FIG. 2 is a perspective view illustrating the outline of the remote control robot 10, and FIG. 3 is a side view illustrating the outline of the remote control robot 10. As shown in FIGS. 2 and 3, the remote control robot 10 mainly includes a robot main body 11 and a fixing unit 30 which is a fixing unit.

  The robot body 11 includes a mount frame 12 disposed on the seat 7, a controller box 13 for controlling the remote control robot 10, a robot arm 14 for operating the travel lever 8, and a robot arm 15 for operating the work lever 9.

  In the present embodiment, the mount frame 12 is provided with a seat belt 20 which is stretched in the width direction of the seat back 7 b and restrains the robot body 11 on the seat back 7 b of the seat 7.

  The both sides of the controller box 13 are holding members which have a plate shape protruding downward of the robot 11 and hold the seat cushion 7a in the width direction when the robot body 11 is disposed on the seat cushion 7a of the seat 7. A seat cushion pinching portion 21 is provided.

  The robot arm 14 includes an upper arm 14a using an artificial muscle that can be expanded and contracted by pressurized fluid such as compressed air, a forearm 14b extending forward through a joint at the lower end of the upper arm 14a, and a front end of the forearm 14b. A grip portion 14c provided via a joint is provided.

  In the present embodiment, the upper arm portion 14a is free of back and forth freedom in a fixed region centered on the vertical axis by the controller box 13 performing PID control of the solenoid valve to control inflow and discharge of pressurized fluid to the artificial muscle. Move to

  On the other hand, as with the robot arm 14, the robot arm 15 is an forearm extending forward through joints at the lower end of the upper arm 15a and the lower end of the upper arm 15a using an artificial muscle that can expand and contract by pressurized fluid such as compressed air. A grip portion 15c is provided via a joint at the front end of the forearm portion 15b.

  In the present embodiment, the upper arm 15a is free of back and forth freedom in a fixed region centered on the vertical axis by the controller box 13 performing PID control of the solenoid valve to control inflow and discharge of pressurized fluid to the artificial muscle. Move to

  In the present embodiment, the artificial arm for moving the robot arm 14 and the robot arm 15 is omitted from the viewpoint of enhancing the visibility of the drawing.

  Next, the fixing unit 30 will be described.

  In the present embodiment, the fixing unit 30 fixes the robot body 11 to the cockpit 3 of the hydraulic shovel 1 in a state where the robot body 11 is disposed in the seat 7. In the present embodiment, the robot main body 11 is fixed to the cockpit 3 via the fixing portion 30 and the vehicle body frame 3 a of the hydraulic shovel 1.

  FIG. 4 is a perspective view for explaining the outline of the fixing portion 30, FIG. 5 is a view as viewed from arrow A in FIG. 4, and FIG. 6 is a view as viewed from arrow B in FIG.

  As shown in FIG. 4 to FIG. 6, the fixing unit 30 has the cockpit 3 through the vertical support 31 which is a first support member attached in the vertical direction in the upper part of the robot main body 11 and the vehicle body frame 3 a of the hydraulic shovel 1. A horizontal support 32, which is a second support member mounted above the robot main body 11 in the room, and a fixing bracket 36, which connects the vertical support 31 and the horizontal support 32, are provided as main components.

  The vertical support portion 31 is provided along a virtual center line C in the vertical direction of the robot main body 11. In the present embodiment, the vertical support portion 31 is formed of a round rod-shaped pipe material.

  The horizontal support portion 32 includes a pair of round rod-like support main body portions 33 arranged in parallel and spaced apart in the front-rear direction of the hydraulic shovel 1 indicated by an arrow FR, and both end portions of each support main body portion 33 The angular rod-like protruding portions 34 are joined.

  In the present embodiment, the support main body portion 33 is a round bar 33a having a screw thread formed on the outer peripheral surface, a pipe 33b into which the round bar 33a is fitted, and a screw formed on the outer peripheral surface of the round bar 33a. It has a nut 33c fitted to the mountain.

  Thus, since the round bar 33a is internally fitted to the pipe 33b, the expansion and contraction of the support main body 33 is adjusted by adjusting the depth at which the round bar 33a is internally fitted to the pipe 33b. Ru.

