Work machine

Abstract

To provide a work machine capable of improving operability in attachment operation and swing operation.SOLUTION: A work machine 100 includes a lower traveling body 1, an upper rotating body 2, an attachment AT, a tilt rotator 20 capable of swinging a bucket 6 in left and right direction and rotating the bucket 6 around an axis, and a left operating lever 26L or a right operating lever 26R. The left operating lever 26L or the right operating lever 26R includes an axial operation for rotating an operating lever about an axis. At least one of left-right swing of the bucket 6 by the tilt rotator 20 and the rotation of the bucket 6 around its axis by the tilt rotator 20 is assigned to the operation of an operating lever around its axis.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to work machines. [Background technology]

[0002] Conventionally, there is known a work machine (excavator) equipped with a tiltrotator that allows an end attachment such as a bucket to tilt left and right (yaw direction) and rotate around an axis (roll direction). When performing excavation or the like, for example, an operator of this work machine operates six axes including the rotational movement of the five axes of the attachment (boom axis, arm axis, bucket axis, tilt axis, roll axis) and the rotational movement of the upper rotating body.

[0003] For example, the work machine disclosed in Patent Document 1 assigns the above-mentioned six axes to the forward / backward swing and left / right swing of two control levers installed in an operating room, and the left / right movement of sliders mounted on the upper ends of the control levers. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-134631 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the control lever configuration as in Patent Document 1, for example, when an operator wants to precisely operate the bucket, he or she must move the slider left and right while gripping the control lever and changing the tilt in the forward / backward or left and right directions. In this case, it becomes difficult for the operator to operate each axis as intended.

[0006] The present disclosure provides a work machine that can improve the operability of the operation of an attachment having a tiltrotator. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, there is provided a work machine including a lower running body, an upper rotating body rotatably mounted on the lower running body, an attachment mounted on the upper rotating body, a tiltrotator capable of swinging the end attachment of the attachment in the left-right direction relative to a support part supporting the end attachment and rotating the end attachment about an axis, and one or more operating levers operated by an operator, wherein the one or more operating levers include an axial operation for rotating the one or more operating levers about an axis, and at least one of the left-right swing of the end attachment by the tiltrotator and the rotation of the end attachment about the axis by the tiltrotator is assigned to the axial operation of the one or more operating levers. Effect of the Invention

[0008] According to one aspect, a work machine can improve the operability of the operation of an attachment having a tiltrotator. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view showing a schematic overall configuration of a work machine according to an embodiment. [Diagram 2] 1 is a diagram showing a schematic configuration of a drive system of a work machine according to an embodiment. [Diagram 3] FIG. 2 is a perspective view showing a configuration of an operating lever of the work machine according to the embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing an example of allocation of operation directions of a left operating lever and a right operating lever to the operation of a component of a work machine. [Diagram 5] FIG. 11 is an explanatory diagram showing the allocation of operation directions of a left operating lever and a right operating lever to the operation of a configuration of a work machine according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and duplicated descriptions may be omitted.

[0011] Fig. 1 is a side view showing a schematic overall configuration of a work machine 100 according to an embodiment. As shown in Fig. 1, the work machine 100 includes a lower traveling body 1, an upper rotating body 2, and an attachment AT. The work machine 100 in Fig. 1 is a shovel having a bucket 6 as an end attachment of the attachment AT. However, the work machine 100 is not limited to a shovel, and for example, a harvester or grapple saw used in forestry, or a material hand, lifting magnet, grapple, etc. for gripping various transported objects can be applied.

[0012] The lower traveling body 1 has a pair of left and right crawlers 1C. The crawlers 1C are driven by a left traveling actuator 1L and a right traveling actuator 1R (see FIG. 2) mounted on the lower traveling body 1. The upper rotating body 2 is mounted on the lower traveling body 1 so as to be rotatable via a turning mechanism 3. The turning mechanism 3 has a turning actuator 3A (see FIG. 2) and turns the upper rotating body 2 relative to the lower traveling body 1 by the turning actuator 3A. The left traveling actuator 1L, the right traveling actuator 1R and the turning actuator 3A may be any of a hydraulic actuator, an internal combustion engine, and an electric actuator.

[0013] The upper rotating body 2 is provided with a cabin 10, which is an operation room where an operator boards and operates the work machine 100, at the front and left side (to the left of the boom 4). The upper rotating body 2 also has a counterweight at the rear, and various devices for operating the work machine 100 are provided inside.

[0014] The attachment AT according to the embodiment is an excavation attachment. In this case, the attachment AT includes a boom 4 attached to the upper rotating body 2 so as to be able to move up and down (rotate), an arm 5 rotatably attached to the tip of the boom 4, and a bucket 6 rotatably attached to the tip of the arm 5. The bucket 6 is an end attachment having a recess 6C capable of containing soil and sand, and having multiple claws 6N on the edge portion opposite to the connection point of the arm 5. The bucket 6 may be a slope bucket.

[0015] The boom 4 is driven by a boom actuator 7, the arm 5 is driven by an arm actuator 8, and the bucket 6 is driven by an end attachment actuator 9. The boom actuator 7, the arm actuator 8, and the end attachment actuator 9 are attachment actuators, and may be constituted by, for example, cylinder mechanisms.

