Construction machine, drive device for construction machine, and drive unit for construction machine

Abstract

The invention provides a construction machine, a driving device for the construction machine, and a driving unit for the construction machine, which can enlarge the working range. This construction machine is provided with: a drive device for outputting a torque centered on a rotation axis orthogonal to a reference axis extending vertically along a travelable vehicle body; and a boom that has a first end connected to the vehicle body, receives torque from the drive device, and rotates about the rotation axis. When viewed in a first direction parallel to the rotation axis, the boom is rotatable in both one side and the other side with respect to the reference axis.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a construction machine, a driving device for a construction machine, and a driving unit for a construction machine. BACKGROUND

[0002] A shovel disclosed in Japanese Patent Application Publication No. 2001-254395 has a vehicle body, a boom, a stick, and a bucket. The boom is connected to a front end portion of the vehicle body. The boom is rotatable up and down with respect to the vehicle body. The stick is connected to a top end portion of the boom. The stick is rotatable up and down with respect to the boom. The bucket is connected to a top end portion of the stick. The bucket is rotatable up and down with respect to the stick.

[0003] In the technology like Japanese Patent Application Publication No. 2001-254395, it is desirable to expand a range in which work is performed by a series of work mechanisms including the boom. SUMMARY

[0004] In one aspect, a construction machine is provided. The construction machine has a driving device configured to output a torque about a rotation axis orthogonal to a reference axis extending up and down along a travelable vehicle body, and a boom having a first end portion connected to the vehicle body, rotated about the rotation axis by the torque from the driving device, and rotatable to both one side and the other side with respect to the reference axis when viewed in a first direction parallel to the rotation axis.

[0005] In another aspect, a construction machine is provided. The construction machine has a first turning device configured to output a torque about a first turning axis extending up and down along a travelable vehicle body, a boom having a first end portion connected to the vehicle body, rotated about the first turning axis by the torque from the first turning device, a second turning device configured to output a torque about a second turning axis parallel to the first turning axis and passing through a second end portion of the boom on a side opposite the first end portion of the boom, a stick having a first end portion connected to the second end portion of the boom and a second end portion on a side opposite the first end portion, rotated about the second turning axis by the torque from the second turning device, and an attachment connected to the second end portion of the stick.

[0006] An architectural machine is provided in another aspect. The architectural machine has two groups of work mechanisms each having: a first drive device configured to output a torque about a first rotation axis orthogonal to a reference axis extending in up and down of a travelable vehicle body; a boom having a first end portion connected to the vehicle body and rotated about the first rotation axis by the torque from the first drive device; a second drive device configured to output a torque about a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on a side opposite to the first end portion; a stick having a first end portion connected to the second end portion of the boom and a second end portion on a side opposite to the first end portion and rotated about the second rotation axis by the torque from the second drive device; and an attachment connected to the second end portion of the stick; and the two groups of work mechanisms are located on one side and the other side of a center of the vehicle body in a direction orthogonal to both the first rotation axis in a first work mechanism of the two groups of work mechanisms and the reference axis when viewed in a direction parallel to the first rotation axis.

[0007] A drive device of an architectural machine is provided in another aspect. The drive device is capable of outputting a torque about a rotation axis orthogonal to a reference axis extending in up and down of a travelable vehicle body to a boom rotatably connected to the vehicle body about the rotation axis, and capable of driving the boom to rotate relative to the reference axis to both one side and the other side when viewed in a direction parallel to the rotation axis.

[0008] In another embodiment, a drive unit for construction machinery is provided. The drive unit comprises: a first drive mechanism capable of outputting torque centered on the first rotation axis to a boom having a first end rotatably connected to the vehicle body about a first rotation axis orthogonal to a reference axis extending vertically along the drivable vehicle body; a second drive mechanism capable of outputting torque centered on the second rotation axis to a stick having a first end connected to a second end of the boom opposite to the first end and a second end opposite to the first end, and rotatable about a second rotation axis passing through the second end of the boom and parallel to the first rotation axis; and a third drive mechanism capable of outputting torque centered on the second rotation axis to a stick having a second end connected to the second end of the boom. An attachment connected to a first end and capable of rotating around a third rotation axis that passes through the second end of the stick and is parallel to the first rotation axis, is capable of outputting torque centered on the third rotation axis; when viewed in a direction parallel to the first rotation axis, the first drive device is capable of driving the boom to rotate relative to the reference axis to both sides, the second drive device is capable of driving the stick to rotate relative to a virtual straight line connecting the first and second rotation axes to both sides, and the third drive device is capable of driving the attachment to rotate relative to a virtual straight line connecting the second and third rotation axes to both sides.

[0009] In another embodiment, a drive unit for construction machinery is provided. The drive unit includes: a drive mechanism capable of outputting a torque centered on the rotation axis of a boom rotatably connected to the vehicle body about a rotation axis orthogonal to a reference axis extending vertically along the drivable vehicle body, and capable of driving the boom to rotate relative to the reference axis to both sides when viewed from a direction parallel to the rotation axis; and a rotation mechanism capable of outputting a torque centered on the rotation axis of a connecting member located between the vehicle body and the boom, and rotatable about a rotation axis parallel to the reference axis, and capable of driving the connecting member to rotate circumferentially about the rotation axis.

[0010] A driving unit of a construction machine is provided to solve the above-described problems. The driving unit has a first turning device configured to output a torque about a first turning axis that is capable of rotating a boom having a first end portion connected to a vehicle body about the first turning axis that extends in an up-down direction of the vehicle body, and a second turning device connected to a second end portion of the boom on a side opposite to the first end portion of the boom and capable of outputting a torque about a second turning axis that is parallel to the first turning axis and passes through the second end portion of the boom. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a plan view schematically showing a general structure of the excavator.

[0012] Figure 2 is a side view schematically showing a general structure of the excavator.

[0013] Figure 3 is a side view schematically showing a general structure of the excavator.

[0014] Figure 4 is a view showing rotation trajectories of the first bucket and the second bucket.

[0015] Figure 5 is a view schematically showing the second working tool.

[0016] Figure 6 is a side view schematically showing an example of a use state of the excavator.

[0017] Figure 7 is a plan view schematically showing an example of a use state of the excavator.

[0018] Figure 8 is a side view schematically showing a modification example of the excavator.

[0019] Figure 9 is a side view schematically showing an example of a use state of the excavator of Figure 8

[0020] Figure 10 is a plan view showing a use state of Figure 9

[0021] Figure 11 is a view schematically showing a modification example of the first mechanism in the excavator of Figure 8

[0022] Figure 12 is a side view schematically showing a modification example of the excavator. ​​​

[0023] Figure 13 It is a schematic representation Figure 12 A side view of an excavator in use.

[0024] Figure 14 This is a top view that schematically illustrates an example of the configuration of the first and second working mechanisms.

[0025] Figure 15 This is a side view schematically representing a modified example of an excavator. Detailed Implementation

[0026] <Overall Structure>

[0027] Hereinafter, an embodiment of construction machinery, a drive device for construction machinery, and a drive unit for construction machinery will be described with reference to the accompanying drawings. Furthermore, for ease of understanding, structural members are sometimes shown enlarged in the drawings. Additionally, the dimensional ratios of structural members may sometimes differ from actual structural members or structural members in other drawings. Furthermore, in this embodiment, parallelism includes two cases: two straight lines extending without intersecting at different locations; and two straight lines perfectly aligned.

[0028] like Figure 1 As shown, the excavator 10, as construction machinery, has a body 12 and a pair of running gears 16. Figure 2 As shown, the vehicle body 12 has a lower body 14 and an upper body 20. The upper body 20 is located on the side opposite to the ground G relative to the lower body 14. In this embodiment, the up, down, front, back, left, and right directions of the excavator 10 are defined with reference to the vehicle body 12. That is, when viewed from the lower body 14, the direction in which the upper body 20 is located is the up direction, and the opposite direction is the down direction. In addition, a specific direction orthogonal to the up direction is the front direction, and the opposite direction is the rear direction. Furthermore, one of the directions orthogonal to both the up and front directions is the left direction, and the other is the right direction. Hereinafter, the front and rear directions are sometimes collectively referred to as the X direction. The left and right directions are sometimes collectively referred to as the Y direction. The up and down directions are sometimes collectively referred to as the Z direction.

[0029] like Figure 1 As shown, a pair of running gears 16 are located on the left and right sides, separated by the lower body 14. Each running gear 16 includes running tracks and an actuating mechanism for rotating the tracks. Figure 2 As shown by the double-dotted line in the attached drawing 16, the track is a loop-shaped strip. The track extends in the X direction and opens on both sides. The lower surface of the track contacts the ground G. As the track rotates, the excavator 10 and even the vehicle body 12 move. That is, the vehicle body 12 is capable of movement.

[0030] like Figure 2As shown, the lower body 14 is, for example, rectangular. The lower body 14 houses various mechanisms, devices, and components required to operate the excavator 10.

[0031] The upper body 20 is shaped like a frustum of a cone. The central axis of the upper body 20 is called the reference axis K. The reference axis K extends approximately in the Z direction. That is, the reference axis K is approximately aligned with the vertical axis of the excavator 10 and even the vehicle body 12, extending vertically along the vehicle body 12. In this embodiment, the reference axis K passes through the geometric center of the lower body 14 when viewed from the side of the upper body 20. Furthermore, the reference axis K is approximately perpendicular to the horizontal plane after virtually extending the ground G that is in contact with the lower surface of the tracks of the traveling device 16. Considering the shape of the upper body 20, the cross-sectional area orthogonal to the reference axis K decreases as the upper body 20 moves upwards. In addition, the upper body 20 is hollow. That is, the interior of the upper body 20 becomes an accommodating space.

[0032] The upper body 20 has a top surface 23, a bottom surface 21, and a side surface 22. The bottom surface 21 is the lower side surface of the upper body 20. The bottom surface 21 is circular. The bottom surface 21 is approximately orthogonal to the reference axis K. The side surface 22 rises from the bottom surface 21. A specific axis orthogonal to the reference axis K is called the first axis of rotation 51J. Observing the excavator 10 in a direction parallel to the first axis of rotation 51J is called specific observation. Figure 2 As shown, during a specific observation, side surface 22 is inclined in a manner that the upward-facing side is closer to the reference axis K. That is, side surface 22 is an inclined surface. Top surface 23 is the upward-facing surface of the upper body 20. Top surface 23 is circular. Top surface 23 connects to the entire uppermost region of side surface 22. Top surface 23 is approximately orthogonal to the reference axis K. During a specific observation, the minor angle θ formed by top surface 23 and side surface 22 is approximately 120 degrees. Minor angle θ is an angle less than 180 degrees among the angles formed by top surface 23 and side surface 22. Furthermore, Figure 2 The size of the inferior angle θ shown is for ease of explanation. Although the illustration is omitted, an opening connecting the inside and outside of the upper body 20 is provided near the center of the top surface 23.

[0033] <Main Rotating Mechanism>

[0034] like Figure 2 As shown, the excavator 10 has a main rotating device 30. The main rotating device 30 is located inside the upper body 20. The main rotating device 30 is generally cylindrical. The central axis of the main rotating device 30 extends in approximately the Z direction. The main rotating device 30 has a main body 30A and an output member 30B. In the accompanying drawings, for convenience, the main body 30A and the output member 30B are shown separately with dashed lines. The same applies to the other rotating devices described later.

[0035] The outer contour of the main body 30A is fixed to the inner wall of the upper body 20. The main body 30A includes an electric motor and a reducer. The electric motor is the drive source of the main rotation device 30. The electric motor receives power from a battery (not shown). Depending on the power supply to the electric motor, the output shaft of the electric motor can output torque in both positive and negative directions. The reducer amplifies the torque output from the output shaft of the electric motor at a predetermined ratio and outputs it to the output member 30B. The reducer can be, for example, an eccentric oscillating gear type or a planetary gear type. The reducer can be any type, as long as it is a structure capable of amplifying and outputting the torque from the electric motor. The output member 30B is rotatable relative to the outer contour of the main body 30A.

[0036] The output member 30B receives torque from the reducer and rotates about the main rotation axis 30J. The main rotation axis 30J extends approximately in the Z direction. In this embodiment, the main rotation axis 30J is approximately aligned with the reference axis K. The output member 30B and even the main rotation device 30 output torque about the main rotation axis 30J. The output member 30B can rotate a full circumference in both the forward and reverse directions depending on the rotation direction of the electric motor. Furthermore, an upper portion of the output member 30B protrudes laterally upward relative to the top surface 23 of the upper body 20 through an opening in the top surface 23.

[0037] <Connecting Components>

[0038] like Figure 2 As shown, the excavator 10 has a connecting member 25. The connecting member 25 is located upward relative to the top surface 23 of the upper body 20. Figure 1 As shown, the connecting member 25 is in the shape of a circular plate. The diameter of the circle of the connecting member 25 is slightly smaller than the diameter of the top surface 23. The center of the circle of the connecting member 25 is located on the reference axis K. Figure 2 As shown, the lower surface of the connecting member 25 faces the top surface 23. The lower surface of the connecting member 25 is fixed to the output member 30B of the main rotating device 30. The connecting member 25 and the output member 30B of the main rotating device 30 rotate as a unit. That is, the connecting member 25 is subjected to torque from the main rotating device 30 and rotates about the main rotating axis 30J. Taking into account the rotation range of the output member 30B about the main rotating axis 30J, the connecting member 25 can rotate around the main rotating axis 30J. In other words, the main rotating device 30 can output torque to the connecting member 25 about the main rotating axis 30J. Moreover, the main rotating device 30 can drive the connecting member 25 to rotate around the main rotating axis 30J. Although the figure is omitted, a bearing that can rotatably support the connecting member 25 relative to the top surface 23 is arranged between the exposed area of ​​the lower surface of the connecting member 25, which is the area where it is disengaged from the output member 30B of the main rotating device 30, and the top surface 23 of the upper body 20.

[0039] <Supporting Wall>

[0040] like Figure 2 As shown, the excavator 10 has a support wall 27. The support wall 27 protrudes laterally upward from the upper surface of the connecting member 25. The support wall 27 is cuboid in shape. The support wall 27 is fixed to the upper surface of the connecting member 25. The support wall 27 crosses the center of the upper body 20 in a direction orthogonal to both the reference axis K and the first rotation axis 51J.

[0041] <First Organization>

[0042] like Figure 1 and Figure 2 As shown, the excavator 10 has a first mechanism 41. The first mechanism 41 includes a first drive unit 51, a second drive unit 52, a third drive unit 53, a first boom 61, a first stick 62, and a first attachment 63. Furthermore, in... Figure 2 The illustration of the second mechanism 42, which will be described later, is omitted in the text. Additionally, Figure 2 This indicates the usage state in which the first boom 61 and the first stick 62 extend in a straight line to the side, and... Figure 1 Their usage states are different.

[0043] <First Drive Unit>

[0044] like Figure 1 As shown, the first drive unit 51 is located next to the support wall 27. The first drive unit 51 has a main body 51A and a first output member 51B. In the figures, for convenience, the main body 51A and the first output member 51B are shown as dashed lines. The same applies to the other drive units.

