JP7729079B2 - Remote Drive - Google Patents

Description

The present invention relates to a remote driving device for remotely driving a vehicle based on an operation command signal.

As disclosed in Patent Document 1, a remote drive device is known that remotely drives a vehicle's control lever using an operation command signal from outside the vehicle. The remote drive device described in Patent Document 1 is a remote drive device that can be installed on the vehicle without any modifications, and includes a control link mechanism that is operated by the driver at hand, and an operation link mechanism that is attached to the vehicle's control lever and remotely drives the control lever. The vehicle's control lever is remotely driven in response to the operation of the control link mechanism operated by the driver. An angle detector such as a potentiometer is provided at one end of each shaft of the operation link mechanism, and by detecting the actual amount of operation of the vehicle's control lever, it is possible to confirm whether the control lever is operating as remotely controlled.

Japanese Patent Application Publication No. 11-50493

However, because the operating link mechanism is retrofitted to the vehicle's operating lever, there is a risk that the operating link mechanism may interfere with the seat, operating devices, etc. installed in the vehicle when combined with the vehicle. Furthermore, when detecting the actual drive amount of the operating lever via remote control, an angle detector is attached to one end of the rotating shaft of the operating link mechanism, which increases the length of the operating link mechanism in the direction of the rotating shaft by the thickness of the angle detector, making it difficult to make the area around the operating lever compact.

To solve the above problems, the present invention aims to provide a remote drive unit that can be easily retrofitted to an operating lever, is equipped with an operation amount detection device, and has a reduced external dimension.

The remote drive device according to the present invention is a remote drive device that operates an operation mechanism of a work machine based on an operation command signal, and includes an operation lever that controls an amount of movement of the work machine in accordance with a tilt angle and a tilt direction, and a first operation mechanism that tilts the operation lever in a first direction,
the first operation mechanism includes a first actuator that generates a driving force for tilting the operation lever in the first direction via a first direction guide member based on the operation command signal, a first transmission device that transmits the driving force generated by the first actuator to the first direction guide member, a first detector that detects the amount of tilt of the operation lever in the first direction, and a first drive shaft that rotates in accordance with the tilt of the operation lever in the first direction,
A first rotation output part that transmits the rotation of the first drive shaft to a first detector is arranged on the first drive shaft, and the first detector detects the amount of tilt of the operating lever in the first direction via the first rotation output part.

The remote drive device of the present invention allows the amount of tilt to be detected by a detector via a rotation output unit located on the first drive shaft of the operating lever. Therefore, although the rotation output unit is located on the drive shaft, there is no need to reserve space on the drive shaft for wiring etc. connected to the first detector. This reduces the space required compared to when the first detector is located on the drive shaft, allowing for a smaller external dimension of the remote drive device in the drive shaft direction.

In the remote drive device according to the present invention, it is preferable that the length of the first rotation output section in the first drive shaft direction is shorter than the length in the first drive shaft direction when the first detector is disposed on the first drive shaft.

With the remote drive device of the present invention, the rotation output section arranged on the first drive shaft of the operating lever is thinner than when the first detector is arranged on the drive shaft. Therefore, less space needs to be secured compared to when the first detector is arranged on the drive shaft, and the external dimensions of the remote drive device in the drive shaft direction can be reduced.

In the remote drive device according to the present invention, it is preferable that the first direction guide member is supported so as to be rotatable around the first drive shaft.

In the remote drive device of the present invention, the rotation output unit transmits the rotation of the drive shaft of the first direction guide member. The tilt amount of the operating lever can be detected from a structure attached to the operating lever, without the need for a sensor that directly detects the tilt of the operating lever.

In the remote drive device according to the present invention, the first rotation output unit has a first transmission unit extending from the first drive shaft toward the first detector, and a first tooth portion is formed on an outer shape of the first transmission unit on an arc centered on the first drive shaft,
It is preferable that the first detector has a first rotating portion that is rotated by the first tooth portion, and detects the amount of tilt of the operating lever in the first direction by detecting the rotation of the first rotating portion.

In the remote drive device of the present invention, the first detector is positioned in a direction intersecting the first drive shaft. This allows the external dimensions of the remote drive device in the drive shaft direction to be reduced.

In the remote drive device according to the present invention, it is preferable that the first actuator has a first rotation axis that generates a driving force that tilts the operating lever in a first direction, and that the first rotation axis is arranged parallel to and offset from the first drive axis.

The remote drive device of the present invention has a first rotation shaft that is positioned parallel to and offset from the first drive shaft. This allows for easy retrofitting in the limited space around the operating lever.

In the remote drive device according to the present invention, there is provided a second operation mechanism that tilts the operation lever in a second direction that is a direction intersecting the first direction,
the second operation mechanism includes a second direction guide member that tilts the operation lever in the second direction, a second actuator that generates a driving force that tilts the operation lever via the second direction guide member based on the operation command signal, a second transmission device that transmits the driving force generated by the second actuator to the second direction guide member, a second detector that detects the amount of tilt of the operation lever in the second direction, and a second drive shaft that rotates in accordance with the tilt of the operation lever in the second direction,
It is preferable that a second rotation output part that transmits the rotation of the second drive shaft is arranged on the second drive shaft, and the second detector detects the amount of tilt of the operating lever in the second direction via the second rotation output part.

With the remote drive device of the present invention, even if multiple guide members that each guide the operating lever in a different direction and multiple actuators corresponding to each of these guide members are provided to tilt the operating lever in multiple directions, the space required on each drive shaft is reduced, making it possible to keep the external dimensions of the remote drive device down.

