JP7524726B2 - Operating device for work equipment - Google Patents

Description

The present invention relates to an operating device for a work machine.

In recent years, operators have been remotely controlling work machines, such as cranes and aerial work vehicles, that are equipped with telescopic booms that can be extended and lowered freely, from a position away from the work machine using an operating device. For example, a joystick-type operating device is known as such an operating device (see, for example, Patent Document 1).

In the operating device described in Patent Document 1, a knob that an operator places his or her finger on is attached to the tip of a joystick that can be tilted in any direction within a plane. This knob is formed in a cap shape with an arc-shaped upper surface, which can cause the operator's fingers to slip depending on the direction of operation, making it difficult to operate. In particular, when moving the knob left or right, the operator's fingers are not stable enough to rest on it, which can reduce operability and usability.

On the other hand, as examples of joystick-type operating devices, for example, Patent Document 2 discloses an operating device for game machines, and Patent Document 3 discloses an operating device for car navigation systems. In these operating devices, a knob that is circular in plan view is attached to the tip of the joystick, and a recess is provided on the top surface of this knob to make it easy to place a finger on it.

However, in operation devices for game machines, the distance (reach) from the grip that the operator holds to the knob is relatively short, and the operator operates the knob by bending his thumb as if making a fist, whereas in operation devices for work machines, as shown in FIG. 2 of Patent Document 1, the distance from the grip to the knob is long, and the thumb easily comes off the knob. Also, the operator needs to operate the knob with the thumb pointed up, as in the thumb gesture. This makes it difficult to apply force to press the knob in the direction of operation, and at the same time, it is difficult to apply force to the thumb when tilting the knob forward, backward, left or right, making it difficult to operate smoothly.

JP 2018-97607 A Japanese Patent Application Publication No. 9-134251 JP 2005-84700 A

This invention was developed in consideration of the above circumstances, and aims to provide an operating device for a work machine that is easy to operate.

The operating device for a work machine of the present invention is an operating device for a work machine that performs an individual operation for independently operating any one of a plurality of actuators related to driving the work machine, and a combined operation for simultaneously driving any two of the actuators, and is equipped with a joystick having a stick portion supported so as to be tiltable at least in the up-down, left-right, and diagonal directions within a plane, and a knob provided at the tip of the stick portion. The knob has a recessed portion recessed toward the back of the seat surface, and is equipped with a cutout portion in which an upper end portion is cut out in an arc shape along the left-right direction toward the center of the knob , and a protruding portion protruding downward, so that the knob has a substantially elliptical shape that is long in the left-right direction and short in the up-down direction when viewed from the front .

This invention makes it possible to provide a working machine operating device that is easy to operate.

1 is a side view showing the appearance of a truck crane as an example of a work machine to which an operating device according to an embodiment of the present invention is applied. 1 is a perspective view showing the appearance of an operating device according to an embodiment of the present invention; 1 is a front view showing the appearance of an operating device according to an embodiment of the present invention; 1 is a diagram for explaining a configuration of a knob of an operating device according to an embodiment of the present invention; 4 is a partially enlarged vertical cross-sectional view of the vicinity of a second joystick of the operating device, showing a state in which the second joystick is tilted upward. FIG. 1 is a vertical cross-sectional view of the vicinity of a second joystick of the operating device, showing a state in which the second joystick is tilted downward. FIG. 1 is a cross-sectional view of the vicinity of the first and second joysticks of the operating device, showing a state in which the second joystick is tilted to the left or right. FIG. FIG. 2 is a front view of the operating device, showing a state in which an operator is moving a first knob to the left with his or her thumb. 1 is a front view of the operating device, showing a state in which an operator is moving a first knob diagonally upward and to the left with his or her thumb; FIG. FIG. 13 is a diagram for explaining a knob according to a first modified example. FIG. 13 is a diagram for explaining a knob according to a second modified example. 13A and 13B are diagrams for explaining a knob according to a third modified example. 13A and 13B are diagrams for explaining a knob according to a fourth modified example. FIG. 13 is a diagram for explaining a knob according to a fifth modified example. FIG. 13 is a diagram for explaining a knob of a sixth modified example. FIG. 23 is a diagram for explaining a knob according to a seventh modified example. FIG. 23 is a diagram for explaining a knob of modified example 8. 13 is a diagram for explaining a knob of a modified example 9. FIG. 13A and 13B are diagrams for explaining a knob according to a tenth modified example. FIG. 23 is a diagram for explaining a knob of a modified example 11.

First Embodiment
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of an operating device and a work machine including the operating device according to the present invention will be described below with reference to the drawings.

<Crane outline>
Fig. 1 is a side view of a truck crane (hereinafter, simply referred to as "crane") 10 as an example of a working machine, as seen from the left side. The crane 10 shown in Fig. 1 includes a main frame 14 extending in the front-rear direction and provided with a front wheel 11 and first and second rear wheels 12, 13, a rotating post 15 provided rotatably on the main frame 14, a telescopic boom 16 provided on the upper part of the rotating post 15 so as to be able to rise and fall, a pair of outrigger devices 17 (only one of which is shown) provided on both sides of the main frame 14 near the rotating post 15, a cabin 18 provided on the main frame 14 in front of the rotating post 15, and a loading platform 20 provided on the rear side of the cabin 18.