  On the other hand, since the nut 33c is fitted to the round bar 33a through the screw thread, in the state where the horizontal support portion 32 is attached to the inside of the cockpit 3, the nut 33c is mounted on the round bar 33a. Depending on the position, the expansion and contraction of the support body 33 is restricted.

  The fixing bracket 36 is bent upward from the both ends of the base 36a formed with the receiving part 36b in which the rod-like vertical support part 31 is fitted and both ends of the base 36a. It is made of a sheet metal having a mounting portion 36d which is branched to be gradually separated and is attached to the support main body portion 33 of the horizontal support portion 32, and is formed in a substantially V shape in a side view.

  The receiving portion 36b formed in the base portion 36a is formed in a cylindrical shape into which the vertical support portion 31 formed of a round rod-shaped pipe member is fitted, and provided with a fixing bolt 36c which can be projected on the inner peripheral surface of the receiving portion 36b. It is done.

  With the vertical support portion 31 fitted in the receiving portion 36b and the height of the robot main body 11 being adjusted, the fixing bolt 36c is positioned because it is positioned at an arbitrary height position and the fixing bolt 36c is tightened. It protrudes on the inner circumferential surface of the receiving portion 36 b and abuts on the vertical support portion 31. Thus, the fixing bracket 36 is attached to the robot body 11 at an arbitrary height position.

  The attachment portion 36 d is attached to the support main body portion 33 of the horizontal support portion 32 via a bolt 36 e. Specifically, the fixing bracket 36 is positioned at an arbitrary position on the axis of the round main body 33, and the bolt 36e is attached by fastening. Thus, the fixing bracket 36 is attached to the horizontal support 32.

  Thus, in the state where the vertical support 31 provided on the robot body 11 is attached to the fixing bracket 36 and the fixing bracket 36 is attached to the horizontal support 32, the horizontal support 32 is provided in the room of the control room 3 It is attached above the robot main body 11.

  Specifically, as shown in FIG. 2 and FIG. 3, the horizontal support portion 32 of the fixed portion 30 is in the front-rear direction of the hydraulic shovel 1 indicated by the arrow FR on both sides of the cabin of the cockpit 3 of the hydraulic shovel 1. Between the vehicle body frames 3a extending to the

  That is, the depth at which the round bar 33a in the support main body 33 of the horizontal support 32 is fitted into the pipe 33b is adjusted to adjust the expansion and contraction of the support main body 33, and both ends of the support main body 33 are adjusted. The overhang portion 34 joined to the above is firmly in contact with the vehicle body frame 3 a extending on both sides of the cockpit 3.

  In this state, since the nut 33c is moved to a position at which the expansion and contraction of the support body 33 is restricted, the expansion and contraction of the support body 33 is restricted, and the horizontal support 32 is inserted into the cockpit via the vehicle body frame 3a. It is installed in the 3rd room.

  FIG. 7 is a view for explaining an outline of master transmitter 40 for remotely operating remote control robot 10 according to the present embodiment, and FIG. 8 is a block diagram conceptually showing a configuration of master transmitter 40. .

  As shown in FIGS. 7 and 8, the master transmitter 40 comprises a joystick 41 for remotely operating the robot arm 14 for operating the traveling lever 8, a lever 42 for remotely operating the robot arm 15 for operating the working lever 9, and a neutral position. A correction button 43, and a controller 44 for controlling the operation contents of the joystick 41, the lever 42, and the neutral position correction button 43 are provided.

  The master transmitter 40 further includes a neutral position correction software 45, a memory 46, and a wireless communication module 47 that transmits the operation content of the master transmitter 40 to the controller box 13 of the robot body 11 as a control signal.

  The neutral position correction button 43 previously sets (initially sets) the neutral position (origin position) of the robot arm 14 and the robot arm 15 of the remote control robot 10, and the robot arm during the operation of the hydraulic shovel 1 by the remote control robot 10 When the preset neutral position of the robot arm 14 and the robot arm 15 is deviated, the deviated position is set as a new neutral position.

  In the present embodiment, the robot arm 14 and the robot arm 15 are positioned in the neutral position by aligning the joystick 41 and the lever 42 of the master transmitter 40 with the origin position in the initial setting of the robot arm 14 and the robot arm 15 Is set by pressing the neutral position correction button 43.

  On the other hand, when the robot arm 14 and the robot arm 15 deviate from the initially set neutral position, when setting the deviated position as a new neutral position, the neutral position correction button 43 is pressed in that state. Thus, the deviated position is set as a new neutral position.

