Implement

Abstract

To provide an implement capable of easily positioning a part related to work at a target position without increasing a burden on arithmetic processing.SOLUTION: An implement comprises: a first boom 411 which can turn to a turning angle including a primary first boom angle α1 and a secondary first boom angle α2; and a second boom 413 which can relatively turn to an angle including a primary second boom angle β1 in the same turning direction as the primary first boom angle α1 and the secondary first boom angle α2 to the first boom 411. The first and second booms 411, 413 have: an operation unit u which can perform automatic development operation for automatically changing a posture between a storage posture and a development posture. After starting the automatic development operation, before the second boom 413 is turned toward the primary second boom angle β1, if the angle of the first boom 411 is greater than the primary first boom angle α1, the first boom 411 is turned so that the angle becomes the primary first boom angle α1 or smaller.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 proposes a brush cutter in which multiple arms are connected together and brush cutters for ground work are attached to the arms. This brush cutter is equipped with sensors that detect the position and posture of the arm and brush cutter, and the information detected by the sensors is processed by a control unit to accurately control the brush cutting operation of the brush cutter. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-139156 Summary of the Invention [Problem to be solved by the invention]

[0004] In the device shown in Patent Document 1, when the brush cutter (working part) is not in use, it is better to place the working part in a stored position close to the traveling part so that the working part and robot arm do not get in the way of traveling. On the other hand, when work is being carried out, it is more convenient to place the working part in a deployed position far away from the traveling part, as this allows work to be carried out more efficiently. When operating the arms and working unit from the storage position to the deployed position or from the deployed position to the storage position, the multiple arms provide multiple joints, allowing for a high degree of freedom of movement. The degree of freedom in operating the system also increases, which can lead to the problem of complicated operations for operators. Because there are countless steps to reach the deployed or stowed state, it is difficult to see the correct order at a glance, and if the operator is unfamiliar with the system, there is a risk of the system hitting the ground or other components due to incorrect operation. There is also a method of automatically controlling the position of an arm or the like through calculations in a control unit using sensors or the like, as described in Patent Document 1. However, when attempting to process a large amount of information, the processing capacity must be increased, which poses a problem of making the configuration of the control unit that performs the calculations expensive. An object of the present invention is to provide a work machine that can easily position a part involved in work at a target position without increasing the burden of calculation processing. [Means for solving the problem]

[0005] This invention is a first boom having one end connected to a first rotating shaft that is a horizontal shaft and capable of rotating in the left and right directions relative to the traveling direction, and capable of rotating at a rotating angle including a first first boom angle and a second first boom angle that is greater than the first first boom angle; a second boom that is rotatable relative to the first boom at an angle including a first-second boom angle about a second rotation shaft that is parallel to the first rotation shaft and is provided on the other end of the first boom, and that is rotatable in a forward and backward direction relative to a traveling direction that is a direction that intersects with the rotation direction of the first boom about a third rotation shaft that is provided on the other end of the first boom and that intersects with the first rotation shaft and the second rotation shaft; a working unit that can rotate up and down by a fourth rotation shaft that faces forward and backward in the traveling direction of the second boom, The first boom, the second boom, and the working unit are a stored posture in which the first boom is lowered, the second boom is folded relative to the first boom, the second boom is rotated to a retreated position in the front-to-rear direction, and a working unit is positioned so as to overlap the second boom; a state in which the first boom is rotated around the first rotation axis and the other end side of the first boom is positioned to the side of the first rotation axis, a state in which the second boom is rotated around the second rotation axis from a state in which it is folded relative to the first boom and the angle therebetween is widened, a state in which the second boom is rotated around the third rotation axis and is rotated forward from the retracted position, or a state in which the working unit is rotated around a fourth rotation axis and the second boom is rotated to a side in which it is extended from one end side toward the other end side, an operation unit capable of automatic deployment operation for automatically changing the position of the first boom and the second boom from a stored position to a deployed position, when the first boom is at or below the first first boom angle after the start of the automatic deployment operation, rotating the second boom toward the first second boom angle to set the first second boom angle, and then rotating the first boom toward the first first boom angle; A work machine characterized by: relates to.

[0006] The present invention further provides: the second boom is provided so as to be rotatable relative to the first boom in a rotation direction intersecting with the first boom so as to be positioned at a retreated position, an intermediate position, and an advanced position, after starting a position change to the deployed position by the automatic deployment operation, if the second boom is at the first second boom angle and the first boom is at the first first boom angle, determining whether the second boom is at the retracted position or the intermediate position; When the second boom is in the retracted position or the intermediate position, the second boom is rotated toward the forward position. A work machine characterized by: relates to.

[0007] The present invention further provides: The first boom and the second boom are operated only while the operation unit is being manually operated. A work machine characterized by: relates to.

[0008] The present invention further provides: The operation toward the deployed posture is such that the first boom forms the first boom angle or less and the second boom forms the first boom angle or more, and then the deployed posture is formed. A work machine characterized by: relates to. [Effects of the Invention]

[0009] The present invention can provide a work machine that can easily position a part involved in work at a target position without increasing the burden of calculation processing. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a front view of a working machine according to an embodiment of the present invention, in a stored state, as seen from the rear in the direction of travel, with a second boom at a first swing position. [Figure 2] 1 is a front view of a working machine according to an embodiment of the present invention when unfolded. [Figure 3] 1 is a side view of a working machine according to an embodiment of the present invention, showing an example of a working position. Solid lines indicate the working unit and other parts when the second boom is in the third swing position. Two-dot chain line portion 51-1 indicates the working unit and other parts when the second boom is in the first swing position, and 51-2 indicates the working unit and other parts when the second boom is in the second swing position. [Figure 4] 1 is an enlarged view of the vicinity of a third pivot shaft of a work machine according to an embodiment of the present invention, seen from the axial direction of the third pivot shaft, with a second boom at a first pivot position. [Figure 5] 1 is an enlarged view of the vicinity of a third pivot shaft of a work machine according to an embodiment of the present invention, seen from the axial direction of the third pivot shaft, with a second boom at a second pivot position. [Figure 6] 1 is an enlarged view of the vicinity of a third pivot shaft of a work machine according to an embodiment of the present invention, seen from the axial direction of the third pivot shaft, with a second boom at a third pivot position. [Figure 7]1 is an enlarged view of a work machine according to an embodiment of the present invention, showing a side view of the third rotating shaft with the second boom at the third rotating position, and showing a state in which both the first switch and the second switch are operated. [Figure 8] 1 is a hydraulic circuit diagram according to an embodiment of the present invention. [Figure 9] 1 is a perspective view of an operating unit of a work machine according to an embodiment of the present invention. [Figure 10] 1 is a block diagram showing the configuration of a work machine according to an embodiment of the present invention; [Figure 11] FIG. 3 is a flowchart showing the automatic deployment operation of the work machine according to the embodiment of the present invention. [Figure 12] FIG. 4 is a flowchart showing an automatic storage operation of the work machine according to the embodiment of the present invention. [Figure 13] 1 is a front view of a working machine in a storage position according to an embodiment of the present invention, in which the first boom angle is α0 (=0°) and the second boom angle is β0 (=0°). [Figure 14] 1 is a front view of a first intermediate posture of a work machine according to an embodiment of the present invention, in which the first boom angle is α0 (=0°) and the second boom angle is β1 (≈60°). [Figure 15] 1 is a side view illustrating a working machine according to an embodiment of the present invention, in a second intermediate posture, with the second boom in a retracted position, which is a first swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 16] 1 is a front view illustrating a working machine according to an embodiment of the present invention, in a second intermediate posture, with the second boom in a retracted position, which is a first swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 17] 1 is a plan view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in a retracted position, which is a first swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 18]1 is a side view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a second swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 19] 1 is a front view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a second swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 20] 1 is a plan view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a second swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 21] 1 is a side view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a third swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 22] 1 is a front view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a third swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 23] 1 is a plan view illustrating a working machine according to an embodiment of the present invention, in which the working machine is in a second intermediate posture and the second boom is in an intermediate position that is a third swing position. In this embodiment, the first boom angle is α1 (≈100°), and the second boom angle is β1 (≈60°). [Figure 24] 1 is a front view illustrating a working machine according to an embodiment of the present invention, showing a state in the middle of moving from the second intermediate posture to the deployed position, with the second boom in the front position, which is the third swing position. In this embodiment, the first boom angle = α2 (= 125°), the second boom angle = β1 (≒ 60°), and the second boom is in the third swing position. [Figure 25]FIG. 1 is a front view illustrating a working machine according to an embodiment of the present invention, showing the home position, which is the deployed posture. In this embodiment, the first boom angle is α2 (=125°), the second boom angle is β1 (≒60°), and the second boom is in the third swing position. [Figure 26] 1 is a front view illustrating a working machine according to an embodiment of the present invention, showing an example of a working position. In this embodiment, the first boom angle is arbitrary, the second boom angle is arbitrary, and the second boom swing position is arbitrary. [Figure 27] 1 is a front view illustrating a working machine according to an embodiment of the present invention. It shows an example of a state on the way from the working position to the second intermediate posture. In this embodiment, the first boom angle is α2 (=125°), the second boom angle is arbitrary, and the second boom is at the third swing position or the second swing position. DETAILED DESCRIPTION OF THE INVENTION

[0011] The mechanical structure of an embodiment of a working machine according to the present invention will be described with reference to the drawings. A is a working machine. In this embodiment of the present invention, the working machine A relates to a working machine for performing work such as mowing. The working machine A is attached to and driven by a traveling machine body B such as a tractor. The traveling machine body B, which may be a tractor or the like, has the work machine A attached to its rear as shown in Figures 13 to 27, and is located behind the work machine A in Figure 1. M is an operator who operates the traveling machine body B.

[0012] Reference numeral 11 denotes the main frame. The main frame 11 is attached to the work machine A. The main frame 11 is attached to the rear side of the traveling machine body B in the direction of travel. As shown in the figure, the main frame 11 is provided with attachment parts 111 and 112 for attachment to the traveling machine body. The two parts 111 are attachment parts (lower) provided at the bottom, and 112 is an attachment part (top) provided at the top, and the work machine A is attached to the traveling machine body at three points.

[0013] 3 is an input shaft 22. The input shaft 22 takes in driving force from the traveling machine body B to which the input shaft 22 is attached to the working machine A. In a transmission unit (not shown), the driving force input from the traveling machine body B is changed in speed by the input shaft 22.

[0014] 1 to 3, reference numeral 24 denotes a hydraulic pump, which is a fluid pressure generating source. The hydraulic pump 24 is driven by driving force input from the traveling machine body B via the input shaft 22 and changed in speed by a transmission (not shown). The hydraulic pump 24 delivers hydraulic pressure to hydraulic equipment related to the work machine A that operates using hydraulic pressure. 1 and 2, a valve unit 25 is a directional control valve. The valve unit 25 controls the switching of the flow of hydraulic pressure.

[0015] 1 to 3, the mast frame 21 has a mast frame pivot shaft 211. The mast frame 21 is attached to the main frame 11 by the mast frame pivot shaft 211 so as to be freely rotatable. The mast frame 21 is provided at one end or the center of the main frame 11 of the work machine A relative to the left or right in the direction of travel. In this embodiment, the mast frame rotation shaft 211 is provided at a position slightly offset to the left in the direction of travel from the center, which is one end of the main frame 11, and the mast frame 21 is located at the left end of the main frame 11 in the direction of travel.

[0016] The mast frame 21 is capable of rotating the telescopic means 41 (described later) in the horizontal direction. The mast frame 21 is capable of rotating the telescopic means 41 around a vertical axis, i.e., a mast frame rotation shaft 211. By rotating the telescopic means 41 horizontally around the mast frame rotation shaft 211, the mast frame 21 can change its posture between a normal position where the telescopic means 41 is located on the left or right side in the traveling direction, and a retracted position where the telescopic means 41 is located on the rear side in the traveling direction. The mast frame 21 can be fixed to the main frame 11 so as to prevent it from rotating. The mast frame 21 shown in Figure 1 shows a state in which the other end of the first boom 411 of the telescopic means 41 is fixed in a position where it can rotate to the left and right sides relative to the traveling direction of the traveling machine body B.

[0017] Reference numeral 31 denotes a tank. In this embodiment, the tank 31 is an oil tank. The tank 31 is provided at the other end of the main frame 11 on the left and right sides in the direction of travel of the work machine A. Since each cylinder used in the work machine A is a hydraulic cylinder, the tank 31 stores oil for driving each oil cylinder.

[0018] Reference numeral 41 denotes an extension / contraction means. One end of the extension / contraction means 41 is connected to the rotatable mast frame 21 near the main frame 11. The extension / contraction means 41 allows the working unit 51 to assume a stored state in which the extension / contraction means 41 is folded and positioned on the main frame 11, as shown in Figs. 1 and 13, and an operating state in which the working unit 51 is extended and positioned to the side of the main frame 11 in the direction of travel, as shown in Fig. 2. Furthermore, it is possible to cause the working unit 51 to assume the states shown in Figs. 14 to 27.

[0019] That is, the extension means 41 can be changed between a stored state in which it is folded near the main frame 11, an extended state in which it is extended to the side of the main frame 11, and an intermediate state between these. In the following description, the stored state may be referred to as the storage state, and the extended state may be referred to as the deployed state or working state. The telescopic means 41 has a first boom 411, a first connector 412, a second boom 413, a second connector 414, a first cylinder 415, a second cylinder 416, a third cylinder 417, and a fourth cylinder 418. These cylinders, such as the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, are double-acting cylinders that rotate the boom.

[0020] The first boom 411 has one end connected to the mast frame 21 and is provided so as to be rotatable in the vertical direction. The other end of the first boom 411 can be positioned far to the side of the traveling machine body B in the direction of travel. First connecting body 412 is a connecting body, and has one end connected to the tip of the other end of first boom 411, and is provided so as to be rotatable in the up and down direction relative to first boom 411. The second boom 413 has one end connected to the tip of the other end of the first connector 412, and is provided so as to be rotatable in the forward and backward directions relative to the traveling direction when the mast frame 21 is in the normal position. In other words, the second boom 413 can be rotated by the first connector 412 in the up and down direction parallel to the rotation direction of the first boom 411, and in the forward and backward directions relative to the traveling direction, which is a direction intersecting the rotation direction of the first boom 411. The second connector 414 has one end at the tip of the other end of the second boom 413, and when the mast frame 21 is in the normal position, it forms a parallel link with the first connector 412, thereby allowing it to move in the front-to-rear direction parallel to the first connector 412 without changing the tilt direction in the up-down and left-to-right directions relative to the forward and backward traveling direction. In other words, even when the second boom 413 is rotated forward and backward, the axial direction of a fourth pivot shaft 418A of the second connector 414, which will be described later, does not change.

