JPH0627408B2 - Operating device for radio control type excavator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an operating device for a radio-controlled excavator-loader capable of switching between radio-controlled operation and manual operation.

In the conventional radio-controlled excavator-loader, as shown in FIG. 1, a receiver 2 that receives a command signal from the operation panel 1, and an air solenoid valve 3 that operates according to a command from the receiver 2, The air solenoid valve 3 is operated by the operation of the air solenoid valve 3, and the operation valve 5 operated by the operation of the air cylinder 4 is provided. The switching operation between the normal manual operation and the radio control can be performed with one touch. I couldn't do it and it was troublesome. In addition, since the control method is ON-OFF control, the controllability is extremely poor, and it is difficult to control as desired by the operator. For example, a complex operation such as a bucket, an arm, a boom, and a swing can be performed smoothly like a power shovel. Could not be done. Furthermore, in the above-mentioned conventional configuration, since it has an air circuit, when modifying an operating device of a normal manually operated excavator and loader to a radio control type, remodeling of the main body becomes large, and There was a problem that maintenance increased and lacked reliability.

The invention has been made in view of the above, and a switching operation between a normal manual operation and a radio control can be performed by one-touch in a driver's cab, and an electric servomotor 103, 1 can be used as an actuator in the radio control.
By using 17, the operation in the radio control can be proportionally controlled by the control operation unit input signal, so that, like a power shovel,
Provided is a radio-controlled excavator-loader operating device capable of smoothly performing a combined operation such as a bucket, an arm, a boom, and a swing, and also capable of being easily modified to a radio-controlled type. Especially.

The present invention will be described below with reference to FIG.

The radio controlled excavator / loader according to the present invention has a second
As shown in the figure, a receiver 11 that receives a command signal from the operation panel 10, an electric servomotor 117 that operates according to a command from the receiver 11, and an electric servomotor 11
And an operating valve 13 operated by 7.

Fig. 4 shows the operation room of the radio controlled excavator.
As shown in FIG. 5 and FIG. 6, the right operation lever 14 for operating arm raising, boom lowering, bucket dumping, and bucket excavation, and left turning, right turning, arm dumping, and arm excavation are operated. A left operation lever 15, a throttle lever 16 for switching between radio control operation and manual operation, and left and right traveling levers 17 and 18 are provided.

As shown in FIG. 7, the body frame 19 is provided with bosses 22 ', 23 of the left / right traveling levers 17, 18 and a left / right boss 24, on a shaft 22 supported via support brackets 20, 21. And 25 are rotatably provided. As shown in FIG. 14, the arm 26 protruding from the boss portion 22 'of the left traveling lever 17 is provided with a first radio-controlled manual switching mechanism A _{1 which} will be described later via a rod 27 which is a front operation portion 211. The second lever 30-1 of the _first radio-controlled manual switching mechanism A ₁ is connected to the lever 28-1 by a pin 29, and the second lever 30-1 of the _first radio-controlled manual switching mechanism A ₁ is actuated by a rod 31 which is a rear operation portion 212. It is connected to 33 by a pin 34, and these constitute the left traveling valve operating mechanism 200.

As shown in FIG. 17, the arm 35 protruding from the boss portion 23 of the right traveling lever 18 shown in FIG.
It is connected to the first lever 28-2 of the _second radio-controlled manual switching mechanism A _{2 by} a pin 40 via the rod 36 which is 13, and the second lever 30-2 of the second radio-controlled manual switching mechanism A ₂ is connected. Is connected to a manual lever 39 of the right traveling valve 38 by a pin 41 via a rod 37 which is a rear operation portion 214, and these constitute a right traveling operation mechanism 201.

