Work machine

Abstract

To provide a work machine in which a sensor and hydraulic piping can be arranged on side of the work implement without interfering with each other, and in which the degree of freedom in arranging the sensor on the side of the work implement can be increased.SOLUTION: A work machine includes a work implement rotatably supported on a front of a machine body, a sensor disposed on a side of the work implement to detect an attitude of the work implement, and hydraulic piping routed along one of left and right sides of the work implement. The hydraulic piping is disposed between the side and the sensor when viewed from a rear side of the work implement.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] For example, Patent Document 1 discloses a work machine in which an angle sensor is attached to a work implement including a boom and an arm. The angle sensor is provided to detect the attitude of an attachment attached to the tip of the arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-35644 Summary of the Invention [Problem to be solved by the invention]

[0004] In some work machines, such as hydraulic excavators, hydraulic piping, such as PTO (Power Take Off) piping, is routed along the side of the work machine. The PTO piping is an optional piping (service piping) that supplies hydraulic oil to an attachment other than a bucket when the attachment is attached to the tip of the arm. In a configuration in which hydraulic piping is routed along the side of the work machine and a posture detection sensor is disposed to the side of the work machine, there is a risk of interference between the hydraulic piping and the sensor, depending on the number of hydraulic piping and how they are routed. Attempting to avoid interference between the two naturally limits the placement position of the sensor, reducing the degree of freedom in sensor placement. In this regard, Patent Document 1 does not consider at all how to increase the degree of freedom in sensor placement while avoiding interference between the hydraulic piping and the sensor.

[0005] The present invention has been made to solve the above problems, and its object is to provide a work machine that allows sensors and hydraulic piping to be positioned on the side of the work machine without interfering with each other, and that increases the degree of freedom in sensor placement on the side of the work machine. [Means for solving the problem]

[0006] A work machine according to one aspect of the present invention comprises a work implement rotatably supported at the front of a body, a sensor arranged on the side of the work implement and detecting the attitude of the work implement, and hydraulic piping routed along one of the left and right sides of the work implement, the hydraulic piping being arranged between the side and the sensor when the work implement is viewed from the rear side. [Effects of the Invention]

[0007] The sensor and the hydraulic piping can be arranged on the side of the work machine without interfering with each other, and the degree of freedom in arranging the sensor on the side of the work machine can be increased. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a work machine according to the present invention. [Figure 2] FIG. 2 is an enlarged side view showing a working machine of the hydraulic excavator. [Figure 3] FIG. 2 is an enlarged side view of the boom of the work machine. [Figure 4] FIG. 2 is a side view of the boom with the support member not shown. [Figure 5] FIG. [Figure 6] FIG. 6 is an enlarged rear view of part A in FIG. 5. [Figure 7] FIG. 2 is a side view of the entire boom. [Figure 8] FIG. 6 is a perspective view of part A in FIG. 5 as seen obliquely from behind the boom. [Figure 9]6 is an enlarged perspective view of an upper holding portion included in part A of FIG. 5. FIG. [Figure 10] 6 is an enlarged perspective view of a lower holding portion included in part A of FIG. 5. FIG. [Figure 11] FIG. 2 is an enlarged side view of the arm of the hydraulic excavator. [Figure 12] FIG. [Figure 13] FIG. 2 is a side view of the entire arm. [Figure 14] FIG. [Figure 15] FIG. 10 is a perspective view of the arm as seen from another direction. [Figure 16] FIG. 2 is a perspective view of the arm before the support material is attached. [Figure 17] FIG. 2 is a perspective view of the arm with the support material disposed on the side of the arm. [Figure 18] FIG. 10 is a perspective view of the arm in a state in which the support member is fixed to a first mounting seat and a second mounting seat. [Figure 19] FIG. 10 is a perspective view of the arm with a connection port fixed to a bracket fixed to the support. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes an embodiment of the present invention with reference to the drawings.

[0010] [1. Work Machinery] 1 is a side view showing a schematic configuration of a hydraulic excavator 1, which is an example of a work machine according to this embodiment. The hydraulic excavator 1 includes a lower traveling structure 2, a work implement 3, and an upper rotating structure 4. In this specification, the upper rotating structure 4 may also be referred to as the "machine body."

[0011] In this specification, unless otherwise specified, directions are defined as follows: The direction in which the operator (operator, driver) seated in the driver's seat 41a of the upper rotating body 4 faces is defined as the forward direction, and the opposite direction is defined as the rearward direction. Therefore, when the upper rotating body 4 is not rotating relative to the undercarriage 2 (swing angle 0°), the fore-and-aft direction of the upper rotating body 4 coincides with the direction in which the undercarriage 2 moves forward and backward. Also, the left side as seen from the operator seated in the driver's seat 41a is defined as the "left," and the right side is defined as the "right." Furthermore, the direction of gravity, which is perpendicular to the fore-and-aft direction and the left-and-right direction, is defined as the up-and-down direction, with the upstream side of the direction of gravity defined as the "up" and the downstream side as the "down." In the drawings, the hydraulic excavator 1 is shown in a state in which the upper rotating body 4 is not rotating relative to the undercarriage 2. Also, in the drawings, the forward direction is indicated by the symbols "F," the rearward by the symbol "B," the left by the symbol "L," the right by the symbol "R," the upward by the symbol "U," and the downward by the symbol "D."

[0012] For example, the left side of the left side surface may be referred to as "above the left side surface" based on the left side surface. Also, for example, the rear of the back surface may be referred to as "above the back surface" based on the back surface. In this way, expressions of directions that do not follow the definitions of directions based on the operator seated in the driver's seat 41a will be redefined and described in the specification each time.

[0013] (1-1. Undercarriage) The lower traveling structure 2 includes a pair of left and right crawlers 21 and a pair of left and right traveling motors 22. Each traveling motor 22 is a hydraulic motor. The left and right traveling motors 22 drive the left and right crawlers 21, respectively, thereby moving the hydraulic excavator 1 forward and backward. The lower traveling structure 2 further includes a blade 23 for performing ground leveling work, and a blade cylinder (not shown) that rotates the blade 23 up and down.

[0014] (1-2. Upper rotating body) The upper rotating body 4 is located above the lower traveling body 2 and is rotatable relative to the lower traveling body 2. A driving unit 41, a rotating frame 42, a rotating motor 43, and a machine room 44 are arranged on the upper rotating body 4. The upper rotating body 4 rotates via a rotating bearing (not shown) driven by the rotating motor 43, which is a hydraulic motor. At the rear of the upper rotating body 4, an engine 40 that provides power to each unit and multiple hydraulic pumps (not shown) are arranged.

[0015] Each hydraulic pump supplies hydraulic oil (pressurized oil) to a hydraulic motor (for example, the left and right travel motors 22, the swing motor 43) and a hydraulic cylinder via hydraulic piping. The hydraulic cylinders include the above-mentioned blade cylinder as well as the boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a, which will be described later. The above-mentioned hydraulic motors and hydraulic cylinders, which are driven by the supply of hydraulic oil from any hydraulic pump, are collectively referred to as hydraulic actuators. The above-mentioned hydraulic piping includes the hydraulic piping H1 and the rear hydraulic piping H2, which will be described later (both see Figure 3).

[0016] A driver's seat 41a is arranged in the driver's section 41. Various operation levers 41b are arranged around the driver's seat 41a. When an operator sits on the driver's seat 41a and operates the operation levers 41b, predetermined hydraulic actuators are driven.

[0017] The driver's section 41 includes a canopy 45. The canopy 45 is erected at the rear upper part of the engine room 44 and covers at least the area above the driver's seat 41a. Note that a cabin may be provided instead of the canopy 45. The cabin has a door that opens and closes when the operator gets on and off the vehicle, and covers not only the area above the driver's seat 41a but also the areas around the driver's seat 41a on the front, back, left, and right sides.

