Work machine

Abstract

To provide a work machine capable of roughly aligning the height of cameras and facilitating installation work.SOLUTION: A work machine (1) comprises a left camera (C1) located on a left side of a rotating body (3) in the width direction, a right camera (C2) located on a right side of the rotating body in the width direction, and a rear camera (C3) located on a rear side of the rotating body. The left camera is attached to a lower left side of a rear surface (5a) of a cabin (5), which serves as a driver's compartment, via a left bracket (B1). The right camera is attached to a side hood (7b) on a right side of the cabin or to a structure inside the side hood via a right bracket (B2), and the rear camera is attached to a rear hood (7a) or to a structure inside the rear hood via a rear bracket (B3).SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a technique for displaying an overhead image, which is obtained by stitching together images captured by a plurality of cameras mounted on a work machine, on a display unit in a driver's cab (for example, Patent Document 1).

[0003] Generally, in a work machine, a plurality of cameras are installed at four locations, namely, the left, right, front and rear of the work machine, or at three locations, namely, the left, right and rear of the work machine.

[0004] The multiple cameras are installed so that their heights from the ground are roughly the same. This is to ensure that the sizes of people and objects included in the overhead image are the same when images from each camera are stitched together to generate the overhead image. If the heights from the ground of the multiple cameras are not the same, the sizes of people and objects included in the overhead image will differ depending on the camera that captured the image, resulting in an unnatural looking overhead image. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-157472 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in order to install multiple cameras at roughly the same height from the ground without significantly modifying the shape of the existing hood or weight, it is necessary to devise a shape for the brackets used to attach the cameras to the work machine and their fixing positions.In addition, it is also necessary to make the camera installation work easy.

[0007] An object of one aspect of the present disclosure is to realize a work machine in which the height of cameras can be roughly aligned and in which installation work can be easily performed. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, a work machine according to one embodiment of the present disclosure comprises a traveling device, a rotating body that rotates relative to the traveling device, a work device provided on the rotating body, a driver's cab provided on one widthwise side of the rotating body, a rear hood provided behind the driver's cab on the rotating body, a side hood provided on the other widthwise side of the driver's cab on the rotating body, a first camera arranged on the one widthwise side of the rotating body, a second camera arranged on the other widthwise side of the rotating body, and a third camera arranged on the rear side of the rotating body, wherein the first camera is attached to a lower part of the one widthwise side of the rear surface of the driver's cab via a first bracket, the second camera is attached to the side hood or a structure inside the side hood via a second bracket, and the third camera is attached to the hood or a structure inside the side hood via a third bracket.

[0009] According to the above configuration, the first to third cameras can be set at a relatively uniform height from the ground. Furthermore, the first camera is attached to the rear lower part of the driver's cab, making it easy to access. Therefore, the heights of the cameras can be roughly uniform, and the installation work can be easily performed. For example, even if the camera is installed as a retrofit after shipping from the factory, it can be installed relatively easily.

[0010] In a work machine according to one aspect of the present disclosure, the first bracket may include a first bracket fixing portion fixed to the rear surface of the driver's cab, a first support portion extending rearward from the first bracket fixing portion and having an end portion on one side in the width direction bent downward to form an inclined surface, a first cover portion located on the underside of the first support portion and forming a wiring space between the underside of the first support portion, and a first camera fixing portion located on the underside of the inclined surface and having an abutment surface against which the bottom or top surface of the first camera abuts, and to which the first camera is screwed from the side of the first camera with the bottom or top surface of the first camera abutting against the abutment surface.

[0011] In this case, the rear bonnet may have a bonnet inclined surface that is inclined downward toward one side in the width direction, and the first cover portion may be disposed along the bonnet inclined surface.

[0012] In this case, the normal to the contact surface may be substantially parallel to the width direction of the revolving unit in a plan view, which allows the capture range of the image of one side of the revolving unit in the width direction captured by the first camera to be symmetrical in the front-to-rear direction of the work machine with respect to the central axis of the capture range.

[0013] In a work machine according to one embodiment of the present disclosure, the first camera may be positioned in a position along the width direction that is closer to the inside of the machine body than the end face of the rotating body on one side in the width direction, and may be capable of capturing images of the side of the driver's seat on one side in the width direction.

[0014] In this case, the driver's seat may have a door on one side in the width direction that can be rotated rearward along a rotation axis extending in the vertical direction, and the first camera may be positioned so that it does not interfere with the door when the door is rotated rearward and can capture an image of the side of the driver's seat in the width direction even when the door is rotated rearward.

[0015] In the work machine according to one aspect of the present disclosure, the first camera may be disposed below a rear surface of the driver's seat.

[0016] In a work machine according to one embodiment of the present disclosure, the rear hood has a rear opening / closing door that opens and closes using an axis extending horizontally or vertically as a pivot axis, and the third camera may be externally attached to the rear opening / closing door via the third bracket.

[0017] According to the above configuration, the third camera is externally attached to the rear door of the rear hood via the third bracket, making it easy to access. Therefore, the height of the cameras can be roughly aligned, and the installation work can be easily performed. For example, even if the camera is installed after shipping from the factory, installation can be made even easier.

