Work machine operation system and work machine

Abstract

To provide a work machine operation system and a work machine capable of easily improving the operability of an earth removal device.SOLUTION: An operation system 2 is an operation system for a work machine equipped with a soil removal device having a blade. The operation system 2 includes an operation lever 21, a first operation element 201, and a second operation element 202. The operation lever 21 receives an elevation operation for raising and lowering the blade. The first operation element 201 receives an operation for causing the blade to perform an angle operation of rotating and swinging the blade about a first axis along a vertical direction. The second operation element 202 receives an operation for causing the blade to perform a tilt operation of rotating and swinging the blade about a second axis along a horizontal direction. The first operation element 201 and the second operation element 202 are provided separately.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an operating system and a working machine of a working machine including an earthmoving device having a blade.

Background Art

[0002] As a related art, a working machine (hydraulic excavator) including an earthmoving device and a blade operating device for operating a blade of the earthmoving device is known (see, for example, Patent Document 1). The earthmoving device includes a blade, a blade lifting cylinder, an angle cylinder, and a tilt cylinder. The blade operating device includes a (blade) operation lever that operates the blade lifting cylinder by tilting in the front-rear direction, and a tilt / angle operation switch and a cylinder selection switch provided on the operation lever.

[0003] In the blade operating device, a cylinder selected by the cylinder selection switch is selected by the tilt / angle operation switch. When the tilt / angle operation switch is operated in a state where the angle cylinder is selected, the working machine performs an angle operation of swinging both ends in the longitudinal direction of the blade in the front-rear direction. When the tilt / angle operation switch is operated in a state where the tilt cylinder is selected, the working machine performs a tilt operation of swinging both ends in the longitudinal direction of the blade in the vertical direction.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the working machine according to the related art described above, for example, when performing a tilt operation after performing an angle operation, it is necessary to operate the tilt-angle operation switch after operating the cylinder selection switch. Therefore, the operation is complicated for some operators, and there is a possibility of an incorrect operation caused by misidentifying the cylinder being selected.

[0006] An object of the present invention is to provide an operation system and a working machine for a working machine that facilitate improving the operability of an earth discharging device.

Means for Solving the Problems

[0007] An operation system according to an aspect of the present invention is an operation system for a working machine including an earth discharging device having a blade. The operation system includes an operation lever, a first operator, and a second operator. The operation lever receives a lifting operation for lifting and lowering the blade. The first operator receives an operation for causing the blade to perform an angle operation of rotating and swinging the blade about a first axis along the vertical direction. The second operator receives an operation for causing the blade to perform a tilt operation of rotating and swinging the blade about a second axis along the horizontal direction. The first operator and the second operator are provided separately.

[0008] A working machine according to an aspect of the present invention includes the operation system and a machine body having the earth discharging device.

Effects of the Invention

[0009] According to the present invention, it is possible to provide an operation system and a working machine for a working machine that facilitate improving the operability of an earth discharging device.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

BEST MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0012] (Embodiment 1) [1] Overall Configuration As shown in FIGS. 1 to 3, the working machine 3 according to the present embodiment includes a traveling unit 31, a slewing unit 32, a working unit 33, and an earth discharging device 35. Further, the working machine 3 includes an operation unit 34 on which an operator can board. As shown in FIG. 4, the operation unit 34 includes an operation seat 341 which is a seat for the operator to sit on. In the present embodiment, the traveling unit 31, the slewing unit 32, the working unit 33, the earth discharging device 35, and the operation unit 34 are included in the machine body 30 of the working machine 3. Further, as shown in FIG. 5, the working machine 3 further includes an operation system 2. That is, the working machine 3 according to the present embodiment includes the operation system 2 and the machine body 30 having the earth discharging device 35.

[0013] As used in this disclosure, "working machine" means various working machines. As an example, it is a working vehicle such as a backhoe (including hydraulic excavators, mini excavators, etc.), a wheel loader, and a carrier. The working machine 3 is provided with a working unit 33 configured to be able to execute one or more operations. The working machine 3 is not limited to a "vehicle", and may be, for example, a working vessel, a working flying body such as a drone or a multicopter, etc. Further, the working machine 3 is not limited to construction machinery (construction machines), and may be, for example, agricultural machinery (agricultural machines) such as a rice transplanter, a tractor, or a combine. In this embodiment, unless otherwise specified, the case where the working machine 3 is a ride-on type backhoe and can execute operations such as excavation work, leveling work, trench excavation work, or loading work will be taken as an example for explanation. More specifically, it is assumed that the working machine 3 according to this embodiment is an "ultra-small turning type" in which the slewing unit 32 including the working unit 33 can make a full turn within 120% of the full width of the traveling unit 31 (the full width of the pair of left and right crawlers 311), or a "rear ultra-small turning type" in which the rear turning radius ratio is within 120%.

[0014] Also, in this embodiment, as an example, the passenger boarding the driver's cab 34 is an operator, and the working machine 3 is operated by the operation of the operator. However, it is not limited to this example, and for example, the working machine 3 may be operable by remote control or autonomous driving. Further, the driver's cab 34 may be able to accommodate a plurality of passengers simultaneously, and in this case, a plurality of driver's seats 341 may be provided in one driver's cab 34.

[0015] In this embodiment, for the sake of convenience of explanation, the vertical direction in the state where the working machine 3 can be used is defined as the up-down direction D1. Further, the front-back direction D2 and the left-right direction D3 are defined based on the direction seen from the operator who has boarded the operation unit 34 of the working machine 3. In other words, each direction used in this embodiment is a direction defined based on the operation unit 34 of the working machine 3. When the working machine 3 moves forward, the direction in which the machine body 30 moves is the "front", and when the working machine 3 moves backward, the direction in which the machine body 30 moves is the "rear". Similarly, when the working machine 3 turns to the right, the direction in which the front end of the machine body 30 moves is the "right", and when the working machine 3 turns to the left, the direction in which the front end of the machine body 30 moves is the "left". Since the operation unit 34 is provided on the slewing unit 32, the front-back direction D2 and the left-right direction D3 with respect to the traveling unit 31 change as the slewing unit 32 slews. Hereinafter, as shown in FIG. 1, the direction is defined in a state where the front of the operation unit 34 faces the traveling direction of the traveling unit 31. However, these directions are not intended to limit the usage direction (direction during use) of the working machine 3.

[0016] The working machine 3 is equipped with an engine as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, light oil) being supplied from the fuel tank. In the working machine 3, for example, the hydraulic pump 41 (see FIG. 5) is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (including the hydraulic motor 61, the lifting cylinder 352, the angle cylinder 353, the tilt cylinder 354, etc.) of each part of the machine body 30, whereby the machine body 30 is driven. Such a working machine 3 is controlled, for example, when an operator who has boarded the operation unit 34 of the machine body 30 operates the operation lever 21 (see FIG. 4) of the operation system 2 (see FIG. 4).