[0021] The first cylinder 415 is made up of a hydraulic cylinder, and connects the mast frame 21 and the first boom 411 via a link mechanism 42 made up of two arms that connect the mast frame 21 and the first boom 411. The first cylinder 415 is used to rotate the first boom 411, and is provided on the first boom 411. When the first cylinder 415 extends or retracts, it simultaneously rotates together with the first boom 411, causing the first boom 411 to rotate up and down. The first cylinder 415 drives the first boom 411 serving as the telescopic means 41 to rotate around a first pivot shaft 411A, which is a horizontal shaft provided between the mast frame 21 and the first boom 411. The first boom 411 is connected to the mast frame 21 so as to be rotatable in the vertical direction around a first pivot shaft 411A. The first boom 411 is supported by a first pivot shaft 411A, which is a horizontal shaft, and is rotatable around the horizontal shaft 411A. The first boom 411 can be switched between a stored state in which it is folded above the main frame 11 and an unfolded state in which it is pivoted to the side of the main frame 11.

[0022] The second pivot shaft 413A is a shaft that connects the first boom 411 and the first connector 412, which is a connector, and is provided parallel to the first pivot shaft 411A. One end of first connecting body 412, which is a connecting body, is provided so as to be rotatable in the same direction as the rotation direction of first boom 411 by second rotating shaft 413A which is parallel to first rotating shaft 411A. A third pivot shaft 417A is provided on the other end of first connecting body 412, which is a connecting body. By connecting one end of second boom 413 to third pivot shaft 417A, second boom 413 can pivot around third pivot shaft 417A. Third pivot shaft 417A is provided in a direction intersecting first pivot shaft 411A and second pivot shaft 413A. Therefore, second boom 413 can pivot by third pivot shaft 417A in a direction intersecting first boom 411. The second boom 413 can be rotated in a direction parallel to the first boom 411 by the second pivot shaft 413A via the first connector 412, which is a connector. In other words, the second boom 413 can be rotated via the second pivot shaft 413A and the third pivot shaft 417A in a direction relatively parallel to the rotation direction of the first boom 411 and in a direction intersecting the direction.

[0023] Second cylinder 416 is made up of a hydraulic cylinder, and connects first boom 411 to the other end of first connector 412. Second cylinder 416 is used to rotate first connector 412 up and down around second pivot shaft 413A. The third cylinder 417 is a front-rear rotating cylinder, and is made of a hydraulic cylinder, and connects the first connecting body 412 and the second boom 413 together. The third cylinder 417 is used to rotate the second boom 413 back and forth relative to the first boom 411. The third cylinder 417 rotates the extension and contraction means 41 back and forth by extending and contracting the stroke when the mast frame 21 is in the normal position.

[0024] The fourth cylinder 418 is made up of a hydraulic cylinder, and connects the second connector 414 with the working unit 51, which will be described later. The fourth cylinder 418 is used to rotate the working unit 51 up and down. As shown in FIG. 8, each of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 has a rod side chamber (415b, 416b, 417b, 418b) and a bottom side chamber (415a, 416a, 417a, 418a).

[0025] Reference numeral 51 denotes a working unit. The working unit 51 is provided at the tip end of the other end of the second connecting body 414 and on the front side in the direction of travel of the second connecting body 414. The working unit 51 is further provided so as to be rotatable in the up and down direction relative to the second connecting body 414. In this embodiment, when the mast frame 21 is in its normal position, the working unit 51 has multiple blades arranged on a rotating shaft 512, which is a rotor shaft oriented in a direction perpendicular to the direction of travel, and performs ground work such as mowing by rotating the multiple blades. A cover 514 covers the periphery of the rotary shaft 512 and covers the upper side of the rotary shaft 512 in the working state.

[0026] The working unit 51 is attached to the second boom 413 via a second connector 414. The working unit 51 is rotatable relative to the second connector 414 by a fourth pivot shaft 418A, which is a working unit pivot shaft provided on the second connector 414 and faces forward and backward in the direction of travel. A link mechanism (not shown) provided on the second boom 413 prevents the second connector 414 from tilting in the forward and backward directions relative to the direction of travel, even when the second boom 413 pivots around the third pivot shaft 417A. In other words, because the fourth pivot shaft 418A is always kept parallel to the direction of travel, the left and right ends of the working unit 51 do not tilt in the forward and backward directions relative to the direction of travel. The working unit 51 is rotatable relative to the second boom 413.

[0027] The first boom 411 is rotatably driven by a first cylinder 415, the first connecting body 412 is rotatably driven by a second cylinder 416, the second boom 413 is rotatably driven by a third cylinder 417, and the working unit 51 is rotatably driven by a fourth cylinder 418. Each cylinder is connected to a directional control valve 25. The directional control valve 25 receives a command signal from a control unit t disposed adjacent to the work machine A, thereby operating each of the aforementioned cylinder groups.

[0028] The reference numeral u in FIG. 9 denotes an operating unit. The operating unit u is provided on the traveling machine body B and operates the directional control valve 25 via the control unit t. The operating unit u is provided with an operating lever u3 and an operating button B consisting of a first button B1, a second button B2, a third button B3, and a fourth button B4 provided at the tip of the operating lever u3. The operating unit u is provided with a pressure switch operating switch u1 and a floating switch u2, which is a floating means. The operating lever u3 operates the directional control valve 25 for operating the first boom 411, the first connecting body 412, and the second boom 413.

[0029] The floating switch u2, which is a floating means, puts the working unit 51 into a floating mode, which is a floating operating state, or into a floating operation release state. When the working unit 51 is in the floating operating state, the deployed working unit 51 moves up and down freely without being dependent on the operation of the operating lever u3, so it can follow unevenness in the work surface as it moves forward. The operating lever u3 operates the directional control valve 25, which causes the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418 to extend or retract.

[0030] The operating unit u can rotate the first boom 411, the first connecting body 412 which is the connecting body, the second boom 413, and the working unit 51 by tilting the operating lever u3 forward (first direction D1), backward (second direction D2), left (third direction D3), or right (fourth direction D4) corresponding to the direction of travel, or by operating each operating button B, the forward button (first button B1), the backward button (second button B2), the left button (third button B3), or the right button (fourth button B4), which corresponds to the direction of travel.

[0031] In this embodiment, when the operating lever u3 is tilted forward (first direction D1), the first boom 411 rotates around the first pivot shaft 411A toward the storage side, and when tilted backward (second direction D2), the first boom 411 rotates toward the deployment side. When the operating lever u3 is tilted left (third direction D3), the first pivot shaft 411A and the second boom 413, which are the connecting body, rotate around the second pivot shaft toward the deployment side, and when tilted right (fourth direction D4), the first boom 411 rotates toward the storage side.

[0032] Furthermore, when the front button (first button B1) of the operation buttons B is operated, the other end of the second boom 413 rotates forward around the third rotation shaft 417A, and when the rear button (second button B2) is operated, the other end of the second boom 413 rotates backward. When the left button (third button B3) is operated, the working unit 51 rotates in the deployment direction around the fourth rotation shaft 418A, which is the rotation shaft of the working unit 51, and when the right button (fourth button B4) is operated, the working unit 51 rotates in the storage direction around the fourth rotation shaft 418A. In the illustrated rotation directions, the deployed side of the first boom 411 refers to a rotation in the counterclockwise direction around the first pivot shaft 411A as viewed from the rear in the direction of travel, and the retracted side of the first boom 411 refers to a rotation in the clockwise direction around the first pivot shaft 411A as viewed from the rear in the direction of travel. Furthermore, in the illustrated rotation directions, the deployed side of the second boom 413 refers to a rotation in the clockwise direction around the second pivot shaft 413A as viewed from the rear in the direction of travel, and the retracted side of the second boom 413 refers to a rotation in the counterclockwise direction around the second pivot shaft 413A as viewed from the rear in the direction of travel. Furthermore, in the illustrated rotation directions, the deployed side of the working unit 51 refers to a rotation in the counterclockwise direction around the fourth pivot shaft 418A as viewed from the rear in the direction of travel, and the retracted side of the working unit 51 refers to a rotation in the clockwise direction around the fourth pivot shaft 418A as viewed from the rear in the direction of travel.

[0033] A hydraulic circuit according to an embodiment of the present invention will be described with reference to FIG. c is the first relief valve (first pilot relief valve). The directional control valve 25 is made up of a first cylinder directional control valve 251, a second cylinder directional control valve 252, a third cylinder directional control valve 253, and a fourth cylinder directional control valve 254. The directional control valve 25 is a valve that operates by an electric signal, and its operation is controlled by the control unit t. The directional control valve 25 controls the fluid flowing in and out of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 by switching it in the direction in which the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 extend or contract. The first relief valve c is provided in the directional control valve 25. The first relief valve c has the function of automatically opening at a set pressure to reduce pressure. The first relief valve c is a pressure relief or safety relief valve that releases pressure when abnormal pressure occurs in the fluid in the circuit inside the directional control valve 25.

[0034] The tank (oil tank) 31 is connected to the directional control valve 25 via the fluid pressure generating source 24, which is a hydraulic pump. Inside the directional control valve 25, the fourth cylinder directional control valve 254, the third cylinder directional control valve 253, the second cylinder directional control valve 252, and the first cylinder directional control valve 251 are connected in this order.

[0035] The first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254 within the direction control valve 25 respectively connect the first cylinder 415, the second cylinder 416, and the third cylinder 417 and fourth cylinder 418, which are front-rear rotating cylinders, to an unloading circuit (no-load circuit) h that returns the fluid that has flowed into the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254 to the tank (oil tank) 31 when no operation is performed by the operating unit u. The first cylinder 415 is connected to a directional control valve 251 that controls the fluid flowing in and out of the first cylinder 415. The first cylinder 415 controls the fluid flowing in and out of the first cylinder 415 by the directional control valve 251.

[0036] One end of the first relief valve c is connected to an unloading circuit h that returns fluid from the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254, which are the respective directional control valves 25, to the tank (oil tank) 31 side when the operating unit u is not being operated. The other end of the first relief valve c is connected to the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254, which are the directional control valves 25, via first check valves 251a, second check valves 252a, third check valves 253a, and fourth check valves 254a that can suppress the inflow of fluid from the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254 to the first relief valve c side. The other end of the first relief valve c is also connected to a tank (oil tank) 31.

[0037] As shown in FIG. 8, the first cylinder 415 has a rod side chamber 415b and a bottom side chamber 415a. The second cylinder 416 has a rod side chamber 416b and a bottom side chamber 416a. The third cylinder 417 has a rod side chamber 417b and a bottom side chamber 417a. The fourth cylinder 418 has a rod side chamber 418b and a bottom side chamber 418a.

[0038] The first cylinder direction control valve 251 is connected to the rod side chamber 415b and the bottom side chamber 415a of the first cylinder 415. The second cylinder direction control valve 252 is connected to the rod side chamber 416b and the bottom side chamber 416a of the second cylinder 416. The third cylinder direction control valve 253 is connected to the rod side chamber 417b and the bottom side chamber 417a of the third cylinder 417. The fourth cylinder direction control valve 254 is connected to the rod side chamber 418b and the bottom side chamber 418a of the fourth cylinder 418.

[0039] The first cylinder direction control valve 251 is configured so that a circuit leading from the first cylinder direction control valve 251 to the first cylinder 415 and a circuit leading from the first cylinder direction control valve 251 to the tank (oil tank) 31 can be connected.

[0040] The second cylinder directional control valve 252 is configured so that a circuit heading from the second cylinder directional control valve 252 to the second cylinder 416 and a circuit heading from the second cylinder directional control valve 252 to the tank (oil tank) 31 can be connected. The third cylinder directional control valve 253 is configured so that a circuit heading from the third cylinder directional control valve 253 to the third cylinder 417 and a circuit heading from the third cylinder directional control valve 253 to the tank (oil tank) 31 can be connected. The fourth cylinder directional control valve 254 is configured so that a circuit heading from the fourth cylinder directional control valve 254 to the fourth cylinder 418 and a circuit heading from the fourth cylinder directional control valve 254 to the tank (oil tank) 31 can be connected.

[0041] In this embodiment, the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, which are directional control valves 25 that control the first cylinder 415 to the fourth cylinder 418, block the circuit within the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, which are directional control valves 25, so that the fluid transferred from the fluid pressure generation source 24 cannot flow in or out of the first cylinder 415 to the fourth cylinder 418 through the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, which are directional control valves 25.

[0042] When a switching operation is performed using the operating unit u, fluid can flow from the fluid pressure generating source 24 to the first cylinder 415 to the fourth cylinder 418, and fluid can flow from the first cylinder 415 to the fourth cylinder 418 to the tank (oil tank) 31. Furthermore, in a neutral state when not in operation, each of the directional control valves 25 used in this embodiment, that is, the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254, sends the fluid that is constantly transferred from the fluid pressure generation source 24 to the tank 31 via the unloading circuit h.

[0043] The first cylinder direction control valve 251 has a circuit that runs from the first cylinder direction control valve 251 toward the tank 31 side that is different from the unloading circuit h, and a circuit that connects the first cylinder direction control valve 251 to the first relief valve c and the unloading circuit h via a check valve 251a that can suppress the inflow of fluid toward one end side of the first relief valve c. The second cylinder direction control valve 252 has a circuit that runs from the second cylinder direction control valve 252 toward the tank 31 side that is different from the unloading circuit h, and a circuit that connects the second cylinder direction control valve 252 to the first relief valve c and the unloading circuit h via a check valve 252a that can suppress the inflow of fluid toward one end side of the first relief valve c.

[0044] The third cylinder directional control valve 253 has a circuit that runs from the third cylinder directional control valve 253 toward the tank 31 side, which is different from the unloading circuit h, and a circuit that connects the third cylinder directional control valve 253 to the first relief valve c and the unloading circuit h via a check valve 253 a that can suppress the inflow of fluid toward one end side of the first relief valve c. The fourth cylinder directional control valve 254 has a circuit that runs from the fourth cylinder directional control valve 254 toward the tank 31 side, which is different from the unloading circuit h, and a circuit that connects the fourth cylinder directional control valve 254 to the first relief valve c and the unloading circuit h via a check valve 254a that can suppress the inflow of fluid toward one end side of the first relief valve c.

[0045] The rod side chamber 415b of the first cylinder 415 and the bottom side chamber 415a of the first cylinder 415 are each connected to the first cylinder direction control valve 251. Either the rod side chamber 415b or the bottom side chamber 415a of the first cylinder 415 is connected to the tank 31 by switching the first cylinder direction control valve 251. The first cylinder 415 controls the first cylinder directional control valve 251 to draw fluid into the bottom side chamber 415a and push fluid out of the rod side chamber 415b when the stroke is extended toward the stroke end, and pushes fluid out of the bottom side chamber 415a and draws fluid into the rod side chamber 415b when the stroke is shortened. The first cylinder 415 rotates the first boom 411 constituting the extension / contraction means 41 by extending or contracting the stroke, thereby raising or lowering the working unit 51. The extension and contraction of the first cylinder 415 is controlled by a directional control valve 25 having a first relief valve c.