[0018] In a work machine according to one embodiment of the present disclosure, the side bonnet has a side opening / closing door that is openable and closable on the other side of the width direction, the second camera is attached to the structure inside the side opening / closing door via the second bracket, and the side opening / closing door may have a notch that allows a portion of the second bracket to protrude when closed and allows the portion to pass through when opened and closed.

[0019] In this case, the third bracket has a third bracket fixing portion fixed to the outside of the rear opening and closing door, a third support portion extending upward from the third bracket fixing portion, bending partway and extending rearward, and a third cover portion attached to the third support portion and to which the third camera is fixed with screws from the side of the third camera, and the attachment angle of the third cover portion relative to the third support portion may be adjustable.

[0020] According to the above configuration, the attachment angle of the third cover part to which the third camera is fixed can be adjusted relative to the third support part, so the angle of the third camera can be adjusted. Therefore, even if the extent to which the rear of the rotating unit overhangs varies depending on the type of work machine, the rear of the rotating unit can be prevented from being excessively captured, and an appropriate range can be captured.

[0021] In this case, the mounting angle of the third camera with respect to the third cover part may be adjustable, which allows for rough adjustment of the angle of the third camera by adjusting the angle of the third cover part, and then allows for further fine adjustment. [Effects of the Invention]

[0022] According to one aspect of the present disclosure, even when multiple cameras are retrofitted, the heights of the cameras can be roughly aligned, and a work machine can be realized that allows for easy installation work. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic perspective view showing the overall configuration of a work machine according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a plan view of the rear part of the work machine shown in FIG. [Figure 3] 2 is a perspective view showing a camera provided in the work machine shown in FIG. 1. [Figure 4] 2 is a perspective view of a portion of the work machine shown in FIG. 1 where a left camera is attached to a cabin via a left bracket, as viewed from above and rear left. FIG. [Figure 5] 2 is a perspective view of a portion of the work machine shown in FIG. 1 where a left camera is attached to a cabin via a left bracket, as viewed from below and rear left. FIG. [Figure 6] 2 is a view showing a portion of the work machine shown in FIG. 1 where a left camera is attached to a left bracket. FIG. [Figure 7] 7 is a view showing a portion of the work machine shown in FIG. 1 where a left camera is attached to a left bracket, seen from an angle different from that of FIG. 6. [Figure 8] 2 is a perspective view of a portion of the work machine shown in FIG. 1 where the rear camera is attached to the rear hood via a rear bracket, as viewed from above and rear left. FIG. [Figure 9] 2 is a view showing a portion of the work machine shown in FIG. 1 where a rear camera is attached to a rear bracket. [Figure 10]1. FIG. 4 is a diagram showing angle adjustment of a rear camera in the work machine shown in FIG. [Figure 11] 2 is a perspective view of a portion of the work machine shown in FIG. 1 where a right camera is attached to a frame inside the side hood via a right bracket, as viewed from inside the side hood. FIG. [Figure 12] 2 is a view showing a portion of the work machine shown in FIG. 1 where a right camera is attached to a right bracket. FIG. [Figure 13] 2 is a perspective view of the work machine shown in FIG. 1, showing the transition of the side hood when the side hood is opened, as seen from inside the side hood; [Figure 14] 2 is a diagram of a main part of the right camera attached to the right bracket in the work machine shown in FIG. 1, seen from the side of the right camera. [Figure 15] 2 is a view of a main part of the left camera attached to the left bracket in the work machine shown in FIG. 1, seen from diagonally behind the left camera. FIG. [Figure 16] 10A and 10B are diagrams illustrating how the extension portion prevents the camera body from rotating. [Figure 17] 10A and 10B are diagrams illustrating the rotation of the camera body when no extension portion is provided. DETAILED DESCRIPTION OF THE INVENTION

[0024] [Embodiment 1] An embodiment of the present disclosure will be described in detail below.

[0025] (Outline of the work equipment) 1 is a schematic perspective view showing the overall configuration of a work machine 1 according to this embodiment. In this embodiment, a backhoe, which is one type of construction machine, is exemplified as the work machine 1.

[0026] As shown in Fig. 1, the work machine 1 includes a traveling device 2, a revolving body 3, and a working device 4. The revolving body 3 is supported on the frame of the traveling device 2 via a bearing body so as to be able to rotate about a vertical axis (an axis in the up-down direction). The revolving body 3 includes the working device 4, a cabin (operator's compartment) 5, a prime mover 6, a bonnet (exterior panel) 7, a counterweight 8, and the like.

[0027] The cabin 5 has a cab in which an operator (driver) sits. In the following description, the front side of the operator seated in the cab will be referred to as the front, the rear side of the operator as the rear, the left side of the operator as the left, the right side of the operator as the right, the upper side of the operator as the upper side, and the lower side of the operator as the lower side. Therefore, reference numeral 101 in Fig. 1 is a perspective view of the work machine 1 as seen from the upper rear right, and reference numeral 102 is a perspective view of the work machine 1 as seen from the upper rear left.

[0028] As shown in Fig. 1, the cabin 5 is installed on one side in the width direction of the rotating body 3. The left-right direction is the width direction of the rotating body 3. In this embodiment, the cabin 5 is disposed closer to the left side, with the left side corresponding to one side in the width direction and the right side corresponding to the other side in the width direction.