An arm 49 shown in FIG. 12 which is rotated by the left operating lever 15 is a rod 50 which is a front operating portion 215.
Is connected to the first lever 28-3 of the _third radio-controlled manual switching mechanism A3 by a pin 51, and the second lever 30-3 of the _third radio-controlled manual switching mechanism A3 is a rear operation part. It is connected to the actuating lever 55 of the arm valve 53 by the pin 56 via the rod 52 which is 216, and these constitute the arm valve operating mechanism 203.

The arm 62 shown in FIG. 15 which is rotated by the right operating lever 14 is a rod 63 which is a front operating portion 219.
Is connected to the first lever 28-4 of the _fourth radio-controlled manual switching mechanism A _{4 by} a pin 64, and the second lever 30-4 of the _fourth radio-controlled manual switching mechanism A ₄ is mounted on the rear operating portion. The bucket valve operating mechanism 204 is constituted by a pin 67 which is connected to the operating lever 66 of the bucket valve 65 via the rod 42 which is 220.

The arm 68 shown in FIG. 13 which is rotated by the left operating lever 15 is a rod 69 which is a front operating portion 217.
Is connected to the first lever 28-5 of the _fifth radio-controlled manual switching mechanism A _{5 by} a pin 70, and the second lever 30-5 of the radio-controlled manual switching mechanism A ₅ is connected to the rear operating portion 218.
Via the rod 71, which is the operating lever 73 of the swing valve 72
Is connected to the swivel valve operating mechanism 2 with a pin 74.
05 is configured.

The left boss 6 to which the arm 68 shown in FIG. 8 is fixedly installed.
The zero arm 75 is connected to a rod 77 of a spring cylinder 76 by a pin 78 as shown in FIG. 13, and the spring cylinder 76 is supported by the vehicle body frame 19. As shown in FIG. 8, arms 79, 80, 91 project from the right boss 61 of the right operation lever 14, and of these arms 79 are front operation parts 221 as shown in FIG. 6th radio controlled manual switching mechanism A ₆ via the rod 82
The second lever 30-6 of the _sixth radio controlled manual switching mechanism A ₆ is connected to the first lever 28-6 of
Is connected to the operating lever 86 of the boom high side valve 85 by a pin 87 via a rod 84 which is a rear side operating portion 222, and these constitute a boom high side valve operating mechanism 206. The arm 80 is Yes coupled to the first lever 28-7 of the seventh RC manual switching mechanism A ₇ via the rod 88 is a front operation unit 223 by a pin 89, RC manually switching mechanism A ₇ of the seventh The second lever 30-7 of the boom lower position valve 9 is connected via the rod 90 which is the rear operating portion 224.
The operating lever 92 of No. 1 is connected by a pin 93, and these constitute a boom lower side valve operating mechanism 207.

The arm 81 of the right boss 61 shown in FIG. 8 is a spring cylinder 94 supported by the vehicle body frame 19 as shown in FIG.
The rod 95 is connected to the rod 95 by a pin 96.

As described above, the left operating lever 15 controls the swivel valve operating mechanism 205 and the arm valve operating mechanism 203, and the right operating lever 14 controls the bucket valve operating mechanism 20.
4. Controls the boom high / low side valve operating mechanisms 206 and 207.

Each of the radio-controlled manual switching mechanisms A _{1 to} A ₇ shown in FIGS. 12 to 17 has an electric servomotor 103 fixedly mounted on the vehicle body frame 19. Of these, the second, third, fourth, and fifth radio-controlled manual switching mechanisms A
_As shown in FIGS. 19 and 23, the output shaft 104 of the electric servomotor 103 of ₂ , A ₃ , A ₄ , and A ₅ has a second lever 30- of each operation valve mechanism 201, 203, 204, 205. 2, 30-3, 30-4, 30-5 are connected to the upper ends of the second levers by a pin 105, and each second lever is linked by a first lever 28-2, 28-3, 28- by a link 106.
4, 28-5 are connected.