[0046] The rod side chamber 416b of the second cylinder 416 and the bottom side chamber 416a of the second cylinder 416 are each connected to the second cylinder direction control valve 252. Either the rod side chamber 416b or the bottom side chamber 416a of the second cylinder 416 is connected to the tank 31 by switching the second cylinder direction control valve 252. The second cylinder 416 controls the second cylinder directional control valve 252 to draw fluid into the bottom side chamber 416a and push fluid out of the rod side chamber 416b when the stroke is extended toward the stroke end, and pushes fluid out of the bottom side chamber 416a and draws fluid into the rod side chamber 416b when the stroke is shortened. The second cylinder 416 rotates the first connecting body 412 constituting the extension / contraction means 41 by extending or contracting its stroke, thereby raising or lowering the working unit 51. The extension and contraction of the second cylinder 416 is controlled by a directional control valve 25 having a first relief valve c.

[0047] The rod side chamber 417b of the third cylinder 417 and the bottom side chamber 417a of the third cylinder 417 are each connected to the third cylinder direction control valve 253. Either the rod side chamber 417b or the bottom side chamber 417a of the third cylinder 417 is connected to the tank 31 by switching the third cylinder direction control valve 253. The third cylinder 417 controls the third cylinder directional control valve 253 to draw fluid into the bottom side chamber 417a and push out fluid from the rod side chamber 417b when the stroke is extended toward the stroke end, and pushes out fluid from the bottom side chamber 417a and draws fluid into the rod side chamber 417b when the stroke is shortened. The third cylinder 417 rotates the second boom 413 constituting the extension / contraction means 41 in the front-rear direction by extending and contracting the stroke when the mast frame 21 is in the normal state. The extension and contraction of the third cylinder 417 is controlled by a directional control valve 25 having a first relief valve c.

[0048] The rod side chamber 418b of the fourth cylinder 418 and the bottom side chamber 418a of the fourth cylinder 418 are each connected to the fourth cylinder direction control valve 254. Either the rod side chamber 418b or the bottom side chamber 418a of the fourth cylinder 418 is connected to the tank 31 by switching the fourth cylinder direction control valve 254. The fourth cylinder 418 controls the fourth cylinder directional control valve 254 to draw fluid into the bottom side chamber 418a and push fluid out of the rod side chamber 418b when the stroke is extended toward the stroke end, and to push fluid out of the bottom side chamber 418a and draw fluid into the rod side chamber 418b when the stroke is shortened. The fourth cylinder 418 rotates the working unit 51 in the vertical direction relative to the second connector 414 when the mast frame 21 is in the normal state by extending or contracting its stroke. The extension and contraction of the fourth cylinder 418 is controlled by a directional control valve 25 having a first relief valve c.

[0049] The first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 share the first relief valve c. The directional control valve 25 can be switched to extend or retract the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, respectively, to pump the fluid pressure generated by the pump 24 to the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, thereby driving each cylinder to extend or retract.

[0050] Furthermore, the directional control valve 25 may return the pressurized fluid from the pump 24 to a return circuit on the tank 31 side to unload the fluid, and may have a neutral position that connects this return circuit to the bottom side chamber 415a and the rod side chamber 415b of the cylinder 415 and has a circuit that communicates with the tank 31.

[0051] When a neutral circuit, which is a neutral position that communicates with the tank 31, is provided in the circuit inside the directional control valve 25, the fluid in the rod side chamber 415b and the bottom side chamber 415a inside the cylinder 415 can move freely between each other, allowing the cylinder 415 to be in a freely extending and retracting state. When the floating switch u2 is operated to set the floating operation state, the first boom 411 moves up and down freely, allowing the working unit 51 to follow uneven parts of the work surface as it moves forward.

[0052] The control unit t shown in Fig. 10 is connected to and controls the operation of directional control valves 25, which include a first cylinder directional control valve 251, a second cylinder directional control valve 252, a third cylinder directional control valve 253, and a fourth cylinder directional control valve 254. As shown in Fig. 10, the control unit t is connected to a notification unit q, a receiving unit o, a first sensor Se1, a second sensor Se2, a first switch Sw1, and a second switch Sw2. The control unit t receives an operation signal at the receiving unit o, which is generated by the operation unit u and is generated by manually operating the operation lever u3 and the operation button B, and then outputs an operation signal to the directional control valve 25 to operate the directional control valve 25, using this operation signal as an input.

[0053] When the directional control valve 25 receives an operation signal output from the control unit t, it operates the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254 based on the operation of the operation lever u3 and the operation button B, and controls the fluid flowing in and out of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. When the control unit t receives a signal transmitted in response to the operation of the operation unit u, it controls the operation of the directional control valve 25 via the control unit t.

[0054] When the operating lever u3 and the operating button B are manually operated, the operating signal sent from the operating unit u is received by the receiving unit o and sent to the control unit t, where it is input. The control unit t, which receives the operating signal, then outputs an operating signal to operate other components. The operation signal output by the control unit t controls the operation of the directional control valve 25 so as to move the end of the extension / retraction means 41 in a direction to raise or lower it. The operation signal also controls the operation of the directional control valve 25 so as to move the end of the extension / retraction means 41 leftward, rightward, forward, or backward relative to the traveling direction. The directional control valves 25 are valves that are operated by electrical signals, and the operation of these valves is controlled by a control unit t. Although the operation unit u is shown as operating various valves via the control unit t by wireless transmission, it may be wired.

[0055] The control unit t, which has received the operation signal, outputs an operation signal to operate the directional control valve 25. Upon receiving this operation signal, the directional control valve 25 switches the circuit to send fluid to the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 in order to raise or lower the working unit 51 provided at the other end of the telescopic means 41, or to move it left or right relative to the traveling direction, or to move it forward or backward, or to turn left as viewed from the traveling direction, or to turn left as viewed from the traveling direction. In the working state example, the working unit 51 is raised by switching the circuit to pump fluid from the direction control valve 251 to the bottom side chamber 415a, and the working unit 51 is lowered by switching the circuit to pump fluid from the direction control valve 251 to the rod side chamber 415b. The working unit 51 is moved left by switching the circuit to pump fluid from the direction control valve 252 to the bottom side chamber 416a, and the working unit 51 is moved right by switching the circuit to pump fluid from the direction control valve 252 to the rod side chamber 416b. The working unit 51 is moved forward by switching the circuit to pump fluid from the direction control valve 253 to the bottom side chamber 417a, and the working unit 51 is moved backward by switching the circuit to pump fluid from the direction control valve 253 to the rod side chamber 417b. In addition, left rotation around the fourth pivot axis 418A when viewed from behind the direction of travel of the working unit 51 is achieved by switching the circuit so that fluid is pressurized from the direction control valve 254 to the bottom side chamber 418a, and right rotation around the fourth pivot axis 418A when viewed from behind the direction of travel of the working unit 51 is achieved by switching the circuit so that fluid is pressurized from the direction control valve 254 to the rod side chamber 418b.

[0056] The control unit t can send operation signals to the various valves and other components that require electrical control. The transmitted operation signals can be used to send signals to operate the notification unit q (sound equipment such as a speaker) and the display unit (not shown; display device and lamps, etc.).

[0057] 11, the control unit t automatically deploys the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 in a predetermined procedure. The automatic deployment operation is performed only while the automatic deployment operation is being performed by the operating unit u, and stops when the operator M stops the operation. In this embodiment, the automatic deployment operation is performed by tilting the operating lever u3 shown in Fig. 9 to the left (third direction D3) and simultaneously pressing the left button (third button B3), so that the control unit t recognizes that the automatic deployment operation has been performed. Instead of simultaneously operating the operating lever u3 and operating button B, a dedicated operating tool (not shown) for operations related to automatic deployment may be provided in the operating unit u.

[0058] 12, the control unit t automatically performs a storing operation in a predetermined procedure on the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51. The automatic storing operation is performed only while the automatic storing operation is being performed by the operating unit u, and stops when the operator M stops the operation. In this embodiment, the automatic storage operation is performed by tilting the operating lever u3 shown in Fig. 9 to the right (fourth direction D4) and pressing the right button (fourth button B4) simultaneously, so that the control unit t recognizes that the automatic storage operation has been performed. Instead of simultaneously operating the operating lever u3 and the operating button B, a dedicated operating tool (not shown) for operations related to automatic storage may be provided in the operating unit u.

[0059] The first boom 411 is provided with a first sensor Se1. The first sensor Se1 is made up of a potentiometer, and constantly detects the rotation angle of the first boom 411 relative to the mast frame 21 around the first rotation axis 411A. Se11 is a first sensor arm. The first sensor arm Se11 protrudes from the first sensor Se1. The first sensor Se1 is an angle measuring device that can detect the amount of displacement in the rotation angle, which is the amount of movement of the first boom 411, due to the rotation of the first sensor arm Se11 connected to the first boom 411, and output the detected value.

[0060] The first sensor Se1 in this embodiment is provided with a rotatable first sensor arm Se11 for angle detection, with a first elongated detection hole Se13 at its tip. By positioning a first pin-shaped portion Se12 fixed to the mast frame 21 inside the first detection hole Se13, the first sensor arm Se11 rotates around the first sensor Se1 as the first boom 411 rotates, and the rotation angle of the first boom 411 is detected. The first sensor Se1 is provided so as to be able to transmit the detected first angle signal to the control unit t. Since the first boom 411 is attached to the main frame 11 via the mast frame 21, the first sensor Se1 detects the rotation angle of the first boom 411, which rotates around the first rotation axis 411A, relative to the main frame 11.

[0061] A second sensor Se2 is provided near the second pivot shaft 413A of the first connecting body 412. Se21 is a second sensor arm. The second sensor arm Se21 protrudes from the second sensor Se2. The second sensor Se2 is an angle measuring device that can detect the amount of displacement in the rotation angle, which is the amount by which the first boom 411 moves, due to the rotation of the second sensor arm Se21 connected to the first boom 411, and output the detected value.

[0062] The second sensor Se2 is made up of a potentiometer and constantly detects the rotation angle of the first connecting body 412 that rotates around the second rotation axis 413A relative to the first boom 411. The second sensor Se2 in this embodiment is provided with a second sensor arm Se21 for angle detection that is rotatable relative to the second sensor Se2, and has a second detection hole Se23 in the shape of an elongated hole at its tip. By positioning the second pin-shaped portion Se22 fixed to the tip portion on the other end side of the first boom 411 inside the second detection hole Se23, the second sensor arm Se21 rotates around the second sensor Se2 as the first connector 412 rotates around the second rotation axis 413A, and the second sensor Se2 detects the rotation angle of the first connector 412 with respect to the first boom 411. The second sensor Se2 transmits the detected second angle signal to the control unit t.

[0063] The first switch Sw1 and the second switch Sw2 will be described with reference to FIGS. 4 to 6, which are enlarged views of the vicinity of the third pivot shaft 417A of the work machine A according to the embodiment as viewed in the axial direction of the third pivot shaft 417A. A first switch Sw1 and a second switch Sw2 are provided near the third pivot shaft 417A of the first connecting body 412. The first switch Sw1 and the second switch Sw2 are each configured as limit switches that open and close the circuit by physical contact. The first switch Sw1 and the second switch Sw2 are attached to a mounting base Sw3 provided on the first connecting body 412. By opening and closing this circuit, the first switch Sw1 can send a first contact signal and the second switch Sw2 can send a second contact signal to the control unit t. The second switch Sw2 is placed at a position radially away from the first switch Sw1 in the radial direction of the third pivot shaft 417A. The first switch Sw1 and the second switch Sw2 are placed at approximately the same position in the circumferential direction of the third pivot shaft 417A.

[0064] The first action portion F1 and the second action portion F2 will be described with reference to FIGS. 4 to 6, a first acting part F1 and a second acting part F2 are provided on one end side of the second boom 413. The first acting part F1 is a part that protrudes from one end side of the second boom 413 in a radial direction relative to the radial direction of the third pivot shaft 417A, and can come into contact with the first switch Sw1 when the second boom 413 pivots around the third pivot shaft 417A.

[0065] The second action part F2 is a part that protrudes from one end side of the second boom 413 in a radial direction relative to the radial direction of the third pivot shaft 417A, and is arranged at a position farther away from the first action part F1 in the radial direction relative to the radial direction of the third pivot shaft 417A. The second action part F2 is arranged at a different position relative to the first action part F1 in the circumferential direction of the third pivot shaft 417A.

[0066] The contact / non-contact state between the first action portion F1 and the first switch Sw1, and the contact / non-contact state between the second action portion F2 and the second switch Sw2 will be described. When the second boom 413 shown in FIG. 4 is in the first swing position, the first action part F1 is not in contact with the first switch Sw1, and the second action part F2 is not in contact with the second switch Sw2. When the second boom 413 shown in FIG. 5 is in the second pivot position due to the rotation of the second boom 413 around the third pivot axis 417A relative to the first connecting body 412, the first acting part F1 is in contact with the first switch Sw1, and the second acting part F2 is not in contact. When the second boom 413 is in the third pivot position shown in Figure 6 due to the rotation of the second boom 413 around the third pivot axis 417A relative to the first connecting body 412 from the state shown in Figure 5, the first acting part F1 comes into contact with the first switch Sw1 and the second acting part F2 comes into contact with the second switch Sw2.

[0067] When the second boom 413 rotates from the first rotation position to the third rotation position, after the first switch Sw1 is operated by contact with the first action part F1 at the second rotation position, it continues to be operated while rotating toward the third rotation position. Since the second action part F2 and the first action part F1 are arranged so that they are at different positions relative to the circumferential direction of the third rotation axis 417A, the rotation angle of the second boom 413 at which the first switch Sw1 contacts and emits the first contact signal can be made different from the rotation angle of the second boom 413 around the third rotation axis 417A at which the second switch Sw2 contacts and emits the second contact signal.

[0068] In the embodiment, the first switch Sw1 and the second switch Sw2 are disposed at approximately the same position in the circumferential direction of the third pivot shaft 417A, and the first action portion F1 and the second action portion F2 are disposed at different positions in the circumferential direction of the third pivot shaft 417A. However, this example is not limiting. It is sufficient that the angles at which the first switch Sw1 and the second switch Sw2 are operated by the first action portion F1 and the second action portion F2 differ depending on the rotation of the second boom 413 around the third pivot shaft 417A. For example, the first switch Sw1 and the second switch Sw2 may be disposed at different positions in the circumferential direction of the third pivot shaft 417A, and the first action portion F1 and the second action portion F2 may be disposed at approximately the same position in the circumferential direction of the third pivot shaft 417A, thereby corresponding to each other. In the description, the state in which the first switch Sw1 is in contact with the first action part F1 may be referred to as the ON or on or ON state, the state in which the first switch Sw1 is not in contact with the first action part F1 may be referred to as the OFF or off or OFF state of the first switch Sw1, the state in which the second switch Sw2 is in contact with the second action part F2 may be referred to as the ON or on or ON state of the second switch Sw2, and the state in which the second switch Sw2 is not in contact with the second action part F2 may be referred to as the OFF or off or OFF state of the second switch Sw2.

[0069] The storage position of the work machine A will be described. The stowed posture refers to a state in which the first boom 411 is laid horizontally on top of the mast frame 21 or the main frame 11, the second boom 413 is positioned so as to overlap or fold over the first boom 411, the second boom 413 is rotated to the first pivot position (retracted position) as shown in FIGS. 1, 4, and 13, and the working unit 51 is positioned so as to overlap or fold over the second boom 413. In the front view shown in FIGS. 1 and 13, the working unit 51 in the stowed posture has the rotation shaft 512 parallel to the first boom 411 and the second boom 413. During operation, the top surface of the cover 514 faces the second boom 413 by rotating around the fourth pivot shaft. The stowed posture may also be referred to as the stowed position. The horizontal plane used in the description of this invention is used to conveniently represent the running surface of the running body in order to explain in reference to the illustrated drawings, and is different from the horizontal plane used in the so-called direction of gravity.

