Working machine

Abstract

To provide a working machine capable of stopping a rotating part of a working part based on the position of the working part.SOLUTION: A working part 51 including a first boom 411 that is coupled to a main frame 11 mountable on a traveling machine body B and is turnable, a second boom 413 that is coupled to the first boom 411 and is turnable about an axis parallel to the first boom 411, and a rotor shaft 512 that is turnably coupled to the second boom 413 and is rotationally driven, and a control part t for controlling the working part 51 to stop the rotor shaft 512 when it is determined that the working part 51 is positioned inside the machine body width of the traveling machine body B when viewed from the rear in the traveling direction by the turning of the first boom 411 and the second boom 413.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] An arm-linked agricultural mower that is attached to a tractor's three-point linkage mechanism to perform grass cutting work. Patent Document 1 discloses a conventional technique for such a machine. The mower has a lift cylinder and a telescopic means such as an arm or a boom. The first and second links allow for easy switching between mowing and storage states. In addition, when mowing, the mowing section is offset significantly to the side of the tractor. When stored, the grass cutting section is positioned at the rear of the tractor, allowing for non-working This makes it easy to move around during travel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-200669 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the mowing unit is stored while the rotating blade of the mowing unit is still rotating, foreign matter attached to the blade may fly off and collide with the tractor, which is the traveling machine body. Also, there is a possibility that the operator may unintentionally neglect to stop the rotation of the blade, and in this case, foreign matter attached to the blade may fly off into the surrounding area. [Means for solving the problem]

[0005] This invention is A first boom that is connected to a main frame that can be attached to the traveling machine body and can rotate freely; a second boom connected to the first boom and rotatable about an axis parallel to the first boom; a working unit having a rotor shaft that is rotatably connected to the second boom and is driven to rotate, a control unit that controls the rotor shaft to stop when it is determined that the working unit is located inside the width of the traveling machine body when viewed from behind in the direction of travel due to the rotation of the first boom and the second boom; A work machine characterized by comprising: relates to.

[0006] The present invention further provides: an operating unit provided with a rotor rotation switch for rotating the rotor shaft forward or backward, and an emergency stop switch for stopping the rotation of the rotor shaft by pressing the switch regardless of whether the rotor rotation switch is operated or not; The control unit controls the rotor shaft to stop when the rotor rotation switch is in a state where the rotor shaft is rotated forward or backward, the emergency stop switch is in a release state, and it is determined that the working unit is located inside the width of the traveling machine body. A work machine characterized by: relates to.

[0007] The present invention further comprises: The control unit controls the rotor shaft to stop when a rotation area seen from the traveling direction of the working unit rotating at the tip of the second boom enters inside the left and right width of the traveling machine body. A work machine characterized by: relates to. [Effects of the Invention]

[0008] This invention has been made with the above-mentioned problem in mind, and aims to provide a work machine that can stop the rotating part of the working unit based on the position of the working unit, and can achieve the effect of achieving this objective. [Brief explanation of the drawings]

[0009] [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 a plan view of a working machine according to an embodiment of the present invention, showing a state in which the boom device is in an unfolded state and the working unit has been moved forward. The two-dot chain line shows a state in which the working unit and the second boom have been moved rearward. [Figure 5] 1 is a plan view of a working machine according to an embodiment of the present invention, showing a first boom and a second boom at a working position and a mast frame in a retracted state. [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 first pivot position. [Figure 7] 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 8] 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 9] 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 both the first and second rotating position detecting switches in operation. [Figure 10]1 is a front view of a working machine according to an embodiment of the present invention, showing the periphery of a main part of a boom device when deployed, viewed from the front in the traveling direction to the rear side. [Figure 11] 1 is a side cross-sectional view of a main part of a working machine according to an embodiment of the present invention, with the left side of the drawing being the front in the direction of travel, showing the state in which the second boom has moved forward and the second connecting body has not yet rotated. [Figure 12] 1 is a side cross-sectional view of a main part of a working machine according to an embodiment of the present invention, with the left side of the drawing being the front in the direction of travel, showing the state after the second boom has moved forward and the second connecting body has rotated. [Figure 13] 1 is a side view of the restricting portion of the work machine according to the embodiment of the present invention, as seen from the right side, with the right side facing forward in the direction of travel. [Figure 14] 1 is a side view of the restricting portion of the work machine according to the embodiment of the present invention, as seen from the right side, with the right side in the drawing being the front in the direction of travel. [Figure 15] 1 is a side cross-sectional view of the first connecting body and its surroundings of a work machine according to an embodiment of the present invention. The left side of the drawing is the front in the direction of travel. The second boom is shown as having moved forward. There is no change before and after the second connecting body is rotated. [Figure 16] 1 is an enlarged side view of the stopper means of the working machine according to the embodiment of the present invention, showing the movable hook, the main frame, and the engagement receiving portion in an engaged state, and a rotation non-detection state. [Figure 17] 1 is an enlarged side view of the stopper means of the working machine according to the embodiment of the present invention, showing the state at the moment when the engagement between the movable hook, the main frame, and the engagement receiving portion is released, and showing the state of rotation detection. [Figure 18] 1 is an enlarged side view of the stopper means of the work machine according to the embodiment of the present invention, showing a rotation detection state in which the engagement between the movable hook, the main frame, and the engagement receiving portion is released and the mast frame is allowed to rotate freely. [Figure 19] 1 is an enlarged side view of a working machine according to an embodiment of the present invention, showing a case where there is no stopper means, the mast frame is not rotating, and a rotation non-detection state is shown. [Figure 20]1 is an enlarged side view of a working machine according to an embodiment of the present invention, illustrating a case where there is no stopper means, in which the mast frame rotates and a rotation detection state is shown. [Figure 21] 1 is a hydraulic circuit diagram according to an embodiment of the present invention. [Figure 22] 1 is a perspective view of an operating unit of a work machine according to an embodiment of the present invention. [Figure 23] 1 is a block diagram showing the configuration of a work machine according to an embodiment of the present invention; [Figure 24] FIG. 4 is a flow chart showing contact determination reverse operation control of the work machine according to the embodiment of the present invention. [Figure 25] FIG. 10 is a flowchart showing an automatic deployment operation including an example of a reverse operation of the work machine according to the embodiment of the present invention. [Figure 26] FIG. 10 is a flowchart showing an automatic storage operation including an example of a reverse operation of the work machine according to the embodiment of the present invention. [Figure 27] FIG. 3 is a flow chart showing rotor automatic stop control of the work machine according to the embodiment of the present invention. [Figure 28] FIG. 3 is a flow chart showing operation restriction control of a boom of a work machine according to an embodiment of the present invention. [Figure 29] FIG. 4 is a diagram showing the correlation between the angle of the first boom relative to the mast frame and the angle of the second boom relative to the first boom, relating to the rotor rotatable range etc. of the work machine according to the embodiment of the present invention. [Figure 30] 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 31] 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 32] 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 33] 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 34] 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 35] 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 36] 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 37] 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 38] 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 39] 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 40]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 41] This is a front view of an explanatory diagram of a work machine according to an embodiment of the present invention. The state is midway from the second intermediate posture to the deployed position, and the second boom is in a forward 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 42] 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 43] 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 44] 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. [Figure 45] 1 is a front view of the working machine according to the embodiment of the present invention when deployed, illustrating an example in which the fourth pivot axis reaches rotor rotation stop boundary line Xr, where the current angle θ1 of the first boom is greater than the first set angle αr, and the current angle θ2 of the second boom is an arbitrary angle. [Figure 46] 1 is a front view of the working machine according to the embodiment of the present invention when deployed, illustrating an example in which the fourth pivot shaft has reached rotor rotation stop boundary line Xr, and the current angle θ1 of the first boom is the first set angle αr. The current angle θ2 of the second boom is an arbitrary angle. [Figure 47]This is a front view of the working machine according to the embodiment of the present invention when deployed, showing an example in which the fourth rotation axis has reached the boom operation restriction boundary line Xc, the current angle θ1 of the first boom is the second set angle αc, and the current angle θ2 of the second boom is an arbitrary angle. [Figure 48] FIG. 2 is a plan view showing the operating range of the work machine according to the embodiment of the present invention, and is an explanatory diagram schematically showing the rotatable range of the rotor and the first operating restriction range relative to the traveling machine body. [Figure 49] FIG. 2 is a plan view showing the operating range of the work machine according to the embodiment of the present invention, and is an explanatory diagram schematically showing the boom operation restriction release range and second operation restriction range of the telescopic means. DETAILED DESCRIPTION OF THE INVENTION

[0010] 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. A traveling machine body B, such as a tractor, has a working machine A attached to the rear or front as shown in Figures 30 to 44, and in Figure 1, it is located at the back of the working machine A. The working machine (brush cutter) A is used by moving forward or backward. In both illustrations, it is attached to the rear side of the traveling machine body in the direction of travel. M is an operator who operates the traveling machine body B.

[0011] 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.

[0012] 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.

[0013] 1 and 2, 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 which operates with hydraulic pressure. 2 is a valve unit that is a directional control valve. The valve unit 25 controls the switching of the flow of hydraulic pressure.

[0014] 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.

[0015] 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. In the illustration of Figure 1, the mast frame 21 is fixed at a position where the other end of the first boom 411 of the telescopic means 41 can rotate to the left and right sides relative to the traveling direction of the traveling machine body B.

[0016] 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.

[0017] 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 30, 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. 31 to 44.

[0018] 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.

[0019] The telescopic means 41 connects the working unit 51 to the second connector 414. The present invention can be applied even if there is no second connector 414. Also, the present invention can be applied even if the second boom 413 cannot swing in the front-rear direction. The work machine (brush cutter) A can be moved from a stored state in which the working unit 51 is stored to a working state in which it is positioned far to the left or right in the direction of travel of the traveling machine body B by means of an articulated boom device that is the telescopic means 41. The stored state is achieved by folding the boom device so that the work machine A does not protrude to the left or right from the projection plane of the traveling machine body B in the front-rear direction in the direction of travel.

[0020] In the stored state, the first boom 411 is positioned with one end (first pivot shaft 411A) on either the left or right side of the traveling machine body B and the other end on either the left or the other side of the traveling machine body B, and is arranged so as to be approximately horizontal, thereby fitting within the left and right width of the traveling machine body B. Furthermore, in the stored state, the second boom 413 is arranged so as to be folded over the first boom 411, and is fitted within the left and right width of the traveling machine body B. In the stored state, the working unit 51 is fitted within the left and right width of the traveling machine body B by rotating it so as to be folded over the second boom 413. Therefore, the work machine A in the stored state can be fitted within the left and right width of the traveling machine body B. In the working state, the boom devices in the working state can be rotated to position the working unit 51 far to the left or right of the traveling direction of the traveling machine body B, and at any position desired by the operator.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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. 21, 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).

[0026] Reference numeral 51 denotes a working unit. Working unit 51 is provided at the tip end of the other end of second connecting body 414 and on the front side in the direction of travel of second connecting body 414. Working unit 51 is further provided so as to be rotatable in the up-down direction relative to second connecting body 414 by a second fulcrum shaft 435, which is an axis facing in the front-to-rear direction. Second fulcrum shaft 435 may also be referred to as fourth pivot shaft 418A. In this embodiment, when the mast frame 21 is in its normal position, the working unit 51 has multiple cutting 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 cutting blades. The rotating shaft 512 is also sometimes called a rotor. 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.

[0027] 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. The second connector 414 does not tilt forward and backward relative to the direction of travel even when the second boom 413 rotates around the third pivot shaft 417A due to a link mechanism provided on the second boom 413 and shown in FIGS. 11 to 15. 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 forward and backward relative to the direction of travel. The working unit 51 can rotate relative to the second boom 413. Details of the link mechanism connecting the working unit 51 and the second connector 414 will be described later.

[0028] 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.

[0029] The rotation of the mast frame 21 that rotates the boom device horizontally, the configuration of the locking mechanism, the stopper means 7, and the first switch 76 for detecting pressure will be described with reference to FIGS. A vertical mast frame pivot shaft 211 is provided near the center of the main frame 11, and the mast frame 21 is provided so as to be rotatable in the front-to-rear direction around this shaft. The mast frame 21 is locked to the main frame 11 by stopper means 7 provided on the rotating end of the mast frame 21 to prevent it from rotating. The stopper means 7 is configured so that it is released from the lock when a rotational force exceeding a certain level is applied in the rotational direction of the mast frame 21.