[0017] In this embodiment, since it is assumed that the work machine 3 is a ride-on type backhoe as described above, the working unit 33 is driven according to the operation of an operator who has boarded the driving unit 34, and performs operations such as excavation work. The working unit 33 is supported by the slewing unit 32 provided with the driving unit 34. Therefore, when the slewing unit 32 slews, the working unit 33 slews together with the driving unit 34.

[0018] Here, as shown in FIG. 4, an operation lever 21, a display device 51, etc. are mounted on the driving unit 34 of the machine body 30, and the operator can operate the operation lever 21, etc. while viewing various information related to the work machine 3 displayed on the display device 51. As an example, by displaying information related to the operating state of the work machine 3 such as the coolant water temperature and the hydraulic oil temperature on the display screen of the display device 51, the operator can confirm, on the display device 51, the information related to the operating state of the work machine 3 necessary for the operation of the operation subsystem 2.

[0019] The traveling unit 31 has a traveling function and is configured to be able to travel (including slewing) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311, etc. The traveling unit 31 has, as a hydraulic actuator, a traveling hydraulic motor 61, etc. for driving the crawler 311.

[0020] The earthmoving device 35 is arranged at the front end of the machine body 30. The earthmoving device 35 has a blade 351, a lifting cylinder 352, an angle cylinder 353 (see FIG. 2), and a tilt cylinder 354 (see FIG. 3).

[0021] The blade 351 is arranged in front of the traveling unit 31. The blade 351 is formed in a rectangular shape having a length in the left-right direction D3 in a front view (see FIG. 3). The earthmoving device 35 performs earthmoving work such as earth and sand with the blade 351.

[0022] The blade 351 is movable relative to the frame (traveling unit 31) of the machine body 30. Specifically, the blade 351 can perform three types of operations: a lifting operation, an angle operation, and a tilt operation.

[0023] The lifting motion is an operation of moving the blade 351 in the vertical direction D1. That is, the blade 351 can be moved between the upper end position and the lower end position of its lifting range by the lifting motion.

[0024] The lifting cylinder 352 is a hydraulic cylinder for performing the lifting motion of the blade 351. When the lifting cylinder 352 lowers the blade 351, the blade 351 moves from the upper end position toward the lower end position. When the lifting cylinder 352 raises the blade 351, the blade 351 moves from the lower end position toward the upper end position.

[0025] As shown in FIG. 2, the angle operation is an operation of rotationally oscillating the blade 351 about a first axis Ax1 (see FIG. 2) along the vertical direction (vertical direction D1). That is, by the angle operation, the blade 351 moves one end portion in the left - right direction D3 in the front - rear direction D2. Thereby, the rotation angle of the blade 351 about the first axis Ax1, that is, the inclination of the blade 351 in plan view can be adjusted. The first axis Ax1 is a virtual axis and may or may not have a physical entity.

[0026] The angle cylinder 353 is a hydraulic cylinder for performing the angle operation of the blade 351. When the angle cylinder 353 rotates the blade 351 clockwise in plan view, the left end portion of the blade 351 is positioned relatively forward with respect to the right end portion. When the angle cylinder 353 rotates the blade 351 counterclockwise in plan view, the right end portion of the blade 351 is positioned relatively forward with respect to the left end portion.

[0027] As shown in Fig. 3, the tilt operation is an operation of rotating and swinging the blade 351 about the second axis Ax2 along the horizontal direction (front-rear direction D2). That is, by the tilt operation, one end of the blade 351 in the left-right direction D3 is moved in the up-down direction D1. Thereby, the rotation angle of the blade 351 about the second axis Ax2, that is, the inclination of the blade 351 in the front view can be adjusted. The second axis Ax2 is a virtual axis and may or may not have a physical entity.

[0028] The tilt cylinder 354 is a hydraulic cylinder for performing the tilt operation of the blade 351. When the tilt cylinder 354 rotates the blade 351 clockwise in the front view, the right end of the blade 351 is positioned relatively upward with respect to the left end. When the tilt cylinder 354 rotates the blade 351 counterclockwise in the front view, the left end of the blade 351 is positioned relatively upward with respect to the right end.

[0029] When performing an earth discharging operation such as earth and sand in the working machine 3, the blade 351 is lowered by the lifting cylinder 352 to bring the blade 351 into contact with the ground. By driving the working machine 3 in this state, the ground can be leveled with the blade 351.

[0030] Furthermore, in the working machine 3, the blade 351 is angled by the angle cylinder 353. For example, by positioning the left end of the blade 351 in front of the right end, the earth and sand scraped by the blade 351 can be discharged to the right of the traveling unit 31. Also, in the working machine 3, the grounding angle of the blade 351 with respect to the ground can be adjusted by tilting the blade 351 with the tilt cylinder 354.

[0031] The slewing unit 32 is disposed above the traveling unit 31 and is slewing-capable with respect to the traveling unit 31 in plan view. That is, the slewing unit 32 is positioned above the traveling unit 31 and is configured to be slewing-capable about a rotation axis along the vertical direction with respect to the traveling unit 31. The slewing unit 32 has a hydraulic motor or the like as a hydraulic actuator for slewing. The slewing unit 32 is equipped with an engine, a hydraulic pump, etc. in addition to the operation unit 34. Further, the slewing unit 32 is provided with a boom bracket to which the working unit 33 is attached. The slewing unit 32 has a substantially circular shape with its front end portion notched flatly in plan view. The slewing unit 32 is slewing-capable about the center of the circular shape as a rotation axis.

[0032] The working unit 33 is supported by the slewing unit 32 and is configured to be capable of performing one or more operations. The working unit 33 is supported by the boom bracket of the slewing unit 32 and performs operations. The working unit 33 has a bucket 331. The bucket 331 is a type of attachment (working tool) attached to the machine body 30 of the working machine 3 and is composed of an arbitrary tool selected according to the content of the work from among a plurality of types of attachments. The bucket 331 is, as an example, removably attached to the machine body 30 and is exchanged according to the content of the work. Examples of the (end) attachment for the working machine 3 include, in addition to the bucket 331, various tools such as a breaker, an auger, a crusher, a fork, a fork clamp, a steel frame cutter, an asphalt cutter, a lawn mower, a ripper, a multi-purpose tool, a tilt rotator, and a tamper.

[0033] The working unit 33 further has a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 62, a hydraulic motor, etc.), and the like. The bucket 331 is attached to the tip of the arm 333. The bucket 331 is rotatably supported with respect to the arm 333 about a rotation axis along the horizontal direction.

