Work machine and control method for work machine

Abstract

To provide a work machine comprising a work implement and an earth-discharge device, the work machine having improved operability of the earth-discharge device.SOLUTION: An excavation machine in which an earth-discharge device is disposed on a lower traveling body having a traveling section, and an excavation device is disposed on an upper rotating body rotatably connected to an upper part of the lower traveling body comprises a controller 66 on a right operating lever 52R to which a predetermined work implement operation corresponding to the operation of the work implement is assigned, which prohibits an operation of the work implement based on an input signal from an operation changeover switch 54 and changes the operation assignment to the right operating lever 52R to a blade operation corresponding to an operation of the blade of the earth-discharge device.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work machine equipped with a work implement and an earth removal device, and a method for controlling the work machine. [Background technology]

[0002] Conventionally, a working machine such as an excavator is provided with devices such as a working implement such as an excavator, a soil removal device, and a traveling device, and operation levers for operating each of these devices are arranged around the driver's seat. Based on an output signal corresponding to an input signal from the operation lever, a hydraulic actuator of each device is operated via a control valve.

[0003] The earth removal device has an earth removal blade (blade) supported on the traveling device via a support frame or the like. Regarding the operation lever of the earth removal device, for example, Patent Document 1 proposes a work machine in which the blade operation lever of the earth removal device is located to the right of the driver's seat and behind the right operation lever. In the configuration disclosed in Patent Document 1, a left operation lever and a right operation lever are provided on the left and right sides of the driver's seat as operation levers for the excavation device, and a travel lever is provided in front of the driver's seat as an operation lever for the traveling device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-167686 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the work machine disclosed in Patent Document 1, the control levers for operating the excavation equipment are located on either side of the driver's seat in positions that make them easy to operate, and the blade control lever for operating the soil removal equipment is located further away from the driver's seat than the control lever for the excavation equipment. Specifically, the blade control lever is located on the outer right side of the right control lever so as not to interfere with the operating range of the right control lever. For this reason, when the operator operates the soil removal equipment, he or she is required to move his or her hand significantly to the blade control lever, which impairs the operability of the soil removal equipment.

[0006] As described above, in a work machine equipped with a working implement and an earth removal device, the left and right operating levers for performing the main operations of the work machine are located in easy-to-operate positions on either side of the driver's seat, which presents the problem that it is difficult to position the earth removal device operating lever without interfering with other operating levers, such as the left and right operating levers, while ensuring good operability.

[0007] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a work machine and a control method for a work machine that, in a configuration including a work machine and an earth removal device, can improve the operability of the earth removal device while ensuring good operability of the work machine using an operating lever,. [Means for solving the problem]

[0008] In a work machine having a lower running body having a running section, an earth removal device is disposed on an upper rotating body rotatably connected to the upper part of the lower running body, and the work machine is disposed on the upper rotating body, the work machine being provided with a control unit which, based on an input signal from an input unit, prohibits operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the operation of the work machine is assigned, and changes the operation assignment to the operating device to a blade operation corresponding to the operation of the blade of the earth removal device.

[0009] A work machine according to another aspect of the present invention is a work machine in which the operating device is an operating lever that can be tilted in a forward / backward direction, and the control unit assigns a blade raising / lowering operation corresponding to the raising and lowering movement of the blade to a forward / backward tilting operation of the operating lever as the blade operation.

[0010] In a work machine according to another aspect of the present invention, the operating lever can be tilted left and right, and the control unit assigns an operation corresponding to an operation other than the raising and lowering operation of the blade as the blade operation to the left and right tilting operation of the operating lever.

[0011] A work machine according to another aspect of the present invention is one in which an operation corresponding to an operation other than the raising and lowering operation of the blade is an angle operation or tilt operation of the blade, and the work machine has a switching operation unit that switches the blade operation assigned to the left / right tilt operation of the operating lever to the angle operation or the tilt operation.

[0012] A work machine according to another aspect of the present invention is provided with a second operating lever to which a different work machine operation corresponding to another operation of the work machine different from the operation of the work machine corresponding to the specified work machine operation assigned to the operating lever and a rotation operation of the upper rotating body are assigned.

[0013] In a work machine according to another aspect of the present invention, the control unit of the work machine releases the allocation of the blade operation to the operating lever when a traveling operation that operates the traveling part is not performed for a predetermined time after the blade operation is allocated to the operating device.

[0014] In a work machine according to another aspect of the present invention, the control unit of the work machine assigns the blade operation to the operating device, and then when a prime mover that generates power for the work machine is stopped, the control unit releases the assignment of the blade operation to the operating lever.

[0015] A working machine according to another aspect of the present invention is the working machine, wherein the input section is provided on the operation lever.

[0016] A working machine according to another aspect of the present invention is one in which the operating lever and the second operating lever are symmetrically arranged on the left and right sides of the driver's seat, and the input unit is arranged on the side opposite the second operating lever.

[0017] A work machine according to another aspect of the present invention includes a notification means for notifying a change in operation allocation from the work machine operation to the blade operation for the operating device.

[0018] A working machine according to another aspect of the present invention is the working machine described above, wherein the operation lever is provided with a change-over switch for changing the gear stage of a transmission provided for the traveling portion.

[0019] A control method for a work machine having a lower running body with a running section, an earth removal device disposed on an upper rotating body rotatably connected to the upper part of the lower running body, the control method prohibiting operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the movement of the work machine is assigned, and changing the operation assignment to the operating device to a blade operation corresponding to the movement of the blade of the earth removal device. Effect of the Invention

[0020] According to the present invention, in a configuration including a working machine and an earth removal device, it is possible to improve the operability of the earth removal device while ensuring good operability of the working machine using an operating lever. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a left side view of an excavation machine according to a first embodiment of the present invention. [Diagram 2]1 is a plan view of a soil removal device according to a first embodiment of the present invention. [Diagram 3] FIG. 2 is a left upper perspective view showing the vicinity of the driver's seat in the driver's section according to the embodiment of the present invention. [Figure 4] 1 is a block diagram showing a configuration of a hydraulic system of an excavation machine according to an embodiment of the present invention. FIG. [Diagram 5] FIG. 2 is an explanatory diagram showing an example of an operation assignment of a left operating lever and a right operating lever according to the first embodiment of the present invention. [Figure 6] FIG. 4 is an explanatory diagram showing an example of an operation assignment of a right operating lever according to the first embodiment of the present invention. [Figure 7] FIG. 5 is a plan view of a soil removal device according to a second embodiment of the present invention. [Figure 8] FIG. 6 is a bottom view of the soil removal device according to the second embodiment of the present invention. [Figure 9] FIG. 11 is an explanatory diagram showing an example of an operation assignment of a right operating lever according to a second embodiment of the present invention. [Figure 10] FIG. 11 is an explanatory diagram showing an example of an operation assignment of a right operating lever according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The present invention improves the operability and safety of an operator who operates the working implement and the soil dumping device by devising a method of switching and controlling an electric signal according to the operation of an operating device in a working machine having a working implement and a soil dumping device. Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0023] In the embodiment of the present invention, an excavation work machine (shovel) which is a slewing work vehicle will be described as an example of the work machine according to the present invention. However, the work machine according to the present invention is not limited to an excavation work machine, and can be applied to other work machines having a work machine and an earth removal device.

[0024] The configuration of an excavation machine 1 according to this embodiment will be described with reference to the drawings. In the following, unless otherwise specified, the front-rear direction, left-right direction, and up-down direction are defined based on the operator seated in the driver's seat of the excavation machine 1.

[0025] First Embodiment A first embodiment of the present invention will be described below. Fig. 1 is a left side view of an excavation machine 1 according to the first embodiment of the present invention. Fig. 2 is a plan view of an earth removal device 4.

[0026] As shown in Fig. 1, the excavation work machine 1 comprises a self-propelled traveling body 2, an excavation device 3 as a work machine attached to the traveling body 2, and an earth removal device 4 attached to the traveling body 2. The traveling body 2 comprises a lower traveling body 6A equipped with a traveling section 5, and an upper rotating body 6B rotatably provided on the upper part of the lower traveling body 6A. The earth removal device 4 is attached to the lower traveling body 6A side. Also, the excavation device 3 is attached to the upper rotating body 6B side. In this way, the excavation work machine 1 is configured such that the earth removal device 4 is disposed on the lower traveling body 6A having the traveling section 5, and the excavation device 3 is disposed on the upper rotating body 6B rotatably connected to the upper part of the lower traveling body 6A.

[0027] The lower traveling body 6A has a pair of left and right crawler-type traveling parts 5,5 and a machine frame 7 interposed between the left and right traveling parts 5,5 as a base.

