阅读说明：本技术 作业机械 (Working machine ) 是由 佐佐木均 佐伯诚司 山崎洋一郎 于 2019-11-25 设计创作，主要内容包括：本发明涉及一种作业机械,该作业机械(1)的第1操作机构(7)具有：使第4操作杆(5)向左右方向倾倒的第1引导部件(74)、基于驾驶指令而生成使第1方向用引导部件(74)倾倒的驱动力的第1致动器(72)。第1致动器(72)配置在第4操作杆(5)的与从侧座椅(3)侧为相反侧的位置。(The invention relates to a working machine, wherein a1 st operating mechanism (7) of the working machine (1) comprises: a1 st guide member (74) for tilting the 4 th operation lever (5) in the left-right direction, and a1 st actuator (72) for generating a driving force for tilting the 1 st direction guide member (74) on the basis of a driving command. The 1 st actuator (72) is disposed at a position on the opposite side of the 4 th operation lever (5) from the side of the side seat (3).)

1. A working machine that is operated based on a driving command, comprising:

a seat for seating an operator;

an operation lever arranged on a side of the seat and configured to control an operation amount of the working machine according to a tilt angle and a tilt direction;

an operation mechanism that causes the operation lever to tilt based on the driving instruction,

the operating mechanism includes: a1 st direction guide member for tilting the operation lever in a1 st direction; a1 st-direction actuator that generates a driving force for tilting the operation lever via the 1 st-direction guide member based on the driving command,

the 1 st direction actuator is disposed at a position on the operating lever opposite to the seat side.

2. The work machine of claim 1,

a control panel is provided on the front side or the rear side of the operating lever,

the operating mechanism includes: a2 nd direction guide member that inclines the operation lever in a2 nd direction that is a direction intersecting the 1 st direction; a2 nd direction actuator that generates a driving force for tilting the operation lever via the 2 nd direction guide member based on the driving command,

the 2 nd direction actuator is disposed at a position opposite to the control panel side of the operation lever.

3. The work machine according to claim 1, comprising:

a boarding/alighting passage passing through the seat and the front side of the operating lever,

the operating mechanism includes: a3 rd direction guide member that tilts the operation lever in a3 rd direction that is a direction intersecting the 1 st direction; a3 rd direction actuator that generates a driving force for tilting the operation lever via the 3 rd direction guide member based on the driving command,

the 3 rd direction actuator is disposed on the rear side of the operation lever.

Technical Field

The present invention relates to a work machine operated based on a driving command, and more particularly to a remotely operated work machine.

Background

Conventionally, there is known an operation mechanism that performs remote control of a work machine by indirectly operating an operation lever that is directly operable by an operator in a seated state on a seat, based on a driving command transmitted from outside the work machine (for example, see patent literature 1). In order to tilt the operation lever, the operation mechanism described in patent document 1 includes an actuator that operates based on a driving command, and a guide member that tilts the operation lever by a driving force of the actuator.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2017-172174

Disclosure of Invention

Technical problem to be solved by the invention

However, as described in patent document 1, in a general work machine, a console box is disposed on a side of a seat on which an operator sits, and an operation lever is disposed on an upper surface of the console box.

When an operating mechanism for remotely operating an operating lever is mounted on such a work machine, a space for an operator to sit on (i.e., a space on a seat) may be occupied by the operating mechanism. In such a case, the operation mechanism may obstruct the movement of the operator, and the operator may not easily directly operate the operation lever while sitting on the seat.

The present invention has been made in view of the above points, and an object thereof is to provide a work machine that can perform remote control and can sufficiently secure a space on a seat.

Solution for solving the above technical problem

A work machine according to the present invention is a work machine that is operated based on a driving command, comprising:

a seat for seating an operator;

an operation lever arranged on a side of the seat and configured to control an operation amount of the working machine according to a tilt angle and a tilt direction;

an operation mechanism that causes the operation lever to tilt based on the driving instruction,

the operating mechanism includes: a1 st direction guide member for tilting the operation lever in a1 st direction; a1 st-direction actuator that generates a driving force for tilting the operation lever via the 1 st-direction guide member based on the driving command,

the 1 st direction actuator is disposed at a position on the operating lever opposite to the seat side.

Drawings

Fig. 1 is a schematic diagram showing an overall configuration of a remote operation system of a working machine according to an embodiment.

Fig. 2 is a schematic diagram showing a schematic configuration of a remote operation device of the remote operation system of fig. 1.