In the remote drive device according to the present invention, it is preferable that the first transmission device and the second transmission device at least partially overlap when viewed in a direction perpendicular to a plane including the first drive shaft and the second drive shaft, or when viewed in a direction parallel to a line connecting the first drive shaft and the second drive shaft at the shortest distance.

The remote drive device of the present invention allows at least a portion of the first transmission device and the second transmission device to be stacked three-dimensionally in the vertical direction, making it easy to retrofit into the limited space around the vehicle's operating lever.

In the remote drive device according to the present invention, it is preferable that both the first connection portion of the first transmission device to which the first actuator is connected and the second connection portion of the second transmission device to which the second actuator is connected are included in one of four regions defined by the intersection of a plane that includes the first drive shaft and extends vertically and a plane that includes the second drive shaft and extends vertically.

The remote drive device according to the present invention can be placed within a limited area relative to the operating lever, either in the fore-and-aft direction of the vehicle or in the left-and-right direction of the vehicle, and can be easily retrofitted into the limited space around the operating lever.

1 is a perspective view showing a driver's seat of a work machine to which a remote drive device of the present invention is attached; FIG. 2 is a top view of FIG. 1; 2 is a perspective view of the right remote drive device of FIG. 1 as seen from the front right. FIG. FIG. 4 is a perspective view showing a state in which the operating lever and its peripheral members are removed from FIG. 3 . FIG. 4 is a plan view of the remote drive device of FIG. 3; FIG. 2 is a left side view of the right remote drive device of FIG. 1; FIG. 2 is a front view of the remote drive unit on the right side of FIG. 1; FIG. 2 is a right side view of the remote drive device on the left side of FIG. 1; FIG. 2 is a front view of the remote drive unit on the left side of FIG. 1; FIG. 6 is a cross-sectional view showing the AA cross section of FIG. 5. FIG. 6 is a cross-sectional view showing the cross section BB of FIG. 5. FIG. 6 is a cross-sectional view showing the CC cross section of FIG. 5. FIG. 6 is a cross-sectional view showing the DD cross section of FIG. 5.

The remote drive units 100, 300 are attached to a vehicle's control device and are capable of remotely controlling the vehicle using operation command signals. The remote control device that remotely controls the vehicle is equipped with a remote control lever similar to the control lever of the actual vehicle. Operation command signals corresponding to the operation of the remote control lever are transmitted from the remote control device to the remote drive units 100, 300 via a network, thereby remotely controlling the vehicle. Vehicles to which the remote drive units 100, 300 can be attached include hydraulic excavators. They can also be attached to other vehicles, such as crane trucks, dump trucks, passenger cars, buses, and trucks. Vehicles equipped with the remote drive units 100, 300 can be remotely controlled without an operator on board, or can be directly controlled by an operator on board. The remote drive units 100, 300 are configured to be retrofittable to vehicle control units.

Referring to Figures 1 and 2, the remotely operated control levers 1, 201 will be described. Figures 1 and 2 are a perspective view and a top view, respectively, of the driver's seat 500 of the work machine. The right-side control lever 1 and the left-side control lever 201 are located inside the driver's cab 500 of the work machine, above console boxes 502, 503, which are located to the right and left of the seat 501 on which the operator sits. The wall of the driver's cab is located on the side of the right-side console box 502 opposite the seat 501. In the case of a hydraulic excavator, the control levers 1, 201 are tilted to control the swing angle of the boom and arm, for example. If the vehicle is equipped with multiple control levers 1, 201, remote drive units 100, 300 can be attached to each control lever 1, 201. Below, we will explain the case where the control levers are attached to a single control lever 1 that can be tilted in two intersecting directions. Note that the remote drive device may be configured to control only one of the two operating directions, for example, the first direction or the second direction. Note that Figures 3 to 7 and 10 to 13 show the area surrounding the right-side operating lever 1 located on the right side of the seat, while Figures 8 and 9 show the area surrounding the left-side operating lever 201 located on the left side of the seat. The following explanation will focus on the right-side remote drive device 100.

The remote drive device 100 will be described with reference to Figures 3 to 5. For ease of understanding, the operating lever 1 and peripheral components of the operating lever 1 have been omitted from Figure 4, and the operating lever 1 itself has been omitted from Figure 5. The remote drive device 100 has a first operating mechanism 30, a second operating mechanism 130, a support device 10, and the operating lever 1. The first operating mechanism 30 and the second operating mechanism 130 are mechanisms for tilting the operating lever 1 in the first direction, S direction (forward/backward direction of the cab), and the second direction, T direction (left/right direction of the cab), respectively.

The first operating mechanism 30 and the second operating mechanism 130 have a first drive shaft 51 and a second drive shaft 151. The first operating mechanism 30 and the second operating mechanism 130 tilt the operating lever 1 in a first direction (S direction in FIG. 3) and a second direction (T direction in FIG. 3), respectively, around the central axis X0 of the first drive shaft 51 and the central axis Y0 of the second drive shaft 151 as the rotation center. The central axis X0 of the first drive shaft 51 and the central axis Y0 of the second drive shaft 151 are arranged on the same plane and are perpendicular to each other. However, the central axes X0 and Y0 may not be on the same plane, and may be arranged offset in the vertical direction.

The support device 10 will be described with reference to Figures 4 and 5. The support device 10 is a device that rotatably holds a member that transmits driving force from the first operating mechanism 30 and the second operating mechanism 130 to the operating lever 1. The support device 10 has a base plate 11 that is formed in a substantially rectangular shape and is a plate-like member with a central hole 12, as well as a first support member 13, a second support member 16, a third support member 19, and a fourth support member 22 that are arranged adjacent to each of the four sides of the substantially rectangular shape of the base plate 11.