[0016] Furthermore, the work machine 100 according to the embodiment is equipped with a tiltrotator 20 between the arm 5 and the bucket 6. The tiltrotator 20 enables the angle of the bucket 6 in the left-right direction (width direction, yaw direction: hereinafter referred to as tilt angle) to be changed with the center of the arm 5 as the base point, and also enables the angle of the bucket 6 around the axis of the base end (roll direction: hereinafter referred to as roll angle).

[0017] For this reason, the tilt rotator 20 has a tilt mechanism 21 provided on the arm 5 side, and a rotator mechanism 22 provided between this tilt mechanism 21 and the bucket 6. The tilt mechanism 21 includes a base 211 fixed to the arm 5, a tilt shaft 212 connected to the base 211, a support plate 213 supported so as to be swingable relative to the tilt shaft 212, and a tilt actuator 214 that changes the tilt angle of the support plate 213. The tilt actuator 214 is composed of, for example, a pair of cylinder mechanisms sandwiching the tilt shaft 212 therebetween.

[0018] The rotator mechanism 22 includes a rotator motor 221 fixed to the support plate 213 of the tilt mechanism 21, a rotating shaft 222 rotated by the rotator motor 221, and a connecting part 223 that connects the rotating shaft 222 and the bucket 6. The rotating shaft 222 protrudes a short distance from the center of the support plate 213 and is connected to the connecting part 223. The connecting part 223 fixes the center of the base end of the bucket 6, and adjusts the roll angle of the bucket 6 by rotating the bucket 6 around the central axis of the base end.

[0019] The work machine 100 rotates the entire tiltrotator 20 in the pitch direction in association with the extension and retraction operation of the arm actuator 8, thereby changing the bucket angle (pitch angle) of the entire tiltrotator 20 and the bucket 6 together. The work machine 100 also changes the tilt angle (yaw angle) of the bucket 6 by rotating the support plate 213 in the left and right directions relative to the base 211 in association with the operation of the tilt actuator 214. For example, the tilt angle of the bucket 6 is adjusted in a range of 45° to the right and 45° to the left. Furthermore, the work machine 100 changes the roll angle of the bucket 6 by rotating the coupling part 223 and the bucket 6 about an axis in association with the operation of the rotator motor 221. For example, the roll angle of the bucket 6 is adjusted in a range of 360° relative to the support plate 213.

[0020] Fig. 2 is a diagram showing a schematic configuration of a drive system of a working machine 100 according to an embodiment. In Fig. 2, a mechanical power transmission system is indicated by double lines, hydraulic oil lines are indicated by thick solid lines, pilot lines are indicated by dotted lines, and an electrical control system is indicated by thin solid lines.

[0021] The drive system of the work machine 100 is mainly composed of an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, and a controller 30.

[0022] The engine 11 is the main power source of the work machine 100, and is mounted, for example, on the rear of the upper rotating body 2. The engine 11 is a diesel engine that rotates at a target rotation speed under the control of the controller 30. The output shaft of the engine 11 is connected to the main pump 14 and the pilot pump 15, respectively.

[0023] The main pump 14 is mounted on the rear of the upper rotating body 2, for example, in the same manner as the engine 11. The main pump 14 is driven by the engine 11 and supplies hydraulic oil to a control valve 17 via a hydraulic oil line 16. The main pump 14 according to the embodiment is a swash plate type variable displacement hydraulic pump in which the discharge amount is controlled by a regulator 13.

[0024] The regulator 13 adjusts the tilt angle of the swash plate of the main pump 14 based on a control signal from the controller 30. This adjusts the stroke length of the piston of the main pump 14, and adjusts the discharge amount (discharge pressure) of the hydraulic oil.

[0025] The control valve 17 is a hydraulic control device that is mounted, for example, in the center of the upper rotating body 2 and controls the hydraulic drive system in response to the operation of the control device 26 by an operator. The control valve 17 is connected to the main pump 14 via a hydraulic oil line 16 and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (left traveling actuator 1L, right traveling actuator 1R, swing actuator 3A, boom actuator 7, arm actuator 8, end attachment actuator 9, tilt actuator 214, and rotator motor 221) in response to the operating state of the control device 26.

[0026] Specifically, the control valve 17 includes control valves 171-178 which control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. For example, the control valve 171 corresponds to the left traveling actuator 1L, the control valve 172 corresponds to the right traveling actuator 1R, and the control valve 173 corresponds to the swing actuator 3A. In addition, the control valve 174 corresponds to the end attachment actuator 9, the control valve 175 corresponds to the boom actuator 7, and the control valve 176 corresponds to the arm actuator 8. In addition, the control valve 177 corresponds to the tilt actuator 214, and the control valve 178 corresponds to the rotator motor 221.

[0027] The operation system of the work machine 100 includes the pilot pump 15 and an operation device 26. The operation system of the work machine 100 also includes a shuttle valve 32 as a component related to the machine control function by the controller 30.

[0028] The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 2, and supplies hydraulic oil to various hydraulic control devices including an operating device 26 via a pilot line 25. The pilot pump 15 according to the embodiment is a fixed displacement hydraulic pump, and is driven by the engine 11.

[0029] The operation device 26 is an input means for an operator to operate the hydraulic actuators (left travel actuator 1L, right travel actuator 1R, swing actuator 3A, boom actuator 7, arm actuator 8, end attachment actuator 9, tilt actuator 214, rotator motor 221, etc.). The operation device 26 according to the embodiment includes a left operation lever 26L and a right operation lever 26R, which are electric levers, and a travel pedal 26P (or a travel lever) that can operate the pilot pressure of the hydraulic oil from the pilot pump 15. Note that the operation device 26 may also include other operation means (not shown), such as a switch, a button, a dial, or a console.