Fig. 3 is a block diagram showing a configuration related to control of the remote operation system of fig. 1.

Fig. 4 is a perspective view showing a configuration of a seat periphery of the work machine of fig. 1.

Fig. 5 is a perspective view of an operating mechanism of the work machine of fig. 1.

Fig. 6 is a plan view of an operating mechanism of the work machine of fig. 1.

Fig. 7 is a side view showing a schematic configuration of an operation mechanism of the working machine of fig. 1.

Detailed Description

Hereinafter, the remote operation system S according to the embodiment will be described with reference to the drawings.

First, the configuration of the remote operation system S will be described with reference to fig. 1 to 3.

As shown in fig. 1, the remote operation system S includes a work machine 1, which is a hydraulic excavator, and a remote operation device 2 for remotely operating the work machine 1. The work machine 1 may be directly operated by an operator on board, or may be indirectly operated by the operator via the remote operation device 2 without being on board.

In the present embodiment, a hydraulic excavator is used as the work machine. However, the work machine according to the present invention is not limited to the hydraulic excavator. For example, a crane vehicle, a dump truck, or the like may be used.

Work machine 1 includes a work implement including boom 10, arm 11, and attachment 12, a revolving unit 13 on which the work implement is mounted, and a traveling body 14 that rotatably supports revolving unit 13.

The base end of boom 10 is swingably attached to the front portion of revolving unit 13. Boom 10 has a1 st hydraulic cylinder 10a having both ends attached to boom 10 and revolving unit 13. Boom 10 swings with respect to revolving unit 13 by the telescopic operation of first hydraulic cylinder 10a 1.

A base end portion of arm 11 is swingably attached to a front end portion of boom 10. Arm 11 has a2 nd hydraulic cylinder 11a attached to arm 11 and boom 10 at both ends. Arm 11 swings with respect to boom 10 by the telescopic operation of second hydraulic cylinder 11 a.

Attachment 12 is swingably mounted on the front end portion of arm 11. The attachment 12 has a3 rd hydraulic cylinder 12a attached to the attachment 12 and the arm 11 at both ends. The attachment 12 swings with respect to the arm 11 by the telescopic operation of the 3 rd hydraulic cylinder 12 a.

In the present embodiment, a bucket is used as the attachment 12. However, the attachment 12 is not limited to the bucket, and may be another type of attachment (e.g., a crusher, a magnet, etc.).

The revolving unit 13 is configured to be able to revolve around a yaw (yaw) axis with respect to the traveling unit 14 by a revolving hydraulic motor (not shown). A cab 13a on which an operator rides is provided in a front portion of the revolving structure 13, and a machine room 13b is provided in a rear portion of the revolving structure 13.

A slave operation device 15 (see fig. 2) for operating the work machine 1 is disposed in the cab 13 a. The slave-side operation device 15 is, for example, an operation pedal, an operation switch, a 4 th operation lever 5 and a 5 th operation lever 6 (see fig. 4) described later, and the like.

In the machine chamber 13b, hydraulic devices (not shown) such as a hydraulic pump, a directional switching valve, and a hydraulic oil tank, an engine (not shown) as a power source of the hydraulic pump, and the like are stored.

The traveling body 14 is a crawler-type traveling body and is driven by a traveling hydraulic motor (not shown). The traveling body of the work machine according to the present invention is not limited to a crawler belt. For example, the traveling body may be a traveling body that moves with wheels, or may be a leg-type traveling body. In the case where the working machine is a machine used on water, the traveling body may be a platform ship or the like.

The work machine 1 may further include an actuator other than the travel hydraulic motor, the turning hydraulic motor, the 1 st hydraulic cylinder 10a, the 2 nd hydraulic cylinder 11a, and the 3 rd hydraulic cylinder 12a (for example, a hydraulic actuator for driving a bulldozer, a hydraulic actuator included in an attachment such as a crusher), and the like. Further, a part of the actuators (for example, turning actuators) of the work machine 1 may be electric actuators.

When the work machine 1 is operated, the actuators such as the traveling hydraulic motor, the turning hydraulic motor, the 1 st hydraulic cylinder 10a, the 2 nd hydraulic cylinder 11a, and the 3 rd hydraulic cylinder 12a are operated by operating the slave-side operation device 15 while the engine is operated. The operation of each actuator corresponding to the operation of the slave side operation device 15 can be performed, for example, in the same manner as in a known work machine.