The base plate 11 is fixed near the base end 2 of the operating lever 1, with the operating lever 1 passing through the central hole 12. A first support member 13 and a second support member 16 are arranged on the top surface of the base plate 11, adjacent to each of two opposing sides of the roughly rectangular shape of the base plate 11, and a third support member 19 and a fourth support member 22 are arranged adjacent to each of the other two opposing sides of the roughly rectangular shape of the base plate 11. The first support member 13 and the second support member 16 are spaced apart along the central axis X0 and rotatably support a first-direction guide member 71 (described below). The third support member 19 and the fourth support member 22 are spaced apart along the central axis Y0 and rotatably support a second-direction guide member 171 (described below).

The first support member 13 and the third support member 19 are plate-like members with a generally inverted T shape, each with a convex portion 14, 20 formed in its center. Both are placed on the upper surface of the base plate 11 with their respective convex portions 14, 20 facing upward. The first support member 13 and the third support member 16 are bolted to the base plate 11 at both ends. Alternatively, both may be welded to the base plate 11 at both ends. Cylindrical fixing shafts 15, 21 are provided on the outer side of the convex portion 14 of the first support member 13 and the inner side of the convex portion 20 of the third support member 16, respectively.

As shown in FIG. 5 , the second support member 16 and the fourth support member 22 are plate-like members with an L-shaped cross section and two thicknesses: thin plate portions 25, 27 and thick plate portions 26, 28. The second support member 16 has a thin plate portion 25 and a thick plate portion 26. The fourth support member 22 has a thin plate portion 27 and a thick plate portion 28. The thin plate portion 25 of the second support member 16 has an axial hole 17, and the thick plate portion 26 has an axial hole 18. The thin plate portion 27 of the fourth support member 22 has an axial hole 23, and the thick plate portion 28 has an axial hole 24. The second support member 16 and the fourth support member 22 are fixed to the base plate 11 with bolts (not shown), with their respective sides, consisting of both the thin plate portions 25, 27 and the thick plate portions 26, 28, in contact with the base plate 11. Alternatively, both support members may be fixed to the base plate 11 by welding.

The components provided on the second support member 16 will be described with reference to Figures 4, 5, 10, and 11. The first operating mechanism 30 of the remote drive device 100 has a first actuator 31 that generates a driving force, a first transmission device 41 that transmits the driving force of the first actuator 31, a first drive shaft 51, a first detector 61, and a first direction guide member 71. The first drive shaft 51 is disposed on one side of the second support member 16, and the first detector 61 is disposed on the other side. Figure 10 shows a cross section A-A in Figure 5, showing the second support member 16 as seen from the operating lever 1 side. Figure 11 shows a cross section B-B in Figure 5, showing the opposite side of the second support member 16 in Figure 10.

The first drive shaft 51 is a cylindrical rotating shaft and has a first rotation output section 52 between both ends of the first drive shaft 51, which outputs the rotation of the first drive shaft 51. The first rotation output section 52 has a first transmission section 53 formed and extended toward the first detector 61. The first transmission section 53 is a roughly fan-shaped member including an arc portion of a circular plate with a constant radius, and is provided on the first rotation output section 52. The first transmission section 53 is a member in which a first tooth portion 54 is formed on an arc centered on the central axis X0. The first drive shaft 51 is inserted into a shaft hole 17 (shown in Figure 5) provided in the second support member and is rotatably held.

The first detector 61 is a component for detecting the rotation angle of the first drive shaft 51. The first detector 61 has a first detector main body 62, a first rotating unit 63 to which rotation is transmitted from the first transmission unit 53, and a connecting shaft 65 connecting the first rotating unit 63 and the first detector main body 62. The first detector main body 62 is, for example, a potentiometer. The first rotating unit 63 is a component having a roughly fan-shaped portion including an arc portion, and is fixed to the connecting shaft 65 by fitting into a hole formed in a roughly elliptical portion continuous with the arc portion. The first rotating unit 63 has a second tooth portion 64 formed on an arc whose arc center is the central axis of the connecting shaft 65.

The connecting shaft 65 is inserted into the shaft hole 18 (shown in FIG. 5 ) provided in the second support member 16 and is rotatably supported relative to the second support member 16. The first rotating portion 63 is connected to the end of the connecting shaft 65 on the same side as the first transmission portion 53. The first detector body 62 is connected to the end of the connecting shaft 65 opposite the first rotating portion 63. The first toothed portion 54 of the first transmission portion 53 and the second toothed portion 64 of the first rotating portion 63 are arranged in mesh with each other. Therefore, the rotation of the first drive shaft 51 is transmitted to the first detector body 62 via the first transmission portion 53, the first rotating portion 63, and the connecting shaft 65. In other words, the first detector 61 has a first rotating portion 63 that is rotated by the first toothed portion 54, and by detecting the rotation of the first rotating portion 63, the amount of tilt of the operating lever 1 in the first direction (S direction) is detected.

The components provided on the fourth support member 22 will be described with reference to Figures 4, 5, 12, and 13. A second drive shaft 151 is disposed at one end of the fourth support member 22, and a second detector 161 is disposed at the other end. The functions of the second drive shaft 151 and the second detector 161 are the same as those of the first drive shaft 51 and the first detector 61. However, the arrangements of the first drive shaft 51 and the first detector 61 in the second support member 16, and the second drive shaft 151 and the second detector 161 in the fourth support member 22, differ depending on the input positions of the driving forces from the first operating mechanism 30 and the second operating mechanism 130. Figure 12 shows a cross-sectional view taken along line CC in Figure 5, showing the fourth support member 22 as viewed from the operating lever 1 side. Figure 13 shows a cross-sectional view taken along line DD in Figure 5, showing the opposite side of the fourth support member 22 in Figure 12. When viewed from the operating lever 1 side, the first drive shaft 51 of the second support member 16 is located on the left end side of the second support member 16. On the other hand, the second drive shaft 151 of the fourth support member 22 is located on the right end side of the fourth support member 22.