[0028] The traveling unit 5 has a configuration in which a track is wound around a sprocket, an idler, and multiple rollers supported by the machine frame 7. The traveling unit 5 has a drive sprocket 5a, which is a drive wheel, at its rear end. Each traveling unit 5 is provided with a traveling hydraulic motor 43. The traveling hydraulic motor 43 is provided in each traveling unit 5 so as to rotate and drive the drive sprocket 5a. The left and right traveling hydraulic motors 43, 43 each drive the traveling unit 5, causing the traveling body 2 to travel straight forward and backward and turn left and right.

[0029] The soil removal device 4 is attached to the front side of the machine frame 7. The soil removal device 4 is provided so as to be vertically rotatable with respect to the lower traveling body 6A. As shown in Fig. 2, the soil removal device 4 includes a support frame 30 including a pair of left and right arms 33, a blade 31 which is a blade plate provided at the tip side of the pair of left and right arms 33, and a blade cylinder 40 which raises and lowers the blade 31 via the support frame 30. The soil removal device 4 including these components is configured to be approximately symmetrical overall.

[0030] The left and right arms 33 are provided extending in the front-rear direction between the left and right running portions 5, 5. The left and right arms 33 have their base ends supported by arm support brackets 45 provided at the front of the machine frame 7 with the left and right direction being the rotation axis direction. The left and right arms 33 rotate up and down as the blade cylinder 40 expands and contracts. In other words, as the blade cylinder 40 expands and contracts, the blade 31 rotates up and down via the left and right arms 33.

[0031] The blade cylinder 40 is a hydraulic cylinder that operates with pressurized oil discharged by a hydraulic pump 63 (see FIG. 4). The blade 31 is provided in a state supported by the front end of the support frame 30. The blade cylinder 40 is provided in a state in which its rear end is supported by a support bracket 46 provided at the front of the machine body frame 7, and its front end is supported by a support bracket 47 provided at the rear of the blade 31, so as to be rotatable with the left-right direction as the rotation axis direction. The extension and contraction of the blade cylinder 40 causes the support frame 30 and the blade 31 to rotate up and down together.

[0032] The upper rotating body 6B has a rotating frame 8 mounted so as to be rotatable with respect to the traveling part 5. The rotating frame 8 is connected to the machine body frame 7 via a rotating bearing 9, and is provided so as to be rotatable in either direction with respect to the machine body frame 7 about a rotating axis whose axial direction is in the up-down direction by driving a rotating motor (not shown), which is a hydraulic motor for rotation.

[0033] The revolving frame 8 has a generally circular shape in a plan view, and serves as a base for the upper revolving body 6B. A support bracket 22 is provided at the center of the left and right sides of the front side of the revolving frame 8. The base end of the support bracket 22 is fixed to the bottom plate of the revolving frame 8 by welding or the like. The support bracket 22 supports a swing bracket 21 that supports the excavation device 3 so that it can rotate freely in the front-rear direction.

[0034] The excavation device 3 has a boom 35 constituting its base side portion, an arm 36 connected to the tip side of the boom 35, and a bucket 34 attached to the tip of the arm 36. The excavation device 3 also has a boom cylinder 37 that rotates the boom 35, an arm cylinder 38 that rotates the arm 36, and a bucket cylinder 39 that rotates the bucket 34.

[0035] The base end of the boom 35 is supported by a swing bracket 21. The swing bracket 21 is supported by a support bracket 22 so as to be swingable in the left-right direction. More specifically, the swing bracket 21 is supported by the support bracket 22 protruding from the left-right center of the front end of the revolving frame 8 via a connecting shaft whose rotation axis is in the up-down direction.

[0036] The swing bracket 21 rotatably supports the base end of the boom 35 with the left-right direction as the rotation axis direction, and also supports the lower end of the boom cylinder 37. The swing bracket 21 also has a portion on its right side that receives the connection of the tip end of the rod of a swing cylinder (not shown). The swing cylinder is provided between the swing bracket 21 and the revolving frame 8. The excavation device 3 swings left and right relative to the revolving frame 8 as the swing bracket 21 rotates about the connecting shaft due to the extension and contraction of the swing cylinder.

[0037] The boom cylinder 37, arm cylinder 38, bucket cylinder 39 and swing cylinder are all double-acting hydraulic cylinders that are operated by pressure oil discharged from a hydraulic pump 63 (see FIG. 4). Hydraulic pipes for supplying and discharging hydraulic pressure are connected to each hydraulic cylinder. In the excavation device 3, the bucket 34 is detachably attached to the arm 36 as a work attachment, and other attachments such as a clamping machine (fork) or a crusher (breaker) are attached in place of the bucket 34 depending on the work to be performed.

[0038] The rotating frame 8 is provided with a driving section 13 where an operator drives and operates the traveling section 5 and the work equipment, and an engine room 14 that houses the engine 10 (see FIG. 4), a battery 11, a fuel tank for the engine, and a hydraulic oil tank for the hydraulic cylinder. The engine room 14 is provided on the rotating frame 8 from the right side of the driving section 13 to the rear.

[0039] The revolving frame 8 has exterior members that form the outer shape of the upper revolving body 6B. The exterior members are members that surround the space in which the equipment on the revolving frame 8 is arranged, and include exterior covers such as a counterweight 12 provided at the rear end of the upper revolving body 6B and a rear cover 19 provided from the right side to the rear of the upper revolving body 6B.

[0040] The counterweight 12 is for balancing the weight with the excavation equipment 3. The counterweight 12 is attached to, for example, a stay (not shown) erected on the bottom plate of the revolving frame 8 so as to cover the rear of the engine room 14 below the rear cover 19.

[0041] The driver's section 13 is provided on the swivel frame 8 to drive and operate the excavation device 3, the soil removal device 4, and the traveling section 5. In the driver's section 13, a driver's seat support base 15 is provided on the rear side of the floor section 17, and a driver's seat 16 is provided on the driver's seat support base 15. As shown in Figs. 1 and 3, a pair of left and right travel levers 51, each having a grip 51a at its tip for the operator to hold, are provided in front of the driver's seat 16. The travel levers 51 are provided in a state of extending upward from the floor section 17. On the floor section 17, a plurality of operation pedals for work are provided on both the left and right sides of the travel lever 51. In addition, in the driver's section 13, an operation panel section having left and right operation levers 52L, 52R for operating the work devices such as the excavation device 3 and various operation sections such as switches is provided around the driver's seat 16.

[0042] In the excavation machine 1 having the above-mentioned configuration, the operator seated in the driver's seat 16 operates the travel lever 51 and the left and right control levers 52L, 52R, etc. to perform the desired operation and work. Specifically, for example, the travel operation of the traveling section 5 is controlled by operating the travel lever 51, and the traveling body 2 travels forward and backward in a straight line and turns left and right. In addition, excavation work, etc. is performed by the excavation device 3 by operating the left and right control levers 52L, 52R.

[0043] Each of the left and right operating levers 52L, 52R has a shaft 50 (see FIG. 4) as a lever body that is tiltable in the forward / backward and left / right directions, and has grips 53L, 53R that an operator holds on the upper part of the shaft 50. The base side of each operating lever 52L, 52R is covered with a lever boot 57, and the operating levers 52L, 52R are tilted forward at a predetermined angle with respect to the vertical direction. The left and right operating levers 52L, 52R are electric operating levers that convert the amount of operation into a drive signal for an object to be operated and output the signal. The left and right operating levers 52L, 52R are configured to be tiltable at least in the forward / backward and left / right directions.

[0044] The excavator 1 according to this embodiment has the following basic configuration with respect to the operation of the left and right operating levers 52L, 52R. The left operating lever 52L is used to operate the upper rotating body 6B relative to the lower traveling body 6A, and to operate a predetermined operation of the excavation device 3. The right operating lever 52R is used to operate a predetermined operation of the excavation device 3 that is different from the operation operated by the left operating lever 52L.

[0045] Specifically, with regard to the left operation lever 52L, tilting the left operation lever 52L in the left / right direction results in left / right swinging of the upper swing body 6B by the operation of the swing motor. That is, as shown in Fig. 5, tilting the left operation lever 52L to the left (see arrow L1) results in left swinging of the upper swing body 6B relative to the lower traveling body 6A, and tilting the left operation lever 52L to the right (see arrow L2) results in right swinging of the upper swing body 6B relative to the lower traveling body 6A.