Note that the mounting positions of the electric servomotors 103 of the first, sixth, and seventh radio-controlled manual switching mechanisms A ₁ , A ₆ , and A ₇ other than those described above are reversed in the front-rear direction, as shown in FIG. 23 (a). As described above, each output shaft 104 is connected to each operation mechanism 2
00, 206, 207 first levers 28-1, 28-
6, 28-7, and each of the first levers is connected to the second lever 30-1, 30-6, 30- by a link 106.
It is connected to 7.

In FIG. 4, 208 is a lever lock mechanism, the lever lock mechanism 208 is provided with a lever lock cylinder 97 as an actuator 302 provided on the vehicle body frame 19, and the rod 107 of the lever lock cylinder 97 is a ninth rod lock cylinder. As shown in the figure, a pin 110 is connected to a lever 109 at the end of the shaft body 108. As shown in FIG. 21, an arm 111 is projectingly provided on the shaft 108,
As shown in FIGS. 9 and 21, the arm 111 is provided with a pin 11 on the mounting bracket 113 of the lock plate 112.
As shown in FIG. 9, the lock plate 112 is guided by a guide 115 provided on the vehicle body frame 19 so as to be vertically movable. The rods 27 and 36 of the left and right traveling valve operating mechanisms 200 and 201 (FIGS. 14 and 17), the rod 50 of the arm valve operating mechanism 203 (FIG. 12), and the rod 69 of the swiveling valve operating mechanism 205.
(FIG. 13), rod 63 of bucket valve operating mechanism 204
(Fig. 15), boom valve high / low side valve operating mechanism 206,
The rods 82 and 88 of 207 (Fig. 16) are fitted with the engaging members 116 with which the lock plate 112 is engaged.

In FIG. 4, 209 is a throttle control mechanism, and this throttle control mechanism 209 is the first
8 As shown in the figure, the lower portion of the output shaft 118 is lever 119 of the ninth RC manual switching mechanism comprises an electric servo motor 117 A _9, an electric servo motor 117 of the radio-controlled manual switching mechanism A ₉ of the ninth To the upper end of the lever 119 and the push-pull wire 1
21 has one end locked, and push-pull wire 121
The other end of is connected to the engine throttle lever 122. A lower portion of the lever 119 is connected to the lever 124 via a link 123, and an upper end portion of the lever 124 is connected to a lower end portion of the throttle lever 16 via a link 126. The upper portion 127 of the throttle lever 16 shown in FIGS. 6 and 18 is configured such that the pin 128 can be bent leftward about the fulcrum, and the upper portion 127 is provided with a switching mechanism 230 as shown in FIG. Certain limit switch 1
29 is fixed. A cutout 131 is formed in a panel 130 in the operator's cab, and a pusher 133 formed of a bolt is attached to the panel 130 via a mounting bracket 132.
When the upper portion 127 of the throttle lever 16 is inserted into the notch 131, the limit switch 129 is pressed against the pusher 133 to operate the limit switch 129.

In FIG. 4, reference numeral 210 denotes a radio control mechanism, and the radio control mechanism 210 includes an electric servo motor lock cylinder 134 as an actuator 300 provided on the vehicle body frame 19. The electric servo motor lock cylinder 134 is provided. The rod 13
As shown in FIG. 11, the pin 5 is attached to the arm 137 of the shaft body 136 rotatably provided on the vehicle body frame 19.
It is connected with 8. The shaft 136 has arms 139, 14
0, 141, 142 are provided, and the arms 139, 14
As shown in FIG. 23 (a), 0 and 141 are boom high / low side valve operating mechanisms 206 and 207, and sixth, seventh and first radio controlled manual switching mechanisms A _{6 of the} left traveling valve operating mechanism 200. , A ₇ and A ₁ second levers 30-6, 30-
Lock hook 142 pivotally supported on the upper part of 7, 30-1
It is connected to the arm part 143a of a through a link 144a, and the locking hook 142a is biased by a spring 145a in a direction to release the engagement with the pin 105a.