[0018] (1-3. Work equipment) The work implement 3 (hydraulic excavator 1) includes a boom 31, an arm 32, and a bucket 33. By independently driving the boom 31, the arm 32, and the bucket 33, it is possible to perform excavation work for earth and sand, etc. The bucket 33 is one of the attachments attached to the arm 32 via a link mechanism 34. Note that other attachments may be attached as appropriate instead of the bucket 33. For example, if a breaker is attached as another attachment, it is possible to perform crushing or demolition work using the breaker.

[0019] The work implement 3 (hydraulic excavator 1) includes a boom cylinder 31a, an arm cylinder 32a, and a bucket cylinder 33a. The boom 31, the arm 32, and the bucket 33 are driven by the boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a, respectively.

[0020] 2 is an enlarged side view of the work implement 3 of FIG. 1. The boom 31 has a first structure 310A and a second structure 310B. The first structure 310A has a base end 311 and extends from the base end 311 in a first direction D1. The second structure 310B has a tip end 312 that is the tip of the boom 31. The second structure 310B is connected to the first structure 310A on the side opposite to the tip end 312 and extends toward the tip end 312. Note that the first direction D1 here varies depending on the rotation angle of the boom 31, but is, for example, a direction toward the upward direction. Therefore, the first direction D1 may be vertically upward or may be a direction slightly inclined from vertically upward.

[0021] The direction in which the second structure 310B extends toward the tip end 312 intersects with the first direction D1 when the boom 31 is viewed from the side. In the example of FIG. 2, the second structure 310B extends diagonally forward from the side where it is connected to the first structure 310A. As a result, the boom 31 has a shape that is bent at an obtuse angle midway from the base end 311 toward the tip end 312 when viewed from the side (left or right). The bent portion of the boom 31 is referred to as a bent portion 313. The direction in which the second structure 310B extends toward the tip end 312 is referred to as a second direction D2. In this case, the boom 31 can be said to have a configuration including the first structure 310A extending in the first direction D1 and the second structure 310B connected to the first structure 310A and extending in a second direction D2 different from the first direction D1. The bent portion 313 is located at the connection portion between the first structure 310A and the second structure 310B.

[0022] The work machine 3 (hydraulic excavator 1) includes a first support portion 314 and a second support portion 315. The first support portion 314 is disposed above the bent portion 313 of the boom 31. The second support portion 315 is disposed on the opposite side of the bent portion 313 from the first support portion 314 (with the bent portion 313 in between). The first support portion 314 and the second support portion 315 are each fixed to the bent portion 313 by, for example, welding.

[0023] The base end 311 of the boom 31 is supported by an upper portion of a boom bracket 421. The boom bracket 421 is supported by a front portion 42a of the revolving frame 42 of the upper revolving body 4. In other words, the base end 311 of the boom 31 is supported by the machine body via the boom bracket 421.

[0024] The boom cylinder 31a is located forward of the boom 31. The boom cylinder 31a has one end 31a1 and the other end 31a2. The one end 31a1 of the boom cylinder 31a is supported at the tip of the boom bracket 421. In other words, the one end 31a1 of the boom cylinder 31a is supported on the machine body via the boom bracket 421, forward of the base end 311 of the boom 31. The other end 31a2 of the boom cylinder 31a is supported by the second support portion 315.

[0025] When the boom cylinder 31a extends and retracts, the boom 31 rotates up and down around the upper part of the boom bracket 421 on which the base end 311 is supported, as a rotation fulcrum. As described above, the hydraulic excavator 1 of this embodiment is equipped with a work implement 3 that is rotatably supported on the front part 42a of the machine body. The work implement 3 also has a boom 31 whose base end 311 is rotatably supported on the front part 42a of the machine body. The base end 311 is located on the side of the first structure 310A opposite to the side connected to the second structure 310B.

[0026] A swing cylinder 42b is connected to the boom bracket 421. The swing cylinder 42b is disposed on the revolving frame 42 (see FIG. 1). The swing cylinder 42b is configured as a hydraulic cylinder. When the swing cylinder 42b extends and retracts, the boom 31 can be swung left and right via the boom bracket 421. In this way, the hydraulic excavator 1 of this embodiment has a boom swing function.

[0027] The arm 32 is rotated up and down by the extension and contraction of the arm cylinder 32a. The arm cylinder 32a has a first end 32a1 and a second end 32a2. The first end 32a1 of the arm cylinder 32a is supported by the first support part 314. The second end 32a2 of the arm cylinder 32a is connected to (the base end of) the arm 32.

[0028] The bucket 33 is connected to the tip of the arm 32 via a link mechanism 34, and is rotated up and down by the extension and contraction of a bucket cylinder 33a. The bucket cylinder 33a has a base end supported by the arm 32 and a tip end connected to the link mechanism 34 so as to extend and contract.

[0029] The hydraulic excavator 1 is equipped with a first sensor 35, a second sensor 36, and a third sensor 37. The first sensor 35 is attached to the side of the boom 31 and detects the attitude of the boom 31. The second sensor 36 is attached to the side of the arm 32 and detects the attitude of the arm 32. The third sensor 37 is attached to the link mechanism 34 and detects the attitude of the attachment attached to the tip side of the arm 32 via the link mechanism 34. In this case, the third sensor 37 detects the attitude of the bucket 33 serving as an attachment. Thus, the hydraulic excavator 1 of this embodiment is equipped with a sensor (e.g., first sensor 35) that is arranged to the side of the work implement 3 (e.g., boom 31) and detects the attitude of the work implement 3 (e.g., boom 31).

[0030] The first sensor 35, the second sensor 36, and the third sensor 37 are configured as inertial measurement units (IMUs). The inertial measurement units are devices equipped with a three-axis gyro sensor and a three-directional accelerometer. This enables the first sensor 35, the second sensor 36, and the third sensor 37 to detect the three-dimensional positions of the boom 31, the arm 32, and the bucket 33, respectively.

[0031] The first sensor 35 and a controller (not shown) arranged on the aircraft side are connected by a first cable 71. The second sensor 36 and the first sensor 35 are connected by a second cable 72. The third sensor 37 and the second sensor 36 are connected by a third cable 73. The first cable 71, the second cable 72, and the third cable 73 are configured by cables (CAN buses) capable of CAN (Controller Area Network) communication, for example.

[0032] Attitude information of the boom 31 detected by the first sensor 35 is input to a controller (not shown) arranged on the machine body side via the first cable 71. Attitude information of the arm 32 detected by the second sensor 36 is input to the controller via the second cable 72, the first sensor 35, and the first cable 71 in this order. Attitude information of an attachment (e.g., the bucket 33) detected by the third sensor 37 is input to the controller via the third cable 73, the second sensor 36, the second cable 72, the first sensor 35, and the first cable 71 in this order. This allows the controller to detect the position of the cutting edge of the bucket 33 (positions in the front-to-back, up-down, and left-to-right directions) based on the attitude information of the boom 31, the arm 32, and the bucket 33.

[0033] Position information about the cutting edge of the bucket 33 is displayed, for example, on a monitor (not shown) located within the driver's unit 41. This allows the operator to operate the control lever 41b so that the bucket 33 is in the desired position based on the information displayed on the monitor. In other words, in this case, machine guidance can be achieved that presents the position information to the operator and guides the operation of the work implement 3. It is also possible to achieve machine control in which a controller automatically operates the work implement 3 so that the cutting edge of the bucket 33 is in the desired position based on the detected position information of the cutting edge of the bucket 33.

[0034] If the hydraulic excavator 1 has a boom swing function as in this embodiment, a swing boom sensor may be attached to the boom bracket 421. The swing boom sensor is a sensor that detects the swing angle of the boom 31, and is configured, for example, by an inertial measurement unit. By inputting information (swing angle) detected by the swing boom sensor to the controller via a cable (not shown), the controller can accurately detect the position of the cutting edge of the bucket 33, further taking into account the swing angle of the boom 31.