  The neutral position correction software 45 is software for grasping the positions of the robot arm 14 and the robot arm 15 on coordinates, and in the present embodiment, the neutral positions of the robot arm 14 and the robot arm 15 are grasped on coordinates and initial stage While setting the position, the position where the robot arm 14 and the robot arm 15 are deviated is grasped on the coordinate and set as a new neutral position.

  The memory 46 stores the initial setting grasped by the neutral position correction software 45 and the setting of a new neutral position when the robot arm 14 and the robot arm 15 are displaced.

  A correction mechanism is configured in the present embodiment by the neutral position correction button 43 of the master transmitter 40, the neutral position correction software 45, the memory 46, and the controller box 13 of the robot main body 11.

  The operation content by the operator of the master transmitter 40 configured as described above is as a control signal based on the initial setting stored in the memory 46 or as a control signal based on the setting of a new neutral position stored in the memory 46 , And transmitted to the controller box 13 of the robot body 11.

  Next, a procedure for installing the remote control robot 10 according to the present embodiment in the hydraulic shovel 1 will be described.

  First, the seat 7 provided in the cabin of the cockpit 3 shown in FIGS. 2 and 3 is slid to the rearmost position to secure the indoor space, and the remote control in which the fixing unit 30 is attached to the robot main body 11 The robot 10 is introduced into the cabin of the cockpit 3.

  Before or after the introduction of the cockpit 3 of the remote control robot 10 into the room, the robot arm 14 and the robot arm 15 are positioned in the neutral position by aligning the joystick 41 and lever 42 of the master transmitter 40 with the home position. Initial setting is performed by pressing the neutral position correction button 43 in the state.

  After the remote control robot 10 is introduced into the cabin of the cockpit 3, the robot is placed on the seat cushion 7a of the seat 7 while holding the seat cushion 7a in the width direction by the seat cushion sandwiching holding portion 21 provided on the robot main body 11. The main body 11 is arranged.

  In this state, the robot arm 14 of the remote control robot 10 positioned at the neutral position (origin position) and the travel lever 8 of the hydraulic shovel 1 are connected and the remote control robot positioned at the neutral position (origin position) The robot arm 15 of 10 and the work lever 9 of the hydraulic shovel 1 are connected.

  After the robot arm 14 and the travel lever 8 are connected and the robot arm 15 and the work lever 9 are connected, the seat 7 is positioned so that the travel lever 8 and the work lever 9 are positioned at the neutral position (neutral position). Slide in the back and forth direction FR to adjust.

  After adjusting the position of the seat 7 in the longitudinal direction FR of the hydraulic shovel 1, the seat belt 20 provided on the mount frame 12 of the robot body 11 is stretched in the width direction of the seat back 7 b of the seat 7. To the seat back 7b.

  Thereafter, the expansion and contraction of the support main body 33 is adjusted by adjusting the depth at which the round bar 33a of the support main body 33 of the horizontal support 32 in the fixed portion 30 is fitted into the pipe 33b. The projecting portion 34 joined to the portion is firmly abutted to the vehicle body frame 3 a extending on both sides of the cockpit 3.

  A vehicle body in which the horizontal support portion 32 of the fixed portion 30 extends in the front-rear direction FR of the hydraulic shovel 1 on both sides of the cabin of the control room 3 of the hydraulic shovel 1 by bringing the overhang portion 34 into contact with the vehicle body frame 3a. It is installed between the frames 3a, and the fixing portion 30 is attached to the inside of the cockpit 3 via the vehicle body frame 3a.

  The remote control robot 10 is installed on the hydraulic shovel 1 in a state where the remote control robot 10 is disposed on the seat cushion 7 a of the seat 7 of the hydraulic shovel 1 through the above procedure.

  Next, in a case where the hydraulic shovel 1 is steered by the remote control robot 10, processing when the neutral position of the remote control robot 10 is deviated by inputting an impact into the hydraulic shovel 1 is described with reference to FIG. Explain.

  FIG. 9 is a flow chart for explaining the processing when the neutral position of the remote control robot 10 is deviated by the impact input to the hydraulic shovel 1. As shown, in step S1, the neutral position (origin position) of the robot arm 14 and the robot arm 15 of the remote control robot 10 is set (initial setting), and the remote control robot 10 is installed on the hydraulic shovel 1 by the above procedure. Do.

