JP2022080647A - Manipulation device for work machine - Google Patents

Abstract

To provide a manipulation device for a work machine that has superior operability.SOLUTION: A manipulation device 30 is used to perform independent manipulation to independently manipulate one of a plurality of actuators associated with driving of a track crane 10 as a work machine and combined manipulation to simultaneously drive any two of them. The manipulation device 30 comprises a joystick 36 having a stick part 39 supported to be at least tilted in a plane in an up/down direction, a right-left direction, and an oblique direction, and a knob 40 provided atop of the stick part 39. The knob 40 comprises: a cut-out part 41 which has a recessed part 42a in a seat face 42, and whose end part in an upward direction is cut out; and a protrusion part 45 which protrudes downward.SELECTED DRAWING: Figure 2

Description

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

In recent years, an operator has remotely controlled a work machine equipped with a telescopic boom that can be expanded and contracted and undulated, such as a mobile crane and an aerial work platform, from a position away from the work machine by using an operating device. As such an operating device, for example, a joystick type operating device is known (see, for example, Patent Document 1).

In the operating device described in Patent Document 1, a knob operated by an operator by hooking a finger is attached to the tip of a joystick that tilts in an arbitrary direction in a plane. Since this knob is formed in a cap shape having an arc-shaped upper surface, there is a problem that the finger is slippery depending on the operation direction and it is difficult to operate. In particular, when the knob is moved in the left-right direction, the finger placement stability is poor, and the operability and usability may deteriorate.

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

However, in an operating device for a game machine or the like, the distance (reach) from the grip portion gripped by the operator to the knob is relatively short, and the operator bends his thumb to grip the goo, whereas the work is performed. In the operating device of the machine, as shown in FIG. 2 of Patent Document 1, since the distance from the grip portion to the knob is long, the thumb can be easily separated from the knob. Also, the operator needs to operate the knob with his thumb up like Good's gesture. For this reason, it is difficult to apply the force to push the knob in the operation direction, and at the same time, it is difficult to apply the force to the thumb even when tilting back and forth and left and right, which makes it difficult to operate smoothly.

Japanese Unexamined Patent Publication No. 2018-97607 Japanese Unexamined Patent Publication No. 9-134251 Japanese Unexamined Patent Publication No. 2005-84700

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operating device for a working machine having excellent operability.

The operating device of the working machine of the present invention is a working machine that performs a single operation of operating any one of a plurality of actuators related to driving the working machine independently and a combined operation of driving any two of them at the same time. The operating device includes a joystick having a stick portion that is supported so as to be tilted at least in a vertical direction, a horizontal direction, and an oblique direction in a plane, and a knob provided at the tip of the stick portion. The knob has a recess in the seat surface, and includes a notch portion having an upward end portion cut out and an overhanging portion extending downward.

According to the present invention, it is possible to provide an operating device for a working machine having excellent operability.

It is a side view which showed the appearance of the truck crane as an example of the working machine to which the operation apparatus which is this embodiment is applied. It is a perspective view which shows the appearance of the operation apparatus which is this embodiment. It is a front view which shows the appearance of the operation apparatus which is this embodiment. It is a figure for demonstrating the structure of the knob of the operation apparatus which is this embodiment. It is a partially enlarged vertical sectional view in the vicinity of the second joystick of the operating device, and shows the state which the 2nd joystick is tilted upward. It is a vertical sectional view in the vicinity of the second joystick of the operation device, and shows the state which the 2nd joystick is tilted downward. It is a cross-sectional view of the vicinity of the 1st and 2nd joysticks of an operating device, and shows the state which the 2nd joysticks are tilted in the left-right direction. It is a front view of the operation device, and shows the state which the operator moves the 1st knob to the left with the thumb. It is a front view of the operation device, and shows the state which the operator moves the 1st knob diagonally upward to the left with the thumb. It is a figure for demonstrating the knob of the modification 1. FIG. It is a figure for demonstrating the knob of the modification 2. It is a figure for demonstrating the knob of the modification 3. It is a figure for demonstrating the knob of the modification 4. It is a figure for demonstrating the knob of the modification 5. It is a figure for demonstrating the knob of the modification 6. It is a figure for demonstrating the knob of the modification 7. It is a figure for demonstrating the knob of the modification 8. It is a figure for demonstrating the knob of the modification 9. It is a figure for demonstrating the knob of the modification 10. It is a figure for demonstrating the knob of the modification 11.

(First Embodiment)
Hereinafter, the operation device according to the present invention and the first embodiment of the working machine provided with the operation device will be described with reference to the drawings.

<Outline configuration of crane>
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 viewed from the left side. The crane 10 shown in FIG. 1 extends in the front-rear direction, and has a main frame 14 provided with front wheels 11 and first and second rear wheels 12, 13 and a turning post provided so as to be able to turn on the main frame 14. The main 15 and the telescopic boom 16 provided on the upper part of the swivel post 15 so as to be undulating, and the pair of out trigger devices 17 (only one of which is shown) provided on both sides of the main frame 14 in the vicinity of the swivel post 15. A cabin 18 provided on the front side of the swivel post 15 on the frame 14, a loading platform 20 provided on the rear side of the cabin 18, and the like are provided.