The swivel post 15 has a pair of opposing holding plates (holding sections) 21 (only one shown) that hold the telescopic boom 16 so that it can be raised and lowered. The telescopic boom 16 has a base boom 16a, intermediate booms 16b and 16c, and a tip boom 16d, which are nested in this order from the outside to the inside of the base boom 16a. A bracket 22 is attached to the rear of the base boom 16a, and the base boom 16a is attached to the swivel post 15 via this bracket 22 so that it can be raised and lowered. The telescopic boom 16 rotates when the swivel post 15 rotates.

The crane 10 also includes multiple actuators that drive each part of the crane 10. The actuators include a hydraulic motor (not shown) that rotates the rotating post 15, a hoisting cylinder 23 that raises and lowers the telescopic boom 16, a telescopic cylinder (not shown) that extends and retracts the telescopic boom 16, a winch and reducer that wind up and retract the wire (not shown) that suspends the load, and the like.

The crane 10 also has a control device (control panel) 24 that controls each of the actuators, located near the base end of the rotating post 15. The control device 24 is composed of a computer equipped with a CPU, memory, etc. The crane 10 also has an operation device 30 (see FIG. 2, etc.) that issues operation instructions to the control device 24. The control device 24 and the operation device 30 are capable of transmitting and receiving operation instructions and data required for crane operation by known wireless communication (or may be wired communication).

<Operation device>
The operation device 30 according to the first embodiment will be described in detail below with reference to Fig. 2 and Fig. 3. Fig. 2 and Fig. 3 are a perspective view and a front view of the operation device 30.

2 and 3, the operating device 30 includes a generally cylindrical gripping portion 31 that is held by the operator, a generally box-shaped operating portion main body 32 provided at one end of the gripping portion 31, and a guard portion 33 that protects the operator's hands. The guard portion 33 is provided on the back (rear) of the gripping portion 31, generally parallel to the gripping portion 31 with a hand insertion distance therebetween.

Here, the "direction" in the operation device 30 will be explained using FIG. 2 and FIG. 3. The X-axis, Y-axis, and Z-axis are set as shown in FIG. 2 and FIG. 3, based on the state in which the operator holds the grip 31 of the operation device 30 and faces the operation unit main body 32. The left-right direction of the operator is the X-direction, the direction of the right hand is the X-positive direction, and the direction of the left hand is the X-negative direction. The vertical direction that intersects with the left-right direction and is the direction in which the operation unit main body 32 and the grip 31 are arranged is the Y-direction, the direction away from the operator's hand holding the grip 31, that is, the upward direction, is the Y-positive direction, and the direction toward the operator's hand, that is, the downward direction, is the Y-negative direction. The depth direction (front-back direction) of the operation device 30 that intersects with the X-direction and Y-direction is the Z-direction, the forward direction from the back of the operation device 30 to the front is the Z-positive direction, and the rearward direction from the front of the operation device 30 to the back is the Z-negative direction.

The operation unit main body 32 has a generally box-shaped housing 32a, which houses a control device, various sensors, a battery, etc. (not shown). On the front (front) of this housing 32a, there are provided a display unit 34 consisting of a liquid crystal display or the like that displays images showing the working state of the crane 10, various operation buttons 35 such as a power button and a mode switching button, and two joysticks 36 (a first joystick 36A and a second joystick 36B) for operating the actuator drive. The first and second joysticks 36A, 36B are provided side by side on the front of the operation unit main body 32, with a predetermined distance between them.

In addition, an accelerator lever 37 is provided below the operating unit main body 32, behind the grip unit 31. This accelerator lever 37 is a trigger-type switch for adjusting the operating speed of the actuators of the crane 10. When the operator operates this accelerator lever 37, a sensor such as an angle sensor sends a signal corresponding to the amount of operation (angle) to the control unit. The control unit, which receives this signal, determines the operating speed and operating direction of each actuator of the crane 10 based on this signal and a signal indicating the tilt state of the first and second joysticks 36A and 36B (tilt direction in the X, Y, and Z directions, tilt angle, etc.).

As described above, the crane 10 is equipped with multiple actuators, and the actuation of each actuator performs operations such as rotating the telescopic boom 16 (rotating post 15), raising and lowering the telescopic boom 16, and winding and unwinding the wire. Each actuator can be driven by operating the first and second joysticks 36A and 36B.

In this embodiment, the telescopic boom 16 can be rotated and raised or lowered separately or simultaneously by operating the first joystick 36A. For example, tilting the first joystick 36A in the X direction (left-right direction) allows the telescopic boom 16 to rotate left or right, and tilting it in the Y direction (up-down direction) allows the telescopic boom 16 to start up and lower. In addition, tilting the first joystick 36A in a diagonal direction (upper right, lower right, upper left, lower left) allows combined operations of rotating and raising the telescopic boom 16 simultaneously.