[0029] The bonnet 7 forms an exterior covering that covers the equipment arranged on the rotating body 3, and comprises a rear bonnet (rear opening / closing door) 7a and a rear bonnet (bonnet inclined surface) 7c arranged at the rear of the rotating body 3, and a side bonnet (side opening / closing door) 7b arranged on the other side of the width of the rotating body 3.

[0030] The rear hood 7a is located behind the cabin 5 and opens and closes to cover the rear of the prime mover 6 arranged at the rear of the rotating body 3. The side hood 7b opens and closes to cover the equipment (hydraulic equipment, etc.) arranged on the other widthwise side of the rotating body 3. The rear hood 7c is arranged at the rear of the rotating body 3 on one widthwise side, is inclined downward toward one widthwise side, and is detachably attached to the rotating body 3 with fasteners such as screws. The arrangement of the prime mover 6, hydraulic equipment, etc. is not limited to the example described above, and may be arranged on the other widthwise side of the rotating body 3, for example.

[0031] The counterweight 8 is a weight for balancing the weight with the working device 4, and is located below (below) the hood 7 at the rear of the revolving body 3.

[0032] The work implement 4 is a device that operates using hydraulic oil pressure as a working fluid pressure, and is installed at the front of the work machine 1, specifically at the front of the revolving body 3. The work implement 4 is equipped with a boom, arm, bucket, etc. that are rotated by hydraulic cylinders. The work implement 4 performs work such as excavation and ground leveling.

[0033] Furthermore, the work machine 1 is equipped with multiple cameras C arranged on the revolving body 3. Specifically, a left camera (first camera) C1, a right camera (second camera) C2, and a rear camera (third camera) C3 are arranged on the revolving body 3. Although not shown, a display device is provided inside the cabin 5. The display device displays an overhead image of the surroundings of the work machine 1, which is a composite of images taken by these three cameras C1 to C3.

[0034] The three cameras C1 to C3 are mounted as an optional add-on to the work machine 1 together with a display device that displays an overhead image. In the following, when there is no need to distinguish between the three cameras C1 to C3, they will be simply referred to as "camera C."

[0035] (Camera placement) Fig. 2 is a plan view of the rear of the work machine 1 according to this embodiment. As shown in Fig. 2, the left camera C2 is disposed on the left side (one side in the width direction) of the revolving unit 3, the right camera C2 is disposed on the right side (the other side in the width direction) of the revolving unit 3, and the rear camera C3 is disposed on the rear side of the revolving unit 3. In Fig. 3, the positions of the cameras C1 to C3 are indicated by dots.

[0036] The left camera C1 is attached via a left bracket (first bracket) B1 to the lower part of the left rear surface 5a of the cabin 5, which is part of the revolving unit 3. The right camera C2 and rear camera C3 are attached via a right bracket (second bracket) B2 and a rear bracket (third bracket) B3 to the inner structure of the hood 7, which is part of the revolving unit 3, or to the hood 7, which is also part of the revolving unit 3. In the following, when there is no need to distinguish between the three brackets, they will simply be referred to as "bracket B."

[0037] As described above, in this embodiment, the hood 7 has a rear hood 7a and a side hood 7b. The rear hood 7a rotates around an axis extending horizontally (left-right direction) and opens and closes at a rear portion of the axis. The side hood 7b is provided on the right side, which is the other side in the width direction, and rotates around an axis extending vertically (up-down direction) and opens and closes at a rear portion of the axis.

[0038] The rotation directions of the rear bonnet 7a and the side bonnet 7b are not limited to the examples described above. For example, the rear bonnet 7a may be rotatable around a rotation axis extending vertically, and the side bonnet 7b may be rotatable around a rotation axis extending horizontally or in a direction inclined relative to the horizontal and vertical directions.

[0039] In this embodiment, the rear camera C3 is externally attached to the rear hood 7a via a rear bracket B3, and the right camera C2 is attached to a frame (structure) 10 (see FIG. 11) inside the side hood 7b via a right bracket B2.

[0040] The left camera C1 and the right camera C2 are positioned inside the outer edge of the traveling device 2 in a plan view, and the rear camera C3 is positioned inside the outer edge of the counterweight 8 in a plan view.

[0041] (camera) Fig. 3 is a perspective view of the camera C provided on the work machine 1, viewed from the rear side. As shown in Fig. 3, the camera C has a camera body 50. The camera body 50 has a bottom surface 50a, side surfaces 50b, a front surface 50c where the lens is located, a rear surface 50d opposite the front surface, and a top surface 50e. Note that Fig. 3 shows the camera C as viewed from the rear surface 50d side. Although not shown, a harness is pulled out from the center of the rear surface 50d of the camera C.

[0042] The camera body 50 has screw insertion portions 51 formed on at least one side surface 50b of the rear portion (the rear surface 50d side). In Fig. 3, the screw insertion portions 51 are formed on both side surfaces 50b of the camera body 50. The camera C is fixed to a fixing object such as a bracket (B) using the screw insertion portions 51.

[0043] An extension portion 53 is provided at the rear of the camera body 50, extending the bottom surface 50a of the camera body 50 rearward beyond the screw insertion portion 51 in a side view. The extension portion 53 is provided on the rear surface 50d of the camera body 50, and extends the bottom surface 50a of the camera body 50 rearward. Although details will be described later, the provision of the extension portion 53 makes it possible to distinguish the upside down of the camera C and to suppress rotation of the camera C around the screw 60.