The swivel post 15 has a pair of facing holding plate portions (holding portions) 21 (only one of which is shown) that holds the telescopic boom 16 in an undulating manner. The telescopic boom 16 has a base boom 16a, intermediate booms 16b, 16c, and a tip boom 16d, and is configured to be nested inside the base boom 16a from the outside to the inside in this order. A bracket 22 is attached to the rear portion of the base boom 16a, and the base boom 16a is undulatingly attached to the swivel post 15 via the bracket 22. The telescopic boom 16 is swiveled by the swivel of the swivel post 15.

Further, the crane 10 includes a plurality of actuators for driving each part of the crane 10. Actuators include a hydraulic motor (not shown) that swivels the swivel post 15, an undulating cylinder 23 that undulates the telescopic boom 16, a telescopic cylinder (not shown) that expands and contracts the telescopic boom 16, hoisting wires (not shown) and hoisting wires (not shown). Examples include a winch and a speed reducer that feed out.

Further, the crane 10 is provided with a control device (control panel) 24 for controlling each of the actuators in the vicinity of the base end portion of the swivel post 15. The control device 24 is composed of a computer equipped with a CPU, a memory, and the like. Further, the crane 10 includes an operation device 30 (see FIG. 2 and the like) that gives an operation instruction to the control device 24. The control device 24 and the operation device 30 can transmit and receive operation instructions and data necessary for crane work by known wireless communication (or wired communication may be used).

<Operating device>
Hereinafter, the details of the operation device 30 of the first embodiment will be described with reference to FIGS. 2 and 3. 2 and 3 are a perspective view and a front view of the operating device 30.

As shown in FIGS. 2 and 3, the operating device 30 has a substantially cylindrical grip portion 31 gripped by an operator (operator) and a substantially box-shaped operating portion main body 32 provided at one end of the grip portion 31. And a guard portion 33 that protects the operator's hand. The guard portion 33 is provided on the back surface (rear side) of the grip portion 31 substantially parallel to the grip portion 31 via the insertion interval of the hand.

Here, the "direction" in the operating device 30 will be described with reference to FIGS. 2 and 3. The operator grips the grip portion 31 of the operating device 30 and sets the X-axis, the Y-axis, and the Z-axis as shown in FIGS. 2 and 3 with reference to the state of facing the operating portion main body 32. Then, 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. Further, the vertical direction, which intersects in the left-right direction and is the alignment direction of the operation unit main body 32 and the grip portion 31, is defined as the Y direction, and the direction away from the operator's hand gripping the grip portion 31, that is, the upward direction is defined as the Y positive direction. , The direction approaching the operator's hand, that is, the downward direction is the Y negative direction. Further, it intersects in the X direction and the Y direction, the depth direction (front-back direction) of the operating device 30 is the Z direction, the front direction from the back surface to the front of the operating device 30 is the Z positive direction, and the front to the back of the operating device 30. The rear direction toward is the Z negative direction.

The operation unit main body 32 includes a substantially box-shaped housing 32a, in which a control device (not shown), various sensors, a battery, and the like are housed. On the front (front) of the housing 32a, a display unit 34 including a liquid crystal display or the like displaying an image or the like showing the working state of the crane 10, various operation buttons 35 such as a power button and a mode switching button, and an actuator drive. Two joysticks 36 (first joystick 36A and second joystick 36B), etc. for operating the above are provided. The first and second joysticks 36A and 36B are provided side by side on the front surface of the operation unit main body 32 at predetermined intervals.

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

As described above, the crane 10 is provided with a plurality of actuators, and by driving each actuator, the telescopic boom 16 (swivel post 15) can be swiveled, the telescopic boom 16 can be undulated and expanded, and the wire can be wound up and unwound. Will be. Each actuator can be driven by operating the first and second joysticks 36A and 36B.

In the present embodiment, the expansion / contraction boom 16 can be turned and undulated independently or simultaneously by operating the first joystick 36A. For example, by tilting the first joystick 36A in the X direction (horizontal direction), the telescopic boom 16 can be turned left or right, and by tilting it in the Y direction (vertical direction). , The expansion and contraction boom 16 can be activated and prone. Further, by tilting the first joystick 36A in an oblique direction (upward to the right, diagonally downward to the right, diagonally upward to the left, diagonally downward to the left), it is possible to perform a combined operation of simultaneously performing the turning operation and the undulating operation of the telescopic boom 16. It has become.

Further, by operating the second joystick 36B, the expansion / contraction of the expansion / contraction boom 16 and the winding / unwinding of the wire can be performed independently or simultaneously. For example, the expansion / contraction boom 16 can be extended or contracted by tilting the second joystick 36B in the X direction (horizontal direction), and the winch can be tilted in the Y direction (vertical direction). The winding operation or the feeding operation is possible. Further, by tilting the second joystick 36B in an oblique direction, it is possible to perform a combined operation of simultaneously performing the expansion / contraction operation of the expansion / contraction boom 16 and the winding / feeding operation of the winch.