[0046] Similarly, with regard to the left operating lever 52L, tilting the left operating lever 52L in the forward / rearward direction results in a rotation operation of the arm 36 by actuation of the arm cylinder 38 in the excavation device 3. That is, as shown in Fig. 5, tilting the left operating lever 52L forward (see arrow L3) results in an operation to extend the arm 36 (rotate it in a direction away from the boom 35), and tilting the left operating lever 52L backward (see arrow L4) results in an operation to retract the arm 36 (rotate it in a direction approaching the boom 35).

[0047] Regarding the right operating lever 52R, tilting the right operating lever 52R in the left / right direction is a rotation operation of the bucket 34 by actuation of the bucket cylinder 39 of the excavation equipment 3. That is, as shown in Fig. 5, tilting the right operating lever 52R leftward (see arrow R1) is a shoveling operation of the bucket 34, and tilting the right operating lever 52R rightward (see arrow R2) is a dumping operation of the bucket 34.

[0048] Similarly, with regard to the right operating lever 52R, tilting the right operating lever 52R in the forward / rearward direction is an operation for rotating the boom 35 by actuation of the boom cylinder 37 of the excavation device 3. That is, as shown in Fig. 5, tilting the right operating lever 52R forward (see arrow R3) is an operation for lowering the boom 35, and tilting the right operating lever 52R backward (see arrow R4) is an operation for raising the boom 35.

[0049] As shown in Fig. 1 and Fig. 3, the driver's section 13 is provided with a display device 56. The display device 56 is disposed in the vicinity of the driver's seat 16. In this embodiment, the display device 56 is disposed to the right front of the right operation lever 52R, and is located diagonally forward to the right of the driver's seat 16. The display device 56 has a display unit 56a and an input means 56b. The display device 56 is, for example, a liquid crystal monitor having a touch panel function.

[0050] Display unit 56a is formed of a display device such as a liquid crystal display or an organic EL display, and displays messages, icons, and the like indicating the status of the excavation machine 1. Display device 56 displays various types of information on display unit 56a to provide necessary information to an operator seated in driver's seat 16. Display unit 56a is disposed in the center of the front of display device 56, and is provided so that most of the front of display device 56 is used as a display area. Display device 56 displays various screens on display unit 56a based on instructions from controller 66 (see FIG. 4), etc.

[0051] The display device 56 has a plurality of command buttons as operation buttons as the input means 56b. The plurality of command buttons are arranged in a region around the display unit 56a on the front side of the display device 56. In this embodiment, the plurality of command buttons are arranged in a row at a predetermined interval on the lower side of the display unit 56a. The input means 56b is operated by an operator to set and input various information according to a setting menu or the like displayed on the display unit 56a. When the display device 56 has a touch panel function, for example, a touch panel input device is arranged on the display unit 56a, and the display unit 56a also serves as the input means 56b. In other words, the input means 56b of the display device 56 may be an operation button such as a mechanical button arranged around the display unit 56a, or may be the display unit 56a that functions as a touch panel.

[0052] In the above-described configuration, the excavation work machine 1 is configured to be able to change the operation assignment of the right operation lever 52R so that the right operation lever 52R is used as an operation unit for operating the lifting, lowering and rotating of the blade 31 of the soil removal device 4. The operation assignment of the right operation lever 52R is changed as a control of a controller 66 serving as a control unit provided in the excavation work machine 1. Based on an input signal from an operation changeover switch 54 serving as an input unit, the controller 66 prohibits a predetermined work machine operation by the right operation lever 52R, which is an example of an operation device to which a predetermined work machine operation corresponding to the operation of the excavation device 3 is assigned, and controls to change the operation assignment to the right operation lever 52R to a blade operation corresponding to the operation of the blade 31 of the soil removal device 4.

[0053] The excavator 1 according to this embodiment is a work machine in which the operation of a plurality of hydraulic actuators is controlled electrically. Fig. 4 is a block diagram showing a portion of an electrically controlled hydraulic system of the excavator 1. In Fig. 4, actuator 64 refers to any one of various hydraulic actuators such as boom cylinder 37, arm cylinder 38, bucket cylinder 39, swing cylinder, blade cylinder 40, traveling hydraulic motor 43, and swing hydraulic motor.

[0054] The travel lever 51 and the left and right operating levers 52L, 52R are electric lever devices that output electric signals, and are electrically connected to the controller 66 via communication lines. The lower ends of the lever shafts of the travel lever 51 and the left and right operating levers 52L, 52R are connected to operating signal output units 65 (65a, 65b, 65c).

[0055] The operation signal output unit 65 contains a link mechanism that converts the amount of operation of the operation lever into an electric signal, a circuit board on which electronic components are arranged, etc. Each operation signal output unit 65 outputs a signal corresponding to the amount of operation of the travel lever 51 and the left and right operation levers 52L, 52R to the controller 66 via a communication line.

[0056] The controller 66 is also called an ECU (Electronic Control Unit) and is composed of a computer device including an arithmetic unit and a memory, a communication module, etc. The controller 66 receives electric signals corresponding to the operation of various levers provided in the driving section 13, and outputs command signals based on the received signals to a solenoid valve 61 composed of an electromagnetic proportional valve or the like. Here, the controller 66 outputs a current corresponding to the operation amount of each lever to the solenoid valve 61. The solenoid valve 61 outputs a pilot pressure proportional to the input current to the input port of the control valve 62, causing the spool of the control valve 62 to slide.

[0057] The control valve 62 controls the flow of pressure oil to each hydraulic actuator. The control valve 62 is configured as a valve unit including a plurality of directional control valves corresponding to each hydraulic actuator, and controls the flow rate and destination (flow direction) of pressure oil supplied from inside the hydraulic oil tank by driving the hydraulic pump 63, by controlling the operation of the directional control valves, etc. The operation of the excavation device 3 and the traveling operation of the traveling body 2 are performed by controlling the supply of pressure oil to each hydraulic actuator.

[0058] The hydraulic pump 63 has a rotating shaft connected to the drive shaft of the engine 10 via a coupling. The hydraulic pump 63 is driven in conjunction with the rotation of the drive shaft of the engine 10, and sends hydraulic oil from a hydraulic oil tank to an actuator 64 via a control valve 62.

[0059] The controller 66 includes an operation switching control unit 67 and an actuator control unit 68 as functional components (functional units).

[0060] The operation switching control unit 67 receives an input signal from the operation changeover switch 54 provided on the right operating lever 52R. Based on the input signal from the operation changeover switch 54, the operation switching control unit 67 outputs a command signal to the actuator control unit 68 as a changeover command for changing the operation allocation of the right operating lever 52R by the operation of a computing device.

[0061] The actuator control section 68 generates a signal for operating a control valve corresponding to the actuator 64 in response to signals input from the travel lever 51 and the left and right operating levers 52L, 52R, and outputs the signal to the solenoid valve 61.

[0062] The operation changeover switch 54 functions as a changeover operation unit that switches between allocating blade operation to the right operating lever 52R by the controller 66 and canceling the allocation. The operation changeover switch 54 is formed, for example, by a button-type switch. As shown in FIG. 4, the operation changeover switch 54 is electrically connected to an operation changeover control unit 67.

[0063] The control valve 62 is configured to be able to control the flow direction and flow rate of the hydraulic oil in the hydraulic system in response to an electric signal from the solenoid valve 61. The control valve 62 selectively supplies the hydraulic oil discharged from the hydraulic pump 63 to one or more of the multiple actuators 64.

[0064] The actuator control section 68 receives an electrical signal according to an operation by an operator from one operating device corresponding to one actuator 64, and outputs a command signal based on the received signal to the solenoid valve 61. This adjusts the pilot pressure given to the control valve 62 from the solenoid valve 61, and the flow direction and amount of hydraulic oil by the directional control valve are controlled.

[0065] In the excavator 1 having the above-mentioned configuration, a description will be given of the control for changing the operation assignment for the right operating lever 52R (hereinafter referred to as "operation assignment change control") performed by the controller 66. In this embodiment, the right operating lever 52R, which is an operating lever that can be tilted in the forward / backward and left / right directions, is employed as an operating device whose operation assignment can be switched.

[0066] To the right operating lever 52R, a work machine operation for the excavator 3 is assigned as a standard setting. Specifically, as described above, the operation of raising and lowering the boom 35 is assigned to the forward / rearward tilting operation of the right operating lever 52R, and the operation of rotating the bucket 34 is assigned to the left / right tilting operation (see FIG. 5). When the operator does not operate (e.g., push) the operation changeover switch 54 and no changeover command is output from the operation changeover control unit 67, the right operating lever 52R is in a state in which a work machine operation as a standard setting can be executed.