[0044] (Installing the left camera) The attachment of the left camera C1 will be described using Figs. 4 to 7. Fig. 4 is a perspective view of the portion where the left camera C1 is attached to the cabin 5 via the left bracket B1, as seen from the upper left rear. Fig. 5 is a perspective view of the portion where the left camera C1 is attached to the cabin 5 via the left bracket B1, as seen from the lower left rear. Fig. 6 is a diagram showing the portion where the left camera C1 is attached to the left bracket B1. Fig. 7 is a diagram showing the portion where the left camera C1 is attached to the left bracket B1, as seen from a different angle from Fig. 6.

[0045] 4 and 5, the left bracket B1 has a first bracket fixing portion B1a, an upper plate portion (first support portion) B1b, a first cover portion B1c, and a first camera fixing portion B1d. The first bracket fixing portion B1a is a portion fixed to the rear surface 5a of the cabin 5 and is a vertical plate-like portion extending in the up-down direction. The first bracket fixing portion B1a is fixed to a screw hole formed in a block 11 welded to the rear surface 5a of the cabin 5 using a bolt or the like.

[0046] The upper plate portion B1b extends horizontally rearward from the first bracket fixing portion B1a, and its left end (one side in the width direction) is bent downward to form an inclined surface B1ba. In this embodiment, the first bracket fixing portion B1a and the upper plate portion B1b are integrally formed by bending a metal plate cut into a predetermined shape at a right angle. A triangular bent reinforcing plate B1e connected to the first bracket fixing portion B1a and the upper plate portion B1b is fixed to the bent portion by welding or the like. The upper plate portion B1b is a member that supports the left camera C1 via the first camera fixing portion B1d.

[0047] The first cover portion B1c is located on the lower surface of the upper plate portion B1b and forms a wiring space between itself and the lower surface of the upper plate portion B1b. Although not shown, the cable of the left camera C1 attached to the left bracket B1 passes through the wiring space surrounded by the upper plate portion B1b and the first cover portion B1c and is pulled into the interior of the rotating unit 3 from the left side of the hood 7. The right end of the first cover portion B1c has a relief shape B1f to avoid interference with the left side of the hood 7. The first cover portion B1c is also arranged along the inclined shape of the rear hood portion 7c and is inclined downward toward one side in the width direction.

[0048] 6 and 7, the first camera fixing part B1d is located on the underside of the inclined surface B1ba of the upper plate part B1b and has an abutment surface B1df against which the bottom surface 50a of the left camera C1 abuts. With the bottom surface 50a of the left camera C1 abutting against the abutment surface B1df, the left camera C1 is fixed to the first camera fixing part B1d with a screw from the side surface 50b of the left camera C1.

[0049] In this embodiment, a configuration having a contact surface B1df against which the bottom surface 50a of the left camera C1 contacts is exemplified, but a configuration having a contact surface against which the top surface 50e of the left camera C1 contacts may also be used.

[0050] In this embodiment, the first camera fixing portion B1d is made of a U-shaped bent plate member, and the inner surface of the bottom of the U is the abutment surface B1df. The upper ends of a pair of wall-like portions B1db rising from both ends of the abutment surface B1df of the U-shape are attached to the underside of the inclined surface B1ba of the upper plate portion B1b by welding or the like. Note that in Figures 6 and 7, the first cover portion B1c is omitted to make it easier to see the attachment portion of the left camera C1.

[0051] The pair of wall-like portions B1db are formed with screw insertion holes B1db1 through which screws 60 are inserted. The left camera C1 is fixed to both sides of the pair of wall-like portions B1db using screws 60 inserted into the screw insertion portions 51 via the screw insertion holes B1db1, with the bottom surface 50a of the camera body 50 abutting against the abutment surface B1df of the first camera fixing portion B1d.

[0052] The normal to the contact surface B1df may be provided so as to be parallel to the width direction of the revolving unit 3, that is, the left-right direction, in a plan view. In this case, the capture range of the image of the left side of the work implement 1 captured by the left camera C1 can be made symmetrical in the front-to-rear direction of the work implement 1 with respect to the central axis of the capture range.

[0053] A door 5b that can rotate rearward along a rotation axis that extends in the vertical direction is provided on one side surface in the width direction of the cabin 5, and the left camera C1 is disposed at a position where it does not interfere with the door 5b even when the door 5b is rotated rearward and where it can capture an image of the side of the cabin 5 in the width direction even when the door 5b is rotated rearward. The left camera C1 is also disposed below the rear surface 5a of the cabin 5.

[0054] (Installing the rear camera) The attachment of the rear camera C3 will be described with reference to Figures 8 to 10. Figure 8 is a perspective view of the portion where the rear camera C3 is attached to the rear hood 7a via the rear bracket B3, seen from the upper left rear. Figure 9 is a diagram showing the portion where the rear camera C3 is attached to the rear bracket B3. In Figure 9, a third cover part B3c, which will be described later, is shown by an imaginary line. Figure 10 is a diagram showing the angle adjustment of the rear camera C3.

[0055] 8 and 9, the rear bracket B3 has a third bracket fixing portion B3a, a third stay portion (third support portion) B3b, and a third cover portion B3c. The third bracket fixing portion B3a is a portion that is fixed to the outside of the rear hood 7a. A spacer 12 made of hard rubber or the like is disposed between the third bracket fixing portion B3a and the rear hood 7a, and the third bracket fixing portion B3a is fixed to the rear hood 7a using bolts or the like.