In addition, by operating the second joystick 36B, the telescopic boom 16 can be extended or retracted and the wire can be wound up or paid out separately or simultaneously. For example, tilting the second joystick 36B in the X direction (left and right) enables the telescopic boom 16 to be extended or retracted, and tilting it in the Y direction (up and down) enables the winch to be wound up or paid out. In addition, tilting the second joystick 36B diagonally enables a combined operation in which the telescopic boom 16 is extended or retracted and the winch is wound up or paid out simultaneously.

The first and second joysticks 36A and 36B include first and second switch bodies 38A and 38B (see FIG. 5, etc.) housed in the housing 32a, first and second stick parts 39A and 39B supported by the first and second switch bodies 38A and 38B so as to be tiltable in a predetermined direction within the XY plane, and first and second knobs 40A and 40B as finger hooks connected to the tips of the first and second stick parts 39A and 39B.

In the following, unless multiple identical parts are mentioned individually, they may simply be referred to as the joystick 36, the switch body 38, the stick part 39, and the knob 40 without distinction of first, second, etc. The same applies to other components that are provided in multiple numbers.

The switch body 38 is equipped with a sensor that detects the tilt state of the stick part 39 in the XY plane, and outputs a signal corresponding to the detection result of this sensor to the control part of the operation unit body 32.

The configuration of the first and second knobs 40A and 40B will be described below with reference to FIG. 4. In this embodiment, the first and second knobs 40A and 40B are formed to have the same shape, and therefore will be described below simply as knob 40. FIG. 4 is a diagram for explaining the configuration of knob 40. FIG. 4(a) is a front view, FIG. 4(b) is a perspective view, FIG. 4(c) is a bottom view, FIG. 4(d) is a right side view, FIG. 4(e) is an end view taken along line A-A of FIG. 4(b), and FIG. 4(f) is an end view taken along line B-B of FIG. 4(b).

As shown in each of the figures in FIG. 4, the knob 40 of this embodiment has a generally elliptical shape that is long in the left-right direction (X direction) and short in the up-down direction (Y direction) when viewed from the front (plan view). The knob 40 has a notch 41 formed by cutting the upper end (the end in the positive Y direction) of the circle or ellipse in an arc shape along the X axis toward the center O of the knob 40. The lower end of the knob 40 is not cut (or is not cut significantly) but protrudes significantly downward in an arc shape, forming a protrusion 45.

For this reason, as shown in FIG. 4(f), the length L2 from the center O of the knob 40 to the bottom end of the protrusion 45 is longer than the length L1 from the center O of the knob 40 to the top end of the cutout 41. Because the position of the thumb F when gripping the grip portion 31 of the operating device 30 is located below the center O of the knob 40 (see, for example, FIG. 8(a)), by making length L1 < length L2, the positions of the top and bottom ends of the knob 40 are positioned closer to the hand of the operator gripping the grip portion 31, making it easier to hook the thumb F.

The knob 40 also has a recess 42a that is recessed toward the rear (negative Z direction) on the seat (surface) 42 on which the operator places his or her thumb F. The recess 42a has an inclined wall surface (curved surface) that rises in an arc shape from the center in the left-right direction. This inclined wall surface fits the thumb F, improving the stability of the thumb F when placed on the knob 40, which means that the finger rests better. Furthermore, a pair of anti-slip portions 47 consisting of band-shaped protrusions are provided on the outer periphery in the left-right direction. The anti-slip portions 47 improve the anti-slip effect and anti-fall-off effect of the thumb F, and the finger rests better even when the knob 40 is moved left-right, improving the operability of the knob 40.

In this embodiment, the recess 42a of the seat 42 has an arc-shaped (parabolic) cross-sectional shape along the X-axis as shown in FIG. 4(e), and has a flat inclined wall surface (cylindrical surface) cross-sectional shape along the Y-axis as shown in FIG. 4(f). However, the inclined wall surface of the seat 42 is not limited to this shape, and the inclined wall surface may be configured as a spherical or parabolic surface, resulting in a so-called mortar-shaped or funnel-shaped recess 42a.

Now, referring to FIG. 4, the radius of curvature of the recess 42a of the seat 42 will be described. The recess 42a preferably includes an area in which the radius of curvature R is in the range of R = 15 mm to ∞ (flat), which can further improve the seating of the finger on the seat 42. The radius of curvature R being ∞ (flat) means that the bottom surface of the recess 42 is flat (for example, see the knob 401 of the modified example 1 described later). In this case, too, the thumb F can be appropriately prevented from slipping off the seat 42 by curving at least the left and right walls continuing from the flat bottom surface to provide an inclined wall surface. In addition, when the cross-sectional shape of the seat 42 in the left and right direction differs from the cross-sectional shape in the up and down direction, such as when the recess 42a is made of a cylindrical surface as in this embodiment, the radius of curvature R1 in the left and right direction of the recess 42a is preferably in the range of R1 = 15 mm to 40 mm, and the radius of curvature R2 in the up and down direction is preferably in the range of R2 = 15 mm to ∞. In this embodiment, the inclined wall surface of the recess 42a is a cylindrical surface, so R2 is approximately ∞. Note that in Figure 4 and other figures, the arrows show curved surfaces with radii of curvature R, R1, and R2.