[0030] Figures 16 to 18 are cross-sectional views of the main part for explaining the stopper means 7 of an embodiment of the present invention. Figure 16 shows the state in which the stopper means 7 is engaged with the main frame 11 and prevented from rotating relative to the mast frame 21. Figure 17 shows the state immediately before the stopper means 7 is released. Figure 18 shows the state in which the stopper means 7 has disengaged. The stopper means 7 is composed of a movable hook 70 that is spanned between and engaged with the main frame 11 and the mast frame 21, a fulcrum pin 72 that is fixed to the mast frame 21 and serves as a pivot point for the movable hook 70, a spring 71 that presses the movable hook 70, a support shaft 73 that guides the spring 71 and the movable hook 70, a nut 74 that is screwed onto the end of the support shaft 73 and adjusts the pressing force of the spring 71, and a first pressure detection switch 76 that is a limit switch that acts as detection means for detecting the rotation of the movable hook 70.

[0031] The support shaft 73 is fixed to the mast frame 21 in an upright position. A guide hole 700 for insertion onto the support shaft 73 is provided near the center of the movable hook 70, and a retaining hole 701 for insertion onto a support pin 72 fixed to the mast frame 21 is provided at one end. The movable hook 70 inserted onto the support shaft 73 is further pressed downward by a spring 71 inserted into the support shaft 73. A nut 74 is threaded onto the upper end of the support shaft 73, allowing the pressing force to be adjusted.

[0032] 16, the end of the movable hook 70 opposite the retaining hole 701 extends in a cantilevered manner toward the main frame 11, and is provided with an engaging portion 702 that protrudes downward in a mountain shape at the end. Furthermore, on the main frame 11 side opposite this engaging portion 702, an engaging receiving portion 75 that also protrudes in a mountain shape toward the movable hook 70 is fixedly provided, and the sloped surfaces of both protruding portions overlap and engage with each other.

[0033] 17, the slopes of the protruding portions in the direction that prevents horizontal rotation face each other, preventing rotation of the main frame 11 and the mast frame 21. The protruding portions of the movable hook 70 are pushed up along the slopes by a component of the horizontal rotation force against the pressing force of the movable hook 70. When the protruding portions are disengaged, the mast frame 21 becomes free to rotate. The movable hook 70 does not necessarily have to be provided on the mast frame 21 side, but may be provided on the main frame 11 side, with the engagement receiving portion 75 provided on the mast frame 21 side. When the movable hook 70 is pushed up and rotated along the inclined surface of the engagement receiving portion 75 against the pressing force of the movable hook 70, the arm of the first pressure detection switch 76, which is a limit switch serving as detection means and which abuts against the lower surface, rotates, activating the switch and sending a signal to the control unit t.

[0034] When a signal is sent to the control unit t, the first cylinder 415 is operated to lift the working unit 51 until the movable hook 70 is released, thereby releasing the resistance acting on the working unit 51. The resistance acting on the working unit 51 can be, for example, resistance caused by a collision with a protrusion that is an obstacle J present ahead of the working unit 51 in the traveling direction, or resistance caused by a sudden convexity, as shown in Figures 3 and 4. When the resistance to the working unit 51 and the extension / contraction means 41 is released, the movable hook 70 returns before being released, pushing the arm of the first switch 76 for pressure detection, which is a limit switch, to stop the operation of the first cylinder 415. When a rotational force greater than the holding force of the stopper means 7 acts, the engagement of the movable hook 70 is released, resulting in the state shown in Figure 18, where the movable hook 70 pushes the arm of the first switch 76 for pressure detection, which is a limit switch, and the mast frame 21 is rotated rearward as shown in Figure 5.

[0035] 16, 17 and 18, the first pressure detection switch 76, which is a limit switch, can detect a rearward pressure on one end of the first boom 411 and transmit a first pressure signal. In this embodiment, it detects whether the mast frame 21, which rotates the first boom (extension and contraction means) 411 horizontally around the mast frame rotation shaft 211, is rotating rearward. In this embodiment, the first pressure detection switch 76 is provided on the stopper means 7, which restricts the rotation of the mast frame 21.

[0036] Even if the stopper means 7 does not have the engaging portion 702 and the engaging receiving portion 75, it can be applied to an embodiment of the present invention as long as the first boom 411, the mast frame 21, or the main frame 11 has the first switch 76 for detecting pressure. 19 and 20, a first pressure detection switch 76 is provided which is fixed to the mast frame 21 by a fixing member 77, and the first pressure detection switch 76 comes into contact with the main frame 11 or a member provided on the main frame 11, so that the first pressure detection switch 76 can detect pressure. In other words, the first pressure detection switch 76 can detect pressure when the mast frame 21 is in a retracted state after horizontally swinging, other than when it is in a working state in its normal position.

[0037] The first push detection switch 76 detects that the first boom 411 is being pushed backward in a direction intersecting the direction in which the first boom 411 rotates, i.e., that the mast frame 21 in the working state in a plan view is being pushed backward in a direction parallel to the first rotation axis, and detects that the first boom 411 is rotating backward. The first push detection switch 76 transmits a first push signal to the control unit t based on the detection. Upon receiving the first push signal, the control unit t recognizes that the first boom 411 or the mast frame 21 is being pushed backward and processes this as a third abnormal signal. The first push detection switch 76 is configured to be able to issue the third abnormal signal regardless of whether the telescopic means 41 and the working unit 51 are operating.

[0038] The joint between the working unit 51 and the second connecting body 414 will be described. 11, 12, 13, 14, and 15 denotes a second boom link member. Second boom 413, which is a boom device, is equipped with second boom link member 431. Second boom link member 431 is connected to restricting member 433 so that restricting member 433 always faces forward in the traveling direction. 11 to 15 designates a connection fulcrum of the second boom link member. The connection fulcrums 432 of the second boom link member are provided on both ends of the second boom link member 431. The connection fulcrums 432 of the second boom link member 431 are rotatably attached to the first connector 412 and the restricting member 433, respectively. 15, reference numeral 436 denotes a second boom rotation fulcrum. The second boom rotation fulcrum 436 rotatably attaches the second boom 413 and the first connector 412, and allows the second boom 413 to rotate relative to the first connector 412. The second boom rotation fulcrum 436 is also called a third rotation axis 417A.

[0039] As shown in FIG. 10, second connector 414 connects the tip of second boom 413, which is a boom device, to working unit 51. The working unit 51 is attached via a first boom 411, a first connector 412, a second boom 413, and a second connector 414. In detail, the working unit 51 is provided at the tip of the second boom 413, which swings back and forth. One end of the second connecting body 414 is rotatably attached to the tip of the second boom 413 by a first fulcrum shaft 434 in a first circumferential direction, which is the forward / backward rotation direction of the second connecting body 414, and the second connecting body 414 can rotate in the first circumferential direction relative to the second boom 413. Working unit 51 can rotate about second fulcrum shaft 435 in a second circumferential direction, which is the vertical direction relative to second connecting body 414, by expansion and contraction of fourth cylinder 418 provided on second connecting body 414.

[0040] 10 to 14 is a restricting member 433. The restricting member 433 restricts the second connecting body 414 from turning in a first circumferential direction, which is the front-rear direction. The restricting member 433 is provided at the tip of the second boom 413 to which the second connector 414 is attached, so as to be rotatable coaxially with the first fulcrum shaft 434 of the second connector 414 in the first circumferential direction. One end of the restricting member 433 is connected to a second boom link member 431 provided inside the second boom 413. The restricting member 433 constitutes a parallel link mechanism together with the second boom 413, a first connector 412 connected to the base end of the second boom 413, and the second boom link member 431. As a result, even when second boom 413 rotates back and forth, regulating member 433 rotates in the first circumferential direction, thereby maintaining a constant orientation of regulating member 433 relative to second boom 413. In this embodiment, regulating member 433 can maintain its front-to-back orientation relative to the traveling direction. The restricting member 433 is covered by the second connecting body 414 .

[0041] 11 to 14 is a protrusion 68. The protrusion 68 is provided at the other end of the restricting member 433, that is, the free end relative to the first fulcrum shaft 434. The second connector 414 has a space between the front and rear side plates, and the protrusion 68 is inserted into the space. In FIGS. 11 and 12, reference numeral 61 denotes a rear-side regulating member, and 62 denotes a front-side regulating member. The rear regulating member 61 is formed from the rear part of the protruding portion 68 of the regulating member 433. The front regulating member 62 is formed from the front part of the protruding portion 68 of the regulating member 433. The second connecting body 414 can rotate in the first circumferential direction within a range in which the protruding portions 68 contact both side plates spaced apart in the front-rear direction of the second connecting body 414. In other words, the protruding portions 68 provided on the restricting member 433 restrict the second connecting body 414 from rotating in the first circumferential direction.

[0042] The working unit 51 connected to the second connecting body 414 can be rotated slightly within the angular range shown in Figures 11 and 12, which is restricted by the restricting member 433 in the first circumferential direction, which is the forward / backward direction of the working unit 51. When the working unit 51 receives a load in the rearward direction, it will rotate rearward, but because the rotation range is restricted, it is still possible to work even in a rearward rotated position. Furthermore, the blade, which is the working part, is not exposed by the rearward rotation in the first circumferential direction, so there is no need to worry about foreign matter being scattered.

[0043] 11 to 14, the second connecting body 414 in this embodiment is restricted so that it can only swing forward and backward within a range of 0 to 5 degrees relative to the restricting member 433. This angle range can be adjusted depending on the type of work machine and the characteristics of the work site. The restricting member 433, particularly the protruding portion 68, is arranged so as to be hidden inside the second connecting body 414. Therefore, the angle range of the restricting member 433 between the protruding portion 68 and the second connecting body 414 is less susceptible to the influence of foreign matter, etc., and the working unit 51 can be operated stably.

[0044] In this embodiment of the present invention, the regulating member 433 prevents the second connecting body 414 and the working unit 51 from pivoting significantly backward around the first fulcrum axis 434, so they can pivot to follow the terrain or obstacles, and there is no need to unnecessarily increase the strength of the members around the first fulcrum axis 434 and the second fulcrum axis 435, which are the pivot axes. In this embodiment of the present invention, the restricting member 433 is connected to the second boom link member 431 to form a parallel link mechanism on the boom that rotates back and forth, but the restricting member 433 and the second connecting body 414 may also be provided at the tip of a boom device that simply has a mechanism that rotates back and forth, or at the tip of a boom device that does not have a parallel link mechanism.

[0045] Reference numeral 64 denotes a biasing member. The biasing member 64 constantly biases the second connecting body 414 and the working body 51 forward, which is one side of a first circumferential direction that is the front-rear direction relative to the restricting member 433. The restricting member 433 is equipped with the biasing member 64. Reference numeral 63 denotes a guide rod. One end of the guide rod 63 is connected to the second connecting body 414, supports the biasing member 64, and transmits the force of the biasing member 64 to the second connecting body 414. Therefore, when the load received by the working unit 51 from the front increases, the second connecting body 414 and the working unit 51 pivot rearward against the biasing force of the biasing member 64. When the load decreases, the biasing force of the biasing member 64 returns the second connecting body 414 and the working unit 51 to their original positions.

[0046] Reference numeral 65 denotes a contact portion on the side of the restricting member 433. The contact portion 65 is provided on the restricting member 433 so as to face the end portion on the second connecting body 414 side. Reference numeral 66 denotes a contact portion on the side of second connecting body 414. Contact portion 66 is provided on second connecting body 414 so as to face contact portion 65 provided on the end portion of restriction member 433 side. As shown in FIGS. 11 and 13, the biasing member 64 biases the contact portion 65 on the restricting member 433 side and the contact portion 66 on the second connecting body 414 side so that they come into contact with each other.

[0047] 13 and 14 denotes a second switch for detecting pressure, which is a detection unit. The second switch for detecting pressure w is provided on the restriction member 433. The second switch for detecting pressure w is provided on the restriction member 433 in the vicinity of the second connecting body 414. w1 is a contact piece that is provided on the second switch w for detecting pressure and comes into contact with the contact portion 66 on the second connecting body 414 side to sense contact. 23 is a control unit t. When the control unit t receives a detection signal from the second switch w for detecting pressure, it sends an operation signal to the directional control valve 25 to operate the cylinder. The operating unit u is provided on the traveling machine body and operates the direction control valve 25 via the control unit t.