[0035] [2. Placement of the first sensor] 3 is an enlarged side view of the boom 31. As shown in the figure, a support member 5 is provided on the left side of the boom 31. The support member 5 includes, for example, a metal flat plate extending along the left side surface 31S of the boom 31, and is supported by a holding portion 6, which will be described later. The first sensor 35 is fixed to the support member 5, for example, by fastening with a bolt. The first sensor 35 is supported by the support member 5, and is thereby disposed on the left side of the boom 31.

[0036] FIG. 4 is a side view of the boom 31 without illustrating the support member 5. The work implement 3 (hydraulic excavator 1) is equipped with a hydraulic pipe H1 routed along the left side surface 31S of the boom 31. The hydraulic pipe H1 is, for example, a PTO pipe. As shown in FIGS. 3 and 4, the first sensor 35 is arranged on the opposite side of the hydraulic pipe H1 from the side surface 31S of the boom 31. Note that although two hydraulic pipes H1 are illustrated in FIGS. 3 and 4, the number of hydraulic pipes H1 can be set as appropriate. The hydraulic pipe H1 may also be routed along the right side surface of the boom 31. In this case, it is also possible to arrange the support member 5 along the right side surface of the boom 31 and arrange the first sensor 35 on the right side of the boom 31. In other words, the hydraulic excavator 1 is equipped with a hydraulic pipe H1 routed along one of the left and right sides of the work implement 3.

[0037] FIG. 5 is a rear view of the work implement 3. FIG. 6 is an enlarged rear view of portion A in FIG. 5. In FIG. 6, for the purpose of emphasizing the hydraulic pipe H1, the hydraulic pipe H1 is shown hatched for the sake of convenience. In FIGS. 3 to 6, the symbol H2 indicates the rear-side hydraulic pipe, which will be described later, routed along the rear surface of the boom 31. As shown in FIGS. 4 and 6, the hydraulic pipe H1 is held by a pipe holding portion 80. The pipe holding portion 80 is installed on the side surface 31S of the boom 31. As shown in FIG. 6, the hydraulic pipe H1 is arranged between the side surface 31S and the first sensor 35 when the work implement 3 (e.g., the boom 31) is viewed from the rear side.

[0038] When viewed from the rear side of the work implement 3, the hydraulic pipe H1, the side surface 31S of the boom 31, and the first sensor 35 are in the above-described positional relationship, thereby making it possible to avoid contact between the hydraulic pipe H1 and the first sensor 35 in a direction perpendicular to the side surface 31S. As a result, even if the number of hydraulic pipes H1 is increased or multiple hydraulic pipes H1 are routed closely to one another along the side surface 31S, contact between the hydraulic pipe H1 and the first sensor 35 can be avoided regardless of the number of hydraulic pipes H1 and how they are routed. Therefore, when arranging the first sensor 35 on the side of the work implement 3, the arrangement position of the first sensor 35 is not limited by the routing of the hydraulic pipe H1. As a result, even in a configuration in which the hydraulic pipe H1 is arranged along the side surface 31S of the work implement 3, the hydraulic pipe H1 and the first sensor 35 can be arranged on the side of the work implement 3 without interfering with each other, and the degree of freedom in arranging the first sensor 35 on the side of the work implement 3 can be increased.

[0039] Furthermore, by arranging the hydraulic pipe H1 between the side surface 31S and the first sensor 35 when viewing the work implement 3 from the rear side, for example, as shown in FIG. 4, the first sensor 35 can be arranged so as to overlap with the hydraulic pipe H1 when viewing the work implement 3 from the side surface 31S. Furthermore, although not shown, the first sensor 35 can also be arranged so as not to overlap with the hydraulic pipe H1 when viewing the work implement 3 from the side surface 31S. For example, the first sensor 35 can be arranged so as to be offset from the hydraulic pipe H1 in the front-to-rear direction. This also increases the degree of freedom in arranging the first sensor 35 on the side of the work implement 3.

[0040] In order to enable the first sensor 35 and the hydraulic pipe H1 to be arranged on the side of the boom 31 without interfering with each other even when the width W of the side surface 31S shown in Fig. 4 is narrow, it is desirable to arrange the hydraulic pipe H1 as follows: That is, as shown in Fig. 4, it is desirable to arrange the hydraulic pipe H1 so that it overlaps with the first sensor 35 when the work implement 3 is viewed from the side surface 31S side.

[0041] In this embodiment, the first structure 310A of the boom 31 includes the side surface 31S. In this case, the hydraulic piping H1 is routed along the side surface 31S of the first structure 310A and between the side surface 31S of the first structure 310A and the first sensor 35, and the effects of this embodiment described above can be obtained in this configuration.

[0042] 7 is a side view of the entire boom 31. It is desirable that the first sensor 35 be disposed so as to be inclined forward with respect to the rear surface 31B of the work implement 3 (particularly the boom 31). The reason for this is as follows.

[0043] In Figure 7, both ends of the boom 31 of the work implement 3, i.e., the base end 311 and the tip end 312, are defined as a first fulcrum M and a second fulcrum N, respectively. The first fulcrum M is also the rotation fulcrum of the boom 31 relative to the machine body. The second fulcrum N is also the rotation fulcrum of the arm 32 (see Figure 1) supported on the tip end 312 of the boom 31. A straight line passing through the first fulcrum M and the second fulcrum N is defined as L1. A straight line passing through the first sensor 35 and parallel to the line L1 is defined as a first reference line Lref_1.

[0044] When viewed from the side of the boom 31, the first sensor 35 is disposed at an incline forward with respect to the rear surface 31B. This allows the orientation of the first sensor 35 (indicated by arrow D3 in FIG. 7) to be maintained within a certain angle range (within ±α° with respect to the first reference line Lref_1) with respect to the first reference line Lref_1. Here, the orientation of the first sensor 35 refers to the longitudinal direction of the first sensor 35 when viewed from the side of the boom 31. The angle α can be appropriately set within a range of 0° to 45°. The posture of the boom 31 is indicated by a rotational posture with respect to the straight line L1. Therefore, the closer the orientation of the first sensor 35 is to the first reference line Lref_1, which is parallel to the straight line L1, the higher the accuracy of calibration (calibration of the rotation angle) of the first sensor 35. This improves the accuracy of detection of the posture (rotation angle) of the boom 31 by the first sensor 35.

[0045] Furthermore, the first sensor 35 may be disposed obliquely with respect to the routing direction of the hydraulic piping H1. For example, as shown in Fig. 7, when the hydraulic piping H1 is routed on the side of the boom 31 along a first direction D1 in which the first structure 310A extends, the first sensor 35 may be disposed so as to be inclined obliquely forward with respect to the first direction D1 when the boom 31 is viewed from the side. In this case, it is possible to maintain the orientation of the first sensor 35 within a certain angle range (within ±α° with respect to the first reference line Lref_1) while routing the hydraulic piping H1 along the first direction D1.

[0046] [3. Supporting member and holding part] Next, the support member 5 and the holding portion 6 will be described in detail.

[0047] (3-1. Holding part) 8 is a perspective view of part A in FIG. 5 as viewed obliquely from behind the boom 31. The hydraulic excavator 1 is equipped with a holding unit 6. The holding unit 6 is supported by the back surface 31B of the boom 31 and holds the back surface side hydraulic piping H2. The back surface side hydraulic piping H2 is routed along the back surface 31B of the boom 31. The back surface side hydraulic piping H2 includes hydraulic piping connected to, for example, the arm cylinder 32a and the bucket cylinder 33a shown in FIG. 1.

[0048] The holding portion 6 has an upper holding portion 6a and a lower holding portion 6b. The upper holding portion 6a is disposed relatively higher than the lower holding portion 6b and holds the rear hydraulic piping H2.