[0034] The boom 332 is rotatably supported by the boom bracket of the slewing unit 32. Specifically, the boom 332 is rotatably supported by the boom bracket about a rotation axis along the horizontal direction. The boom 332 has a shape extending upward from the base end portion supported by the boom bracket. The arm 333 is connected to the tip of the boom 332. The arm 333 is rotatably supported by the boom 332 about a rotation axis along the horizontal direction.

[0035] The working unit 33 operates by receiving power from the engine as a power source. Specifically, the hydraulic pump 41 is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (such as the hydraulic cylinder 62) of the working unit 33, whereby each part (the bucket 331, the boom 332, and the arm 333) of the working unit 33 operates.

[0036] In particular, in this embodiment, the working unit 33 has a multi-joint type structure in which the boom 332 and the arm 333 are individually rotatable. That is, by each of the boom 332 and the arm 333 rotating about a rotation axis along the horizontal direction, for example, the multi-joint type working unit 33 including the boom 332 and the arm 333 can perform operations such as extending and folding as a whole. Further, the bucket 331 as an attachment is supported with respect to the machine body 30 (the slewing unit 32) via the boom 332 and the arm 333, and the bucket 331 itself can rotate with respect to the arm 333, whereby the opening and closing operation of the bucket 331 is possible.

[0037] Each of the traveling unit 31 and the slewing unit 32 also operates by receiving power from the engine as a power source. That is, the slewing unit 32 and the traveling unit 31 operate by supplying hydraulic oil from the hydraulic pump 41 to the hydraulic motor 61 of the traveling unit 31 and the hydraulic motor of the slewing unit 32 and the like.

[0038] In addition, the working machine 3 further includes a driving device (mechanism) such as a PTO (Power Take-Off) for supplying power to the bucket 331 (attachment). Specifically, the driving device sends the hydraulic oil from a hydraulic pump driven by the engine to the bucket 331, and adjusts the magnitude of the power supplied to the bucket 331 by adjusting the flow rate of the hydraulic oil.

[0039] As shown in FIG. 4, the operation unit 34 is a space for the operator to board, and in this embodiment, it is located on the slewing unit 32. Therefore, when the slewing unit 32 slews in a plan view, the operation unit 34 also slews together. Specifically, when the slewing unit 32 is divided into two in the left-right direction D3, the operation unit 34 is provided on the left side portion thereof. The operation unit 34 has at least an operator's seat 341 on which the operator sits.

[0040] Examples of the type of the operation unit 34 of a working machine 3 such as a construction machine include a cabin type, a canopy type, and a floor type. The cabin-type operation unit 34 includes a cabin, and the operator boards in the cabin space inside the cabin. The canopy-type operation unit 34 includes a canopy (roof), and the operator boards in the space below the canopy. The floor-type operation unit 34 does not include a cabin, a canopy, etc., and the operator boards in an upwardly open space. That is, the operation unit 34 can include not only a mode in which the surroundings are surrounded by panels or the like, but also various modes prepared as a space where the operator can board. In this embodiment, the case where the operation unit 34 is of the cabin type will be described as an example.

[0041] In this embodiment, the operation unit 34 is located above the left crawler 311 (see FIG. 1). With such an arrangement, the operator gets on and off the operation unit 34 from the left side of the operation unit 34. Therefore, in this embodiment, the door of the operation unit 34 is arranged on the left side in the left-right direction D3 of the operation unit 34. That is, the operator gets on and off the operation unit 34 through the door arranged on the left side of the operation unit 34.

[0042] The operation system 2 is arranged in the operation unit 34 of the machine body 30, and is a user interface that receives operation inputs from a user (operator) and operates the working machine 3. As shown in FIG. 4, the operation system 2 includes an operation lever 21 for operating the earth discharging device 35, a pair of levers 342 arranged on both sides in the left-right direction D3 of the driver's seat 341, and the like.

[0043] The pair of levers 342 are located on both sides in the left-right direction D3 at the front end of the driver's seat 341. Therefore, an operator sitting on the driver's seat 341 can hold, for example, one lever 342 with the right hand and the other lever 342 with the left hand, and by operating these pair of levers 342, various operations can be executed on the working machine 3.

[0044] The operation lever 21 is located on one side in the left-right direction D3 at the front end of the driver's seat 341. Here, the operation lever 21 is located outside the pair of levers 342. In this embodiment, as an example, the operation lever 21 is located further to the right of the right lever 342, that is, on the side opposite to the driver's seat 341 when viewed from the lever 342. Therefore, an operator sitting on the driver's seat 341 can hold, for example, the operation lever 21 with the right hand, and by operating the operation lever 21, various operations can be executed on the earth discharging device 35 (the blade 351 thereof). Details of the operation lever 21 will be described in the section of "[3] Configuration of the operation lever".

[0045] The display device 51 is arranged in the operation unit 34, and is a user interface for outputting various information to the operator. The display device 51 is controlled by the control system 1, and presents (outputs) various information by displaying various screens. In addition to display, the display device 51 has a function of outputting sound (including voice), and may present various information by sound. Further, in this embodiment, the display device 51 includes input means such as a touch panel, and receives various operations by the operator by outputting an electric signal according to the operation of the operator. Thereby, the operator can visually recognize the display screen displayed on the display device 51, and can also operate the display device 51 as necessary.

[0046] In addition to the above-described configuration, the aircraft 30 further includes a control device, a sound output unit, a communication terminal, a cutoff lever, a fuel tank, a battery, a camera for imaging the periphery of the aircraft 30, and various sensors for detecting detection targets in the monitoring area around the working machine 3. Furthermore, the aircraft 30 is provided with sensors (including cameras) for monitoring the operating state of the aircraft 30, such as a coolant water temperature sensor, an operating oil temperature sensor, a tachometer for measuring the engine speed, and an hour meter for measuring the operating time.

[0047] [2] Configuration of Hydraulic Circuit Next, the configuration of the hydraulic circuit of the working machine 3 according to the present embodiment will be described with reference to FIG. 5. In FIG. 5, solid lines represent high-pressure (for hydraulic oil) oil paths, dotted lines represent low-pressure (for pilot oil) oil paths, and one-dot chain line arrows represent paths of electric signals.

[0048] As shown in FIG. 5, the working machine 3 includes an angle cylinder 353, a tilt cylinder 354, a hydraulic pump 41, a direction switching valve (control valve) 42, a switching valve 43, a plurality of control valves 441 to 445, and a plurality of shuttle valves 451, 452. Furthermore, the working machine 3 includes, as the operation system 2, in addition to the operation lever 21 described above, an automatic control unit 22, a driver 23, a controller 24, and a cutoff lever 25. FIG. 5 shows the hydraulic circuit related to the angle cylinder 353 for operating the angle of the blade 351 and the tilt cylinder 354 for operating the tilt, and the illustration of other hydraulic circuits is appropriately omitted.