[0056] The third stay portion B3b extends upward from the third bracket fixing portion B3a, is bent midway, and extends rearward. The third stay portion B3b is a member that supports the rear camera C3 via the third cover portion B3c.

[0057] The third cover part B3c is attached to the third stay part B3b, and the rear camera C3 is fixed to the third cover part B3c with screws from the side of the rear camera C3. The third cover part B3c also forms a wiring space between the third cover part B3c and the third stay part B3b. Although not shown, the cable of the rear camera C3 attached to the rear bracket B3 passes through the wiring space inside the third cover part B3c and is pulled into the interior of the rotating unit 3 from the rear hood 7a.

[0058] In this embodiment, the third cover portion B3c is provided so that the attachment angle with respect to the third stay portion B3b is adjustable.

[0059] 9, specifically, the third cover portion B3c has a lower cover portion B3cb and an upper cover portion B3ct. The lower cover portion B3cb and the upper cover portion B3ct are each formed by bending a metal plate cut into a predetermined shape into a U-shape.

[0060] The lower cover portion B3cb is fixed to a portion of the third stay portion B3b that extends upward from the third bracket fixing portion B3a, and the upper cover portion B3ct is fixed to a portion of the third stay portion B3b that is bent midway and extends rearward. When fixed to the third stay portion B3b, the upper portion of the lower cover portion B3cb overlaps with the front side of the upper cover portion B3ct. A plate member B3d, which forms the front surface of the rear bracket B3, is attached to the front of the third cover portion B3c and closes the wiring space.

[0061] The rear camera C3 is fixed to the upper cover portion B3ct from the side with screws. The upper cover portion B3ct is provided with a plurality of mounting holes B3ct1 for mounting the upper cover portion B3ct to the third stay portion B3b.

[0062] 10, the mounting angles of the upper cover part B3ct and the rear camera C3 relative to the third stay part B3b can be changed by changing the mounting holes B3ct1 used when mounting the upper cover part B3ct to the third stay part B3b. In this embodiment, as shown by reference numerals 1001 to 1003, by changing the mounting holes B3ct1 used, the angle θ of the rear camera C3 relative to the horizontal direction can be switched to, for example, 30°, 25°, or 17°.

[0063] This allows the angle of the rear camera C3 to be adjusted, thereby preventing the counterweight 8 from appearing too much in the overhead image.

[0064] Furthermore, in this embodiment, the mounting angle of the rear camera C3 with respect to the third cover portion B3c (specifically, the upper cover portion B3ct) is adjustable. Specifically, as shown by reference numeral 1004 in Fig. 10, a pair of wall-like portions of the upper cover portion B3ct are formed with screw insertion holes B3ct2 through which screws 60 are inserted. The rear camera C3 is fixed to both sides of the pair of wall-like portions of the upper cover portion B3ct using screws 60 inserted into the screw insertion portions 51 via the screw insertion holes B3ct2.

[0065] In addition, the rear bracket B3 has spaces above and below the camera body 50, and when the rear camera C3 is fixed with screws, it is possible to further adjust the angle of the rear camera C3 in both directions indicated by the arrow Y1 shown as symbol 1004 in Figure 10.

[0066] This allows for a rough adjustment of the angle θ of the rear camera C3 relative to the horizontal direction by changing the attachment angle of the third cover portion B3c relative to the third stay portion B3b, and then allows for further fine adjustment.

[0067] With the rear camera C3 fixed, the axial direction of the screw 60 may be set parallel to the width direction of the revolving unit 3, i.e., the left-right direction, in a plan view. In this case, the capturing range of the image of the rear side of the work implement 1 captured by the rear camera C3 can be made symmetrical in the left-right direction of the work implement 1 with respect to the central axis of the capturing range.

[0068] (Installing the right camera) The attachment of the right camera C2 will be described using Figures 11 to 13. Figure 11 is a perspective view from inside the side hood 7b of the part where the right camera C2 is attached to the frame 10 inside the side hood 7b via the right bracket B2. Figure 12 is a diagram showing the part where the right camera C2 is attached to the right bracket B2. Figure 13 is a perspective view from inside the side hood 7b, showing the transition when the side hood 7b is opened. Note that in Figure 11, the vent cover of the vent hole 7ba provided in the side hood 7b is omitted to make it easier to see the inside and outside of the side hood 7b.

[0069] 11 and 12, the right bracket B2 has a second bracket fixing portion B2a, a second stay portion B2b, and a second camera fixing portion B2c. The second bracket fixing portion B2a is fixed to the frame 10 inside the side hood 7b with a bolt or the like. A spacer made of hard rubber or the like may be interposed between the second bracket fixing portion B2a and the frame 10.

[0070] The second stay portion B2b extends to the right with the second bracket fixing portion B2a fixed to the frame 10, and its right end (the other widthwise side) is bent downward to form an inclined portion B2ba. The second stay portion B2b is a member that supports the right camera C2. An upper surface B2baf of the inclined portion B2ba corresponds to the abutment surface.