[0049] FIG. 9 is an enlarged perspective view of the upper holding portion 6a. The upper holding portion 6a has a pressing member 61. A plurality of (eight in FIG. 8) rear hydraulic pipes H2 arranged in the left-right direction are sandwiched between a first fixing plate 31P1 and the pressing member 61 via an upper and lower elastic body 62 (e.g., a rubber body). The first fixing plate 31P1 is a plate-like member extending in the left-right direction and is fixed to the rear face 31B of the boom 31 by welding or the like. The pressing member 61 has a pressing main body 611. The pressing main body 611 extends in the left-right direction at a position opposite the rear face 31B of the boom 31 with respect to the first fixing plate 31P1. Both ends of the pressing main body 611 bend along the side faces of the boom 31, outside both side faces of the boom 31. A first bolt 61a is inserted into a hole (not shown) on the top surface of the retainer main body 611, passes through the upper and lower elastic bodies 62, and is screwed into a hole (not shown) in the first fixing plate 31P1. As a result, the multiple rear surface side hydraulic pipes H2 are pressed against the rear surface 31B of the boom 31 by the retainer member 61 via the elastic bodies 62, and are stably held on the rear surface 31B. In other words, the holding unit 6 has the retainer member 61 that presses the rear surface side hydraulic pipes H2 against the rear surface 31B of the boom 31 via the elastic bodies 62.

[0050] FIG. 10 is an enlarged perspective view of the lower holding portion 6b. The configuration of the lower holding portion 6b is basically the same as that of the upper holding portion 6a. However, the way in which the lower holding portion 6b holds the multiple rear side hydraulic pipes H2 is slightly different from that of the upper holding portion 6a. The lower holding portion 6b will be described below. Of the components constituting the lower holding portion 6b, components having the same functions as those of the upper holding portion 6a are denoted by the same reference numerals. For ease of explanation, of the eight rear side hydraulic pipes H2 shown in FIG. 10, the four hydraulic pipes located toward the center in the left-right direction are referred to as first rear side hydraulic pipes H21, and the two hydraulic pipes located to the left of the first rear side hydraulic pipe H21 and the two hydraulic pipes located to the right of the first rear side hydraulic pipe H21 are referred to as second rear side hydraulic pipes H22.

[0051] The four first rear-side hydraulic pipes H21 aligned in the left-right direction are sandwiched between the second fixing plate 31P2 and the holding member 61 via an upper and lower elastic body 62 (e.g., a rubber body). The second fixing plate 31P2 is a plate-like member extending in the left-right direction and is fixed by welding or the like to the rear surface 31B of the boom 31 at a position lower than the first fixing plate 31P1. The holding member 61 has a holding main body 611. The holding main body 611 extends in the left-right direction at a position opposite the rear surface 31B of the boom 31 with respect to the second fixing plate 31P2. Both ends of the holding main body 611 are bent outward from both side surfaces of the boom 31 and along the side surfaces of the boom 31. The bent shape of the left side of the holding member 61 differs from that of the holding member 61 of the upper holding part 6a; this will be described in detail later. The first bolt 61a is inserted into a hole (not shown) on the top surface of the retainer main body 611, passes through the upper and lower elastic bodies 62, and is screwed into a hole (not shown) in the second fixing plate 31P2. As a result, the plurality of first rear-side hydraulic pipes H21 are pressed against the rear surface 31B of the boom 31 by the retainer member 61, and are stably held on the rear surface 31B.

[0052] On the other hand, the two left and two right second rear side hydraulic pipes H22 have a shape that bends toward the center in the left-right direction as they move from the top (toward the bent portion 313) to the bottom (toward the base end portion 311) along the rear surface 31B of the boom 31. At the position of the lower holding portion 6b, the four second rear side hydraulic pipes H22 pass rearward (toward the rear surface) of the boom 31 relative to the four first rear side hydraulic pipes H21 and the holding member 61. Therefore, the two left second rear side hydraulic pipes H22 are simultaneously fixed to the upper surface of the holding body 611 by a fastener 63 and a second bolt 61b. Specifically, with the two second rear side hydraulic pipes H22 sandwiched between the upper surface of the holding body 611 and the fastener 63, the second bolt 61b is inserted into a hole (not shown) in the fastener 63 and screwed into a hole (not shown) in the holding body 611. As a result, the two second rear hydraulic pipes H22 on the left side are fixed and held on the upper surface of the presser body 611. The two second rear hydraulic pipes H22 on the right side are also fixed and held on the upper surface of the presser body 611 in a similar manner.

[0053] (3-2. Supporting members) As shown in FIGS. 8 to 10, the support member 5 has a support main body portion 50 and a first extension portion 51. The support main body portion 50 is made of a flat metal plate that extends along the side surface 31S of the boom 31. The first sensor 35 is fastened to the support main body portion 50 with bolts. The first extension portion 51 is a portion that extends from the support main body portion 50 toward the rear surface 31B of the boom 31. More specifically, the first extension portion 51 extends from above the side surface 31S of the work implement 3 (particularly the boom 31) toward above the rear surface 31B.

[0054] In this case, "above the side surface 31S" refers to a direction away from the side surface 31S in a direction perpendicular to the side surface 31S (for example, the left-right direction). For example, if the side surface 31S is the left side surface of the boom 31, "above the side surface 31S" refers to further to the left of the side surface 31S. Furthermore, "above the rear surface 31B" refers to a direction away from the rear surface 31B (for example, further rearward than the rear surface 31B) in a direction perpendicular to the rear surface 31B (for example, the front-to-rear direction).

[0055] Such first extension portions 51 are provided so as to be connected to the upper and lower portions of the support main body portion 50. The first extension portion 51 extending from the upper portion of the support main body portion 50 extends toward the holding portion 6, particularly the upper holding portion 6a. The first extension portion 51 extending from the lower portion of the support main body portion 50 extends toward the holding portion 6, particularly the lower holding portion 6b.

[0056] 9 and 10, the first extension portion 51 extending from the upper portion of the support main body portion 50 and the first extension portion 51 extending from the lower portion of the support main body portion 50 have the same shape. In a configuration in which the support main body portion 50 of the support member 5 is positioned along the left side surface 31S of the boom 31, each first extension portion 51 extends rightward from the connection side with the support main body portion 50, that is, in a direction approaching the left side surface 31S of the boom 31, then bends rearward to extend along the side surface 31S, and further bends rightward to extend along the upper surface of the pressing member 61 (pressing main body portion 611). A through-hole (not shown) into which the first bolt 61a is fitted is provided at the right end of the first extension portion 51. Therefore, by inserting the first bolt 61a into the through-hole of the first extension portion 51 and then screwing it into the hole of the pressing main body portion 611 and the hole of the first fixing plate 31P1 (or the second fixing plate 31P2), the first extension portion 51 can be fastened together with the pressing main body portion 611. In other words, the first extension portion 51 is fixed to the pressing member 61. As a result, the support member 5 having the first extension portion 51 is held by the holding portion 6 having the pressing member 61. Therefore, by attaching the first sensor 35 to the support member 5 (support main body portion 50), the first sensor 35 is supported on the back surface 31B of the boom 31 via the support member 5 and the holding portion 6.

[0057] The side surface 31S of the work implement 3 (particularly the boom 31) is prone to stress (for example, stress due to torsion) during work (for example, excavation). For this reason, there is concern that attaching a member supporting the first sensor 35 to the side surface 31S of the work implement 3 may affect the durability of the work implement 3. In terms of ensuring the durability of the work implement 3, it is desirable that the first sensor 35 be supported on the back surface 31B of the work implement 3 (boom 31) via the support member 5, as in this embodiment.

[0058] In particular, in a configuration in which the support member 5 is supported by the holding portion 6, the first sensor 35 is supported via the support member 5 and the holding portion 6 on the back surface 31B of the boom 31, which is less likely to be subjected to stress during work. This makes it possible to both attach the first sensor 35 and route the back surface side hydraulic piping H2 (holding it on the back surface 31B side) without applying a load to the side surface 31S of the boom 31.

[0059] (3-3. Details of the holding member) 9 and 10, the pressing member 61 of the holding part 6 further has a second extension part 612 in addition to the above-mentioned pressing main body part 611. The configuration of the pressing member 61 having the second extension part 612 is common to the upper holding part 6a and the lower holding part 6b. However, the shape of the second extension part 612 is slightly different between the upper holding part 6a and the lower holding part 6b, which will be described later.