[0049] The direction switching valve 42 is a pilot type direction switching valve capable of switching the direction and flow rate of the hydraulic oil from the hydraulic pump 41, and is driven by a pilot signal (pilot oil) serving as an input command from the pilot pump. Specifically, the direction switching valve 42 switches the hydraulic oil from the hydraulic pump 41 in terms of direction and whether to flow to the switching valve 43. Four control valves 441 to 444 are provided in the supply path of the pilot oil to the direction switching valve 42.

[0050] The control valves 441 and 442 are connected to the direction switching valve 42 via the shuttle valves 451. The control valves 443 and 444 are connected to the direction switching valve 42 via the shuttle valves 452. Therefore, the pilot signal on the high-pressure side of either of the control valves 441 and 442 is input to the direction switching valve 42, and the pilot signal on the high-pressure side of either of the control valves 443 and 444 is input to the direction switching valve 42.

[0051] The switching valve 43 switches the supply destination of the hydraulic oil from the hydraulic pump 41 via the direction switching valve 42 between the angle cylinder 353 and the tilt cylinder 354. A control valve 445 is provided in the pilot oil supply passage to the switching valve 43. That is, it is possible to switch at the control valve 445 whether the supply destination of the hydraulic oil from the hydraulic pump 41 is to either the angle cylinder 353 or the tilt cylinder 354.

[0052] All of the control valves 441 to 445 are electromagnetic control valves (solenoid valves). Here, each of the control valves 441 to 445 is assumed to be a (electromagnetic) proportional control valve, but it is not limited thereto, and for example, an on-off valve capable of switching the opening / closing of the flow path may be used.

[0053] The control valves 441 and 443 are electrically connected to the driver 23 and operate in response to a control signal from the driver 23. The control valves 442 and 444 are electrically connected to the automatic control unit 22 and operate in response to a control signal from the automatic control unit 22. The control valve 445 is electrically connected to the driver 23 and operates in response to a control signal from the driver 23.

[0054] Here, as shown in FIG. 5, the operation system 2 includes a first operator 201, a second operator 202, a third operator 203, and a fourth operator 204. Although details will be described later, in this embodiment, as an example, the first operator 201, the second operator 202, the third operator 203, and the fourth operator 204 are all provided on the operation lever 21. The first operator 201, the second operator 202, the third operator 203, and the fourth operator 204 are all electric operators, and receive various operations by the operator by outputting an electric signal (operation signal) corresponding to the operation of the operator.

[0055] The first operator 201 and the second operator 202 are electrically connected to the driver 23. The fourth operator 204 is electrically connected to the automatic control unit 22.

[0056] When the first operator 201 or the second operator 202 is operated, the driver 23 controls the control valves 441 and 443 to open according to the operation of the first operator 201 or the second operator 202. Further, when the first operator 201 is operated, the driver 23 controls the control valve 445 to open according to the operation of the first operator 201.

[0057] On the other hand, the automatic control unit 22 switches between an automatic control mode and a manual control mode according to the operation of the fourth operator 204. In the automatic control mode, the automatic control unit 22 automatically controls the control valves 442 and 444 so as to automatically perform at least the tilt operation of the blade 351.

[0058] The controller 24 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In the present embodiment, the controller 24 is an integrated controller that controls the entire working machine 3 and is composed of, for example, an electronic control unit (ECU: Electronic Control Unit). However, the controller 24 may be provided separately from the integrated controller, or may mainly comprise one processor or a plurality of processors.

[0059] In the present embodiment, as an example, since the controller 24 mainly comprises a computer system having one or more processors, various functions as the controller 24 are realized when one or more processors execute a control program. The plurality of functions included in the controller 24 may be distributed and provided in a plurality of housings, or may be provided in one housing. For example, the plurality of functions included in the controller 24 may be provided in the automatic control unit 22 and / or the driver 23, or conversely, at least some of the functions of the automatic control unit 22 and / or the driver 23 may be provided in the controller 24.

[0060] In the present embodiment, the controller 24 controls at least the driver 23. As described above, when the first operator 201 or the second operator 202 is operated, the controller 24 causes the driver 23 to control the control valves 441 and 443 to open the control valves 441 and 443 according to the operation of the first operator 201 or the second operator 202. Further, when the first operator 201 is operated, the controller 24 causes the driver 23 to control the control valve 445 to open the control valve 445 according to the operation of the first operator 201.

[0061] The cutoff lever 25 switches between a locked state in which the operation of the working machine 3 is restricted and an unlocked state in which the operation of the working machine 3 is not restricted. The cutoff lever 25 is disposed in the operation unit 34 of the machine body 30 and receives an operation input by the operator. In the present embodiment, as an example, the cutoff lever 25 is operable along the vertical direction D1. When the cutoff lever 25 is at the "raised position" which is the upper end position of the movable range, it is in the locked state. On the other hand, when the cutoff lever 25 is at the "lowered position" which is the lower end position of the movable range, it is in the unlocked state.

[0062] Specifically, in the locked state where the cutoff lever 25 is at the "raised position", the control valve provided on the supply path of the pilot signal (pilot oil) from the pilot pump is closed, thereby forcibly stopping the hydraulic actuator. Therefore, in order to drive the hydraulic actuator, the operator needs to operate the cutoff lever 25 to the "lowered position". When the cutoff lever 25 is at the "raised position", all of the traveling unit 31, the slewing unit 32, the working unit 33, and the earth discharging device 35 are in a forcibly non-drivable state (locked state). The cutoff lever 25 is a lever that is operated when locking the operation of the working machine 3 in this way, and is synonymous with the gate lock lever.

[0063] [3] Configuration of the operation lever Next, the configuration of the operation lever 21 according to the present embodiment will be described with reference to FIG. 6. In FIG. 6, only the operation lever 21 is illustrated, and the illustration of other configurations is omitted.

[0064] In the present embodiment, since the operation lever 21 is a lever-type operating tool, the posture (orientation, etc.) of the operation lever 21 appropriately changes by an operation involving the movement of the grip portion 211. Therefore, with respect to the vertical direction D1, the front-rear direction D2, and the left-right direction D3 defined with reference to the machine body 30 of the working machine 3, the posture of the operation lever 21 can appropriately change. Hereinafter, as shown in FIG. 6, it will be described on the assumption that the posture of the operation lever 21 is such that the longitudinal direction of the grip portion 211 coincides with the vertical direction D1 and the operation surface 212 of the grip portion 211 faces rearward.

[0065] The operation lever 21 has a grip portion 211, a first operator 201, a second operator 202, a third operator 203, and a fourth operator 204.