[0048] The second switch w for detecting pressure detects rotation of the second connecting body 414 in the first circumferential direction, which is the forward / backward direction, and when detected, emits a detection signal to the control unit t that controls the operation of the boom device, as shown in Figure 23. When the third cylinder 417 is extended, the second boom 413 rotates and moves forward, resulting in the state shown in FIGS. When the working part 51 is not subjected to a load in the rearward direction as shown in Figures 11 and 13, the front regulating part 62 located in front of the protrusion 68 provided on the regulating member 433 does not come into contact with the front inner wall surface 414a of the side plate on that side of the second connecting body 414, and the rear regulating part 61 located at the rear of the protrusion 68 comes into contact with the rear inner wall surface 414b of the side plate on the rear side of the second connecting body 414. As shown in Figures 11 and 13, the contact portion 65 on the regulating member 433 side and the contact portion 66 on the second connecting body 414 side are pressed into contact by the biasing force of the biasing member 64.

[0049] When the working unit 51 connected to the second boom 413 via the second connecting body 414 comes into contact with a resisting object such as an obstacle J, as shown in Figures 12 and 14, the second connecting body 414 rotates relatively rearward within the first circumferential direction, which is the fore-and-aft direction of the regulating member 433. 12 and 14, due to the rotation, the front-side restricting portion 62 located in front of the protruding portion 68 provided on the restricting member 433 comes into contact with the front-side inner wall surface 414a of the second connecting body 414, and the rear-side restricting portion 61 located in the rear of the protruding portion 68 comes into non-contact with the rear-side inner wall surface 414b of the second connecting body 414. Note that the second connecting body 414 can be rotated relative to the restricting member 433 in the first circumferential direction even if the second boom 413 shown in FIGS. 11 to 14 does not rotate forward relative to the first connecting body 412. In other words, the second connecting body 414 can be rotated relative to the restricting member 433 regardless of the rotational position of the second boom 413. As shown in Figures 12 and 14, the abutment portion 65 on the regulating member 433 side and the abutment portion 66 on the second connecting body 414 side are not in contact with each other against the biasing force of the biasing member 64.

[0050] When the restricting member 433 rotates rearward in the first circumferential direction, which is the forward-backward direction of the moving direction of the working unit 51, as shown in FIGS. 12 and 14, the second pressure detection switch w detects a gap formed between the restricting member 433 and the second connecting body 414. When a gap is detected, as shown in FIGS. 12 and 14, a detection signal is sent to the control unit t. The control unit t, which receives the detection signal, uses the signal for various controls. For example, the control unit t can control the operation of a boom device to raise the working unit, display control to display on a display device that the working unit is under load, and notification control by the notification unit q to notify the worker by voice or other means.

[0051] The second switch w for pressure detection uses a switch that physically senses contact and non-contact with the contact portion 66 of the second connecting body 414, but it is sufficient if it can detect the proximity distance or rotation angle between the contact portions 65 and 66. In other words, an optical or ultrasonic distance detection sensor, angle sensor, or the like may also be used.

[0052] When the control unit t no longer receives a detection signal from the second switch w for detecting pressure after sending the operation signal, it stops sending the operation signal to the directional control valve 25 to stop the operation of the cylinder that operates the boom device. When the control unit t receives a detection signal from the second switch w for detecting pressure, it drives the first cylinder 415 to move the working unit 51 upward together with the first boom 411 and the second boom 413. When the detection signal disappears, the control unit t stops the upward movement. Alternatively, the second cylinder 416 may be operated to rotate the first connecting body 412, and the working unit 51 may be controlled to move laterally together with the second boom 413. Furthermore, the third cylinder 417 may be operated to rotate the second boom 413 in the forward / backward direction of the traveling direction of the working unit 51, and the working unit 51 may be moved backward.

[0053] That is, the second connecting body 414 located at the other end of the second boom 413 connects the second boom 413 and the working unit 51 and has a regulating member 433 that allows the working unit 51 to rotate back and forth within a set regulating range. The restricting member 433 is provided with a second pressure detection switch w, which is a detector (switch) that detects a rotational movement caused by pressure applied to the rear side of the working unit 51. The second pressure detection switch w, which is a detector (switch), can detect pressure applied to the rear side of the working unit 51, that is, pressure applied in a direction parallel to the fourth pivot shaft 418A. The detected signal is sent to the control unit t as a second pressure signal.

[0054] That is, the second switch w for detecting pressure detects when the second connecting body 414 is pressed backward in a direction parallel to the first pivot shaft 411A, the second pivot shaft 413A, and the fourth pivot shaft 418A, which are parallel to each other. Based on the detection, the first pressure detection switch 76 transmits a second pressure signal, which is a detection signal, to the control unit t. Upon receiving the second pressure signal, the control unit t recognizes that the working unit 51 and the second connecting body 414 are being pushed backward, and processes this as a fourth abnormal signal. In this embodiment, the second pressure detection switch w is configured to issue the fourth abnormal signal regardless of whether the extension / contraction means 41 and the working unit 51 are operating.

[0055] The reference numeral u in Figure 22 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.

[0056] The operating unit u further includes a rotor rotation switch R and an emergency stop switch E. The rotor rotation switch R is a switch that selectively switches between forward rotation, reverse rotation, and stop of the rotor shaft 512. In this embodiment, pressing the emergency stop switch E stops the rotation of the rotor shaft 512. Regardless of whether the rotor rotation switch R is operated or not, pressing the emergency stop switch E stops the rotation of the rotor shaft 512.

[0057] 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 and operating button B operate the directional control valve 25 to extend and retract each of the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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. A first relief valve c is provided in the pressurized side circuit of each cylinder directional control valve, so that if the pressure in the circuit exceeds a certain level, oil will escape to the tank 31, preventing the pressure from rising above that level. Each valve, which is a directional control valve, is an electrically operated electromagnetic valve, and is electrically operated by an operating lever u3 provided near the driver's seat of the traveling body B.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] As shown in FIG. 21, 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.

[0066] 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 416b and the bottom side chamber 416a of the third cylinder 417. The rod-side chamber 418b and the bottom-side chamber 418a of the shaft 418 are connected to each other.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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 switches the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 in the direction of extension or contraction, respectively, to send 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 and contract. is possible.

[0078] Furthermore, the directional control valve 25 returns 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 first cylinder 415 and has a circuit that communicates with the tank 31.

[0079] 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 first cylinder 415 can move freely between each other, so the first cylinder 415 can be made to extend and retract freely. When the floating switch u2 is operated to put the first boom 411 into the floating operating state, the first boom 411 moves up and down freely, so that the working unit 51 can follow unevenness in the working surface as it moves forward.

[0080] The control unit t shown in Fig. 23 is connected to the 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, and controls the operation of these valves. As shown in Fig. 23, the control unit t is connected to the notification unit q, the receiving unit o, the memory unit k, the first sensor Se1, the second sensor Se2, the first switch for detecting the rotation position Sw1, the second switch for detecting the rotation position Sw2, the first switch for detecting the pressing force 76, and the second switch for detecting the pressing force w. The functions of the first sensor Se1, the second sensor Se2, the first switch for detecting the rotation position Sw1, and the second switch for detecting the rotation position Sw2 will be described later. 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.

[0081] As shown in Figure 21, the fluid pressure generating source 24, which is a hydraulic pump that is the source of hydraulic pressure for the brush cutter A of the present invention, is rotated by power from the traveling machine body B, which is a tractor, to generate hydraulic pressure. In this example, the fluid pressure generating source 24 is provided in two separate systems: a hydraulic system for rotating the rotary shaft 512 of the working unit 51, and a hydraulic system for operating each hydraulic cylinder. The hydraulic motor Mo, which rotates the rotary shaft 512 of the working part 51, is piped from the fluid pressure generation source 24 through a brush cutting blade rotation control valve 255. The brush cutting blade rotation control valve 255 is an electrically operated solenoid valve, and is equipped with a port that switches the rotation direction of the hydraulic motor Mo forward and reverse, and a neutral port. When in neutral, the forward / reverse rotation circuit of the hydraulic motor Mo is connected to the drain circuit that leads to the tank 31, preventing the generation of reverse oil pressure due to inertial rotation from the hydraulic motor Mo when switching between forward and reverse rotation or when the motor is stopped. In addition, a second relief valve d is provided in the pressurized circuit, so that if the pressure in the circuit exceeds a certain level, oil will escape to the tank 24, preventing the pressure from rising above that level.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.).

[0086] 25, 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. 22 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.

[0087] 26, which is a flow chart, has been performed, 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. 22 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 the simultaneous operation of 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.

[0088] 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.

[0089] 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. The first sensor Se1 is provided so as to detect the rotation angle of the first boom 411 (relative to the mast frame 21) and transmit the detected angle as a first angle signal to the control unit t. Although a potentiometer is used as the first sensor Se1 in the embodiment, any detection method may be used as long as it can detect an angle.

[0090] 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.

[0091] 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 about the second sensor Se2 as the first connector 412 rotates about the second pivot shaft 413A, and the second sensor Se2 detects the relative rotation angle of the first connector 412 with respect to the first boom 411. The second sensor Se2 transmits the detected rotation angle to the control unit t as a second angle signal. Although a potentiometer is used as the second sensor Se2 in this embodiment, any detection type is acceptable as long as it can detect an angle.

[0092] The first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position will be described with reference to Figures 6 to 8, which are enlarged views of the vicinity of the third rotation shaft 417A of the work machine A in this embodiment as viewed from the axial direction of the third rotation shaft 417A. A first switch Sw1 for detecting a rotation position and a second switch Sw2 for detecting a rotation position are provided near the third rotation axis 417A of the first connecting body 412. The first switch Sw1 for detecting a rotation position and the second switch Sw2 for detecting a rotation position are each configured as limit switches that open and close a circuit by physical contact. The first switch Sw1 for detecting a rotation position and the second switch Sw2 for detecting a rotation position are attached to a mounting base Sw3 provided on the first connecting body 412. The opening and closing operation of this circuit enables the first switch Sw1 for detecting turning position to send a first contact signal, and the second switch Sw2 for detecting turning position to send a second contact signal to the control unit t. The second switch Sw2 for detecting turning position is disposed at a position radially away from the first switch Sw1 for detecting turning position in the radial direction of the third turning shaft 417A. The first switch Sw1 for detecting turning position and the second switch Sw2 for detecting turning position are disposed at approximately the same position in the circumferential direction of the third turning shaft 417A.

[0093] The first action portion F1 and the second action portion F2 will be described with reference to FIGS. 6 to 8, 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 pivot position detection switch Sw1 when the second boom 413 pivots around the third pivot shaft 417A.

[0094] 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.

[0095] The contact / non-contact between the first action part F1 and the first switch Sw1 for detecting the turning position, and the contact / non-contact between the second action part F2 and the second switch Sw2 for detecting the turning position will be described. When the second boom 413 shown in Figure 6 is in the first rotation position, the first action part F1 is not in contact with the first switch Sw1 for detecting the rotation position, and the second action part F2 is not in contact with the second switch Sw2 for detecting the rotation position. When the second boom 413 shown in FIG. 7 is in the second rotation position due to the rotation of the second boom 413 around the third rotation axis 417A relative to the first connecting body 412, the first acting part F1 is in contact with the first switch Sw1 for detecting the rotation position, and the second acting part F2 is not in contact. When the second boom 413 is in the third pivot position shown in FIG. 8 due to the rotation of the second boom 413 from the state shown in FIG. 7 around the third pivot axis 417A relative to the first connecting body 412, the first acting part F1 comes into contact with the first switch Sw1 for detecting the pivot position, and the second acting part F2 comes into contact with the second switch Sw2 for detecting the pivot position.

[0096] When the second boom 413 rotates from the first rotation position to the third rotation position, after the first switch Sw1 for detecting the rotation position 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 for rotation position detection comes into contact and emits a 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 for rotation position detection comes into contact and emits a second contact signal.

[0097] In the embodiment, the first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position are disposed at approximately the same position in the circumferential direction of the third pivot shaft 417A, and the first acting portion F1 and the second acting 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 acting portion F1 and the second acting portion F2 operate the first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position differ depending on the rotation of the second boom 413 around the third pivot shaft 417A. For example, the first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position may be disposed at different positions in the circumferential direction of the third pivot shaft 417A, and the first acting portion F1 and the second acting portion F2 may be disposed at approximately the same position in the circumferential direction of the third pivot shaft 417A.

[0098] In the description, a state in which the first switch Sw1 for detecting turning position is in contact with the first action portion F1 may be referred to as an ON or ON or ON state, a state in which the first switch Sw1 for detecting turning position is not in contact with the first action portion F1 may be referred to as an OFF or OFF or OFF state of the first switch Sw1 for detecting turning position. Also, a state in which the second switch Sw2 for detecting turning position is in contact with the second action portion F2 may be referred to as an ON or ON or ON state of the second switch Sw2 for detecting turning position, and a state in which the second switch Sw2 is not in contact with the second action portion F2 may be referred to as an OFF or OFF or OFF state of the second switch Sw2 for detecting turning position.