[0070] In the storage position of the working machine A, the working unit 51 is folded and stored at the rear of the traveling machine body B, as shown in FIG. 13, which is a front view of the working machine A according to the embodiment in the storage position. The angle from the horizontal plane to the first boom 411 is defined as the first boom angle, and the angle between the first boom 411 and the second boom 413 is defined as the second boom angle. 13, the first boom angle is α0 (=0°) and the second boom angle is β0 (=0°). The second boom 413 is in a first rotation position where it is not rotated forward around the third rotation shaft 417A.

[0071] The intermediate position and the deployed position of the work implement A will be described. The deployed posture of the work implement A is in the following state. (1) The first boom 411 in the stored position is rotated around the first rotation shaft 411A to the deployed side so as to be raised relative to the mast frame 21 or the main frame 11, and the other end of the first boom 411 is positioned laterally relative to the mast frame 21 or the main frame 11. (2) The second boom 413 is rotated from a folded state relative to the first boom 411 to the unfolded side around the second rotation shaft 413A, widening the angle between them. (3) The second boom 413 is rotated around the third rotation axis 417A and positioned at the third rotation position shown by the solid line in FIG. 3 and illustrated in FIGS. 6, 7, 21, 22, 23, and 24. (4) A state in which the working unit 51 is rotated around the fourth rotation shaft 418A, and the second boom 413 is rotated to the deployment side, which is the direction in which the second boom 413 is extended from one end side to the other end side. This refers to... The deployed posture is the posture shown in FIG. 25, and is sometimes called the deployed position or home position.

[0072] Explain the turning angle. Regarding the first boom 411, the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the stored position as shown in Figures 13 and 14 is the storage angle α0 of the first boom 411, and the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the deployed position as shown in Figure 24 is the second first boom angle α2. The rotation angle of the first boom 411, which is a preset angle between the rotation angles α0 and α2, is referred to as the first first boom angle α1. The first boom 411 can rotate around the first rotation axis 411A at least between α0 and α2. In the description, the storage angle α0 may be referred to as the rotation angle α0, the first first boom angle α1 as the rotation angle α1, and the second first boom angle α2 as the rotation angle α1.

[0073] With regard to the second boom 413, the relative rotation angle to the first boom 411 in the stored posture as shown in Fig. 13 is referred to as the storage angle β0 of the second boom 413, and the relative rotation angle to the second boom 413 in the deployed posture as shown in Figs. 14 to 23 is referred to as the first / second boom angle β1. The second boom 413 can rotate around the second rotation axis 413A at least from β0 to β1. In the description, the storage angle β0 may be referred to as the rotation angle β0, and the first / second boom angle β1 may be referred to as the rotation angle β1.

[0074] As shown in FIG. 3, the second boom 413 rotates from a first rotation position (retracted position) in which it is close to the mast frame 21 around the third rotation axis 417A to the forward side around the third rotation axis 417A relative to the first connector 412, via a second rotation position which is an intermediate position, to a third rotation position (forward position).

[0075] Regarding the current angle, the angle of the first boom 411 rotating around the first rotating shaft 411A relative to the main frame 11 or the mast frame 21 at the current time is defined as the current angle θ1, and the angle of the second boom 413 rotating around the second rotating shaft relative to the first boom 411 at the current time is defined as the current angle θ2. The control unit t can always recognize the current angle θ1 and the current angle θ2.

[0076] The stored posture shown in Figures 1 and 13 is formed when the current angle θ1 of the first boom 411 is 0°, i.e., a stored angle α0 (θ1 = α0), the current angle θ2 of the second boom 413 is 0°, i.e., a stored angle β0 (θ2 = β0), and the first switch Sw1 and the second switch Sw2, which indicate that the second boom 413 is in the first swing position (retracted position), are both in the OFF state, i.e., not in contact with the first action portion F1 and the second action portion F2. (Stored posture)

[0077] The first intermediate posture shown in FIG. 14 is formed when the current angle θ1 of the first boom 411 is equal to or smaller than the first boom angle α1 (θ1≦α1), the current angle θ2 of the second boom 413 is equal to the first boom angle β1 (θ2=β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the first swing position (retracted position) are both in the OFF state. (First intermediate posture) In the example shown in FIG. 14, the current angle θ1 of the first boom 411 is 0°, which is equal to or less than the first boom angle α1.

[0078] When the current angle θ1 of the first boom 411 is the first boom angle α1 (θ1=α1), the current angle θ2 of the second boom 413 is the first boom angle β1 (θ2=β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the first swing position (retracted position) are both in the OFF state, the second intermediate position shown in Figures 15, 16, and 17 is formed (second intermediate position and first swing position).

[0079] When the current angle θ1 of the first boom 411 is the first boom angle α1 (θ1=α1), the current angle θ2 of the second boom 413 is the first boom angle β1 (θ2=β1), the first switch Sw1 indicating the second swing position of the second boom 413 is in the ON state, and the second switch Sw2 is in the OFF state, the second intermediate posture shown in Figures 18, 19, and 20 is formed (second intermediate posture and second swing position).

[0080] When the current angle θ1 of the first boom 411 is the first boom angle α1 (θ1=α1), the current angle θ2 of the second boom 413 is the first boom angle β1 (θ2=β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the third swing position are both in the ON state, the second intermediate posture shown in Figures 21, 22, and 23 is formed (second intermediate posture and third swing position).

[0081] When the current angle θ1 of the first boom 411 is the first boom angle α2 (θ1=α2), the current angle θ2 of the second boom 413 is the first boom angle β1 (θ2=β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the third swing position are both in the ON state, the deployed posture shown in Figure 25 is formed (deployed posture=home position). In the front view shown in FIG. 25, the working unit 51 in the deployed position is 14 is rotated to the deployment side so that the top surface of the second boom 413 intersects with the longitudinal direction of the second boom 413. do.

[0082] The target angles will now be described. The control unit t can set target rotation angles, which are the target angles that the first boom 411 and the second boom 413 should reach by rotating. The control unit t sets a target rotation angle for the first boom 411 to α, and this target rotation angle α is the rotation angle of the first boom 411 and can be changed to each of a storage angle α0, a first boom angle α1, and a second boom angle α2, which are set values. The first boom 411 can be rotated toward any of α0, α1, and α2 by switching the target rotation angle α. The control unit sets a target rotation angle for the second boom 413 as β, and can change the rotation angle of the second boom 413 to a storage angle β0, which is a set value, or a first / second boom angle β1. The second boom 413 can perform a rotation operation by switching the target rotation angle β.

[0083] Concerning the rotation of the second boom 413 around the third rotation shaft 417A, the rotation angle of the second boom 413 around the third rotation shaft 417A will be described with reference to FIGS. In this embodiment, the second boom 413 rotates around the third rotation shaft 417A so that the other end moves in the front-rear direction. Depending on the rotation angle of the second boom 413, the state in which the other end is positioned at the rearmost end in the traveling direction as shown in Figures 15 to 17 is defined as a first rotation position (retracted position). As shown in FIGS. 21 and 22, the state in which the other end is positioned at the front end in the traveling direction is defined as a third turning position (forward position). As shown in FIGS. 18 to 21, the state in which the vehicle is positioned at the intermediate portion between the first turning position (retracted position) and the third turning position is referred to as the second turning position (intermediate position). The second boom 413 can be rotated around the third pivot axis 417A relative to the first connecting body 412 from a first pivot position (rearward position) through a second pivot position (intermediate position) to a third pivot position (forward position) around the third pivot axis 417A.

[0084] The intermediate posture is divided into a first intermediate posture and a second intermediate posture that is continuous with the first intermediate posture (see Figures 15, 16, and 17). In the first intermediate position of the work implement A, as shown in FIG. 14, which is a front view of the work implement A in the first intermediate position according to the embodiment, the working unit 51 is moved by the rotation of the second boom 413 about the second rotation axis. The second boom 413 is in the first rotation position where it is not rotating forward around the third rotation shaft 417A.

[0085] When the work implement A is in the second intermediate position, the second boom 413 is in the state shown in Figures 15 to 17. The second boom 413 is in the retracted position, which is the first swing position (retracted position). As shown in Figures 16 to 17, the working unit 51 is located to the side and outboard of the mast frame 211 in terms of the width in the traveling direction. In this embodiment, the first boom angle is a first boom angle α1 (≈100°), and the second boom angle is a first boom angle β1 (≈60°). 18 to 20, the second boom 413 is in the second intermediate posture, and the second boom 413 is in the intermediate position which is the second rotation position. In this embodiment, the first boom angle is the first boom angle α1 (≈100°), and the second boom angle is the first boom angle β1 (≈60°). As shown in FIGS. 18 and 20, the working unit 51 moves forward in the traveling direction from the mast frame 211 with respect to the first rotation position due to the rotation of the second boom 413 about the third rotation shaft 417A. 21 to 23, the second boom 413 is in the second intermediate posture and in the forward position, which is the third pivot position. In this embodiment, the first boom angle is the first boom angle α1 (≈100°), and the second boom angle is the first boom angle β1 (≈60°). As shown in FIGS. 21 and 23, the working unit 51 has moved further forward in the traveling direction than the mast frame 211 with respect to the second pivot position due to the rotation of the second boom 413 about the third pivot shaft 417A.

[0086] Next, the state of the work implement A on its way from the second intermediate position to the deployed position will be described. 24 is a front view of the work machine A according to the embodiment, showing a state in the middle of moving from the second intermediate posture to the deployed position. The second boom 413 is in the forward position, which is the third swing position. In the embodiment, the first boom angle is the second first boom angle α2 (= 125°), the second boom angle is the first second boom angle β1 (≈ 60°), and the second boom 413 is in the third swing position. The first boom 411 is swung from the first first boom angle α1 to the second first boom angle α2, and the working unit 51 is lowered. The working unit 51 remains positioned on the storage side relative to the second boom 413.

[0087] FIG. 25 shows a front view of the working machine A according to the embodiment, in the home position, which is the deployed posture. In the embodiment, the first boom angle is the second first boom angle α2 (= 125°), the second boom angle is the first second boom angle β1 (≈ 60°), and the second boom 413 is in the third swing position. FIG. 25 shows a state in which the working unit 51 has been swung to the deployed side from the state shown in FIG. 24, with the top surface of the working unit 51 raised so as to intersect with the longitudinal direction of the second boom 413. In the embodiment shown in FIG. 25, the angle between the working unit 51 and the second boom 413 is approximately 90°. The telescopic means 41 is configured to the second first boom angle α2 and the first second boom angle β1, and the working unit is swung to the deployed side to form the deployed posture. The second first boom angle α2, the first second boom angle β1, and the angle between the working unit 51 and the second boom 413 at the home position, which is the deployed posture, can be freely changed depending on the specifications and mode of the work machine to be adapted.

[0088] FIG. 26 is a front view of the work machine A according to the embodiment, showing an example of a working position, in which the first boom angle is arbitrary, the second boom angle is arbitrary, the second boom 413 can be rotated to any position about the third rotation axis 417A, and the working unit 51 can be rotated to any angle about the fourth rotation axis 418A. In other words, the first boom 411, the first connecting body 412, the second boom 413, and the working unit 51 can be freely rotated to any position and angle desired by the worker M by operating the operation unit u, so that the working unit 51 can be positioned at any position and angle desired by the worker M. FIG. 26 shows a state in which the working unit 51 is positioned on a surface at the same height as the surface on which the traveling body B travels. Of course, the position is not limited to that shown in FIG. 26 , and the working unit 51 can be changed to any position by operating the operation unit u. Figure 27 shows a front view of the work machine A according to the embodiment, which is an example of a state on the way from the working position to the second intermediate posture, where the first boom angle is the second first boom angle α2 (= 125°), the second boom angle is an arbitrary angle, and the second boom 413 is in the third swing position (forward position) or the second swing position (intermediate position).

[0089] The deployed posture of the working machine A is, as shown in FIG. 3, the third swing position (forward position) on the side of the working machine A, and the second boom 413 is in the working unit 51 position (51-3) indicated by the solid line. At the first pivot position (retracted position), the second boom 413 is at the working unit 51 position indicated by the two-dot chain line 51-1. At the second pivot position (intermediate position), the second boom 413 is at the working unit position indicated by the two-dot chain line 51-2. In the working position, the worker M can freely select the second boom 413 to be in the first rotating position, the second rotating position, or the third rotating position to perform work.

[0090] 4 to 6, the change from the first pivot position (retracted position) to the third pivot position in the vicinity of third pivot shaft 417A as viewed in the axial direction of third pivot shaft 417A will be described. FIG. 4 shows an enlarged view of the vicinity of the third pivot shaft 417A of the work machine A according to the embodiment, as seen from the axial direction of the third pivot shaft 417A, with the second boom 413 in the first pivot position (retracted position). At the first swing position (retracted position), there is no contact between the first switch Sw1 and the first action portion F1, and there is no contact between the second switch Sw2 and the second action portion F2. In other words, the control unit t receives neither the first contact signal nor the second contact signal. The control unit t is configured to determine this state as the second boom 413 being at the first swing position (retracted position).

[0091] FIG. 5 shows an enlarged view of the vicinity of the third pivot shaft 417A of the work machine A according to the embodiment, as seen from the axial direction of the third pivot shaft 417A, with the second boom 413 at the second pivot position (intermediate position). At the second swing position (intermediate position), the first switch Sw1 is in contact with the first action part F1, and the second switch Sw2 is not in contact with the second action part F2. In other words, the control part t receives the first contact signal but does not receive the second contact signal. The control part t is configured to determine this state as the second boom 413 being at the second swing position (intermediate position).

[0092] FIG. 6 shows an enlarged view of the vicinity of the third pivot shaft 417A of the work machine A according to the embodiment, as viewed from the axial direction of the third pivot shaft 417A, with the second boom 413 at the third pivot position. 7 is an enlarged side view of the third pivot shaft 417A of the work implement A according to the embodiment, showing the second boom 413 at the third pivot position, with both the first switch and the second switch operated. In the third swing position, the first switch Sw1 is in contact with the first action portion F1 and the second switch Sw2 is in contact with the second action portion F2. In other words, the control unit t receives both the first contact signal and the second contact signal. The control unit is configured to determine this state as the second boom 413 being in the third swing position.

[0093] The control unit t is configured to detect only the switching operation of the first switch Sw1 and the second switch Sw2. This allows the rotation position of the second boom 413 rotating around the third rotation shaft 417A to be recognized with a simple configuration. By recognizing the open / closed states of the two switches Sw1 and Sw2 and their combinations, the three rotation positions of the second boom 413 can be ascertained.