  In step S2, when the hydraulic shovel 1 is steered by the remote control robot 10, the hydraulic shovel 1 travels on a rough road, for example, and an impact load is input to the hydraulic shovel 1, whereby the remote control robot 10 As a result of deviation from the installed position, it is assumed that the robot arm 14 and the robot arm 15 deviate from the neutral position at which the initial setting was performed.

  At this time, a person who operates the master transmitter 40 detects that the behavior of the hydraulic shovel 1 has changed in step S3.

  When the person operating the master transmitter 40 detects that the behavior of the hydraulic shovel 1 has changed, the person operating the master transmitter 40 presses the neutral position correction button 43 of the master transmitter 40 in step S4. Do.

  When the neutral position correction button 43 is pressed, in step S5, the correction mechanism sets a position deviated from the neutral position at which the robot arm 14 and the robot arm 15 are initially set as a new neutral position.

  As a result, even when the remote control robot 10 deviates from the position where the remote control robot 10 is installed, a person who operates the master transmitter 40 can operate the new neutral position as an origin position.

  As described above, according to the remote control robot 10 according to the present embodiment, the robot 7 is mounted on the seat cushion 7 a of the seat 7 generally provided with the hydraulic shovel without the seat 7 of the hydraulic shovel 1 being removed. In the state where the main body 11 is arranged and arranged, the remote control robot 10 is installed on the hydraulic shovel 1 by the robot main body 11 being fixed by the fixing portion 30 in the cockpit 3 which the hydraulic shovel naturally has. Be done.

  Therefore, the remote control robot 10 according to the present embodiment can be installed even if the hydraulic excavator has different specifications, and furthermore, the seat 7 can be removed, the hydraulic excavator 1 can be welded, or the hydraulic excavator 1 can be installed. The hydraulic shovel 1 can be installed quickly without being modified without being modified, for example, by perforating the room of the cockpit 3 and attaching it with a fastening member such as a bolt.

  In the present embodiment, the fixing portion 30 is formed in a substantially V shape in a side view in a vertical support portion 31 made of a pipe material, a horizontal support portion 32 made of a pipe material, a square bar or the like, and sheet metal. The manufacturing cost of the fixing portion 30 can be suppressed at a low cost because the fixing bracket 36 is simply made of a member easily obtainable and versatile.

  Moreover, the depth at which the round bar 33a of the support main body 33 of the horizontal support 32 fits in the pipe 33b is adjusted to adjust the expansion and contraction of the support main body 33, and the both ends of the support main body 33 are joined. The robot main body 11 can be easily installed in the cabin of the cockpit 3 by bringing the overhang portion 34 into contact with the vehicle body frame 3 a extending on both sides of the cockpit 3.

  When the robot main body 11 is disposed on the seat cushion 7a, the seat cushion 7a is held by the seat cushion holding and holding portion 21 in the width direction and held, so the robot main body 11 is biased to the side. Being regulated.

  On the other hand, since the robot body 11 is restrained by the seat belt 20 to the seat back 7b of the seat 7, the robot body 11 is restricted from being displaced in the front-rear direction.

  Furthermore, in the present embodiment, in the case where the hydraulic shovel 1 is steered by the remote control robot 10, when the neutral position of the remote control robot 10 is deviated by the impact input to the hydraulic shovel 1, the master When the neutral position correction button 43 of the transmitter 40 is pressed, the correction mechanism sets a position deviated from the neutral position at which the robot arm 14 and the robot arm 15 are initially set as a new neutral position.

  Therefore, since the person operating the master transmitter 40 can operate the new neutral position as the origin position, stable remote control can be performed without affecting the operability of the remote control robot 10. Can.

Second Embodiment
Next, a second embodiment of the present invention will be described based on FIG. 10 and FIG.

  In the present embodiment, only the configuration of the fixed portion different from that of the first embodiment will be described, and the remaining configuration is the same as that of the first embodiment, so the same reference numerals are given. The detailed explanation is omitted.