[0066] The grip portion 211 is a portion to be gripped by an operator, and in this embodiment, as an example, it has a shape with a length in one direction (vertical direction D1). The operation lever 21 can receive a lifting operation accompanied by the movement of the grip portion 211. The "lifting operation" here is an operation for lifting and lowering the blade 351 of the earth discharging device 35. That is, the operation lever 21 receives a lifting operation for lifting and lowering the blade 351.

[0067] When the operation lever 21 receives a lifting operation so that the operator moves the grip portion 211 along the front-rear direction D2, a lifting operation is performed by the lifting cylinder 352 so that the blade 351 is lifted and lowered according to the operation amount of the operation lever 21. In this embodiment, since the operation lever 21 is arranged on the right side of the driver's seat 341 as described above, it is usually operated by the right hand of the operator seated on the driver's seat 341.

[0068] The grip portion 211 has an operation surface 212 on one of its surfaces. The operation surface 212 is a surface on which the first operator 201, the second operator 202, and the third operator 203 are arranged. In this embodiment, as an example, the operation surface 212 is provided at a portion (rear surface) facing the operator side, that is, the rear, of the surface of the grip portion 211. Here, the operation surface 212 is a flat plane, but the operation surface 212 is not limited to a plane and may include, for example, a curved surface or a step.

[0069] A fourth operator 204 is provided on the surface of the grip portion 211 opposite to the operation surface 212, that is, at a portion (front surface) facing the rear of the grip portion 211. Thus, the first operator 201, the second operator 202, the third operator 203, and the fourth operator 204 are provided on the grip portion 211 of the operation lever 21.

[0070] The first operator 201, the second operator 202, the third operator 203, and the fourth operator 204 are all composed of mechanical switches such as slide switches, reed switches, push-button switches, or joysticks. In this embodiment, as an example, each of the first operator 201 and the second operator 202 is a slide switch, and each of the third operator 203 and the fourth operator 204 is a push-button switch. Here, the following operations are assigned to the first operator 201, the second operator 202, the third operator 203, and the fourth operator 204, respectively.

[0071] An angle operation for causing the blade 351 to perform an angle movement is assigned to the first operator 201. That is, the angle movement of the blade 351 is executed according to the operation direction and operation amount of the first operator 201, which is a slide switch.

[0072] A tilt operation for causing the blade 351 to perform a tilt movement is assigned to the second operator 202. That is, the tilt movement of the blade 351 is executed according to the operation direction and operation amount of the second operator 202, which is a slide switch.

[0073] A vehicle speed switching operation for switching the vehicle speed of the traveling unit 31 of the working machine 3 is assigned to the third operator 203. That is, each time the third operator 203, which is a push-button switch, is pressed, the vehicle speed of the traveling unit 31 is switched in multiple stages including the first speed and the second speed.

[0074] A mode switching operation for switching between the automatic control mode and the manual control mode of the automatic control unit 22 is assigned to the fourth operator 204. That is, each time the fourth operator 204, which is a push-button switch, is pressed, the automatic control unit 22 switches between the automatic control mode in which the blade 351 is automatically controlled and the manual control mode in which the blade 351 is manually controlled. Here, in the automatic control mode, only the tilt movement and the lifting movement of the blade 351 are automatically controlled, and the angle movement of the blade 351 is not automated.

[0075] As described above, the operation system 2 according to the present embodiment is an operation system 2 of a work machine 3 including an earthmoving device 35 having a blade 351, and includes an operation lever 21, a first operator 201, and a second operator 202. The operation lever 21 receives a lifting operation for lifting and lowering the blade 351. The first operator 201 receives an operation (angle operation) for causing the blade 351 to perform an angle operation of rotating and swinging about a first axis Ax1 along the vertical direction (vertical direction D1). The second operator 202 receives an operation (tilt operation) for causing the blade 351 to perform a tilt operation of rotating and swinging about a second axis Ax2 along the horizontal direction. Here, the first operator 201 and the second operator 202 are provided separately.

[0076] That is, the first operator 201 for receiving the angle operation and the second operator 202 for receiving the tilt operation are provided independently of each other. Therefore, unlike the case where the angle operation and the tilt operation are assigned to a single operator, for example, when performing the tilt operation after performing the angle operation, it is not necessary to separately perform an operation (operation of the cylinder selection switch) for switching the function of the operator. Therefore, the operation is simple for the operator, and misoperation due to misidentifying the selected cylinder (angle cylinder 353 / tilt cylinder 354) is less likely to occur. As a result, according to this operation system 2, there is an advantage that it is easy to improve the operability of the earthmoving device 35.

[0077] Furthermore, as shown in FIG. 6, the first operator 201 and the second operator 202 are arranged adjacent to each other. That is, the first operator 201 and the second operator 202 are arranged close to each other on the same surface, and no other operator is interposed between the first operator 201 and the second operator 202. Thereby, although the first operator 201 and the second operator 202 are provided separately, it becomes easier for the operator to operate the first operator 201 and the second operator 202 with the same finger, and the operability of the first operator 201 and the second operator 202 is improved.

[0078] Further, the first operator 201 and the second operator 202 are arranged on the gripping portion 211 of the operation lever 21. As a result, operations related to the blade 351 are aggregated on the operation lever 21, and it is easy for the operator to intuitively understand the operation of the blade 351.

[0079] Further, the first operator 201 and the second operator 202 are arranged side by side in the longitudinal direction (vertical direction D1) of the gripping portion 211. In this embodiment, as an example, the first operator 201 is located below and the second operator 202 is located above. Therefore, for the operator, by sliding the hand in the longitudinal direction of the gripping portion 211, the first operator 201 and the second operator 202 can be operated with substantially the same hand grip. Therefore, the operator can smoothly shift between the angle operation and the tilt operation, and a more intuitive operation is possible.

[0080] Here, the operation surface 212 provided with the first operator 201 and the second operator 202 on the gripping portion 211 is inclined toward the driver's seat 341 side in the left-right direction D3 of the machine body 30. In short, in this embodiment, as shown in FIG. 4, since the operation lever 21 is provided on the right side of the driver's seat 341, the operation surface 212 is inclined toward the left side (driver's seat 341 side) in the left-right direction D3. As a result, the operator can smoothly shift between the angle operation and the tilt operation while performing the angle operation and the tilt operation with the same finger (for example, the thumb (the first finger)), and a more intuitive operation is possible.

[0081] Further, in this embodiment, as described above, in addition to the first operator 201 and the second operator 202, a third operator 203 is further provided. That is, the operation system 2 according to this embodiment includes a third operator 203 that is arranged on the gripping portion 211 and receives an operation for switching the vehicle speed of the traveling portion 31 of the work machine 3. As a result, when the operator operates the earth discharging device 35 with the operation lever 21, the operator can intuitively perform an operation for changing the vehicle speed.