As shown in fig. 2, in order to enable remote operation of the work machine 1, an electric operation driving device 16 (for example, a1 st operation mechanism 7 and a2 nd operation mechanism 8 (see fig. 4) described later) that drives the slave-side operation device 15 is provided in the cab 13 a.

The operation drive device 16 is connected to the slave side operation device 15. The operation drive device 16 may be configured to be detachable from the work machine 1.

The operation drive device 16 includes a plurality of motors (not shown). The operation driving device 16 drives each operation pedal and operation switch included in the slave side operation device 15, and a 4 th operation lever 5 and a 5 th operation lever 6 (see fig. 4) described later, by the driving force from the motor.

The work machine 1 further includes an operation state detector 17 for detecting an operation state of the work machine 1, an external sensor 18 such as a camera for detecting a state around the work machine 1, and a slave side control device 19 capable of executing various control processes.

The operating state detector 17 is, for example, a detector that detects the rotation angle of the swing operation of each of the boom 10, the arm 11, and the attachment 12 or the stroke length of the 1 st hydraulic cylinder 10a, the 2 nd hydraulic cylinder 11a, and the 3 rd hydraulic cylinder 12a, a detector that detects the swing angle of the revolving unit 13, a detector that detects the driving speed of the traveling unit 14, a detector that detects the inclination angle of the revolving unit 13 or the traveling unit 14, an inertial sensor that detects the angular velocity or the acceleration of the revolving unit 13, or the like.

The environment sensor 18 is constituted by, for example, a camera, a distance measuring sensor, a radar, or the like. Cameras and the like constituting the environment sensor 18 are provided at a plurality of positions such as a peripheral portion of the revolving unit 13, and can detect an object existing around the revolving unit 13.

The slave-side controller 19 is constituted by 1 or more electronic circuit units including, for example, a microcomputer, a memory, an interface circuit, and the like. The detection signals of the operating state detector 17 and the external sensor 18 are appropriately acquired from the side control device 19.

The slave-side control device 19 has a function as the driving control unit 19a, a function as the peripheral object detection unit 19b, and a function as the slave-side communication unit 19c, as functions realized by one or both of the installed hardware configuration and the installed program (software configuration).

The driving control unit 19a controls the operation of the work machine 1 by performing operation control of the operation driving device 16 (further, operation control of the slave-side operation device 15) and driving control of the engine in accordance with the operation of the slave-side operation device 15 or the driving command given from the remote operation device 2.

The peripheral object detection unit 19b detects an object such as a person or an installation object when the object is present in a predetermined target space around the work machine 1 based on a detection signal of the external sensor 18.

The slave communication unit 19c performs wireless communication with the remote operation device 2 via a master communication unit 27b described later as appropriate.

As shown in fig. 3, the remote operation device 2 includes: a main-side seat 21 on which an operator sits in the remote control room 20, a pair of left and right main-side console boxes 22 disposed on the left and right of the main-side seat 21, a main-side operation device 23 operated by the operator to perform remote operation of the work machine 1, a speaker 24 as an output device of sound information (audible information), and a display 25 as an output device of display information (visual information).

As shown in fig. 2, the remote operation device 2 includes an operation state detector 26 for detecting an operation state of the master-side operation device 23, and a master-side control device 27 capable of executing various control processes. The master-side controller 27 may be disposed inside or outside the remote control room 20.

The master-side operation device 23 has, for example, the same or similar configuration as the slave-side operation device 15 of the work machine 1.

Specifically, the main-side operation device 23 includes a1 st operation lever 23b with an operation pedal 23a provided on the front side of the main-side seat 21, a2 nd operation lever (not shown) and a3 rd operation lever 23c and the like mounted on the pair of left and right main-side console boxes 22, respectively, so that an operator seated on the main-side seat 21 can operate the operation.

However, the master-side operation device 23 may have a different configuration from the slave-side operation device 15 of the work machine 1. For example, the main-side operation device 23 may be a portable operation device having a joystick, an operation button, or the like.

The operation state detector 26 is, for example, a potentiometer, a contact switch, or the like incorporated in the main-side operation device 23. The operation state detector 26 is configured to output detection signals indicating operation states of the respective operation units (the operation pedal 23a, the 1 st operation lever 23b, the 2 nd operation lever, the 3 rd operation lever 23c, and the like) of the main-side operation device 23.

The speakers 24 are disposed at a plurality of positions inside the remote control room 20, such as the front, rear, and right and left sides of the remote control room 20.

The display 25 is configured by, for example, a liquid crystal display, a head-up display, or the like. The display 25 is disposed on the front side of the main side seat 21 so that an operator seated on the main side seat 21 can visually recognize it.