In addition, when the radius of curvature of the recess 42a in the left-right direction is R1 and the distance from the lowest point of the bottom surface of the seat 42 (recess 42a) to the top of the seat 42 in the left-right direction is h1, it is preferable to form the seat 42 with dimensions such that h1/R1 = 1% to 15%. This makes it possible to obtain a knob 40 that has excellent anti-slip and anti-fall-off effects and is comfortable for the fingers to sit on.

The seat 42 is provided with a number of arc-shaped anti-slip grooves 43. Each groove 43 is not closed in a circular shape, and at least the upper end is interrupted near the notch 41. Therefore, even if dirt or the like adheres to the groove 43, it can be easily removed from the notch 41 side. A small hemispherical protrusion 48 is provided at the center O of the knob 40, so that the operator can recognize the center O of the knob 40 by the feel of his/her fingertips, even if he/she does not see the knob 40. Therefore, even if the thumb F is removed from the seat 42, the thumb F can be placed in an appropriate position (initial position) on the seat 42.

By providing the recess 42a to improve the positioning of the fingers on the seat 42, the thumb F does not easily come off the seat 42, even when the first knob 40A of the first joystick 36A is moved in a direction away from the hand, for example, to the left in a single operation (see FIG. 8(a)) or diagonally upward to the left in a combined operation (see FIG. 9(a)), making it possible to operate smoothly.

On the other hand, when an operator with small hands performs a similar operation, the thumb F may not reach the seat surface 42, as shown in Figures 8(b) and 9(b). In this case, the operator must operate the first knob 40A by pressing the outer edge with the fingertips, and the corners of the outer edge may come into contact with the fingertips, concentrating the load on the fingertips and causing strain and pain.

To solve this problem, in this embodiment, the entire outer periphery of the knob 40 (the boundary, edge, between the seat surface 42 and the outer periphery) is chamfered (R chamfered) to provide a chamfered portion 44. This chamfered portion 44 increases the contact area between the knob 40 and the thumb F, dispersing the load on the fingertip and preventing pain, etc.

The inventors here attempted to verify which part of the knob 40 an operator with small hands would press when operating the knob 40 to the left and in an upward, leftward diagonal direction. As shown in FIG. 4(a), the center O of the knob 40 is the origin, and the right direction on the paper is the positive X direction, the left direction is the negative X direction, the upward direction is the positive Y direction, and the downward direction is the negative Y direction. As a result of the verification, it was found that the operator was pressing in the range of θ=45° in the fourth quadrant (+,-) (the range of 45° around the line segment Y=-X).

Therefore, by chamfering at least the θ=45° range of the fourth quadrant of the outer periphery of the knob 40 to provide a chamfered portion 44, the contact area with the thumb F can be increased, reducing strain and pain on the fingertip.

In contrast, when a left-handed operator operates the knob 40 with his/her left hand, it is difficult for the thumb F to reach the seat surface 42 when moving the knob 40 to the right and diagonally upward to the right. In this case, the operator presses the 45° portion of the third quadrant of the outer periphery of the knob 40, so if this portion is also chamfered, it is possible to provide a knob 40 that places less strain on the fingertips and is easy to operate, regardless of whether the operator is right-handed or left-handed.

In addition, by providing chamfered portions 44 in the third and fourth quadrants of the outer periphery, the knob 40 is formed symmetrically with respect to the YZ plane (vertical plane) that passes through the center O. Therefore, once one knob 40 is manufactured, it can be used as both the first knob 40A and the second knob 40B, eliminating the need to manufacture them separately, which improves production efficiency and reduces parts costs.

In addition, even when the first and second joysticks 36A, 36B are arranged side by side, operation without straining the fingertips is possible regardless of whether the user is right-handed or left-handed. In other words, when moving the first joystick 36A to the left or diagonally upward to the left, it can be operated by pressing the chamfered outer edge of the fourth quadrant of the first knob 40A. In addition, when moving the second joystick 36B to the right or diagonally upward to the right, it can be operated by pressing the chamfered outer edge of the third quadrant of the second knob 40B.

In addition, in this embodiment, the entire outer periphery of the knob 40, including the third and fourth quadrants, is chamfered to provide the chamfered portion 44, so that no matter which part of the outer periphery of the knob 40 is pressed, the burden on the thumb F is reduced, allowing for comfortable and smooth operation without pain. In addition, in this embodiment, the chamfered portion 44 is formed with the same radius of curvature around the entire circumference. In this case, the radius of curvature r is preferably in the range of r = 0.3 mm to 3.0 mm, and a knob 40 is obtained in which the burden on the fingertips is appropriately reduced.

In addition, a connection portion 46 is provided on the back surface of the knob 40 to accommodate the tip of the stick portion 39 and connect the stick portion 39 to the knob 40. The structure of this connection portion 46 is not limited to the structure shown in the drawing, and can be any suitable structure.