[0071] 12, the second camera fixing portion B2c has a pair of wall-like portions B2ca rising from both ends of the inclined portion B2ba. In this embodiment, the second camera fixing portion B2c is formed by welding together metal plates cut into a predetermined shape. However, this is not limited to this, and the second camera fixing portion B2c may be formed integrally with the second stay portion B2b by bending the metal plate cut into a predetermined shape at a right angle.

[0072] The pair of wall-like portions B2ca are formed with screw insertion holes B2ca1 through which screws 60 are inserted. The right camera C2 is fixed to both sides of the pair of wall-like portions B2ca using screws 60 inserted into the screw insertion portions 51 via the screw insertion holes B2ca1, with the bottom surface 50a of the camera body 50 abutting against the upper surface B2baf of the inclined portion B2ba of the second stay portion B2b.

[0073] The normal to the upper surface B2baf of the inclined portion B2ba of the second stay portion B2b may be arranged so as to be parallel to the width direction of the revolving unit 3, i.e., the left-right direction, in a plan view. In this case, the imaging range of the image of the right side of the work implement 1 captured by the right camera C2 can be made symmetrical and equal in the front-to-rear direction of the work implement 1 with respect to the central axis of the imaging range.

[0074] As shown in FIG. 11, the side hood 7b is formed with a notch 77b through which a part of the right bracket B2 protrudes in the closed state and through which said part passes when the hood is opened or closed.

[0075] Specifically, the notch 77b allows the right end of the right bracket B2, where the right camera C2 is held, to be seen from the inside to the outside of the side hood 7b. A cover 13 is attached to the notch 7bb to cover the right camera C2 seen through the notch 7bb.

[0076] As shown by reference numerals 1301 to 1303 in FIG. 13, the side hood 7b can be opened and closed without interfering with the right bracket B2 that holds the right camera C2.

[0077] (Description of effects) As described above, according to the work machine 1 of this embodiment, the right camera C2 and the rear camera C3 are attached to the frame 10 inside the hood 7 or to the hood 7 via the right bracket B2 and the rear bracket B3. Therefore, even if the right camera C2 and the rear camera C3 are attached as an optional add-on, it is easy to align the heights of the cameras C from the ground.

[0078] The left camera C1 is attached via a left bracket B1 to the lower part of the left rear surface 5a of the cabin 5. Therefore, although it is not disposed on the hood 7, the height of the camera C from the ground can be relatively aligned with the right camera C2 and rear camera C3 disposed on the hood 7.

[0079] Moreover, the lower part of the left rear surface 5a of the cabin 5 is in an easily accessible position, so it is easy to attach the left bracket B1 to the rear surface 5a of the cabin 5 and to attach the left camera C1 to the left bracket B1. Therefore, even when installing a camera as an afterthought after shipping from the factory, installation can be done relatively easily with fewer installation steps.

[0080] Furthermore, when attaching a camera to a structure inside the hood 7, as is done for the attachment portion of the right camera C3, it is necessary to form a notch 7bb in the hood 7 and have part of the right bracket B2 protrude from the notch 7bb. In this case, the size and position of the notch 7bb impose restrictions on the shape of the right bracket B2, reducing design freedom. In contrast, in the configuration used to attach the left camera C1 to the lower part of the left rear surface 5a of the cabin 5, such restrictions on the left bracket are not imposed, allowing for greater design freedom.

[0081] Furthermore, according to the work machine 1, the rear camera C3 is externally attached to the rear hood 7a of the hood 7 via the rear bracket B3. Similar to the lower part of the left rear surface 5a of the cabin 5, the rear hood 7a of the hood 7 is in an easily accessible position, so it is easy to attach the rear bracket B3 to the rear hood 7a and to attach the rear camera to the rear bracket B3. Therefore, even when multiple cameras are installed as retrofits, the number of installation steps can be further reduced.

[0082] Furthermore, like the left bracket B1, the rear bracket B3 also has a high degree of freedom in design because it is not subject to design restrictions that are imposed when it is attached to a structure inside the hood 7. This makes it even easier to align the heights of multiple cameras C.

[0083] Furthermore, according to the work machine 1, the right camera C2 is attached to the frame 10 inside the side hood 7b, but is positioned so as not to interfere with the opening and closing of the side hood 7b of the hood 7, and therefore does not obstruct access to the prime mover 6.

[0084] (Rotation stopper by extension) Fig. 14 is a diagram of the main parts of the right camera C2 attached to the right bracket B2, seen from the side of the right camera C2. Fig. 15 is a diagram of the main parts of the left camera C1 attached to the left bracket B1, seen from diagonally behind the left camera C1. Fig. 16 is a diagram explaining how the extension part 53 prevents the camera body 50 from rotating.

[0085] 14 to 16, the left camera C1 and the right camera C2 are provided with extension portions 53 that extend rearward from the bottom surface 50a of the camera body 50. The extension portions 53 extend the bottom surface 50a of the camera body 50 rearward beyond the screw insertion portions 51 in a side view. In other words, the extension portions 53 extend the bottom surface 50a of the camera body 50 rearward beyond the rear surface 50d in a side view.

[0086] 14, the shape of extension portion 53 may be a triangular cross-section that becomes thinner toward the rear, or a protrusion with a rectangular cross-section. In short, it is sufficient if the shape allows bottom surface 50a of camera body 50 to extend rearward beyond screw insertion portion 51.