The main-side control device 27 is constituted by 1 or more electronic circuit units including, for example, a microcomputer, a memory, an interface circuit, and the like. The master-side control device 27 appropriately acquires the detection signal of the operation state detector 26. Based on the detection signal, the main-side control device 27 recognizes a driving instruction to the work machine 1, which is specified by the operation state of the main-side operation device 23.

The master-side control device 27 has a function as the output information control unit 27a and a function as the master-side communication unit 27b as functions realized by one or both of the installed hardware configuration and the installed program (software configuration).

The output information control unit 27a controls the speaker 24 and the display 25.

The master-side communication unit 27b performs wireless communication with the work machine 1 via the slave-side communication unit 19c as appropriate. The master-side control device 27 transmits a driving command for the work machine 1 to the slave-side control device 19 by the wireless communication, and receives various information on the work machine 1 side (a captured image of the camera, detection information of an object around the work machine 1, detection information of an operation state of the work machine 1, and the like) from the slave-side control device 19.

Next, the configuration of the 1 st operating mechanism 7 and the 2 nd operating mechanism 8, which are one of the operation driving devices 16, will be described in detail with reference to fig. 4 to 7.

As shown in fig. 4, the work machine 1 includes: a slave seat 3 on which an operator sits in the cab 13a, and a pair of left and right slave console boxes 4 disposed on the left and right of the slave seat 3.

The work machine 1 is also provided with a slave operation device 15 (see fig. 2). The slave-side operation device 15 includes a 4 th operation lever 5 and a 5 th operation lever 6 provided in each slave-side console box 4, an operation pedal, and the like.

The work machine 1 further includes an operation drive device 16 (see fig. 2). The operation drive device 16 includes a1 st operating mechanism 7 (operating mechanism for a working machine) and a2 nd operating mechanism 8 (operating mechanism for a working machine) for operating the 4 th operating lever 5 and the 5 th operating lever 6, respectively, and the like.

Further, a boarding/alighting passage 9 through which an operator passes when seated in the slave seat 3 is formed in the cab 13a on the front side of the slave seat 3 and the 5 th operating lever 6.

A 4 th operating lever 5 and a 5 th operating lever 6 are disposed at the tip end portions of the slave console boxes 4, and a1 st operating mechanism 7 and a2 nd operating mechanism 8 are attached to the tip end portions of the slave console boxes 4 so as to surround the base end portions of the corresponding 4 th operating lever 5 and 5 th operating lever 6.

A control panel 4a is provided on the right side (left side in fig. 4) of the left and right slave console boxes 4 on the right side of the seated operator in the slave console box 4, at a position rearward of the 4 th operation lever 5. An operation switch is disposed on the control panel 4 a.

The 4 th and 5 th operation levers 5 and 6 transmit signals to the slave side control device 19 (see fig. 2) according to the tilt angle and the tilt direction. Slave-side control device 19 controls the operation amount of work machine 1 (for example, the swing angle of boom 10 and arm 11 in the present embodiment) based on the signal.

The 1 st operating mechanism 7 and the 2 nd operating mechanism 8 tilt the corresponding 4 th operating lever 5 and the 5 th operating lever 6 based on a driving command from the remote operation device 2. Specifically, the 1 st operating mechanism 7 tilts the 4 th operating lever 5 in response to tilting of the 2 nd operating lever (not shown) of the remote operating device 2. The 2 nd operating mechanism 8 tilts the 5 th operating lever 6 in response to tilting of the 3 rd operating lever 23c (see fig. 3) of the remote operating device 2.

Here, the 1 st operating mechanism 7 and the 2 nd operating mechanism 8 as the operating mechanisms for the working machine will be described in detail.

As shown in the perspective view of fig. 5 and the plan view of fig. 6, the 1 st operating mechanism 7 includes a disk 70 fixed to the slave console box 4, and a support member 71 pivotally supporting the 4 th operating lever 5 so as to be tiltable in a central portion on the upper surface side of the disk 70.

The tray 70 is a rectangular flat plate-like member. The tray 70 is parallel to a reference plane p (see fig. 7) described later in a state of being installed in the slave console box 4.

The support member 71 pivotally supports the base end portion 5a of the 4 th control lever 5 in a lateral direction, which is a1 st direction, and in a forward-backward direction (vertical direction in fig. 6), which is a2 nd direction that is a direction orthogonal to the 1 st direction.