An example of how to use the operating device 30 configured as described above will be described with reference to Figs. 5 to 9. Figs. 5 and 6 are partially enlarged longitudinal cross-sectional views (YZ cross-sectional views) of the vicinity of the second joystick 36B of the operating device 30. Fig. 5 shows the second joystick 36B tilted upward, and Fig. 6 shows the second joystick 36B tilted downward. Fig. 7 is a transverse cross-sectional view (XZ cross-sectional view) of the vicinity of the first and second joysticks 36A and 36B of the operating device 30.

Figures 8 and 9 are front views of the operating device 30. Figure 8(a) shows a state in which an operator is moving the first knob 40A to the left with the thumb F. Figure 8(b) shows a state in which an operator with small hands is moving the first knob 40A to the left. Figure 9(a) shows a state in which an operator is operating the first knob 40A diagonally upwards to the left with the thumb F. Figure 9(b) shows a state in which an operator with small hands is operating the first knob 40A diagonally to the left.

When operating the crane 10 using the control device 30, the operator holds the grip 31 with one hand (e.g., the right hand) and places his index finger on the accelerator lever 37 to hold the control unit body 32. Then, to operate the first or second joystick 36A or 36B, the operator places his thumb F on the seat 42 of the first or second knob 40A or 40B. The curved surface of the thumb F fits into the recess 42a of this seat 42, allowing the fingers to rest comfortably on each knob 40A or 40B.

For example, when winding up the winch by a single operation, as shown in FIG. 5, the knob 40 (second knob 40B) is moved upward along the Y axis, i.e., away from the hand, to tilt the joystick 36 upward. At this time, as shown in FIG. 5, by placing the thumb F on the downwardly projecting protrusion 45 and pushing it upward, the thumb F can be easily moved upward without unnecessarily stretching it. This allows the operator to easily and stably tilt the joystick 36 upward.

On the other hand, when the winch is to be retracted, as shown in FIG. 6, the operator places the thumb F on the notch 41 and moves the knob 40 downward along the Y axis to tilt the joystick 36 downward. The provision of the notch 41 makes it easier to place the thumb F on the knob 40, facilitating downward movement. This allows the operator to tilt the joystick 36 downward easily and stably.

For example, when extending or retracting the telescopic boom 16, the knob 40 is moved left or right to tilt the second joystick 36B left or right. At this time, as shown in Figures 7 and 8(a), the inclined wall surface rising in the left and right direction of the recess 42a provided on the seat 42 of the knob 40 and the anti-slip portion 47 can appropriately prevent the thumb F from slipping out or shifting left or right. Furthermore, the thumb F fits into the recess 42a of the seat 42, eliminating the need for extra force to press down on the second knob 40B. This allows the operator to easily and stably tilt the joystick 36 left or right.

When an operator with small hands performs a similar operation, the knob 40 can be easily and stably operated by pressing the chamfered portion 44 on the lower right side of the knob 40 with the thumb F, as shown in FIG. 8(b). The chamfered portion 44 also increases the contact area between the knob 40 and the thumb F, reducing strain and pain on the fingertip. This allows the operator to tilt the joystick 36 left and right easily and stably.

In addition, in the above-mentioned single operation, when the joystick 36 is tilted to the end point in the X-positive, X-negative, Y-positive or Y-negative direction (end state), the thumb F is fixed in a comfortable position in the recess 42a, the notch 41, the protruding portion 45 or the chamfered portion 44 of the seat 42. This allows the operator to stably hold the grip portion 31, improving the operability of the accelerator lever 37 with the index finger and making it easier to adjust the operating speed of each actuator.

On the other hand, when, for example, starting the telescopic boom 16 while rotating it by performing a combined operation of the joystick 36, the first knob 40A is moved diagonally upward to the left as shown in FIG. 9(a). In this case, too, the thumb F fits into the recess 42a of the seat 42, making this movement operation easy and stable.

In addition, even an operator with small hands can easily and stably operate the first knob 40A without feeling any pain by pressing the chamfered portion 44 on the lower right side of the first knob 40A as shown in FIG. 9(b).

Therefore, regardless of the size of the hand, the operator can easily and stably perform combined operations by tilting the first joystick 36A diagonally. As a result, the accelerator lever 37 can also be operated stably, making it easier to adjust the operating speed of each actuator. In addition, the same effect can be obtained when a left-handed operator operates the operating device 30 with his left hand.

A signal based on the tilt state of the first and second joysticks 36A, 36B and a signal based on the amount of operation of the accelerator lever 37 are transmitted from each sensor to the control unit of the operation unit main body 32. Based on these signals, the control unit calculates operation information such as the operating speed and direction of each actuator of the crane 10, converts this operation information into a signal by wireless transmission, and transmits it to the control device 24 of the crane 10. Based on the received signal, the control device 24 controls and drives each actuator of the crane 10.

(Modifications 1 to 11)
Next, the knobs 401 to 411 of Modified Examples 1 to 11 will be described with reference to Figures 10 to 20. Figures 10 to 20 are diagrams for explaining the configuration of the knobs 401 to 411 of Modified Examples 1 to 11. The knobs 401 to 411 of Modified Examples 1 to 11 have the same basic configuration as the knob 40 of the first embodiment, except for their different external shapes. For this reason, the same components as the knob 40 of the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

That is, the knobs 401 to 411 of the first to eleventh variations have a notch 41, a protruding portion 45, a seat 42, a recess 42a, a chamfered portion 44, and a connecting portion 46. The surface of the seat 42, etc. may also have a groove 43. The outer periphery in the left-right direction may also have a band-shaped anti-slip portion 47.