[0045] The outer contour of the main body 51A is fixed to the side of the support wall 27. The main body 51A includes an electric motor and a reducer. The electric motor is the drive source of the first drive device 51. The electric motor receives power from a battery (not shown). Depending on the power supply to the electric motor, the output shaft of the electric motor can output torque in both positive and negative directions. The reducer amplifies the torque output from the output shaft of the electric motor at a predetermined ratio and outputs it to the first output member 51B. The reducer can be, for example, an eccentric oscillating gear type or a planetary gear type. The reducer can be any type, as long as it is a structure capable of amplifying and outputting the torque from the electric motor.

[0046] The first output member 51B is rotatable relative to the outer contour of the main body 51A. The first output member 51B receives torque from the reducer and rotates about a first rotation axis 51J. As described above, the first rotation axis 51J is a specific axis that is approximately orthogonal to the reference axis K. The first output member 51B, and even the first drive device 51, output torque centered on this first rotation axis 51J. The first output member 51B is capable of rotating a full circumference in both positive and negative directions depending on the rotation direction of the electric motor. Furthermore, the first drive device 51, together with the main rotation device 30, constitutes a specific drive unit.

[0047] <First Lever>

[0048] like Figure 1 As shown, the first boom 61 is located on the side opposite to the support wall 27 relative to the first drive device 51. The first boom 61 is a long, plate-like or columnar shape. In this embodiment, the first boom 61 extends in a straight line. The first end 61A of the first boom 61 in the longitudinal direction is positioned at the location through which the first rotation axis 51J passes. Furthermore, the first output member 51B of the first drive device 51 is fixed to the first end 61A of the first boom 61. The first boom 61 and the first output member 51B rotate integrally. That is, the first boom 61 is subjected to torque from the first drive device 51 and rotates about the first rotation axis 51J. In other words, the first drive device 51 outputs torque to the first boom 61 about the first rotation axis 51J.

[0049] As described above, the first end 61A of the first boom 61 is connected to the support wall 27 via the first drive device 51. Furthermore, as... Figure 2 As shown, the support wall 27 is connected to the top surface 23 of the upper body 20 via the connecting member 25 and the main rotating device 30. That is, the first end 61A of the first boom 61 is connected to the top surface 23 of the upper body 20 via the first drive device 51, the support wall 27, the connecting member 25, and the main rotating device 30. Therefore, the first end 61A of the first boom 61 corresponds to the connection part of the first boom 61 with the upper body 20. Considering the configuration of the support wall 27 relative to the upper body 20, the first end 61A of the first boom 61 is located approximately at the center of the upper body 20 in a direction orthogonal to both the reference axis K and the first rotation axis 51J. Furthermore, as a result of the above connection method, the support wall 27 and the connecting member 25 are located between the first boom 61 and the top surface 23 of the upper body 20.

[0050] As described above, the first boom 61 rotates about the first rotation axis 51J. (Refer to...) Figure 2The range of this rotation angle will be explained. As described above, the inferior angle θ formed by the top surface 23 and the side surface 22 of the upper body 20 is approximately 120 degrees. Furthermore, as described above, the first output member 51B of the first drive device 51 can rotate a full circumference in both directions around a first rotation axis 51J that is approximately orthogonal to the reference axis K. Moreover, the first rotation axis 51J passes near the top surface 23. Taking into account the positional relationship between the first rotation axis 51J and the top surface 23, and the size of the inferior angle θ formed by the top surface 23 and the side surface 22, the first boom 61 can rotate within the following range of rotation during a specific observation. The first boom 61 can rotate relative to the reference axis K to one side and the other. Specifically, during a specific observation, the first boom 61 can rotate to one side and the other across a reference semi-linear line extending from the first rotation axis 51J toward the side opposite to the top surface 23 on the reference axis K. More specifically, the first boom 61 is capable of rotating to one side relative to a reference half-line with a first rotation angle as the upper limit, and is also capable of rotating to the other side relative to the reference half-line with a first rotation angle as the upper limit. The first rotation angle is approximately 150 degrees. In other words, at a specific observation, the first drive device 51 can drive the first boom 61 to rotate to both sides relative to the reference axis K. Specifically, the first drive device 51 can drive the first boom 61 to rotate to one side relative to the reference half-line with a first rotation angle as the upper limit. Additionally, the first drive device 51 can drive the first boom 61 to rotate to the other side relative to the reference half-line with a first rotation angle as the upper limit. Furthermore, a half-line refers to a straight line extending only in one direction from a specific point.

[0051] Under a specific observation, the rotation of the first boom 61 can be described as follows. A virtual straight line connecting the first end 61A of the first boom 61 and the second end 61B, which is the end opposite to the first end 61A, is called a first virtual straight line 41E. In this embodiment, the first virtual straight line 41E corresponds to a virtual straight line connecting the first rotation axis 51J and the second rotation axis 52J (described later). Rotation of the first boom 61 relative to the reference axis K to one side means that the first virtual straight line 41E rotates relative to the reference axis K with the first rotation axis 51J as its center. Similarly, rotation of the first boom 61 relative to the reference axis K to the other side means that the first virtual straight line 41E rotates relative to the reference axis K with the first rotation axis 51J as its center.

[0052] <Second Drive Unit>

[0053] like Figure 1As shown, the second drive unit 52 is located near the second end 61B of the first boom 61. In a direction parallel to the first rotation axis 51J, the second drive unit 52 is located on the opposite side of the first boom 61. The second drive unit 52 is constructed in the same manner as the first drive unit 51. That is, the second drive unit 52 has: a main body 52A, which, in addition to having an electric motor as a drive source, also has a reducer; and a second output member 52B, which rotates under the torque from the main body 52A. The outer contour of the main body 52A is fixed to the second end 61B of the first boom 61. The second output member 52B, under the torque from the reducer of the main body 52A, rotates about the second rotation axis 52J. The second rotation axis 52J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J. The second rotation axis 52J passes through the second end 61B of the first boom 61. The second output member 52B and even the second drive unit 52 output torque centered on this second rotation axis 52J. The second output component 52B can rotate a full circumference in both the forward and reverse directions according to the rotation direction of the electric motor.

[0054] <First Fighting Pole>

[0055] like Figure 1 As shown, the first boom 62 is located next to the second drive unit 52. In a direction parallel to the first rotation axis 51J, the first boom 62 is located on the side opposite to the first boom 61 relative to the second drive unit 52. The first boom 62 is a long, plate-like or columnar shape. In this embodiment, the first boom 62 extends in a straight line. The first end 62A of the first boom 62 in the longitudinal direction is positioned at the location through which the second rotation axis 52J passes. The first end 62A of the first boom 62 is fixed to the second output member 52B of the second drive unit 52. The first end 62A of the first boom 62 rotates integrally with the second output member 52B. That is, the first boom 62 is subjected to torque from the second drive unit 52 and rotates about the second rotation axis 52J. In other words, the second drive unit 52 outputs torque to the first boom 62 about the second rotation axis 52J. Thus, the first end 62A of the first boom 62 is connected to the second drive unit 52. Furthermore, the first end 62A of the first stick 62 is connected to the second end 61B of the first boom 61 via the second drive device 52. That is, the first end 62A of the first stick 62 corresponds to the connection part with the first boom 61.

[0056] As described above, the first boom 62 rotates under the torque from the second drive unit 52. Furthermore, the second output member 52B of the second drive unit 52 is capable of rotating a full circle in both forward and reverse directions around the second rotation axis 52J. Therefore, in Figure 2In the specific observation shown, the first stick 62 is capable of rotating to both sides relative to the aforementioned first virtual straight line 41E connecting the first rotation axis 51J and the second rotation axis 52J. Specifically, considering the configuration of the first stick 62 and the first accessory 63 described later in this embodiment, it is capable of rotating to both sides across a first virtual half-straight line extending from the second rotation axis 52J to the side opposite to the first rotation axis 51J on the first virtual straight line 41E. More specifically, the first stick 62 is capable of rotating to one side relative to the first virtual half-straight line with a maximum of a second rotation angle, and is also capable of rotating to the other side relative to the first virtual half-straight line with a maximum of a second rotation angle. The second rotation angle is approximately 180 degrees. In other words, in the specific observation, the second drive device 52 is capable of driving the first stick 62 to rotate to both sides relative to the first virtual half-straight line. Specifically, the second drive device 52 is capable of driving the first stick 62 to rotate to one side relative to the first virtual half-straight line with a maximum of a second rotation angle. In addition, the second drive device 52 can drive the first stick 62 to rotate to the other side relative to the first virtual semi-linear line with the second rotation angle as the upper limit.

[0057] Similar to the case of the first boom 61, under a specific observation, the rotation of the first stick 62 can be described as follows. The virtual straight line connecting the first end 62A of the first stick 62 and the second end 62B, which is the end opposite to the first end 62A, is called the second virtual straight line 41F. In this embodiment, the second virtual straight line 41F corresponds to the virtual straight line connecting the second rotation axis 52J and the third rotation axis 53J (described later). Rotation of the first stick 62 to one side relative to the first virtual straight line 41E means that the second virtual straight line 41F rotates to one side relative to the first virtual straight line 41E with the second rotation axis 52J as its center. Similarly, rotation to the other side means that the second virtual straight line 41F rotates to the other side relative to the first virtual straight line 41E with the second rotation axis 52J as its center.

[0058] <Third Drive Unit>

[0059] like Figure 1As shown, the third drive unit 53 is located near the second end 62B of the first stick 62. In a direction parallel to the first rotation axis 51J, the third drive unit 53 is located at approximately the same position as the second drive unit 52. The third drive unit 53 is configured similarly to the first drive unit 51 and the second drive unit 52. That is, the third drive unit 53 has: a main body 53A, which, in addition to having an electric motor as a drive source, also has a reducer; and a third output member 53B, which rotates under the torque from the main body 53A. The outer contour of the main body 53A is fixed to the second end 61B of the first stick 62. The third output member 53B, under the torque from the reducer of the main body 53A, rotates about the third rotation axis 53J. The third rotation axis 53J extends approximately parallel to the first rotation axis 51J at a position different from the first rotation axis 51J and the second rotation axis 52J. The third rotation axis 53J passes through the second end 61B of the first stick 62. The third output member 53B and even the third drive unit 53 output torque centered on this third rotation axis 53J. The third output member 53B is capable of rotating a full circumference in both the forward and reverse directions according to the rotation direction of the electric motor. Furthermore, the third drive unit 53, together with the first drive unit 51 and the second drive unit 52, constitutes the first drive unit.

[0060] <First Annex>

[0061] like Figure 1 As shown, the first attachment 63 is located near the second end 62B of the first boom 62. The first attachment 63 has a first working tool 65 and a connecting piece 64.

[0062] like Figure 1 and Figure 2 As shown, the connecting piece 64 is plate-shaped and roughly rectangular. (As...) Figure 1 As shown, the connecting piece 64 is positioned along the third rotation axis 53J. In a direction parallel to the first rotation axis 51J, the connecting piece 64 is located on the side opposite to the second end 62B of the first stick 62, relative to the third drive device 53. The main surface of the connecting piece 64 faces the third output member 53B of the third drive device 53. The main surface of the connecting piece 64 is fixed to the third output member 53B. The main surface is the surface with the largest area on the outer surface of the plate-like object. The connecting piece 64 and the third output member 53B rotate integrally. That is, the connecting piece 64 and even the first attachment 63 are subjected to torque from the third drive device 53 and rotate around the third rotation axis 53J. In other words, the third drive device 53 outputs torque to the first attachment 63 centered on the third rotation axis 53J. Thus, the first attachment 63 is connected to the third drive device 53. Furthermore, the first attachment 63 is connected to the second end 62B of the first stick 62 via the third drive device 53.

[0063] As described above, the connecting piece 64 rotates under the torque from the third drive device 53. Furthermore, the third output member 53B of the third drive device 53 is capable of rotating a full circumference in both positive and negative directions around the third rotation axis 53J. Therefore, in Figure 2 In the specific observation shown, the first attachment 63 is capable of rotating to both one side and the other side relative to the aforementioned second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J. In this embodiment, the first attachment 63 is capable of rotating approximately 360 degrees to one side and approximately 360 degrees to the other side relative to the second virtual straight line 41F. That is, the first attachment 63 of this embodiment can perform the following rotational actions. In the specific observation, the first attachment 63 is capable of rotating to both one side and the other side across a first half-straight line extending from the third rotation axis 53J to the side opposite to the second rotation axis 52J on the second virtual straight line 41F. Furthermore, in the specific observation, the first attachment 63 is capable of rotating to both one side and the other side across a second half-straight line extending from the third rotation axis 53J to the second rotation axis 52J on the second virtual straight line 41F. In other words, in the specific observation, the third drive device 53 is capable of rotating the first attachment 63 to both one side and the other side across the first half-straight line. In addition, during a specific observation, the third drive unit 53 can rotate across the second half-line to drive the first accessory 63 to both sides.

[0064] When considering a specific observation, the rotation of the first annex 63 can be described as follows. For example... Figure 2 As shown, the virtual straight line connecting the connecting piece 64 to the first boom 62 and a specific part of the first working tool 65 is called the attachment line 41H. In this embodiment, the connecting piece 64 to the first boom 62 is the part of the connecting piece 64 where the third drive device 53 is fixed, and can be treated as the third rotation axis 53J. In this embodiment, the specific part of the first working tool 65 is the angle between the first side wall 67B and the bottom wall 67D in the first bucket 65A, which will be described later. The first attachment 63 rotating to one side relative to the second virtual line 41F means that the attachment line 41H rotates to one side relative to the second virtual line 41F with the third rotation axis 53J as the center. Similarly, rotation to the other side means that the attachment line 41H rotates to the other side relative to the second virtual line 41F with the third rotation axis 53J as the center.

[0065] like Figure 2 As shown, the first working tool 65 has a first bucket 65A and a second bucket 65B. The first bucket 65A and the second bucket 65B have the same structure. Therefore, the first bucket 65A will be described below, and the description of the second bucket 65B will be omitted.

[0066] likeFigure 1 and Figure 2 As shown, the first bucket 65A has a bucket body 67 and a plurality of claws 68. The bucket body 67 is box-shaped. That is, the bucket body 67 has a rectangular bottom wall 67D, side walls that rise from the four sides of the bottom wall 67D, and an opening 67A surrounded by the ends of each side wall opposite to the bottom wall 67D. That is, the ends of each side wall opposite to the bottom wall 67D form a rectangular opening edge. The outer surface of the first side wall 67B, which is one of the four side walls, is fixed to the surface of the connecting piece 64 with a thickness equivalent to that of the first side wall.

[0067] like Figure 1 As shown, four claws 68 are present in this embodiment. However, the number of claws 68 is not limited to four. Each claw 68 protrudes from a specific side 67C of the four sides of the rectangular opening edge. The specific side 67C corresponds to the edge of the sidewall opposite to the first sidewall 67B. This is done while the first sidewall 67B is fixed to the connecting piece 64, as... Figure 2 As shown, during a specific observation, the specific edge 67C is located at the position furthest from the third rotation axis 53J in the opening edge of the bucket body 67. Furthermore, the claw 68 protrudes from this specific edge 67C relative to the opening 67A towards the side opposite to the bottom wall 67D. Figure 1 As shown, a plurality of claws 68 are arranged along a specific side 67C.