[0099] The control unit will now be further described. The control unit t is capable of receiving the first angle signal, the second angle signal, the first pressing signal, and the second pressing signal, and is equipped with a memory unit k that can temporarily store the first angle signal, the second angle signal, and calculation results calculated based on these, the current angle θ1 of the first boom 411, and the current angle θ2 of the second boom 413. The control unit t can calculate the angular velocity, which is the amount of change in angle per time, for each of the currently received first angle signal and second angle signal and the previously stored first angle signal and second angle signal. In other words, the control unit t can calculate the first angular velocity from the first angle signal and the second angular velocity from the second angle signal, and store the calculation results in the memory unit k.

[0100] The control unit t controls a drive device consisting of a plurality of cylinders and a plurality of directional control valves 25 based on the first angle signal, the second angle signal, the first pressing signal, and the second pressing signal, and operates the extension / contraction means. The control unit t is provided so as to be able to recognize the operating cylinder or the directional control valve 25 that operates the cylinder. In other words, the control unit t is provided so as to be able to determine which directional control valve 25 is currently operating the cylinder.

[0101] The criteria by which the control unit t determines that the work machine A has come into contact with an obstacle J or the like will be explained. In the example, (1) The first boom 411 rotates around the second rotation axis 411A at an abnormal angular velocity. (2) The second boom 413 rotates around the second rotation axis 413A at an abnormal angular velocity. (3) The second switch w for detecting pressure provided on the regulating member 433 of the second connected body is in a detecting state (the second connected body detects a pressure to the rear side). (4) The first switch 76 for detecting pressing force of the stopper means 7 is in a detecting state (the mast frame 21 is in a retracted state). If at least one of the four conditions is met, the control unit t determines that contact has occurred. Of course, even if multiple conditions are met, it will be determined that contact has occurred.

[0102] The determination of an angular velocity abnormality (first angular velocity abnormality) will be described. The control unit t determines that a first angular velocity abnormality has occurred when at least one of the first boom 411 and the second boom is in a swing operation by operating the directional control valve 25 and the angular velocity of the boom swing during the swing operation is smaller than a set value. When the control unit t determines that a first angular velocity abnormality has occurred, it generates a first abnormality signal. In the embodiment, the boom is operated by the extension and contraction of the cylinder at an angular velocity of 10 If it is smaller than deg / sec, it is determined to be a first angular velocity abnormality.

[0103] To give a specific example of the first angular velocity abnormality, when the operating speed of the first cylinder that performs the retracting operation to raise the first boom 411 in the working position is reduced by the load, the rotation speed of the first boom 411 decreases, and the first angular velocity detected by the first sensor Se1 and calculated by the control unit t decreases. If the operating angular velocity at this time is smaller than the set value (10 deg / sec), the control unit t determines that there is a first angular velocity abnormality. The set value can be freely set according to changes in the specifications and configuration of the machine. After determining that there is a first angular velocity abnormality, the control unit t generates a first abnormality signal. do.

[0104] The determination of an angular velocity abnormality (second angular velocity abnormality) will be described. When either the first boom 411 or the second boom is in a swinging motion by operating the directional control valve 25, and the swinging angular velocity of the other boom that is not moving is greater than a set value, a second angular velocity abnormality is determined. If a second abnormality is determined, the control unit t generates a second abnormality signal. In this embodiment, for a boom that is not in operation and has no extension or retraction of the cylinder, if the angular velocity is greater than 5 deg / sec, it is determined that a second angular velocity abnormality has occurred, and it is determined that the extension means is in contact with an obstacle.

[0105] To give a specific example of the second angular velocity abnormality, when the second boom 413 is not operated by the second cylinder 416, but the first cylinder 415 is operated to shorten the first cylinder 415 in order to raise the first boom 411 that is in the working position, and the second boom 413 performs a rotating motion even though it should not have been operated intentionally, it is determined that an unintentional abnormal rotating motion has been applied to the second boom 413. The second sensor Se2, which detects the angle of the second boom 413, which should not be moving, detects the rotation and calculates a second angular velocity. If the angular velocity at this time is greater than a set value (5 deg / sec), the control unit t determines that the second angular velocity is abnormal, and determines that the telescopic means 41 is in contact with the obstacle J. The set value can be freely set according to changes in the specifications and configuration of the machine. After determining that the second angular velocity is abnormal, the control unit t generates a second abnormality signal.

[0106] The control unit t that generates the first to fourth abnormal signals can recognize that the mast frame 21, the first boom 411, the second connecting body 414, and the working unit 51 are not in their normal positions, or that the operation of the first boom 411, the first connecting body 412, and the second boom 413 is not normal. Then, based on the first to fourth abnormality signals, the control unit t selects the directional control valve 25 that is currently operating the cylinder, and operates it in the direction opposite to the operating direction of the currently operating cylinder.

[0107] 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, and the second boom 413 is rotated to the first pivot position (retracted position) as shown in FIGS. 1, 6, and 30, 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 30, 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 is rotated around the fourth pivot shaft 418A so as to face the second boom 413. 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 B 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.

[0108] 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. 30, 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. 30, 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 about the third rotation shaft 417A.

[0109] 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. 8, 9, 38, 39, 40, and 41. (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. 42, and is sometimes called the deployed position or home position.

[0110] 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 30 and 31 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 41 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 α2.

[0111] With regard to the second boom 413, the relative rotation angle to the first boom 411 in the stored posture as shown in Figure 30 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 Figures 30 to 40 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.

[0112] 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).

[0113] 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.

[0114] The stored posture shown in Figures 1 and 30 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 for detecting the swing position and the second switch Sw2 for detecting the swing position, which indicate that the second boom 413 is in the first swing position (retracted position), are both in an OFF state, i.e., not in contact with the first action portion F1 and the second action portion F2. (Stored posture)

[0115] The first intermediate posture shown in Figure 31 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 for detecting the swing position and the second switch Sw2 for detecting the swing position, which indicate that the second boom 413 is in the first swing position (retracted position), are both in the OFF state. (First intermediate posture) The example shown in FIG. 31 shows a case where the current angle θ1 of the first boom 411 is 0°, which is equal to or less than the first boom angle α1.

[0116] 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 for detecting the swing position and the second switch Sw2 for detecting the swing position, which indicate that the second boom 413 is in the first swing position (retracted position), are both in the OFF state, the second intermediate posture, which is the state shown in Figures 32, 33, and 34 (second intermediate posture and first swing position).

[0117] 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 for detecting the swing position indicating that the second boom 413 is in the second swing position is in the ON state, and the second switch Sw2 for detecting the swing position is in the OFF state, the second intermediate posture shown in Figures 35, 36, and 37 is formed (second intermediate posture and second swing position).

[0118] 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 for detecting the swing position and the second switch Sw2 for detecting the swing position, which indicate that the second boom 413 is in the third swing position, are both in the ON state, the second intermediate posture, which is the state shown in Figures 38, 39, and 40 (second intermediate posture and third swing position)

[0119] 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 for detecting the rotation position and the second switch Sw2 for detecting the rotation position, which indicate that the second boom 413 is in the third rotation position, are both in the ON state, the deployed posture shown in Figure 42 is formed (deployed posture=home position). The working unit 51 in the deployed position is in a state where it has been rotated to the deployed side so that the rotation shaft 512 or the top surface of the cover 514 intersects with the longitudinal direction of the second boom 413 when viewed from the front in FIG.

[0120] 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.

[0121] 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 32 to 34 is defined as a first rotation position (retracted position). As shown in FIGS. 38 and 39, 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. 35 to 38, 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.

[0122] 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 32, 33, and 34). In the first intermediate position of the work implement A, as shown in Figure 31, which is a front view of the first intermediate position of the work implement A according to the embodiment, the working unit 51 is lifted above the main frame 11 by the rotation of the second boom 413 about the second rotation axis. The first boom angle is a storage angle α0 (= 0°), and the second boom angle is a first-second boom angle β1 (≈ 60°). The second boom 413 is in a first rotation position where it is not rotating in the forward direction about the third rotation axis 417A.

[0123] When the work implement A is in the second intermediate position, the second boom 413 is in the state shown in Figures 32 to 34. The second boom 413 is in the retracted position, which is the first swing position (retracted position). As shown in Figures 33 to 34, the working unit 51 is located to the side and outboard of the mast frame 21 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°). 35 to 37, 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. 35 and 37, the working unit 51 moves forward in the traveling direction from the mast frame 21 with respect to the first rotation position due to the rotation of the second boom 413 about the third rotation shaft 417A. 38 to 40, the second boom 413 is in the second intermediate posture, and the second boom 413 is in the forward position, which is the third 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. 38 and 40, the working unit 51 has moved further forward in the traveling direction than the mast frame 21 with respect to the second rotation position due to the rotation of the second boom 413 about the third rotation shaft 417A.

[0124] Next, the state of the work implement A on its way from the second intermediate position to the deployed position will be described. 41 shows a front view of the work machine A according to the embodiment, in a state midway 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.

[0125] FIG. 42 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. 42 shows a state in which the working unit 51 has been swung to the deployed side from the state shown in FIG. 41, 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. 42, 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.

[0126] 43 is a front view of the working 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 an arbitrary position around the third rotation axis 417A, and the working unit 51 can be rotated to an arbitrary angle around 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 rotated from the deployed posture to a desired position by operating the operating unit u, and the working unit 51 can be rotated to an arbitrary position by operating the operating unit u. 51 can be placed in any position and angle desired by worker M. Figure 43 shows a state in which working unit 51 is positioned on a surface at the same height as the surface on which traveling machine body B travels. Of course, the position of working unit 51 is not limited to that shown in Figure 43, and it is possible to change the position of working unit 51 to any position by operating operating unit u. Figure 44 shows a front view of the working 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).

[0127] 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.

[0128] 6 to 8, the change from the first pivot position (retracted position) to the third pivot position (advanced position) in the vicinity of third pivot shaft 417A as viewed in the axial direction of third pivot shaft 417A will be described. 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 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 swing position detection switch Sw1 and the first action portion F1, and there is no contact between the second swing position detection 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).

[0129] FIG. 7 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 swing position detection switch Sw1 is in contact with the first action part F1, and the second switch Sw2 is not in contact with the second swing position detection 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).

[0130] FIG. 8 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. 9 is an enlarged side view of the third revolving shaft 417A of the work implement A according to the embodiment, showing the second boom 413 at the third revolving position, in which both the first revolving position detection switch Sw1 and the second revolving position detection switch Sw2 are operated. At the third swing position, the first swing position detection switch Sw1 is in contact with the first action portion F1, and the second swing position detection 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 at the third swing position.

[0131] The control unit t is configured to detect only the switching operation of the first swing position detection switch Sw1 and the second swing position detection switch Sw2. This allows the swing position of the second boom 413 swinging around the third swing shaft 417A to be recognized with a simple configuration. By recognizing the open / closed circuits of the two swing position detection switches Sw1 and Sw2 and their combinations, the three swing positions of the second boom 413 can be ascertained.

[0132] The detection method using the first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position does not require the rotation angles of all movable parts to be constantly detected and calculated, as is the case with the method for detecting the rotation angle of the first boom 411 using the first sensor Se1 and the method for detecting 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.

[0133] 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.

[0134] An automatic deployment operation for automatically changing the posture of the extension / contraction means 41 and the working unit 51 will now be described. 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 30 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 including the reverse operation shown in Figure 25. In the explanation and drawings, the first switch Sw1 for detecting the rotation position may be referred to as switch 1, and the second switch Sw2 for detecting the rotation position 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, it is determined whether the second boom 413 is in the third swing position, which is the most forward position.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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. The details of the operation control after the switching in step 105 will be described later.

[0139] 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.

[0140] 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.

[0141] 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. Before step 127, in step 127-1, the following contact determination reverse operation control is performed based on the flow chart shown in FIG.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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. Before step 127, in step 127-1, based on the flow chart shown in FIG. The contact determination reverse operation control described below is performed.

[0146] 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.

[0147] At the stage where step 113 is completed, the first boom 411 and the second boom 413 form the first intermediate position (see FIG. 31 ). 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 bodies, 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 bodies, do not interfere with the obstacle or the like.

[0148] Furthermore, when automatic deployment is performed from the stowed posture, the system cannot proceed to the next control step unless it forms the first intermediate posture (see Figure 31). The case where automatic deployment is performed from a state other than the stowed posture will be described later. The first intermediate posture (see Figure 31) quickly removes the working unit 51, which has a large projected area and significantly obstructs the view behind the worker M in 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 worker M from being prolonged by repeatedly moving the working unit 51 up and down unintentionally at a position close to the stowed posture.