[0060] The second extension part 612 is connected to the left end of the pressing body part 611, which is disposed above the back surface 31B of the boom 31. The second extension part 612 extends from the left end of the pressing body part 611 toward above the side surface 31S of the boom 31. In other words, the pressing member 61 has the second extension part 612 that extends from above the back surface 31B of the work implement 3 toward above the side surface 31S of the work implement 3.

[0061] As shown in FIG. 9, in the upper holding portion 6a, the second extension portion 612 is composed of a flat plate portion 612a. The flat plate portion 612a extends along the side surface 31S of the boom 31. A stay 64 is erected on the back surface 50a of the support main body portion 50 toward the side surface 31S of the boom 31. The stay 64 is a cylindrical metal member and is also called a collar or spacer. The length of the stay 64 in the erecting direction, that is, the length in the direction perpendicular to the back surface 50a of the support main body portion 50, is the same as the length of the first extension portion 51 of the support member 5 in the above direction. The stay 64 is disposed between the flat plate portion 612a and the back surface 50a.

[0062] The third bolt 61c is inserted from the left into a hole (not shown) in the support main body 50, the stay 64, and a hole (not shown) in the flat plate portion 612a, and engaged with the first nut 61N1. As a result, the flat plate portion 612a (second extension portion 612) is supported and fixed to the back surface 50a of the support main body 50 via the stay 64. Therefore, the support member 5 is fixed to the pressing member 61 of the holding portion 6 at two locations on the upper side of the support main body 50 by the first bolt 61a and the third bolt 61c.

[0063] In this way, the second extension 612 of the pressing member 61 is supported (via the stay 64) on the back surface 50a of the support member 5 on the side of the side surface 31S of the boom 31. As a result, the support member 5 to which the first sensor 35 is attached is not only supported by the pressing member 61 (particularly the pressing main body portion 611) via the first extension 51 of the support member 5, but also supported by the pressing member 61 via the second extension 612. Therefore, the first sensor 35 arranged on the side of the boom 31 can be stably supported from the back surface 31B side of the work implement 3 via the support member 5 and the holding portion 6.

[0064] In particular, the second extension portion 612 (flat plate portion 612a) is supported on the back surface 50a of the support member 5 via the stay 64. Even if the second extension portion 612 extends along the side surface 31S of the boom 31 and a gap is formed between the second extension portion 612 and the back surface 50a of the support member 5, the second extension portion 612 can be supported on the back surface 50a of the support member 5 via the stay 64.

[0065] 10, in the lower holding portion 6b, the second extending portion 612 is configured to have a bent portion 612b in addition to a flat plate portion 612a extending along the side surface 31S of the boom 31. The bent portion 612b extends from the end of the flat plate portion 612a opposite to the side connected to the pressing body portion 611 toward the support member 5 and bends in a direction along the back surface 50a of the support member 5.

[0066] The end of the bent portion 612b opposite to the connection side with the flat plate portion 612a, i.e., the portion along the back surface 50a of the support member 5 (support main body portion 50), is in contact with the back surface 50a. A fourth bolt 61d is inserted from the left into a hole (not shown) in the support main body 50 and a hole (not shown) in the bent portion 612b, and engaged with the second nut 61N2. This supports and fixes the bent portion 612b (second extension portion 612) to the back surface 50a of the support main body 50. In other words, the support member 5 is fixed at two locations on the lower side of the support main body 50 to the pressing member 61 of the retaining portion 6 by the first bolt 61a and the fourth bolt 61d.

[0067] In this manner, the bent portion 612b of the second extension portion 612 is directly fixed to the rear surface 50a of the support member 5. This makes it possible to support the second extension portion 612 on the rear surface 50a of the support member 5 without using the stay 64 described above. Furthermore, in the lower holding portion 6b, the pipe holding portion 80 (see FIG. 8) and the joint portion of the hydraulic pipe H1 are located near the second extension portion 612. By configuring the second extension portion 612 with the flat plate portion 612a and the bent portion 612b, interference between the second extension portion 612 and the pipe holding portion 80 or the joint portion of the hydraulic pipe H1 is easily avoided. Furthermore, since the second extension portion 612 has a bent shape, when the driver's section 41 is of cabin specification, a clearance can be secured between the second extension portion 612 and the cabin wiper during boom swing (e.g., during left swing), making it easy to avoid contact between the two.

[0068] [4. Placement of the second sensor] Next, the arrangement of the second sensor 36 shown in Fig. 2 will be described. Fig. 11 is an enlarged side view of the arm 32 of the hydraulic excavator 1 of this embodiment. Fig. 12 is a perspective view of the arm 32. As shown in Figs. 1, 2, 11 and 12, the hydraulic excavator 1 of this embodiment includes a boom 31, an arm 32, a second sensor 36, a bucket cylinder 33a, and hydraulic piping H1.

[0069] As shown in FIG. 1, the boom 31 is rotatably supported on the front part 42a of the machine body (upper rotating body 4). The arm 32 is rotatably supported on the tip part 312 of the boom 31. The second sensor 36 is disposed on the side of the arm 32 to detect the posture of the arm 32. In this embodiment, the second sensor 36 is disposed on the left side of the arm 32, but may be disposed on the right side. The second sensor 36 is supported on the side surface 32S of the arm 32 via a support member 93, the details of which will be described later. The bucket cylinder 33a is disposed above the arm 32 and is a hydraulic cylinder provided to rotate the bucket 33 shown in FIG. 1.

[0070] As described above, the hydraulic pipe H1 is a PTO pipe, and is routed along the side surface of the arm 32. In this embodiment, two hydraulic pipes H1 are routed along the left side surface 32S of the arm 32. The number of hydraulic pipes H1 routed along the side surface of the arm 32 can be set arbitrarily.

[0071] Additionally, an inlet hydraulic pipe H1 through which hydraulic oil flows into the hydraulic actuator of the attachment is routed along one of the left and right sides of the arm 32. Meanwhile, an outlet hydraulic pipe H1 through which hydraulic oil flows out of the hydraulic actuator of the attachment is routed along the other side of the arm 32. In other words, if the hydraulic pipe H1 through which hydraulic oil discharged from the hydraulic pump flows is located on the left side 32S of the arm 32, the hydraulic pipe H1 through which hydraulic oil returns from the attachment to the hydraulic oil tank is routed on the right side of the arm 32. In this way, the left and right hydraulic pipes H1 are routed as a set.

[0072] The inlet hydraulic pipe H1 and the outlet hydraulic pipe H1 with respect to the attachment may be routed along the same side (for example, the left side surface 32S) of the arm 32. Alternatively, one of the inlet hydraulic pipe H1 and the outlet hydraulic pipe H1 may be routed along one of the left and right side surfaces of the arm 32, and the other may be routed above the arm 32.

[0073] As shown in FIG. 11 , the hydraulic pipe H1 is routed on the opposite side of the bucket cylinder 33a, which is a hydraulic cylinder, from the second sensor 36. By routing the hydraulic pipe H1 along the side surface 32S of the arm 32 as described above, the second sensor 36 and the hydraulic pipe H1 are arranged without interfering with each other. That is, the second sensor 36 can be arranged on the side of the arm 32 (work implement 3) while avoiding interference with the hydraulic pipe H1. Furthermore, the entire space on the side of the arm 32 opposite the bucket cylinder 33a from the second sensor 36 can be utilized as routing space for the hydraulic pipe H1. This increases the degree of freedom in routing the hydraulic pipe H1 and also increases the degree of freedom in arranging the connection port 91, described below, which is connected to the hydraulic pipe H1. Furthermore, it is possible to easily accommodate an increase in the number of hydraulic pipes H1. That is, even if the number of hydraulic pipes H1 increases and multiple hydraulic pipes H1 need to be routed closely to each other, all of the hydraulic pipes H1 can be routed on the side of the arm 32.