[0068] The positional relationship between the first bucket 65A and the second bucket 65B is explained. Figure 2 In the specific observation shown, the first bucket 65A and the second bucket 65B are symmetrically arranged with respect to the attachment line 41H, which serves as a specific virtual straight line. Specifically, the outer surfaces of the bottom walls 67D of each of the first bucket 65A and the second bucket 65B face each other. Moreover, the bottom walls 67D of the first bucket 65A and the second bucket 65B are fixed to each other. As a result, the openings 67A of the first bucket 65A and the second bucket 65B face opposite directions. In this state, the first bucket 65A and the second bucket 65B are arranged circumferentially around the third axis of rotation 53J. Furthermore, the first bucket 65A and the second bucket 65B are arranged in a manner that satisfies the following first condition in the specific observation. The first condition is that the distance from the third axis of rotation 53J to the protruding end of the claw 68 in the first bucket 65A is equal to the distance from the third axis of rotation 53J to the protruding end of the claw 68 in the second bucket 65B. As a result of satisfying this first condition, the first attachment 63 has the following structure in the specific observation. Now, assume that the first boom 62 is held in a specific rotational position. In this case, assume that the first attachment 63 rotates one revolution relative to the first boom 62 about the third rotation axis 53J. At this time, as... Figure 4As shown by the dotted line 68Q, the rotation trajectory of the protruding end of the claw 68 in the first bucket 65A is the same as or identical to the rotation trajectory of the protruding end of the claw 68 in the second bucket 65B.

[0069] <Second Agency>

[0070] like Figure 1 and Figure 3 As shown, the excavator 10 has a second mechanism 42. The second mechanism 42 includes a first rotating device 31, a second rotating device 32, a second boom 71, a second stick 72, and a second attachment 73. Furthermore, in... Figure 3 The first mechanism 41 and the supporting wall 27 are omitted from the diagram.

[0071] <First Rotating Device>

[0072] like Figure 3 As shown, the first rotating device 31 is located on the upper surface of the connecting member 25. Figure 1 As shown, the first rotating device 31 is located on the side opposite to the first driving device 51 relative to the support wall 27. The first rotating device 31 is located approximately at the center of the upper body 20 in a direction orthogonal to both the first rotation axis 51J and the reference axis K. In this embodiment, taking into account the position of the first rotation axis 51J, when viewing the excavator 10 from above in a direction parallel to the reference axis K, the first rotating device 31 is positioned at a position overlapping with the first rotation axis 51J.

[0073] like Figure 3 As shown, the first rotating device 31 is cylindrical in shape. The first rotating device 31 has a main body 31A and a first rotating member 31B. The outer contour of the main body 31A is fixed to the upper surface of the connecting member 25. The main body 31A includes an electric motor and a reducer. The electric motor is the drive source of the first rotating device 31. The electric motor receives power from a battery (not shown). Depending on the power supply to the electric motor, the output shaft of the electric motor can output torque in both positive and negative directions. The reducer amplifies the torque output by the output shaft of the electric motor at a predetermined ratio and outputs it to the first rotating member 31B. The first rotating member 31B is capable of rotating relative to the outer contour of the main body 31A. The first rotating member 31B receives torque from the reducer and rotates around the first rotating axis 31J. In this embodiment, the first rotating axis 31J extends approximately parallel to the reference axis K at a position different from the reference axis K. That is, the first rotating axis 31J extends vertically along the vehicle body 12. Furthermore, the first rotating member 31B and even the first rotating device 31 output torque centered on the first rotating axis 31J. The first rotating component 31B can rotate a full circumference in both the forward and reverse directions according to the rotation direction of the electric motor. For example... Figure 1As shown, taking into account the configuration with the first rotating device 31, when looking down at the excavator 10 in a direction parallel to the reference axis K, the first rotating axis 31J is located on the first rotating axis 51J.

[0074] <Second Lever>

[0075] like Figure 3 As shown, the second boom 71 is located on the upper side relative to the first rotating device 31. The second boom 71 is a long, plate-like or columnar shape. In this embodiment, the second boom 71 extends in a straight line. The first end 71A of the second boom 71 in the longitudinal direction is positioned at the location through which the first rotation axis 31J passes. Furthermore, the first rotating member 31B of the first rotating device 31 is fixed to the first end 71A of the second boom 71. The second boom 71 and the first rotating member 31B rotate integrally. That is, the second boom 71 is subjected to torque from the first rotating device 31 and rotates about the first rotation axis 31J. In other words, the first rotating device 31 outputs torque to the second boom 71 about the first rotation axis 31J.

[0076] As described above, the first end 71A of the second boom 71 is connected to the connecting member 25 via the first rotating device 31. That is, the first end 71A of the second boom 71 is connected to the top surface 23 of the upper body 20 via the first rotating device 31, the connecting member 25, and the main rotating device 30. Therefore, the first end 71A of the second boom 71 corresponds to the connection part of the second boom 71 with the upper body 20.

[0077] As described above, the second boom 71 rotates under the torque from the first rotating device 31. Furthermore, the first rotating member 31B of the first rotating device 31 is capable of rotating a full circumference in both positive and negative directions around the first rotation axis 31J. Therefore, as... Figure 1As shown, the second boom 71 can rotate over a wide range without interfering with the support wall 27 located next to the first rotating device 31. When the excavator 10 is viewed from above in a direction parallel to the reference axis K, the second boom 71 can rotate relative to the first rotation axis 51J to both one side and the other. Specifically, when the excavator 10 is viewed from above in a direction parallel to the reference axis K, the second boom 71 of this embodiment can rotate to both one side and the other across a semi-straight line extending from the first rotation axis 31J to the side opposite to the support wall 27 on the first rotation axis 51J. This semi-straight line is referred to as the boom semi-straight line. The second boom 71 can rotate to one side relative to the boom semi-straight line with a first rotation angle as the upper limit, and can also rotate to the other side relative to the boom semi-straight line with a first rotation angle as the upper limit. The first rotation angle is approximately 90 degrees. In other words, when the excavator 10 is viewed from above in a direction parallel to the reference axis K, the first rotating device 31 can drive the second boom 71 to rotate to both one side and the other relative to the boom semi-straight line. In detail, the first rotating device 31 can drive the second boom 71 to rotate to one side relative to the boom semi-linearity with a first rotation angle as the upper limit. In addition, the first rotating device 31 can drive the second boom 71 to rotate to the other side relative to the boom semi-linearity with the first rotation angle as the upper limit.

[0078] like Figure 1 As shown, when viewing the excavator 10 from above in a direction parallel to the reference axis K, the rotation of the second boom 71 can be described as follows. The virtual straight line connecting the first end 71A of the second boom 71 and the end opposite to the first end 71A, namely the second end 71B, is called the third virtual straight line 42E. In this embodiment, the third virtual straight line 42E corresponds to the virtual straight line connecting the first rotation axis 31J and the second rotation axis 32J (described later). Rotation of the second boom 71 to one side relative to the first rotation axis 51J means that the third virtual straight line 42E rotates to one side relative to the first rotation axis 51J with the first rotation axis 31J as its center. Similarly, rotation to the other side means that the third virtual straight line 42E rotates to the other side relative to the first rotation axis 51J with the first rotation axis 31J as its center.

[0079] <Second Rotating Device>

[0080] like Figure 3As shown, the second rotating device 32 is located near the second end 71B of the second boom 71. The second rotating device 32 is located on the lower side relative to the second boom 71. The second rotating device 32 is constructed identically to the first rotating device 31. That is, the second rotating device 32 has: a main body 32A, which has a reducer in addition to an electric motor as a drive source; and a second rotating member 32B, which rotates under the torque from the main body 32A. The outer contour of the main body 32A is fixed to the second end 71B of the second boom 71. The second rotating member 32B rotates about the second rotation axis 32J about the center, under the torque from the main body 32A. The second rotation axis 32J extends approximately parallel to the reference axis K at a position different from the first rotation axis 31J and the reference axis K. The second rotation axis 52J passes through the second end 71B of the second boom 71. Moreover, the second rotating member 32B and even the second rotating device 32 output torque about the second rotation axis 32J. The second rotating member 32B can rotate a full circumference in both the forward and reverse directions depending on the rotation direction of the electric motor. Furthermore, the second rotating device 32 together with the first rotating device 31 constitutes the second drive unit.

[0081] <Second Bucket>

[0082] like Figure 3 As shown, the second boom 72 is located on the lower side relative to the second rotating device 32. The second boom 72 is a long, plate-like or columnar shape. In this embodiment, the second boom 72 extends in a straight line. The first end 72A of the second boom 72 in the longitudinal direction is positioned at the location through which the second rotation axis 32J passes. Furthermore, the second rotating member 32B of the second rotating device 32 is fixed to the first end 72A of the second boom 71. The second boom 71 and the second rotating member 32B rotate integrally. That is, the second boom 72 is subjected to torque from the second rotating device 32 and rotates about the second rotation axis 32J. In other words, the second rotating device 32 outputs torque to the second boom 72 about the second rotation axis 32J. Thus, the first end 72A of the second boom 72 is connected to the second rotating device 32. Furthermore, the first end 72A of the second boom 72 is connected to the second end 71B of the second boom 71 via the second rotating device 32. That is, the first end 72A of the second boom 72 corresponds to the connection point with the second boom 71.

[0083] As described above, the second boom 72 rotates under the torque from the second rotating device 32. Furthermore, the second rotating member 32B of the second rotating device 32 is capable of rotating a full circumference in both positive and negative directions around the second rotating axis 32J. Therefore, as... Figure 1As shown, when the excavator 10 is viewed from above in a direction parallel to the reference axis K, the second stick 72 can rotate to both sides relative to the aforementioned third virtual straight line 42E connecting the first rotation axis 31J and the second rotation axis 32J. More specifically, taking into account the configuration of the second attachment 73 described later, the second stick 72 of this embodiment can rotate to both sides across a third virtual half-straight line extending from the second rotation axis 32J to the side opposite to the first rotation axis 31J on the third virtual straight line 42E. More specifically, the second stick 72 can rotate to one side relative to the third virtual half-straight line with a maximum rotation angle of 180 degrees, and can also rotate to the other side relative to the third virtual half-straight line with a maximum rotation angle of 180 degrees. In other words, when the excavator 10 is viewed from above in a direction parallel to the reference axis K, the second rotation device 32 can drive the second stick 72 to rotate to both sides relative to the third virtual half-straight line. More specifically, the second rotation device 32 can drive the second boom 71 to rotate to one side relative to the third virtual half-straight line with a maximum rotation angle of 180 degrees. In addition, the second rotating device 32 can drive the second boom 71 to rotate to the other side relative to the third virtual half-line with the second rotation angle as the upper limit.

[0084] like Figure 1 As shown, when viewing the excavator 10 from above in a direction parallel to the reference axis K, the rotation of the second stick 72 is as follows. The virtual straight line connecting the first end 72A of the second stick 72 and the end opposite to the first end 72A, namely the second end 72B, is called the fourth virtual straight line 42F. In this embodiment, the fourth virtual straight line 42F corresponds to the virtual straight line connecting the second rotation axis 32J and the motion axis 74J (described later). Rotation of the second stick 72 to one side relative to the third virtual straight line 42E means that the fourth virtual straight line 42F rotates to one side relative to the third virtual straight line 42E with the second rotation axis 32J as the center. Similarly, rotation to the other side means that the fourth virtual straight line 42F rotates to the other side relative to the third virtual straight line 42E with the second rotation axis 32J as the center.

[0085] <Second Annex>

[0086] like Figure 3 As shown, the second attachment 73 is located near the second end 72B of the second boom 72. The second attachment 73 is an electrically powered telescopic device. Specifically, the second attachment 73 includes a power generating device 74 and a second working tool 75.

[0087] The power generating device 74 has a main body 74A and a rod as an example of an actuating member 74B. The main body 74A includes a cylinder, an electric motor, and a conversion mechanism. The cylinder is the outer contour of the main body 74A. The cylinder is cylindrical. The cylinder is fixed to the second end 72B of the second boom 72. The cylinder is located on the upper side relative to the second boom 72. The actuating axis 74J, which is the central axis of the cylinder, extends substantially parallel to the first rotation axis 31J at a position different from the first rotation axis 31J and the second rotation axis 32J. The actuating axis 74J passes through the second end 72B of the second boom 72. The electric motor is the drive source of the power generating device 74. Power is supplied to the electric motor by a battery (not shown). Depending on the power supply to the electric motor, the output shaft of the electric motor can output torque in both positive and negative directions. The conversion mechanism converts the rotation of the output shaft of the electric motor into the linear motion of the actuating member 74B. Examples of conversion mechanisms include ball screw mechanisms and rack and pinion mechanisms. The actuating member 74B protrudes from the inside of the cylinder to the outside. The actuating member 74B extends vertically through the second end 72B of the second boom 72. Driven by an electric motor, the actuating member 74B reciprocates along the actuation axis 74J. The amount of protrusion of the actuating member 74B relative to the cylinder varies according to the reciprocating motion of the actuating member 74B. Furthermore, the power generating device 74 extends and retracts in the direction along the actuation axis 74J.

[0088] The second working tool 75 is fixed to the lower end of the actuating member 74B. The second working tool 75 has a first part and a second part that are divided into two strands. The first part and the second part have the same structure. Therefore, the first part will be described here, and the description of the second part will be omitted. Figure 5 As shown, when viewed from the side opposite to the second part, the first part has a rectangular connecting plate 75A and a plurality of claws 75B. The upper edge of the connecting plate 75A is fixed to the lower end of the actuating member 74B. The plurality of claws 75B protrude from the lower edge of the connecting plate 75A. The plurality of claws 75B are arranged along the lower edge of the connecting plate 75A. In this embodiment, there are three claws 75B. However, the number of claws 75B is not limited to three.

[0089] <Control Device>

[0090] like Figure 1As shown, the excavator 10 has a control device 45. The control device 45 is located, for example, inside the upper body 20. Furthermore, the positions of the control device 45 in the figures are for convenience. The control device 45 can have processing circuitry including one or more processors that perform various processes according to a computer program (software). Alternatively, the control device 45 may also have processing circuitry including one or more dedicated hardware circuits such as application-specific integrated circuits (ASICs) that perform at least a portion of the various processes, or a combination of the aforementioned processors and dedicated hardware circuitry. The processor includes a CPU and memories such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to perform processes. Memory, i.e., computer-readable media, includes any available medium that can be accessed using a general-purpose or special-purpose computer. Memory includes electrically rewritable non-volatile memory. The control device 45 has a communication circuit. The communication circuit is for wireless communication between the excavator 10 and a user-held controller 46 outside the excavator 10. Furthermore, the excavator 10 and the controller 46 constitute the excavator system 47.

[0091] The control device 45 controls various parts of the excavator 10. These controlled objects include the first drive unit 51, the second drive unit 52, the third drive unit 53, the first rotating device 31, the second rotating device 32, the power generating device 74 of the second accessory 73, the main rotating device 30, and the traveling device 16. The control device 45 controls these controlled objects based on command signals sent from the controller 46. For example, the control device 45 outputs a control signal to the first drive unit 51 based on the command signal. This causes the first boom 61 to rotate.