[0149] As shown in Figure 31, the other end side of the second boom 413 in the first intermediate posture 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 rotating 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.

[0150] 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).

[0151] 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.

[0152] 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.

[0153] 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. Before step 127, in step 127-1, the following contact determination reverse operation control is performed based on the flow chart shown in FIG.

[0154] 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.

[0155] When step 118 is completed, the first boom 411 and the second boom 413 form the second intermediate posture (see FIGS. 32, 33, and 34). When automatic deployment is performed from the stowed position, the first intermediate position (see Figure 31) 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 32, 33, and 34, 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.

[0156] 31, even during the period from the first intermediate position to the second intermediate position shown in Figures 32, 33, and 34, 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 machine 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 the obstacle or the like.

[0157] In step 118, once the second intermediate posture shown in Figures 32, 33, and 34 is formed, 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 Figures 8, 38 to 40. That is, as shown in Figure 8, it is determined in step 119 whether the first swing position detection switch Sw1 is on and the second swing position detection switch Sw2 is also on. If it is determined that the second boom 413 is not in the most forward position, that is, that the second boom 413 is not in the third rotation position as shown in Figures 8, 38 to 40, but is in the first rotation position (retracted position) as shown in Figures 6, 32 to 34, or the second boom 413 is in the second rotation position (intermediate position) as shown in Figures 7, 35 to 37, then in step 120, the third cylinder 417 is extended as shown in Figures 38 to 40, and the second boom 413 is rotated toward the third rotation position. 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 as shown in Figures 8, 38 to 40, all cylinders are stopped in step 121 and the process proceeds to step 122. Before step 127, in step 127-1, the following contact determination reverse operation control is performed based on the flow chart shown in FIG.

[0158] 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.

[0159] Returning to step 103 and entering the second deployment process, the first switch Sw1 for detecting the rotation position and the second switch Sw2 for detecting the rotation position are in the on state, and it is determined whether 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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. Before step 127, in step 127-1, the following contact determination reverse operation control is performed based on the flow chart shown in FIG. This is also repeated until it is determined in step 114 that the current angle θ1 of the first boom 411 is the second first boom angle α2. Then, as shown in Fig. 41, 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.

[0166] 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.

[0167] If it is determined in step 119 that the second boom 413 is at the third rotation 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.

[0168] 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.

[0169] 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. Before step 127, in step 127-1, the following contact determination reverse operation control is performed based on the flow chart shown in FIG. 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 formed in step 126 becomes the deployed attitude (see FIG. 42).

[0170] 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 43). In the 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 42, and is positioned slightly above the traveling surface of the traveling body B. Additionally, the upper surface of working unit 51, as viewed from the direction of travel, is rotated to a position facing approximately perpendicular to the longitudinal direction of second boom 413, and is inclined so that the tip side of working unit 51 is positioned slightly above fourth pivot axis 418A with respect to the traveling surface of traveling body B. Worker M operates operating unit u to position working unit 51 from the home position to any working position and perform work.

[0171] 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.

[0172] 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 swing positions in the forward and reverse directions of the second boom 413 are determined only by the ON / OFF operation of the swing position detection first switch Sw1 and the swing position detection second switch Sw2, thereby reducing the control burden.

[0173] 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 k that stores 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.

[0174] The operation from the stowed position to the deployed position is performed after the first intermediate position (see Figure 31) and the second intermediate position (see Figures 32, 33, and 34) 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.

[0175] 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. 31) 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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;

[0181] 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: The first boom 411 is horizontally laid on the upper part 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 in relation to the first boom 411; the second boom 413 is rotated to the first rotation position (retracted position), which is the retracted position, and the second boom 413 is positioned so as to be folded over or folded in relation to the second boom 413; This refers to the state in which the business department 51 is located.

[0182] 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 shaft 418A, 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.

[0183] 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, Between the rotation angle of the rotation angle α0 and the rotation angle α2, the first boom 411 can rotate around the first rotation axis 411A at least from the rotation angle α0 to the rotation angle α2. This is the angle.

[0184] 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.

[0185] 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 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.

[0186] 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.

[0187] 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.

[0188] 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 is at the first boom angle β1; The work machine is characterized by the above.

[0189] 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.

[0190] 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 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.

[0191] 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 deployment operation for automatically changing their positions between a stored position and a deployed position, 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.

[0192] 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 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.

[0193] 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.

[0194] In this embodiment of the present invention, a first boom 411 that is 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.

[0195] 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 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.

[0196] In this embodiment of the present invention, During the transition from the stored position to the deployed position via the first intermediate position, The boom 413 is located opposite to the pivot point of the first boom 411 when in the stored position. It consists of a work machine A that does not protrude laterally beyond its width.

[0197] 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 30 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. 26, the basic pattern of the operation of the machine 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 43). 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.

[0198] 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.

[0199] 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.

[0200] Also, if the answer to step 203 is Yes, that is, the second boom 413 is at the first rotation position ( If the control unit t determines that the vehicle is in the reverse position, the process proceeds to step 205.

[0201] In step 205, the control unit t sets the target rotation angle α of the first boom 411 to the storage angle α0, The target swing angle β of the second boom 413 is switched to the storage angle β0. Details of the operation control after the switching in step 205 will be described later.

[0202] 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.

[0203] 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.

[0204] 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. 43 to the state shown in Fig. 44. 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.

[0205] In steps 208 and 209, as shown in FIG. 44, 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.

[0206] 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. Before step 223, in step 223-1, the contact determination reverse operation control described below is performed based on the flow chart shown in FIG. 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.

[0207] 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.

[0208] By setting the first boom 411 to the first boom angle α1 up to step 210, the working unit 51 and the second boom 413 are raised upward (see FIG. 44). 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.

[0209] 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.

[0210] 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 member, which is a connecting body, are supported by the second pivot shaft 413A. The body 412 is rotated toward the target rotation angle α, and the working unit 51 is rotated in the storage direction around the fourth rotation shaft 418A as a fulcrum.

[0211] 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 with the second rotation shaft 413A as the fulcrum, and the working unit 51 is rotated in the storage direction with the fourth rotation shaft 418A as the 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 with the fourth rotation shaft 418A as the fulcrum. .

[0212] 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. Before step 223, in step 223-1, the contact determination reverse operation control described below is performed based on the flow chart shown in FIG.

[0213] 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 39), 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.

[0214] At the stage where step 215 is completed, the first boom 411 and the second boom 413 form the second intermediate position (see FIGS. 38 to 40). 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.

[0215] 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.

[0216] 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.

[0217] 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. 38 to 40 to the state shown in FIGS. 32 to 34) 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.

[0218] 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. Before step 223, in step 223-1, the contact determination reverse operation control described below is performed based on the flow chart shown in FIG.

[0219] 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 32 to 34), in step 218, the control unit t issues a signal to the directional control valve 25 to stop all cylinders.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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. 33 transitions to the state shown in FIG. 31).

[0226] 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.

[0227] 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. Before step 223, in step 223-1, the contact determination reverse operation control described below is performed based on the flow chart shown in FIG.

[0228] 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.

[0229] 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. 31).

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] 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.

[0235] 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.

[0236] 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. Before step 223, in step 223-1, the contact determination reverse operation control described below is performed based on the flow chart shown in FIG.

[0237] During the operation from the first intermediate position to the storage position shown in Figure 30, the second boom 413 and working unit 51 do not protrude to the outside of the width of the body of the work implement A in the storage position, thereby reducing the chance of contact with other obstacles during the automatic storage operation.

[0238] 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.

[0239] 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 shown in Fig. 30. 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.

[0240] 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.

[0241] 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.

[0242] 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.

[0243] 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.

[0244] 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.

[0245] 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.

[0246] 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.

[0247] 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.

[0248] 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.

[0249] In the control related to the automatic storage operation, it is only necessary to determine whether the current angle θ1 and the current angle θ2 have reached the target rotation angles α and β, or whether they are larger or smaller than them, 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.

[0250] 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 k that stores the control code (program) in the control unit t does not become bloated, and the configuration of the control unit t can be simplified.

[0251] 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.

[0252] 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.

[0253] 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.

[0254] 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.

[0255] 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 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;

[0256] 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.

[0257] 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.

[0258] 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 shaft 418A, 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.

[0259] 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.

[0260] 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 to be rotatable relative to the first boom 411 at an angle including the first boom angle β1 in the same rotation direction as the first boom angle α1 and the second boom angle α2. and a second boom 413 that 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 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 α of the first boom 411 is set to the first boom angle α1, and the first boom 411 is The work machine A is rotated to the first boom angle α1.

[0261] 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.

[0262] 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 angle of the second boom 413 is set to the first boom angle α2. The target angle is set to the first and second boom angles 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.

[0263] 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.

[0264] 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).

[0265] 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 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.

[0266] 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 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 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 boom angle β1, which is a set target angle of the second boom. 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 is changed from the first second boom angle β1 to a second boom storage angle β0.

[0267] 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.

[0268] 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).

[0269] 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.

[0270] In this embodiment of the present invention, After the locking operation is completed, the work machine A notifies the worker.

[0271] Based on the flow diagram of the contact detection reverse operation control shown in FIG. 24, the reverse operation will be explained while interweaving a specific example based on actual work. The first boom 411 and the second boom 413 are deployed to be in a working state, and when the second boom 413 is in the first rotation position, which is the backward position, the third cylinder directional control valve 253 is operated to operate the third cylinder 417, and the second boom 413 is rotating in the direction of the third rotation position, which is the forward position, and the case where the front side of the working unit comes into contact with an obstacle J (see Figures 3 and 4) will be described with reference to control flow diagram 24.

[0272] In this case, first, in step 101, it is recognized which directional control valve 25 is operating, and then the operating directional control valve is stored in memory unit k. In this case, it is recognized that the third cylinder 417 is operating. If the front side of the working unit 51 comes into contact with an obstacle while the third cylinder 417 is operating, the mast frame 21 or the second connected body is pressed rearward. In other words, the first pressure detection switch 76 detects the operation of the stopper means 7 or the horizontal rotation of the mast frame 21. Alternatively, the second pressure detection switch w detects the rearward rotation of the regulating member 433 of the second connected body. Alternatively, both the first pressure detection switch 76 and the second pressure detection switch w detect this.

[0273] In step 102, it is determined whether or not there is contact. There are four criteria for determining "contact" in step 102. If any of the following conditions is met, it is determined that "contact" has occurred, and an abnormality signal is generated. (1) Abnormal angular velocity of the first boom 411 (2) Angular velocity abnormality of the second boom 413 (3) The tip switch is in the detection state (ON state) (4) The brake back switch is in the detection state (ON state). The criteria for determining "angular velocity abnormality" are as follows: (1) When either the first boom 411 or the second boom 413 is being rotated by operating the directional control valve 25, and the angular velocity of the boom during the rotation operation is smaller than a set value. In the embodiment, this corresponds to a case where it is smaller than 10 deg / sec. In this case, the control unit t determines that a first angular velocity abnormality has occurred and generates a first abnormality signal. (2) When either the first boom 411 or the second boom 413 is rotating by operating the directional control valve 25, and the angular velocity of the other boom that is not operating is greater than a set value. In the embodiment, this corresponds to a case where the angular velocity is greater than 5 deg / sec. In this case, the control unit t determines that a second angular velocity abnormality has occurred and generates a second abnormality signal. The following are criteria for determining whether the vehicle has been "pushed" backward relative to the direction of travel: (3) This corresponds to the case where the mast frame 21 rotates horizontally from the working state, which is the normal position, to the retracted state, i.e., the first pressure detection switch 76 detects the rotation of the extension / retraction means 41 around the mast frame rotation shaft 211. In this case, the control unit t generates a third abnormality signal after receiving the first pressure signal from the first pressure detection switch 76. (4) This corresponds to the case where the working unit 51 detects a backward pressure in a direction parallel to the fourth pivot shaft 418A, that is, the case where the second detection switch w provided near the second connecting body 414 detects a pressure on the working unit 51. In this case, the second detection switch w transmits a second pressure signal to the control unit t, and the control unit t generates a fourth abnormal signal.

[0274] In step 102, it is determined whether or not there is contact with the work machine A. In the specific example to be described, control unit t receives a first pressing signal that detects a pressing force on first boom 411 and the first boom toward the rear in the traveling direction, or a second pressing signal that is emitted by detecting a pressing force on working unit 51 and the other end of the second boom and second connecting body 414, or both the first pressing signal and the second pressing signal, and generates a third abnormal signal or a fourth abnormal signal, or both, which are abnormal signals in response to this, and determines that contact has occurred (determines YES in step 102). If it determines that no contact has occurred, control ends.