The first and second joysticks 36A and 36B can be tilted in a predetermined direction with the first and second switch bodies 38A and 38B (see FIG. 5 and the like) housed in the housing 32a. The first and second stick portions 39A and 39B supported by the first and second switch bodies 38A and 38B, and the first as a finger hook portion connected to the tips of the first and second stick portions 39A and 39B. It is provided with first and second knobs 40A, 40B, and the like.

In the following, when a plurality of the same members are not described individually, the joystick 36, the switch body 38, the stick portion 39, and the knob 40 may be simply referred to without distinction between the first, the second, and the like. The same applies to other components provided in a plurality.

The switch main body 38 includes a sensor for detecting the tilted state of the stick portion 39 in the XY plane, and outputs a signal corresponding to the detection result by this sensor to the control unit of the operation unit main body 32.

Hereinafter, the configurations of the first and second knobs 40A and 40B will be described with reference to FIG. In the present embodiment, the first and second knobs 40A and 40B are formed in the same shape, and therefore, they will be simply referred to as knobs 40 below. FIG. 4 is a diagram for explaining the configuration of the knob 40. 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, and FIG. 4 (e) is A of FIG. 4 (b). -A end view, FIG. 4 (f) is a BB end view of FIG. 4 (b).

As shown in each figure of FIG. 4, the knob 40 of the present embodiment exhibits a substantially oval shape that is long in the left-right direction (X direction) and short in the vertical direction (Y direction) in the front view (plan view). ing. The knob 40 is provided with a notch 41 by cutting the upper end (end in the Y positive direction) of a circle or an ellipse in an arc shape toward the center O of the knob 40 along the X axis. Further, the lower end of the knob 40 is not cut (or is not cut greatly), and is greatly extended downward in an arc shape, and an overhanging portion 45 is provided.

Therefore, as shown in FIG. 4 (f), the length L2 from the center O to the lower end of the overhanging portion 45 is longer than the length L1 from the center O of the knob 40 to the upper end of the notch 41. There is. Since 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. 8A), the length L1 <length L2 shall be set. Therefore, the positions of the upper end and the lower end of the knob 40 are arranged closer to the hand of the operator who grips the grip portion 31, and the thumb F can be easily hung.

Further, the knob 40 is provided with a recess 42a that is dented in the back surface direction (Z negative direction) on the seat surface (front surface) 42 on which the operator puts the thumb F. The recess 42a has an inclined wall surface (curved surface) that rises in an arc shape in the left-right direction from the center. This inclined wall surface fits the thumb F, the stability of placing the thumb F on the knob 40 is improved, and the so-called sitting of the finger is improved. Further, a pair of non-slip portions 47 made of band-shaped protrusions are provided on the outer peripheral edge in the left-right direction. The non-slip portion 47 improves the anti-slip effect and the anti-slip effect of the thumb F, and even when the knob 40 is moved in the left-right direction, the finger sits comfortably and the operability of the knob 40 is improved.

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

Here, with reference to FIG. 4, the radius of curvature of the recess 42a of the seat surface 42 will be described. The recess 42a preferably includes a region where the radius of curvature R is in the range of R = 15 mm to ∞ (flat), and the sitting of the finger on the seat surface 42 can be further improved. The radius of curvature R of ∞ (flat) means that the bottom surface of the recess 42 is flat (see, for example, the knob 401 of the modified example 1 described later). Also in this case, by providing the inclined wall surface by curving at least the wall surface in the left-right direction following the flat bottom surface, it is possible to appropriately prevent the thumb F from coming off from the seat surface 42. Further, when the cross-sectional shape in the left-right direction and the cross-sectional shape in the vertical direction of the seat surface 42 are different, such as when the recess 42a is formed of a cylindrical surface as in the present embodiment, the radius of curvature R1 in the left-right direction of the recess 42a is R1. The range of = 15 mm to 40 mm is preferable, and the radius of curvature R2 in the vertical direction is preferably the range of R2 = 15 mm to ∞. In the present embodiment, since the inclined wall surface of the recess 42a is formed of a cylindrical surface, R2 is substantially ∞. In FIG. 4 and the like, a curved surface having radiuses of curvature R, R1 and R2 is viewed as an arrow.

Further, when the radius of curvature of the recess 42a in the left-right direction is R1 and the distance from the lowest position of the bottom surface of the seat surface 42 (recess 42a) to the apex of the seat surface 42 in the left-right direction is h1, h1 / R1 = 1. It is preferable to form the seat surface 42 with a size of% to 15%. As a result, it is possible to obtain a knob 40 which is excellent in anti-slip effect and anti-slip effect and has a comfortable finger sitting.

Further, the seat surface 42 is provided with a plurality of arcuate anti-slip groove portions 43. Each groove 43 is not closed in a circular shape, and at least the upper end thereof is interrupted in the vicinity of the notch 41. Therefore, even if dust or the like adheres to the groove portion 43, it can be easily removed from the notch portion 41 side. Further, a small hemispherical protrusion 48 is provided at the center O of the knob 40, so that the center O of the knob 40 can be recognized by the touch of a fingertip even if the operator does not visually recognize the knob 40. Therefore, even when the thumb F is separated from the seat surface 42, the thumb F can be arranged at an appropriate position (initial position) of the seat surface 42.