[0030] For example, the operation device 26 has a pair of travel pedals 26P (left and right) that are operated by the operator's foot depression. The pair of travel pedals 26P are connected to the control valves 171 and 172 of the control valve 17 through secondary pilot lines, respectively. This allows pilot pressure according to the operation state of the operator to be input to the control valves 171 and 172, driving the left travel actuator 1L and the right travel actuator 1R.

[0031] On the other hand, the left operation lever 26L and the right operation lever 26R are installed, for example, at outer positions sandwiching the pair of traveling pedals 26P. The left operation lever 26L and the right operation lever 26R may be provided on a pair of armrests of a seat provided in the cabin 10, respectively. The left operation lever 26L and the right operation lever 26R are electric levers that output electric signals of the operation direction and operation amount (rotation angle) to the controller 30.

[0032] The controller 30 controls each of the control valves 171-178 in the control valve 17 in response to an electric signal input from the left operation lever 26L and the right operation lever 26R, and operates various hydraulic actuators in response to the operation contents of the operator. The left operation lever 26L and the right operation lever 26R are configured to be able to operate the boom 4 (boom actuator 7), the arm 5 (arm actuator 8), the bucket 6 (end attachment actuator 9), the upper rotating body 2 (rotation actuator 3A), the tilt rotator 20 (tilt actuator 214, rotator motor 221), and the like. When the left operation lever 26L and the right operation lever 26R are operated, the controller 30 receives an electric signal corresponding to the operation direction and rotation angle, and controls the solenoid valve of the control valve 17 to increase or decrease the pilot pressure. In this way, the controller 30 can operate each of the control valves 171-178 in accordance with the operation contents of the operating device 26.

[0033] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14 and transmits a detection signal to the controller 30. The operating pressure sensor 29 detects the pilot pressure of an operating means for operating the pilot pressure of the travel pedal 26P or the like and outputs the detection value to the controller 30. In the case of electric levers such as the left operating lever 26L and the right operating lever 26R, electric signals indicating the operating direction, rotation angle, etc. are input directly to the controller 30.

[0034] The proportional valve 31 is provided in the pilot line 25 that connects the pilot pump 15 and the shuttle valve 32, and is configured so that its flow path area (cross-sectional area through which the hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. As a result, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, even when the operating device 26 is not being operated.

[0035] The shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic oil having a higher pilot pressure of the two pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 through a pilot line. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0036] In other words, the controller 30 controls the corresponding control valve and controls the operation of various operating elements by causing the proportional valve 31 to output a pilot pressure higher than the secondary pilot pressure output from the operating device 26, without depending on the operation of the operating device 26 by the operator. For example, the control valves 171 to 178 in the control valve 17 may be electromagnetic solenoid spool valves that are driven by commands from the controller 30. Also, for example, solenoid valves that operate in response to electric signals from the controller 30 may be disposed between the pilot pump 15 and the pilot ports of the respective control valves 171 to 178.

[0037] The control system of the work machine 100 according to the embodiment includes a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 44, and various sensors.

[0038] The controller 30 is provided, for example, in the cabin 10, and controls the drive of the work machine 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is a computer having a processor, memory, input / output interface, and communication interface (not shown). The one or more processors are one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a circuit made of a plurality of discrete semiconductors, and the like, and executes and processes a program stored in the memory. The memory includes a main storage device made of a semiconductor memory or the like, and an auxiliary storage device made of a disk, a semiconductor memory (flash memory), or the like.

[0039] For example, the controller 30 sets a target rotation speed based on a work mode or the like that is set in advance by the operation of an operator or the like, and performs drive control to rotate the engine 11 at a constant speed. Furthermore, the controller 30 outputs a control command to the regulator 13 as necessary, and changes the discharge rate of the main pump 14. Note that the controller 30 may also perform control related to a machine guidance function that guides (guides) the manual operation of the work machine 100 by the operator via the operating device 26, or control related to a machine control function that operates the work machine 100 autonomously.

[0040] Some of the functions of the controller 30 may be realized by other controllers. That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller.

[0041] The display device 40 is provided at a location where it can be easily seen by an operator seated in the cabin 10, and displays various information under the control of the controller 30. The input device 42 is provided within reach of the operator seated in a seat in the cabin 10, and receives various inputs from the operator and outputs signals according to the inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of a lever device, a button switch, a lever, a toggle, a rotary dial, and the like that are provided around the display device 40. The audio output device 43 is, for example, a speaker or a buzzer provided in the cabin 10, and outputs audio under the control of the controller 30.

[0042] The storage device 44 is, for example, a non-volatile storage medium such as a semiconductor memory, is provided inside the cabin 10, and stores various information under the control of the controller 30. The storage device 44 may store data relating to a target construction surface set through the input device 42 or the like. The target construction surface may be set (saved) by the operator of the work machine 100, or may be set by a construction manager or the like.

[0043] Fig. 3 is a perspective view showing the configuration of the operation levers (left operation lever 26L, right operation lever 26R) of the work machine 100 according to the embodiment. Each of the left operation lever 26L and the right operation lever 26R has an operation mechanism 260 that can operate the lever in three operation directions, for example, as shown in Fig. 3. The left operation lever 26L will be representatively described below.