The 1 st operating mechanism 7 includes a1 st actuator 72 (the 1 st direction actuator) disposed on the upper surface side (the outer side in fig. 5 and 6) of the disk 70, and a2 nd actuator 73 (the 2 nd direction actuator) disposed on the lower surface side (the back side in fig. 5 and 6) of the disk 70.

The 1 st actuator 72 and the 2 nd actuator 73 are electric actuators. The 1 st actuator 72 generates a driving force that rotates around an axis extending in the up-down direction from a rotation axis (not shown) provided at the lower end portion. The 2 nd actuator 73 generates a driving force that rotates about an axis extending in the left-right direction from a rotation axis (not shown) provided at an end portion on the left side.

The 1 st operating mechanism 7 includes a1 st guide member 74 (1 st direction guide member) extending in the front-rear direction on the upper surface side of the tray 70, and a2 nd guide member 75 (2 nd direction guide member) extending in the left-right direction on the upper surface side of the tray 70 and below the 1 st guide member 74.

The 1 st guide member 74 includes a pair of front and rear 1 st turning portions 74a and a pair of left and right arcuate 1 st guide portions 74 b. The pair of 1 st guide portions 74b extend in the front-rear direction so as to sandwich the base end portion 5a of the 4 th operation lever 5. The 1 st guide portion 74b is attached to the 1 st turning portion 74a at its respective end.

Here, the 1 st rotating portion 74a is rotatable about a2 nd axis a2 extending in the 2 nd direction. When the 1 st rotating portion 74a rotates, the 1 st guide portion 74b also rotates integrally. As a result, the 1 st guide 74b presses the base end portion 5a of the 4 th operation lever 5, and the 4 th operation lever 5 is tilted in the left-right direction (1 st direction) along the 1 st axis a 1.

The 2 nd guide member 75 includes a pair of left and right 2 nd rotating portions 75a and a pair of front and rear 2 nd guide portions 75b which are rod-shaped members. The pair of 2 nd guide portions 75b extend in the left-right direction so as to sandwich the base end portion 5a of the 4 th operation lever 5. The 2 nd guide portions 75b are attached to the 2 nd turning portion 75a at respective end portions.

Here, the 2 nd rotating portion 75a is rotatable about a1 st axis a1 extending in a1 st direction, which is a direction orthogonal to the 2 nd direction. When the 2 nd rotating part 75a rotates, the 2 nd guide part 75b also rotates integrally. As a result, the 2 nd guide 75b presses the base end 5a of the 4 th operation lever 5, and the 4 th operation lever 5 is tilted in the up-down direction (2 nd direction) along the 2 nd axis a 2.

The 2 nd guide 75b of the 2 nd guide member 75 is located below the 1 st guide 74b (on the back side in fig. 5 and 6). However, the 1 st guide portion 74b of the 1 st guide member 74 is formed in a2 nd axial line arch shape centered on the 1 st axial line a 1. Therefore, even when the 2 nd guide member 75 is rotated, the 2 nd guide portion 75b does not abut on the 1 st guide portion 74 b.

In the 1 st operating mechanism 7, the 1 st direction is the left-right direction, and the 2 nd direction is the front-rear direction. That is, the 1 st direction and the 2 nd direction are mutually orthogonal directions. However, the 1 st direction and the 2 nd direction of the present invention are not limited to the directions orthogonal to each other, and may be directions intersecting each other. Therefore, the 1 st direction and the 2 nd direction may be appropriately determined according to the direction in which the operation lever is tilted by the operation mechanism.

In the remote operation system S, the 4 th operation lever 5 is tilted by the 1 st guide member 74 and the 2 nd guide member 75 configured as described above. However, the guide member of the present invention is not limited to the guide member including the 1 st guide member 74 and the 2 nd guide member 75.

For example, in the case where the operation lever is tilted so as to reciprocate only in one direction, only 1 guide member may be provided. Further, the guide member may be extended and contracted to press the operation lever, instead of rotating the guide member to press the operation lever.

The 1 st operating mechanism 7 includes a1 st link mechanism 76 disposed on the upper surface side of the disk 70 and below the 1 st actuator 72 and the 1 st guide member 74, and a2 nd link mechanism 77 disposed on the lower surface side of the disk 70 and on the opposite side (right side in fig. 6) of the 1 st actuator 72 from the 2 nd actuator 73.