By the way, by providing the recess 42a to improve the sitting of the finger on the seat surface 42, for example, the first knob 40A of the first joystick 36A can be moved away from the hand, for example, to the left by a single operation (FIG. 8 (a)) or even when the thumb F is moved diagonally upward to the left (see FIG. 9 (a)) by a combined operation, the thumb F is difficult to separate from the seat surface 42, and smooth operation is possible.

On the other hand, when an operator with a small hand performs the same operation, the thumb F may not reach the seat surface 42 as shown in FIGS. 8 (b) and 9 (b). In this case, the outer peripheral edge of the first knob 40A is pushed and operated with a fingertip, and the corner of the outer peripheral edge hits the fingertip, and the load is concentrated on the fingertip, which may cause pain.

In order to solve this problem, in the present embodiment, the entire outer peripheral edge (boundary and edge between the seat surface 42 and the outer peripheral surface) of the knob 40 is chamfered (R chamfered) to provide a chamfered portion 44. The chamfered portion 44 increases the contact area between the knob 40 and the thumb F to disperse the load applied to the fingertips and suppress the occurrence of pain and the like.

Here, the inventor tried to verify which part of the knob 40 is pressed by the operator with a small hand when operating the knob 40 in the leftward direction and the diagonally upward leftward direction. As shown in FIG. 4A, with the center O of the knob 40 as the origin, the right direction of the paper surface is the X positive direction, the left direction is the X negative direction, the upward direction is the Y positive direction, and the downward direction is the Y negative direction. As a result of the verification, it was found that the operator pushed the range of θ = 45 ° in the fourth quadrant (+,-) (the range of 45 ° across the line segment of Y = −X).

Therefore, if the chamfered portion 44 is provided by chamfering at least the range of θ = 45 ° in the fourth quadrant of the outer peripheral edge of the knob 40, the contact area with the thumb F can be increased and the load on the fingertip can be increased. Pain can be reduced.

On the other hand, when a left-handed operator operates the knob 40 with his left hand, it is difficult for the thumb F to reach the seat surface 42 when the knob 40 is moved to the right and diagonally upward to the right. At this time, the operator pushes the 45 ° portion of the third quadrant of the outer peripheral edge of the knob 40, so if this portion is also chamfered, there is less burden on the fingertips regardless of whether it is right-handed or left-handed, and operability is improved. A good knob 40 can be provided.

Further, by providing the chamfered portion 44 in the third and fourth quadrants of the outer peripheral edge, the knob 40 is formed plane-symmetrically with respect to the YZ plane (vertical plane) passing through the center O. Therefore, if one knob 40 is manufactured, it can be used as both the first knob 40A and the second knob 40B, and it is not necessary to manufacture them separately, so that the production efficiency is improved and the component cost is reduced. Is possible.

Further, even when the first and second joysticks 36A and 36B are arranged side by side, it is possible to operate the joysticks 36A and 36B without burdening the fingertips regardless of whether they are right-handed or left-handed. That is, when the first joystick 36A is moved to the left or diagonally upward to the left, it can be operated by pushing the chamfered outer peripheral edge of the fourth quadrant of the first knob 40A. Further, when operating the second joystick 36B to the right or diagonally upward to the right, the chamfered outer peripheral edge of the third quadrant of the second knob 40B can be pressed for operation.

Further, in the present embodiment, since the entire outer peripheral edge including the third and fourth quadrants of the knob 40 is chamfered by R to provide the chamfered portion 44, no matter which of the outer peripheral edges of the knob 40 is pressed, the thumb F is reached. It reduces the burden on the user and enables comfortable and smooth operation without feeling pain. Further, in the present embodiment, the chamfered portion 44 is formed with the same radius of curvature over 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 the knob 40 that appropriately reduces the burden on the fingertips and the like can be obtained.

Further, on the back surface of the knob 40, a connecting portion 46 for accommodating the tip of the stick portion 39 and connecting the stick portion 39 and the knob 40 is provided. The structure of the connecting portion 46 is not limited to the structure as shown in the drawings, and may be an appropriate structure.

An example of using the operating device 30 having the above configuration will be described with reference to FIGS. 5 to 9. 5 and 6 are partially enlarged vertical sectional views (YZ sectional views) of the vicinity of the second joystick 36B of the operating device 30. FIG. 5 shows a state in which the second joystick 36B is tilted upward, and FIG. 6 shows a state in which the second joystick 36B is tilted downward. FIG. 7 is a cross-sectional view (XZ cross-sectional view) of the vicinity of the first and second joysticks 36A and 36B of the operating device 30.

8 and 9 are front views of the operating device 30. FIG. 8A shows a state in which the operator is moving the first knob 40A to the left with the thumb F. FIG. 8B shows a state in which an operator with a small hand is moving the first knob 40A to the left. FIG. 9A shows a state in which the operator is operating the first knob 40A diagonally upward to the left with the thumb F. FIG. 9B shows a state in which an operator with a small hand is operating the first knob 40A in the diagonally left direction.