[0092] <The Role and Effects of the Implementation Method>

[0093] (1) As Figure 6 As indicated by arrow 61P, the first boom 61 of this embodiment can rotate to one side relative to the reference axis K during a specific observation. Additionally, as... Figure 6 As indicated by arrow 61Q, the first boom 61 can also rotate to the other side relative to the reference axis K during a specific observation. That is, in the excavator 10 of this embodiment, the first boom 61 and the first stick 62 connected to the first boom 61 can reach both sides relative to the reference axis K. Therefore, in the excavator 10 of this embodiment, the range of motion of the first mechanism 41 can be greatly ensured. This expands the working range of the excavator 10.

[0094] (2) Figure 6As shown by the solid line of the first boom 61, when viewed in a specific context, the first boom 61 can rotate to an angle greater than 90 degrees relative to the reference axis K. Consequently, the second end 61B of the first boom 61 can reach a position lower than the top surface 23 of the upper body 20. Furthermore, the first boom 61 and even the first stick 62 connected to the first boom 61 can reach a position close to the ground G. That is, in the excavator 10 of this embodiment, it can operate within a large vertical range relative to the reference axis K on both one side and the other.

[0095] (3) In this embodiment, the first stick 62 is capable of rotating to both sides relative to the first virtual straight line 41E, relative to the first virtual half-straight line extending from the second rotation axis 52J to the side opposite to the first rotation axis 51J. Therefore, as Figure 6 As indicated by arrow 62P, under specific observation, when the first boom 61 is positioned to one side relative to the reference axis K, the first stick 62 can rotate up and down relative to the first boom 61. Additionally, as... Figure 6 As indicated by arrow 62Q, during a specific observation, when the first boom 61 is located on the other side relative to the reference axis K, the first stick 62 can rotate up and down relative to the first boom 61. Furthermore, the first attachment 63 of this embodiment can rotate to both sides relative to the second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J. Therefore, as... Figure 6 As indicated by arrow 65P, under specific observation, when the first boom 61 is positioned to one side relative to the reference axis K, the first attachment 63 can rotate vertically relative to the first stick 62. Additionally, as... Figure 6 As indicated by arrow 65Q, during a specific observation, when the first boom 61 is on the other side relative to the reference axis K, the first attachment 63 can rotate up and down relative to the first stick 62. In this structure of the present embodiment, regardless of the rotational position of the first boom 61, the first stick 62 and the first attachment 63 can be positioned to be suitable for operation.

[0096] (4) Figure 6 As shown, the side surface 22 of the upper body 20 is an inclined surface relative to the reference axis K. Therefore, even when the first boom 61 is inclined relative to the top surface 23 of the upper body 20, the first boom 61 does not interfere with the side surface 22 of the upper body 20. In other words, by inclining the side surface 22 of the upper body 20 relative to the reference axis K, the first boom 61 is allowed to tilt laterally downward relative to the top surface 23 of the upper body 20.

[0097] Here, in order to achieve the method of tilting the first boom 61 downward relative to the top surface 23 of the upper body 20, for example, it is considered to position the first drive unit 51 and even the first end 61A of the first boom 61 at a position relatively high relative to the top surface 23 of the upper body 20. However, with such a structure, for example, the support wall 27 is enlarged upward, and the mounting position of the first boom 61 relative to the support wall 27 is moved further upward. In this case, the position of the first mechanism 41 is moved upward as a whole, so the excavator 10 as a whole can potentially be made larger.

[0098] Regarding this point, as shown in this embodiment, if the side 22 of the upper body 20 is made into an inclined surface, the excavator 10 can be made larger, and the range of motion of the first mechanism 41, including the first boom 61, can be ensured to a greater extent.

[0099] (5) Figure 6 As shown, the first boom 61 is connected to the main rotating device 30 via the support wall 27 and the connecting member 25. Furthermore, the output member 30B of the main rotating device 30 can rotate a full circumference about the reference axis K and the main rotating axis 30J. With the rotation of this output member 30B, in the excavator 10 of this embodiment, the first boom 61 and even the first stick 62 connected to the first boom 61 can reach any position in the front, back, left, or right directions. For example, as... Figure 7 As shown by arrow 30P, the first boom 61, the first stick 62, and the first attachment 63 can be... Figure 1 The rotation position reaches the position where it has rotated 90 degrees clockwise toward the paper.

[0100] Here, in implementing a structure that allows the first boom 61 to rotate a full circumference around the reference axis K, it is considered that the upper body 20 itself can rotate relative to the lower body 14. However, in order for the upper body 20 to rotate as a whole, the following structure is required: that is, it is necessary to support the total weight of the upper body 20 and all the components mounted on the upper body 20, and to rotatably support the upper body 20. For this purpose, a fairly large bearing is required. In addition, considering the aforementioned weight, the torque required to drive the rotation of the upper body 20 becomes quite large. Therefore, the drive device for driving this rotation may be large.

[0101] Regarding this point, in the structure of this embodiment, the bearing that rotatably supports the connecting member 25 only needs to be able to support the total weight of the component assembly mounted on the connecting member 25. Therefore, this bearing only needs to be relatively small compared to the bearing used to support the upper body 20. Furthermore, considering this small weight, the torque required to drive the rotation of the connecting member 25 is relatively small compared to the torque required to rotate the upper body 20 as a whole. Therefore, it is possible to avoid using a large device as the main rotating device 30, and the large size of the main rotating device 30 can be suppressed.

[0102] (6) Figure 6 As shown, the upper body 20 is truncated cone-shaped. Therefore, the side surface 22 of the upper body 20 is inclined relative to the reference axis K in the entire circumferential region centered on the reference axis K. As described in (5) above, the first boom 61 can rotate in the entire circumferential region centered on the reference axis K. If the side surface 22 of the upper body 20 is inclined in the entire circumference, the first boom 61 can tilt downward relative to the top surface 23 at each position in the circumferential region centered on the reference axis K. Furthermore, by utilizing the structure that tilts the side surface 22 of the upper body 20, the same viewpoint as in (4) above can be used to suppress the enlargement of the excavator 10.

[0103] (7) Figure 6 As shown, the first end 61A of the first boom 61, which serves as the center of rotation for both vertical movement, is located approximately at the center of the upper body 20 in a direction orthogonal to both the first rotation axis 51J and the reference axis K. In this case, the movable range of the first boom 61 and even the first stick 62 connected to the first boom 61 is not biased to either side relative to the center of the upper body 20. That is, in the excavator 10 of this embodiment, the movable range of the first mechanism 41 can be largely ensured on both sides of the center of the upper body 20.

[0104] (8) Figure 6 As shown, the first working tool 65 of the first accessory 63 has a first bucket 65A and a second bucket 65B connected to each other by their bottom walls 67D. When using such a first working tool 65, the following can be performed: That is, as... Figure 6 As shown by the solid line of the first working tool 65, in this first working tool 65, when the first boom 61 is located on one side relative to the reference axis K during a specific observation, a dragline operation can be performed by the first bucket 65A, and a pusher operation can be performed by the second bucket 65B. On the other hand, as Figure 6 As shown in the first working tool 65 with double-dotted lines, when the first boom 61 is on the other side relative to the reference axis K during a specific observation, the second bucket 65B can perform drag loading operations, and the first bucket 65A can perform push loading operations.

[0105] (9) such as Figure 4As shown by the dashed line 68Q, in this embodiment, when the first attachment 63 rotates one revolution, the rotation trajectory of the protruding end of the claw 68 of the first bucket 65A is the same as that of the protruding end of the claw 68 of the second bucket 65B. That is, for a specific rotational position, the position of the protruding end of the claw 68 is the same when the first bucket 65A reaches that rotational position and when the second bucket 65B reaches that rotational position. In this case, the position of the claw 68 is the same when performing dragline and pushline operations, so the user does not need to adjust the position of the first attachment 63 and thus the first stick 62 and the first boom 61, which are the connection sources of the first attachment 63, according to their respective operations. Therefore, it is less likely to cause operational burden to the user when performing dragline and pushline operations.

[0106] (10) such as Figure 1 As shown, when viewing the excavator 10 from above in a direction parallel to the reference axis K, the second boom 71 of the second mechanism 42 can rotate approximately 90 degrees in both directions relative to the first rotation axis 51J, centered on the first rotation axis 31J. Furthermore, the second stick 72 can rotate approximately a full circumference around the second rotation axis 32J. Therefore, when a virtual plane orthogonal to the reference axis K is defined as a horizontal plane, the second mechanism 42, including the second boom 71 and the second stick 72, can operate over a wide range on the horizontal plane. For example, as... Figure 7 As indicated by arrow 71P, the second boom 71 can reach a position rotated approximately 30 degrees clockwise from the first axis of rotation 51J toward the plane of the paper. Additionally, for example, as... Figure 7 As indicated by arrow 72P, the second stick 72 can reach a position after rotating 30 degrees clockwise relative to the third virtual straight line 42E. Thus, in the excavator 10 of this embodiment, the range of motion of the second mechanism 42 can be greatly ensured. This expands the working range of the excavator 10.

[0107] (11) such as Figure 3 As indicated by arrow 74P, the second attachment 73 of the second mechanism 42 extends vertically. Therefore, as described above (10), the second mechanism 42 is able to expand its range of motion on the horizontal plane and perform vertical operations.

[0108] <Example of Change>

[0109] The above-described embodiments can be modified and implemented as follows. The above-described embodiments and the following modifications can be combined with each other to implement them within the scope of technical inconsistency.

[0110] • It is also possible to cancel either the first agency 41 or the second agency 42.

[0111] The overall structure of the second mechanism 42 is not limited to the example of the above embodiment. The second mechanism 42 can be configured such that the second stick 72 is connected to the second boom 71, and the second attachment 73 is connected to the side of the second stick 72 opposite to the connection point of the second boom 71. As long as such a structure can be achieved, the structure of each part in the second mechanism 42 can be appropriately modified. For example, the relative positional relationship of the second boom 71, the second stick 72, and the second attachment 73 in the direction parallel to the reference axis K can be changed from the example of the above embodiment. Specifically, consider positioning the second stick 72 on the upward side relative to the second boom 71, etc.

[0112] The connection method of the second attachment 73 relative to the second boom 72 is not limited to the examples of the above embodiments. For example, the upper end of the second attachment 73 may be fixed to the lower surface of the second end 72B of the second boom 72. As long as the second attachment 73 can be connected to the second boom 72, the connection method is not limited.

[0113] • The structure of the second appendix 73 is not limited to the example of the above-described embodiment. The second appendix 73 is not limited to a telescopic device, and may also appropriately employ devices, mechanisms, tools, etc., that are effective in various operations of the excavator 10.

[0114] The structure of the second boom 72 is not limited to the examples of the embodiments described above. The second boom 72 may also be bent or folded midway. As long as the second boom 72 is a long strip as a whole, it is preferable to expand the range of motion of the second mechanism 42.

[0115] The second rotation angle and even the rotation range of the second stick 72 are not limited to the examples of the above embodiments. The second rotation angle may also differ on one side and the other side relative to the third virtual line 42E connecting the first rotation axis 31J and the second rotation axis 32J. The second stick 72 may also be able to rotate 360 ​​degrees relative to the third virtual line 42E in both one side and the other side. The second stick 72 may also be able to rotate relative to the third virtual line 42E in only one side and the other side. The second stick 72 only needs to be able to rotate relative to the second boom 71.

[0116] • It is not necessary for the second stick 72 to be rotatable relative to the second boom 71. Alternatively, the second stick 72 may not be rotatable relative to the second boom 71, and therefore the second rotating device 32 may be omitted.

[0117] • The structure of the second boom 71 is not limited to the example of the above embodiment. Similar to the second stick 72, it is preferable that the second boom 71 is a long strip as a whole, which can expand the range of motion of the second mechanism 42.

[0118] The first rotation angle and even the rotation range of the second boom 71 are not limited to the examples of the above embodiments. The first rotation angle may also differ on one side and the other side relative to the first rotation axis 51J. Depending on the configuration of the second boom 71, the virtual straight line serving as the reference for the rotation of the second boom 71 may not be the first rotation axis 51J. The second boom 71 only needs to be able to be rotatably connected to the vehicle body 12 relative to at least one side and the other side relative to a certain specific reference straight line. The second boom 71 may also be able to rotate 360 ​​degrees in both directions around the first rotation axis 31J.

[0119] The arrangement of the first rotating device 31 on the connecting member 25 is not limited to the examples of the above embodiments. For example, the first rotating device 31 may also be located at the center of the circle of the connecting member 25.

[0120] The first rotating device 31 is not limited to the connecting member 25. Whether directly or indirectly, the first rotating device 31 can be installed anywhere on the upper body 20 or even the vehicle body 12. In this case, the placement of the first rotating device 31 on the vehicle body 12 can be appropriately designed, taking into account the range of motion of the second boom 71 and the structure of the vehicle body 12. That is, the configuration of the first rotating device 31 is not limited to the examples of the above embodiments.

[0121] The structure of the first rotating device 31 and the connection method between the upper body 20 and the second boom 71 based on the first rotating device 31 are not limited to the examples of the above embodiments. For example, the electric motor in the electric motor and the reducer of the first rotating device 31 can be arranged on the upward side relative to the second boom 71. On the other hand, the reducer can also be arranged between the upper body 20 and the second boom 71. Furthermore, the output shaft of the electric motor can also pass through the second boom 71 and be connected to the reducer. Moreover, the structure of the output side of the reducer can be designed to transmit the torque output by the reducer to the second boom 71. As long as the torque output by the first rotating device 31 can be used to rotate the second boom 71 relative to the vehicle body 12, the connection method between the vehicle body 12 and the second boom 71 based on the first rotating device 31 is not limited. In addition, the first rotating device 31 can be a structure that includes an electric motor and is able to output torque centered on a first rotation axis 31J extending vertically on the vehicle body 12. The reducer can also be omitted from the first rotating device 31.

[0122] It is not necessary for the second boom 71 to be connected to the upper body 20 or even the vehicle body 12 via the first rotating device 31. That is, the method of connecting the second boom 71 to the vehicle body 12 is not limited to the example of the above embodiment. As long as the second boom 71 is rotatably connected to the vehicle body 12, the connection method is not limited. Furthermore, depending on the method of connecting the second boom 71 to the vehicle body 12, etc., as described in the example of the above embodiment, the connection point of the second boom 71 to the vehicle body 12 may also be outside the top surface 23 of the upper body 20. That is, the connection point of the second boom 71 to the vehicle body 12 is not limited to the example of the above embodiment. The second boom 71 only needs to be connected to the vehicle body 12 at some point. Furthermore, the arrangement of the connection point of the second boom 71 to the vehicle body 12 in a direction orthogonal to both the first rotation axis 51J and the reference axis K may also be at a position offset from approximately the center of the vehicle body 12. That is, the arrangement of the connection point of the second boom 71 to the vehicle body 12 is not limited to the example of the above embodiment.