[0044] Specifically, the operating mechanism 260 includes a lever body 261 which is held and operated by the operator, a first rotation mechanism 262 which rotates the lever body 261 along a first arcuate trajectory, a second rotation mechanism 263 which rotates the lever body 261 so as to tilt it along a second arcuate trajectory perpendicular to the first arcuate trajectory, and a third rotation mechanism 264 which rotates the lever body 261 around its axis (in the twisting direction).

[0045] Lever body 261 extends in the vertical direction, and is formed in a shape in which the head portion on the upper side in the vertical direction bulges out more than the rod-shaped portion on the lower side. A button, switch, etc. of operation device 26, or a display of display device 40 may be provided on the head portion of lever body 261. Meanwhile, the lower end portion of lever body 261 is connected to first rotation shaft 262a of first rotation mechanism 262. Note that, when operating the operating lever, the operator may grip the head portion of lever body 261 or may grip the rod-shaped portion of lever body 261.

[0046] The first rotation mechanism 262 includes a first rotating shaft 262a to which the lever body 261 is connected, and a first frame 262b that rotatably supports the first rotating shaft 262a. The first arcuate orbit is the positive direction in which the head of the lever body 261 is tilted (the forward direction in which the attachment AT extends from the upper rotating body 2) and the opposite negative direction (rearward direction). During operation, the operator tilts the head of the lever body 261 to tilt it down to the first arcuate orbit, thereby performing a first arcuate orbit operation to rotate the base end of the lever body 261 and the first rotating shaft 262a.

[0047] The first rotating shaft 262a is provided with a first angle sensor (not shown) that detects the rotation direction and rotation angle of the first rotating shaft 262a itself (and the lever body 261). The controller 30 recognizes the operation direction and operation amount of the first arcuate orbit operation by the operator based on the detection signal of the rotation direction and rotation angle of the first arcuate orbit detected by the first angle sensor.

[0048] The second rotation mechanism 263 includes a pair of second rotation shafts 263a to which the first frame 262b is connected, and a second frame 263b that rotatably supports each of the second rotation shafts 263a on a second arc orbit. The second arc orbit is a direction perpendicular to the first arc orbit (the direction in which the head is tilted), and for example, the positive direction is the left direction and the negative direction is the right direction. The operator tilts the head of the lever main body 261 to the second arc orbit so as to tilt it down, thereby performing a second arc orbit operation that rotates the base end of the lever main body 261, the first rotation mechanism 262, and each of the second rotation shafts 263a together.

[0049] A second angle sensor (not shown) that detects the rotation direction and rotation angle of the second rotation shaft 263a itself (and the lever body 261) is provided on one side of each second rotation shaft 263a. The controller 30 recognizes the operation direction and operation amount of the second arcuate orbit operation by the operator based on the detection signal of the rotation direction and rotation angle of the second arcuate orbit detected by the second angle sensor.

[0050] The third rotation mechanism 264 includes a third rotation shaft 264a to which the lower end of the semicircular second frame 263b is connected, and a support 264b that supports the third rotation shaft 264a so as to be rotatable about its axis. The direction of rotation of the third rotation shaft 264a is the direction in which the lever body 261 is twisted. By twisting the lever body 261, the operator performs an operation about the axis to rotate the base end of the lever body 261, the first rotation mechanism 262, the second rotation mechanism 263, and the third rotation shaft 264a together.

[0051] The third rotation shaft 264a is provided with a third angle sensor (not shown) that detects the rotation angle of the third rotation shaft 264a itself (and the lever body 261). The controller 30 recognizes the operation direction and operation amount of the operator's operation around the axis based on the detection signal of the rotation direction and rotation angle of the third rotation shaft 264a detected by the third angle sensor.

[0052] The right operating lever 26R also includes an operating mechanism 260 capable of operating the lever in three operating directions, similar to the left operating lever 26L. The operating mechanism 260 is not limited to the above-described mechanism, and may employ various mechanisms capable of performing the first arc orbit operation, the second arc orbit operation, and the axial operation. For example, the third rotation mechanism 264 is not limited to a configuration in which the outside of the first rotation mechanism 262 or the second rotation mechanism 263 is supported by a shaft, and may be configured to rotate the middle part and the head part of the lever body 261 relative to the base end part of the lever body 261. For example, the right operating lever 26R and the left operating lever 26L may be configured such that the base end of the lever body 261 is spherical, and the base end of the lever body 261 is covered by a cover having a cross-shaped groove that guides the first arc orbit operation and the second arc orbit operation of the lever body 261.

[0053] In the work machine 100, the left operating lever 26L and the right operating lever 26R, which can be displaced in the above three operating directions, are assigned to each of the rotation of the upper rotating body 2 and the rotation of each joint of the attachment AT. Fig. 4 is an explanatory diagram showing an example of the assignment of the operating directions of the left operating lever 26L and the right operating lever 26R to the movements of the components of the work machine 100.

[0054] As shown in FIG. 4, the left operating lever 26L and the right operating lever 26R are capable of performing a first arc-shaped orbit operation, a second arc-shaped orbit operation, and an axial rotation operation, respectively, resulting in a total of six operating directions.