When operating the crane 10 using the operating device 30, the operator grips the grip portion 31 with one hand (for example, the right hand), hooks the index finger on the accelerator lever 37, and holds the operating portion main body 32. Then, in order to operate the first or second joysticks 36A, 36B, the thumb F is placed on the seat surface 42 of the first or second knobs 40A, 40B. By fitting the curved surface of the thumb F to the recess 42a of the seat surface 42, the fingers can sit comfortably on the knobs 40A and 40B.

For example, when the winch is wound up by a single operation, as shown in FIG. 5, the knob 40 (second knob 40B) is moved upward along the Y axis, that is, in a direction away from the hand, and the joystick 36 is moved upward. Tilt in the direction. At this time, as shown in FIG. 5, by putting the thumb F on the overhanging portion 45 protruding downward and pushing it upward, the thumb F can be easily moved upward without being unnecessarily extended. .. Therefore, the operator can easily and stably perform the upward tilting operation of the joystick 36.

On the other hand, when the winch is extended, as shown in FIG. 6, the thumb F is placed on the notch 41 to move the knob 40 downward along the Y axis, and the joystick 36 is tilted downward. By providing the notch 41, the thumb F can be easily hung on the knob 40, and the knob 40 can be easily moved downward. Therefore, the operator can easily and stably perform the downward tilting operation of the joystick 36.

Further, for example, when the telescopic boom 16 is extended or contracted, the knob 40 is moved to the left or right to tilt the second joystick 36B to the left or right. At this time, as shown in FIGS. 7 and 8 (a), the thumb F is pulled out in the left-right direction due to the inclined wall surface and the non-slip portion 47 of the recess 42a provided in the seat surface 42 of the knob 40 that rises in the left-right direction. And deviation can be suppressed appropriately. Further, the thumb F fits into the recess 42a of the seat surface 42, and an extra force for pressing the second knob 40B becomes unnecessary. Therefore, the operator can easily and stably tilt the joystick 36 in the left-right direction.

Further, when an operator with a small hand performs the same operation, as shown in FIG. 8B, the knob 40 is easily and stably pressed by pushing the chamfered portion 44 on the lower right side of the knob 40 with the thumb F. Can be operated. Further, the chamfered portion 44 increases the contact area between the knob 40 and the thumb F, and can suppress the burden on the fingertips and the occurrence of pain. Therefore, the operator can easily and stably tilt the joystick 36 in the left-right direction.

Further, in the single operation as described above, when the joystick 36 is tilted to the end point in the X positive direction, the X negative direction, the Y positive direction, or the Y negative direction (end state), the thumb F is the recess 42a of the seat surface 42. It is fixed in a comfortable state at the notch 41, the overhang 45 or the chamfer 44. Therefore, the operator can stably grip the grip portion 31, the operability of the accelerator lever 37 with the index finger is improved, and the operating speed of each actuator can be easily adjusted.

On the other hand, when the expansion / contraction boom 16 is rotated and activated by the combined operation of the joystick 36, for example, the first knob 40A is moved diagonally upward to the left as shown in FIG. 9A. Even at this time, the thumb F fits into the recess 42a of the seat surface 42, so that this movement operation can be performed easily and stably.

Further, even if the operator has a small hand, as shown in FIG. 9B, by pressing the chamfered portion 44 on the lower right side of the first knob 40A, the first knob 40A does not feel pain or the like. Knob 40A can be operated easily and stably.

Therefore, regardless of the size of the hand, the operator can easily and stably perform the combined operation by tilting the first joystick 36A in the oblique direction. As a result, the accelerator lever 37 can be operated stably, and the operating speed of each actuator can be easily adjusted. Further, when a left-handed operator operates the operating device 30 with his left hand, the same effect can be obtained.

A signal based on the tilted state of the first and second joysticks 36A and 36B and a signal based on the operation amount 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, this control unit calculates operation information such as the operating speed and operating 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. The control device 24 controls and drives each actuator of the crane 10 based on the received signal.

(Variations 1 to 11)
Next, the knobs 401 to 411 of the modified examples 1 to 11 will be described with reference to FIGS. 10 to 20. 10 to 20 are diagrams for explaining the configuration of the knobs 401 to 411 of the modified examples 1 to 11. The knobs 401 to 411 of the modified examples 1 to 11 have the same basic configuration as the knob 40 of the first embodiment, except that the appearance shape is different. Therefore, the same components as those of the knob 40 of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

That is, the knobs 401 to 411 of the modified examples 1 to 11 include a notch 41, an overhanging portion 45, a seat surface 42, a recess 42a, a chamfered portion 44, a connecting portion 46, and the like. Further, the groove portion 43 may be provided on the surface of the seat surface 42 or the like. Further, a band-shaped non-slip portion 47 may be provided on the outer peripheral edge in the left-right direction.

In the following, the detailed configuration of each modification will be omitted, and the characteristic configuration of the knob 40 of each modification will be mainly described.