[0123] Similar to the aforementioned modification of the first rotating device 31, the structure of the second rotating device 32 and the connection method of the second boom 71 and the second stick 72 based on the second rotating device 32 are not limited to the examples of the above embodiments. As long as the torque output by the second rotating device 32 can be used to rotate the second stick 72 relative to the second boom 71, the connection method of the second boom 71 and the second stick 72 based on the second rotating device 32 is not limited. Furthermore, the second rotating device 32 can be any structure that includes an electric motor and is capable of outputting torque centered on a second rotating axis 32J parallel to the first rotating axis 31J. The reducer can also be omitted from the second rotating device 32.

[0124] • It is not necessary for the second stick 72 to be connected to the second boom 71 via the second rotating device 32. As mentioned above, the second rotating device 32 can be omitted. Whether or not the second rotating device 32 is present, as long as the second stick 72 and the second boom 71 can be connected, the method of connection is not limited.

[0125] The overall structure of the first mechanism 41 is not limited to the example of the above embodiment. The first mechanism 41 only needs to have the first boom 62 connected to the 61st arm and the first attachment 63 connected to the side of the first boom 62 opposite to the connection point with the first arm 61. As long as such a structure can be achieved, the structure of each part in the first mechanism 41 can be appropriately modified. For example, the relative positional relationship of the first arm 61, the first boom 62, and the first attachment 63 in the direction parallel to the first rotation axis 51J can be changed from the example of the above embodiment. Specifically, it is possible to consider placing the first attachment 63 on the side of the first boom 62 opposite to the first arm 61, etc.

[0126] • The structure of the first attachment 63 is not limited to the examples of the above embodiments. For example, the first bucket 65A and the second bucket 65B may also be arranged asymmetrically in a specific observation. In addition, the first bucket 65A and the second bucket 65B may have different shapes from each other. Even if the arrangement of the first bucket 65A and the second bucket 65B is asymmetrical or the shapes of the first bucket 65A and the second bucket 65B are different from each other, as long as the first bucket 65A and the second bucket 65B are configured to satisfy the first condition, the effect of (9) described above can be obtained.

[0127] • In the first attachment 63, it is not necessary for the first bucket 65A and the second bucket 65B to satisfy the first condition. Even if the first bucket 65A and the second bucket 65B do not satisfy the first condition, the effect described above (8) can be obtained as long as the first attachment 63, which connects the first bucket 65A and the second bucket 65B in opposite directions, is used. Furthermore, it is not necessary for the first attachment 63 to have the first bucket 65A and the second bucket 65B. That is, in the first attachment 63, either the first bucket 65A or the second bucket 65B can be omitted.

[0128] • As the first attachment 63, attachments other than a box-shaped bucket may also be used. For example, a telescopic device like the second attachment 73 may also be used as the first attachment 63. That is, the first attachment 63 is not limited to rotation relative to the first stick 62. If the first attachment 63 is used and rotation relative to the first stick 62 is not required, the third drive device 53 may be omitted. Like the second attachment 73, the first attachment 63 may also appropriately employ devices, mechanisms, tools, etc., that are effective in various operations using the excavator 10.

[0129] When a component that rotates relative to the first boom 62 is used as the first attachment 63, the rotation range of the first attachment 63 is not limited to the example of the above embodiment. The first attachment 63 may also rotate with different rotation ranges on one side and the other side relative to the second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J. The first attachment 63 may also rotate relative to the second virtual straight line 41F only in one side and the other side. The first attachment 63 only needs to be able to rotate relative to the first boom 62.

[0130] The structure of the first boom 62 is not limited to the examples described above. The first boom 62 may also be bent or folded midway. As long as the first boom 62 is a long strip, it is preferable to expand the range of motion of the first mechanism 41.

[0131] The second rotation angle of the first boom 62, and even the rotation range of the first boom 62, are not limited to the examples of the above embodiments. The second rotation angle may also differ on one side and the other side relative to the first virtual straight line 41E connecting the first rotation axis 51J and the second rotation axis 52J. The first boom 62 may also be rotatable 360 ​​degrees relative to the first virtual straight line 41E in both directions. The first boom 62 may also be rotatable relative to the first virtual straight line 41E in only one direction or the other. As long as the first boom 62 can rotate relative to the first boom 61.

[0132] • It is not necessary for the first stick 62 to be able to rotate relative to the first boom 61. The first stick 62 may also not be able to rotate relative to the first boom 61, thus eliminating the need for the second drive unit 52.

[0133] • The structure of the first boom 61 is not limited to the examples of the above embodiments. Similar to the first stick 62, it is preferable that the first boom 61 is a long strip as a whole, which can expand the range of motion of the first mechanism 41.

[0134] The first rotation angle and even the rotation range of the first boom 61 are not limited to the examples of the above embodiments. The first rotation angle may also be different on one side and the other side relative to the reference axis K. The first boom 61 can rotate in both directions relative to the reference axis K. Furthermore, in order to ensure a large range of motion of the first mechanism 41, it is preferable that the first boom 61 can rotate at least 90 degrees to one side and at least 90 degrees to the other side relative to the reference axis K.

[0135] The structure of the first drive unit 51 and the connection method between the support wall 27 and the first boom 61 based on the first drive unit 51 are not limited to the examples of the above embodiments. For example, the electric motor in the first drive unit 51 can be arranged on the side of the support wall 27 opposite to the first boom 61, or the reducer can be arranged between the support wall 27 and the first boom 61. Moreover, the output shaft of the electric motor can pass through the support wall 27 and be connected to the reducer. Furthermore, the structure of the output side of the reducer can be designed to transmit the torque output by the reducer to the first boom 61. Alternatively, for example, the electric motor can be arranged on the side of the first boom 61 opposite to the support wall 27, or the reducer can be arranged between the support wall 27 and the first boom 61. Even in this case, as long as the output shaft of the electric motor passes through the first boom 61 and is connected to the reducer, the torque of the electric motor can be transmitted to the reducer. Furthermore, for example, the first end 61A of the first boom 61 can be divided into two strands, and the support wall 27 can be arranged between the two strands of the first end 61A. Based on this structure, the first end 61A of the first boom 61 and the support wall 27 can be connected by the first drive device 51 in a suitable manner. As long as the torque output by the first drive device 51 can rotate the first boom 61 relative to the support wall 27 and even the vehicle body 12, the connection method between the support wall 27 and the first boom 61 based on the first drive device 51 is not limited. Furthermore, the first drive device 51 only needs to be a structure that includes an electric motor and is capable of outputting torque centered on a rotation axis orthogonal to the reference axis K. The reducer can also be omitted from the first drive device 51.

[0136] • It is not necessary for the first boom 61 to be connected to the upper body 20 or even the vehicle body 12 via the first drive device 51. That is, the method of connecting the first boom 61 to the vehicle body 12 is not limited to the examples of the above embodiments. As long as the first boom 61 can be rotatably connected to the vehicle body 12, the connection method is not limited. Furthermore, by changing the connection method of the first boom 61 to the vehicle body 12 from the examples of the above embodiments, the connection point of the first boom 61 to the vehicle body 12 may also be outside the top surface 23 of the upper body 20. That is, the connection point of the first boom 61 to the vehicle body 12 is not limited to the examples of the above embodiments. The first boom 61 only needs to be connected to the vehicle body 12 at some point. Furthermore, the arrangement of the connection point of the first boom 61 to the vehicle body 12 in a direction orthogonal to both the first rotation axis 51J and the reference axis K may also be a position offset from approximately the center of the vehicle body 12. That is, the arrangement of the connection point of the first boom 61 to the vehicle body 12 is not limited to the examples of the above embodiments.

[0137] Similar to the aforementioned modification of the first drive unit 51, the structure of the second drive unit 52 and the connection method between the first boom 61 and the first stick 62 based on the second drive unit 52 are not limited to the examples of the above embodiments. As long as the torque output by the second drive unit 52 can be used to rotate the first stick 62 relative to the first boom 61, the connection method between the first boom 61 and the first stick 62 based on the second drive unit 52 is not limited. Furthermore, the second drive unit 52 can be any structure that includes an electric motor and is capable of outputting torque centered on a second rotation axis 52J parallel to the first rotation axis 51J. The reducer can also be omitted from the second drive unit 52.

[0138] • It is not necessary for the first stick 62 to be connected to the first boom 61 via the second drive device 52. As mentioned above, the second drive device 52 can also be omitted. Whether or not the second drive device 52 is present, as long as the second stick 72 and the second boom 71 can be connected, the method of connection is not limited.

[0139] Similar to the modifications described above regarding the first drive unit 51 and the second drive unit 52, the structure of the third drive unit 53 and the connection method between the first stick 62 and the first attachment 63 based on the third drive unit 53 are not limited to the examples of the above embodiments. As long as the torque output by the third drive unit 53 can be used to rotate the first attachment 63 relative to the first stick 62, the connection method between the first stick 62 and the first attachment 63 based on the third drive unit 53 is not limited. Furthermore, the third drive unit 53 can be any structure that includes an electric motor and is capable of outputting torque centered on a third rotation axis 53J parallel to the first rotation axis 51J. The reducer can also be omitted from the third drive unit 53.

[0140] • It is not necessary for the first attachment 63 to be connected to the first stick 62 via the third drive device 53. As mentioned above, the third drive device 53 can also be omitted. Whether or not the third drive device 53 is present, as long as the first attachment 63 and the first stick 62 can be connected, the method of connection is not limited.

[0141] The structure and configuration of the support wall 27 are not limited to the examples of the above embodiments. The support wall 27 may also adopt suitable structures and configurations from the viewpoint of connecting the first boom 61.

[0142] • Support wall 27 is not necessary. As long as a structure other than a wall such as support wall 27 can be used to connect the first boom 61 to the vehicle body 12, support wall 27 can also be omitted.

[0143] The structure and configuration of the connecting member 25 are not limited to the examples of the above embodiments. The connecting member 25 only needs to be able to transmit the torque output by the main rotating device 30 to the first boom 61. As long as this can be achieved, the structure and configuration of the connecting member 25 can be appropriately modified.

[0144] The structure and configuration of the main rotating device 30 that rotates the connecting member 25 are not limited to the examples of the above embodiments. The main rotating device 30 only needs to be able to output torque centered on the main rotating axis 30J parallel to the reference axis K. The rotation range of the output member 30B in the main rotating device 30 is not limited to 360 degrees. The reducer can also be omitted from the main rotating device 30. The main rotating axis 30J and the reference axis K can also be offset.

[0145] • The main rotating device 30 can also be omitted. In this case, the connecting member 25 can also be omitted along with the main rotating device 30. If the main rotating device 30 and the connecting member 25 are omitted, for example, the support wall 27 can be directly installed on the upper body 20.

[0146] It is not necessary to treat the central axis of the upper body 20 as the reference axis K. The reference axis K can be any axis extending vertically along the vehicle body 12. As in the above embodiment, the vertical position of the vehicle body 12 can be defined by the positional relationship between the lower body 14 and the upper body 20, or by the positional relationship between the ground G and the vehicle body 12. In this case, the ground G can be considered as, for example, a horizontal plane that is a virtual extension of the lower surface of the tracks in the left and right running gear 16.

[0147] The structure of the upper body 20 is not limited to the examples of the embodiments described above. For example, the inferior angle θ formed by the top surface 23 and the side surface 22 in the upper body 20 can be changed from 120 degrees. Furthermore, as in the modified example described above, if the main rotating device 30 is omitted, the upper body 20 can be formed into a shape other than a frustum conical shape. Even if the upper body 20 is set to a shape other than a frustum conical shape, it is effective to ensure a larger range of motion of the first movable arm 61 if the shape of the upper body 20 is as follows. That is, in a specific observation, the upper body 20 preferably has: an inclined surface that is inclined closer to the reference axis K as it moves upward; and a top surface that is connected to the uppermost end of the inclined surface and is orthogonal to the reference axis K. Moreover, if the first movable arm 61 is connected to the top surface of such an upper body 20, the first movable arm 61 can be tilted downward relative to the top surface along the inclined surface. However, it is not necessary for the upper body 20 to have an inclined surface and a top surface. As described in (4) above, by adopting an appropriate structure, such as expanding the support wall 27 to the upward direction, the movable range of the first boom 61 can be expanded even without using an inclined surface.

[0148] Alternatively, the upper body 20 and the lower body 14 can be connected in a manner that allows the upper body 20 to rotatably relative to the lower body 14 with the reference axis K as the center. For example, if the main rotating device 30 is omitted, by adopting such a connection method, the first mechanism 41 and the like can be rotated to the preferred operating position.

[0149] • The overall structure of the vehicle body 12 is not limited to the examples of the above embodiments. For example, the vehicle body 12 may also be constructed from a single object without separating the lower body 14 and the upper body 20. A passenger seat may also be provided on the vehicle body 12, along with input devices such as switches and levers for operating the first mechanism 41 and the second mechanism 42.

[0150] The construction machinery employing the first mechanism 41, the second mechanism 42, and the vehicle body 12 connecting them as described in the above embodiments and variations is not limited to the excavator 10. Regardless of the type of construction machinery, employing at least one of the first mechanism 41 and the second mechanism 42 can expand the operating range.

[0151] In the above embodiments, a component composed of a plurality of objects may be integrated into one object; conversely, a component composed of a single object may be divided into a plurality of objects. Regardless of whether they are integrated or not, the configuration is sufficient to achieve the purpose of this disclosure.

[0152] ·Reference Figure 8-10 An example will be described where the shape of the vehicle body 12, the mounting method of the first drive unit 51 relative to the vehicle body 12, and the configuration of the connection portion of the first boom 61 relative to the vehicle body 12 are changed from the above embodiment. Hereinafter, regarding... Figure 8-10 The excavator 110 shown will be described primarily for the parts that differ from the embodiments described above; parts that overlap with the embodiments described above will be appropriately omitted or simplified. Furthermore, in Figure 8-10 In the middle, to and Figure 1-7 The labeling of parts with the same or substantially the same function is the same as Figure 1-7 Same reference numerals as shown in the attached figures.

[0153] like Figure 8As shown, the excavator 110 has a body 12 and a pair of running gear 16. The body 12 has a lower body 14 and an upper body 114. The upper body 114 is located on the side opposite to the ground G relative to the lower body 14. The upper body 114 is cuboid in shape. Both the upper and lower surfaces of the upper body 114 are approximately parallel to the ground G and even to the lower surfaces of the left and right tracks. The interior of the upper body 114 is hollow. The structure of the lower body 14 is the same as in the above embodiment. The pair of running gear 16 is located on the left and right sides of the lower body 14. The structure of the running gear 16 is the same as in the above embodiment. Furthermore, the method of defining the front, back, left, right, up, and down movements of the excavator 110 is the same as in the above embodiment.

[0154] like Figure 8 As shown, the excavator 110 has a main rotating device 30. The main rotating device 30 is located inside the upper body 20. The main rotating device 30 is located at the front end of the upper body 20. Figure 10 As shown, the main rotating device 30 is located at the left end of the upper body 20. Figure 8 As shown, the central axis of the main rotating device 30 extends approximately in the Z direction. The outer contour of the main body 30A of the main rotating device 30 is fixed to the inner wall of the upper body 20. The output member 30B of the main rotating device 30 outputs torque centered on the main rotating axis 30J extending approximately in the Z direction. The main rotating axis 30J is approximately perpendicular to both the upper and lower surfaces of the upper body 20. That is, the main rotating axis 30J extends vertically along the upper body 114. The main rotating axis 30J constitutes the reference axis K. The output member 30B can rotate a full circumference in both positive and negative directions depending on the rotation direction of the electric motor of the main body 30A. Although detailed drawings are omitted, the upper end of the output member 30B penetrates the upper surface of the upper body 20 and protrudes laterally upward from that upper surface.