[0094] The detection method using the first switch Sw1 and the second switch Sw2 does not require constant detection and calculation of the rotation angles of all movable parts, as in the detection method of the rotation angle of the first boom 411 using the first sensor Se1 and the detection method of the rotation angle of the first connected body 412 using the second sensor Se2, so the calculation load on the control unit t can be reduced. As a result, the group of devices related to calculations in the control unit t can be made simpler.

[0095] In the illustrated embodiment, the first action part F1 and the second action part F2 are shown as being integrated near the fulcrum part of the second boom 413, but they may also be provided as separate parts that can be freely attached.

[0096] This section explains automatic attitude change and automatic deployment operations. The first boom 411 and the second boom 413 can be automatically changed in position and automatically deployed between the stored position shown in Figures 1 and 13 and the deployed position shown in Figure 2 by operating the operating unit u. The basic pattern of the aircraft's operation when automatic deployment is performed from the stowed state will be explained along with the control procedure based on the flow diagram showing the automatic deployment operation shown in Figure 11. In the explanation and drawings, the first switch Sw1 may be referred to as switch 1, and the second switch Sw2 may be referred to as switch 2. When the automatic deployment operation is started, the system waits for an operation in step 101, and in step 102, the operator M performs the automatic deployment operation. Then, in step 103, it is determined whether "switch 1 is in the ON state and switch 2 is in the ON state." In other words, the second boom 413 is at the third swing position, which is the most forward position. Determine whether or not.

[0097] In step 103, if the determination of "Are switch 1 and switch 2 both on?" is no, that is, if the control unit t determines that the second boom 413 is not at the third rotation position, which is the most forward position, then the control unit t proceeds to the next step, step 104, and enters the first deployment process. In the present embodiment, since there is no impediment to the operation of the first boom 411 and the second boom 413 at positions other than the third swing position, it is determined that swing operation by subsequent control is possible.

[0098] In step 104, the control unit t switches the target rotation angle α of the first boom 411 to the first boom angle α1 and the target rotation angle β of the second boom 413 to the first boom angle β1, and then proceeds to step 106.

[0099] If the answer to step 103 is Yes, that is, if the control unit t determines that the second boom 413 is at the third rotation position, the process proceeds to step 105.

[0100] In step 105, the control unit t switches and sets the target rotation angle α of the first boom 411 to the second first boom angle α2 and the target rotation angle β of the second boom 413 to the first second boom angle β1. Details of the operation control after the switching in step 105 will be described later.

[0101] In step 106, upon receiving the result of step 104, it is determined whether the current angle θ1 of the first boom 411 is equal to or less than the first boom angle α1.

[0102] If it is determined in step 106 that the current angle θ1 of the first boom 411 is greater than the first boom angle α1, the process proceeds to step 107, where the first boom 411 is rotated in the storage direction. In this embodiment, the control unit t sends a signal to switch the directional control valve 25 so as to retract the first cylinder 415.

[0103] The process proceeds to step 127 via step 107. In step 127, it is determined whether the automatic deployment operation of the operating unit u is continuing. If it is not continuing, in step 128, a signal is sent to switch the directional control valve 25 so that all cylinders are stopped, and the process returns to step 101. If the operation is continuing, the process returns to step 103 again and repeats the control.

[0104] If it is determined in step 106 that the current angle θ1 of the first boom 411 is equal to or less than the first boom angle α1, the process proceeds to step 108, where the control unit t sends a signal to switch the directional control valve 25 so as to stop all cylinders.Then, the process proceeds to the next step 109. In other words, after the automatic deployment operation has started, as long as the operation continues, as in the procedure from step 103 via step 106 to step 127, if the current angle θ1 of the first boom 411 is other than the third rotation position and is greater than the first first boom angle α1, the first boom 411 is rotated until the current angle θ1 of the first boom 411 becomes equal to or less than the first first boom angle α1.

[0105] In step 109, it is determined whether the current angle θ2 of the second boom 413 is the first second boom angle β1, which is the target swing angle β of the second boom 413. If the current angle θ2 of the second boom 413 is not the first second boom angle β1, which is the target rotation angle β, it is determined in step 110 whether the current angle θ2 of the second boom 413 is smaller or larger than the first second boom angle β1.

[0106] If the current angle θ2 of the second boom 413 is greater than the first second boom angle β1, the second boom 413 is rotated toward the storage side in step 111. In this embodiment, a signal is issued to switch the directional control valve 25 so as to shorten the second cylinder, causing the first connecting body 412 to rotate around the second rotation axis 413A, and causing the second boom 413 to rotate relative to the first boom 411.

[0107] If the current angle θ2 of the second boom 413 is smaller than the first-second boom angle β1, which is the target swing angle β, the second boom 413 is rotated to the deployment side in step 112. In this embodiment, a signal is issued to switch the directional control valve 25 so as to extend the second cylinder 416, causing the first connecting body 412 to swing around the second swing axis 413A, and causing the second boom 413 to swing relative to the first boom 411. The operations of step 111 and step 112 are performed while the automatic deployment operation is continued in step 127.

[0108] If the current angle θ2 of the second boom 413 is the first second boom angle β1 in step 109, a signal is issued to switch the directional control valve 25 so as to stop all cylinders in step 113, and the process proceeds to step 114.

[0109] At the stage where step 113 is completed, the first boom 411 and the second boom 413 form the first intermediate position (see FIG. 14 ). The first connecting body 412, the second boom 413, and the working unit 51, which are the connecting body from the stowed position to the first intermediate position, do not protrude laterally beyond the width of the work implement A in the left-right direction in the stowed position. That is, in the embodiment, the first connecting body 412, the second boom 413, and the working unit 51, which are the connecting body, do not protrude to the right in the direction of travel, opposite the side on which the working unit 51 is deployed to the deployed position. Therefore, even if there is an obstacle or the like on the right in the direction of travel, which is not the side on which the working unit 51 is deployed to the deployed position during automatic deployment, the first connecting body 412, the second boom 413, and the working unit 51, which are the connecting body, do not interfere with the obstacle or the like.

[0110] Furthermore, when automatic deployment is performed from the stowed posture, the system must form the first intermediate posture (see FIG. 14) before proceeding to the next control step. The case where automatic deployment is performed from a state other than the stowed posture will be described later. The first intermediate posture (see FIG. 14) quickly removes the working unit 51, which has a large projected area and significantly obstructs the view behind the worker M riding on the traveling machine body B, from the worker M's field of view, thereby ensuring visibility behind the traveling machine body B. In other words, it is possible to prevent the blind spot behind the traveling machine body B from occurring for an extended period of time, which would be caused by repeatedly and carelessly moving the working unit 51 up and down at a position close to the stowed posture.

[0111] The other end side of the second boom 413 in the first intermediate position (see Figure 14) and the working unit 51 located on the other end side of the second boom 413 are arranged so that when viewed from the direction of travel, they do not protrude excessively radially outward from the rotation area formed inside the other end of the first boom 411 that rotates around the first rotation axis 411A. Therefore, even if the angle of the second boom 413 remains at the first second boom angle β1 and the first boom 411 rotates around the first rotation axis 411A in steps 114 to 117 described below, the chances of the second boom 413 and working unit 51 coming into contact with other obstacles during rotation are reduced.

[0112] In the next step, step 114, it is determined whether the current angle θ1 of the first boom 411 is the target swing angle α of the first boom 411. If it is determined in step 104 that α=α1, it is determined whether the current angle θ1 of the first boom 411 is the first boom angle α1, which is the target swing angle α (the case where α=α2 is set will be described later).

[0113] If the current angle θ1 of the first boom 411 is not the target rotation angle α (first boom angle α1), in step 115, it is determined whether the current angle θ1 of the first boom 411 is smaller or larger than the first boom angle α1.

[0114] If it is determined in step 115 that the current angle θ1 of the first boom 411 is greater than the first boom angle α1, the first boom 411 is rotated to the stowing side in step 116. In this embodiment, a signal is issued to switch the directional control valve 25 so as to retract the first cylinder 415, causing the first boom 411 to rotate about the first rotation axis 411A, and causing the first boom 411 to rotate relative to the main frame and the mast frame.

[0115] If the current angle θ1 of the first boom 411 is smaller than the first boom angle α1, which is the target swing angle α, then in step 117 the first boom 411 is swung to the deployment side. In this embodiment, a signal is issued to switch the directional control valve 25 to extend the first cylinder 415, thereby rotating the first boom about the first pivot axis 411A. The operations of steps 116 and 117 are performed while the automatic deployment operation is continued by step 127.

[0116] If the current angle θ1 of the first boom 411 is the target rotation angle α (first boom angle α1) in step 114, a signal is issued to switch the directional control valve 25 so as to stop all cylinders in step 118, and the process proceeds to step 119.

[0117] When step 118 is completed, the first boom 411 and the second boom 413 form the second intermediate posture (see FIGS. 15, 16, and 17). When automatic deployment is performed from the stowed position, the first intermediate position (see Figure 14) is formed, and then the second intermediate position is formed. The second intermediate position is a position in which the working unit 51 is positioned to the side of the traveling body B or the main frame 11, as shown in Figures 15, 16, and 17, and is a position in which the second boom 413 and working unit 51 can rotate from the first rotation position (retracted position) to the third rotation position (forward position) from the retracted position to the forward position without interfering with the traveling body B or the ground.

[0118] Even when moving from the first intermediate position (see FIG. 14) to the second intermediate position (see FIGS. 15, 16, and 17), the first boom 411 and the first connecting body 412 and second boom 413, which are connecting bodies, and the working unit 51 do not protrude outward to the side in the opposite direction to the deployment direction to the deployed position beyond the width of the machine body in the left-right direction relative to the direction of travel of the work implement A in the stowed position. Therefore, even if there is an obstacle or the like on the right side in the direction of travel, which is not the side on which the working unit 51 is deployed, during automatic deployment, the first connecting body 412 and second boom 413, which are connecting bodies, and the working unit 51 will not interfere with this obstacle or the like.

[0119] After the second intermediate posture (see FIGS. 15, 16, and 17) is formed in step 118, it is determined in step 119 whether the second boom 413 is in the most forward position, that is, whether the second boom 413 is in the third swing position as shown in FIGS. 6, and 21 to 23. That is, as shown in FIG. 6, it is determined in step 119 whether the first switch Sw1 is on and the second switch Sw2 is also on. If it is determined that the second boom 413 is not in the most forward position, i.e., that the second boom 413 is not in the third rotation position as shown in Figures 6 and 21 to 23, but is in the first rotation position (retracted position) as shown in Figures 4 and 15 to 17, or the second boom 413 is in the second rotation position (intermediate position) as shown in Figures 5 and 18 to 20, then in step 120 the third cylinder 417 is extended and the second boom 413 is rotated toward the third rotation position (see Figures 21 to 23). This operation is performed while the automatic deployment operation is continued in step 127. Furthermore, control is repeated again from step 103 until second boom 413 reaches the third rotation position in step 119, and when it is determined that second boom 413 has reached the third rotation position (FIGS. 6, 21 to 23), all cylinders are stopped in step 121, and the process proceeds to step 122.

[0120] In step 122, it is determined whether the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is the first second boom angle β1. The process up to this point is referred to as the first deployment process. If it is determined that the current angle θ1 of the first boom 411 is not the second first boom angle α2 and the current angle θ2 of the second boom 413 is not the first second boom angle β1, the process returns to step 103 and proceeds to the second deployment process.

[0121] Returning to step 103 and entering the second deployment process, it is determined whether the first switch Sw1 and the second switch Sw2 are in the on state and the second boom 413 is in the third rotation position, which is the most forward position. When steps 101 to 122 are completed from the fully retracted state, the second boom 413 is in the third rotation position, so it is determined as Yes and the process proceeds to step 105.

[0122] In step 105, the control unit t switches the target rotation angle α of the first boom 411 to the second first boom angle α2 and the target rotation angle β of the second boom 413 to the first second boom angle β1, and then proceeds to step 106. Here, only the value of the target rotation angle α of the first boom 411 is switched (α1 ⇒ α2), and the target rotation angle β of the second boom 413 is not switched.

[0123] In step 106 after the target rotation angle α of the first boom 411 is changed to the second first boom angle α2, if it is determined that the current angle θ1 of the first boom 411 is less than or equal to the second first boom angle α2, the process proceeds to step 108. If it is determined in step 106 that the current angle θ1 of the first boom 411 is greater than the second first boom angle α2, the process proceeds to step 107, where the first boom 411 is rotated in the storage direction. The control unit t switches the directional control valve 25 so as to retract the first cylinder 415.

[0124] Explanation of steps 108 to 113 of the second deployment process will be omitted because the β value remains unchanged. In the unlikely event that the current angle θ2 of the second boom 413 becomes an angle different from the first second boom angle β1 (θ2 ≠ β1), steps 108 to 113 of the second deployment process are performed to rotate the second boom 413 so that the current angle θ2 becomes the first second boom angle β1 (θ2 = β1), as in the control described above.

[0125] In step 114, it is determined whether the current angle θ1 of the first boom 411 is the target swing angle α of the first boom 411. Here, since the target swing angle α is the second first boom angle α2 (α=α2), it is determined whether the current angle θ1 of the first boom 411 is the second first boom angle α2.

[0126] If the current angle θ1 of the first boom 411 is not the second first boom angle α2 in step 115, it is determined whether the current angle θ1 of the first boom 411 is smaller or larger than the second first boom angle α2.

[0127] If it is determined in step 115 that the current angle θ1 of the first boom 411 is greater than the second first boom angle α2, the first boom 411 is rotated toward the storage side in step 116. In this embodiment, the directional control valve 25 is switched so as to retract the first cylinder 415, and the first boom 411 is rotated around the first rotation axis 411A. If the current angle θ1 of the first boom 411 is smaller than the second first boom angle α2, the first boom 411 is rotated to the deployment side in step 117. The operations of steps 116 and 117 of the second deployment process are performed while the automatic deployment operation is continued in step 127. These operations are also performed until it is determined in step 114 that the current angle θ1 of the first boom 411 is equal to the second first boom angle α2. Then, the working unit 51 is positioned at a position lowered downward by the rotation of the first boom 411 relative to the second intermediate position (see FIG. 24).

[0128] If it is determined in step 114 that the current angle θ1 of the first boom 411 is the second first boom angle α2, then in step 119, after step 118, it is determined whether the second boom 413 is in the most forward position. If not, in step 120, the third cylinder 417 is operated and the control of step 119 is repeated until the second boom 413 reaches the third swing position, which is the most forward position. The controls from step 119 to step 120 are performed as long as the automatic deployment operation is being performed via the control of step 127, and are repeated until the second boom 413 reaches the third swing position.

[0129] If it is determined in step 119 that the second boom 413 is at the third swing position, which is the most forward position, all cylinders are stopped in step 121, and then the process proceeds to step 122. In step 122, it is determined whether the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is the first second boom angle β1. If it is determined that the current angle θ1 of the first boom 411 is not the second first boom angle α2 and the current angle θ2 of the second boom 413 is not the first second boom angle β1, the process returns to step 103 and the control is repeated.

[0130] If it is determined that the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is the first second boom angle β1, then in step 122, a countdown is started.