The arm 142 of the shaft body 136 is connected to the rear end portion of the connecting rod 146 shown in FIG. 21 by a pin.

As shown in FIG. 21, the shaft body 148 is attached to the body frame 19.
Is rotatably provided, and the shaft 148 has arms 149, 150, 151, 152, 1 as shown in FIG.
53, 231 are fixed, and arms 149, 150,
As shown in FIG. 23, 151 and 152 are radio-controlled manual switching mechanisms A ₄ , A ₂ , and A ₃ of the bucket valve operating mechanism 204, the right traveling valve operating mechanism 201, the arm valve operating mechanism 203, and the swing valve operating mechanism 205. , A ₅ first lever 28-4,
28-2, 28-3, 28-5 are connected to an arm portion 143 of a locking hook 142 pivotally supported on the upper end portions of the 28-2, 28-3, and 28-5 via a link 144.
5 is urged in a direction to release the engagement with the pin 105. As shown in FIG. 21 and FIG. 22, the arm 153 of the shaft body 148 is an arm 15 of a shaft body 155 rotatably provided on the body frame 19 via a link 154.
6 is connected by a pin 157, and the other arm 158 of the shaft body 155 has a pin 159 at the front end of the connecting rod 146.
It is connected with.

The arm 231 of the shaft body 148 shown in FIG. 10 is attached to the arm portion 234 of the locking hook 233 provided on the lever 124 of the radio-controlled manual switching mechanism A ₉ of the throttle control mechanism 209 shown in FIGS. The lock hooks 233 are connected to each other and are biased by a spring 235 in a direction to release the engagement with the pin 120.

The output side of the limit switch 129 shown in FIG. 25 is connected to the input side of the receiver 11 via a lead wire 160 as shown in FIG. The output side of the receiver 11 is incorporated in the electric circuit of the solenoid 162 of the solenoid valve 161 of the servo mechanism 301. The pump port 161-1 of the solenoid valve 161 is connected to the discharge side of the pump 162 ',
The port 61-2 of the solenoid valve 161 is connected to the head side of the lever lock cylinder 97 via a pipe line 136.
Further, the port 161-3 of the solenoid valve 161 is connected to the head side of the electric servomotor locking cylinder 134 via the conduit 164, and the discharge side of the pump 162 'is connected to the conduit 1.
The lever lock cylinder and the electric servomotor lock cylinder 134 are connected to the respective rod sides via 65 and 166.

The electric servomotors 103 and 117 can be radio-controlled by operating the operation panel 10.

Next, the operation will be described.

The limit switch 129 is not operated in the conventional state in which the throttle lever 16 is not inserted into the cutout 131.

In this case, the left / right traveling levers 17 and 18 and the left and right operation levers 15 and 14 are manually operated.

In this case, since the solenoid 162 of the solenoid valve 161 is not excited and the position (a) is located on the port side, the oil discharged from the pump 162 'enters the rod side of the lever lock cylinder 97 and moves to the head side. Oil tank 167
And the lever lock cylinder 97 is contracted.

Therefore, the shaft body 108 of the lever lock mechanism 208 shown in FIGS. 4 and 21 is rotated in the releasing direction, and the lock plate 112 is inserted through the arm 111 and the pin 113.
Is raised, the lock plate 112 shown in FIG. 9 is not engaged with the engaging member 116, and the lever lock is released.

Further, in FIG. 3, pressure oil is supplied to the electric servo motor lock cylinder 134 on the head side and the rod side, but the electric servo motor lock cylinder 134 is in an extended state due to the difference in pressure receiving area.