[0055] Meanwhile, the attachment AT has a boom actuator 7 that rotates the boom 4 relative to the upper rotating body 2, an arm actuator 8 that rotates the arm 5 relative to the boom 4, and an end attachment actuator 9 that rotates the bucket 6 relative to the arm 5. Furthermore, the attachment AT is provided with a tilt rotator 20, and thus has a tilt actuator 214 that rotates the bucket 6 left and right relative to the arm 5, and a rotator motor 221 that rotates the bucket 6 in the roll direction on the support platen 213. That is, the attachment AT according to the embodiment has five joints that operate the bucket 6, and each joint is provided with an actuator that operates it.

[0056] The work machine 100 also has a swing actuator 3A that swings (rotates) the upper swing body 2 relative to the lower traveling body 1. In other words, the work machine 100 rotates a total of six shafts during the swing of the upper swing body 2 and the operation of the attachment AT. For this reason, the work machine 100 is configured so that the above-mentioned six shafts are assigned to a total of six operation directions of the left operating lever 26L and the right operating lever 26R, respectively.

[0057] Specifically, the first arcuate trajectory of the left operating lever 26L is assigned to the arm actuator 8 of a joint (arm shaft) that rotates the arm 5 relative to the boom 4. For example, when the left operating lever 26L is tilted in the positive direction (forward direction) of the first arcuate trajectory, the controller 30 rotates the arm 5 in a direction in which the underside of the arm 5 and the underside of the boom 4 approach each other (in a direction in which the arm angle becomes smaller). Conversely, when the left operating lever 26L is tilted in the negative direction (rearward direction) of the first arcuate trajectory, the controller 30 rotates the arm 5 in a direction in which the underside of the arm 5 and the underside of the boom 4 move away from each other (in a direction in which the arm angle becomes larger).

[0058] The controller 30 continues to rotate the arm 5 according to the time during which the operator operates (tilts) the left operating lever 26L along the first arcuate path. The tilt angle (rotation angle) of the first arcuate path of the left operating lever 26L is linked to the rotation speed of the arm 5. That is, when the left operating lever 26L is tilted significantly in the positive or negative direction of the first arcuate path, the rotation speed of the arm 5 increases, whereas when the left operating lever 26L is tilted slightly in the positive or negative direction of the first arcuate path, the rotation speed of the arm 5 decreases.

[0059] A rotation actuator 3A of a rotation shaft that rotates (turns) the upper rotating body 2 relative to the lower traveling body 1 is assigned to the second arcuate path of the left operating lever 26L. For example, when the left operating lever 26L is tilted in the positive direction (leftward) of the second arcuate path, the controller 30 rotates the upper rotating body 2 counterclockwise in a plan view. Conversely, when the left operating lever 26L is tilted in the negative direction (rightward) of the second arcuate path, the controller 30 rotates the upper rotating body 2 clockwise in a plan view.

[0060] The controller 30 continues the rotation of the upper rotating body 2 according to the time during which the operator operates (tilts) the left operating lever 26L along the second arc-shaped trajectory. The tilt angle (rotation angle) of the second arc-shaped trajectory of the left operating lever 26L is linked to the rotation speed of the upper rotating body 2. In other words, when the left operating lever 26L is tilted significantly in the positive or negative direction of the second arc-shaped trajectory, the rotation speed of the upper rotating body 2 increases, whereas when the left operating lever 26L is tilted slightly in the positive or negative direction of the second arc-shaped trajectory, the rotation speed of the upper rotating body 2 decreases.

[0061] A tilt actuator 214 of a joint (tilt axis) that tilts the bucket 6 left and right relative to the arm 5 is assigned to the rotation direction of the left operation lever 26L about its axis. For example, when the left operation lever 26L is twisted in the positive direction (clockwise) about its axis, the controller 30 tilts the bucket 6 to the right relative to the arm 5. Conversely, when the left operation lever 26L is twisted in the negative direction (counterclockwise) about its axis, the controller 30 tilts the bucket 6 to the left relative to the arm 5.

[0062] The controller 30 continues to incline the tilt angle of the bucket 6 according to the time that the operator operates (twists) the left operating lever 26L about its axis. Also, the amount of twist (rotation angle) of the left operating lever 26L about its axis is linked to the rotation speed of the tilt shaft. In other words, when the left operating lever 26L is twisted significantly in the positive or negative direction about its axis, the rotation speed of the tilt shaft of the bucket 6 increases, whereas when the left operating lever 26L is twisted significantly in the positive or negative direction about its axis, the rotation speed of the tilt shaft of the bucket 6 decreases.

[0063] On the other hand, the first arcuate trajectory of the right operating lever 26R is assigned to the boom actuator 7 of a joint (boom shaft) that rotates the boom 4 relative to the upper rotating body 2. For example, when the right operating lever 26R is tilted in the positive direction (forward direction) of the first arcuate trajectory, the controller 30 rotates the boom 4 in a direction in which the underside of the boom 4 approaches the lower traveling structure 1 (a direction in which the boom angle becomes smaller). Conversely, when the right operating lever 26R is tilted in the negative direction (rearward direction) of the first arcuate trajectory, the controller 30 rotates the boom 4 in a direction in which the underside of the boom 4 moves away from the lower traveling structure 1 (a direction in which the boom angle becomes larger).