[0074] The hydraulic excavator 1 of this embodiment further includes a connection port 91 and a hose guide 92. The connection port 91 is disposed at the end of the hydraulic pipe H1. The connection port 91 is a connection portion to which another hydraulic pipe (attachment-side pipe) extending from an attachment mounted on the arm 32 is connected, and is also called a stop valve. In this embodiment, two hydraulic pipes H1 are routed on the left side of the arm 32, and therefore two connection ports 91 are provided corresponding to each hydraulic pipe H1.

[0075] The hose guide 92 is formed in a horizontally long ring shape (frame shape) with an opening 92a (see FIG. 12). The two hydraulic pipes H1 are routed through the opening 92a. The hose guide 92 prevents the hydraulic pipes H1 from moving wildly when the work machine 3 is driven. Each connection port 91 and the hose guide 92 are supported by a support member 93.

[0076] In order to route the hydraulic piping H1 through a space on the opposite side of the hydraulic cylinder (bucket cylinder 33a) from the second sensor 36, it is desirable that the connection port 91 be disposed on the opposite side of the hose guide 92 from the second sensor 36. In other words, as shown in FIG. 11 , when the arm 32 is viewed from the side, it is desirable that the second sensor 36 be disposed between the two connection ports 91 and the hose guide 92.

[0077] 11 and 12 , in the present embodiment, the opening 92a of the hose guide 92 faces downward from the second sensor 36 on the side of the arm 32. In other words, the direction DP perpendicularly intersecting the opening 92a of the hose guide 92 faces the opposite side of the second sensor 36 from the bucket cylinder 33a. In this case, it becomes easy to guide the hydraulic pipe H1 passing through the opening 92a to below the second sensor 36. Therefore, it becomes easy to achieve the above-described positional relationship between the bucket cylinder 33a, the second sensor 36, and the hydraulic pipe H1 on the side of the arm 32.

[0078] Furthermore, in order to easily route the hydraulic piping H1 below the second sensor 36, it is desirable that the connection port 91, which is arranged at the end of the hydraulic piping H1, be arranged below the second sensor 36. That is, as shown in Fig. 11, it is desirable that the connection port 91 be arranged on the side of the arm 32, on the opposite side of the second sensor 36 from the hydraulic cylinder (bucket cylinder 33a).

[0079] It is desirable that the second sensor 36 be disposed on the side of the arm 32 so that its tip end is closer to the hydraulic cylinder (bucket cylinder 33a) than its base end. The tip end of the second sensor 36 refers to the side of the second sensor 36 that is connected to the third cable 73. The base end of the second sensor 36 refers to the side of the second sensor 36 that is connected to the second cable 72. In other words, the above-described arrangement of the second sensor 36 is achieved by placing the first connection portion 361 of the second sensor 36 that is connected to the third cable 73 closer to the bucket cylinder 33a than the second connection portion 362 of the second sensor 36 that is connected to the second cable 72. The reason why such an arrangement of the second sensor 36 is desirable is as follows.

[0080] FIG. 13 is a side view of the entire arm 32. In FIG. 13, both ends of the arm 32 are defined as one-end fulcrum P and other-end fulcrum Q, respectively. The one-end fulcrum P is located at the tip 312 of the boom 31, i.e., at the same position as the second fulcrum N. The other-end fulcrum Q is the connection between the arm 32 and the link mechanism 34. A straight line passing through the one-end fulcrum P and the other-end fulcrum Q is defined as L2. A straight line passing through the second sensor 36 and parallel to the line L2 is defined as a second reference line Lref_2. The one-end fulcrum P and the other-end fulcrum Q can also be referred to as the first fulcrum and the second fulcrum of the arm 32, respectively.

[0081] When the tip end of the second sensor 36 is positioned closer to the bucket cylinder 33a than the base end when viewed from the side of the arm 32, the orientation of the second sensor 36 (indicated by arrow D4 in FIG. 12) can be maintained within a certain angle range (within β° from the second reference line Lref_2) with respect to the second reference line Lref_2. Here, the orientation of the second sensor 36 refers to the longitudinal direction of the second sensor 36 when viewed from the side of the arm 32. The angle β can be appropriately set within a range of 0° to 45°. The posture of the arm 32 is indicated by a rotational posture based on the straight line L2. Therefore, the closer the orientation of the second sensor 36 is to the second reference line Lref_2, which is parallel to the straight line L2, the higher the accuracy of calibration of the second sensor 36. This improves the accuracy of detection of the posture of the arm 32 by the second sensor 36.

[0082] In order to simultaneously avoid interference between the second sensor 36 and the hydraulic piping H1 on the side of the arm 32 and improve the accuracy of calibration of the second sensor 36, it is desirable to arrange the second sensor 36 as close as possible to the bucket cylinder 33a and in an orientation that falls within the above-mentioned certain range. From the perspective of easily realizing such an arrangement of the second sensor 36, it is desirable that the second sensor 36 be arranged so as to protrude toward the hydraulic cylinder from an edge 32E on the hydraulic cylinder (bucket cylinder 33a) side of a side surface 32S of the arm 32 when viewing the arm 32 from the side, as shown in Figures 11 and 13.

[0083] FIG. 14 is a side view of the arm 32, showing both the extension / contraction direction D5 of the bucket cylinder 33a and the direction D6 perpendicular to the extension / contraction direction D5. In this embodiment, a plurality of (e.g., two) hydraulic pipes H1 are provided passing through the hose guide 92 (opening 92a). Each of the plurality of hydraulic pipes H1 has a connection port 91 at its end. In this configuration, in order to easily arrange the plurality of (e.g., two) connection ports 91 side by side along the side surface 32S of the arm 32 without causing the plurality of hydraulic pipes H1 to interfere with each other, it is desirable that the plurality of connection ports 91 be arranged as follows. That is, it is desirable that the plurality of connection ports 91 be arranged at different positions in the direction D6 perpendicular to the extension / contraction direction D5 of the bucket cylinder 33a as viewed from the side of the arm 32. In other words, it is desirable that the plurality of connection ports 91 be arranged at positions offset from each other in the direction D6 as viewed from the side of the arm 32.

[0084] Furthermore, in order to make it even easier to arrange the multiple connection ports 91 side by side along the side surface 32S of the arm 32, it is more preferable that the multiple connection ports 91 be arranged as follows. That is, as shown in Fig. 14, it is preferable that the multiple connection ports 91 be arranged at different positions in the extension / contraction direction D5 of the bucket cylinder 33a when viewed from the side of the arm 32. In other words, it is preferable that the multiple connection ports 91 be arranged at positions that are offset from each other in the extension / contraction direction D5 when viewed from the side of the arm 32.

[0085] In this embodiment, as shown in Fig. 14, the multiple connection ports 91 are arranged diagonally with respect to the extension / contraction direction D5 of the bucket cylinder 33a, as viewed from the side of the arm 32. Here, in Fig. 14, the orientation of each connection port 91 is indicated by arrow D7. Note that the orientation of the connection port 91 refers to the direction (connection direction) that faces the attachment-side hydraulic piping when the attachment-side hydraulic piping is connected to the connection port 91. By arranging each connection port 91 diagonally with respect to the extension / contraction direction D5 in this way, as viewed from the side of the arm 32, it becomes possible to connect the attachment-side hydraulic piping to each connection port 91 from below, that is, from the opposite side to the bucket cylinder 33a, making this connection easier.

[0086] [5. Support materials] 15 is a perspective view of the arm 32 as viewed from another direction. As described above, the second sensor 36, the hose guide 92, and each connection port 91 are supported by the support member 93. The support member 93 is attached to the side surface 32S of the arm 32 via a first mounting seat 94 and a second mounting seat 95. Below, a method of using the support member 93 to arrange the second sensor 36, the hose guide 92, and each connection port 91 on the side of the arm 32 will be described.