The 1 st link mechanism 76 transmits the driving force from the 1 st actuator 72 generated based on the driving instruction to the 1 st guide member 74. The 2 nd link mechanism 77 transmits the driving force from the 2 nd actuator 73 generated based on the driving instruction to the 2 nd guide member 75.

As shown in fig. 4, the 2 nd operation mechanism 8 has basically the same configuration as the 1 st operation mechanism 7.

However, unlike the 1 st operating mechanism 7, the 3 rd actuator 80 (the 1 st-direction actuator) corresponding to the 1 st actuator 72 of the 1 st operating mechanism 7 in the 2 nd operating mechanism 8 is disposed on the right side, and the 4 th actuator 81 (the 3 rd-direction actuator) corresponding to the 2 nd actuator 73 of the 1 st operating mechanism 7 is disposed on the rear side.

The driving forces generated by the 3 rd actuator 80 and the 4 th actuator 81 are transmitted to the 3 rd guide member 82 (the 1 st direction guide member) and the 4 th guide member 83 (the 3 rd direction guide member). By this driving force, the 2 nd operating mechanism 8 tilts the 5 th operating lever 6 in the front-rear direction (vertical direction in fig. 6) and the left-right direction (3 rd direction) based on the driving command, as in the 4 th operating lever 5.

In this way, in the working machine 1, the 1 st actuator 72 of the 1 st operating mechanism 7 is disposed at a position opposite to the side of the slave seat 3 of the 4 th operating lever 5 operated by the 1 st operating mechanism 7. The 3 rd actuator 80 of the 2 nd operating mechanism 8 is disposed at a position opposite to the side of the slave seat 3 of the 5 th operating lever 6 operated by the 2 nd operating mechanism 8.

In other words, in the work machine 1, the 1 st actuator 72 is disposed at a position farther from the side seat 3 than the 4 th operation lever 5. The 3 rd actuator 80 is disposed at a position farther from the side seat 3 than the 5 th operation lever 6.

Thus, in the work machine 1, even in a state where the 1 st operating mechanism 7 and the 2 nd operating mechanism 8 are attached to the 4 th operating lever 5 and the 5 th operating lever 6, the 1 st actuator 72 and the 3 rd actuator 80 do not protrude toward the slave seat 3 side, and a space above the slave seat 3 for seating an operator can be sufficiently secured.

In addition, in this manner, in the working machine 1, the 2 nd actuator 73 of the 1 st operating mechanism 7 is disposed at a position opposite to the side of the control panel 4a (the rear side in fig. 4, the upper side in fig. 6) of the 4 th operating lever 5.

Therefore, the 2 nd actuator 73 does not protrude toward the area where the control panel 4a is disposed. Thus, in the work machine 1, the 2 nd actuator 73 can prevent the operation via the control panel 4a from being hindered.

In addition, in this way, in the working machine 1, the 4 th actuator 81 is disposed on the rear side of the 5 th operation lever 6.

Therefore, the 4 th actuator 81 does not protrude toward the ascending/descending passage 9. Thus, in the work machine 1, the 4 th actuator 81 can prevent the operator from being hindered in the ascending and descending.

As shown in fig. 7, in the 1 st operation mechanism 7, a fulcrum of tilting of the 4 th operation lever is set as a tilting fulcrum c. Further, the tip of the 4 th operation lever 5 at the position where the 4 th operation lever 5 is most tilted to one side in the 1 st direction (the tip of the tip portion 5 b) and the tip of the 4 th operation lever 5 at the position where the 4 th operation lever 5 is most tilted to the other side are linearly connected, and a line that is orthogonal to the connected straight line and passes through the tilt fulcrum c is defined as the 3 rd axis a3 (reference axis). Further, a plane orthogonal to the 3 rd axis a3 and passing through the pouring center c is set as the reference plane p.

The 1 st actuator 72 is disposed above the reference plane p (i.e., on the 4 th lever 5 side of the reference plane p, on the front side) as viewed from the 2 nd axis a2 direction (see fig. 6). The 2 nd actuator 73 is disposed below the reference plane p (i.e., on the opposite side of the reference plane p from the 4 th operation lever 5 side, on the rear side).

In addition, as shown in fig. 6, the end portion on the lower side of the 1 st actuator 72 and the lower end portion of the 2 nd actuator 73 overlap each other when viewed from the 3 rd axis a3 direction. Therefore, the 1 st actuator 7 is smaller in size on the reference plane p than the conventional actuators.

In the 2 nd actuator 8, the 3 rd actuator 80 and the 4 th actuator 81 are also arranged to overlap at least partially when viewed from the reference axis direction in the 2 nd actuator 8.