[0064] The controller 30 continues to rotate the boom 4 according to the time during which the operator operates (tilts) the right operating lever 26R along the first arcuate trajectory. The tilt angle (rotation angle) of the first arcuate trajectory of the right operating lever 26R is linked to the rotation speed of the rotation of the boom 4. In other words, when the right operating lever 26R is tilted significantly in the positive or negative direction of the first arcuate trajectory, the rotation speed of the boom 4 increases, whereas when the right operating lever 26R is tilted slightly in the positive or negative direction of the first arcuate trajectory, the rotation speed of the boom 4 decreases.

[0065] An end attachment actuator 9 of a joint (bucket shaft) that rotates the bucket 6 in the pitch direction relative to the arm 5 is assigned to the second arc-shaped trajectory of the right operating lever 26R. For example, when the right operating lever 26R is tilted in the positive direction (leftward) of the second arc-shaped trajectory, the controller 30 rotates the bucket 6 in a direction in which the opening of the bucket 6 approaches the underside of the arm 5 (a direction in which the bucket angle becomes smaller). Conversely, when the right operating lever 26R is tilted in the negative direction (rightward) of the second arc-shaped trajectory, the controller 30 rotates the bucket 6 in a direction in which the opening of the bucket 6 moves away from the underside of the arm 5 (a direction in which the bucket angle becomes larger).

[0066] The controller 30 continues to rotate the bucket 6 according to the time during which the operator is performing (tilting) the second arcuate trajectory operation of the right operating lever 26R. Also, the tilt angle (rotation angle) of the second arcuate trajectory of the right operating lever 26R is linked to the rotation speed of the rotation of the bucket 6. In other words, when the right operating lever 26R is tilted significantly in the positive or negative direction of the second arcuate trajectory, the rotation speed of the bucket 6 increases, whereas when the right operating lever 26R is tilted slightly in the positive or negative direction of the second arcuate trajectory, the rotation speed of the bucket 6 decreases.

[0067] A rotator motor 221 of a joint (roll axis) that tilts the bucket 6 in the roll direction relative to the arm 5 is assigned to the rotation direction of the right operating lever 26R about its axis. For example, when the right operating lever 26R is twisted in the positive direction (clockwise) about its axis, the controller 30 rotates the bucket 6 clockwise relative to the arm 5. Conversely, when the right operating lever 26R is twisted in the negative direction (counterclockwise) about its axis, the controller 30 rotates the bucket 6 counterclockwise relative to the arm 5.

[0068] The controller 30 continues to rotate the roll axis of the bucket 6 according to the time that the operator operates (twists) the right operating lever 26R about its axis. Also, the amount of twist (rotation angle) of the right operating lever 26R about its axis is linked to the rotation speed of the roll axis. In other words, when the right operating lever 26R is twisted significantly in the positive or negative direction about its axis, the rotation speed of the roll axis increases, whereas when the right operating lever 26R is twisted significantly in the positive or negative direction about its axis, the rotation speed of the roll axis decreases.

[0069] As described above, the work machine 100 assigns five joints of the attachment AT and the rotation axis of the upper rotating body 2 to each of the three operation directions of the left operating lever 26L and the three operation directions of the right operating lever 26R. This enables the operator to operate the left operating lever 26L and the right operating lever 26R more intuitively. As a result, the work machine 100 can greatly improve the operability of the upper rotating body 2 and the attachment AT.

[0070] The work machine 100 according to the present disclosure is not limited to the above embodiment, and various modifications are possible. For example, the boom actuator 7, arm actuator 8, end attachment actuator 9, tiltrotator 20, and rotation actuator 3A that rotates the upper rotating body 2 according to the embodiment are all hydraulic actuators. However, the work machine 100 may use electrically driven electric actuators for some or all of these actuators. Even in this case, the controller 30 processes the operation of one or more operation levers of the operation device 26 to appropriately operate each actuator.

[0071] Also, for example, the six operation directions of the left operating lever 26L and the right operating lever 26R may be assigned to the rotation of the upper rotating body 2 and the operation of the attachment AT, or may be assigned to the operation of another configuration. As an example, when a grapple that clamps an object is used as the end attachment, the opening and closing operation of the grapple may be assigned to any of the six operation directions of the left operating lever 26L and the right operating lever 26R.

[0072] Fig. 5 is an explanatory diagram showing the allocation of operation directions of the left operation lever 26L and the right operation lever 26R to the operation of the components of the work machine 100 according to a modified example. In the operation device 26A shown in Fig. 5, the operation of the components of the work machine 100 to the second arc-shaped orbit operation and the axial rotation operation of the left operation lever 26L is opposite to that of the operation device 26 shown in Fig. 4. That is, the operation device 26A assigns the tilt actuator 214 that rotates the tilt axis of the bucket 6 to the second arc-shaped orbit operation of the left operation lever 26L. Also, the operation device 26A assigns the swing actuator 3A that swings the upper swing body 2 to the axial rotation operation of the left operation lever 26L.

[0073] For example, when the left operating lever 26L is tilted in the positive direction (leftward) of the second arcuate trajectory, the controller 30 tilts the tilt angle of the bucket 6 to the left. Conversely, when the left operating lever 26L is tilted in the negative direction (rightward) of the second arcuate trajectory, the controller 30 tilts the tilt angle of the bucket 6 to the right.

[0074] On the other hand, when the left operation lever 26L is twisted in the positive direction (clockwise) about the axis, the controller 30 rotates the upper rotating body 2 clockwise in a plan view. Conversely, when the left operation lever 26L is twisted in the negative direction (counterclockwise) about the axis, the controller 30 rotates the upper rotating body 2 counterclockwise in a plan view.