[0082] More specifically, the third operator 203 is disposed below the first operator 201 and the second operator 202 on the operation surface 212. Further, the third operator 203 is disposed offset to the side opposite to the driver's seat 341 (the right side in the present embodiment) with respect to the first operator 201 and the second operator 202 on the operation surface 212. That is, as shown in FIG. 6, the third operator 203 is disposed at a position closer to the right side of the operation surface 212. Thereby, it is easy for the operator to operate the operation of the earth discharging device 35 by the first operator 201 or the second operator 202 and the operation of changing the vehicle speed by the third operator 203 without making a mistake.

[0083] Also, in the present embodiment, as described above, in addition to the first operator 201 and the second operator 202, a fourth operator 204 is further provided. That is, the operation system 2 according to the present embodiment includes a fourth operator 204 that is disposed on the grip portion 211 and receives an operation for automatically controlling the blade 351 of the earth discharging device 35. Thereby, when the operator operates the earth discharging device 35 with the operation lever 21, the operator can intuitively perform an operation for automatically controlling the blade 351.

[0084] More specifically, the fourth operator 204 is disposed on the surface of the grip portion 211 opposite to the operation surface 212 where the first operator 201 and the second operator 202 are provided. Thereby, it is easy for the operator to operate the operation for manually controlling the blade 351 by the first operator 201 or the second operator 202 and the operation for automatically controlling the blade 351 by the fourth operator 204 without making a mistake.

[0085] Incidentally, in the present embodiment, each of the first operator 201 and the second operator 202 is a slide switch that can be operated in both operation directions with respect to the neutral position. That is, as shown in FIG. 6, both the first operator 201 and the second operator 202 are slide switches that are in the neutral position in the non-operated state, and can be operated in both operation directions from the neutral position. In the first operator 201, the rotation amount (rotation angle) of the blade 351 in the angle operation is determined according to the operation amount from the neutral position, and in the second operator 202, the rotation amount (rotation angle) of the blade 351 in the tilt operation is determined according to the operation amount from the neutral position.

[0086] According to this configuration, the operator can intuitively perform each of the angle operation and the slide operation, improving the operability. In particular, since the rotation amount of the blade 351 is determined according to the operation amount from the neutral position, the angle operation and the tilt operation can be intuitively performed.

[0087] Furthermore, the operation directions (of the first operator 201 and the second operator 202) are directions along the left-right direction D3 of the machine body 30. That is, as shown in FIG. 6, both the first operator 201 and the second operator 202 can be operated in both directions (left and right) of the left-right direction D3 from the neutral position. In the present embodiment, as an example, when the first operator 201 is operated to the right, the blade 351 performs an angle operation such that the right end portion is located rearward (the left end portion is located forward), and when the first operator 201 is operated to the left, the blade 351 performs an angle operation such that the left end portion is located rearward (the right end portion is located forward). When the second operator 202 is operated to the right, the blade 351 performs a tilt operation such that the right end portion is located downward (the left end portion is located upward), and when the second operator 202 is operated to the left, the blade 351 performs a tilt operation such that the left end portion is located downward (the right end portion is located upward).

[0088] Thereby, the operator can perform each of the angle operation and the slide operation more intuitively, improving the operability.

[0089] [4] Operation of the operating system Next, the operation of the operating system 2 according to this embodiment will be described with reference to FIGS. 5 and 7.

[0090] FIG. 7 is a state transition diagram showing the state transition situation of the operating system 2. In FIG. 7, the arrows indicate state transitions. For example, transition T1 represents a transition from <state 1> to <state 2>, and transition T4 represents a transition from <state 3> to <state 1>.

[0091] Here, <state 0> is a state where the cut-off lever 25 is in the raised position (locked state), and <states 1> to <state 6> are all states where the cut-off lever 25 is in the lowered position (unlocked state). Further, <state 1> is a state where both the first operator 201 and the second operator 202 are non-operated (neutral position), and <state 5> is a simultaneous operation state where both the first operator 201 and the second operator 202 are operated simultaneously. <State 2> is a state where the first operator 201 is operated to the right, and <state 3> is a state where the first operator 201 is operated to the left. <State 4> is a state where the second operator 202 is operated to the right, and <state 5> is a state where the second operator 202 is operated to the left. <States 2> to <state 5> are single operation states where either the first operator 201 or the second operator 202 is operated.

[0092] First, the operation of the operating system 2 in a state where the cut-off lever 25 is in the lowered position (unlocked state) will be described.

[0093] When transitioning from <State 1> where both the first operator 201 and the second operator 202 are in a non-operating state to <State 2> or <State 3> with the first operator 201 being operated alone (T1, T3), the controller 24 controls the control valve 445 by the driver 23 to switch the switching valve 43 to the angle cylinder 353 side. Further, the controller 24 controls the control valves 441 and 443 by the driver 23 according to the operation amount of the first operator 201, controls the direction switching valve 42, and supplies the hydraulic oil from the hydraulic pump 41 to the angle cylinder 353 via the direction switching valve 42 and the switching valve 43. Thereby, the angle cylinder 353 is driven according to the operation amount of the first operator 201 that receives the angle operation, and the angle operation of the blade 351 is realized.

[0094] Similarly, when transitioning from <State 1> where both the first operator 201 and the second operator 202 are in a non-operating state to <State 4> or <State 5> with the second operator 202 being operated alone (T5, T7), the controller 24 controls the control valve 445 by the driver 23 to switch the switching valve 43 to the tilt cylinder 354 side. Further, the controller 24 controls the control valves 441 and 443 by the driver 23 according to the operation amount of the second operator 202, controls the direction switching valve 42, and supplies the hydraulic oil from the hydraulic pump 41 to the tilt cylinder 354 via the direction switching valve 42 and the switching valve 43. Thereby, the tilt cylinder 354 is driven according to the operation amount of the second operator 202 that receives the tilt operation, and the tilt operation of the blade 351 is realized.

[0095] When transitioning from the single-operation state of the first operator 201 or the second operator 202 (States 2 to 5) to <State 1> where both the first operator 201 and the second operator 202 are in a non-operating state (T2, T4, T6, T8), the controller 24 controls the control valves 441 and 443 by the driver 23, controls the direction switching valve 42, stops the supply of the hydraulic oil from the hydraulic pump 41 to the angle cylinder 353 or the tilt cylinder 354, and stops the angle operation or the tilt operation of the blade 351.

[0096] When transitioning from <State 1> where both the first operator 201 and the second operator 202 are in a non-operated state to <State 6> where both the first operator 201 and the second operator 202 are operated (T9), the controller 24 controls the control valves 441 and 443 by the driver 23, controls the direction switching valve 42, prohibits the supply of hydraulic oil from the hydraulic pump 41 to the angle cylinder 353 and the tilt cylinder 354, and prohibits the angle operation and the tilt operation of the blade 351. Thereby, when the first operator 201 and the second operator 202 are simultaneously operated, neither the angle operation nor the tilt operation of the blade 351 will be prohibited.