[0131] When the countdown is started in step 122, the fourth cylinder 418 is operated in step 124 to deploy the working unit 51 until the remaining time reaches 0. This operation is performed while the automatic deployment operation is continued in step 127. If it is determined in step 124 that the remaining time is 0, all cylinders are stopped in step 126, and the control ends. The attitude established in step 126 becomes the deployed attitude (see FIG. 25).

[0132] The deployed posture is also called the deployed position or home position, and by manually operating the operating unit u based on this position, the worker M can operate the first boom 411, the first connecting body 412 which is the connecting body, the second boom 413, and the working unit 51, and position the working unit 51 at any working position intended by the worker M (see, for example, Figure 26). In this embodiment, the working unit 51 at the home position is positioned to the side of the traveling body B, particularly to the side of the operator M who is the driver of the traveling body B, with the second boom 413 positioned at the third rotation position, as shown in Figure 25, and is positioned slightly above the traveling surface of the traveling body B. Additionally, the upper surface of the working unit 51, as viewed from the direction of travel, is rotated to a position facing approximately perpendicular to the longitudinal direction of the second boom 413, and is inclined so that the tip side of the working unit 51 is positioned slightly above the fourth pivot axis with respect to the traveling surface of the traveling machine body B. The worker M operates the operating unit u to position the working unit 51 from the home position to any working position and perform work.

[0133] Rather than manually operating the first boom 411, the first connecting body 412, and the second boom 413 from the storage position to the working position, the burden of operation can be significantly reduced by automatically moving from the storage position to the home position and then manually operating from the home position to the working position. Furthermore, at the working position, the surface to be worked on is not limited to the traveling surface on which the traveling machine body B travels, but may also include a stepped surface, a slope, or a remote area further to the side from the home position. By setting the home position, the working unit 51 can be quickly positioned at the working position from the home position after automatic deployment to the home position.

[0134] In the control related to the automatic deployment operation, it is only necessary to determine whether the current angles θ1 and θ2 have reached the target swing angles α and β, or whether they are larger or smaller, thereby reducing the control burden related to calculation processing.In addition, the forward and reverse swing positions of the second boom 413 are determined only by the ON / OFF operation of the first switch Sw1 and the second switch Sw2, thereby reducing the control burden.

[0135] The same control procedure is repeated by switching the target turning angle α between α1 and α2, so there is no need to prepare control code dedicated to each operation. In other words, the memory unit for storing the control code (program) in the control unit t does not need to be enlarged, and the configuration of the control unit t can be simplified.

[0136] The operation from the stowed position to the deployed position is performed after the first intermediate position (see Figure 14) and the second intermediate position (see Figures 15, 16, and 17) are always formed, so even if there is an irregularity in the positional relationship of each part, interference with other obstacles can be prevented and the operation can be performed safely. An example of this is described below.

[0137] An example of a case where the storage state is not completely closed will be described. In step 106, it is assumed that the target swing angle α is the first boom angle α1 (α=α1) and the current angle θ1 of the first boom 411 is greater than the first boom angle α1. At this time, since the boom 413 is not in a stored state, if the second boom 413 is suddenly operated by the control of steps 109 to 112, the working unit 51 and the second boom 413, which rotate around the second pivot axis 413A, will move so as to protrude to the side, particularly to the side on the deployed side. In the unlikely event that an obstacle or the like is located in the direction of deployment, the working unit and second boom 413 will interfere with each other, causing inconvenience. To prevent this, in step 106, the first boom 411 is temporarily operated so that the first boom angle α1 or less is reached, and the working unit 51 and second boom 413 are moved laterally toward the center of the traveling machine body B, and then the second boom 413 is operated to the first intermediate posture (see FIG. 14) where the first boom angle β1 is reached. In this way, the rearward visibility from the worker M is ensured, and the automatic deployment operation can be performed safely.

[0138] Another example of a case where the storage state is not completely retracted will be described. A state will be described in which the first boom 411 is in the stored state and the second boom 413 is larger than β1. At this time, the working unit 51 located at the tip of the second boom 413 is disposed in a position protruding to the right side in the direction of travel of the traveling machine body B. In this state, if the control of step 114 is carried out, the working unit 51 will rotate widely around the first rotation axis 411A from a position protruding to the right side of the traveling direction of the traveling body B, and if there is an obstacle on the right side or above the right side of the traveling body B, a collision or other inconvenience will occur.

[0139] To avoid this inconvenience, the second boom 413 is rotated in the retracting direction opposite to the deployment direction so as to achieve the first-second boom angle β1, even if the second boom 413 is in a state greater than the first-second boom angle β1. This makes it possible to avoid the inconvenience of contacting obstacles that may be present around the traveling machine body B and the work machine A, particularly on the sides. Furthermore, by operating the second boom 413 so as to achieve the first-second boom angle β1, even if the second boom 413 is in a state greater than the first-second boom angle β1, the rotation area including the working unit 51 can be reduced when viewed from the direction of travel, making it possible to adapt to narrow work environments. During the automatic deployment operation, the operation can be stopped by releasing the operation of the operation unit u, so the operation for stopping the operation does not become complicated.

[0140] In the embodiment, the first cylinder 415 extends to rotate the first boom 411 in the deployment direction and retracts to rotate the first boom 411 in the storage direction; the second cylinder extends to rotate the first connecting body 412 and the second boom 413, which are connecting bodies, in the deployment direction and retracts to rotate the first connecting body 412 and the second boom 413, which are connecting bodies, in the storage direction; the third cylinder 417 extends to rotate the second boom 413 in the forward direction and retracts to rotate the second boom 413 in the backward direction; and the fourth cylinder 418 extends to rotate the working unit 51 in the deployment direction and retracts to rotate the working unit 51 in the storage direction. In this invention, there is no limitation on the extension and revolving directions of each cylinder, and various combinations can be applied.

[0141] In the embodiment, the first boom angle α1 is preferably 90 to 110°, and in the example, approximately 100° is used. The second boom angle α2 is preferably 115 to 135°, and in the example, approximately 125° is used. The first boom angle β1 is preferably 50 to 70°, and in the example, approximately 60° is used. The angle between the working unit 51 and the second boom 413 in the deployed posture shown in the embodiment is preferably 80 to 100°, and in the example, approximately 90° is used. Furthermore, the first first boom angle α1, the second first boom angle α2, the first second boom angle β1, and the angle of the working unit 51 can be freely changed depending on the specifications and shape of the traveling machine body B and working machine A to be attached, in addition to the angles shown in the examples.

[0142] That is, in the embodiment according to the present invention, A work machine A has a main frame 11 provided on the work machine, to which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a working unit 51 are sequentially attached, The mast frame 21 and the first boom 411 are attached to each other by a first pivot shaft 411A, which is a horizontal shaft. The first boom 411 and the first connecting body 412, which is a connecting body, are attached to be rotatable in the same direction as the rotation direction of the first boom 411 by a second rotating shaft 413A in parallel with the first rotating shaft 411A, The third pivot shaft 417A is provided between the other end of the first connecting body 412 and the second boom 413 in a direction intersecting the first pivot shaft 411A and the second pivot shaft 413A, the second boom 413 is rotatable around the third pivot shaft 417A, and by connecting one end of the second boom 413 to the third pivot shaft 417A, the second boom 413 is rotatable around the third pivot shaft 417A in a direction intersecting the first boom 411;

[0143] The second boom 413 rotates about the third rotation axis 417A relative to the first connector 412, causing the other end side to move in the front-to-rear direction around the third rotation axis 417A, and rotates between a first rotation position (retracted position) where the other end side is positioned at the rearmost end in the traveling direction and close to the mast frame 21, via a second rotation position which is an intermediate position, and a third rotation position which is an advanced position, depending on the rotation angle of the second boom 413. The storage position of work implement A is: This refers to a state in which the first boom 411 is laid horizontally on top of the mast frame 21 or the main frame 11, and the second boom 413 is positioned so as to be folded over or folded onto the first boom 411, or a state in which the second boom 413 is rotated to the first rotation position (retracted position), which is a retracted position, and the working unit 51 is positioned so as to be folded over or folded onto the second boom 413.

[0144] The deployment posture of work implement A is: The first boom 411 in the stowed position is rotated around the first rotation shaft 411A to the deployed side so as to be raised relative to the mast frame 21 or the main frame 11, and the other end of the first boom 411 is positioned laterally relative to the mast frame 21 or the main frame 11, or A state in which the second boom 413 is rotated from a folded state relative to the first boom 411 to the deployed side about the second rotation shaft 413A to widen the angle therebetween, or A state in which the second boom 413 is rotated around the third rotation shaft 417A and positioned at a third rotation position, or This refers to a state in which the working unit 51 is rotated around the fourth rotation axis, and the second boom 413 is rotated to the deployment side, which is the direction in which it extends from one end side to the other end side.

[0145] Regarding the first boom 411, the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the stored posture is defined as α0, and the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the deployed posture is defined as a second first boom angle α2, The first boom angle α1 is a preset rotation angle of the first boom 411 between the rotation angle α0 and the rotation angle α2, The range between the rotation angle α0 and the rotation angle α2 means that the first boom 411 can rotate around the first rotation axis 411A at least from the rotation angle α0 to the rotation angle α2.

[0146] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 provided to be rotatable relative to the first boom 411 at an angle including a first second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, After the automatic deployment operation is started, before the second boom 413 is rotated toward the first second boom angle β1, if the first boom 411 is greater than the first first boom angle α1, the work machine A rotates the first boom 411 to the first first boom angle α1 or less.

[0147] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first and second boom angle in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, After the automatic deployment operation starts, before the second boom 413 is rotated toward the first second boom angle β1, which is the angle of the second boom 413 relative to the first boom 411, if the second boom 413 is at the first rotation position (retracted position) or the second rotation position and the first boom 411 is greater than the first first boom angle α1, the work machine A rotates the first boom 411 so that the first first boom angle α1 is less than or equal to the first first boom angle α1.

[0148] In this embodiment of the present invention, The operation towards the deployed posture comprises work machine A forming the deployed posture after the first boom 411 is at or below the first boom angle α1 and the second boom 413 forms the first boom angle β1.

[0149] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 provided to be rotatable relative to the first boom 411 at an angle including a first second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, and a work machine A that, when the first boom 411 is at or below the first first boom angle α1 after the automatic deployment operation is started, rotates the second boom 413 toward the first second boom angle β1 to set the first second boom angle β1, and then rotates the first boom 411 toward the first first boom angle α1.

[0150] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 provided to be rotatable relative to the first boom 411 at an angle including a first second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, After the automatic deployment operation is started, if the first boom 411 is not at the first boom angle α1 or less and the second boom 413 is not at the first boom angle β1, rotate the second boom 413 so that the second boom 413 becomes the first boom angle α2; The work machine is characterized by the above.

[0151] In this embodiment of the present invention, the second boom 413 is provided rotatably relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction intersecting the first first boom angle α1 and the second first boom angle α2; after starting the change in posture to the deployed posture by the automatic deployment operation, if the second boom 413 is at the first second boom angle β1 and the first boom 411 is at the first first boom angle α1, determine whether the second boom 413 is at the first swing position (retracted position) or the second swing position; The work machine A rotates the second boom 413 toward the third rotation position when the second boom 413 is at the first rotation position (retracted position) or the second rotation position.

[0152] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, The work machine A includes: a first boom 411 that determines whether the first boom 411 is at the second first boom angle α2 when the second boom 413 is at the third rotation position after the automatic deployment operation is started and the first boom 411 forms the first first boom angle α1 and the second boom 413 forms the first second boom angle β1.

[0153] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are automatically moved between a stored position and an deployed position. and an operating unit u capable of automatic deployment operation for changing the attitude of the After the automatic deployment operation is started, the target angle β of the second boom 413 is set as a first second boom angle β1, and the second boom 413 is rotated toward the first second boom angle β1, and then the target angle α of the first boom 411 is set as a first first boom angle α1, and the first boom 411 is rotated toward the first first boom angle α1, The work machine A changes the target angle α of the first boom 411 to a second first boom angle α2 when it is determined that the second boom 413 is at a third swing position.

[0154] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; The first boom 411 is provided so as to be rotatable relative to the first boom 411 at an angle including a first / second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and is positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction intersecting the first first boom angle α1 and the second first boom angle α2. a second boom 413 provided so as to be rotatable relative to the first boom 411; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, The automatic deployment operation is performed after a first deployment step is completed in which the second boom 413 is rotated toward the first second boom angle β1, which is a set target angle of the second boom 413, and then the first boom 411 is rotated toward the first first boom angle α1, which is a set target angle of the first boom 411. The work machine A performs a second deployment process of the first deployment process in which the set target angle of the first boom 411 is changed from the first first boom angle α1 to the second first boom angle α2 when the first boom 411 is at the first first boom angle α1, the second boom 413 is at the first second boom angle β1, and the second boom 413 is in a third rotation position.

[0155] In this embodiment of the present invention, The first boom 411 and the second boom 413 are configured as a work machine A, and the operation of the first boom 411 and the second boom 413 is performed only while the operation unit u is being manually operated.

[0156] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate position, which is a position between the stored position and the deployed position, and then transition to the deployed position, comprising a work machine A.

[0157] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first and second boom angle in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic deployment operation for automatically changing their positions between a stored position and a deployed position, When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate position which is a position between the stored position and the early deployed position, and then form a second intermediate position which is a position between the stored position and the deployed position, and then transition to the deployed position, comprising a work machine A.

[0158] In this embodiment of the present invention, During the transition from the stored posture to the deployed posture via the first intermediate posture, the second boom 413 comprises a work implement A that does not protrude laterally beyond the width of the machine body located opposite the pivot point of the first boom 411 in the stored posture.

[0159] An automatic attitude change and automatic storage operation according to an embodiment of the present invention will now be described. The first boom 411 and the second boom 413 can be automatically retracted and repositioned between the retracted position shown in Figures 1 and 13 and the deployed position shown in Figure 2 by operating the operating unit u. Based on the flow diagram showing the automatic storage operation shown in FIG. 12, the basic pattern of the operation of the machine body when the automatic storage operation is performed from the work position where the work machine A performs work will be explained along with the control procedure. The initial working position is explained as being a position where the rotation positions of the first boom 411 and the connecting bodies, that is, the first connecting body 412 and the second boom 413, and the working unit 51, are slightly shifted from the default deployed position (for example, Figure 26). When the automatic storage operation is started, the system waits for an operation in step 201, and in step 202, the operator M performs the automatic deployment operation. Then, in step 203, it is determined whether "switch 1 is in the OFF state and switch 2 is in the OFF state." In other words, it is determined whether the second boom 413 is in the first swing position (retracted position), which is the most retracted position.

[0160] If the answer to the question "Are switch 1 and switch 2 both in the off state?" in step 203 is No, that is, if the control unit t determines that the second boom 413 is not in the first rotation position (retracted position), which is the most retracted position, then the control unit t proceeds to the next step 204 and enters the first storage process.

[0161] In step 204, the control unit t switches the target rotation angle α of the first boom 411 to the first boom angle α1 and the target rotation angle β of the second boom 413 to the first boom angle β1, and then proceeds to step 206.