The second drive shaft 151 is a cylindrical rotating shaft and has a second rotation output section 152 between both ends of the second drive shaft 151, which outputs the rotation of the second drive shaft 151. The second rotation output section 152 has a second transmission section 153 formed and extended toward the second detector 161. The second transmission section 153 is a roughly fan-shaped member including an arc portion of a disk with a constant radius, and a third tooth section 154 is formed on an arc centered on the central axis Y0. The second drive shaft 151 is inserted into the shaft hole 23 (shown in Figure 5) provided in the fourth support member and is rotatably held.

The second detector 161 is a member for detecting the rotation angle of the first drive shaft 151. The second detector 161 has a second detector main body 162, a second rotating part 163 to which rotation is transmitted from the second transmission part 153, and a connecting shaft 165 connecting the second rotating part 163 and the second detector main body 162. The second detector main body 162 is, for example, a potentiometer. The second rotating part 163 is a member having a roughly fan-shaped portion including an arc portion, and is fixed to the connecting shaft 65 by fitting into a hole formed in a roughly elliptical portion continuous with the arc portion. The second rotating part 163 has a fourth tooth portion 164 formed on an arc whose arc center is the central axis of the connecting shaft 165.

The connecting shaft 165 is inserted into the shaft hole 24 (shown in FIG. 5 ) provided in the fourth support member and is rotatably held therein. The second rotating part 163 is connected to the end of the connecting shaft 165 on the same side as the second transmission part 153. The second detector main body 162 is connected to the end of the connecting shaft 165 opposite the second rotating part 163. The third toothed part 154 of the second transmission part 153 and the fourth toothed part 164 of the second rotating part 163 are arranged in mesh with each other. Therefore, the rotation of the second drive shaft 151 is transmitted to the second detector main body 162 via the second transmission part 153, the second rotating part 163, and the connecting shaft 165. In other words, the second detector 161 has the second rotating part 163 rotated by the third toothed part 154, and by detecting the rotation of the second rotating part 163, the amount of tilt of the operating lever 1 in the second direction (direction T) is detected.

The second drive shaft 151 and second detector 161 arranged on the fourth support member 22 can be configured to differ from the first drive shaft 51 and first detector 61 arranged on the second support member 16 in terms of basic shape including dimensions, detection characteristics of the detector, etc.

For example, the axial distance between the first drive shaft 51 and the connecting shaft 65 of the first detector 61 in the second support member 16 can be different from the axial distance between the second drive shaft 151 and the connecting shaft 165 of the second detector 161 in the fourth support member 22. In this case, the respective lengths of the first transmission unit 53 and the second transmission unit 153, and the respective lengths of the first rotation unit 63 and the second rotation unit 163 are determined appropriately.

Furthermore, depending on the differences in the control content between the first direction (S) and the second direction (T) of the operating lever 1, the detection characteristics of the first detector 61 arranged on the fourth support member 22 can be made different from the detection characteristics of the first detector 61 arranged on the second support member 16. For example, in order to set different output proportionality constants relative to the rotation angle, the detection characteristics of the first detector 61 and the second detector 161 can be made different.

The above describes the first drive shaft 51 and second drive shaft 151, and the first detector 61 and second detector 161. Furthermore, the same components can be used for either or both of the first drive shaft 51 and second drive shaft 151, or the first detector 61 and second detector 161. If the same components are used, costs can be reduced by standardizing parts.

The first-direction guide member 71 will be described with reference to Figures 3 and 5. The first-direction guide member 71 is a member that operates the operating lever 1 in the first direction, or S, in response to the applied driving force. The first-direction guide member 71 has two linear first long members 72, 72 of the same length, two first short members 73, 73 that connect one end of each of the two first long members 72, 72 and the other end of each of the two first long members 72, 72, and a first bearing portion 74 and a second bearing portion 75 provided on each of the two first short members 73, 73.

The two first longitudinal members 72, 72 and the two first short members 73, 73 are combined with each other and assembled into a roughly rectangular frame. The two first longitudinal members 72, 72 sandwich the operating lever 1 on both sides at the operating lever base end 2 with a small gap between them, and both ends of each of the two first longitudinal members 72, 72 are fixed to the two first short members 73, 73 with bolts.

The two first short members 73, 73 are provided with a first bearing portion 74 and a second bearing portion 75 that extend vertically downward from the first short members 73, 73, respectively. The first bearing portion 74 and the second bearing portion 75 are rotatable around the axis X0 of the first drive shaft 51. When the first bearing portion 74 and the second bearing portion 75 rotate, the first direction guide member 71 also rotates integrally.

Therefore, the first direction guide member 71 is rotatable relative to the first support member 13 and the second support member 16. As described above, the first direction guide member 71, which is rotatably supported while sandwiching the operating lever 1, rotates in response to the driving force from the first operating mechanism 30 transmitted via the first drive shaft 51, as described below, and the first longitudinal members 72, 72 press against the operating lever base end 2, tilting the operating lever 1 in the first direction.

Note that the first direction guide member 71 may be supported on the substrate 11 in other ways as long as the first direction guide member 71 is axially supported so as to be rotatable relative to the substrate 11.