Therefore, the 1 st operating mechanism 7 and the 2 nd operating mechanism 8 are smaller than the conventional operating mechanisms.

Accordingly, even in the state where the 1 st operating mechanism 7 and the 2 nd operating mechanism 8 are attached, the 1 st actuator 72, the 2 nd actuator 73, the 3 rd actuator 80, and the 4 th actuator 81 are prevented from protruding into the area for seating the operator of the work machine 1, such as the space above the side seat 3 and the boarding/alighting passage 9, and these areas can be sufficiently secured.

Further, the degree of freedom in layout of the components of the work machine 1 including the 1 st operating mechanism 7 and the 2 nd operating mechanism 8 can be improved.

Further, as shown in fig. 7, the work machine 1 is operated by tilting the 4 th operation lever 5. Therefore, when viewed from the 3 rd axis a3 direction, the space between the 4 th operation lever 5 and the reference plane p (strictly speaking, the surface of the disk 70) in the most inclined state becomes the dead space ds.

Then, in the 1 st operation mechanism 7, in order to flexibly use the dead space ds, the 1 st actuator 72 is disposed in the dead space ds. Specifically, the 1 st actuator 72 overlaps at least a part of the tip end portion 5b of the 4 th operation lever 5 when viewed from the 3 rd axis a3 direction in a state where the 4 th operation lever 5 is most inclined. This enables further downsizing of the 1 st operation mechanism 7.

In the 2 nd operating mechanism 8, the 3 rd actuator 80 corresponding to the 1 st actuator 72 of the 1 st operating mechanism 7 is also disposed in the dead space of the 5 th operating lever 6.

In the present embodiment, the 1 st actuator 72 is disposed on the side of the reference plane p on which the 4 th manipulation lever 5 is disposed, and the 2 nd actuator 73 is disposed on the opposite side of the reference plane p on which the 4 th manipulation lever 5 is disposed.

However, the 1 st direction actuator and the 2 nd direction actuator of the present invention are not necessarily arranged with respect to the reference plane. For example, the 1 st direction actuator and the 2 nd direction actuator may be disposed on one side of the reference plane.

In the present embodiment, the 1 st actuator 72 is disposed in the dead space ds. However, the actuator for the 1 st direction of the present invention is not necessarily arranged in the dead space. For example, the actuator for the 1 st direction may be arranged further outside than the tip end of the operation lever in the most tilted state.

The embodiments shown in the drawings have been described above, but the present invention is not limited to such embodiments.

For example, in the above embodiment, the control panel 4a is provided at a position on the upper surface of the side console box 4, which is on the rear side of the 4 th operation lever 5. Accordingly, in the 1 st operating mechanism 7 attached to the slave console box 4, the 2 nd actuator 73 as the 2 nd direction actuator is disposed on the front side (the lower side in fig. 6).

However, the operation mechanism of the present invention is not limited to such a configuration, and the 2 nd direction actuator may be provided at a position on the opposite side of the operation lever from the control panel side. For example, when the control panel is provided on the front side of the operation lever of the console box, the 2 nd direction actuator may be disposed on the rear side of the operation lever.

Further, a work machine according to the present invention is a work machine that is steered based on a driving command, comprising:

a seat for seating an operator;

an operation lever arranged on a side of the seat and configured to control an operation amount of the working machine according to a tilt angle and a tilt direction;

an operation mechanism that causes the operation lever to tilt based on the driving instruction,

the operating mechanism includes: a1 st direction guide member for tilting the operation lever in a1 st direction; a1 st-direction actuator that generates a driving force for tilting the operation lever via the 1 st-direction guide member based on the driving command,

the 1 st direction actuator is disposed at a position on the operating lever opposite to the seat side.

As described above, in the work machine according to the present invention, the actuator for the 1 st direction is disposed at a position farther from the seat than the operation lever. Therefore, according to the work machine of the present invention, even in a state where the operation mechanism is attached to the operation lever, the actuator for the 1 st direction of the operation mechanism does not protrude toward the seat side, and a space on the seat on which the operator sits can be sufficiently secured.

Further, in the working machine according to the present invention,

a control panel is provided on the front side or the rear side of the operating lever,

the operating mechanism includes: a2 nd direction guide member that inclines the operation lever in a2 nd direction that is a direction intersecting the 1 st direction; a2 nd direction actuator that generates a driving force for tilting the operation lever via the 2 nd direction guide member based on the driving command,

the 2 nd direction actuator is disposed at a position opposite to the control panel side of the operation lever.