[0275] In step 102, the control unit t determines that contact has occurred and generates the third abnormality signal, the fourth abnormality signal, or both the third abnormality signal and the fourth abnormality signal, and then sets the reverse operation time in step 103. The reverse operation time is a preset time, and in this embodiment, it is set to 3 seconds. The reverse operation time can be freely changed depending on the type of work machine.

[0276] When the reverse operation time is set in step 103, the control unit t determines in step 104 whether the remaining time of this reverse operation time is 0 (0 seconds) or not.

[0277] If the remaining time is not 0, in step 105, the control unit t counts down the set reverse operation time. If the remaining time is 0, proceed to step 108.

[0278] In step 105, after the countdown, when the control unit t recognizes the abnormal signal, for the cylinder that was operating (the third cylinder 417 in this specific example), a command is sent to the directional control valve stored in the memory unit k in step 106 to operate in the direction opposite to the direction in which it was operating. That is, in step 106, the control unit t switches off the internal circuit of the operating directional control valve 25. Instead, the cylinder is moved in the direction opposite to the direction of movement of the cylinder before the contact determination.

[0279] In step 107, the control unit t determines whether or not the operation of the operation unit u is continuing. The control unit t repeats the flow from step 104 as long as the operation of the operation unit u is continuing. If the operation unit u is not continuing, the control unit t switches the internal circuit of the directional control valve 25 in step 108, thereby stopping all the cylinders.

[0280] The control unit t ends the control related to the reverse operation when it determines that there is no contact as a result of the contact determination in step 102. If the control unit t determines that there is contact in step 102, or if it determines that the remaining time is 0 in step 104, or if it determines that operation of the operating unit u is continuing and the remaining time is 0 in step 104, or if it determines that operation of the operating unit u is not continuing in step 107, then it sends a command to the directional control valve in step 108 to stop the operation of all cylinders and ends the control related to the reverse operation.

[0281] Another specific example will be described. The first boom 411 and the second boom 413 are deployed to a working state (when the forward / backward position of the second boom 413 is not important), and the first boom 411 is rotated upward (storing direction) by the operation of the first cylinder, and a case where contact is made above the working unit 51 will be described (see Figure 2). In this case, first, in step 101, the control unit t recognizes which directional control valve 25 is operating. In this example, the control unit t recognizes that the first cylinder 415 is operating. Then, the control unit t stores the operating directional control valve in the memory unit k.

[0282] When an obstacle J comes into contact with the upper side of the working unit 51 while the first cylinder 415 is operating and the movement of the first boom 411 slows down, the first angular velocity calculated by the control unit t based on the first angle signal sent from the first sensor Se1 becomes smaller than the set value, and the control unit t recognizes this. Alternatively, the first connected body 412 and the second boom 413, which are not currently being operated intentionally, attempt to forcibly rotate beyond the holding force of the second cylinder 416 that rotates them about the second rotation axis 413A. When the second boom 413, which is not supposed to be operating, moves, the control unit t recognizes that the second angular velocity calculated based on the second angle signal sent from the second sensor Se2 has become larger than the set value. In other words, the control unit t can recognize that the first boom 411, which is rotating upward toward the storage side, is being forcibly pushed downward, or that the second boom 413 and first connecting body, which are not rotating, are being forcibly rotated in the storage direction relative to the first boom 411, or both of these states are in effect.

[0283] In this specific example, the control unit t then receives a first angle signal of the first boom 411, which is in the middle of an operation that has been intentionally operated, and a second angle signal of the second boom 413, which is not being operated intentionally and is not in operation (102). The control unit t generates a second angular velocity signal and a second angular velocity signal based on the first angle signal and the second angle signal. In this specific example, the control unit recognizes that a first angular velocity abnormality occurs when the first angular velocity calculated based on the first angle signal is smaller than a set value, or a second angular velocity abnormality occurs when the second angular velocity calculated based on the second angle signal is larger than a set value, or both. Then, when the control unit t generates the first abnormal signal or the second abnormal signal, or both, which are abnormal signals corresponding to the angular velocity signals, it determines in step 102 that contact has occurred (YES). If it determines that contact has not occurred, the control unit t ends the control.

[0284] If the control unit t determines in step 102 that contact has been made, the reverse operation time is set in step 103. Furthermore, in step 104, the control unit t determines whether the remaining time of the reverse operation time is 0 (0 seconds). If the remaining time is not 0, the set reverse operation time is counted down in step 105. If the remaining time is 0, the process proceeds to step 108, which will be described later.

[0285] In step 105, after the countdown, for the cylinder that was operating at the time when the abnormality signal was received (first cylinder 411 in the specific example), in step 106, a command is sent to the directional control valve stored in memory unit k to operate in the direction opposite to the direction in which it was operating, and the cylinder (first cylinder 411) is operated in the direction opposite to the operating direction of the cylinder before the contact determination.

[0286] In step 107, it is determined whether or not the operation of the operation unit u is continuing, and as long as the operation of the operation unit u is continuing, the flow from step 104 onwards is repeated.

[0287] The control unit t terminates the control related to the reverse operation when it determines that there is no contact as a result of the contact determination in step 102. If the control unit t determines that there is contact in step 102, or if it determines that the remaining time is 0 in step 104, or if the operation of the operating unit u is continued and the remaining time is determined to be 0 in step 104, or if it is determined by the control unit t in step 107 that the operation of the operating unit u is not continued, the control unit t sends a command to the directional control valve, and in step 108 stops the operation of all cylinders and terminates the process.

[0288] Other than the combinations shown in the specific examples, other combinations of sensors and switches or different directions of operation will operate in a similar manner. By using the control of the present invention to identify which cylinder is operating when there is a possibility that multiple cylinders (drive devices, directional control valves) may operate, the appropriate cylinder can be selected to perform the reverse operation even if a load is applied in the direction in which the operating part is intended to rotate, an unintended direction different from the rotation direction, or a direction in which no load should be applied (a direction different from the direction in which the telescopic means rotates for deployment or storage). By the reverse operation, the pressing state with the obstacle is released, and the extension means and working unit 51 can be operated again from the state in which the pressing state is released.

[0289] In the specific example shown in the embodiment, a case where one drive device (cylinder, directional control valve) is operating is described, but even if multiple drive devices are operating at the same time, it is possible to recognize the target drive device as appropriate for the drive devices currently in operation and to reverse the operation of the multiple drive devices simultaneously. The control of the present invention can also be incorporated into the control of the automatic deployment operation, as shown in step 127-1 in Figure 25, and the automatic storage operation, as shown in step 223-1 in Figure 26. This allows the operating cylinder (directional control valve) to be identified when multiple cylinders are operating, and allows the telescopic means having multiple booms to operate in the opposite direction to the position where the load is directly applied, even if a load is applied in an intended direction of rotation or an unintended direction different from the rotation direction. Of course, even when the operator M operates the operating unit u to individually operate the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, the contact detection reverse operation control shown in Figure 24 can be performed for each operation.

[0290] In this embodiment of the present invention, An extension / contraction means 41 that is rotatable around one end as a fulcrum and the other end can be positioned at any position; A plurality of driving devices for rotating the extension / contraction means 41; The extension / contraction means 41 includes a sensor capable of detecting the rotation angle of the extension / contraction means 41 and transmitting the result as an angle signal, and a switch capable of detecting the pressure on the extension / contraction means 41 and transmitting a pressure signal. a control unit t capable of receiving a pressing signal and the angle signal and controlling the driving device based on the pressing signal and the angle signal; The control unit t performs a contact determination to determine that the extension / contraction means 41 is in contact when at least one drive device is in an operating state and receives a pressing signal, or when the rotation angular velocity obtained from the angle signal of the extension / contraction means 41 being operated by at least one drive device is smaller than a set value, or when the rotation angular velocity obtained from the angle signal of the extension / contraction means 41 not being operated by at least one drive device is larger than a set value. The present invention relates to a work machine A or a work system characterized by the above.

[0291] In this embodiment of the present invention, a first boom that can rotate around one end of the first boom; a second boom disposed on one side of the other end of the first boom and capable of rotating relatively to the first boom; a plurality of drive devices that rotate the first boom and the second boom, respectively; The first boom includes a first sensor that can detect a rotation angle of the first boom and transmit the result as a first angle signal, and a first pressure detection switch 76 that can detect a pressure on one end of the first boom and transmit a first pressure signal. the second boom includes a second sensor capable of detecting a rotation angle of the second boom and transmitting the result as a second angle signal, and a second pressure detection switch w capable of detecting a pressure on the other end of the second boom and transmitting a second pressure signal; a control unit t capable of receiving a first angle signal, a second angle signal, the first pressing signal, and the second pressing signal, and capable of controlling the drive device based on the first angle signal, the second angle signal, the first pressing signal, and the second pressing signal; The control unit t performs a contact determination to determine that the extension / contraction means 41 is in contact when at least one drive device is in an operating state and receives a first pressing signal, or when at least one drive device is in an operating state and receives a second pressing signal, or when the rotation angular velocity obtained from the first angle signal or the second angle signal of the extension / contraction means 41 being operated by at least one drive device is smaller than a set value, or when one extension / contraction means 41 is in operation by at least one drive device and the rotation angular velocity obtained from the first angle signal or the second angle signal of the other extension / contraction means 41 not being operated by the drive device is larger than a set value. The present invention relates to a work machine A or a work system characterized by the above.

[0292] In an embodiment of the present invention, The control unit t is a work machine A or a work system that performs reverse operation control to operate the driving device in the reverse direction by making a contact determination.

[0293] The following further explains how the articulated boom device, which is the telescopic means, changes the working unit 51 from a stored state in which it is stored to a working state in which it is positioned far to the left or right of the traveling body B in the direction of travel. 2, 45, 46, and 47, the current angle θ1 is the current rotation angle of the first boom 411 relative to the mast frame 21 and can be detected by the first sensor Se1. The first boom 411 can pass through an angle αr, which will be described later, during the rotation operation from the retracted position to the deployed position. As shown in Figures 45, 46 and 47, the current angle θ2 is the current rotation angle of the second boom 413 relative to the first boom 411, and can be detected by the second sensor Se2.

[0294] FIG. 29 is a diagram showing the angle of the first boom 411 relative to the mast frame, including the rotor rotatable range L of the working machine according to the embodiment of the present invention, and will be described. The graph shown in Figure 29 visually shows the relationship between the limit angles in the control operation of the first boom 411 and the second boom 413 at which they reach the rotor rotation stop boundary line Xr due to the respective swing operations of the first boom 411 and the second boom 413, and also shows the relative relationship between the angles of the first boom 411 and the second boom 413. In the graph shown in Figure 29, the horizontal axis represents the angle of the first boom 411 relative to the mast frame 21, and the vertical axis represents the angle of the second boom 413 relative to the first boom 411. Note that the angle of the first boom 411 may be a relative angle with respect to the main frame 11. Xc is the boom operation restriction boundary. Xr is the rotor rotation stop boundary. L is the rotor rotation allowable range. P is the boom operation restriction release range. N is the rotor rotation stop range. Q is the boom operation restriction range.

[0295] The line (solid line) shown in the graph in Figure 29 indicates rotor rotation stop boundary line Xr. From the graph in Figure 29, it is possible to read the angle of the first boom 411 and the second boom 413 when the working unit 51 (fourth pivot shaft 418A) is positioned on rotor rotation stop boundary line Xr. The control unit t controls the rotation of the rotor of the working unit 51 based on the result obtained from this relative relationship.

[0296] The rotor rotation stop boundary line Xr shown in Figures 29 and 47 is an imaginary vertical line positioned to the side of the traveling machine body B when viewed from the direction of travel. The working unit 51 located on the side of the traveling machine body B of the rotor rotation stop boundary line Xr is considered to be within the range of the rotor rotation stop boundary line Xr, and the side located away from the traveling machine body B from Xr is considered to be outside the range of the rotor rotation stop boundary line Xr. The side of the traveling machine body B that includes the rotor rotation stop boundary line Xr is referred to as the first operation restriction range R. The first operation restriction range R is sometimes also referred to as the rotor rotation stop range N. The first operation restriction range R (rotor rotation stop range N) is defined within the rotor rotation stop boundary line Xr when the second boom 413 is in the first rotation position. The first operation restriction range R is defined at the rear of the traveling machine body B, as shown in Figure 48. In other words, the range in which the second boom 413 is in the first rotation position and the fourth rotation shaft 418A is located within the rotor rotation stop boundary line Xr is the first operation restriction range R in which rotation of the rotor 512 is impossible. On the other hand, when the fourth pivot shaft 418A is located at the rear of the traveling machine body B and outside the range of the rotor rotation stop boundary line Xr, this becomes the rotor rotatable range L. The operating range in which the second boom 413 is moved to a second pivot position and a third pivot position, which are outside the range of the rotor rotation stop boundary line Xr and are rotated forward from the first pivot position to move the working unit 51, is also defined as the rotor rotatable range L. In this embodiment, rotor rotation stop boundary line Xr is set based on the fourth pivot axis 418A, which faces the traveling direction of rotating working unit 51. In other words, when the fourth pivot axis 418A is positioned to overlap with Xr, the ends of working unit 51 located to the left and right of the fourth pivot axis 418A are positioned within the range of rotor rotation stop boundary line Xr or outside the range of rotor rotation stop boundary line Xr.