The second-direction guide member 171 will be described with reference to Figures 3 and 5. The second-direction guide member 171 is a member that operates the operating lever 1 in the second direction, or direction T, in response to the applied driving force. As shown in Figures 3 and 5, the second-direction guide member 171 is positioned above the first-direction guide member 71 so as to intersect and overlap it. The second-direction guide member 171 includes two second longitudinal members 172, 172 of the same length that are uniformly curved throughout except for both ends, two second short members 173, 173 that connect one end of each of the two second longitudinal members 172, 172 and the other end of each of the two second short members 173, 173, and a third bearing portion 174 and a fourth bearing portion 175 that are provided on each of the two second short members 173, 173.

The two second longitudinal members 172, 172 and the two first short members 173, 173 are combined with each other and assembled into a roughly rectangular frame. The two second longitudinal members 172, 172 sandwich the operating lever 1 on both sides at the operating lever base end 2 with a small gap between them, and both ends of each of the two second longitudinal members 172, 172 are fixed to the two second short members 173, 173 with bolts.

The two second short members 173, 173 are provided with a third bearing portion 174 and a fourth bearing portion 175 that extend vertically downward from the second short members 173, 173, respectively. The third bearing portion 174 and the fourth bearing portion 175 are rotatable around the axis Y0 of the second drive shaft 151. When the third bearing portion 174 and the fourth bearing portion 175 rotate, the second direction guide member 171 also rotates integrally.

Therefore, the second direction guide member 171 is rotatable relative to the second support member 16 and the fourth support member 22. As described above, the second direction guide member 171, which is rotatably supported while sandwiching the operating lever 1, rotates in response to the driving force from the second operating mechanism 130 transmitted via the second drive shaft 151, as described below, and the second longitudinal members 172, 172 press against the operating lever base end 2, tilting the operating lever 1 in the second direction.

The first actuator 31 and first transmission device 41 of the first operating mechanism 30 will be described with reference to Figures 3 to 6. The first actuator 31 has a rotation mechanism (not shown) and a first rotating shaft 32 inside. The rotation mechanism rotates using electrical energy, causing the first rotating shaft 32 to rotate. The first actuator 31 and first rotating shaft 32 are, for example, an electric motor and a motor output shaft.

Figure 6 shows the first transmission device 41. The first transmission device 41 transmits the driving force generated by the first actuator 31 to the first-direction guide member 71. The first transmission device 41 includes a first transmission input member 43, a first transmission output member 45, a first transmission member 47, and a first case 42 that houses them. The first transmission input member 43 has a first input engagement hole 44 at its center. The first case 42, adjacent to one side of the first transmission input member 43, has a hole corresponding to the outer diameter of the periphery of the first rotation shaft 32 of the first actuator 31. The first rotation shaft 32 is inserted into the first input engagement hole 44 in a state that prevents it from rotating relative to the first transmission input member 43. The periphery of the first rotation shaft 32 of the first actuator 31 is joined to the opening in the first case 42. The first transmission member 47 is disposed perpendicular to the axial direction of the first rotation shaft 32 of the first actuator 31. Therefore, the first transmission device 41 is connected perpendicularly to the first actuator 31. The first input engagement hole 44, into which the first rotation shaft 32 is inserted, forms the first connection portion 48, which is the connection between the first actuator 31 and the first transmission device 41.

The first case 42 is hollow and has a generally oval shape. A disk-shaped first transmission input member 43 is rotatably supported inside one end, and a disk-shaped first transmission output member 45 is rotatably supported inside the other end. An annular first transmission member 47 is attached to the outer periphery of each of the first transmission input member 43 and first transmission output member 45. When the first actuator 31 rotates the first transmission input member 43, the rotation is transmitted to the first transmission output member 45 via the first transmission member 47. The first transmission input member 43, first transmission output member 45, and first transmission member 47 are, for example, an input pulley, an output pulley, and an annular member such as a belt or chain, respectively.

A first output engagement hole 46 is provided at the center of the first transmission output member 45. The first drive shaft 51 is inserted into the first output engagement hole 46 through an opening provided around the first transmission output member 45 in the first case 42. The first transmission output member 45 and the first drive shaft 51 are fixed so that they cannot rotate relative to each other, and rotation of the first transmission output member 45 is transmitted to the first drive shaft 51. In other words, rotation of the first actuator 31 is transmitted to the first drive shaft 51 via the first transmission input member 43, the first transmission member 47, and the first transmission output member 45. The first drive shaft 51 rotates the first-direction guide member 71, thereby tilting the operating lever 1 in the first direction, i.e., direction S.

The second actuator 131 and second transmission device 141 of the second operating mechanism 130 will be described with reference to Figures 3 to 5 and Figure 7. The second actuator 131 has the same structure as the first actuator 31. The second actuator 131 has a rotation mechanism (not shown) and a second rotating shaft 132 inside. The rotation mechanism rotates using electrical energy, causing the second rotating shaft 132 to rotate. In the following description of the second operating mechanism 130, details common to the first operating mechanism 30 will be omitted.

Figure 7 shows the second transmission device 141. The second transmission device 141 transmits the driving force generated by the second actuator 131 to the second-direction guide member 171. The second transmission device 141 includes a second transmission input member 143, a second transmission output member 145, a second transmission member 147, and a second case 142 that houses them. The second transmission input member 143 has a second input side engagement hole 144 at its center. The second case 142, adjacent to one side of the second transmission input member 143, has a hole that corresponds to the outer diameter of the periphery of the second rotation shaft 132 of the second actuator 131. The second rotation shaft 132 is inserted into the second input side engagement hole 144 in a state that prevents it from rotating relative to the second transmission input member 143. The periphery of the second rotation shaft 132 of the second actuator 131 is joined to an opening in the second case 142. The second transmission member 147 is disposed perpendicular to the axial direction of the second rotation shaft 132 of the second actuator 131. Therefore, the second transmission device 141 is connected perpendicularly to the second actuator 131. The second input side engagement hole 144, into which the second rotation shaft 132 is inserted, forms a second connection portion 148, which is the connection portion between the second actuator 131 and the second transmission device 141.