For this purpose, the radio control mechanism 2 shown in FIG.
Left / right traveling valve operating mechanisms 200, 201, arm valve operating mechanism 203, bucket valve operating mechanism 204, swing valve operating mechanism 205, boom high / low side valve operating mechanism 20
6, 207 radio controlled manual switching mechanisms A ₁ , A _{3 to} A ₇
23, as shown in FIG. 23 and FIG. 23 (a), the locking hooks 142, 142a are attached to the pins 105, 105a.
To the front and rear rods 27 and 31, 36 and 37, and 50 and 5 of the respective operation mechanisms 210 to 207 described above.
2, 63 and 42, 69 and 71, 82 (88) and 83 (8
9) is in a connected state, and each operation lever is in a manually operable state.

Further, also in the radio-controlled manual switching mechanism A ₉ of the throttle control mechanism 209, the locking hook 233 is pin 1
The front and rear levers 124 and 119 are brought into an interlocked state by engaging with 20, and the engine rottle lever 122 is controlled by manual operation of the throttle lever 16.

As shown in FIGS. 3 and 25, when the throttle lever 16 is inserted into the notch 131, the pusher 133 provided on the throttle lever 16 pushes the limit switch 129 to activate it and turn on the receiver 11 (FIG. 3). Activate.

In FIG. 3, when the operation panel 10 is operated to transmit and the solenoid 162 of the solenoid valve 161 is excited via the receiver 11, the position port is located on the port side and the head side and rod side of the lever lock cylinder 97. The pressure oil is introduced into the lever lock cylinder 97 to expand. For this purpose, the lock plate 112 in FIG. 9 is connected to the operating mechanisms 201 to 2 via the shaft 108, the arm 111 and the pin 113.
The lever is locked by engaging with the engaging member 116 provided on the shaft of 07.

Further, the oil on the head side of the electric servo motor lock cylinder 134 flows into the tank 167 and is supplied to the lock side, so that the electric servo motor lock cylinder 134 is contracted.

To this end, via the radio control mechanism 210
Right traveling valve operating mechanism 200, 201, arm valve operating mechanism 2
03, bucket valve operating mechanism 204, swing valve operating mechanism 20
5. Boom height / low side valve operating mechanism 206, 207 second
In each radio-controlled manual switching mechanism A ₁ , A _{3 to} A ₇ shown in FIGS. 3 and 23 (a), the locking hooks 142, _{1 are} provided.
42a disengages from the pins 105, 105a, and the front and rear rods 27 and 31, 36 and 37, 50 and 52, 63 and 42, 69 and 7 of the respective operation mechanisms 201 to 207 described above.
The links between 1, 82, (88) and 83 (89) are released.

Also, the throttle control mechanism 2 shown in FIG.
Also in the radio-controlled manual switching mechanism A ₉ of 09, the locking hook 233 is disengaged from the pin 120 and the levers 124,
The linked state of 119 is released.

In this state, the left / right traveling valve operating mechanisms 200, 201, the arm valve operating mechanism 203, the bucket valve operating mechanism 204, the swing valve operating mechanism 205, the boom high / low side valve operating mechanism 20.
6,207 radio control manual switching mechanisms A ₁ , A _{2 to} A ₇
By operating the electric servomotor 103 and the electric servomotor 117 of the radio-controlled manual switching mechanism A ₉ of the throttle control mechanism 209 by operating the operation panel 10, the above-mentioned operation mechanisms 200 to 207 and the throttle control mechanism 209 are remotely operated. To be done.

Further, since the electric servomotors 103 and 117 are used for proportional control, the controllability is very good and the operator can control as desired.

Further, since the electric servomotors 103 and 117 are only added, the modification of the main body is small, the radio control cost is not increased, the repair is easy, and the number of parts is small, so that the reliability is not deteriorated.

Since the present invention has been described in detail above, the switching operation between the normal manual operation and the radio control of each of the plurality of working machine valve operating mechanisms can be simultaneously performed by one-touch operation of the throttle lever 16. Further, by using the electric servomotors 103 and 117 as the actuators in the radio control, the operation in the radio control can be proportionally controlled by the input signal from the control operation unit. As a result, like a power shovel, a bucket, an arm, Combined operations such as boom and turning can be performed smoothly.