[0297] In the embodiment, when the fourth pivot shaft 418A is on the rotor rotation stop boundary line Xr, the rotation area of ​​the working unit 51 rotating around the fourth pivot shaft 418A as seen from the direction of travel is positioned inside the left-right width of the traveling machine body B. For this reason, when the fourth pivot shaft 418A enters the rotor rotation stop range N inside the rotor rotation stop boundary line Xr, the control unit t switches the grass cutting blade rotation operation valve 255 to stop the rotor shaft 512, preventing foreign matter from being scattered from the rotating rotor shaft 512 towards the traveling machine body B located in front. The position of the rotor rotation stop boundary line Xr can be freely set according to the type and specifications of the work machine A.

[0298] 46 indicates the first set angle αr, which is the limit angle at which the working unit 51 can be positioned within the range of the rotor rotation stop boundary line Xr (the range within which the working unit 51 is located at the rear of the traveling machine body B) using the first boom 411 alone.

[0299] 29, when the intersection of the angle of the first boom 411 and the angle of the second boom 413 is located below the correlation line (solid line), the control unit t recognizes that the working unit 51 is located within the rotor rotation stop range N. When the intersection is located on the correlation line (solid line), the control unit t recognizes that the working unit 51 (fourth revolving shaft 418A) is located on the rotor rotation stop range boundary line Xr, and when the intersection is located above the correlation line (solid line), the control unit t recognizes that the working unit 51 is located outside the rotor stop range.

[0300] The rotor rotation stop range N will now be described. When the control unit t determines that the working unit 51 is located outside the rotor rotation stop range N, it is able to drive the rotor shaft 512 of the working unit 51 to rotate. On the other hand, when the control unit t determines that the working unit 51 is located within the rotor rotation stop range N, it stops or prohibits the rotation of the rotor shaft 512 of the working unit 51. The area below the correlation line shown by the solid line is sometimes referred to as the first operation restriction range R, which is the rotor rotation stop range N.

[0301] In the detailed correlation (detailed graph shown in Figure 29), the horizontal axis of the graph shown in Figure 29 shows the angle when the first boom 411 is rotated in the deployment direction when the angle when stored is set to 0. Until the first boom 411 reaches αr (approximately 65 degrees in this embodiment), the current angle θ2 of the second boom 413, which is the vertical axis, remains unchanged at the value βmax (approximately 95 degrees in this embodiment). In other words, until the first boom 411 reaches αr, the control unit t always sets the current angle θ2 of the second boom 413 to βmax, and omits it from the rotor rotation judgment conditions. Therefore, until the first boom 411 reaches αr, calculations and judgments for angle correlation comparison related to the rotor rotation judgment conditions are omitted, thereby reducing the burden on the control unit t.

[0302] If the current angle θ1 of the first boom 411 is less than or equal to αr (θ1≦αr), the fourth rotation axis 418A will be on the traveling body B side of the rotor stop range boundary line Xr regardless of the current angle θ2 of the second boom 413. For this reason, when the current angle θ1 of the first boom 411 is equal to or less than αr, the control unit t always processes the angle of the second boom 413 as βmax, which is the physical maximum limit angle, and determines whether or not the rotor rotation stop range N is in accordance with only the current angle θ1 of the first boom 411. In this embodiment, the rotor rotation stop range N is formed regardless of the current angle θ1 of the first boom 411 until the current angle θ1 of the first boom 411 reaches αr.

[0303] When the angle of the first boom 411 exceeds αr (θ1>αr), the control unit t determines whether the working unit 51 is in the rotor rotation stop range N based on the correlation between the current angle θ1 of the first boom 411 and the current angle θ2 of the second boom 413.

[0304] In this embodiment, a configuration is adopted in which the second boom 413 can be rotated back and forth. The control unit t determines whether the working unit 51 is located within the rotor rotation stop range N when the emergency stop switch E of the operation unit u is released, the rotor rotation switch R is turned ON (ON for either forward or reverse rotation), and the second boom 413 is in the most retracted position (first rotation position).

[0305] In another embodiment, if there is no configuration for rotating the second boom 413 back and forth, it is also possible to determine whether the working unit 51 is located within the rotor rotation stop range N when the emergency stop switch E of the operating unit u is released and the rotor rotation switch R is turned ON (ON for either forward or reverse rotation).

[0306] The rotor automatic stop control will be explained based on the control flow shown in FIG. In step 101, when control is started, the control unit t receives angle signals transmitted from the first sensor Se1 and the second sensor Se2, thereby detecting the current angle θ1 of the first boom 411 and the current angle θ2 of the second boom 413. Then, these angles are temporarily stored in the memory unit k.

[0307] Next, in step 102, it is determined whether or not the emergency stop switch E has been released. If the emergency stop switch E has not been released, that is, if the emergency stop switch E has been operated, the process proceeds to step 108, where an instruction to stop the rotor from rotating is issued, and the process returns to step 101. If the emergency stop switch E is released, that is, if the emergency stop switch E has not been operated, the process proceeds to step 103, which is the next control flow.

[0308] In step 103, it is determined whether the rotor rotation switch R is in the ON state. If it is in the OFF state, that is, if the rotor rotation switch R has selected to stop the rotor rotation, the process proceeds to step 108, where a command to stop the rotor rotation is issued, and the process returns to step 101.

[0309] If the rotor rotation switch R is in the ON state in step 103, that is, if the rotor rotation is selected to be either forward or reverse, the process proceeds to step 104, which is the next control flow. In step 103, it is determined whether the second boom 413 is in the most retracted position. If it is not in the most retracted position, that is, if the second boom 413 is in a position other than the first rotation position, the process proceeds to step 106, where an instruction to rotate the rotor is issued, and the process returns to step 101.

[0310] When the second boom 413 is in a position other than the first rotation position, rotor rotation is permitted if the emergency stop switch E is released and the rotor rotation switch R is ON, regardless of the rotation angle of the second boom 413. This is because the working unit 51 is positioned to the side of the traveling machine body B, and therefore there is no possibility that the working unit 51 will be physically located behind the traveling machine body B, eliminating the possibility of debris being thrown towards the traveling machine body B.

[0311] If it is determined in step 104 that the second boom 413 is in the most retreated position, that is, the third swing position, the process proceeds to control step 105 . In step 105, it is determined whether the rotor is outside the stop range. That is, in step 105, it is determined whether the fourth pivot axis 418A is located in a direction away from the traveling machine body B from the rotor rotation stop boundary line Xr. This determination is made by using the current angle θ1 and current angle θ2 temporarily stored in control step 101 to determine whether the rotor is within the rotor rotation stop range N. At this time, if the current angle θ1 is equal to or less than αr, the current angle θ2 is calculated using the βmax value. If the current angle θ1 is greater than αr, the current angle θ2 is calculated using the current angle θ2 temporarily stored in step 101.

[0312] In step 105, if the fourth rotation axis 418A is determined to be outside the rotor rotation stop range N, that is, if the control unit t determines that the fourth rotation axis 418A is located outside the rotor rotation stop range N in the direction of travel, proceed to step 106, issue an instruction to rotate the rotor, and return to step 101.

[0313] In step 105, if the control unit t determines that the rotor is not outside the rotor rotation stop range N, that is, that the fourth pivot shaft 418A is within the rotor rotation stop range N, the process proceeds to step 107 to issue a signal to issue an alarm, and then proceeds to step 108 to issue an instruction to stop the rotor from rotating, and the process returns to step 101. The alarm may be an image, video, lamp light, or the like that can be visually recognized by the worker, or may be a sound (including verbal speech) that can be audibly recognized.

[0314] In this embodiment of the present invention, a first boom 411 having one end connected around a first pivot shaft 411A and capable of rotating freely; a second boom 413 connected at one end to the other end of the first boom 411 and rotatable about a second swivel shaft 413A parallel to the first swivel shaft 411A; a working unit (51) rotatably connected to the other end of the second boom (413) and having a rotor shaft (512) that is rotationally driven to perform ground work; the working unit 51 includes a control unit t that controls the rotor shaft 512 to stop when it is determined that the working unit 51 is located within a rotor rotation stop range N that is defined by the correlation between a first boom angle θ1 that is the rotation angle of the first boom 411 and a second boom angle θ2 that is the rotation angle of the second boom 413 relative to the first boom 411; The present invention relates to a grass mower or grass mowing system comprising:

[0315] In this embodiment of the present invention, a first boom 411 having one end connected around a first pivot shaft 411A and capable of rotating freely; a second boom 413, one end of which is connected to the other end of the first boom 411, and which is rotatable about a second pivot shaft 435 (second pivot shaft 413A) parallel to the first pivot shaft 411A, and which is rotatable about a third pivot shaft 417A in a direction intersecting the first pivot shaft 434 (first pivot shaft 411A) in a direction parallel to the rotation direction of the first boom 411 and in a direction intersecting the rotation direction of the first boom 411; a working unit (51) rotatably connected to the other end of the second boom (413) and having a rotor shaft (512) that is rotationally driven to perform ground work; a first boom 411 angle, which is the rotation angle of the first boom 411 relative to the main frame 11; a second boom angle θ2, which is the rotation angle of the second boom 413 relative to the first boom 411 that rotates in a direction parallel to the rotation direction of the first boom 411; and a second boom angle θ2, which is the rotation angle of the second boom 413 relative to the first boom 411 that rotates in a direction intersecting the rotation direction of the first boom 411. the brush cutting work unit 51 includes a control unit t that controls the rotor shaft 512 to stop when it is determined that the second boom 413 that rotates around the third rotation shaft 417A is in the most rearward position and is located within a rotor rotation stop range N that is defined by the correlation between the angle of the first boom 411 and the second boom angle θ2; The present invention relates to a grass mower or grass mowing system comprising:

[0316] In this embodiment of the present invention, A main frame that can be attached to the running body B, A first boom 411 is provided on the main frame 11 and is rotatable by connecting one end of the first boom 411 to the first rotating shaft 411A; a second boom 413 connected at one end to the other end of the first boom 411 and rotatable about a second swivel shaft 413A parallel to the first swivel shaft 411A; a working unit (51) rotatably connected to the other end of the second boom (413) and having a rotor shaft (512) that is rotationally driven to perform ground work; The working unit 51 includes a control unit t that controls the rotor shaft 512 to stop when it is determined that the working unit 51 is located inside the width of the traveling machine body B when viewed from behind in the direction of travel due to the rotation of the first boom 411 and the second boom 413; The present invention relates to a grass mower or grass mowing system comprising:

[0317] In this embodiment of the present invention, The control unit t includes a notification unit that can issue a notification that can be recognized by an operator when it is determined that the working unit 51 is located within the rotor rotation stop range N; The present invention relates to a grass mower or grass mowing system comprising:

[0318] The boom operation restriction control according to the embodiment of the present invention will be described with reference to the control flow shown in FIGS. 27 and 28, the graph shown in FIG. 29, and FIGS. 45 to 47.