  FIG. 10 is a perspective view for explaining the outline of the remote control robot 50 according to the present embodiment, and FIG. 11 is a side view for explaining the outline of the remote control robot 50. The remote control robot 50 according to the present embodiment is configured by being divided by a frame 101a having four U-shapes in a side view and erected and a roof 101b provided on top of each frame 101a. It is installed in the hydraulic shovel 100 which has the cockpit 101.

  As shown in FIGS. 10 and 11, the remote control robot 50 is provided with a robot main body 11 and a fixing unit 60 which is fixing means as main components.

  The fixing unit 60 is attached above the robot main body 11 in the cabin of the control room 101 via the vertical support 31 which is a first support member vertically attached at the upper part of the robot main body 11, and the frame 101a of the hydraulic shovel 100. A horizontal support 61, which is a second support member, and a fixing bracket 36 connecting the vertical support 31 and the horizontal support 61 are provided as main components.

  The horizontal support 61 is constituted by a pair of support main portions 61A. The support main body portion 61A is inclined downward gradually from both ends of the base portion 61a to which the attachment portion 36d of the fixed bracket 36 is attached and both ends of the base portion 61a while moving forward in the front-rear direction F of the hydraulic shovel 100 indicated by arrow FR. Formed with an inclined portion 61b extending in parallel and extending from the inclined portion 61b parallel to the forward direction F of the hydraulic shovel 100 and a receiving portion 61d provided at the tip of the parallel portion 61c Be done.

  The receiving portion 61 d is formed in a half in the present embodiment and configured to be attachable to the frame 101 a of the hydraulic shovel 100.

  Thus, with the vertical support 31 provided to the robot main body 11 attached to the fixed bracket 36 and the fixed bracket 36 attached to the horizontal support 61, the horizontal support 61 is in the room of the control room 3, It is attached above the robot main body 11.

  Specifically, the horizontal support portion 61 of the fixed portion 60 is bridged between the four frames 101 a constituting the cockpit 101 of the hydraulic shovel 100. That is, the horizontal support portion 61 is attached to the inside of the control room 101 via the frame 101a by attaching the half-shaped receiving portions 61d respectively formed on the pair of support main body portions 61A to the frame 101a. There is.

  As described above, according to the remote control robot 50 according to the present embodiment, even in the control room 101 constituted by the four frames 101 a and the roof 101 b installed on the top of each frame 101 a, the fixing unit 60 Thus, the remote control robot 50 can be installed on the hydraulic shovel 100 simply and quickly.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In the above embodiments, the case where the work vehicle is the hydraulic excavator 1 or 100 has been described, but a work vehicle (for example, a crane, a bulldozer, etc.) having a similar operation system like the travel lever 8 and the work lever 9 has been described. If there is, it can be applied.

1, 100 hydraulic shovel (work vehicle)
3, 101 cockpit 3a body frame 7 seat 7a seat cushion 7b seat back 8 travel lever (steering mechanism)
9 Work lever (steering means)
10, 50 Remote control robot 14 Robot arm (operation means)
15 Robot arm (operation means)
20 seat belt 21 seat cushion holding portion (holding member)
30, 60 Fixing part (fixing means)
31 Vertical support (first support member)
32, 61 horizontal support (second support member)
36 Fixed bracket 40 Master transmitter 43 Neutral position correction button (correction mechanism)
45 Neutral position correction software (correction mechanism)

Claims (4)

A work vehicle including a cockpit in which a seat having a seat cushion and a seat back is installed receives a control signal transmitted from a transmitter and operates a control means of the work vehicle by an operation means to steer the work vehicle Remote control robot
A robot body disposed on the seat cushion of the seat such that the operating means is positioned at the neutral position of the steering means while being connected to the steering means at the neutral position of the operating means;
And a fixing means for fixing the robot to the cockpit of the work vehicle,
The fixing means is
A first support member attached to an upper portion of the robot body;
A second support member mounted above the robot body in the cabin of the cockpit,
A remote control robot , comprising: a fixed bracket connecting the second support member and the first support member . The robot body is
The remote control robot according to claim 1, further comprising a seat belt for restraining the robot body to a seat back of the seat. The robot body is
The remote control robot according to claim 1 or 2, further comprising a holding member holding and holding a seat cushion of the seat in the width direction. 4. The apparatus according to claim 1, further comprising: a correction mechanism that sets the position of the displaced operating means as a new neutral position when the operating means of the robot body deviates from the neutral position of the operating means. The remote control robot according to any one of the above.

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