10 (a) to 10 (f) are a front view, a perspective view, a bottom view, a right side view, a CC end view, and a DD end view of the knob 401 of the modified example 1. As shown in these figures, the knob 401 of the modified example 1 has a substantially circular shape in a plan view, and the outer peripheral edge other than the notch 41 is chamfered with a radius of curvature r (r = 0.3 mm to 3.0 mm). A chamfered portion 44 is provided. Further, in the first modification, 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, so that the contact area with the thumb F is further increased. And the contact is improved. Further, although the notch 41 portion is also chamfered, the radius of curvature smaller than the radius of curvature r of the chamfered portion 44 makes it easy to hang the thumb F. Further, in the first modification, the bottom surface of the recess 42a of the seat surface 42 is set as a flat surface (curvature radius R≈∞ in the left-right direction and the vertical direction), and the outer circumference is raised to increase the inclination angle of the inclined wall surface. Even with the knob 401 having such a shape, the effect of preventing the thumb F from coming off from the knob 401 and the stability can be enhanced.

11 (a) to 11 (f) are a front view, a perspective view, a bottom view, a right side view, an EE end view, and an FF end view of the knob 402 of the modified example 2. 12 (a) to 12 (f) are a front view, a perspective view, a bottom view, a right side view, a GG end view, and an HH end view of the knob 403 of the modified example 3. As shown in FIGS. 11 and 12, the knobs 402 and 403 of the modified examples 2 and 3 have a radius of curvature r larger than the radius of curvature r of the first embodiment, and the entire outer peripheral edge is chamfered substantially uniformly. A chamfered portion 44 is provided to increase the contact area with the fingertip. The distance h1 is different between the knob 402 of the modified example 2 and the knob 403 of the modified example 3. Specifically, the distance h1 of the modified example 2> the distance h1 of the modified example 3. Therefore, the knob 402 of the modification 2 in which the distance h1 is relatively large (deep) has the effect of better sitting the finger on the seat surface 42, and the knob 402 of the modification 3 in which the distance h1 is relatively small (shallow) can be obtained. The knob 403 has the effect of having a higher degree of freedom in placing the thumb F.

13 (a) to 13 (f) are a front view, a perspective view, a bottom view, a right side view, an II end view, and a JJ end view of the knob 404 of the modified example 4. 14 (a) to 14 (f) are a front view, a perspective view, a bottom view, a right side view, a KK end view, and an LL end view of the knob 405 of the modified example 5. In the modified examples 4 and 5, the chamfered portion 44 is provided by chamfering the entire outer peripheral edge with the same radius of curvature r as the modified examples 2 and 3. Further, in the modified examples 4 and 5, as shown in the end views of FIGS. 13 and 14, the seat surface 42 of the knobs 404 and 405 is dented in an arc shape in the X direction and the Y direction to form a spherical surface or a parabolic surface. A recess 42a having an inclined wall surface made of the same material is provided to further improve the sitting of the fingers. Further, the overhanging portion 45 is projected toward the front side (Z positive direction) from the notch portion 41 side to make it easier to put a finger on the overhanging portion 45. In the modified examples 4 and 5, the radius of curvature R in the left-right direction and the front-back direction of the recess 42a is the same, and R = 15 mm to 40 mm. Further, since the distance h1 of the modified example 4> the distance h1 of the modified example 5, the same effects as those of the modified examples 2 and 3 can be obtained in the modified examples 4 and 5 depending on the difference in the distance h1.

15 (a) to 15 (f) are a front view, a perspective view, a bottom view, a right side view, an MM end view, and an NN end view of the knob 406 of the modified example 6. 16 (a) to 16 (f) are a front view, a perspective view, a bottom view, a right side view, an OO end view, and a PP end view of the knob 407 of the modified example 7. In the modified examples 6 and 7 shown in FIGS. 15 and 16, the radius of curvature r of the chamfered portion 44 is further increased as compared with the modified examples 4 and 5, and the contact area with the fingertip is further increased. Further, the surfaces of the knobs 406 and 407 are dented in an arc shape in the X direction and the Y direction, and a recess 42a having an inclined wall surface made of a spherical surface or a paraboloid having R = 15 mm to 40 mm is provided. Further, the overhanging portion 45 is projected toward the front side from the notch portion 41 side. Further, since the distance h1 of the modified example 6> the distance h1 of the modified example 7, the same effects as those of the modified examples 2 and 3 can be obtained in the modified examples 6 and 7, respectively.

17 (a) to 17 (g) are a front view, a perspective view, a bottom view, a right side view, a QQ end view, an RR end view, and an SS end view of the knob 408 of the modified example 8. .. 18 (a) to 18 (f) are a front view, a perspective view, a bottom view, a right side view, a TT end view, and a UU end view of the knob 409 of the modified example 9. In the modified examples 8 and 9 shown in FIGS. 17 and 18, similarly to the above modified examples 4 to 7, the entire outer peripheral edge of the knobs 408 and 409 is chamfered by R to provide a chamfered portion 44, and the surface of the knobs 408 and 409 is provided. Is dented in an arc shape in the X direction and the Y direction to provide a recess 42a having an inclined wall surface made of a spherical surface or a paraboloid. Further, the overhanging portion 45 is projected toward the front side from the notch portion 41 side. Further, since the distance h1 of the modified example 8> the distance h1 of the modified example 9, the same effects as those of the modified examples 2 and 3 can be obtained in the modified examples 8 and 9, respectively.