[0067] The controller 66 performs control to change the operation allocation so as to allocate, based on the operation of the operation changeover switch 54, a blade lifting operation corresponding to the lifting and lowering movement of the blade 31 to the forward and backward tilting operation of the right operating lever 52R as a blade operation.

[0068] Specifically, when the operator operates the operation changeover switch 54, a signal from the operation changeover switch 54 is input to the operation changeover control unit 67. In response to the signal from the operation changeover switch 54, the operation changeover control unit 67 generates a changeover command to change the operation of raising and lowering the boom 35, which was assigned to the tilting operation of the right operation lever 52R in the forward and backward directions, to a blade lifting and lowering operation. The changeover command generated by causing the operation changeover control unit 67 to function is output to the actuator control unit 68.

[0069] When the actuator control unit 68 receives a switching command from the operation switching control unit 67, it cancels the association between the directional control valve that controls the operation of the boom cylinder 37, among the multiple directional control valves that make up the control valve 62, and the forward / backward tilt operation of the right operating lever 52R, and assigns the forward / backward tilt operation of the right operating lever 52R to the directional control valve that controls the operation of the blade cylinder 40. As a result, the signal generated by the forward / backward tilt operation of the right operating lever 52R that is input to the actuator control unit 68 becomes a signal that controls the operation of the blade cylinder 40. In other words, the blade lifting / lowering operation becomes executable by the right operating lever 52R.

[0070] As shown in FIG. 6, in this embodiment, in a state where the blade lifting operation is assigned to the right operating lever 52R (hereinafter referred to as the "blade operation assigned state"), the forward tilting operation of the right operating lever 52R (see arrow R3a) is the lowering operation of the blade 31, and the rearward tilting operation of the right operating lever 52R (see arrow R4a) is the raising operation of the blade 31. In this way, by assigning the forward and rearward tilting operations of the right operating lever 52R as the lowering operation and the raising operation of the blade 31, respectively, the relationship between the operating direction of the right operating lever 52R and the raising and lowering direction of the blade 31 becomes a relationship that is easily understood intuitively by the operator, and good operability can be obtained. Note that the assignment of the blade lifting operation to the right operating lever 52R may be reversed from the example shown in FIG. 6.

[0071] In the blade operation assignment state, the lifting and lowering operation of the boom 35 by the right operating lever 52R is prohibited. In other words, the controller 66 is not able to generate a command signal for operating the boom cylinder 37 by tilting the right operating lever 52R in the front-rear direction. In this manner, in the operation assignment change control of this embodiment, the lifting and lowering operation of the boom 35 is a predetermined work machine operation that is prohibited in association with the assignment of the blade lifting and lowering operation to the right operating lever 52R. The operation changeover switch 54 is a changeover operation unit that switches the operation output of the right operating lever 52R between the operation output in the standard setting (see FIG. 5) and the operation output in the blade operation assignment state (see FIG. 6). In the blade operation assignment state, the right operating lever 52R is tilted in the left-right direction to maintain the assignment state of the rotation operation of the bucket 34.

[0072] The control method using operation allocation change control performed as described above is a control method for the excavation work machine 1, which prohibits a specified work machine operation using the right operating lever 52R to which a specified work machine operation corresponding to the operation of the excavation device 3 is assigned, and changes the operation allocation to the right operating lever 52R to a blade raising and lowering operation.

[0073] Furthermore, the operation switching control unit 67, which has received a signal from the operation changeover switch 54, generates a switch display command signal as a command signal for the display device 56 of the driving unit 13. This signal is output from the operation switching control unit 67 and input to the display device 56. Therefore, in the blade operation assignment state, the fact that the blade lifting operation is assigned to the right operating lever 52R is displayed on the display unit 56a of the display device 56, for example, as a text display such as "Blade operation assigned" or as an icon imitating the shapes of the right operating lever 52R or the blade 31. This allows the operator to visually grasp that the blade operation is assigned state by looking at the display device 56.

[0074] In the operation allocation change control, when a predetermined condition is satisfied, the controller 66 performs control to cancel the blade operation allocation state and return to the original state. After the controller 66 assigns the blade lifting / lowering operation to the right operating lever 52R, if a traveling operation for operating the traveling unit 5 is not performed for a predetermined period of time, the controller 66 cancels the assignment of the blade lifting / lowering operation to the right operating lever 52R.

[0075] When the travel lever 51 is operated, the travel command signal is input to the actuator control unit 68 and also to the operation switching control unit 67. The blade lifting and lowering operation is performed, for example, to maintain the height of the blade 31 at a predetermined height during ground leveling work performed while operating the travel unit 5 to travel the traveling body 2. In other words, the blade lifting and lowering operation is basically an operation performed together with the traveling operation of the traveling unit 5. Therefore, if the travel lever 51 is not operated as a traveling operation to operate the traveling unit 5 for a certain period of time after the blade operation assignment state is entered, the blade operation assignment state is released and the operation assignment state of the right operating lever 52R is returned to the original state (see FIG. 5).

[0076] The controller 66 starts measuring time using a timer function of the controller 66 from the point in time when the blade operation assignment state is established based on the operation of the operation changeover switch 54. If the controller 66 does not receive a travel command signal input by operation of the travel lever 51 for a predetermined time (e.g., several tens of seconds to several minutes) from the start of the blade operation assignment state, in other words, if the elapsed time during which no travel command signal is input from the start point exceeds a predetermined time, the controller 66 cancels the blade operation assignment state and performs control to return the operation assignment state of the right operating lever 52R to the original state.

[0077] As another example of control for canceling the blade operation assignment state and returning it to the original state in the operation assignment change control, the controller 66 cancels the assignment of blade operation to the right operating lever 52R when the operator stops the engine 10 which is the power source of the excavation machine 1 after the blade operation has been assigned to the right operating lever 52R. In other words, when the engine 10 is stopped after the blade operation assignment state is reached, the blade operation assignment state is cancelled and the operation assignment state of the right operating lever 52R is returned to the original state (see FIG. 5).

[0078] The controller 66 is connected to the battery 11 via a starter switch 69, which is an operation unit for starting or stopping the engine 10 (see FIG. 4). The starter switch 69 is a switch for applying power provided in a connection path between the battery 11 and a functional part serving as an engine controller for controlling the engine 10. The starter switch 69 is a rotary switch or a push button switch that can be rotated by inserting a predetermined key into a keyhole, and is provided, for example, on the cover unit 58 (see FIG. 3) that covers the operation signal output unit 65a of the right operation lever 52R on the right side of the driver's seat 16 in the driver's section 13, or on a steering column cover located in front of the driver's seat 16.

[0079] When the starter switch 69 is turned ON, current from the battery 11 flows into the coil of the starter relay connected to the starter, and the switch of the starter relay becomes conductive. This causes the starter to operate with current from the battery 11, starting the engine 10. When the starter switch 69 is turned OFF, the power supply from the battery 11 is stopped and the engine 10 is stopped.

[0080] In this configuration, when the controller 66 detects that the starter switch 69 has been turned OFF after the blade operation has been assigned to the right operating lever 52R, it cancels the blade operation assignment state and performs control to return the operation assignment state of the right operating lever 52R to the original state. As a result, when the engine 10 is started again, the operation assigned to the right operating lever 52R returns to the original state (see FIG. 5), so that, for example, when the operator operates the right operating lever 52R to operate the excavation device 3, the soil removal device 4 is prevented from operating unintentionally.

[0081] The excavator 1 also includes a notification means for notifying that the operation allocation for the right operating lever 52R has been changed from the operation of the working machine to the operation of raising and lowering the blade, that is, that the blade operation allocation state has been entered. In this embodiment, the display device 56, which displays the blade operation allocation state as characters or icons on the display unit 56a as described above, functions as the notification means. As another visual notification method, for example, a light-emitting unit using a light-emitting diode (LED) as a light source may be provided to notify the blade operation allocation state by a light-emitting method such as a light-emitting color or a flashing light. The light-emitting unit is provided, for example, around the display unit 56a of the display device 56 or on the right operating lever 52R. When the light-emitting unit indicates a state in which the operation allocation has not been changed or a state in which the blade operation allocation has been entered by a light-emitting color, each state can be indicated by a different color such as red or green.

[0082] As the notification means, in addition to the visual notification method, an audio notification method may be adopted. For example, an audio notification unit consisting of a speaker, buzzer, etc. may be provided to notify the operator whether or not the blade operation assignment state is being performed by outputting a voice message or sound (including an alarm) upon receiving a signal from the operation switching control unit 67.