The second case 142 is hollow and has a generally oval shape. A disk-shaped second transmission input member 143 is rotatably supported inside one end, and a disk-shaped second transmission output member 145 is rotatably supported inside the other end. An annular second transmission member 147 is attached to the outer periphery of each of the second transmission input member 143 and second transmission output member 145. When the second transmission input member 143 is rotated by the second actuator 131, the rotation is transmitted to the second transmission output member 145 via the second transmission member 147. The second transmission input member 143, second transmission output member 145, and second transmission member 147 are, for example, an input pulley, an output pulley, and an annular member such as a belt or chain, respectively.

A second output engagement hole 146 is provided at the center of the second transmission output member 145. The second drive shaft 151 is inserted into the second output engagement hole 146 through an opening provided around the second transmission output member 145 in the second case 142. The second transmission output member 145 and the second drive shaft 151 are fixed so that they cannot rotate relative to each other, and rotation of the second transmission output member 145 is transmitted to the second drive shaft 151. In other words, rotation of the second actuator 131 is transmitted to the second drive shaft 151 via the second transmission input member 143, the second transmission member 147, and the second transmission output member 145. The second drive shaft 151 rotates the second-direction guide member 171, thereby tilting the operating lever 1 in the second direction, i.e., direction T.

Next, the left-side remote drive unit 300 will be described. Like the right-side remote drive unit 100, the left-side remote drive unit 300 has an operating lever 201 that can be tilted in two intersecting directions. The shape of the operating lever 201 differs from the shape of the right-side operating lever 1. The right-side operating lever 1 and the left-side operating lever 201 are both bent at a single point directly above the operating lever base end 2 and the operating lever base end 202, respectively, but the bending directions are different. As can be seen from Figures 1 and 2, the right-side operating lever 1 and the left-side operating lever 201 are each bent toward the centerline of the seat 501 in the fore-and-aft direction to make them easier to operate. The difference in bending direction is also shown in Figure 7, a front view of the right-side operating lever 1, and Figure 9, a front view of the left-side operating lever 201.

The left-side remote drive unit 300 is arranged symmetrically with respect to the centerline of the seat 501 in the longitudinal direction, i.e., bilaterally, with respect to the right-side remote drive unit 100. Additionally, the components of the left-side remote drive unit 300 differ only in detailed dimensions from those of the right-side remote drive unit 100 due to differences in the console boxes 502, 503 and the peripheral structure of the switches. Therefore, the main configuration of the left-side remote drive unit 300 will be described, and detailed descriptions will be omitted. Note that at least some of the components of the left-side remote drive unit 300 may be the same as those of the right-side remote drive unit 100.

The left-side remote drive unit 300 will be described with reference to Figures 1, 2, 8, and 9. The left-side remote drive unit 300 has a first operation mechanism 230, a second operation mechanism 330, a support device (not shown), and an operation lever 201. The first operation mechanism 230, the second operation mechanism 330, the support device, and the operation lever 201 correspond to the first operation mechanism 30, the second operation mechanism 130, the support device 10, and the operation lever 1, respectively, of the right-side remote drive unit 100. The first operation mechanism 230 and the second operation mechanism 330 are mechanisms that tilt the operation lever 201 in the first direction, S direction (forward/backward direction of the cab), and the second direction, T direction (left/right direction of the cab), respectively.

The left-side remote drive unit 300 has a configuration corresponding to the right-side remote drive unit 100 as follows:

The first operating mechanism 230 includes a first actuator 231 that generates a driving force, a first transmission device 241 that transmits the driving force of the first actuator 231, a first drive shaft 251, a first detector 261, and a first direction guide member 271.

The second operating mechanism 330 also includes a first actuator 331 that generates a driving force, a first transmission device 341 that transmits the driving force of the first actuator 331, a first drive shaft 351, a first detector 361, and a first direction guide member 371.

Furthermore, the support device of the left-side remote drive device 300 (not shown), like the support device 10 of the right-side remote drive device 100, has a substantially rectangular base plate and a first support member, a second support member, a third support member, and a fourth support member arranged adjacent to each of the four sides of the substantially rectangular base plate. The arrangement of each member is also the same as that of the support device 10 of the right-side remote drive device 100.

The components of the first operating mechanism 230, second operating mechanism 330, and support device described above are the same as the corresponding components of the right-side remote drive unit 100, so individual descriptions will be omitted.

Below, we will explain the features of the arrangement of the first operating mechanism 30 and the second operating mechanism 130 and the effects obtained thereby. Note that while the following will explain the right-side remote drive unit 100, the same effects can be obtained with the left-side remote drive unit 300.

(1) A first rotation output unit 52 and a second rotation output unit 152 are disposed on the first drive shaft 51 and the second drive shaft 151. The first detector 61 and the second detector 161 are configured to detect the rotation of the first drive shaft 51 and the second drive shaft 151, i.e., the tilt amount of the operating lever 1 in the first direction (S direction) and the second direction (T direction), via the first rotation output unit 52 and the second rotation output unit 152, respectively. By detecting via the first rotation output unit 52 and the second rotation output unit 152, the first detector 61 and the second detector 161 are disposed at positions separated from the first drive shaft 51 and the second drive shaft 151.