As a difference from the modified examples 4 to 7, in the modified examples 8 and 9, the knobs 408 and 409 are shown in the respective views of FIGS. 17 and 18 (particularly, the SS end view of FIG. 17 (g)). In the chamfered portion 44 over the entire circumference of the above, the radius of curvature r2 of the outer peripheral edge of the third and fourth quadrants on the overhanging portion 45 side is larger than the radius of curvature r1 of the outer peripheral edge on the notch 41 side. Further, the radius of curvature of the chamfered portion 44 is gradually increased downward from both ends of the cutout portion 41 clockwise and counterclockwise. By changing the radius of curvature of the chamfered portion 44 in this way, the radius of curvature r2 is large and the contact area is large when the knobs 408 and 409 are moved upward, left-right, diagonally left upward, and diagonally upward right. The thumb F can be hung on the large outer peripheral edge to reduce the burden on the fingertips, and the operation can be performed smoothly without causing pain or the like. On the other hand, when the knobs 408 and 409 are moved downward, the thumb F is hung on the notch 41 having a relatively small radius of curvature r1, so that the thumb F does not slip easily and the operation is smooth. Is possible.

Further, when changing the radius of curvature of the chamfered portion 44 to r1 to r2, it is preferable that the radius of curvature is within the range of r1 = 0.3 mm to 3.0 mm and r2 = 0.3 mm to 3.0 mm. As a result, the knobs 408 and 409 having a good contact feeling with the thumb F and excellent operability in the up / down / left / right and diagonal directions can be obtained.

19 (a) to 19 (f) are a front view, a perspective view, a bottom view, a right side view, a VV cross-sectional view, and a WW cross-sectional view of the knob 410 of the modified example 10. The knob 410 of the modification 10 shown in FIG. 19 has the same configuration as the knob 408 of the modification 8 shown in FIG. 17, but in the modification 10, the outer periphery of the lower end of the knob 410 (the overhanging portion 45 and chamfering). A non-slip portion 47 made of a band-shaped protrusion is provided so as to surround the boundary with the portion 44). The non-slip portion 47 exerts a non-slip effect and an effect of preventing the thumb F from coming off, and can appropriately perform not only the operation of moving the knob 410 in the left-right direction but also the operation of moving the knob 410 diagonally downward to the left and diagonally downward to the right. .. Further, by providing the protrusion 48 indicating the center of the knob 410, the thumb F can be arranged at an appropriate position on the seat surface 42.

Further, in an operator with a small hand, when the knob 410 is moved in the left-right direction, the left diagonally upward direction, and the right diagonally upward direction, the non-slip portion 47 and the portion having a large radius of curvature of the chamfered portion 44 are thumbs up. By pressing with F, the movement operation of the knob 410 can be performed appropriately and without burden.

20 (a) to 20 (f) are a front view, a perspective view, a bottom view, a right side view, an XX sectional view, and an YY sectional view 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 operation and effect as the modified example 7 can be obtained. Further, in the modified example 11, a non-slip portion 47 made of a band-shaped protrusion is provided along the chamfered portion 44 of the knob 411 so as to surround the recess 42a. Therefore, even in the modification 11, the non-slip portion 47 having a high anti-slip effect and the effect of preventing the thumb F from coming off and the chamfered portion 44 having a large radius of curvature allow the knob 411 to be moved in the left-right direction, diagonally downward to the left, and so on. The operation of moving diagonally downward to the right can be performed appropriately. Further, by providing the protrusion 48 indicating the center of the knob 411, the thumb F can be arranged at an appropriate position on the seat surface 42.

The operating device 30 of the present embodiment may have only one of the knobs 40 shown in FIGS. 4 and the like, or the knobs 401 to 411 of the modified examples 1 to 11 shown in FIGS. 10 to 20. Further, it is assumed that the operating device 30 includes all or some of these knobs 40 to 411, and the operator can sit on the seat surface 42 with the size of his / her hand and the length of the thumb F. You may select a knob of your choice according to the state, usability, contact feeling, etc., and replace it with the tip of the stick portion 39 so that it can be operated.

As described above, the operation device 30 of the work machine of the present embodiment is either a single operation in which any one of a plurality of actuators related to the drive of the work machine (truck crane 10) is independently operated. It is an operating device of a working machine that performs a combined operation of driving two at the same time. The operating device 30 has a joystick 36 having a stick portion 39 supported so as to be tilted at least vertically, horizontally, and diagonally in a plane, and knobs 40 to 411 provided at the tip of the stick portion 39. Be prepared. The knob 40 and the like have a recess 42a on the seat surface 42 on which the operator of the working machine rests his / her finger, and the notch 41 provided by cutting out the end portion in the upward direction and the tension provided so as to project downward. A protrusion 45 is provided.