[0087] 16 is a perspective view of the arm 32 before the support member 93 is attached. A first mounting seat 94 and a second mounting seat 95 are fixed by welding to a side surface 32S of the arm 32. The first mounting seat 94 is originally fixed to the side surface 32S of the arm 32 in order to attach each connection port 91 via a bracket 96 (see FIG. 15).

[0088] Two first through-holes 94a are formed in the first mounting seat 94. A fifth bolt 96a (see FIG. 18) that fixes the bracket 96 is screwed into the first through-hole 94a. The number of first through-holes 94a is not limited to two, and may be at least one.

[0089] The second mounting seats 95 are originally fixed to the side surface 32S of the arm 32 in order to attach the hose guide 92 via a guide support plate 97 (see FIG. 15). Two second mounting seats 95 are fixed to the side surface 32S of the arm 32, but the number of second mounting seats 95 can be set as desired. The two second mounting seats 95 may also be formed as a single unit like the first mounting seat 94.

[0090] A second insertion hole 95a is formed in the second mounting seat 95. A sixth bolt 97a (see FIG. 18) that fixes the guide support plate 97 is screwed into the second insertion hole 95a. Each second mounting seat 95 is fixed to the side surface 32S closer to the base end of the arm 32 than the first mounting seat 94.

[0091] 17 is a perspective view of the arm 32 with the support member 93 disposed on the side of the arm 32. When the second sensor 36 is disposed on the side of the arm 32, the support member 93, which serves as a base for attaching the second sensor 36, is aligned with the first mounting seat 94 and the second mounting seat 95. The support member 93 has a support plate main body 931 and a sensor support plate 932.

[0092] The support plate main body 931 is a flat plate extending along the side surface 32S of the arm 32. However, in the vicinity of the edge 32E of the arm 32, the end of the support plate main body 931 is bent toward the upper surface of the arm 32. This ensures the rigidity (strength) of the support plate main body 931.

[0093] The sensor support plate 932 is fixed by welding to a predetermined position on the support plate main body 931. The second sensor 36 is fixed to the sensor support plate 932 with a mounting bolt 36a (see FIG. 18). In this way, the second sensor 36 is supported by the support member 93.

[0094] A third insertion hole 931a and a fourth insertion hole 931b are formed in the support plate main body 931. The third insertion hole 931a is provided in a position on the support plate main body 931 corresponding to the first insertion hole 94a of the first mounting seat 94. The fourth insertion hole 931b is provided in a position on the support plate main body 931 corresponding to the second insertion hole 95a of the second mounting seat 95. By aligning the positions of the third insertion hole 931a and the first insertion hole 94a and the fourth insertion hole 931b and the second insertion hole 95a, the position of the support member 93 can be aligned with respect to the first mounting seat 94 and the second mounting seat 95.

[0095] FIG. 18 is a perspective view of the arm 32 with the second sensor 36 fixed to the support member 93, and the support member 93 fixed to the first mounting seat 94 and the second mounting seat 95. A bracket 96 is disposed on the opposite side of the support member 93 from the first mounting seat 94. A fifth bolt 96a is then inserted into a hole (not shown) in the bracket 96 and a third insertion hole 931a (see FIG. 17) in the support plate main body 931, and then screwed into the first insertion hole 94a (see FIG. 16) in the first mounting seat 94. This fixes the bracket 96 to the first mounting seat 94 via the support member 93. That is, the bracket 96 and the support member 93 are fixed to the side surface 32S of the arm 32 via the first mounting seat 94. Therefore, the second sensor 36 is supported on the side surface 32S of the arm 32 via the support member 93.

[0096] Furthermore, a guide support plate 97 is disposed on the opposite side of the support member 93 from the second mounting seat 95. Here, it is assumed that the hose guide 92 is previously fixed to the guide support plate 97 by welding or the like. The sixth bolt 97a is inserted into a hole (not shown) in the guide support plate 97 and into a fourth insertion hole 931b (see FIG. 17) of the support plate main body 931, in that order, and then screwed into the second insertion hole 95a (see FIG. 16) of the second mounting seat 95. This fixes the guide support plate 97 to the second mounting seat 95 via the support member 93. That is, the guide support plate 97 and the support member 93 are fixed to the side surface 32S of the arm 32 via the second mounting seat 95. Therefore, the hose guide 92 fixed to the guide support plate 97 is supported by the side surface 32S of the arm 32 via the support member 93.

[0097] As shown in Fig. 18, a fifth insertion hole 96b is formed in the bracket 96. A fixing bolt 98 (see Fig. 19) for fixing the connection port 91 is inserted into the fifth insertion hole 96b.

[0098] 19 is a perspective view of the arm 32 with the connection ports 91 fixed to the bracket 96. A fixing bolt 98 is inserted into each of the mounting holes (not shown) of the two connection ports 91, and then inserted into the fifth insertion hole 96b of the bracket 96 and tightened with a nut (not shown). This fixes each connection port 91 to the bracket 96. Therefore, each connection port 91 is supported by the support member 93 via the bracket 96. In other words, each connection port 91 is supported by the side surface 32S of the arm 32 via the bracket 96 and the support member 93.

[0099] The hydraulic pipe H1 is connected to the connection port 91 through an opening 92a of the hose guide 92. As a result, the connection port 91 is disposed at the end of the hydraulic pipe H1.

[0100] As described above, the second sensor 36, the hose guide 92, and the connection port 91 are supported on the side surface 32S of the arm 32 via the support member 93. By using the support member 93, the second sensor 36 can be installed on the work implement 3 (arm 32) by utilizing the first mounting seat 94 and the second mounting seat 95 that are originally provided on the side surface 32S of the arm 32. Therefore, there is no need to fix a dedicated mounting seat for installing the second sensor 36 to the side surface 32S by welding or the like. As a result, the second sensor 36 can be easily installed on the arm 32. In other words, the ease of assembly when installing the second sensor 36 on the side of the arm 32 is improved. Furthermore, a decrease in the strength of the arm 32 due to the installation of a dedicated mounting seat is avoided.

[0101] The multiple connection ports 91 are supported by a support member 93 via brackets 96. In this configuration, the multiple connection ports 91 can be spaced apart from the support member 93 by at least the thickness of the brackets 96. This makes it possible and easy to attach other components to the support member 93 without interfering with the connection ports 91. In this case, an example of the other component is a clamp component 99 that holds the third cable 73 extending from the third sensor 37, as shown in FIG. 15 .

[0102] [6. Supplementary Information] The hydraulic excavator 1 may be configured to use hydraulic equipment such as hydraulic actuators (e.g., hydraulic motors and hydraulic cylinders) in combination with electrically driven actuators. Electrically driven actuators include, for example, electric travel motors, electric cylinders, and electric swing motors.

[0103] The hydraulic excavator 1 is configured to include an engine 40 (see FIG. 1) as a prime mover, but the prime mover may also be an electric motor.

[0104] [7. Notes] The work machine described in this embodiment can be expressed as follows:

[0105] The work machine referred to in Appendix (A1) is a work machine rotatably supported on the front part of the machine body; a sensor disposed on a side of the work machine and configured to detect the attitude of the work machine; and hydraulic piping arranged along one of the left and right sides of the work machine, The hydraulic piping is disposed between the side surface and the sensor when the work machine is viewed from the rear side.

[0106] The work machine of appendix (A2) is the work machine of appendix (A1), The sensor is disposed at an incline forward relative to the rear surface of the work machine.

[0107] The work machine of appendix (A3) is a work machine according to appendix (A2), The sensor is disposed obliquely with respect to the direction in which the hydraulic pipes are routed.

[0108] The working machine of appendix (A4) is a working machine according to any one of appendices (A1) to (A3), The hydraulic pipe is disposed so as to overlap the sensor when the work machine is viewed from the side.

[0109] The working machine of appendix (A5) is a working machine according to any one of appendices (A1) to (A4), the work machine has a boom rotatably supported at the front part of the machine body, The boom is a first structure extending in a first direction; a second structure connected to the first structure and extending in a second direction different from the first direction, a base end portion of the first structure opposite to a side connected to the second structure is rotatably supported by the front portion, The first structure includes the side surface.