[0087] 16, by providing the extension portion 53, the bottom surface 50a of the camera body 50 of the left camera C1 comes into contact with the abutment surface B1df across the central axis of the screw insertion portion 51. Similarly, by providing the extension portion 53, the bottom surface 50a of the camera body 50 of the right camera C2 comes into contact with the upper surface B2baf of the inclined portion B2ba across the central axis of the screw insertion portion 51. Note that the line segment L in FIG. 16 is an auxiliary line drawn from the central axis of the screw insertion portion 51 so as to be perpendicular to the bottom surface 50a.

[0088] In this way, by having the bottom surface 50a of the camera body 50 contact the abutment surface B1df or the top surface B2baf across the central axis of the screw insertion portion 51, it is possible to physically prevent the camera body 50 from rotating around the central axis while it is fixed with the screws. This makes it possible to prevent the left camera C1 and the right camera C2 from rotating and fix their angles. As a result, even if the work machine 1 is subjected to vibrations or shocks while in operation, the angles of the left camera C1 and the right camera C2 are maintained, eliminating the need to readjust the camera installation.

[0089] 17 is a diagram illustrating the rotation of the camera body 50 when the extension portion 53 is not provided. As indicated by reference numeral 1701, in the case of camera D without the extension portion 53, the bottom surface 50a of camera D does not straddle the central axis of the screw insertion portion 51 and does not come into contact with the abutment surface B1df (B2baf). Therefore, as indicated by reference numeral 1702, the front side of camera D, indicated by arrow Y2, can rotate in the direction in which it rises. Even if the screw 60 is tightly fastened and fixed, there is a risk that it may loosen and rotate if subjected to vibrations or impacts during operation of the work machine 1.

[0090] Furthermore, when the camera body 50 has a symmetrical structure, as in camera D, it is difficult to distinguish between the top and bottom, so a label or the like indicating the top and bottom is attached. However, if the label peels off, it becomes impossible to distinguish between the top and bottom based on the shape alone. In contrast, in the case of camera C, which is provided with extension portion 53, the top and bottom of the camera body 50 can be distinguished based on the shape alone, reducing assembly errors when assembling the camera.

[0091] In the present embodiment, the configuration in which the bottom surface 50a of the camera body 50 is attached by abutting it against the abutment surface B1df (B2baf) has been exemplified, and therefore the bottom surface 50a is extended by the extension portion 53. However, if the configuration is such that the top surface 50e of the camera body 50 is attached by abutting it against the abutment surface, an extension portion may be provided to extend the top surface 50e rearward.

[0092] The extension portion 53 is not necessary for the rear camera C3, which needs to have its angle adjusted after being fixed to the bracket.

[0093] (summary) The working machine in aspect 1 of the present disclosure comprises a traveling device, a rotating body that rotates relative to the traveling device, a working device provided on the rotating body, a cab provided on one widthwise side of the rotating body, a rear hood provided behind the cab on the rotating body, a side hood provided on the other widthwise side of the cab on the rotating body, a first camera arranged on the one widthwise side of the rotating body, a second camera arranged on the other widthwise side of the rotating body, and a third camera arranged on the rear side of the rotating body, wherein the first camera is attached to the lower part of the one widthwise side of the rear surface of the cab via a first bracket, the second camera is attached to the side hood or a structure inside the side hood via a second bracket, and the third camera is attached to the rear hood or a structure inside the rear hood via a third bracket.

[0094] A work machine in aspect 2 of the present disclosure may be configured as in aspect 1, wherein the first bracket has a first bracket fixing portion fixed to the rear surface of the cab, a first support portion extending rearward from the first bracket fixing portion and having one end on one side in the width direction bent downward to form an inclined surface, a first cover portion located on the underside of the first support portion and forming a wiring space between the underside of the first support portion, and a first camera fixing portion located on the underside of the inclined surface and having an abutment surface for abutting the bottom or top surface of the first camera, and the first camera is screwed to the side of the first camera with the bottom or top surface of the first camera abutting the abutment surface.

[0095] A working machine in aspect 3 of the present disclosure may be configured such that, in aspect 2, the rear bonnet has a bonnet inclined surface that slopes downward toward one side in the width direction, and the first cover portion is arranged along the bonnet inclined surface.

[0096] In a fourth aspect of the present disclosure, the work machine is in the second or third aspect, wherein a normal to the contact surface may be substantially parallel to a width direction of the rotating body in a plan view.

[0097] In the work machine of aspect 5 of the present disclosure, in any of aspects 1 to 4, the first camera may be positioned in a position along the width direction that is closer to the inside of the machine body than the end face of the rotating body on one side in the width direction, and may be capable of capturing images of the side of the driver's seat on one side in the width direction.

[0098] The work machine in aspect 6 of the present disclosure is any of aspects 1 to 5, wherein the driver's seat has a door on one side in the width direction that can be rotated rearward along a rotation axis extending in the vertical direction, and the first camera is positioned so as not to interfere with the door when the door is rotated rearward and so as to be able to capture an image of the side of the driver's seat in the width direction even when the door is rotated rearward.

[0099] The work machine according to a seventh aspect of the present disclosure is any one of the first to sixth aspects, wherein the first camera is disposed below the rear surface of the driver's seat.