Therefore, the actuator of the working machine (truck crane 10) can be operated independently by tilting the joystick 36 in the left-right direction or the up-down direction. Further, by tilting the joystick 36 in the diagonal direction (right diagonally upward direction, right diagonally downward direction, left diagonally upward direction, left diagonally downward direction), a combined operation of operating a plurality of actuators at the same time becomes possible.

By providing the recess 42a in the seat surface 42 of the knob 40, the placement stability of the thumb F on the knob 40 (seat surface 42) is improved, and the operator can easily and stably tilt the joystick 36. You can. In particular, the recess 42a can prevent the thumb F from coming off the knob 40 when moving in the left-right direction. Further, by providing the notch 41, the distance between the upper end of the knob 40 and the thumb F becomes short, and the thumb F can be hung on the notch 41 to easily move the knob 40 downward. Further, when the knob 40 is moved upward, the thumb F can be easily operated by hanging the thumb F on the overhanging portion 45, and the thumb F is separated from the knob 40 moved upward by the overhanging portion 45. It becomes difficult and stable pushing operation can be maintained.

Further, in the present embodiment and the modified example, two joysticks 36 (first and second joysticks 36A and 36B) arranged at intervals in the left-right direction are provided. Therefore, the two joysticks 36 can be used for single operation or combined operation of more actuators of the working machine. Further, the recess 42a, the notch 41, and the overhanging portion 45 allow the knob 40 to be easily and stably moved, and the two joysticks 36 can be appropriately tilted.

Further, in the modified examples 4 to 11, the wall surface of the recess 42a is formed of a spherical surface or a paraboloid. With this configuration, the stability of placing the thumb F in the recess 42a can be further improved.

Further, in the present embodiment and each modification, the knobs 40 to 411 include a chamfered portion 44 whose outer peripheral edge is chamfered at least in a predetermined range in an oblique direction from the center of the knobs 40 to 411 toward the operator's hand. .. Further, when this predetermined range has the center O of the knobs 40 to 411 as the origin, the left-right direction as the X-axis, and the vertical direction as the Y-axis, it sandwiches a line segment that passes through at least the origin and divides the fourth quadrant into two equal parts. It is preferably in the range of 45 °. With this configuration, even when the thumb F is difficult to reach the recess 42a when the operator with a small hand operates the knobs 40 to 411, pressing the chamfered portion 44 can reduce the burden on the fingertips and cause pain. No operation is possible, and the knobs 40 to 411 can be operated appropriately.

Further, in the operating device 30 of the present embodiment, the operating device 30 has a plurality of knobs 40 to 411 having different radii of curvature of the recess 42a and / or the radius of curvature of the chamfered portion 44, and the plurality of knobs 40 to 411 are attached to the stick portion 39. On the other hand, if it is configured to be freely replaceable, the operator can select a favorite knob 40 to 411 and attach it to the stick portion 39 according to the size of the hand or the like. As a result, it is possible to provide an operating device 30 that can provide good operability to various types of operators regardless of the size of the hand or the like.

Although the operating device for the actuator according to the present disclosure has been described above based on the embodiments and modifications, the specific configuration is not limited to the above embodiments and modifications, and does not deviate from the gist of the present invention. As long as it is, design changes and additions are allowed.

For example, in the above embodiment, the embodiment in which the operating device 30 is applied to the operation of the truck crane 10 as a working machine has been described, but the working machine is not limited to the truck crane 10. Any working machine provided with a plurality of actuators, such as a cargo handling machine, a construction machine, and a civil engineering machine, may be used, and the operating device of the present disclosure can be applied to these working machines.

10: Truck crane (working machine)
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 42: Seat surface 42a: Recessed portion 44: Chamfered portion 45: Overhanging portion

Claims (6)

It is an operating device of a working machine that performs a single operation of operating any one of a plurality of actuators related to driving the working machine independently and a combined operation of driving any two of them at the same time.
A stick part that is supported so that it can be tilted at least vertically, horizontally, and diagonally in the plane.
A joystick having a knob provided at the tip of the stick portion is provided.
The knob has a recess in the seating surface on which the operator of the working machine rests his / her finger.
A notch provided by cutting out the upper end, and
An operating device for a working machine characterized by having an overhanging portion provided so as to project downward. The operating device for a working machine according to claim 1, further comprising the two joysticks arranged at intervals in the left-right direction. The operating device for a working machine according to claim 1 or 2, wherein the wall surface of the recess is formed of a spherical surface or a paraboloid. The knob according to any one of claims 1 to 3, wherein the knob includes a chamfered portion having a chamfered outer peripheral edge at least in a predetermined range in an oblique direction from the center of the knob toward the hand of the operator. The operating device of the described working machine. When the predetermined range has the center of the knob as the origin, the left-right direction as the X-axis, and the vertical direction as the Y-axis, the predetermined range is at least 45 ° across a line segment that passes through the origin and divides the fourth quadrant into two equal parts. The operating device for a working machine according to claim 4, wherein the operating device is within a range. The claim is characterized in that the knob has a plurality of knobs having different radii of curvature and / or radii of curvature of the chamfered portion, and the plurality of knobs are interchangeably configured with respect to the stick portion. The operating device for the working machine according to 4 or 5.

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