[0083] In this embodiment, the operation changeover switch 54 provided on the right operation lever 52R has been described as an example of an input unit that accepts an operator's operation for changing the operation allocation for the right operation lever 52R, but other input means arranged around the driver's seat 16 may also be used. As the other input means, for example, any of a touch panel input device arranged over the display unit 56a of the display device 56, operation buttons arranged around the display unit 56a, a jog dial arranged in the vicinity of the right operation lever 52R, and a switch arranged in the operation panel unit may be used.

[0084] The excavation work machine 1 is provided with a left operation lever 52L that is arranged on the opposite side to the right operation lever 52R, which is the target operation of the operation allocation change control, across the driver's seat 16. The left operation lever 52L is an example of a second operation lever to which a work machine operation corresponding to another operation of the excavation equipment 3 different from the raising and lowering operation of the boom 35, which is the operation of the excavation equipment 3 corresponding to the predetermined work machine operation assigned to the right operation lever 52R, and a rotation operation of the upper rotating body 6B are assigned.

[0085] 5, in this embodiment, the forward / backward tilting operation of the left operating lever 52L is assigned to the rotation operation of the arm 36, and the left / right tilting operation of the left operating lever 52L is assigned to the rotation operation of the upper rotating body 6B. That is, with respect to the left operating lever 52L, another operation of the excavator 3 different from the raising / lowering operation of the boom 35 assigned to the right operating lever 52R is the rotation operation of the arm 36, and another work machine operation corresponding to this operation is the rotation operation of the arm 36.

[0086] The right operation lever 52R and the left operation lever 52L are symmetrically disposed on the left and right sides of the driver's seat 16, and the operation changeover switch 54 provided on the right operation lever 52R is disposed on the side of the right operation lever 52R facing the left operation lever 52L, i.e., on the left side. Specifically, the operation changeover switch 54 is provided on the operator-side side surface of the right grip 53R of the right operation lever 52R. The operation changeover switch 54 is provided in a position where it will not be inadvertently pressed with the operator's finger when the operator is holding the right grip 53R.

[0087] The right operating lever 52R is provided with a speed change switch 55 which is a change-over switch for changing the gear stage of the transmission provided for the traveling unit 5. The speed change switch 55 is provided on the upper surface of the right grip 53R of the right operating lever 52R. The speed change switch 55 is a switch for changing the gear stage of the traveling hydraulic motor 43 of the traveling unit 5 between first gear and a second gear which is faster than first gear. Each of the left and right traveling hydraulic motors 43 (see FIG. 1) is provided with a reducer consisting of, for example, a two-stage planetary gear mechanism, and switching between first gear and second gear is performed by changing the number of stages of the reducer by operating the speed change switch 55.

[0088] The speed change switch 55 is provided on the upper surface of the right grip 53R at a position where the operator can comfortably place his / her thumb when gripping the right grip 53R. The speed change switch 55 is provided, for example, as a slide switch having an operating tool that slides in a predetermined direction, or a so-called seesaw switch. Note that, although the speed change switch 55 is provided on the upper surface of the right grip 53R in this embodiment, the traveling speed may be changed by operating (pressing, etc.) a pedal arranged on the floor 17 or a grip button of the traveling lever 51.

[0089] <Second embodiment> A second embodiment of the present invention will be described. In the description of the second embodiment, the same names or the same reference numerals will be used for configurations common to or corresponding to the first embodiment, and descriptions of overlapping contents will be omitted as appropriate. Fig. 7 is a plan view of the soil discharge device 4 according to the second embodiment, and Fig. 8 is a bottom view of the soil discharge device 4 according to the second embodiment.

[0090] The excavation work machine according to this embodiment differs from the first embodiment in that the blade of the soil removal device 4 is provided so as to be capable of angular rotation and tilt rotation.

[0091] 7 and 8, the soil removal device 4 according to this embodiment includes a support frame 130, a blade 31 that is a blade supported by the support frame 130, and a pair of left and right angle cylinders 132. The soil removal device 4 including these components is configured to be substantially symmetrical overall.

[0092] The support frame 130 includes a pair of left and right arms 133 that are supported to be vertically rotatable on the traveling body 2, which is the main machine, and extend in the front-rear direction between the left and right traveling parts 5, 5. The left and right arms 133 have their base ends supported to be rotatable with the left-right direction as the rotation axis direction on a support bracket 7a provided at the front of the machine frame 7, and are attached to the machine frame 7 to be able to rotate up and down.

[0093] The left and right arms 133 rotate up and down by the extension and retraction of the blade cylinder 40 provided in the left and right central portion between the machine frame 7 and the support frame 130. In other words, the blade cylinder 40 extends and retracts to raise and lower the blade 31 via the support frame 130.

[0094] The blade cylinder 40 is installed between the machine body frame 7 and the support frame 130 with the extension direction (longitudinal direction) aligned along the front-rear direction in a plan view. The rear end of the blade cylinder 40 is supported to be rotatable with the left-right direction as the rotation axis direction relative to a support bracket 7b provided at the front of the machine body frame 7. The front end of the blade cylinder 40 is supported to be rotatable with the left-right direction as the rotation axis direction relative to a support plate portion 138 provided at the front of the support frame 130.

[0095] The arm 133 is a vertical plate-like portion with its thickness direction in the left-right direction. The left and right arms 133 are provided in an inclined manner such that the distance between them gradually narrows from the rear side to the front side in a plan view. A substantially cylindrical boss portion 133e with its axis direction in the left-right direction is provided at the rear end of the arm 133. The arm 133 is supported by a support shaft member that penetrates the boss portion 133e so as to be rotatable with the axis direction of rotation in the left-right direction relative to the support bracket 7a.

[0096] A substantially rectangular front installation plate 136 having a plate thickness direction in the front-rear direction is installed between the front ends of the left and right arms 133. A front side installation portion 137 is installed between the left and right arms 133 on the rear side of the front installation plate 136. A pair of left and right support plate portions 138 that rotatably support the front end of the blade cylinder 40 are protruded rearward from the left and right central portion of the front side installation portion 137.

[0097] The blade 31 is supported in front of the support frame 130 so as to be rotatable (swingable) in the front-rear direction with the up-down direction as the rotation axis direction relative to the support frame 130. The blade 31 has a blade main body 141 having a horizontally elongated rectangular shape when viewed from the front. The blade main body 141 has a dimension in the left-right direction that is approximately the same as the left-right width of the left and right running parts 5, 5, and protrudes outward to the left and right from the front installation plate part 136 of the support frame 130.

[0098] The blade 31 is supported on a support bracket portion 142 provided on the front side of the front installation plate portion 136 so as to be capable of angle rotation (see arrow A1 in Figure 7), which is forward / backward rotation with the vertical direction as the rotation axis direction, and so as to be capable of tilt rotation, which is upward / downward rotation with the vertical direction as the rotation axis direction.

[0099] The support bracket portion 142 has an outer shape that is approximately an isosceles triangle with the front side at the apex in a plan view. The support bracket portion 142 has upper and lower bracket plate portions 143 (143H, 143L) that are arranged horizontally and parallel to each other, left and right inclined wall portions 144 that are arranged between the upper and lower bracket plate portions 143 so as to follow the inclined shape of the bracket plate portions 143 in a plan view, and box-shaped shaft support portions 145 that are arranged on the left and right inclined wall portions 144 (see FIG. 8). A cylindrical tilt shaft portion 146 with a rotation axis direction in the front-rear direction is supported by the shaft support portion 145. The tilt shaft portion 146 is arranged rotatably with respect to the shaft support portion 145 and protrudes forward from the shaft support portion 145.

[0100] Meanwhile, upper and lower support plate portions 147 (147H, 147L) are provided on the rear surface side (rear surface side) of the blade body portion 141 in the longitudinal middle portion of the blade body portion 141. The support plate portions 147 are plate-shaped protruding portions that extend along the longitudinal direction of the blade body portion 141 and have a plate thickness direction in the up-down direction. The upper and lower support plate portions 147 have substantially the same shape, and are formed on the rear surface side of the blade body portion 141 over the entire area between vertical rib plate portions 148, 148 provided on both the left and right sides.

[0101] At the rear side of the blade 31, a tilt shaft portion 146 is located between the left and right central portions of the upper and lower support plate portions 147. An angle shaft portion 149 (see FIG. 8 ), which supports the blade 31 so that it can rotate about an angle, is rotatably supported by the tilt shaft portion 146. The angle shaft portion 149 passes through the upper and lower support plate portions 147 and the tilt shaft portion 146 with the vertical direction as the rotation axis direction, and supports the blade 31 relative to the tilt shaft portion 146.