In the following, we will omit detailed explanations of the configuration of each modified example, and will mainly explain the characteristic configuration of the knob 40 of each modified example.

10(a) to (f) are a front view, a perspective view, a bottom view, a right side view, a C-C end view, and a D-D end view of the knob 401 of the first modified example. As shown in these figures, the knob 401 of the first modified example is generally circular in plan view, and the outer periphery other than the notch 41 is chamfered with a radius of curvature r (r = 0.3 mm to 3.0 mm) to provide the chamfered portion 44. In addition, in the first modified example, the radius of curvature r of the chamfered portion 44 is made larger than the radius of curvature r of the chamfered portion 44 of the knob 40 of the first embodiment, thereby increasing the contact area with the thumb F and improving contactability. The notch 41 portion is also chamfered, but the radius of curvature is set to be smaller than the radius of curvature r of the chamfered portion 44, making it easier to hook the thumb F. In addition, in the first modification, the bottom surface of the recess 42a of the seat 42 is flat (radius of curvature R in the left-right and up-down directions ≒∞), and the outer periphery is raised to increase the inclination angle of the inclined wall surface. Even with a knob 401 of this shape, it is possible to improve stability and prevent the thumb F from slipping out of the knob 401.

Figures 11(a) to (f) are front, oblique, bottom, right side, E-E, and F-F end views of the knob 402 of the second modification. Figures 12(a) to (f) are front, oblique, bottom, right side, G-G, and H-H end views of the knob 403 of the third modification. As shown in Figures 11 and 12, the knobs 402 and 403 of the second and third modifications have a larger radius of curvature r than that of the first embodiment, and the entire outer periphery is chamfered approximately uniformly to provide a chamfered portion 44, thereby increasing the contact area with the fingertip. The knob 402 of the second modification and the knob 403 of the third modification have different distances h1. Specifically, the distance h1 of the second modification is greater than the distance h1 of the third modification. For this reason, the knob 402 of variant 2, in which the distance h1 is relatively large (deep), provides the effect of allowing the finger to rest better on the seat 42, while the knob 403 of variant 3, in which the distance h1 is relatively small (shallow), provides the effect of allowing greater freedom in placing the thumb F.

Figures 13(a) to (f) are front, oblique, bottom, right side, I-I end, and J-J end views of the knob 404 of the fourth modification. Figures 14(a) to (f) are front, oblique, bottom, right side, K-K end, and L-L end views of the knob 405 of the fifth modification. In the fourth and fifth modifications, the entire outer periphery is chamfered with the same radius of curvature r as in the second and third modifications to provide a chamfered portion 44. In the fourth and fifth modifications, as shown in the end views of Figures 13 and 14, the bearing surface 42 of the knobs 404 and 405 is recessed in an arc shape in the X and Y directions to provide a recess 42a having an inclined wall surface made of a spherical or parabolic surface, thereby improving the seating of the fingers. In addition, the protruding portion 45 is protruded toward the user (Z positive direction) from the cutout portion 41 side, making it easier to hook the fingers on the protruding portion 45. In Modifications 4 and 5, the radius of curvature R of the recess 42a in the left-right direction and the front-rear direction is the same, and is in the range of R = 15 mm to 40 mm. Also, because the distance h1 in Modification 4 is greater than the distance h1 in Modification 5, Modifications 4 and 5 can each achieve the same effects as Modifications 2 and 3 described above, depending on the difference in distance h1.

Figures 15(a) to (f) are front, oblique, bottom, right side, M-M end, and N-N end views of the knob 406 of the sixth modification. Figures 16(a) to (f) are front, oblique, bottom, right side, O-O end, and P-P end views of the knob 407 of the seventh modification. In the sixth and seventh modifications shown in Figures 15 and 16, the radius of curvature r of the chamfered portion 44 is made larger than that of the fourth and fifth modifications, so that the contact area with the fingertip is made larger. In addition, the surface of the knobs 406 and 407 is recessed in an arc shape in the X and Y directions to provide a recess 42a having an inclined wall surface made of a spherical or parabolic surface with R = 15 mm to 40 mm. In addition, the protruding portion 45 protrudes toward the user from the cutout portion 41 side. In addition, because the distance h1 in Modification 6 is greater than the distance h1 in Modification 7, Modifications 6 and 7 each provide the same effects as Modifications 2 and 3 described above.

Figures 17(a) to (g) are front, oblique, bottom, right side, Q-Q, R-R, and S-S end views of the knob 408 of the eighth modified example. Figures 18(a) to (f) are front, oblique, bottom, right side, T-T, and U-U end views of the knob 409 of the ninth modified example. As with the fourth to seventh modified examples, the eighth and ninth modified examples shown in Figures 17 and 18 have the entire outer periphery of the knobs 408 and 409 chamfered to provide a chamfered portion 44, and the surfaces of the knobs 408 and 409 are recessed in an arc shape in the X and Y directions to provide a recess 42a having an inclined wall surface made of a spherical or parabolic surface. In addition, the protruding portion 45 protrudes forward from the cutout portion 41 side. In addition, because the distance h1 of Modification 8 is greater than the distance h1 of Modification 9, Modifications 8 and 9 each provide the same effects as Modifications 2 and 3 described above.