[0100] The work machine in aspect 8 of the present disclosure is any of aspects 1 to 7, wherein the rear hood has a rear opening / closing door that opens and closes using an axis extending horizontally or vertically as a pivot axis, and the third camera may be externally attached to the rear opening / closing door via the third bracket.

[0101] A work machine in aspect 9 of the present disclosure is any of aspects 1 to 8, wherein the side bonnet has a side opening / closing door that is openable and closable on the other side of the width direction, the second camera is attached to the structure inside the side opening / closing door via the second bracket, and the side opening / closing door has a notch that allows a portion of the second bracket to protrude when closed and allows the portion to pass through when opened and closed.

[0102] The work machine in aspect 10 of the present disclosure is any of aspects 1 to 9, wherein the third bracket has a third bracket fixing portion fixed to the outside of the rear opening / closing door, a third support portion extending upward from the third bracket fixing portion, bending partway and extending rearward, and a third cover portion attached to the third support portion and to which the third camera is screwed from the side of the third camera, and the attachment angle of the third cover portion relative to the third support portion may be adjustable.

[0103] In an eleventh aspect of the present disclosure, in the work machine of the tenth aspect, the attachment angle of the third camera relative to the third cover portion may be adjustable.

[0104] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0105] 1 Work equipment 2 Running gear 3 Rotating body 4 Work equipment 5 Cabin (driver's compartment) 5a Rear 7. Bonnet 7a Rear hood 7b Side bonnet 7c Rear bonnet (bonnet slope) 50 Camera body 50a bottom 50b side 50d rear 50e top 51 Screw insertion part B Bracket B1 Left bracket (first bracket) B1a First bracket fixing part B1b Upper plate (first support) B1ba slope B1c First cover part B1d First camera fixing part B1df Contact surface B2 Right bracket (second bracket) B3 Rear bracket (third bracket) B3a Third bracket fixing part B3c 3rd cover part B3b Third stay part (third support part) B3cb lower cover B3ct upper cover C Camera C1 Left camera (first camera) C2 Right camera (second camera) C3 rear camera (third camera)

Claims

1. Running gear and a rotating body that rotates relative to the traveling device; a working device provided on the rotating body; A cab provided on one side of the rotating body in the width direction; a rear hood provided behind the operator's cab in the rotating body; a side hood provided on the other side of the operator's cab in the width direction of the rotating body; a first camera arranged on one side of the rotating body in the width direction; a second camera disposed on the other side of the rotating body in the width direction; a third camera arranged on the rear side of the rotating body, The first camera is attached to a lower portion of one side of the rear surface of the cab in the width direction via a first bracket, the second camera is attached to the side hood or a structure inside the side hood via a second bracket; The third camera is attached to the rear hood or a structure inside the rear hood via a third bracket.

2. The first bracket is a first bracket fixing portion fixed to a rear surface of the driver's cab; a first support portion extending rearward from the first bracket fixing portion, the first support portion having an end portion on one side in the width direction bent downward to form an inclined surface; a first cover portion located on a lower surface side of the first support portion and forming a wiring space between the first cover portion and the lower surface of the first support portion; 2. The work machine according to claim 1, further comprising: a first camera fixing portion located on the lower side of the inclined surface, having an abutment surface against which the bottom or top surface of the first camera abuts, and to which the first camera is screwed from the side of the first camera when the bottom or top surface of the first camera is abutted against the abutment surface.

3. the rear bonnet has a bonnet inclined surface that is inclined downward toward one side in the width direction, The work machine according to claim 2 , wherein the first cover portion is disposed along the bonnet inclined surface.

4. The work machine according to claim 2 , wherein a normal to the contact surface is substantially parallel to the width direction of the rotating body in a plan view.

5. The work machine described in claim 1, wherein the first camera is positioned along the width direction at a position inside the machine body further than the end face on one side of the width direction of the rotating body, and is capable of capturing images of the side of the driver's seat on one side of the width direction.

6. The driver's seat has a door on one side in the width direction that can be rotated rearward along a rotation axis extending in the vertical direction, The work machine according to claim 5, wherein the first camera is positioned so as not to interfere with the door even when the door is rotated rearward, and so as to be able to capture an image of the side of the driver's seat in the width direction even when the door is rotated rearward.

7. The work machine according to claim 1 , wherein the first camera is disposed below a rear surface of the driver's seat.

8. the rear bonnet has a rear opening and closing door that opens and closes around a pivot axis that extends along a horizontal or vertical direction, The work machine according to claim 1 , wherein the third camera is externally attached to the rear opening / closing door via the third bracket.

9. the side hood has a side opening / closing door provided on the other side in the width direction so as to be openable and closable, the second camera is attached to the structure inside the side opening door via the second bracket, The work machine according to claim 1 , wherein the side opening / closing door has a notch through which a portion of the second bracket protrudes when the side opening / closing door is closed and through which the portion passes when the side opening / closing door is opened or closed.

10. The third bracket is a third bracket fixing portion fixed to the outer side of the rear opening / closing door; a third support portion extending upward from the third bracket fixing portion, being bent midway and extending rearward; a third cover portion attached to the third support portion and to which the third camera is fixed with a screw from a side surface of the third camera; The work machine according to claim 9, wherein the third cover portion is adjustable in attachment angle relative to the third support column portion.

11. The work machine according to claim 10, wherein an attachment angle of the third camera relative to the third cover portion is adjustable.

Images