[0102] In this manner, the blade 31 is supported by the support bracket portion 142 constituting the support frame 130 via the tilt shaft portion 146 and the angle shaft portion 149. That is, the blade 31 performs angle rotation with respect to the tilt shaft portion 146 by the angle shaft portion 149, and performs tilt rotation with respect to the support bracket portion 142 by the tilt shaft portion 146.

[0103] The angle cylinders 132 are hydraulic cylinders, and rotate the blade 31 in the front-rear direction by extending and retracting. In other words, the blade 31 rotates at an angle about the angle shaft portion 149 by the extension and retraction of the pair of left and right angle cylinders 132. The left angle cylinder 132 is disposed to the left of the support frame 130, and the right angle cylinder 132 is disposed to the right of the support frame 130. The angle cylinder 132 has a cylinder tube 151 and a cylinder rod 152 slidably provided within the cylinder tube 151, and is configured to extend and retract by supplying and discharging hydraulic oil (pressurized oil) to and from the cylinder tube 151.

[0104] The angle cylinders 132 are attached to each of a pair of left and right arms 133, and connect each arm 133 to the blade 31. The angle cylinders 132 are installed with their bottom side supported by the rear surface side of the blade main body 141 and their rod side supported by the support frame 130 in the extension / contraction direction.

[0105] An attachment boss 154 having a hole through which a support shaft passes is provided at the bottom end of the angle cylinder 132 as an integral part of the cylinder tube 151. The angle cylinder 132 has the attachment bosses 154 located near the left and right ends of the upper and lower support plate portions 147, and is supported rotatably with respect to the blade 31 by a front support pin 155 serving as a support shaft that passes through these. The attachment boss 154 is supported by the front support pin 155 via a spherical bush (spherical plain bearing).

[0106] A mounting boss 156 having a hole through which the support shaft passes is provided as an integral part of the cylinder rod 152 at the rod side end of the angle cylinder 132. Meanwhile, on the support frame 130 side, a pair of upper and lower support brackets 157 protrude from the outer surface of the arm 133. The angle cylinder 132 has the mounting boss 156 located between the upper and lower support brackets 157, and is supported rotatably relative to the arm 133 of the support frame 130 by a rear support pin 158 which serves as a support shaft passing through them. The mounting boss 156 is supported by the rear support pin 158 via a spherical bushing.

[0107] As described above, the blade 31 rotates around the angle shaft 149 due to the extension and contraction of the left and right angle cylinders 132 installed between the blade 31 and the left and right arms 133. The left and right angle cylinders 132 perform extension and contraction movements in opposite directions with respect to the angle rotation of the blade 31. That is, when the blade 31 rotates to the right, the left angle cylinder 132 extends and the right angle cylinder 132 contracts, and when the blade 31 rotates to the left, the right angle cylinder 132 extends and the left angle cylinder 132 contracts.

[0108] The soil removal device 4 includes a tilt cylinder 160 for tilting and rotating the blade 31. The tilt cylinder 160 is disposed on the rear side of the blade body 141, and is installed horizontally so that the extension and contraction direction is aligned with the longitudinal direction of the blade body 141.

[0109] The tilt cylinder 160 is a hydraulic cylinder having a similar configuration to the angle cylinder 132. That is, the tilt cylinder 160 has a cylinder tube 161 and a cylinder rod 162 slidably provided in the cylinder tube 161, and is configured to expand and contract by supplying and discharging hydraulic oil to and from the cylinder tube 161.

[0110] The tilt cylinder 160 is disposed on the right side from the center in the left-right direction of the blade main body 141, with the bottom side on the right side and the rod side on the left side. The tilt cylinder 160 is provided with the rod side supported by the support frame 130 and the bottom side supported by the blade 31.

[0111] At the rod-side end of the tilt cylinder 160, a mounting boss portion 163 having a hole through which the support shaft passes is provided as an integral part of the cylinder rod 162. Meanwhile, on the support frame 130 side, an upper support plate portion 164 is provided above the left-right center portion of the upper bracket plate portion 143H. The upper support plate portion 164 is a plate-like portion parallel to the upper bracket plate portion 143H, and protrudes forward from a box-shaped support box portion 165 provided in the left-right center portion on the upper bracket plate portion 143H on the front side of the front installation plate portion 136.

[0112] The tilt cylinder 160 has an attachment boss portion 163 positioned between the left-right center portion of the upper bracket plate portion 143H and the upper support plate portion 164, and is rotatably supported relative to the support frame 130 by a left support pin 166 which serves as a support shaft that penetrates these portions. The left support pin 166 is provided above the angle shaft portion 149 and coaxially with the angle shaft portion 149. The attachment boss portion 163 is supported by the left support pin 166 via a spherical bushing.

[0113] At the bottom end of the tilt cylinder 160, a mounting boss portion 167 having a hole through which the support shaft passes is provided as an integral part of the cylinder tube 161. Meanwhile, on the blade 31 side, a plate-shaped lower support bracket (not shown) is provided so as to overlap the right end of the upper support plate portion 147, and above this lower support bracket, an upper support bracket 168 which is a plate-shaped portion parallel to the lower support bracket is provided.

[0114] The tilt cylinder 160 has an attachment boss portion 167 positioned between a lower support bracket and an upper support bracket 168, and is supported rotatably with respect to the blade 31 by a right support pin 169 serving as a support shaft that passes through these brackets. The attachment boss portion 167 is supported on the right support pin 169 via a spherical bush.

[0115] As described above, the blade 31 tilts around the tilt shaft 146 due to the extension and contraction of the tilt cylinder 160 installed between the support frame 130 and the blade 31. The angle rotation and tilt rotation of the blade 31 are selectively performed by switching the flow path by the actuator control unit 68 through a predetermined operation. According to the soil removal device 4 of this embodiment, for example, it is possible to tilt the blade 31 in a state inclined by angle rotation. In this embodiment, the angle cylinder 132 and the tilt cylinder 160 are both hydraulic actuators operated by pressure oil supplied from a hydraulic oil tank by driving the hydraulic pump 63 (see FIG. 4), and are the actuator 64 shown in FIG. 4.

[0116] In this embodiment, the controller 66 performs control to change the operation allocation so as to allocate, as a blade operation, an operation corresponding to an operation different from the lifting and lowering operation of the blade 31 to the left and right tilting operation of the right operating lever 52R based on the operation of the operation changeover switch 54. Here, the operation different from the lifting and lowering operation of the blade 31 is the angle rotation or tilt rotation of the blade 31, and the operation corresponding to these operations is the angle operation or tilt operation of the blade 31.

[0117] Specifically, when the operator operates the operation changeover switch 54, a signal from the operation changeover switch 54 is input to the operation changeover control unit 67. The operation changeover control unit 67, which has received the signal from the operation changeover switch 54, generates a changeover command to change the operation of raising and lowering the boom 35, which was assigned to the tilt operation in the forward / backward direction of the right operating lever 52R, to a blade lifting / lowering operation, and a changeover command to change the rotation operation of the bucket 34, which was assigned to the tilt operation in the left / right direction of the right operating lever 52R, to an angle operation or tilt operation of the blade 31. The changeover command generated by causing the operation changeover control unit 67 to function is output to the actuator control unit 68.

[0118] When the actuator control unit 68 receives a switching command from the operation switching control unit 67, it cancels the association between the directional control valve that controls the operation of the boom cylinder 37 and the forward / backward tilt operation of the right operating lever 52R among the multiple directional control valves that make up the control valve 62, and assigns the forward / backward tilt operation of the right operating lever 52R to the directional control valve that controls the operation of the blade cylinder 40. At the same time, the actuator control unit 68 cancels the association between the directional control valve that controls the operation of the bucket cylinder 39 and the left / right tilt operation of the right operating lever 52R among the multiple directional control valves that make up the control valve 62, and assigns the left / right tilt operation of the right operating lever 52R to the directional control valve that controls the operation of the angle cylinder 132 or the tilt cylinder 160. As a result, the signal generated by the left / right tilt operation of the right operating lever 52R input to the actuator control unit 68 becomes a signal that controls the operation of the angle cylinder 132 or the tilt cylinder 160. In other words, the angle operation or tilt operation of the blade 31 can be performed by the right operating lever 52R.

[0119] In this manner, in this embodiment, when the operator presses the operation changeover switch 54, the left and right tilting operation of the right operating lever 52R, which is assigned as a standard setting to operate to rotate the bucket 34, can be assigned to an angle operation or tilt operation of the blade 31.