As a difference from the modified examples 4 to 7, in the modified examples 8 and 9, as shown in each of the drawings of FIG. 17 and FIG. 18 (particularly the S-S end view of FIG. 17(g)), in the chamfered portion 44 over the entire circumference of the knob 408, 409, the radius of curvature r2 of the outer peripheral edge of the third and fourth quadrants on the protruding portion 45 side is larger than the radius of curvature r1 of the outer peripheral edge on the cutout portion 41 side. Furthermore, the radius of curvature of the chamfered portion 44 is gradually increased downward in the clockwise and counterclockwise directions from both ends of the cutout portion 41. By changing the radius of curvature of the chamfered portion 44 in this way, the radius of curvature r2 is large when moving the knob 408, 409 in the upward, left-right, upper left, or upper right diagonal directions, and the thumb F can be placed on the outer peripheral edge with a large contact area to operate the knob, reducing the burden on the fingertip and allowing smooth operation without pain, etc. In contrast, when moving the knobs 408 and 409 downward, the thumb F is placed on the notch 41, which has a relatively small radius of curvature r1, making it difficult for the thumb F to slip, allowing for smooth operation.

In addition, when the radius of curvature of the chamfered portion 44 is changed from r1 to r2, it is preferable to set the range of r1 = 0.3 mm to 3.0 mm and r2 = 0.3 mm to 3.0 mm. This results in knobs 408, 409 that have a good contact feel for the thumb F and excellent operability in all directions, up and down, left and right, and diagonally.

19(a)-(f) are a front view, a perspective view, a bottom view, a right side view, a V-V cross section, and a W-W cross section of the knob 410 of the modified example 10. The knob 410 of the modified example 10 shown in FIG. 19 has the same configuration as the knob 408 of the modified example 8 shown in FIG. 17, but in the modified example 10, a non-slip portion 47 consisting of a strip-shaped protrusion is provided so as to surround the outer periphery of the lower end of the knob 410 (the boundary between the protruding portion 45 and the chamfered portion 44). This non-slip portion 47 exerts a non-slip effect and an effect of preventing the thumb F from slipping off, and the knob 410 can be appropriately moved not only in the left and right directions, but also in the diagonally downward left and right directions. In addition, by providing the protrusion 48 indicating the center of the knob 410, the thumb F can be positioned in an appropriate position on the seat surface 42.

In addition, an operator with small hands can move the knob 410 appropriately and without strain by pressing the anti-slip portion 47 and the portion of the chamfered portion 44 with the large radius of curvature with the thumb F when moving the knob 410 left and right, diagonally upward to the left, or diagonally upward to the right.

20(a)-(f) are front view, perspective view, bottom view, right side view, X-X cross section, and Y-Y cross section of the knob 411 of the modified example 11. The knob 411 of the modified example 11 shown in FIG. 20 has the same configuration as the knob 407 of the modified example 7 shown in FIG. 16, and the same action and effect as the modified example 7 can be obtained. Furthermore, in the modified example 11, the anti-slip portion 47 consisting of a strip-shaped protrusion is provided along the chamfered portion 44 of the knob 411 so as to surround the recess 42a. Therefore, even in the modified example 11, the anti-slip portion 47, which has a high anti-slip effect and a high effect of preventing the thumb F from slipping off, and the chamfered portion 44 with a large radius of curvature allow the knob 411 to be moved appropriately in the left and right directions and in the diagonally downward left and right directions. Furthermore, by providing the protrusion 48 indicating the center of the knob 411, the thumb F can be placed in an appropriate position on the seat surface 42.

The operating device 30 of this embodiment may have only the knob 40 shown in FIG. 4, etc., or only any of the knobs 401-411 of the modified examples 1-11 shown in FIG. 10-FIG. 20. The operating device 30 may also have all or some of these knobs 40-411, allowing the operator to select the knob of their choice based on the size of their hand, the length of their thumb F, how they sit on the seat 42, the feel of use, the feel of contact, etc., and attach it to the tip of the stick portion 39 for operation.

As described above, the operating device 30 of the present embodiment is an operating device for a work machine that performs a single operation to operate one of a plurality of actuators related to the drive of the work machine (truck crane 10) alone, and a combined operation to drive two of them simultaneously. The operating device 30 is equipped with a joystick 36 having a stick portion 39 supported so as to be tiltable at least in the vertical, horizontal, and diagonal directions within a plane, and knobs 40 to 411 provided at the tip of the stick portion 39. The knobs 40, etc. have a recess 42a in the seat surface 42 on which the operator of the work machine places his/her fingers, a notch 41 provided by cutting out the upper end, and an overhanging portion 45 provided to protrude downward.