[0075] That is, by interlocking the operation of the left operating lever 26L about its axis and the operation of the right operating lever 26R about its axis with the rotation of the rotating shaft of the upper rotating body 2 and the rotation of the roll shaft of the bucket 6, the operator can more intuitively operate the work machine 100. Also, by interlocking the operation of the second arc orbit operation (tilt in the left / right direction) of the left operating lever 26L (or the right operating lever 26R) with the rotation (tilt) of the tilt shaft of the bucket 6, the operator can more intuitively operate the tilt angle of the bucket 6.

[0076] In short, the rotation of the five joints of the attachment AT assigned to the left operating lever 26L and the right operating lever 26R and the rotation of the upper rotating body 2 can be set arbitrarily. In particular, by configuring the rotation of the bucket 6 in the roll direction to be linked to the operation around the axis of the left operating lever 26L or the right operating lever 26R, it becomes easier for the operator to operate the tiltrotator 20.

[0077] Also, for example, the operation device 26 may be configured to operate the tiltrotator 20 (swing in the left and right direction and rotation in the roll direction) with one operation lever. For example, the operation device 26 may assign rotation in the roll direction to the operation of the operation lever around its axis, and assign swing in the left and right direction (tilt direction) to a second arc orbit operation (operation in the left and right direction) of the same operation lever. In this case, the operation device 26 may be provided with an operation lever that operates the tiltrotator 20 alone, in addition to the left operation lever 26L and the right operation lever 26R.

[0078] Furthermore, the work machine 100 is not limited to a configuration in which the operation device 26 (left operation lever 26L, right operation lever 26R) is installed in the cabin 10 of the upper rotating body 2, and may be configured to be operated by a remote operation device (remote operation room, etc.) provided in a position away from the work machine 100. Even in this case, by adopting the above-mentioned configuration for one or more operation levers of the remote operation device, it is possible to obtain the same effects as when they are installed in the cabin 10.

[0079] The technical ideas and effects of the present disclosure explained in the above embodiments will be described below.

[0080] One aspect of the present disclosure is a work machine 100 including a lower running body 1, an upper rotating body 2 rotatably mounted on the lower running body 1, an attachment AT mounted on the upper rotating body 2, a tiltrotator 20 capable of swinging an end attachment (bucket 6) of the attachment AT in the left-right direction relative to a support part (arm 5) that supports the end attachment and rotating the end attachment about an axis, and one or more operating levers (left operating lever 26L, right operating lever 26R) operated by an operator, wherein the one or more operating levers include an axial operation for rotating the one or more operating levers about an axis, and at least one of the left-right swing of the end attachment by the tiltrotator 20 and the rotation of the end attachment about an axis by the tiltrotator 20 is assigned to the axial operation of the one or more operating levers.

[0081] As described above, the work machine 100 allows the operator to operate the tiltrotator 20 by rotating the control levers (left control lever 26L, right control lever 26R) around their axes. This allows the operator to intuitively adjust the tilt angle or roll angle of the end attachment (bucket 6) using the tiltrotator 20. In other words, the work machine 100 allows for improved operability in the operation of the attachment AT having the tiltrotator 20, and effects such as a reduction in operator malfunctions and improved work efficiency of the work machine 100 can be expected.

[0082] Furthermore, the one or more operating levers (left operating lever 26L, right operating lever 26R) include a first arc-shaped trajectory operation for rotating the shaft of the operating lever on a first arc-shaped trajectory, and a second arc-shaped trajectory operation for rotating the shaft of the operating lever on a second arc-shaped trajectory perpendicular to the first arc-shaped trajectory, and the rotation of the upper rotating body 2 relative to the lower traveling body 1 or the operation of the attachment AT are assigned to the first arc-shaped trajectory operation and the second arc-shaped trajectory operation. As a result, the work machine 100 can easily operate the tiltrotator 20 by operating the one or more operating levers about the axis, even while the rotation of the upper rotating body 2 or the operation of the attachment AT is being operated by the one or more operating levers.

[0083] The one or more operating levers include a first operating lever (left operating lever 26L) and a second operating lever (right operating lever 26R), and the first operating lever and the second operating lever are capable of performing a first arc-shaped orbit operation, a second arc-shaped orbit operation, and an axial rotation operation, respectively. This allows the work machine 100 to appropriately assign a plurality of joints of the attachment AT to the first operating lever and the second operating lever.

[0084] The attachment AT also includes a boom actuator 7 that rotates the boom 4 attached to the upper rotating body 2, an arm actuator 8 that rotates the arm 5 attached to the boom 4, and an end attachment actuator 9 that rotates the end attachment (bucket 6) attached to the arm 5 separately from the tiltrotator 20, and the operation of the boom actuator 7, the operation of the arm actuator 8, the operation of the end attachment actuator 9, the left-right swing of the end attachment by the tiltrotator 20, the rotation of the end attachment around its axis by the tiltrotator 20, and the rotation of the upper rotating body 2 are each assigned to a first arc-shaped orbit operation, a second arc-shaped orbit operation, and an axis rotation operation at the first operating lever (left operating lever 26L), and a first arc-shaped orbit operation, a second arc-shaped orbit operation, and an axis rotation operation at the second operating lever (right operating lever 26R). This allows the operator to operate the upper rotating body 2 and the attachment AT simply and accurately by operating the first operating lever and the second operating lever.