Figure 5 shows the lengths of the first rotation output unit 52, the second rotation output unit 152, and the first detector 61, and the second detector 161 in the direction of the first drive shaft 51. The length of the first detector 61 in the direction of the first drive shaft 51 is F, and the length of the first rotation output unit 52 in the direction of the first drive shaft 51 is E. As is clear from Figure 5, E is made extremely small compared to F to reduce the amount of protrusion. Furthermore, the length of the second detector 161 in the direction of the second drive shaft 151 is H, and the length of the second rotation output unit 152 in the direction of the second drive shaft 151 is G.

As is clear from Figure 5, G is made extremely small compared to H to reduce the amount of protrusion. In other words, the length of the first rotation output section 52 in the first drive shaft direction is configured to be shorter than the length in the first drive shaft direction when the first detector 61 is arranged on the first drive shaft 51. Furthermore, the length of the second rotation output section 152 in the second drive shaft direction is configured to be shorter than the length in the second drive shaft direction when the second detector 161 is arranged on the second drive shaft 151.

As a result, compared to placing the first detector 61 on the first drive shaft 51 and the second detector 161 on the second drive shaft 151, less space needs to be secured, making it possible to reduce the external dimensions of the remote drive device 100 in the first drive shaft direction and the second drive shaft direction. Furthermore, the rotation output section placed on the first drive shaft is formed from a roughly fan-shaped plate-like member, and is significantly thinner than the first detector 61 and the second detector 161, thereby achieving even greater effects than those described above.

In other words, by reducing the space that needs to be secured above the first drive shaft 51, the remote drive unit 100 can be positioned so that it does not protrude into the seat. Furthermore, by reducing the space that needs to be secured above the second drive shaft 151, the remote drive unit 100 can be positioned so that it does not protrude into the boarding/alighting aisle (front side) that the operator passes through when sitting in the seat.

(2) Arrangement in which the first rotation shaft 32 and the second rotation shaft 132 are parallel to but offset from the first drive shaft 51 and the second drive shaft 151 This will be explained with reference to Figure 4. The first transmission member 47 is arranged to extend perpendicular to the axial direction of the first rotation shaft 32 of the first actuator 31, and the first drive shaft 51 inserted into the first transmission output member 45 is arranged perpendicular to the extending direction of the first transmission member 47. Therefore, the first rotation shaft 32 of the first actuator 31 is arranged parallel to but offset from the first drive shaft 51.

Similarly, the second transmission member 147 is arranged to extend perpendicular to the axial direction of the second rotation shaft 132 of the second actuator 131, and the second drive shaft 151 inserted into the second transmission output member 145 is arranged perpendicular to the extension direction of the second transmission member 147. Therefore, the second rotation shaft 132 of the second actuator 131 is arranged parallel to and offset from the second drive shaft 151. This arrangement makes it possible to easily install the remote drive device 100 as an after-market accessory by making good use of the limited space around the operating lever 1.

(3) Arrangement in which the first transmission device 41 and the second transmission device 141 overlap in the vertical direction This will be described with reference to Figures 4 and 5. Figure 4 shows that the axis X0 of the first drive shaft 51 and the axis Y0 of the second drive shaft 151 intersect. An imaginary plane J shown in Figure 4 is a plane that includes the first drive shaft 51 and the second drive shaft 151, and an arrow K indicates a direction perpendicular to the imaginary plane J. Figure 5 shows that, when viewed in a direction parallel to the arrow K, a portion of the second transmission device 141, in which the second connection portion 148 is shown, overlaps with the first transmission device 41.

We will also explain the case where the first drive shaft 51 and the second drive shaft 151 are misaligned in the vertical direction and do not intersect. Even in this case, when viewed in a direction parallel to the line connecting the first drive shaft 51 and the second drive shaft 151 at the shortest distance, i.e., direction view K, a portion of the second transmission device 141, where the second connection portion 148 is shown, overlaps with the first transmission device 41, as in the above case. This arrangement allows at least a portion of the first transmission device 41 and the second transmission device 141 to be three-dimensionally overlapped in the vertical direction, making it easy to retrofit the remote control device 100 in the limited space around the vehicle's operating lever 1.

(4) Arrangement of the First Connection Portion 48 and the Second Connection Portion 148 Fig. 5 shows the first connection portion 48 of the first transmission device 41 to which the first actuator 31 is connected, and the second connection portion 148 of the second transmission device 141 to which the second actuator 131 is connected. In the plan view of Fig. 5, an imaginary plane that includes the first drive shaft 51 and extends vertically overlaps with the central axis X0 and is an imaginary plane M. Furthermore, an imaginary plane that includes the second drive shaft 151 and extends vertically overlaps with the central axis Y0 and is an imaginary plane L.

In Figure 5, imaginary plane M and imaginary plane L intersect to define four regions. Both the first connection portion 48 and the second connection portion 148 are included in the lower right region of Figure 5, i.e., region XY1, of the four regions. This arrangement allows the remote drive unit 100 to be contained within the range of either the front-to-rear direction of the vehicle or the left-to-right direction of the vehicle relative to the operating lever 1, making it easy to retrofit the remote drive unit 100 into the limited space around the operating lever 1.