Further, according to the present invention, by using an electric servomotor as an operation actuator for radio control, when the operation device of an ordinary manually operated excavator is modified to a radio control type, the above electric With the addition of a servo motor, there is little modification of the main body, so the cost of radio control is small, maintenance is easy, and the number of parts is small and reliability does not decrease. .

[Brief description of drawings]

FIG. 1 is an explanatory view of a conventional radio-controlled excavator-loader operating device, FIGS. 2 and 3 are explanatory views of a radio-controlled excavator-loading operating device according to the present invention, and FIG. The same plan view, FIG. 5 is the same side view, FIG. 6 is a view taken in the direction of the arrow Z in FIG. 5, FIG. 7 is a sectional view taken along the line AA in FIG. 5, and FIG. Sectional drawing which follows the BB line, FIG. 9 is FIG. 5C.
-C sectional view taken along line C, FIG. 10 is a sectional view taken along line D-D of FIG. 5, and FIG. 11 is a sectional view taken along line E-E of FIG.
2 is a side view of the arm valve operating mechanism, FIG. 13 is a side view of the swing valve operating mechanism, FIG. 14 is a side view of the left traveling valve operating mechanism, FIG. 15 is a side view of the bucket valve operating mechanism, and FIG. The figure is a side view of the boom high / low side valve operating mechanism, Fig. 17 is a side view of the right traveling valve operating mechanism, Fig. 18 is a side view of the throttle control mechanism, and Fig. 19 is a line I-I in Fig. 5. 20 is a sectional view taken along the line JJ of FIG.
1 is a sectional view taken along line 4F-F, FIG. 22 is a sectional view taken along line D′-D ′ in FIG. 21, and FIG. 23 is a sectional view taken along line GG in FIG. (A) is a sectional view taken along the line HH in FIG. 4, FIG. 24 is a sectional view taken along the line KK in FIG. 4, and FIG.
FIG. 5 is a view taken in the direction of arrow W in FIG. 10 is an operation panel, 11 is a receiver, 13 is an operation valve, 14 is a right operation lever, 15 is a left operation lever, 16 is a throttle lever, 17 and 18 are left and right operation levers, 19 is a vehicle body frame, 103 , 117 is an electric servo motor, 2
00 is a left traveling valve operating mechanism, 201 is a right traveling valve operating mechanism,
Reference numeral 203 is an arm valve operation mechanism, 204 is a bucket valve operation mechanism, 205 is a swing valve operation mechanism, 206 is a boom high side valve operation mechanism, 207 is a boom low side valve operation mechanism, 208 is a lever lock mechanism, and 210 is a radio control mechanism. ,
230 is a switch mechanism.

 ─────────────────────────────────────────────────── ───Continued from the front page (56) Reference JP-A-55-124801 (JP, A) Actually opened 58-99349 (JP, U) Actually opened 48-15302 (JP, U) JP-B 52- 15881 (JP, B2)

Claims (1)

[Claims] 1. A plurality of working machine valve operating mechanisms such as left and right traveling valve operating mechanisms 200, 201, arm valves, bucket valves, boom valves, etc., and each working machine valve operating mechanism is manually operated and radio controlled. In the operation device of the radio-controlled excavator and loader that can be selectively operated, each work machine valve operation mechanism is connected to the front operation part connected to the manual operation lever and after connecting to the work equipment valve. Side operation section, each of these operation sections is detachably connected by a connecting mechanism, and each front operation section and the vehicle body are detachably connected by a lever lock mechanism 208. The electric servomotor 103 is connected to each of the rear operating sections as an actuator for operation, and the receiver 11 is connected to each of the operation actuators of the connection mechanism and the lever lock mechanism 208. A radio-controlled excavator / loader operating device is characterized in that a servo mechanism 301 capable of radio control is connected to the receiver 11 and a switch mechanism 230 provided in the driver's cab is connected to the receiver 11.