[0162] Also, if the answer to step 203 is Yes, that is, if the control unit t determines that the second boom 413 is in the first swing position (retracted position), the process proceeds to step 205.

[0163] In step 205, the control unit t switches the target rotation angle α of the first boom 411 to a storage angle α0 and the target rotation angle β of the second boom 413 to a storage angle β0. Details of the operation control after the switching in step 205 will be described later.

[0164] In step 206, upon receiving the result of step 204, it is determined whether the current angle θ1 of the first boom 411 is the first boom angle α1, which is the target swing angle α of the first boom 411.

[0165] If it is determined in step 206 that the current angle θ1 of the first boom 411 is not the first boom angle α1, which is the target rotation angle α, the process proceeds to step 207, where it is determined whether the current angle θ1 of the first boom 411 is smaller than the target rotation angle α. If the current angle θ1 of the first boom 411 is greater than the target swing angle α, then in step 208 the control unit t sends a signal to switch the working unit 51 so that both the first cylinder 415 and the fourth cylinder 418 are retracted.

[0166] That is, the first boom 411 is rotated toward the target rotation angle α, and the working unit 51 is rotated in the storage direction. The first boom 411 and the working unit 51 move from the state shown in Fig. 26 to the state shown in Fig. 27. If the current angle θ1 of the first boom 411 is smaller than the target swing angle α, the control unit t sends a signal to switch the working unit 51 so that the first cylinder 415 is extended and the fourth cylinder is retracted in step 209. In other words, the first boom 411 is caused to swing toward the target swing angle α, and the working unit 51 is caused to swing in the storage direction.

[0167] In steps 208 and 209, regardless of the rotation direction of the first boom 411, the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum (see FIG. 27).

[0168] Also, after going through steps 208 and 209, as long as the automatic storage operation continues in step 223, the process goes through step 203 again and the first boom 411 and working unit 51 are rotated in step 208 or step 209 until the condition of step 206 is met. When the operation is released, a signal is sent to the working unit 51 to stop the operation of all cylinders in step 224, and the process returns to step 201. If the operation is continued, the process returns to step 203 again and repeats the control.

[0169] In step 206, if it is determined that the current angle θ1 of the first boom 411 is the first boom angle α1, the process proceeds to step 210, where the control unit t sends a signal to switch the directional control valve 25 so as to stop all cylinders. Then, the process proceeds to the next step, 211.

[0170] By setting the first boom 411 to the first boom angle α1 during the period up to step 210, the working unit 51 and the second boom 413 are raised upward (see FIG. 27). As a result, when the second boom 413 is rotated in the next control step or later, an area or space is secured below the second boom 413 in which the second boom 413 can rotate, and the second boom 413 and the working unit 51 can be prevented from contacting the traveling surface.

[0171] In step 211, it is determined whether the current angle θ2 of the second boom 413 is the first second boom angle β1, which is the target swing angle β of the second boom 413.

[0172] In step 211, if the current angle θ2 of the second boom 413 is not the first second boom angle β1, which is the target rotation angle β, the control unit t determines in step 212 whether the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1. If the current angle θ2 of the second boom 413 is greater than the first second boom angle β1, a signal is issued in step 213 to switch the directional control valve 25 so as to retract the second cylinder 416 and the fourth cylinder 418. That is, the second boom 413 and the first connecting body 412, which is the connecting body, are rotated toward the target rotation angle α around the second rotation shaft 413A as a fulcrum, and the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum.

[0173] If the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1, the control unit t issues a signal to switch the directional control valve 25 so as to extend the second cylinder 416 and retract the fourth cylinder 418 in step 214. That is, the second boom 413 and the first connecting body 412, which is the connecting body, are rotated toward the target rotation angle α around the second rotation shaft 413A as a fulcrum, and the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum. In steps 213 and 214, regardless of the rotation direction of the second boom 413, the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum.

[0174] Furthermore, after going through step 213 and step 214, as long as the automatic storage operation continues in step 223, the process goes through step 211 again, and second boom 413 and working unit 51 are rotated in step 213 or step 214 until the condition of step 211 is satisfied. When the operation is released, a signal is sent to directional control valve 25 in step 224 to stop the operation of all cylinders, and the process returns to step 201.

[0175] If in step 211 the current angle θ2 of the second boom 413 is the first second boom angle β1, which is the target angle β (see Figure 22), then in step 215 a signal is issued to switch the working unit 51 to stop all cylinders, and the process proceeds to step 216.

[0176] At the stage where step 215 is completed, the first boom 411 and the second boom 413 form the second intermediate position (see FIGS. 21 to 23). That is, when the automatic storage operation is performed from the working position, the second intermediate position is first formed. The second intermediate position is a position in which the working unit 51 is positioned to the side of the traveling machine body B or the main frame 11, and is a position in which the second boom 413 and the working unit 51 can rotate from the first rotation position (retracted position) to the third rotation position from the retracted position to the forward position without interfering with the traveling machine body B or the ground.

[0177] By forming the second intermediate posture, the working unit 51, which is a heavy object located at the tip of the boom device, can be moved closer to the traveling machine body B, and the stability of the traveling machine body B can be ensured with priority.

[0178] In step 216 via step 215, it is determined whether switch 1 is in the OFF state and switch 2 is in the OFF state. In other words, it is determined again whether second boom 413 is in the first swing position (retracted position), which is the most retracted position.

[0179] In step 216, if the answer to the question "Are switch 1 and switch 2 both in the off state?" is No, that is, if the control unit t determines that the second boom 413 is not in the first rotation position (retracted position), which is the most retracted position, then the control unit t proceeds to the next step 217. In step 217, the control unit t issues a signal to switch the working unit 51 so as to retract the third cylinder 417 and the fourth cylinder 418. In other words, the second boom 413 is rotated (from the state shown in FIGS. 21 to 23 to the state shown in FIGS. 15 to 17) around the third pivot shaft 417A as a fulcrum toward the first pivot position (retracted position), and the working unit 51 is rotated in the storage direction around the fourth pivot shaft 418A as a fulcrum.

[0180] After step 217, as long as the automatic storage operation continues in step 223, the process returns to step 203 and step 217 to rotate the second boom 413 and working unit 51 until the condition in step 216 is met. Once the automatic retract operation is cancelled by step 223, a signal is sent to the directional control valve 25 to stop operation of all cylinders and the process returns to step 201.

[0181] In step 216, if switch 1 is in the off state, switch 2 is in the off state, and the second boom 413 is in the first rotation position (retracted position) (see Figures 15 to 17), in step 218, the control unit t issues a signal to the directional control valve 25 to stop all cylinders.

[0182] Next, in step 219, it is determined whether the current angle θ1 of the first boom 411 is the storage angle α0, which is the storage position, and whether the current angle θ2 of the second boom 413 is the storage angle β0, which is the storage position.

[0183] If it is determined in step 219 that the current angle θ1 of the first boom 411 is not the storage angle α0 and the current angle θ2 of the second boom 413 is not the storage angle β0, the process returns to step 203 and the control is repeated. If the current angle θ1 has achieved the storage angle α0 and the current angle θ2 has achieved the storage angle β0, the process will be described later.

[0184] Returning to step 203, it is again determined whether the second boom 413 is in the first swing position (retracted position), which is the most retracted position. If the determination in step 203 is Yes, that is, if the control unit t determines that the second boom 413 is in the first swing position (retracted position), the process proceeds to step 205, and the second storage step is entered. If the second boom 413 is in the first swing position (retracted position), it can be determined that the work implement A will not come into contact with the traveling machine body B even if the second boom 413 is rotated about the first swing axis 411A and the second swing axis 413A.

[0185] In step 205, the control unit t switches the target rotation angle α of the first boom 411 to the storage angle α0 and the target rotation angle β of the second boom 413 to the storage angle β0, and then proceeds to step 206.

[0186] In response to the result of step 205, the second storing step is entered in step 206, where it is determined whether the current angle θ1 of the first boom 411 is the storing angle α0, which is the target swing angle α of the first boom 411.

[0187] If it is determined in step 206 that the current angle θ1 of the first boom 411 is not the storage angle α0, which is the target rotation angle α, then the process proceeds to step 207, where it is determined whether the current angle θ1 of the first boom 411 is smaller than the target rotation angle α (α0). If the current angle θ1 of the first boom 411 is greater than the target swing angle α0, then in step 208, the control unit t sends a signal to switch the directional control valve 25 so as to retract both the first cylinder 415 and the fourth cylinder 418. That is, the first boom 411 is caused to swing from the current angle θ1 toward the storage position, which is the target swing angle α, and the working unit 51 is caused to swing in the storage direction (the state shown in FIG. 16 transitions to the state shown in FIG. 14).

[0188] If the current angle θ1 of the first boom 411 is smaller than the storage angle α0, which is the target rotation angle α, in step 209, the control unit t sends a signal to switch the directional control valve 25 so that the first cylinder 415 is extended and the fourth cylinder 418 is retracted. That is, the first boom 411 is caused to swing toward the storage angle α0, and the working unit 51 is caused to swing in the storage direction. In many cases, the first boom 411 that has entered the second storage step will not be at an angle smaller than α0. In steps 208 and 209, the working unit 51 is caused to swing in the storage direction, regardless of the swing direction of the first boom 411.

[0189] As in the first storage step, as long as the automatic storage operation continues, the first boom 411 and working unit 51 are rotated in step 223. When the operation is released, the operation of all cylinders is stopped in step 224.

[0190] In step 206, if it is determined that the current angle θ1 of the first boom 411 is the storage angle α0, which is the target rotation angle α, the process proceeds to step 210, where the control unit t sends a signal to switch the working unit 51 so as to stop all cylinders.Then, the process proceeds to the next step, 211.

[0191] When step 210 of the second storing step is completed, the first boom 411 is at the storing angle α0, and the second boom 413 is at the first second boom angle β1, forming the first intermediate posture (see FIG. 14).

[0192] By setting the second boom 413 to the first boom 411 at a first second boom angle β1 between the second intermediate position and the first intermediate position, the other end of the second boom 413 and the working unit 51 located on the other end of the second boom 413 do not protrude excessively radially outward from the rotation area formed inside the other end of the first boom 411 rotating around the first rotation axis 411A when viewed from the direction of travel. Therefore, even if the angle of the second boom 413 remains at the first second boom angle β1 and the first boom 411 is rotated around the first rotation axis 411A, the chance of the second boom 413 and working unit 51 coming into contact with other obstacles is reduced.

[0193] Furthermore, by setting the second boom 413 to the first second boom angle β1, it is possible to prevent the working unit 51, which has a large projected area and significantly obstructs the view behind the worker M, from passing in front of the worker M during the swing operation from the second intermediate position to the first intermediate position. In other words, it is possible to ensure the worker M's view behind the traveling machine body B, allowing the worker M to pay attention to the periphery of the working machine A and to avoid the working machine A coming into contact with obstacles.

[0194] During the swing operation from the second intermediate position to the first intermediate position, the first boom 411 and the first connecting body 412 and second boom 413, which are connecting bodies, and the working unit 51 do not protrude laterally outward beyond the width of the work implement A in the left-right direction in the stowed position. Therefore, even if there is an obstacle or the like on the right side in the direction of travel of the traveling machine body B and the work implement A during the automatic stowage operation, the first connecting body 412 and second boom 413, which are connecting bodies, and the working unit 51 will not interfere with the obstacle or the like.

[0195] In step 211, it is determined whether the current angle θ2 of the second boom 413 is the retraction angle β0, which is the target swing angle β of the second boom 413.

[0196] If the current angle θ2 of the second boom 413 is not the retraction angle β0, the control unit t determines in step 212 whether the current angle θ2 of the second boom 413 is smaller than the retraction angle β0. If the current angle θ2 of the second boom 413 is greater than the storage angle β0, a signal is issued in step 213 to switch the directional control valve 25 so as to retract the second cylinder 416 and the fourth cylinder 418. In other words, the second boom 413 and the first connected body 412, which is the connected body, are rotated in the storage direction around the second rotating shaft 413A as a fulcrum, and the working unit 51 is rotated in the storage direction around the fourth rotating shaft 418A as a fulcrum.

[0197] If the current angle θ2 of the second boom 413 is smaller than the storage angle β0, the control unit t issues a signal to switch the directional control valve 25 so as to extend the second cylinder 416 and retract the fourth cylinder 418 in step 214. That is, second boom 413 and first connector 412, which is a connector, are rotated toward storage angle β0 around second rotation shaft 413A as a fulcrum, and working unit 51 is rotated in the storage direction around fourth rotation shaft 418A as a fulcrum. In many cases, second boom 413, which has entered the second storage step, does not become smaller than storage angle β0. In steps 213 and 214, regardless of the rotation direction of the second boom 413, the working unit 51 is rotated in the storage direction.

[0198] As in the first storage step, after steps 213 and 214, the second boom 413 and working unit 51 are rotated as long as the automatic storage operation continues in step 223. Furthermore, when the operation of the operating unit u is released, the operation of all cylinders is stopped in step 224.

[0199] During the operation from the first intermediate position to the storage position (see Figure 13), the second boom 413 and working unit 51 do not protrude to the outside of the width of the body of the work machine A in the storage position, thereby reducing the chance of contact with other obstacles during the automatic storage operation.

[0200] If the current angle θ2 of the second boom 413 is the retraction angle β0, which is the target angle β, in step 211, a signal is issued to switch the directional control valve 25 so as to stop all cylinders in step 215, and the process proceeds to step 216.

[0201] At the stage where step 215 of the second storing step is completed, the first boom 411 and the second boom 413 assume the stored posture (see FIG. 13). That is, when the automatic storing operation is performed from the working position, the first boom 411 and the second boom 413 always assume the second intermediate posture, then always assume the first intermediate posture, and then reach the stored posture.

[0202] Then, in step 216, it is determined whether or not the second boom 413 is at the first swing position (retracted position), which is the most retracted position. If the second boom 413 is not in the first pivot position (retracted position), the control unit t issues a signal to switch the directional control valve 25 so as to retract the second cylinder 416 and retract the fourth cylinder 418 in step 217. That is, the second boom 413 is rotated toward the first rotation position (retracted position) around the third rotation shaft 417A as a fulcrum, and the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum. While the second boom 413 is rotating, the working unit 51 is rotated in the storage direction.

[0203] In step 216, if it is determined that the second boom 413 is in the first swing position (retracted position), which is the most retracted position, the control unit t issues a signal to the directional control valve 25 to stop the operation of all cylinders and proceeds to step 219.

[0204] In step 219, it is determined whether the current angle θ1 of the first boom 411 is the retraction angle α0 and the current angle θ2 of the second boom 413 is the retraction angle β0.

[0205] If it is determined in step 219 that the current angle θ1 has reached the storage angle α0 and the current angle θ2 has reached the storage angle β0, the process proceeds to step 220, and all of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 are retracted. That is, the first boom 411 and the first connecting body 412, which is the connecting body, are rotated again in the storage direction, the second boom 413 in the direction of the first rotation position (retracted position), and the working unit 51 in the storage direction.