[0155] like Figure 8 As shown, the excavator 110 has a connecting member 25 and a support wall 27. The connecting member 25 is located upward relative to the upper surface of the upper body 114. The connecting member 25 is fixed to the output member 30B of the main rotating device 30. The connecting member 25 and the output member 30B of the main rotating device 30 rotate integrally. Although not shown in the figure, a bearing that rotatably supports the connecting member 25 is arranged between the connecting member 25 and the upper surface of the upper body 114. The support wall 27 protrudes upward from the upper surface of the connecting member 25.

[0156] The excavator 110 has a first mechanism 41. The first mechanism 41, like in the embodiment described above, includes a first drive unit 51, a second drive unit 52, a third drive unit 53, a first boom 61, a first stick 62, and a first attachment 63. Hereinafter, the first mechanism 41 will be briefly described, focusing on the parts that differ from the embodiment described above. Furthermore, in the following description, the rotation angle of the connecting member 25 connected to the first mechanism 41 is zero degrees. That is, the connecting member 25 is in its basic rotational position.

[0157] like Figure 10 As shown, the first drive unit 51 is located on the right side relative to the support wall 27. The outer contour of the main body 51A of the first drive unit 51 is fixed to the support wall 27. The first output member 51B of the first drive unit 51 outputs torque centered on a first rotation axis 51J that is approximately orthogonal to the reference axis K. The first rotation axis 51J extends in approximately the Y direction.

[0158] The first boom 61 is located on the right side relative to the first drive unit 51. For example... Figure 8 As shown, the first boom 61 is generally a long, plate-like structure. The first boom 61 bends midway along its length. That is, in a specific observation, the first boom 61 appears V-shaped. Similar to the above embodiment, this specific observation refers to the observation when viewing the excavator 110 in a direction parallel to the first rotation axis 51J. The first end 61A of the first boom 61 is located on the first rotation axis 51J. The first end 61A of the first boom 61 is connected to the first output member 51B of the first drive unit 51. The first boom 61 is subjected to torque from the first output member 51B of the first drive unit 51 and rotates about the first rotation axis 51J. In a specific observation, the first boom 61 is capable of rotating both forward and backward relative to the reference axis K. More specifically, in a specific observation, the first boom 61 is rotatable forward and backward across a reference semi-linear line extending from the first rotation axis 51J on the reference axis K towards the side opposite to the connecting member 25. The first boom 61 can rotate more than 90 degrees to the forward direction relative to the reference half-line. Additionally, as... Figure 9 As shown, during a specific observation, the first boom 61 can rotate rearward to an upper limit angle relative to the reference half-line. The upper limit angle is an angle slightly larger than 90 degrees. When the first boom 61 rotates rearward to the upper limit angle relative to the reference half-line, the bent portion of the first boom 61 contacts the upper surface of the upper body 114.

[0159] As described above, the first end 61A of the first boom 61 is connected to the support wall 27 via the first drive device 51. Furthermore, as... Figure 10As shown, the support wall 27 is located at the forward end of the upper body 114. Considering this configuration of the support wall 27, the first end 61A of the first boom 61, i.e., the connection point between the first boom 61 and the upper body 114, is located further forward than the center of the upper body 114 in the X direction. In other words, the first end 61A of the first boom 61 is located to one side relative to the center of the upper body 114 in a direction orthogonal to both the reference axis K and the first rotation axis 51J.

[0160] like Figure 10 As shown, the second drive unit 52 is located on the right side relative to the first boom 61. The outer contour of the main body 52A of the second drive unit 52 is fixed to the second end 61B of the first boom 61 on the side opposite to the first end 61A. The second output member 52B of the second drive unit 52 outputs torque centered on the second rotation axis 52J. The second rotation axis 52J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J. Figure 8 As shown, the second rotation axis 52J passes through the second end 61B of the first boom 61.

[0161] like Figure 10 As shown, the first stick 62 is located on the right side relative to the second drive unit 52. The first stick 62 is a long, plate-like structure. Figure 8 As shown, the first boom 62 extends in a straight line. Figure 10 As shown, the first end 62A of the first stick 62 is fixed to the second output member 52B of the second drive device 52. That is, the first end 62A of the first stick 62 is connected to the second end 61B of the first boom 61 via the second drive device 52. The first stick 62 is subjected to torque from the second output member 52B of the second drive device 52 and rotates about the second rotation axis 52J. Figure 8 As shown, during a specific observation, the first stick 62 is capable of rotating 360 degrees to both sides relative to the first virtual straight line 41E connecting the first rotation axis 51J and the second rotation axis 52J. That is, during a specific observation, the first stick 62 can perform the following rotational actions: The first stick 62 can rotate to both sides by crossing a half-straight line extending from the second rotation axis 52J to the side opposite to the first rotation axis 51J on the first virtual straight line 41E. Additionally, the first stick 62 can rotate to both sides by crossing a specific half-straight line 41V extending from the second rotation axis 52J to the first rotation axis 51J on the first virtual straight line 41E. For example... Figure 9 As shown, a specific half-line 41V is a half-line that extends from the second rotation axis 52J and intersects the first rotation axis 51J at a specific observation.

[0162] like Figure 10As shown, the third drive unit 53 is located on the right side relative to the first stick 62. The main body 53A of the third drive unit 53 is fixed to the second end 62B of the first stick 62 on the side opposite to the first end 62A. The third output member 53B of the third drive unit 53 outputs torque centered on the third rotation axis 53J. The third rotation axis 53J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J and the second rotation axis 52J. Figure 8 As shown, the third rotation axis 53J passes through the second end 62B of the first stick 62.

[0163] like Figure 10 As shown, the first accessory 63 is located on the right side relative to the third drive device 53. (As indicated...) Figure 8 As shown, the first attachment 63 is a structure that eliminates one of the two buckets in the above embodiment. That is, the first attachment 63 has a connecting piece 64 and a bucket 66. Figure 10 As shown, the bucket 66 has: a bucket body 67 having an opening 67A; and a plurality of claws 68 protruding from the opening edge of the bucket body 67. In the Y direction, the bucket body 67 is located within the area of ​​the upper body 114.

[0164] The connecting piece 64 of the first attachment 63 is fixed to the third output member 53B of the third drive device 53. That is, the connecting piece 64 is connected to the second end 62B of the first stick 62 via the third drive device 53. The connecting piece 64, and even the first attachment 63, are subjected to torque from the third drive device 53, causing them to rotate about the third rotation axis 53J. Figure 8 As shown, during a specific observation, the first attachment 63 can rotate 360 ​​degrees to one side and the other side relative to the second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J.

[0165] In the first mechanism 41, the first boom 61 and the first stick 62 are designed to satisfy the following first dimensional relationship at a particular observation. The first dimensional relationship is that the distance from the first rotation axis 51J to the second rotation axis 52J is longer than the distance from the second rotation axis 52J to the third rotation axis 53J.

[0166] The first mechanism 41 can accommodate the rotation ranges of the first boom 61, the first stick 62, and the first attachment 63 to achieve the following: Figure 9 and Figure 10 The storage method shown. (Example) Figure 9As shown, in the retracted position, the bent portion of the first boom 61 contacts the upper surface of the upper body 114. The first stick 62 is configured relative to the first boom 61 to bend approximately 180 degrees back about the second rotation axis 52J. Furthermore, in a specific observation, the third rotation axis 53J is located on a specific half-line 41V. In this embodiment, the third rotation axis 53J is located between the second rotation axis 52J and the first rotation axis 51J in a specific observation. That is, when the first mechanism 41 is in the retracted position, the first boom 61, the first stick 62, and the first attachment 63 are arranged overlapping each other in a specific observation. The first boom 61, the first stick 62, and the first attachment 63 can also be said to be arranged in a direction parallel to the first rotation axis 51J. By achieving such a retracted position, the space used when retracting the first mechanism 41 in the excavator 110 can be reduced.

[0167] like Figure 10 As shown, the excavator 110 has a control device 45. The control device 45 controls the first mechanism 41 and the like. Furthermore, the control device 45 controls the first drive unit 51, the second drive unit 52, the third drive unit 53, and the like based on command signals sent from the controller 46. In addition, the controller 46 and the excavator 110 constitute an excavator system 47.

[0168] The control device 45 is capable of performing a storage process. The storage process is the process of bringing the first mechanism 41 to a storage position. The memory pre-stores a program for performing the storage process. By executing the program through the CPU, the control device 45 realizes the storage process.

[0169] Under specific observation conditions, the state in which the first stick 62 is rotated relative to the first boom 61 until the third axis of rotation 53J lies on a specific semi-straight line 41V is referred to as the first mode. When designing the first mechanism 41 to achieve this first mode, it is also possible to adopt... Figure 8-10 Structures other than those shown in the examples. For example, in Figure 11 In the example shown, from Figure 8-10 The example shown alters the positional relationship of the first boom 61, the first stick 62, and the first attachment 63 in a direction parallel to the first axis of rotation 51J. Specifically, in Figure 11In the first mechanism 41 shown, the first boom 61 and the first attachment 63 are located on the same side relative to the first stick 62 in a direction parallel to the first rotation axis 51J. Furthermore, the first boom 61 and the first stick 62 are designed to satisfy the following second dimensional relationship in a specific observation: the distance from the first rotation axis 51J to the second rotation axis 52J is shorter than the distance from the second rotation axis 52J to the third rotation axis 53J. With this structure, when the first mechanism 41 is in its first configuration, the third rotation axis 53J is located on the opposite side of the second rotation axis 52J relative to the first rotation axis 51J on a specific half-line 41V. Furthermore, as... Figure 11 As shown, after the first mechanism 41 is rotated to a suitable rotation position using the main rotation device 30, the first mechanism 41 is in the first mode.

[0170] ·Reference Figure 12 and Figure 13 An example will be described where the shape of the vehicle body 12, the mounting method of the first drive unit 51 relative to the vehicle body 12, and the configuration of the connection portion of the first boom 61 relative to the vehicle body 12 are changed from the above embodiment. Hereinafter, regarding... Figure 12 and Figure 13 The excavator 150 shown will be described primarily for the parts that differ from the embodiments described above, with parts that overlap with the embodiments omitted or simplified as appropriate. Figure 12 and Figure 13 In the middle, to and Figure 1-11 The labeling of parts with the same or substantially the same function is the same as Figure 1-11 Same reference numerals as shown in the attached figures.

[0171] like Figure 12 As shown, the excavator 150 has a body 12 and a pair of traveling gears 16. The body 12 has a lower body 14 and an upper body 154. The upper body 154 is located on the side opposite to the ground G relative to the lower body 14. The upper body 154 is centered on an axis extending approximately in the Z direction and is capable of rotating left and right relative to the lower body 14. Furthermore, in the following description, the rotation angle of the upper body 154 is zero degrees. The pair of traveling gears 16 are located on the left and right sides of the lower body 14. The structure of the lower body 14 and the traveling gears 16 is the same as in the above embodiment, so the description is omitted. The method for defining the forward, backward, left, right, up, and down movement of the excavator 150 is the same as in the above embodiment.

[0172] The upper body 154 has a main part 154A and a supporting wall part 154B. Figure 12For convenience, the boundaries of the main part 154A and the supporting wall part 154B are shown with dashed lines. However, the main part 154A and the supporting wall part 154B are a single unit, and there is actually no boundary between them. The main part 154A is generally rectangular. However, the front portion of the upper surface of the main part 154A slopes downwards. The supporting wall part 154B is located on the front side relative to the main part 154A. The supporting wall part 154B is located in the lower part of the main part 154A. The supporting wall part 154B is rectangular. Both the upper and lower surfaces of the supporting wall part 154B are approximately parallel to the ground surface G. As a result of the supporting wall part 154B being located in the lower part of the main part 154A, the upper surface of the supporting wall part 154B is located in a position that is lower than the upper surface of the main part 154A.

[0173] The main part 154A has a receiving part 154C. Figure 12 In the diagram, the receiving portion 154C is shown with a thick solid line. The receiving portion 154C is located in the rear part of the upper surface of the main portion 154A. The receiving portion 154C is a structural part for arranging the battery 98 mounted on the excavator 150. The receiving portion 154C is, for example, a recess that matches the shape of the battery 98.

[0174] The excavator 150 has a first mechanism 41. The first mechanism 41, like in the embodiment described above, includes a first drive unit 51, a second drive unit 52, a third drive unit 53, a first boom 61, a first stick 62, and a first attachment 63. Hereinafter, the first mechanism 41 will be briefly described, focusing on the parts that differ from the embodiment described above.

[0175] The first drive unit 51 is located on the upper side relative to the support wall portion 154B. Although detailed drawings are omitted, the first drive unit 51 is connected to the upper surface of the support wall portion 154B. The first drive unit 51 outputs torque centered on a first rotation axis 51J that is approximately orthogonal to the reference axis K. The reference axis K passes through the upper and lower surfaces of the support wall portion 154B and extends in the approximately Z direction. That is, the reference axis K extends vertically along the vehicle body 12. Furthermore, the first rotation axis 51J extends in the approximately Y direction.

[0176] The first boom 61 extends from the first drive unit 51. The first boom 61 bends midway. The first end 61A of the first boom 61 is located on the first rotation axis 51J. The first end 61A of the first boom 61 is connected to the first drive unit 51. The first boom 61 is subjected to torque from the first drive unit 51 and rotates about the first rotation axis 51J. As in the above embodiment, the view of the excavator 150 in a direction parallel to the first rotation axis 51J is referred to as a specific view. In the specific view, the first boom 61 can rotate both forward and backward relative to the reference axis K. More specifically, in the specific view, the first boom 61 can rotate forward and backward across a reference half-line extending upward from the first rotation axis 51J on the reference axis K. For example, in the specific view, the first boom 61 can rotate more than 90 degrees forward relative to the reference half-line. For example, in the specific view, the first boom 61 can rotate about 45 degrees backward relative to the reference half-line. The range of rotation of the first boom 61 in the rearward direction is determined from the viewpoint of avoiding interference between the first boom 61 and the main part 154A of the upper body 154 when the first boom 61 rotates in the rearward direction.

[0177] As described above, the first end portion 61A of the first boom 61 is connected to the support wall portion 154B via the first drive device 51. Furthermore, the first drive device 51 is located on the upper surface of the support wall portion 154B. Considering this configuration of the first drive device 51, the first end portion 61A of the first boom 61, i.e., the connection point between the first boom 61 and the upper body 154, is located further forward than the center of the upper body 154 in the X direction. In other words, the first end portion 61A of the first boom 61 is located on one side relative to the center of the upper body 154 in a direction orthogonal to both the reference axis K and the first rotation axis 51J.

[0178] The second drive unit 52 is connected to the second end 61B of the first boom 61, which is opposite to the first end 61A. The second drive unit 52 outputs torque centered on a second rotation axis 52J. The second rotation axis 52J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J. The second rotation axis 52J passes through the second end 61B of the first boom 61.