[0120] In other words, when blade operation is selected by the operation changeover switch 54, the controller 66 assigns the forward / backward tilting operation of the right operating lever 52R to the operation of the blade cylinder 40, and assigns the left / right tilting operation of the right operating lever 52R to the operation of a selected cylinder from among the angle cylinder 132 and the tilt cylinder 160.

[0121] In a state in which the angle operation of the blade 31 is assigned to the left-right tilting operation of the right operating lever 52R, for example, as shown in Fig. 9, a leftward tilting operation of the right operating lever 52R (see arrow R1a) is an operation for rotating the blade 31 by an angle so that it faces the left side, and a rightward tilting operation of the right operating lever 52R (see arrow R2a) is an operation for rotating the blade 31 by an angle so that it faces the right side. In a state in which the tilting operation of the blade 31 is assigned to the left-right tilting operation of the right operating lever 52R, for example, as shown in Fig. 10, a leftward tilting operation of the right operating lever 52R (see arrow R1b) is an operation for tilting the blade 31 in the counterclockwise direction (the left side descends), and a rightward tilting operation of the right operating lever 52R (see arrow R2b) is an operation for tilting the blade 31 in the clockwise direction (the right side descends).

[0122] An angle / tilt changeover switch 74 is provided to select whether the left / right tilt operation of the right operating lever 52R is to be assigned to angle operation or tilt operation (see FIG. 4). The angle / tilt changeover switch 74 is an example of a changeover operation unit that changes the blade operation assigned to the left / right tilt operation of the right operating lever 52R to angle operation or tilt operation of the blade 31. The angle / tilt changeover switch 74 changes the hydraulic cylinder that is operated by the left / right tilt operation of the right operating lever 52R, out of the angle cylinder 132 and the tilt cylinder 160 of the soil removal device 4.

[0123] The angle / tilt changeover switch 74 is configured to send a signal to the operation changeover control unit 67 when operated, similar to the operation changeover switch 54. The angle / tilt changeover switch 74 is provided, for example, on the right operation lever 52R, similar to the operation changeover switch 54. The operation changeover switch 54 may also be configured to have the function of the angle / tilt changeover switch 74. In the case of such a configuration, for example, the first operation of the operation changeover switch 54 changes the standard setting to a blade operation allocation state (see FIG. 6), the second operation changes the state in which the angle operation is assigned to the left and right tilt operation of the right operation lever 52R (see FIG. 9), and the third operation changes the state in which the tilt operation is assigned to the left and right tilt operation of the right operation lever 52R (see FIG. 10). Then, the fourth operation of the operation changeover switch 54 may return to the standard setting. In such a configuration, the operation changeover switch 54 functions as an input unit and a switching operation unit.

[0124] The switching operation unit may be realized by a touch panel input device provided on the display unit 56a of the display device 56, or may be operation buttons arranged around the display unit 56a, or a switch arranged on the operation panel unit.

[0125] In the above example, as in the first embodiment, the forward / rearward tilting operation of the right operating lever 52R is assigned to the blade lifting / lowering operation by input from the operation changeover switch 54, but this is not limiting. In other words, the blade lifting / lowering operation may be performed by an operating lever for lifting / lowering the other blade 31, and the forward / rearward tilting operation of the right operating lever 52R may be assigned to the angle operation of the blade 31, and the left / right tilting operation may be assigned to the tilt operation of the blade 31.

[0126] Furthermore, the right operating lever 52R is a lever device that can be shifted (tilted) in four directions, i.e., forward, backward, left and right, but an operating lever device having more than four shift directions, for example, six directions, may be used. In this case, in response to an input from the operation changeover switch 54, the shift operation in each direction of the right operating lever 52R may be assigned to each of the work machine operation of the excavator 3, the blade lifting / lowering operation, the angle operation and the tilt operation of the blade 31.

[0127] It can be said that the excavation work machine 1 according to the first and second embodiments described above has the following configuration. That is, the excavation work machine 1 has the earth removal device 4 disposed on the lower travel body 6A having the travel section 5, and the work machine (excavation device 3) disposed on the upper rotating body 6B rotatably connected to the upper part of the lower travel body 6A. Also, the excavation work machine 1 has a control section (controller 66) that prohibits the work machine operation based on an input signal from the input section (operation changeover switch 54) and changes the operation allocation of the operation device to a blade operation corresponding to the operation of the blade 31 of the earth removal device 4, to an operation device (right operation lever 52R) to which a predetermined work machine operation corresponding to the operation of the work machine is assigned.

[0128] According to the excavation work machine 1 of this embodiment, the blade can be set to a position that is easy for the operator to use, and safety can be ensured by prohibiting operation of the work machine when it is not in use.

[0129] Furthermore, in the excavator 1, the operating device is an operating lever (right operating lever 52R) that can be tilted in the front-rear direction, and the control section (controller 66) assigns a blade raising / lowering operation corresponding to the raising and lowering operation of the blade 31 to a front-rear tilting operation of the operating lever (right operating lever 52R). With this configuration, the operation of lowering the blade 31 can be executed by swinging the right operating lever 52R forward, and the operation of raising the blade 31 can be executed by swinging the right operating lever 52R backward, allowing the operator to intuitively operate the blade.

[0130] Furthermore, in this excavation work machine 1, the operation lever (right operation lever 52R) can be tilted left and right, and the control section (controller 66) assigns a blade lifting / lowering operation corresponding to an operation different from the lifting / lowering operation of the blade 31 to the left and right tilting operation of the operation lever (right operation lever 52R). With this configuration, the operability of the blade 31 can be improved by assigning, for example, an angle operation or a tilt operation to the operation lever (right operation lever 52R) in addition to the lifting / lowering operation of the blade 31.

[0131] In addition, in this excavation work machine 1, the operating device includes an operating lever (right operating lever 52R) to which a predetermined work machine operation is assigned, another work machine operation different from the predetermined work machine operation assigned to this operating lever (right operating lever 52R), and a second operating lever (left operating lever 52L) to which a rotation operation of the upper rotating body 6B is assigned. The control unit (controller 66) assigns the work machine operation to the right operating lever 52R of the left and right operating levers 52R, 52L, and assigns the blade operation based on an input signal from the input unit (operation changeover switch 54). With this configuration, when operating the blade with the operating lever (right operating lever 52R), for example, the second operating lever (left operating lever 52L) is used to rotate the upper rotating body 6B and move the excavation device 3 from above the soil removal device 4, so that the operator can operate the blade in the most convenient position while checking the spreading and leveling state of the blade 31.

[0132] In addition, in the present excavation work machine 1, the control unit (controller 66) cancels the allocation of the blade operation to the operation lever (right operation lever 52R) when the travel lever 51 for operating the traveling part 5 is not operated for a predetermined time after the blade operation is assigned to the operation lever (right operation lever 52R). With this configuration, when the travel operation by the travel lever 51 is not performed for a certain time, the blade operation assigned to the operation lever (right operation lever 52R) is returned to the work machine operation of the main operation, so that even if the operator forgets to return to the standard setting after the blade operation assignment state, it is possible to prevent erroneous operation and ensure safety. Therefore, for example, even if the operator forgets that the blade operation is assigned and operates the right operation lever 52R with the intention of rotating the boom 35, the excavation device 3 can be operated as intended by the operator by automatically returning to the standard setting.

[0133] Furthermore, in this excavation work machine 1, when the prime mover (engine 10) that generates the power of the work machine is stopped after the blade operation is assigned to the operation lever (right operation lever 52R), the control unit (controller 66) cancels the assignment of the blade operation to the operation lever (right operation lever 52R). With this configuration, even if the prime mover (engine 10) is stopped without returning to the standard setting after the blade operation assignment state, when the prime mover (engine 10) is started again, the operation assigned to the operation lever (right operation lever 52R) automatically returns to the standard setting, so that it is possible to prevent the operator from erroneously operating the soil removal device 4 when performing work to operate the excavation device 3.

[0134] Furthermore, in this excavation work machine 1, the input section (operation changeover switch 54) is provided on the operation lever (right operation lever 52R). With this configuration, by attaching an operation changeover means to the operation lever (right operation lever 52R), it is possible to smoothly switch from work machine operation to blade operation.

[0135] In addition, in this excavator 1, the operation lever (right operation lever 52R) and the second operation lever (left operation lever 52L) are disposed symmetrically on the left and right sides of the seat 16, and the input section (operation changeover switch 54) is disposed on the side facing the second operation lever (left operation lever 52L). With this configuration, erroneous operation can be prevented.