[0206] This second pivoting operation applies pressure to at least the fluid pressure piping leading from the working unit 51 to the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. With pressure applied to the fluid pressure piping, the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 do not easily extend. A locking operation is applied to the fluid pressure circuit so that the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 each face in the retracting direction, thereby maintaining the retracted position.

[0207] Thereafter, in step 221, the control unit t issues a signal to the directional control valve 25 to stop the operation of all the cylinders, namely the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. Then, the process proceeds to step 222, where the control unit t performs an announcing operation. The announcing operation may be a sound that can be heard by the worker M, or a signal light, image, or video that can be visually recognized by the worker M. Upon receiving the announcing operation, the worker M can recognize that the automatic storage operation has ended.

[0208] The storage angle of the first boom 411 in the stored position is a state in which, when viewed from the traveling direction of the traveling machine body B, the first boom 411 lies horizontally with its longitudinal direction folded above the main frame 11. Furthermore, the stored position of the second boom 413 is a state in which, when viewed from the traveling direction of the traveling machine body B, the second boom 413 is folded so that its longitudinal direction is parallel to the longitudinal direction of the first boom 411, and is rotated around the third rotation axis 417A to the first rotation position (retracted position), which is the retracted position. The working unit 51 in the stored position is a state in which, when viewed from the traveling direction of the traveling machine body B, the upper surface of the working unit 51 or the rotor axis which is the working unit rotation axis 512 is parallel to the longitudinal direction of the second boom 413 and is folded above the second boom 413.

[0209] Manual operation of automatic storage operation can significantly reduce the burden of operation compared to manually operating the first boom 411, the first connecting body 412, the second boom 413, and the working unit 51 from the storage position to the working position.

[0210] During the automatic retracting operation, the fourth cylinder 418 always operates in the retracting direction while the first cylinder 415, the second cylinder 416, and the third cylinder 417 are operating. This operation is performed to avoid the phenomenon in which the working unit 51 is not completely retracted if it takes only a very short time for the first boom 411 and the second boom 413 to reach their respective target angles from the start to the end of the operations of the first cylinder 415, the second cylinder 416, and the third cylinder 417.

[0211] In the control related to the automatic storage operation, it is only necessary to determine whether the current angles θ1 and θ2 have reached the target rotation angles α and β, or whether they are larger or smaller, thereby reducing the control burden related to calculation processing.In addition, the forward and backward rotation positions of the second boom 413 are determined only by the ON / OFF operation of switches 1 and 2, thereby reducing the control burden.

[0212] The same control procedure is repeated by switching the target turning angle α between α1 and α0, and the target turning angle β between β1 and β0, so there is no need to prepare control code dedicated to each operation. In other words, the memory unit for storing the control code (program) in the control unit t does not become bloated, and the configuration of the control unit t can be simplified.

[0213] The movement from the deployed position to the stowed position is always performed after the second intermediate position and the first intermediate position are formed, so even if there is an irregularity in the positional relationship of each part, interference with other obstacles can be prevented and the operation can be performed safely.

[0214] During the automatic storage operation, the operation can be stopped by releasing the operation of the operation unit u, so the operation is not complicated.

[0215] In the embodiment, the first cylinder 415 extends to rotate the first boom 411 in the deployment direction and retracts to rotate the first boom 411 in the storage direction; the second cylinder 416 extends to rotate the first connecting body 412 and the second boom 413, which are the connecting bodies, in the deployment direction and retracts to rotate the first connecting body 412 and the second boom 413, which are the connecting bodies, in the storage direction; the third cylinder 417 extends to rotate the second boom 413 in the forward direction and retracts to rotate the second boom 413 in the backward direction; and the fourth cylinder 418 extends to rotate the working unit 51 in the deployment direction and retracts to rotate the working unit 51 in the storage direction. In this invention, there is no limitation on the extension and revolving directions of each cylinder, and various combinations can be applied.

[0216] In the embodiment, the first boom angle α1 is preferably 90 to 110°, with approximately 100° being used in the example. The second boom angle α2 is preferably 115 to 135°, with approximately 125° being used in the example. The first boom angle β1 is preferably 50 to 70°, with approximately 60° being used in the example. Furthermore, the first boom angle α1, second boom angle α2, and first boom angle β1 can be freely changed to angles other than those shown in the examples, depending on the specifications and configuration of the traveling machine body B and work machine A to which they are attached.

[0217] That is, in an automatic storage operation in an embodiment of the invention: The work machine A has a main frame 11 provided on it, to which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a working unit 51 are sequentially attached, The mast frame 21 and the first boom 411 are attached to each other by a first pivot shaft 411A, which is a horizontal shaft. The first boom 411 and the first connecting body 412, which is a connecting body, are attached to be rotatable in the same direction as the rotation direction of the first boom 411 by a second rotating shaft 413A in parallel with the first rotating shaft 411A, The third pivot shaft 417A is provided between the other end of the first connecting body 412 and the second boom 413 in a direction intersecting the first pivot shaft 411A and the second pivot shaft 413A, the second boom 413 is rotatable around the third pivot shaft 417A, and by connecting one end of the second boom 413 to the third pivot shaft 417A, the second boom 413 is rotatable around the third pivot shaft 417A in a direction intersecting the first boom 411;

[0218] The second boom 413 rotates about the third rotation axis 417A relative to the first connector 412, causing the other end side to move in the front-to-rear direction around the third rotation axis 417A, and rotates between a first rotation position (retracted position) where the other end side is positioned at the rearmost end in the traveling direction and close to the mast frame 21, via a second rotation position which is an intermediate position, and a third rotation position which is an advanced position, depending on the rotation angle of the second boom 413.

[0219] The storage position of work implement A is: This refers to a state in which the first boom 411 is laid horizontally on top of the mast frame 21 or the main frame 11, and the second boom 413 is positioned so as to be folded over or folded onto the first boom 411, or a state in which the second boom 413 is rotated to the first rotation position (retracted position), which is a retracted position, and the working unit 51 is positioned so as to be folded over or folded onto the second boom 413.

[0220] The deployment posture of work implement A is: The first boom 411 in the stowed position is rotated around the first rotation shaft 411A to the deployed side so as to be raised relative to the mast frame 21 or the main frame 11, and the other end of the first boom 411 is positioned laterally relative to the mast frame 21 or the main frame 11, or A state in which the second boom 413 is rotated from a folded state relative to the first boom 411 to the deployed side about the second rotation shaft 413A to widen the angle therebetween, or A state in which the second boom 413 is rotated around the third rotation shaft 417A and positioned at a third rotation position, or This refers to a state in which the working unit 51 is rotated around the fourth rotation axis, and the second boom 413 is rotated to the deployment side, which is the direction in which it extends from one end side to the other end side.

[0221] Regarding the first boom 411, the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the stored posture is defined as α0, and the rotation angle of the first boom 411 relative to the main frame 11 or the mast frame 21 in the deployed posture is defined as a second first boom angle α2, The first boom angle α1 is a preset rotation angle of the first boom 411 between the rotation angle α0 and the rotation angle α2, The range between the rotation angle α0 and the rotation angle α2 means that the first boom 411 can rotate around the first rotation axis 411A at least from the rotation angle α0 to the rotation angle α2.

[0222] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first and second boom angle in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic storage operation for automatically changing the position between a storage position and an unfolded position, After the automatic storage operation is started, it is determined whether the second boom 413 is in the first rotation position (retracted position), When the second boom 413 is not in the first rotation position (retracted position), the target angle α of the first boom 411 is set to the first first boom angle α1, and the first boom 411 is rotated to the first first boom angle α1.

[0223] In this embodiment of the present invention, the second boom 413 includes a working unit 51 that can rotate relatively with respect to the second boom 413 between a working position and a storage position, The first boom 411 is rotated to the first boom angle α1, and at the same time, the working unit 51 is rotated toward a storage position, The first boom 411, the second boom 413 and the working unit 51 are rotated only while the operating unit u is being manually operated, which is the working machine A.

[0224] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic storage operation for automatically changing the position between a storage position and an unfolded position, After the automatic storage operation is started, it is determined whether the second boom 413 is in the first rotation position (retracted position), When the second boom 413 is not at the first swing position (retracted position), the target angle of the first boom 411 is set to the first boom angle α1, and the target angle of the second boom 413 is set to the first boom angle β1; In the work machine A, the first boom 411 is rotated so as to have the first boom angle α1, and then the second boom 413 is rotated so as to have the first boom angle β1.

[0225] In this embodiment of the present invention, the second boom 413 includes a working unit 51 that can rotate relatively with respect to the second boom 413 between a working position and a storage position, The first boom 411 is rotated to the first first boom angle α1, and at the same time the working unit 51 is rotated toward a storage position, and the second boom 413 is rotated to the first second boom angle β1, and at the same time the working unit 51 is rotated toward a storage position, The first boom 411, the second boom 413 and the working unit 51 are rotated only while the operating unit u is being manually operated, which is the working machine A.

[0226] In this embodiment of the present invention, This is a work machine A in which, after the first boom 411 forms the first first boom angle α1 and the second boom 413 forms the first second boom angle β1, the second boom 413 is rotated toward the first rotation position (retracted position).

[0227] a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic storage operation for automatically changing the position between a storage position and an unfolded position, After the automatic storage operation is started, when the first boom 411 forms the first first boom angle α1, the second boom 413 forms the first second boom angle β1, and the second boom 413 forms the first swing position (retracted position), This is work machine A, in which the target angle of the first boom 411 is changed to a first boom retracting angle α0, and the target angle of the second boom 413 is changed to a second boom retracting angle β0.

[0228] In this embodiment of the present invention, a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic storage operation for automatically changing the position between a storage position and an unfolded position, The automatic storage operation is performed after a first storage step is completed in which the first boom 411 is rotated toward the first first boom angle α1, which is a set target angle of the first boom 411, and then the second boom 413 is rotated toward the first second boom angle β1, which is a set target angle of the second boom 413. When the first boom 411 is at the first first boom angle α1, the second boom 413 is at the first second boom angle β1, and the second boom 413 is in a first rotation position (retracted position), the work machine A performs a second storage process of the first storage process in which the set target angle of the first boom 411 is changed from the first first boom angle α1 to a first boom storage angle α0, and the set target angle of the second boom 413 is changed from the first second boom angle β1 to a second boom storage angle β0.

[0229] In this embodiment of the present invention, The first boom 411 and the second boom 413 are operated only while the operation unit u is being manually operated, which is work machine A.

[0230] a first boom 411 provided so as to be rotatable at a rotation angle including a first first boom angle α1 and a second first boom angle α2; a second boom 413 that is provided to be rotatable relative to the first boom 411 at an angle including a first-second boom angle β1 in the same rotation direction as the first first boom angle α1 and the second first boom angle α2, and that is rotatable relative to the first boom 411 so as to be positioned at a first rotation position (retracted position), a second rotation position, and a third rotation position in a rotation direction that intersects with the first first boom angle α1 and the second first boom angle α2; The first boom 411 and the second boom 413 are provided with an operation unit u capable of automatic storage operation for automatically changing the position between a storage position and an unfolded position, After the automatic storage operation is started, when the first boom 411 forms a first boom storage angle α0 which is the angle of the storage posture, the second boom 413 forms a second boom storage angle β0 which is the angle of the storage posture, and the second boom 413 forms the first swing position (retracted position), This is work machine A, which again performs a locking operation to move the first boom 411 in a direction toward the first boom storage angle α0 and the second boom 413 in a direction toward the second boom storage angle β0 and the first rotation position (retracted position).

[0231] In this embodiment of the present invention, the second boom 413 includes a working unit 51 that can rotate relatively with respect to the second boom 413 between a working position and a storage position, After the automatic storage operation is started, when the first boom 411 forms a first boom storage angle α0 which is the angle of the storage posture, the second boom 413 forms a second boom storage angle β0 which is the angle of the storage posture, and the second boom 413 forms the first swing position (retracted position), The working machine A performs a locking operation again to move the working unit 51 in the direction toward the stored posture.

[0232] In this embodiment of the present invention, After the locking operation is completed, the work machine A notifies the worker. [Explanation of symbols]

[0233] 11 Main Frame 111 Mounting attachment part (lower) 112 Mounting attachment part (top) 21 Mast frame 31 Tank (oil tank) 41 Expanding means 411 First Boom 411A First rotating axis (horizontal axis) 412 1st connector 413 Second Boom 413A Second pivot axis 414 Second Connector 415 No. 1 cylinder 416 No. 2 cylinder 417 Third cylinder 417A 3rd pivot axis 418 4th cylinder 418A 4th pivot axis 42 Link mechanism 51 Working section 512 Rotation axis A Work equipment t Control section u Operation section u3 Control lever α1 1st boom angle α2 2nd 1st boom angle β1 1st and 2nd boom angles

Claims

1. a first boom having one end connected to a first rotating shaft that is a horizontal shaft and capable of rotating in the left-right direction relative to the traveling direction, and capable of rotating at a rotating angle including a first first boom angle and a second first boom angle that is greater than the first first boom angle; a second boom that is rotatable relative to the first boom at an angle including a first-second boom angle about a second rotation shaft that is parallel to the first rotation shaft and that is provided on the other end of the first boom, and that is rotatable in a forward-backward direction relative to a traveling direction that is a direction that intersects with the rotation direction of the first boom about a third rotation shaft that is provided on the other end of the first boom and that intersects with the first rotation shaft and the second rotation shaft; a working unit that can be rotated up and down by a fourth rotation shaft that is oriented forward and backward in the direction of travel of the second boom, The first boom, the second boom, and the working unit are a stored posture in which the first boom is lowered, the second boom is folded relative to the first boom, the second boom is rotated to a retreated position in the front-to-rear direction, and a working unit is positioned so as to be folded over the second boom; a state in which the first boom is rotated around the first rotation axis and the other end side of the first boom is positioned to the side of the first rotation axis, a state in which the second boom is rotated around the second rotation axis from a state in which it is folded relative to the first boom and the angle therebetween is widened, a state in which the second boom is rotated around the third rotation axis and is rotated forward from the retracted position, or a deployed position in which the working unit is rotated around a fourth rotation axis and the second boom is rotated to a side in which it is extended from one end side toward the other end side, an operation unit capable of automatic deployment operation for automatically changing the position of the first boom and the second boom from a stored position to a deployed position, when the first boom is at or below the first first boom angle after the start of the automatic deployment operation, rotating the second boom toward the first second boom angle to set the first second boom angle, and then rotating the first boom toward the first first boom angle; A work machine characterized by:

2. the second boom is provided so as to be rotatable relative to the first boom in a rotation direction intersecting with the first boom so as to be positioned at a retreated position, an intermediate position, and an advanced position, after starting a position change to the deployed position by the automatic deployment operation, if the second boom is at the first second boom angle and the first boom is at the first first boom angle, determining whether the second boom is at the retracted position or the intermediate position; When the second boom is in the retracted position or the intermediate position, the second boom is rotated toward the forward position.

2. The work machine according to claim 1.

3. The first boom and the second boom are operated only while the operation unit is being manually operated.

2. The work machine according to claim 1.

4. the operation toward the deployed posture is such that the first boom forms the first boom angle or less and the second boom forms the first boom angle or more, and then the deployed posture is formed.

4. A work machine according to claim 1.

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