[0179] The first boom 62 extends linearly from the second drive unit 52. The first end 62A of the first boom 62 is connected to the second drive unit 52. That is, the first end 62A of the first boom 62 is connected to the second end 61B of the first boom 61 via the second drive unit 52. The first boom 62 is subjected to torque from the second drive unit 52 and rotates about the second rotation axis 52J. In a specific observation, the first boom 62 can rotate 360 ​​degrees to both sides relative to the first virtual straight line 41E connecting the first and second rotation axes 51J. That is, in a specific observation, the first boom 62 can perform the following rotational actions: The first boom 62 can rotate to both sides across a half-straight line extending from the second rotation axis 52J to the side opposite to the first rotation axis 51J on the first virtual straight line 41E. Additionally, the first boom 62 can rotate to both sides across a specific half-straight line 41V extending from the second rotation axis 52J to the first rotation axis 51J on the first virtual straight line 41E.

[0180] The third drive unit 53 is connected to the second end 62B of the first stick 62, on the side opposite to the first end 62A. The third drive unit 53 outputs torque centered on a third rotation axis 53J. The third rotation axis 53J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J and the second rotation axis 52J. The third rotation axis 53J passes through the second end 62B of the first stick 62.

[0181] The first attachment 63 is connected to the third drive device 53. That is, the first attachment 63 is connected to the second end 62B of the first boom 62 via the third drive device 53. Figure 8-10 Similarly, in the excavator 110, the first attachment 63 is located on the side of the first stick 62 opposite to the first boom 61 in a direction parallel to the first rotation axis 51J. The first attachment 63 is a structure that eliminates one of the two buckets in the above embodiment. That is, the first attachment 63 is a bucket having a bucket body 67 with an opening 67A and claws 68 protruding from the opening edge of the bucket body 67. The orientation of the opening 67A is determined by the bucket body 67 for dragline use. The first attachment 63 is subjected to torque from the third drive device 53 and rotates about the third rotation axis 53J. In a specific observation, the first attachment 63 can rotate 360 ​​degrees to both sides relative to the second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J.

[0182] The excavator 150 has a control device 45. The control device 45 controls the first mechanism 41 and the like. Furthermore, the control device 45 controls the first drive unit 51, the second drive unit 52, the third drive unit 53, and the like based on command signals sent from the controller 46. In addition, the controller 46 and the excavator 150 constitute an excavator system 47.

[0183] The control device 45 is capable of performing a setup process. This setup process involves installing batteries 98, which are not currently mounted on the excavator 150, onto the excavator 150. A program for performing the setup process is pre-stored in the memory. The control device 45 executes this program via the CPU to perform the setup process. Furthermore, the excavator 150 is pre-mounted with a plurality of batteries 98. During the execution of the setup process, the control device 45 uses power supplied from the batteries 98 already mounted on the excavator 150 to actuate the drive mechanisms of the first mechanism 41.

[0184] The following description focuses on the state of the first mechanism 41 before the setup process begins, i.e., the ready state. In the ready state, the first boom 61 is positioned forward relative to the reference axis K. Specifically, the second end 61B of the first boom 61 is positioned further forward than the first end 61A. Furthermore, the second end 61B of the first boom 61 is positioned upward relative to the first end 61A. The first stick 62 is positioned downward relative to the second end 61B of the first boom 61. The second end 62B of the first stick 62 is positioned both downward and forward relative to the first end 62A. Moreover, the first attachment 63 is located near the ground G. A battery 98 is mounted on the claw 68 of the first attachment 63.

[0185] Next, when the first mechanism 41 is in a ready state, a start signal for the setting process is sent from the controller 46 to the control device 45. The control device 45 then begins the setting process based on this start signal. When the setting process begins, the control device 45 causes the first mechanism 41 to operate as follows. The operation of the first mechanism 41 will be described below based on specific observations. Figure 13 As indicated by arrow 61M, the control device 45 rotates the first boom 61 rearward relative to the reference axis K. Simultaneously, the second end 61B of the first boom 61 moves upward further than in the ready position. This rotation of the first boom 61 is coordinated with... Figure 13As indicated by arrow 62M, the control device 45 rotates the first boom 62 from the front to the rear across a specific semi-straight line 41V. Furthermore, the control device 45 moves the second end 62B of the first boom 62 to the rearward side relative to the first end 62A. At this time, the second end 62B of the first boom 62 is positioned downward relative to the first end 61A. Consequently, the first attachment 63 is positioned approximately directly above the receiving portion 154C in the upper body 154. Then, the control device 45 places the battery 98 in the receiving portion 154C by finely adjusting the rotational positions of the first boom 61, the first boom 62, and the first attachment 63. Finally, the connection between the battery 98 and the claw 68 of the first attachment 63 is automatically or manually released.

[0186] The control device 45 is capable of performing a release process. The release process is for removing the battery 98 from the excavator 150. A memory stores a program for performing the release process. The CPU executes this program, thereby enabling the control device 45 to perform the release process. Furthermore, during the execution of the release process, the control device 45 uses power supplied from the other batteries 98 already mounted on the excavator 150 to operate the various drive mechanisms of the first mechanism 41.

[0187] Now, assume that the battery 98 of the removed object is placed in the receiving part 154C. And, as... Figure 13 As shown, the battery 98 and the claw 68 of the first accessory 63 are connected. In this state, a start signal for the release process is sent from the controller 46 to the control device 45. Based on this start signal, the control device 45 begins the release process. When the release process begins, the control device 45 causes the first mechanism 41 to perform the opposite action to that during the setting process. That is, the control device 45 rotates the first stick 62 forward relative to a specific semi-linear line 41V. Subsequently, the control device 45 rotates the first boom 61 forward relative to the reference axis K. Then, the control device 45 moves the first boom 61, the first stick 62, and the first accessory 63 to the ready position. When the first mechanism 41 is in the ready position, the control device 45 ends the release process.

[0188] As described above, the control device 45 can switch the posture of the first mechanism 41 using setting and deactivation processes. Specifically, the control device 45 can switch the posture of the first mechanism 41 at a specific observation time to a first posture of readiness or a second posture of placing the battery 98 in the receiving portion 154C. Figure 12As shown, in the first posture, when the first boom 61 is rotated forward relative to the reference axis K during a specific observation, the third rotation axis 53J is located on the forward and downward side relative to the second rotation axis 52J. That is, in the first posture, in a direction orthogonal to both the first rotation axis 51J and the reference axis K, the third rotation axis 53J is located on the side of the second rotation axis 52J opposite to the first rotation axis 51J. On the other hand, as... Figure 13 As shown, in the second posture, when the first boom 61 is rotated rearward relative to the reference axis K during a specific observation, the third rotation axis 53J is located on the rearward and downward side relative to the second rotation axis 52J. That is, in the second posture, in a direction orthogonal to both the first rotation axis 51J and the reference axis K, the third rotation axis 53J is located on the side of the second rotation axis 52J opposite to the first rotation axis 51J. By being able to switch postures in this way, the first mechanism 41 can move a wide range of motion relative to the reference axis K in both the forward and rearward directions. Thus, in the excavator 150, the installation and removal of the battery 98 can be realized.

[0189] Furthermore, when the first boom 62 is rotated during the switching between the first and second postures, the control device 45 causes the first boom 62 to move forward and backward across a specific semi-straight line 41V. As a comparative example of this structure, suppose the first boom 62 is moved forward and backward across a semi-straight line extending from the second rotation axis 52J to the side opposite to the first rotation axis 51J. In this case, when the first boom 62 moves, the second end 62B of the first boom 62 and even the first attachment 63 move upward and to the side relative to the first end 61A of the first boom 62 and even the first boom 61. Furthermore, the battery 98 mounted on the first attachment 63 is transported to a position relatively high relative to the upper surface of the upper body 154. In this case, suppose the battery 98 detaches from the first attachment 63 and falls, a large impact load may act on the battery 98 and the upper body 154. Regarding this, as described above, when the first boom 62 is moved forward and backward across the specific semi-straight line 41V, the battery 98 can be transported to a position close to the upper surface of the upper body 154. Therefore, even if the battery 98 detaches from the first accessory 63 and falls, the impact load acting on the battery 98 and the upper body 154 is extremely small.

[0190] ·use Figure 15 An example will be described where the shape of the vehicle body 12, the mounting method of the first drive unit 51 relative to the vehicle body 12, and the configuration of the connection portion of the first boom 61 relative to the vehicle body 12 are changed from the above embodiment. Hereinafter, regarding... Figure 15 The excavator 170 shown will be described primarily for the parts that differ from the embodiments described above, with parts that overlap with the embodiments omitted or simplified as appropriate. Figure 15In the middle, to and Figure 1-13 The labeling of parts with the same or substantially the same function is the same as Figure 1-13 Same reference numerals as shown in the attached figures.

[0191] like Figure 15 As shown, the excavator 170 has a body 12 and a pair of running gears 16. The body 12 has a lower body 14 and an upper body 172. The upper body 172 is located on the side opposite to the ground G relative to the lower body 14. The pair of running gears 16 are located on the left and right sides of the lower body 14. The structure of the lower body 14 and the running gears 16 is the same as in the above embodiment, so the description is omitted. Furthermore, the method for defining the front, back, left, right, up, and down directions of the excavator 170 is the same as in the above embodiment.

[0192] The upper body 172 has a main part 174, a first support wall part 176, and a second support wall part 178. The main part 174 is rotatable relative to the lower body 14 about an axis extending approximately in the Z direction. In the following description, the rotation angle of the main part 174 is zero degrees. The first support wall part 176 and the second support wall part 178 are arranged symmetrically front and rear of the main part 174. The first support wall part 176 is located on the front side relative to the main part 174. The first support wall part 176 protrudes forward from the main part 174. The first support wall part 176 is, for example, cuboid in shape. Both the upper and lower surfaces of the first support wall part 176 are approximately parallel to the ground surface G. The second support wall part 178 is located on the rear side relative to the main part 174. The second support wall part 178 protrudes rearward from the main part 174. The shape of the second support wall part 178, the orientation of each wall surface of the second support wall part 178, etc., are approximately the same as those of the first support wall part 176. In addition, in the Y and Z directions, the second support wall portion 178 is positioned at approximately the same location as the first support wall portion 176.

[0193] The excavator 170 has a first working mechanism 181. The first working mechanism 181 is located on the forward side relative to the main part 174 of the upper body 172. The basic structure of the first working mechanism 181 is the same as that of the first mechanism 41 in the above embodiment. That is, the first working mechanism 181 is a mechanism that integrates the first drive device 51, the second drive device 52, the third drive device 53, the first boom 61, the first stick 62, and the first attachment 63 as a group. Hereinafter, the first working mechanism 181 will be briefly described, focusing on the parts that differ from the first mechanism 41 in the above embodiment.

[0194] The first drive unit 51 is connected to the first support wall portion 176. The first drive unit 51 outputs torque centered on a first rotation axis 51J that is approximately orthogonal to the first reference axis K1. The first reference axis K1 passes through the upper and lower surfaces of the first support wall portion 176 and extends in a generally Z direction. That is, the first reference axis K1 extends vertically along the vehicle body 12. Furthermore, the first rotation axis 51J extends in a generally Y direction.

[0195] The first boom 61 extends in a straight line from the first drive unit 51 in the forward direction. The first end 61A of the first boom 61 is located on the first rotation axis 51J. The first end 61A of the first boom 61 is connected to the first drive unit 51. That is, the first end 61A of the first boom 61 is connected to the first support wall portion 176 via the first drive unit 51. The first boom 61 is subjected to torque from the first drive unit 51 and rotates about the first rotation axis 51J. As in the above embodiment, the case of viewing the excavator 170 in a direction parallel to the first rotation axis 51J is referred to as a specific view. In the specific view, the first boom 61 can rotate both in the forward and rearward directions relative to the first reference axis K1. In detail, in the specific view, the first boom 61 can rotate in the forward and rearward directions by crossing a first reference half-line extending upward from the first rotation axis 51J on the first reference axis K1. For example, in the specific view, the first boom 61 can rotate more than 90 degrees in the forward direction relative to the first reference half-line.

[0196] The second drive unit 52 is connected to the second end 61B of the first boom 61, which is opposite to the first end 61A. The second drive unit 52 outputs torque centered on a second rotation axis 52J. The second rotation axis 52J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J. The second rotation axis 52J passes through the second end 61B of the first boom 61.

[0197] The first boom 62 extends in a straight line forward from the second drive unit 52. The first end 62A of the first boom 62 is connected to the second drive unit 52. That is, the first end 62A of the first boom 62 is connected to the second end 61B of the first boom 61 via the second drive unit 52. The first boom 62 is subjected to torque from the second drive unit 52 and rotates about the second rotation axis 52J. In a specific observation, the first boom 62 can rotate to both sides relative to a first virtual straight line 41E connecting the first and second rotation axes 51J. For example, the first boom 62 can rotate approximately 360 degrees to both sides relative to the first virtual straight line 41E.

[0198] The third drive unit 53 is connected to the second end 62B of the first stick 62, on the side opposite to the first end 62A. The third drive unit 53 outputs torque centered on a third rotation axis 53J. The third rotation axis 53J extends substantially parallel to the first rotation axis 51J at a position different from the first rotation axis 51J and the second rotation axis 52J. The third rotation axis 53J passes through the second end 62B of the first stick 62.

[0199] The first attachment 63 is connected to the third drive device 53. That is, the first attachment 63 is connected to the second end 62B of the first stick 62 via the third drive device 53. The first attachment 63 is connected to... Figure 12 The same applies to the excavator 150. That is, the first attachment 63 is a box-shaped bucket. The first attachment 63 is subjected to torque from the third drive unit 53 and rotates about the third rotation axis 53J. In a specific observation, the first attachment 63 can rotate to both sides relative to the second virtual straight line 41F connecting the second rotation axis 52J and the third rotation axis 53J. For example, the first attachment 63 can rotate approximately 360 degrees to both sides relative to the second virtual straight line 41F. Furthermore, the first attachment 63 is not limited to a bucket. Depending on the operation, appropriate devices, mechanisms, implements, etc., can be used as the first attachment 63. If an attachment that does not require rotation is used as the first attachment 63, the third drive unit 53 can be omitted, and the first attachment 63 can be directly connected to the first stick 62.

[0200] The excavator 170 has a second working mechanism 182. The second working mechanism 182 is located on the rearward side relative to the main portion 174 of the upper body 172. That is, in a specific view of the first working mechanism 181, the first working mechanism 181 and the second working mechanism 182 are located on one side and the other side, separated by the center of the main portion 174 of the upper body 172 in the X direction. The X direction is a direction orthogonal to both the first rotation axis 51J and the first reference axis K1 of the first working mechanism 181. Furthermore, in both the Y and Z directions, the second working mechanism 182 is arranged in approximately the same position as the first working mechanism 181.