As a result, tilting the joystick 36 left/right or up/down allows for independent operation of the actuators of the work machine (truck crane 10). In addition, tilting the joystick 36 diagonally (upper right, lower right, upper left, lower left) allows for combined operation in which multiple actuators are operated simultaneously.

Providing a recess 42a on the seat 42 of the knob 40 improves the stability of the thumb F on the knob 40 (seat 42), allowing the operator to tilt the joystick 36 easily and stably. In particular, the recess 42a prevents the thumb F from coming off the knob 40 when moving left or right. Providing the notch 41 also shortens the distance between the top end of the knob 40 and the thumb F, allowing the thumb F to be hooked on the notch 41 and the knob 40 to be easily moved downward. When moving the knob 40 upward, the thumb F can be hooked on the overhang 45 for easy operation, and the overhang 45 makes it difficult for the thumb F to come off the knob 40 that has moved upward, allowing for stable pushing operation to be maintained.

In addition, this embodiment and the modified example are provided with two joysticks 36 (first and second joysticks 36A, 36B) spaced apart in the left-right direction. Therefore, the two joysticks 36 can be used to individually or in combination to operate more actuators of the work machine. In addition, the recess 42a, the cutout 41, and the protruding portion 45 allow the knob 40 to be moved and operated easily and stably, and the two joysticks 36 can be tilted appropriately.

In addition, in variants 4 to 11, the wall surface of the recess 42a is spherical or parabolic. This configuration can further improve the stability of placing the thumb F in the recess 42a.

In this embodiment and each of the modified examples, the knobs 40 to 411 are provided with a chamfered portion 44, which is a chamfered outer edge, at least in a predetermined range in a diagonal direction from the center of the knob 40 to 411 toward the operator's hand. In addition, it is preferable that this predetermined range is at least a 45° range around a line segment that passes through the origin and bisects the fourth quadrant, when the center O of the knob 40 to 411 is the origin, the left-right direction is the X-axis, and the up-down direction is the Y-axis. With this configuration, even if an operator with small hands has difficulty reaching the recess 42a with their thumb F when operating the knobs 40 to 411, by pressing the chamfered portion 44, the burden on the fingertips can be reduced, allowing for pain-free operation and enabling proper operation of the knobs 40 to 411.

In addition, if the operating device 30 of this embodiment has multiple knobs 40-411 with different radii of curvature of the recesses 42a and/or the chamfered portions 44, and the multiple knobs 40-411 are configured to be freely attached to the stick portion 39, the operator can select the knob 40-411 of his/her choice according to the size of his/her hand, etc., and attach it to the stick portion 39. As a result, it is possible to provide an operating device 30 that provides good operability to various types of operators, regardless of the size of their hands, etc.

The operating device for the actuator according to the present disclosure has been described above based on the embodiments and modifications, but the specific configuration is not limited to the above embodiments and modifications, and design changes and additions are permitted as long as they do not deviate from the gist of the present invention.

For example, in the above embodiment, an embodiment was described in which the operating device 30 was applied to the operation of a truck crane 10 as a work machine, but the work machine is not limited to a truck crane 10. Any work machine equipped with multiple actuators, such as a loading machine, construction machine, or civil engineering machine, can be used, and the operating device of the present disclosure can be applied to these work machines.

10: Truck crane (working equipment)
30: Operating device 36: Joystick 36A: First joystick 36B: Second joystick 39: Stick portion 39A: First stick portion 39B: Second stick portion 40 to 411: Knob 40A: First knob 40B: Second knob 41: Notch portion 42: Seat surface 42a: Recess 44: Chamfered portion 45: Projection portion

Claims (6)

An operating device for a work machine that performs an individual operation for operating one of a plurality of actuators related to driving the work machine alone and a composite operation for simultaneously driving two of the actuators,
A stick portion supported so as to be tiltable at least in the up-down direction, the left-right direction, and the diagonal direction within a plane;
a knob provided at the tip of the stick portion;
The knob has a recess that is recessed toward the rear surface of the seat on which an operator of the work machine places his/her fingers,
a cutout portion provided by cutting out an upper end portion of the knob in an arc shape along the left-right direction toward the center of the knob ;
A working machine operating device comprising: a protrusion portion that protrudes downward; and a projection portion that protrudes downward ; and thus has a generally elliptical shape that is long in the left-right direction and short in the up-down direction when viewed from the front. The operating device for a work machine according to claim 1, characterized in that it is provided with two joysticks spaced apart in the left-right direction. The operating device for a work machine according to claim 1 or 2, characterized in that the wall surface of the recess is a spherical or parabolic surface. The operating device for a work machine according to any one of claims 1 to 3, characterized in that the knob has a chamfered outer edge at least in a predetermined range in a diagonal direction from the center of the knob toward the operator's hand. The operating device for a work machine according to claim 4, characterized in that the predetermined range is a range of at least 45° around a line segment that passes through the origin and bisects the fourth quadrant, with the center of the knob as the origin, the left-right direction as the X-axis, and the up-down direction as the Y-axis. The operating device for a work machine according to claim 4 or 5, characterized in that it has a plurality of knobs with different radii of curvature of the recess and/or the chamfered portion, and the plurality of knobs are configured to be freely attached to the stick portion.