[0085] Furthermore, rotation of the end attachment (bucket 6) about its axis by the tiltrotator 20 is assigned to the axial operation of one of the first operation lever (left operation lever 26L) and the second operation lever (right operation lever 26R). This allows the operator of the work machine 100 to rotate the end attachment in the roll direction by intuitive operation.

[0086] Furthermore, axial operation of the other of the first operation lever (left operation lever 26L) and the second operation lever (right operation lever 26R) is assigned to left-right swinging of the end attachment (bucket 6) by the tiltrotator 20. This enables the work machine 100 to smoothly operate the tiltrotator 20 by axial operation of the first operation lever and axial operation of the second operation lever.

[0087] Furthermore, the rotation of the upper rotating body 2 is assigned to the axial operation of the other of the first operating lever (left operating lever 26L) and the second operating lever (right operating lever 26R). In this case, the work machine 100 links the axial operation of the operating lever with the rotation of the upper rotating body 2, allowing the operator to operate the rotation of the upper rotating body 2 more intuitively.

[0088] Furthermore, the boom actuator 7, arm actuator 8, end attachment actuator 9, tiltrotator 20, and rotation actuator 3A that rotates the upper rotating body 2 are hydraulically driven actuators. This allows the work machine 100 to stably operate each actuator by the flow of hydraulic pressure based on the operation of the control lever.

[0089] Moreover, the one or more operating levers are electric levers that transmit electric signals based on the operation of the operator to a controller 30 that controls the operation of the upper rotating body 2 and the attachment AT. As a result, the work machine 100 no longer controls the pilot pressure by operating the operating levers, and the upper rotating body 2 and the attachment AT can be easily operated under the control of the controller 30.

[0090] The work machine 100 according to the embodiment disclosed herein is illustrative in all respects and not restrictive. The embodiment may be modified and improved in various ways without departing from the spirit and scope of the appended claims. The matters described in the above embodiments may be configured in other ways as long as they are not inconsistent, and may be combined as long as they are not inconsistent. [Explanation of symbols]

[0091] 1 Undercarriage 2 Upper rotating body 3A Rotating Actuator 4. Boom 5 Arm 6 Bucket (end attachment) 7 Boom Actuator 8 Arm Actuator 9 End Attachment Actuator 20 Tiltrotator 26L Left operation lever 26R Right operation lever 30 Controller 100 Work Machines AT Attachment

Claims

1. A lower running body; An upper rotating body rotatably provided on the lower traveling body; An attachment provided on the upper rotating body; a tiltrotator capable of swinging the end attachment in the left-right direction relative to a support portion that supports the end attachment of the attachment and capable of rotating the end attachment around an axis; One or more operating levers operated by an operator, The one or more operating levers include an axial rotation operation for rotating the one or more operating levers around an axis, At least one of the left-right swing of the end attachment by the tiltrotator and the rotation of the end attachment around the axis by the tiltrotator is assigned to the operation of the one or more operating levers around the axis. Working machinery.

2. the one or more operating levers include a first arc-shaped orbit operation for rotating a shaft of the one or more operating levers along a first arc-shaped orbit, and a second arc-shaped orbit operation for rotating a shaft of the one or more operating levers along a second arc-shaped orbit perpendicular to the first arc-shaped orbit, The rotation of the upper rotating body relative to the lower traveling body or the operation of the attachment is assigned to the first arc-shaped orbit operation and the second arc-shaped orbit operation.

2. The work machine of claim 1.

3. the one or more operating levers include a first operating lever and a second operating lever, The first operating lever and the second operating lever are capable of performing the first arc-shaped orbit operation, the second arc-shaped orbit operation, and the axial rotation operation, respectively.

3. A work machine according to claim 2.

4. the attachment includes a boom actuator that rotates a boom attached to the upper rotating body, an arm actuator that rotates an arm attached to the boom, and an end attachment actuator that rotates the end attachment attached to the arm separately from the tiltrotator; the operation of the boom actuator, the operation of the arm actuator, the operation of the end attachment actuator, the left-right swing of the end attachment by the tiltrotator, the rotation of the end attachment around the axis by the tiltrotator, and the rotation of the upper rotating body are each assigned to the first arc-shaped orbit operation, the second arc-shaped orbit operation, and the axis-rotation operation of the first operating lever, and the first arc-shaped orbit operation, the second arc-shaped orbit operation, and the axis-rotation operation of the second operating lever, 4. A work machine according to claim 3.

5. Rotation of the end attachment around the axis by the tiltrotator is assigned to the axial operation of one of the first operating lever and the second operating lever.

5. A work machine according to claim 4.

6. The left-right swing of the end attachment by the tiltrotator is assigned to the axial rotation operation of the other of the first operating lever and the second operating lever.

6. A work machine according to claim 5.

7. The rotation of the upper rotating body is assigned to the rotational operation of the other of the first operating lever and the second operating lever.

6. A work machine according to claim 5.

8. The boom actuator, the arm actuator, the end attachment actuator, the tiltrotator, and the rotation actuator for rotating the upper rotating body are hydraulically driven actuators.

5. A work machine according to claim 4.

9. The one or more operating levers are electric levers that transmit electric signals based on the operation of the operator to a controller that controls the operation of the upper rotating body and the attachment. A work machine according to any one of claims 1 to 8.

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