[0136] The excavation work machine 1 also includes a notification means for notifying the operator of a change in the operation allocation of the operating device from work machine operation to blade operation. With this configuration, erroneous operation can be prevented by notifying the operator that the operation allocation of the right operating lever 52R has been changed and that blade operation is now possible. The notification means may, for example, visually notify the operator with an icon displayed on the monitor or an LED lamp attached next to the monitor, or may notify the operator in a manner that appeals to the operator's hearing by sounding an alarm at regular intervals.

[0137] Furthermore, in this excavation work machine 1, a speed change switch 55 for changing the gear ratio of the traveling motor of the traveling section (travel hydraulic motor 43) is provided on the right operation lever 52R. With this configuration, for example, by changing the number of gear ratios of the traveling motor with a seesaw switch or the like attached to the upper surface of the right grip 53R of the right operation lever 52R, it is possible to perform a gear change operation without releasing the right operation lever 52R, and it is possible to smoothly perform a leveling operation by moving the excavation work machine 1 forward while maintaining the blade 31 of the soil removal device 4 at a predetermined position.

[0138] The above-mentioned embodiment is an example of the present invention, and the working machine according to the present invention is not limited to the above-mentioned embodiment. Therefore, even if it is an embodiment other than the above-mentioned, various modifications are possible according to the design, etc., as long as they do not deviate from the technical idea of ​​the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limited, and other effects may be obtained.

[0139] In the above-described embodiment, of the left and right operating levers 52L, 52R, the right operating lever 52R is the operating lever that is the target of the operation allocation change control, but the present invention is also applicable to a configuration in which the left and right operating levers 52L, 52R function as operating levers opposite to each other in the above-described embodiment. In such a configuration, the left operating lever 52L is the operating lever according to the present invention that is the target of the operation allocation change control, and the right operating lever 52R corresponds to the second operating lever according to the present invention.

[0140] The present invention can take the following forms. (1) A work machine in which a soil removal device is disposed on a lower traveling body having a traveling section, and a work implement is disposed on an upper rotating body rotatably connected to an upper portion of the lower traveling body, A work machine comprising a control unit that, based on an input signal from an input unit, prohibits operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the movement of the work machine is assigned, and changes the operation assignment to the operating device to a blade operation corresponding to the movement of the blade of the soil removal device. (2) The operation device is an operation lever that can be tilted forward and backward, the control unit assigns a blade lifting / lowering operation corresponding to a lifting / lowering movement of the blade to a forward / backward tilting operation of the operating lever as the blade operation. The work machine described in (1) above. (3) The operating lever can be tilted left and right, The control unit assigns an operation corresponding to an operation different from the lifting and lowering operation of the blade to a left-right tilt operation of the operating lever as the blade operation. The work machine described in (2) above. (4) The operation corresponding to the operation other than the lifting and lowering operation of the blade is an angle operation or a tilt operation of the blade, The blade operation assigned to the left / right tilt operation of the operating lever is switched to the angle operation or the tilt operation. Having an operation unit, The work machine described in (3) above. (5) A second operation lever is provided to which a different operation of the work machine corresponding to the operation of the work machine different from the operation of the work machine corresponding to the predetermined work machine operation assigned to the operation lever and a rotation operation of the upper rotating body are assigned. A working machine according to any one of (2) to (4) above. (6) the control unit cancels the allocation of the blade operation to the operating lever when a traveling operation for operating the traveling unit is not performed for a predetermined time after the blade operation is allocated to the operating device. A working machine according to any one of (2) to (5) above. (7) When a prime mover that generates power for the work machine is stopped after the control unit has assigned the blade operation to the operation device, the control unit releases the assignment of the blade operation to the operation lever. A working machine according to any one of (2) to (6) above. (8) The input unit is provided on the operation lever. A working machine according to any one of (2) to (7) above. (9) The operation lever and the second operation lever are symmetrically arranged on the left and right sides of the driver's seat, and the input unit is arranged on the side opposite to the second operation lever. The work machine according to (8) above. (10) A notification means is provided for notifying a change in operation allocation from the work machine operation to the blade operation for the operating device. A working machine according to any one of (1) to (9) above. (11) A changeover switch for changing the gear stage of the transmission provided for the traveling part is provided on the operating lever. A working machine according to any one of (2) to (9) above. (12) A control method for a work machine in which a soil removal device is disposed on a lower traveling body having a traveling section, and a work implement is disposed on an upper rotating body rotatably connected to an upper portion of the lower traveling body, comprising: prohibiting operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the operation of the work machine is assigned, and changing the operation assignment to the operating device to a blade operation corresponding to the operation of the blade of the soil removal device; A method for controlling a work machine. [Explanation of symbols]

[0141] 1 Excavation machine (work machine) 2 Running vehicle 3. Excavation equipment (working equipment) 4 Earth removal equipment 5 Running part 6A Undercarriage 6B Upper rotating body 7 Aircraft Frame 10 Engine (prime mover) 11 Battery 13 Driving Department 16 Driver's seat (seat) 31 Blade 33 Arm 34 Bucket 35 Boom 36 Arm 37 Boom cylinder 38 Arm Cylinder 39 Bucket Cylinder 40 Blade Cylinder 41 Angle Cylinder 42 Tilt cylinder 43 Hydraulic motor for travel 51 Travel lever 51a Grip 52L Left operation lever (second operation lever) 52R Right operation lever (operation lever) 53L Left Grip 53R Right Grip 54 Operation changeover switch (input section) 55 Travel speed changeover switch (changeover switch) 56 Display device (notification means) 56a Display section 56b Input means 61 Solenoid valve 62 Control valve 63 Hydraulic Pump 64 Actuator 65 Operation signal output section 66 Controller (control unit) 67 Operation switching control section 68 Actuator control section 69 Starter switch 74 Angle / tilt changeover switch (changeover operation part) 132 Angle Cylinder 133 Arm 141 Blade body 160 Tilt Cylinder

Claims

1. A work machine in which a soil removal device is disposed on a lower traveling body having a traveling section, and a work implement is disposed on an upper rotating body rotatably connected to an upper portion of the lower traveling body, A control unit is provided that prohibits the operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the operation of the work machine is assigned based on an input signal from an input unit, and changes the operation assignment to the operating device to a blade operation corresponding to the operation of the blade of the soil removal device. Working machinery.

2. The operation device is an operation lever that can be tilted forward and backward, the control unit assigns a blade lifting / lowering operation corresponding to a lifting / lowering movement of the blade to a forward / backward tilting operation of the operating lever as the blade operation.

2. The work machine of claim 1.

3. The operating lever can be tilted left and right, The control unit assigns an operation corresponding to an operation different from the lifting and lowering operation of the blade to a left-right tilt operation of the operating lever as the blade operation.

3. A work machine according to claim 2.

4. The operation corresponding to the operation other than the lifting and lowering operation of the blade is an angle operation or a tilt operation of the blade, A switching operation unit that switches the blade operation assigned to the left-right tilt operation of the operating lever to the angle operation or the tilt operation, 4. A work machine according to claim 3.

5. A second operation lever is provided to which a different operation of the work machine corresponding to the operation of the work machine different from the operation of the work machine corresponding to the predetermined work machine operation assigned to the operation lever and a rotation operation of the upper rotating body are assigned. A work machine according to any one of claims 2 to 4.

6. the control unit cancels the allocation of the blade operation to the operating lever when a traveling operation for operating the traveling unit is not performed for a predetermined time after the blade operation is allocated to the operating device.

3. A work machine according to claim 2.

7. When a prime mover that generates power for the work machine is stopped after the control unit has assigned the blade operation to the operation device, the control unit releases the assignment of the blade operation to the operation lever.

3. A work machine according to claim 2.

8. The input unit is provided on the operation lever.

3. A work machine according to claim 2.

9. The operation lever and the second operation lever are symmetrically arranged on the left and right sides of the driver's seat, and the input unit is arranged on a side facing the second operation lever.

9. A work machine according to claim 8.

10. A notification means is provided for notifying a change in operation allocation from the work machine operation to the blade operation for the operating device.

2. The work machine of claim 1.

11. A changeover switch for changing the gear stage of the transmission provided for the traveling part is provided on the operating lever.

3. A work machine according to claim 2.

12. A control method for a work machine in which a soil removal device is disposed on a lower traveling body having a traveling section, and a work implement is disposed on an upper rotating body rotatably connected to an upper portion of the lower traveling body, comprising: prohibiting operation of the work machine by an operating device to which a predetermined work machine operation corresponding to the operation of the work machine is assigned, and changing the operation assignment to the operating device to a blade operation corresponding to the operation of the blade of the soil removal device; A method for controlling a work machine.

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