REFERENCE SIGNS LIST Right-side remote drive device related 1 Operation lever 30, 130 First operation mechanism, second operation mechanism 31, 131 First actuator, second actuator 32, 132 First rotating shaft, second rotating shaft 41, 141 First transmission device, second transmission device 51, 151 First drive shaft, second drive shaft 52, 152 First rotation output section, second rotation output section 53, 153 First transmission section, second transmission section 54, 154 First tooth section, second tooth section 61, 161 First detector, second detector 63, 163 First rotating section, second rotating section 71, 171 First direction guide member, second direction guide member 100 Right-side remote drive device K View in direction J Virtual plane L Virtual plane M Virtual plane Left-side remote drive device related 201 Operation lever 230, 330 First operating mechanism, second operating mechanism 231, 331 First actuator, second actuator 241, 341 First transmission device, second transmission device 251, 351 First drive shaft, second drive shaft 261, 361 First detector, second detector 271, 371 First direction guide member, second direction guide member 300 Left-side remote drive device Other devices 500 Driver's seat of work machine 501 Seat 502, 503 Console box

Claims (8)

A remote drive device that operates an operation mechanism of a work machine based on an operation command signal,
a first operation mechanism for tilting, in a first direction, an operation lever that controls an amount of movement of the work machine according to a tilt angle and a tilt direction;
The first operating mechanism includes:
a first actuator including a first rotation shaft extending in a second direction intersecting the first direction and a first rotation mechanism that rotates the first rotation shaft , and that rotates the first rotation mechanism by generating a first drive force for tilting the operating lever in the first direction based on the operation command signal;
a first drive shaft extending in the second direction, rotated by transmission of rotation of the first rotation shaft that is rotated by rotation of the first rotation mechanism, and disposed at a position offset in the first direction with respect to the first rotation shaft;
a first direction guide member that rotates integrally with the first drive shaft in response to rotation of the first drive shaft, thereby tilting the operating lever in the first direction;
a first transmission device including a first case extending in the first direction to accommodate a first transmission member that transmits rotation of the first rotation mechanism to the first drive shaft to rotate the first drive shaft, the first case being disposed at a position offset in the second direction with respect to the operating lever and the first-direction guide member;
a first detector that detects the tilt amount of the operating lever in the first direction;
a first rotation output portion configured as a plate-shaped member having a first tooth portion and attached to the first drive shaft;
a first rotating portion configured as a plate-shaped member having a second tooth portion and attached to the first detector via a first connecting shaft;
the first rotation output portion and the first rotation portion are disposed on the same plane so that the first tooth portion and the second tooth portion mesh with each other, and are disposed between the first direction guide member and the first transmission device,
the first detector includes a first detector body coupled to the first rotating portion;
the first detector body has a portion disposed between the first rotating portion and the first transmission device and a portion disposed at a position overlapping the first transmission device in the vertical direction ,
the first rotation output portion transmits the rotation of the first drive shaft to the first detector body via the first rotating portion;
the first detector body detects the amount of tilt of the operating lever in the first direction by detecting the rotation of the first rotating part transmitted to the first detector body via the first rotation output part;
Remote drive unit. a length of the first rotation output portion in the first drive shaft direction is configured to be shorter than a length of the first detector in the first drive shaft direction when the first detector is disposed on the first drive shaft;
10. The remote drive device of claim 1. the first direction guide member is supported rotatably around the first drive shaft;
3. A remote drive device according to claim 1 or 2. the first rotation output portion has a first transmission portion extending from the first drive shaft toward the first detector, and the first teeth portion are formed on an arc of an outer shape of the first transmission portion centered on the first drive shaft;
the first detector detects the rotation of the first rotating part transmitted by the first tooth portion and the second tooth portion, thereby detecting the tilt amount of the operating lever in the first direction;
A remote drive device according to any one of claims 1 to 3. The remote drive device described in any one of claims 1 to 4, wherein the first actuator has a first rotation axis that generates the first drive force that tilts the operating lever in a first direction, and the first rotation axis is arranged parallel to and offset from the first drive axis. a second operating mechanism for tilting the operating lever in a second direction that is a direction intersecting the first direction;
The second operating mechanism is
a second actuator having a second rotation mechanism, the second actuator generating a second driving force for tilting the operation lever in the second direction based on the operation command signal, thereby rotating the second rotation mechanism;
a second drive shaft that rotates when rotation of the second rotation mechanism is transmitted to the second drive shaft;
a second transmission device that transmits rotation of the second rotation mechanism to the second drive shaft to rotate the second drive shaft;
a second direction guide member that rotates integrally with the second drive shaft in response to rotation of the second drive shaft, thereby tilting the operating lever in the second direction;
a second detector that detects the tilt amount of the operating lever in the second direction;
a second rotation output portion attached to the second drive shaft and formed of a plate-shaped member having a third tooth portion;
a second rotating portion configured as a plate-shaped member having a fourth tooth portion and attached to the second detector via a second connecting shaft,
the second rotation output portion and the second rotation portion are disposed on the same plane so that the third tooth portion and the fourth tooth portion mesh with each other, and are disposed between the second direction guide member and the second transmission device,
the second detector is disposed between the second rotating portion and the second transmission device,
the second rotation output portion transmits the rotation of the second drive shaft to the second detector via the second rotating portion;
the second detector detects the tilt amount of the operating lever in the second direction via the second rotation output portion.
A remote drive device according to any one of claims 1 to 5. The remote drive device described in claim 6, wherein the first transmission device and the second transmission device at least partially overlap when viewed in a direction perpendicular to the plane when the central axis of the first drive shaft and the central axis of the second drive shaft are on the same plane, or when viewed in a direction parallel to the line connecting the central axis of the first drive shaft and the central axis of the second drive shaft at the shortest distance when the central axis of the first drive shaft and the central axis of the second drive shaft are not on the same plane. The remote drive device described in claim 6 or 7, wherein both the first connection portion of the first transmission device to which the first actuator is connected and the second connection portion of the second transmission device to which the second actuator is connected are included in one of four regions defined by the intersection of an imaginary plane that includes the first drive shaft and extends vertically and an imaginary plane that includes the second drive shaft and extends vertically.