[0110] The working machine of appendix (A6) is a working machine according to any one of appendices (A1) to (A5), The sensor is supported on the rear surface of the work machine via a support member.

[0111] The work machine of appendix (A7) is the work machine of appendix (A6), Further provided is a holding portion for holding a rear side hydraulic piping routed along the rear surface, The holding portion is supported by the back surface, The support member is supported by the holding portion.

[0112] The work machine of appendix (A8) is a work machine according to appendix (A7), The holding portion has a pressing member that presses the rear side hydraulic piping against the rear surface via an elastic body, The support member has a first extension portion extending from above the side surface of the work machine toward above the back surface, The first extension portion is fixed to the pressing member.

[0113] The work machine of appendix (A9) is a work machine according to appendix (A8), the pressing member has a second extension portion extending from above the back surface of the work machine toward above the side surface of the work machine, The second extension portion is supported by the rear surface of the support member on the side surface side.

[0114] The work machine of appendix (A10) is a work machine according to appendix (A9), a stay provided on the back surface of the support member and extending toward the side surface, The second extending portion is supported on the rear surface of the support member via the stay.

[0115] The work machine of appendix (A11) is a work machine according to appendix (A9), The second extension portion is a flat plate portion extending along the side surface of the work machine; a folding portion extending from an end of the flat plate portion toward the support member and folding in a direction along the back surface of the support member, The bent portion is fixed to the back surface of the support member.

[0116] The work machine in Appendix (B1) is a boom rotatably supported on the front of the machine body; an arm rotatably supported at the tip of the boom; a sensor disposed on a side of the arm to detect the posture of the arm; a hydraulic cylinder disposed above the arm; and hydraulic piping arranged along (at least one of) the side surfaces of the arm, The hydraulic pipe is routed on the opposite side of the sensor from the hydraulic cylinder.

[0117] The work machine of appendix (B2) is the work machine of appendix (B1), a connection port disposed at an end of the hydraulic piping, to which another hydraulic piping extending from an attachment attached to the arm is connected; a hose guide disposed on a side of the arm and through which the hydraulic piping passes; The sensor is disposed between the connection port and the hose guide.

[0118] The work machine of appendix (B3) is a work machine according to appendix (B2), 3. The work machine according to claim 2, wherein the sensor is disposed so that a tip end side thereof is closer to the hydraulic cylinder than a base end side thereof.

[0119] The work machine of appendix (B4) is a work machine according to appendix (B3), When the arm is viewed from the side, the sensor is disposed so as to protrude from the edge of the side surface on the hydraulic cylinder side toward the hydraulic cylinder.

[0120] The work machine of appendix (B5) is a work machine according to any one of appendices (B2) to (B4), The hose guide has an opening through which the hydraulic pipe passes, The opening faces downward from the sensor.

[0121] The work machine of appendix (B6) is a work machine according to any one of appendices (B2) to (B5), The connection port is disposed on the side of the arm, opposite the hydraulic cylinder with respect to the sensor.

[0122] The work machine of appendix (B7) is a work machine according to any one of appendices (B2) to (B6), A plurality of hydraulic pipes are provided passing through the hose guide, Each of the plurality of hydraulic pipes has the connection port at an end thereof, The plurality of connection ports are arranged at different positions in a direction perpendicular to the extension / retraction direction of the hydraulic cylinder when viewed from the side of the arm.

[0123] The work machine of appendix (B8) is a work machine according to appendix (B7), The plurality of connection ports are arranged at different positions in the extension / retraction direction of the hydraulic cylinder when viewed from the side of the arm.

[0124] The work machine of appendix (B9) is a work machine according to appendix (B8), The plurality of connection ports are arranged obliquely with respect to the extension and retraction direction of the hydraulic cylinder when viewed from the side of the arm.

[0125] The work machine of appendix (B10) is a work machine according to any one of appendices (B7) to (B9), The sensor, the hose guide, and the connection port are supported on the side surface of the arm via a support member.

[0126] The work machine of supplementary note (B11) is a work machine according to supplementary note (B10), The plurality of connection ports are supported on the support member via brackets.

[0127] The working machine of this embodiment can, of course, be configured by appropriately combining the configuration described in any one of Supplementary Notes (A1) to (A11) with the configuration described in any one of Supplementary Notes (B1) to (B11).

[0128] Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to these, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0129] The present invention can be used in work machines such as construction machines. [Explanation of symbols]

[0130] 1. Hydraulic excavator (work machine) 3 Work equipment 4 Upper rotating body (aircraft) 5 Support member 6 Holding part 31 Boom 31B Back 31S side 31a Boom cylinder (hydraulic cylinder) 31a1 One end 31a2 Other end 32 Side 32 Arm 32E Edge 32S side 32a Arm cylinder (hydraulic cylinder) 32a1 1st end 32a2 2nd end 33 Bucket 33a Bucket cylinder (hydraulic cylinder) 35 First Sensor 36 Second sensor 37 Third Sensor 42a front 50a back 51 1st extension section 61 Holding member 62 Elastic Body 63 Fasteners 64 Stay 71 First Cable 72 Second Cable 73 Third Cable 82a opening 91 connection ports 92 Hose Guide 92a opening 93 Support material 96 Bracket 97 Guide support plate 310A 1st structure 310B 2nd structure 311 Proximal end 312 Tip 313 Bend 314 1st support part 315 Second support part 361 First Connection 362 Second connection part 611 Main body 612 2nd extension section 612a Flat plate part 612b Folded part D1 1st direction D2 2nd direction D5 Stretching direction D6: Perpendicular to the stretch direction H1 Hydraulic piping H2 Rear hydraulic piping H21 1st rear hydraulic piping (rear hydraulic piping) H22 2nd rear hydraulic piping (rear hydraulic piping)

Claims

1. a work machine rotatably supported on the front part of the machine body; a sensor disposed on a side of the work machine and configured to detect the attitude of the work machine; and hydraulic piping arranged along one of the left and right sides of the work machine, The hydraulic piping is arranged between the side surface and the sensor when the work machine is viewed from the rear side.

2. The work machine according to claim 1 , wherein the sensor is disposed at an angle forward relative to a rear surface of the work machine.

3. The work machine according to claim 2 , wherein the sensor is disposed obliquely with respect to a routing direction of the hydraulic pipes.

4. The work machine according to claim 1 , wherein the hydraulic pipe is disposed so as to overlap the sensor when the work machine is viewed from the side.

5. the work machine has a boom rotatably supported at the front part of the machine body, The boom is a first structure extending in a first direction; a second structure connected to the first structure and extending in a second direction different from the first direction; a base end portion of the first structure opposite to a side connected to the second structure is rotatably supported by the front portion, The work machine of claim 1 , wherein said first structure includes said side surface.

6. The work machine according to claim 1 , wherein the sensor is supported on a rear surface of the work machine via a support member.

7. Further provided is a holding portion for holding a rear side hydraulic piping routed along the rear surface, The holding portion is supported by the back surface, The work machine according to claim 6 , wherein the support member is supported by the holding portion.

8. The holding portion has a pressing member that presses the rear side hydraulic piping against the rear surface via an elastic body, The support member has a first extension portion that extends from above the side surface of the work machine toward above the back surface, The work machine according to claim 7 , wherein the first extension portion is fixed to the pressing member.

9. the pressing member has a second extension portion extending from above the back surface of the work machine toward above the side surface of the work machine, The work machine according to claim 8 , wherein the second extension portion is supported on a rear surface of the support member on the side surface side.

10. a stay provided on the back surface of the support member and extending toward the side surface, The work machine according to claim 9 , wherein the second extension portion is supported on the rear surface of the support member via the stay.

11. The second extension portion is a flat plate portion extending along the side surface of the work machine; a folding portion extending from an end of the flat plate portion toward the support member and folding in a direction along the back surface of the support member, The work machine according to claim 9 , wherein the bent portion is fixed to the back surface of the support member.

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