[0201] The second working mechanism 182 is a structure that replaces the first working mechanism 181. That is, the second working mechanism 182 is a group consisting of the first drive device 51, the second drive device 52, the third drive device 53, the first boom 61, the first stick 62, and the first attachment 63. The first drive device 51 of the second working mechanism 182 is connected to the second support wall portion 178. The first drive device 51 outputs torque centered on a first rotation axis 51J that is approximately orthogonal to the second reference axis K2. The second reference axis K2 extends approximately in the Z direction, passing through the upper and lower surfaces of the second support wall portion 178. The second reference axis K2 extends approximately parallel to the first reference axis K1 at a position different from the first reference axis K1. Furthermore, the first rotation axis 51J extends approximately in the Y direction, similar to the first working mechanism 181. In a specific observation, the first boom 61, subjected to the torque of the first drive device 51, is able to rotate forward and backward across a second reference semi-linear line extending upward from the first rotation axis 51J on the second reference axis K2. For example, during a specific observation, the first boom 61 can rotate more than 90 degrees rearward relative to the second reference semi-linear line. Furthermore, the connection method of the structural components in the second working mechanism 182 is the same as that in the first working mechanism 181. Therefore, further description of the second working mechanism 182 is omitted.

[0202] The excavator 170 has a control device 45. The control device 45 controls both the drive units of the first working mechanism 181 and the drive units of the second working mechanism 182. The control device 45 can independently control each drive unit of the first working mechanism 181 and each drive unit of the second working mechanism 182. That is, the control device 45 can make each drive unit of the first working mechanism 181 and each drive unit of the second working mechanism 182 operate synchronously, or it can operate independently. The control device 45 controls the first working mechanism 181 and the second working mechanism 182 according to command signals sent from the controller 46. Furthermore, the controller 46 and the excavator 170 constitute an excavator system 47.

[0203] In the excavator 170, working mechanisms are provided at both the front and rear sides relative to the upper body 172. In this configuration, the excavator 170 can perform forward-direction work relative to the upper body 172 using the first working mechanism 181. Furthermore, the excavator 170 can perform rearward-direction work relative to the upper body 172 using the second working mechanism 182. Therefore, since the excavator 170 can perform work in both the front and rear directions relative to the upper body 172, its working range is increased.

[0204] Here, regarding the excavator 170, a comparative example is considered where the second working mechanism 182 of the first working mechanism 181 and the second working mechanism 182 are omitted. In this comparative example, since the second working mechanism 182 is omitted, the weight of the rear portion of the excavator 170 is less than the weight of the front portion. In this case, because the weight distribution in the excavator 170 is uneven, a counterweight needs to be installed in the rear portion of the excavator 170. The counterweight is a weight used to achieve weight balance in the excavator 170.

[0205] In this respect, in the structure of this embodiment, since the excavator 170 has working mechanisms at both the front and rear, the weight of the excavator 170 is approximately evenly distributed between the front and rear due to these two working mechanisms. Therefore, counterweights are not required.

[0206] about Figure 15 It is not necessary for the first working mechanism 181 and the second working mechanism 182 of the excavator 170 shown to have identical structures. For example, the first attachment 63 used in the first working mechanism 181 and the second working mechanism 182 can be different, and the shape or length of the first boom 61 can also be different. Even in this case, if the working mechanisms are arranged at the front and rear, separated by the upper body 172, the working range of the excavator 170 is widened. Furthermore, even if the structures of the first working mechanism 181 and the second working mechanism 182 are different, if the first working mechanism 181 and the second working mechanism 182 are configured in such a way that their weights are approximately the same, then counterweights are not required.

[0207] Furthermore, for example, when the weights of the first working mechanism 181 and the second working mechanism 182 are different, the following structure can also be adopted. That is, a vertical movement mechanism for changing the vertical position of the first drive device 51 is provided between the first support wall portion 176 and the first drive device 51 of the first working mechanism 181. Similarly, a vertical movement mechanism for changing the vertical position of the first drive device 51 is provided between the second support wall portion 178 and the first drive device 51 of the second working mechanism 182. Using such a vertical movement mechanism, the overall height of the first working mechanism 181 and the overall height of the second working mechanism 182 can be different. For example, in addition to such a height difference, the excavator 170 can be balanced without a counterweight by changing the lengths of the first boom 61 or the first stick 62 in the first working mechanism 181 and the second working mechanism 182.

[0208] Furthermore, the configuration of the first working mechanism 181 and the second working mechanism 182 is not limited to... Figure 15The example shown. For example, the positions of the first working mechanism 181 and the second working mechanism 182 may also be different in at least one of the Z and Y directions. For example, as Figure 14 As shown, when viewing the excavator 170 in the Z direction, the second working mechanism 182 of the first working mechanism 181 can be configured such that the first rotation axis 51J of the first drive device 51 of the first working mechanism 181 intersects with the first rotation axis 51J of the first drive device 51 of the second working mechanism 182. When viewing the excavator 170 in a direction parallel to the first rotation axis 51J of a specific working mechanism in these two sets of working mechanisms, the two sets of working mechanisms can be configured as long as the following configuration condition is met: The configuration condition is that, in a direction orthogonal to both the first rotation axis 51J of the specific working mechanism and the reference axis, the two sets of working mechanisms are located on one side and the other side, separated by the center of the vehicle body 12. The direction orthogonal to both the first rotation axis 51J of the specific working mechanism and the reference axis does not necessarily have to be the X direction.

[0209] With two sets of working mechanisms, hydraulics can also be used to move the first boom 61, the first stick 62, and the first attachment 63.

Claims

1. A construction machine, wherein a drive device configured to output a torque about a rotation axis orthogonal to a reference axis extending up and down along a body that is travelable; and a boom having a first end portion connected to the body, rotated about the rotation axis by the torque from the drive device; the boom is rotatable to both one side and the other side with respect to the reference axis when viewed in a first direction parallel to the rotation axis.

2. The construction machine according to claim 1, wherein the boom is rotatable to each side by 90 degrees or more with respect to the reference axis when viewed in the first direction.

3. The construction machine according to claim 1, wherein when the drive device is a first drive device and the rotation axis is a first rotation axis, the construction machine has: a second drive device configured to output a torque about a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on the side opposite the first end portion of the boom; a stick having a first end portion connected to the second end portion of the boom, rotated about the second rotation axis by the torque from the second drive device; a third drive device configured to output a torque about a third rotation axis parallel to the first rotation axis and passing through a second end portion of the stick on the side opposite the first end portion of the stick; and an attachment having a first end portion connected to the second end portion of the stick, rotated about the third rotation axis by the torque from the third drive device; when viewed in the first direction, the stick is rotatable to both one side and the other side with respect to a virtual straight line connecting the first rotation axis and the second rotation axis, the attachment is rotatable to both one side and the other side with respect to a virtual straight line connecting the second rotation axis and the third rotation axis.

4. The construction machine according to claim 2, wherein when viewed in the first direction, the body has: a sloping surface sloping in a manner that the farther to the upper side, the closer to the reference axis; and a top surface connected to the uppermost end of the sloping surface and orthogonal to the reference axis; the first end portion of the boom is connected to the body on the top surface.

5. The construction machine according to claim 1, wherein a turning device configured to output a torque about a turning axis parallel to the reference axis; and a connecting member interposed between the body and the boom, rotated about the turning axis by the torque from the turning device; the connecting member is rotatable about the turning axis over the entire circumference.

6. The construction machine according to claim 5, wherein the body is configured in a circular truncated cone shape in which the cross-sectional area orthogonal to the reference axis is smaller the farther to the upper side, the first end portion of the boom is connected to a top surface of the body on the upper side.

7. The construction machine according to claim 1, wherein ​ ​ ​ The first end portion of the boom is located at the center of the vehicle body in a direction orthogonal to both the rotation axis and the reference axis.

8. The construction machine according to claim 1, wherein when the drive device is taken as a first drive device and the rotation axis is taken as a first rotation axis, the construction machine has: a second drive device configured to output a torque that is centered on a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on the side opposite the first end portion of the boom; a boom having a first end portion connected to the second end portion of the boom and being rotated about the second rotation axis by the torque from the second drive device; a third drive device configured to output a torque that is centered on a third rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on the side opposite the first end portion of the boom; and an attachment having a first end portion connected to the second end portion of the boom and being rotated about the third rotation axis by the torque from the third drive device; the attachment is two buckets having openings, the openings of the two buckets face in directions opposite each other and are arranged in a circumferential direction about the third rotation axis.

9. The construction machine according to claim 8, wherein each bucket has a bucket main body having an opening and a claw protruding from an opening edge of the bucket main body, when viewed in a direction parallel to the third rotation axis, the claw of each bucket protrudes from a position in the opening edge of the bucket main body that is farthest from the third rotation axis, when viewed in a direction parallel to the third rotation axis, the rotation locus of the protruding end of the claw in one of the buckets when the attachment is rotated one revolution about the third rotation axis in a state in which the boom is in a certain position overlaps the rotation locus of the protruding end of the claw in the other of the buckets.

10. The construction machine according to claim 1, wherein when the drive device is taken as a first drive device and the rotation axis is taken as a first rotation axis, the construction machine has: a second drive device configured to output a torque that is centered on a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on the side opposite the first end portion of the boom; a boom having a first end portion connected to the second end portion of the boom and being rotated about the second rotation axis by the torque from the second drive device; a third drive device configured to output a torque that is centered on a third rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on the side opposite the first end portion of the boom; and an attachment having a first end portion connected to the second end portion of the boom and being rotated about the third rotation axis by the torque from the third drive device; when viewed in the first direction, The arm can be rotated to a state in which the third rotation axis is located on a half straight line extending from the second rotation axis and intersecting the first rotation axis.

11. The construction machine according to claim 1, wherein when the driving device is a first driving device and the rotation axis is a first rotation axis, the construction machine has: a second driving device configured to output a torque that is centered on a second rotation axis that is parallel to the first rotation axis and that passes through a second end portion of the boom on a side opposite the first end portion of the boom; an arm having a first end portion connected to the second end portion of the boom and being rotated about the second rotation axis by the torque from the second driving device; a third driving device configured to output a torque that is centered on a third rotation axis that is parallel to the first rotation axis and that passes through a second end portion of the arm on a side opposite the first end portion of the arm; an attachment having a first end portion connected to the second end portion of the arm and being rotated about the third rotation axis by the torque from the third driving device; and a control device configured to control the first driving device, the second driving device, and the third driving device. The control device can perform switching processing of a first posture and a second posture, the first posture being a posture in which, when viewed in the first direction, the third rotation axis is located on a side opposite the first rotation axis with respect to the second rotation axis in a direction orthogonal to both the first rotation axis and the reference axis in a state in which the boom has been rotated to one side with respect to the reference axis when viewed in the first direction, the second posture being a posture in which, when viewed in the first direction, the third rotation axis is located on a side opposite the first rotation axis with respect to the second rotation axis in a direction orthogonal to both the first rotation axis and the reference axis in a state in which the boom has been rotated to the other side with respect to the reference axis when viewed in the first direction, the control device being configured to rotate the arm across a half straight line extending from the second rotation axis and intersecting the first rotation axis when viewed in the first direction when switching the first posture and the second posture.

12. A construction machine, wherein has: a first turning device configured to output a torque that is centered on a first turning axis extending upward and downward of a travelable vehicle body; a boom having a first end portion connected to the vehicle body and being rotated about the first turning axis by the torque from the first turning device; a second turning device configured to output a torque that is centered on a second turning axis that is parallel to the first turning axis and that passes through a second end portion of the boom on a side opposite the first end portion of the boom; an arm having a first end portion connected to the second end portion of the boom and a second end portion on a side opposite the first end portion and being rotated about the second turning axis by the torque from the second turning device; and an attachment connected to the second end portion of the arm. ​ 13. The construction machine according to claim 12, wherein the attachment is an electrically driven telescopic device capable of being telescoped in a direction along an operation axis parallel to the first rotation axis.

14. A construction machine wherein, two groups of work mechanisms are provided, each work mechanism has: a first drive device configured to output a torque about a first rotation axis orthogonal to a reference axis extending in up and down of a travelable vehicle body; a boom having a first end portion connected to the vehicle body and rotated about the first rotation axis by the torque from the first drive device; a second drive device configured to output a torque about a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on a side opposite to the first end portion; a stick having a first end portion connected to the second end portion of the boom and a second end portion on a side opposite to the first end portion and rotated about the second rotation axis by the torque from the second drive device; and an attachment connected to the second end portion of the stick. when viewed in a direction parallel to the first rotation axis of a first work mechanism of the two groups of work mechanisms, the two groups of work mechanisms are located on one side and the other side of the center of the vehicle body in a direction orthogonal to both the first rotation axis of the first work mechanism and the reference axis.

15. A drive device of a construction machine, wherein a boom rotatable about a rotation axis orthogonal to a reference axis extending in up and down of a travelable vehicle body and connected to the vehicle body is capable of outputting a torque about the rotation axis, when viewed in a direction parallel to the rotation axis, the boom is capable of being rotated to one side and the other side relative to the reference axis.

16. The drive device of the construction machine according to claim 15, wherein when viewed in a direction parallel to the rotation axis, the boom is capable of being rotated by 90 degrees or more to one side relative to the reference axis and 90 degrees or more to the other side relative to the reference axis.

17. A drive unit of a construction machine, wherein a first drive device capable of outputting a torque about a first rotation axis orthogonal to a reference axis extending in up and down of a travelable vehicle body to a boom having a first end portion rotatable about the first rotation axis and connected to the vehicle body; a second drive device capable of outputting a torque about a second rotation axis parallel to the first rotation axis and passing through a second end portion of the boom on a side opposite to the first end portion to a stick having a first end portion connected to the second end portion of the boom and a second end portion on a side opposite to the first end portion and rotatable about the second rotation axis; and a third drive device capable of outputting a torque about a third rotation axis parallel to the first rotation axis and passing through the second end portion of the stick to an attachment having a first end portion connected to the second end portion of the stick and rotatable about the third rotation axis. ​ ​ ​ when viewed in a direction parallel to the first rotation axis, the first drive device is capable of driving the boom to rotate relative to the reference axis to both one side and the other side, the second drive device is capable of driving the arm to rotate relative to a virtual straight line connecting the first rotation axis and the second rotation axis to both one side and the other side, the third drive device is capable of driving the attachment to rotate relative to a virtual straight line connecting the second rotation axis and the third rotation axis to both one side and the other side.

18. A drive unit of a construction machine, wherein there are: a drive device capable of outputting a torque about a rotation axis orthogonal to a reference axis extending in the up-down direction of a travelable vehicle body, and driving a boom connected to the vehicle body so as to be rotatable about the rotation axis, to rotate relative to the reference axis to both one side and the other side when viewed in a direction parallel to the rotation axis; and a turning device capable of outputting a torque about a turning axis parallel to the reference axis, and driving a connecting member interposed between the vehicle body and the boom so as to be rotatable about the turning axis, to rotate about the turning axis over the entire circumference.

19. A drive unit of a construction machine, wherein there are: a first turning device configured to output a torque about a first turning axis extending in the up-down direction of a travelable vehicle body, to a boom having a first end portion connected to the vehicle body so as to be rotatable about the first turning axis; and a second turning device capable of outputting a torque about a second turning axis passing through a second end portion of the boom on the side opposite the first end portion of the boom and parallel to the first turning axis, to an arm connected to the second end portion of the boom so as to be rotatable about the second turning axis. ​

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