In order to tilt the operation lever in a plurality of directions by the operation mechanism, a plurality of guide members for guiding the operation lever in different directions and a plurality of actuators corresponding to the guide members may be provided. In such a case, each actuator may be disposed at a position corresponding to the corresponding guide member in an orientation corresponding to a direction in which the corresponding guide member guides (tilts) the operation lever.

Therefore, when the 1 st directional actuator is disposed at a position on the opposite side of the operation lever from the seat side and the 2 nd directional actuator is disposed in an orientation corresponding to the 2 nd direction, the 2 nd directional actuator may protrude toward a region where the control panel is disposed, and the operation via the control panel may be hindered, in which the 2 nd directional actuator intersects with the 1 st direction corresponding to the 1 st directional actuator.

Thus, if the 2 nd direction actuator is disposed at a position on the opposite side of the operation lever from the control panel side as described above, the 2 nd direction actuator does not protrude to the area where the control panel is disposed. Thus, the 2 nd direction actuator of the operation mechanism can prevent the operation via the control panel from being hindered.

Further, it is preferable that the work machine of the present invention includes:

a boarding/alighting passage passing through the seat and the front side of the operating lever,

the operating mechanism includes: a3 rd direction guide member that tilts the operation lever in a3 rd direction that is a direction intersecting the 1 st direction; a3 rd direction actuator that generates a driving force for tilting the operation lever via the 3 rd direction guide member based on the driving command,

the 3 rd direction actuator is disposed on the rear side of the operation lever.

In order to tilt the operation lever in a plurality of directions by the operation mechanism, a plurality of guide members for guiding the operation lever in different directions and a plurality of actuators corresponding to the guide members may be provided. In such a case, each actuator may be disposed at a position corresponding to the corresponding guide member in an orientation corresponding to a direction in which the corresponding guide member guides (tilts) the operation lever.

Therefore, when the 1 st direction actuator is disposed at a position on the opposite side of the operation lever from the seat side and the 3 rd direction actuator is disposed in a direction corresponding to the 3 rd direction, which is a direction intersecting the 1 st direction corresponding to the 1 st direction actuator, the 3 rd direction actuator may protrude toward the boarding/alighting passage side (forward side) through which the operator passes when seated on the seat, and thereby hinder the boarding/alighting of the operator with respect to the seat.

Thus, if the 3 rd actuator is disposed on the rear side of the operation lever as described above, the 3 rd direction actuator does not protrude toward the ascending/descending path side. Thus, the 3 rd direction actuator of the operating mechanism can prevent the operator from being hindered in the ascending and descending.

Description of the reference numerals

1 working machine

2 remote operation device

3 from the side seat

4 from the side control cabinet

4a control panel

5 th 4 operating lever

5a basal end

5b front end portion

6 th 5 operating lever

7 No. 1 operating mechanism (operating mechanism for working machine)

8 nd 2 operating mechanism (operating mechanism for working machine)

9 ascending and descending passage

10 swing arm

10a 1 st Hydraulic Cylinder

11 bucket rod

11a 2 nd hydraulic cylinder

12 Accessories

12a 3 rd hydraulic cylinder

13 revolving body

13a cab

13b machine room

14 traveling body

15 from the side operating device

16 operation driving device

17 action state detector

18 external sensor

19 slave side control device

19a drive control unit

19b peripheral object detecting section

19c slave communication unit

20 remote control room

21 main side seat

22 main side control cabinet

23 Main side operating device

23a operating pedal

23b 1 st operating lever

23c 3 rd operating lever

24 loudspeaker

25 display

26 operating state detector

27 main side control device

27a output information control unit

27b main side communication unit

70 disc

71 supporting member

72 st actuator (actuator for 1 st direction)

73 the 2 nd actuator (2 nd direction actuator)

74 the 1 st guide member (1 st direction guide member)

74a 1 st rotating part

74b 1 st guide part

75 the 2 nd guide member (2 nd direction guide member)

75a 2 nd rotation part

75b No. 2 guide part

76 st link mechanism

77 the 2 nd link mechanism

80 3 rd actuator (actuator for 1 st direction)

81 th actuator (3 rd direction actuator)

82 No. 3 guide member (guide member for No. 1)

83 4 th guide member (3 rd direction guide member)

S remote operation system

a1 Axis 1

a 22 nd axis

a3 Axis 3 (reference axis)

c supporting point for dumping

ds dead space

p reference plane.