[0097] When transitioning from the simultaneous operation state (State 6) of the first operator 201 and the second operator 202 to <State 1> where both the first operator 201 and the second operator 202 are in a non-operated state (T10), the controller 24 continues the state of prohibiting the supply of hydraulic oil to the angle cylinder 353 and the tilt cylinder 354 by the driver 23. Thereby, the state where neither the angle operation nor the tilt operation of the blade 351 is prohibited continues.

[0098] Also, when transitioning from the single operation state (States 2 to 5) of the first operator 201 or the second operator 202 to the simultaneous operation state (State 6) of the first operator 201 and the second operator 202 (T11 to T14), the controller 24 controls the control valves 441 and 443 by the driver 23, controls the direction switching valve 42, prohibits the supply of hydraulic oil from the hydraulic pump 41 to the angle cylinder 353 and the tilt cylinder 354, and prohibits the angle operation and the tilt operation of the blade 351. Thereby, even when transitioning from the single operation state of the first operator 201 and the second operator 202 to the simultaneous operation state, neither the angle operation nor the tilt operation of the blade 351 will be prohibited.

[0099] Further, in the present embodiment, when transitioning from the locked state (state 0) where the cutoff lever 25 is in the raised position to the unlocked state where the cutoff lever 25 is operated to the lowered position (T0), it is always transitioned to <state 1>. Thereby, even if the cutoff lever 25 is operated from the raised position to the lowered position while either the first operator 201 or the second operator 202 is being operated, it does not enter the single operation state (states 2 to 5) of the first operator 201 or the second operator 202, and neither the angle operation nor the tilt operation of the blade 351 is prohibited.

[0100] As described above, in the operation system 2 according to the present embodiment, during the simultaneous operation of the first operator 201 and the second operator 202 (state 6), the angle operation and the tilt operation are prohibited. Thereby, it is easy to prevent the unintended manual operation of the blade 351 by the simultaneous operation of the first operator 201 and the second operator 202 provided separately.

[0101] Also, when transitioning from the single operation state (states 2 to 5) where either the first operator 201 or the second operator 202 is operated to the simultaneous operation state (state 6) where both the first operator 201 and the second operator 202 are operated, the angle operation and the tilt operation are prohibited. Thereby, it is easy to surely prevent the unintended manual operation of the blade 351 by the simultaneous operation of the first operator 201 and the second operator 202 provided separately.

[0102] Furthermore, in the present embodiment, the transition from the simultaneous operation state (state 6) of the first operator 201 and the second operator 202 to the single operation state (states 2 to 5) of the first operator 201 or the second operator 202 is not allowed. In short, even in the single operation state when transitioning from the simultaneous operation state to the single operation state, the angle operation and the tilt operation are prohibited. Thereby, the unintended manual operation of the blade 351 by the operator can be more surely prevented.

[0103] In addition, the operation system 2 according to the present embodiment includes a cutoff lever 25 that switches between a locked state in which the operation of the working machine 3 is restricted and an unlocked state in which the operation of the working machine 3 is not restricted. Here, even when switching from the locked state to the unlocked state during the continuation of the single operation state, the angle operation and the tilt operation are prohibited. Thereby, it is possible to more reliably prevent the manual operation of the blade 351 unintended by the operator.

[0104] Here, the transition detection time for the controller 24 to detect the transitions T1 to T14 can be set (adjusted) as a parameter. However, the transitions (T11 to T14) from the single operation state (states 2 to 5) of the first operator 201 or the second operator 202 to the simultaneous operation state (state 6) of the first operator 201 and the second operator 202 assume a situation where an erroneous operation has occurred. Therefore, for the transitions T11 to T14, it is preferable that the transition detection time is set longer than that of the other transitions T1 to T10.

[0105] By the way, in the operation system 2 according to the present embodiment, in the automatic control mode, the automatic control unit 22 automatically controls the blade 351. Specifically, the automatic control unit 22 performs automatic control of the lifting and tilting operations of the blade 351 based on the difference between the measured values of the blade 351 measured by an angle sensor and a height sensor of the blade 351 and the design data.

[0106] In this way, when either one of the first operator 201 and the second operator 202 is operated while the automatic control unit 22 is in the automatic control mode, the automatic control unit 22 stops the automatic control of the blade 351.

[0107] Specifically, as shown in FIG. 4, four control valves 441 to 444 are provided in the pilot oil supply path to the direction switching valve 42 via shuttle valves 451 and 452. Therefore, a pilot signal on the high-pressure side of either the control valves 441 or 442 is input to the direction switching valve 42, and a pilot signal on the high-pressure side of either the control valves 443 or 444 is input.

[0108] Normally, if the automatic control unit 22 is in the automatic control mode, the control valves 442 and 444 are on the high-pressure side, so pilot oil is supplied from the control valves 442 and 444 automatically controlled by the automatic control unit 22 to the direction switching valve 42. In this state, when either one of the first operator 201 and the second operator 202 is operated, the control valves 441 and 443 become the high-pressure side, and pilot oil is supplied from the control valves 441 and 443 controlled by the driver 23 according to the operation of the first operator 201 or the second operator 202 to the direction switching valve 42.

[0109] Thus, the operation system 2 according to this embodiment includes an automatic control unit 22 that automatically controls the blade 351. When either one of the first operator 201 and the second operator 202 is operated during the automatic control of the blade 351, the automatic control of the blade 351 is stopped. In short, the manual operation of the blade 351 by the first operator 201 or the second operator 202 takes precedence over the automatic control of the blade 351. Therefore, even during automatic control, the operator can easily shift to the manual operation of the blade 351 by operating the first operator 201 or the second operator 202.

[0110] Also, in this embodiment, when the automatic control of the blade 351 is stopped by the operation of the first operator 201 or the second operator 202 as described above, the automatic control unit 22 resumes the automatic control triggered by the end of the single operation of the first operator 201 or the second operator 202. Thereby, while giving precedence to the manual operation over the automatic control, it is possible to easily shift (return) to the automatic operation of the blade 351.

[0111] [5] Modification Hereinafter, modifications of Embodiment 1 will be listed. The modifications described below can be applied in appropriate combinations.

[0112] The operation system 2 in the present disclosure is not limited to being embodied in the configuration of a hydraulic circuit as in Embodiment 1, and may be embodied, for example, by an operation system 2 including a computer system. The computer system mainly includes one or more processors and one or more memories as hardware. By the processor executing a program recorded in the memory of the computer system, the operation system 2 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. Further, some or all of the functional units included in the operation system 2 may be configured by electronic circuits.

[0113] In addition, it is not an essential configuration of the operation system 2 that at least some of the functions of the operation system 2 are integrated in one housing, and the components of the operation system 2 may be provided distributed in a plurality of housings. Further, at least some of the functions of the operation system 2 may be realized by a cloud (cloud computing) or the like.

[0114] Also, the working fluid is not limited to hydraulic oil, and may be, for example, a gas such as air or other fluid. When the working fluid is air, a pneumatic actuator driven by pneumatic pressure such as compressed air is used as an actuator such as the angle cylinder 353 and the tilt cylinder 354.

[0115] In addition, the operation unit 34 is not limited to the cab type, and may be, for example, a canopy type or a floor type.

[0116] Also, the power source of the working machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0117] 〔Supplementary Note of the Invention〕 The following is an appended note on the outline of the invention extracted from the above-described embodiments. Note that each configuration and each processing function described in the following appended note can be selectively combined arbitrarily.

[0118] <Appended Note 1> An operating system for a work machine including an earthmoving device having a blade, an operation lever that receives a lifting operation for lifting and lowering the blade, a first operator that receives an operation for causing the blade to perform an angle operation of rotating and swinging about a first axis along the vertical direction, a second operator that receives an operation for causing the blade to perform a tilt operation of rotating and swinging about a second axis along the horizontal direction, and the first operator and the second operator are provided separately, an operating system.

[0119] <Appended Note 2> When the first operator and the second operator are operated simultaneously, the angle operation and the tilt operation are prohibited. The operating system according to Appended Note 1.

[0120] <Appended Note 3> When transitioning from a single operation state in which either the first operator or the second operator is operated to a simultaneous operation state in which both the first operator and the second operator are operated, the angle operation and the tilt operation are prohibited. The operating system according to Appended Note 2.

[0121] <Appended Note 4> Even in the single operation state when transitioning from the simultaneous operation state to the single operation state, the angle operation and the tilt operation are prohibited. The operating system according to Appended Note 3.

[0122] <Appended Note 5> It further includes a cutoff lever for switching between a locked state in which the operation of the work machine is restricted and an unlocked state in which the operation of the work machine is not restricted. Even when switching from the locked state to the unlocked state during the continuation of the single-operation state, the angle operation and the tilt operation are prohibited. The operating system according to Appendix 3 or 4.

[0123] <Appendix 6> It further includes an automatic control unit for automatically controlling the blade. When one of the first operator and the second operator is operated during the automatic control of the blade, the automatic control of the blade is stopped. The operating system according to any one of Appendices 1 to 5.

[0124] <Appendix 7> The first operator and the second operator are arranged adjacent to each other. The operating system according to any one of Appendices 1 to 6.

[0125] <Appendix 8> The first operator and the second operator are arranged on the gripping part of the operation lever. The operating system according to any one of Appendices 1 to 7.

[0126] <Appendix 9> The first operator and the second operator are arranged side by side in the longitudinal direction of the gripping part. The operating system according to Appendix 8.

[0127] <Appendix 10> The operation surface provided with the first operator and the second operator on the gripping part is inclined toward the driver's seat side in the left-right direction of the machine body. The operating system according to Appendix 8 or 9.

[0128] <Appendix 11> It further includes a third operator arranged on the gripping part and accepting an operation for switching the vehicle speed of the traveling part of the work machine. The operating system according to any one of Appendices 8 to 10.

[0129] <Appendix 12> Each of the first operator and the second operator is a slide switch that can be operated in both operation directions with respect to the neutral position. The operating system according to any one of Appendices 1 to 11.

[0130] <Appendix 13> The operation direction is a direction along the left - right direction of the machine body. The operating system according to Appendix 12.

[0131] <Appendix 14> The operating system according to any one of Appendices 1 to 13, and a machine body having the soil discharging device. Working machine.

Explanation of Signs

[0132] 2 Operating system 2 3 Working machine 21 Operating lever 22 Automatic control unit 25 Cut - off lever 30 Machine body 31 Traveling part 35 Soil discharging device 201 First operator 202 Second operator 203 Third operator 211 Gripping part 212 Operating surface 341 Driver's seat 351 Blade Ax1 First axis Ax2 Second axis D3 Left - right direction

Claims

1. An operating system for a work machine including an earthmoving device having a blade, comprising: An operation lever for receiving a raising / lowering operation for raising and lowering the blade; A first operator for receiving an operation for causing the blade to perform an angle operation of rotating and swinging the blade about a first axis along the vertical direction; A second operator for receiving an operation for causing the blade to perform a tilt operation of rotating and swinging the blade about a second axis along the horizontal direction, and The first operator and the second operator are provided separately. Operating system.

2. When the first operator and the second operator are simultaneously operated, the angle operation and the tilt operation are prohibited. The operating system according to claim 1.

3. When transitioning from a single operation state in which either the first operator or the second operator is operated to a simultaneous operation state in which both the first operator and the second operator are operated, the angle operation and the tilt operation are prohibited. The operating system according to claim 2.

4. Even in the single operation state when transitioning from the simultaneous operation state to the single operation state, the angle operation and the tilt operation are prohibited. The operating system according to claim 3.

5. Further comprising a cutoff lever for switching between a locked state in which the operation of the work machine is restricted and an unlocked state in which the operation of the work machine is not restricted, Even when switching from the locked state to the unlocked state during the continuation of the single operation state, the angle operation and the tilt operation are prohibited. The operating system according to claim 3 or 4.

6. Further comprising an automatic control unit for automatically controlling the blade, When one of the first operator and the second operator is operated during the automatic control of the blade, the automatic control of the blade is stopped. The operation system according to any one of claims 1 to 4.

7. The first operator and the second operator are arranged adjacent to each other. The operation system according to any one of claims 1 to 4.

8. The first operator and the second operator are arranged on the gripping portion of the operation lever. The operation system according to any one of claims 1 to 4.

9. The first operator and the second operator are arranged side by side in the longitudinal direction of the gripping portion. The operation system according to claim 8.

10. The operation surface provided with the first operator and the second operator on the gripping portion is inclined toward the driver's seat side in the left - right direction of the machine body. The operation system according to claim 8.

11. Further comprising a third operator arranged on the gripping portion and receiving an operation for switching the vehicle speed of the traveling portion of the work machine. The operation system according to claim 8.

12. Each of the first operator and the second operator is a slide switch operable in both operation directions with respect to a neutral position. The operation system according to any one of claims 1 to 4.

13. The operation direction is a direction along the left - right direction of the machine body. The operation system according to claim 12.

14. The operation system according to any one of claims 1 to 4, and a machine body having the earth - discharging device, are provided. Work machine.

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