[0319] The graph shown in Figure 29 visually shows the relationship between the limit angles in the control operations of the first boom 411 and the second boom 413 that reach the boom operation restriction boundary line Xc due to the respective rotation operations of the first boom 411 and the second boom 413, and is a graph that shows the relative relationship between the respective angles of the first boom 411 and the second boom 413. 29 represents the boom operation restriction boundary line Xc. The intersection of the angle of the first boom 411 relative to the mast frame 21 shown on the horizontal axis and the angle of the second boom 413 relative to the first boom 411 shown on the vertical axis indicates the correlation between the first boom 411 and the second boom 413, and indicates whether the working unit 51 (fourth rotating shaft 418A) is within the boom operation restriction range Q when it is located. Note that the angle of the first boom 411 may be a relative angle with respect to the main frame 11. The control unit t controls the operation of the first boom and the second boom based on the result obtained from this relative relationship. The boom operation restriction release range P corresponds to the range other than the range close to the traveling machine body B to which the work implement A is attached. The boom operation restriction release range P is the range in which the working unit 51 can be moved freely by rotating the telescopic means 41 in the up / down, left / right, and front / rear directions. As shown in Figure 49, when viewed from above, the range P is set to the rear and side of the traveling machine body B, excluding the vicinity of the periphery of the traveling machine body B. In this embodiment, in the boom operation restriction release range P, when the second boom 413 is in the first rotation position, that is, when the fourth rotation axis is located at the rear of the traveling machine body, the first boom 411 can rotate about the first rotation axis 411A and the second boom 413 can rotate about the second rotation axis 413A freely without restriction. Furthermore, when the second boom 413 is in a position other than the first rotation position, that is, when the fourth rotation axis is located at the side of the traveling machine body B, the first boom 411 can rotate about the first rotation axis 411A and the second boom 413 can rotate about the second rotation axis 413A freely within the range in which the fourth rotation axis 418A is located in the boom operation restriction release range P.

[0320] As shown in Figures 45 to 47, the boom operation restriction boundary line Xc is located further away from the traveling machine body B than the rotor rotation stop boundary line Xr, and the side of the traveling machine body B that includes the boom operation restriction boundary line Xc is defined as the second operation restriction range S. When viewed from the direction of travel, the boundary line itself is a virtual vertical line positioned to the side of the traveling machine body B, similar to the rotor rotation stop boundary line Xr. In this embodiment, when the fourth rotation axis 418A is positioned outside the boom operation restriction boundary line Xc, the first boom 411, the second boom 413, and the working unit 51 are positioned so that they do not interfere with the traveling machine body B even if they are rotated in any direction. The second operation restriction range S is also called the boom operation restriction range Q, and is defined within an area surrounding the vicinity of the traveling machine body B in the plan view shown in Figure 49. When the fourth rotation axis 418A is at a position where it overlaps with the boom operation restriction boundary line Xc, and is located closer to the traveling machine body B than the boom operation restriction boundary line Xc, and the second boom 413 is located at a position other than the first rotation position, the rotation operation of the first boom 411 and the second boom 413 is restricted from moving in a direction toward the traveling machine body B than the boom operation restriction boundary line Xc. αc is a second set angle. The second set angle αc is a limit angle at which the first boom 411 alone can determine that the first boom 411 and the second boom 413 are located within the boom operation restriction boundary line Xc (within the range in which the working unit 51 is located at the rear part of the traveling machine body B). In the case of this embodiment, the second set angle αc is greater than the first set angle αr, that is, αc>αr.

[0321] 29, when the intersection of the angle of the first boom 411 and the angle of the second boom 413 is located below the correlation line (dashed line), the control unit t recognizes that the working unit 51 is located within the boom operation restriction range Q (within the second operation restriction range S). When the intersection is on the correlation line (dashed line), the control unit t recognizes that the working unit 51 (fourth revolving shaft 418A) is located on the boom operation restriction boundary line Xc, and when the intersection is above the correlation line (dashed line), the control unit t recognizes that the working unit 51 is outside the boom operation restriction range Q, in other words, that the boom operation restriction has been released. The area below the solid correlation line is also referred to as a first operation restriction range R, which is the rotor rotation stop range N.

[0322] The boom operation restriction range Q will now be described. 29, when the control unit t determines that the working unit 51 is located outside the boom operation restriction range Q (outside the boom operation restriction boundary line Xc), it recognizes that the first boom 411, the second boom 413, and the working unit 51 will not interfere with the traveling machine body B even if they are rotated in any direction. In other words, the positional relationship of the first boom 411 and the second boom 413 is such that any operation is accepted regardless of the direction of movement of the first boom 411, the second boom 413, and the working unit 51, respectively.

[0323] When the control unit t determines that the working unit 51 is located within the boom operation restriction range Q, it prohibits the working unit 51 from moving in a direction approaching the traveling machine body B. In other words, it restricts the rotational movement of the first boom 411 and the second boom 413 so that they do not move in a direction approaching the traveling machine body B. In the embodiment, when it is determined that the working unit 51 is located within the boom operation restriction range Q, the movement of the first boom 411 and the second boom 413 in the storage direction is restricted so as to prohibit the working unit 51 from moving toward the traveling body B, while the movement of the first boom 411 and the second boom 413 in the deployment direction, which is the direction in which the working unit 51 moves away from the traveling body B, is not restricted.

[0324] The correlation details (graph details) shown in FIG. 29 will be further explained. In Figure 29, the horizontal axis of the graph shows the angle when the first boom 411 is rotated in the deployment direction when the angle when stored is set to 0. Until the second set angle αc (approximately 75 degrees in this embodiment) is reached, the current angle θ2 of the second boom 413, which is the vertical axis, remains unchanged at the value βmax (approximately 95 degrees in this embodiment). In other words, until the first boom 411 reaches αc, the control unit t keeps the current angle θ2 of the second boom 413 at βmax at all times, and adjusts the angle θ2 to restrict the operation of the boom. Therefore, until the first boom 411 reaches αc, calculations and judgments for comparing the correlation between angles related to the rotor rotation judgment conditions are omitted, thereby avoiding the burden on the control unit t.

[0325] When the current angle θ1 of the first boom 411 is equal to or less than the second set angle αc (θ1≦αc), the fourth rotation axis 418A will be on the traveling machine body B side of the boom operation restriction boundary line Xc, regardless of the angle of the current angle θ2 of the second boom 413. For this reason, when the current angle θ1 of the first boom 411 is equal to or less than αc, the control unit t always processes the angle of the second boom 413 as βmax, which is the physical maximum limit angle, and determines whether or not it is within the boom operation restriction range Q based only on the current angle θ1 of the first boom 411. In this embodiment, the boom operation restriction range Q is formed by only the current angle θ1 of the first boom 411 until the current angle θ1 of the first boom 411 reaches the second set angle αc.

[0326] When the angle of the first boom 411 exceeds the second set angle αc (θ1>αc), the control unit t determines the angle θ1 of the first boom 411 based on the correlation between the current angle θ1 of the first boom 411 and the current angle θ2 of the second boom 413. , it is determined whether the working unit 51 is in the boom operation restriction range Q.

[0327] In this embodiment, a configuration is adopted in which the second boom 413 can be rotated back and forth. The control unit t determines whether the working unit 51 is located in the boom operation restriction range Q when the emergency stop switch E of the operation unit is released, the rotor rotation switch R is turned ON (ON for either forward or reverse rotation), and the second boom 413 is in the most retracted position (first rotation position).

[0328] In another embodiment not shown, if there is no configuration for rotating the second boom 413 forward and backward, it is also possible to make a determination simply based on whether or not the working unit 51 is located within the boom operation restriction range Q, regardless of the forward and backward position of the second boom 413 (the first half of control step 202 in Figure 28 showing the control flow of this embodiment is omitted). When putting the first boom 411 and the second boom 413 into the stored state, an operation to stop control may be performed, and then an operation to perform a storing operation on the first boom 411 and the second boom 413 may be performed.

[0329] An explanation will be given based on the control flow of an embodiment of boom operation restriction control shown in FIG. When control is started, in step 201, the control unit t receives angle signals transmitted from the first sensor Se1 and the second sensor Se2 to detect the current angle θ1 of the first boom 411 and the current angle θ2 of the second boom 413. Then, these angles are temporarily stored in the memory unit k.

[0330] Next, in step 202, it is determined whether the second boom 413 is in the most retracted position. If it is in the most retracted position, that is, if the second boom 413 is in the first swing position, the process returns to step 201 and the control is repeated. In this case, since the telescopic means 41 and the working unit 51 are located behind the traveling machine body B, the control unit t determines that the telescopic means 41 and the working unit 51 will not interfere with the traveling machine body B even if the telescopic means 41 is operated to set the traveling machine body to a working position including the deployed position or a stored position. If it is determined that the second boom 413 is not at the most retreated position, that is, the second boom 413 is at a position other than the first swing position, the process proceeds to step 203 .

[0331] When the second boom 413 is in a position other than the first rotation position, the working unit 51 is located on either the left or right side of the traveling body B, and therefore the rotational movement of the first boom 411 and the second boom 413, particularly movement in the storage direction, increases the possibility of interference with the traveling body B. For this reason, the rotational movements of the first boom 411 and the second boom 413 are restricted so that the working unit 51 does not physically move in a direction approaching the traveling machine body B side.

[0332] In step 203, it is determined whether the working unit 51 is located in the boom operation restriction range Q, that is, whether the first boom 411 and the second boom 413 are within a range in which their movements are restricted. The control unit t determines whether the fourth revolving shaft 418A is located on the traveling machine body B side of the boom operation restriction boundary line Xc. This determination is made using the current angle θ1 and current angle θ2 temporarily stored in control step 201 to determine whether the fourth revolving shaft 418A is within the boom operation restriction range Q. At this time, if the current angle θ1 is equal to or less than the second set angle αc, the current angle θ2 is calculated using the βmax value. If the current angle θ1 is greater than the second set angle αc, the current angle θ2 is calculated using the current angle θ2 temporarily stored in the memory unit k in step 201.

[0333] If the control unit t determines that the fourth rotation shaft 418A is not within the boom operation restriction range Q, the process returns to step 201 and the control is repeated.

[0334] If the control unit t determines that the fourth rotation axis 418A is within the boom operation restriction range Q, the process proceeds to step 204, where a signal is issued to issue an alarm, and the process proceeds to step 205. The alarm may be an image, video, lamp light, or the like that can be visually recognized by the worker, or may be a sound (including verbal utterance) that can be audibly recognized.

[0335] In step 205, the control unit t imposes operational restrictions on the first boom 411 and the second boom 413. The first boom 411 and the second boom 413 that have been subjected to the boom operation restriction are prohibited from moving in the retracting direction. In this embodiment, the first boom 411 and the second boom 413 cannot move in the retracting direction by restricting the operation of the directional control valves that operate the extension and contraction of the first cylinder 415 and the second cylinder 416. After control to restrict the operation of the first boom 411 and the second boom 413 is performed in step 205, the process returns to step 201 and the control is repeated. Furthermore, even if it is determined that the boom is within the boom operation restriction range Q, the first boom 411 and the second boom 413 are permitted to rotate in a direction away from the traveling machine body B, so the rotation of the first boom 411 and the second boom 413 can be easily resumed.

[0336] In this embodiment of the present invention, A first boom 411 that is rotatable at one end side; a second boom 413 whose one end is connected to the other end of the first boom 411 and which is rotatable relative to the first boom 411; a control unit capable of recognizing a first boom angle θ1, which is the rotation angle of a first boom 411, and a second boom angle θ2, which is the rotation angle of a second boom 413 relative to the first boom 411, The control unit determines the work angle based on the correlation between the first boom angle θ1 and the second boom angle θ2. Specifying the operation restriction range that restricts the operation of the machine, The operation restriction range is such that when the first boom angle θ1 becomes larger than the set angle, both the first boom angle θ1 and the second boom angle θ2 are correlated. The present invention relates to a work machine or a work system characterized by the above.

[0337] In this embodiment of the present invention, The other end of the second boom 413 is provided with a working unit 51 having a rotor shaft 512 that is rotationally driven to perform ground work. The set angles include a first set angle αr, which is the set angle of the first boom angle θ1, and a second set angle αc, The operation restriction range includes a first operation restriction range R in which the rotation of the rotor shaft 512 is controlled by correlating both the first boom angle θ1 and the second boom angle θ2 when the first boom angle θ1 becomes larger than the first set angle αr; a second operation restriction range S that restricts the operation of the first boom 411 and the second boom 413 by correlating both the first boom angle θ1 and the second boom angle θ2 when the first boom angle θ1 becomes larger than the second set angle αc; The present invention relates to a work machine or a work system characterized by the above.

[0338] In this embodiment of the present invention, a first boom 411 having one end connected around a first pivot shaft 411A and capable of rotating freely; a second boom 413 connected at one end to the other end of the first boom 411 and rotatable about a second swivel shaft 413A parallel to the first swivel shaft 411A; a control unit capable of recognizing a first boom angle θ1, which is the rotation angle of a first boom 411, and a second boom angle θ2, which is the rotation angle of a second boom 413 relative to the first boom 411, the control unit defines an operation restriction range that restricts operation of the work machine based on the correlation between the first boom angle θ1 and the second boom angle θ2; The operation restriction range is such that when the first boom angle θ1 is equal to or less than the set angle, only the first boom angle θ1 is correlated between the first boom angle θ1 and the second boom angle θ2. The present invention relates to a work machine or a work system characterized by the above.

[0339] In an embodiment of the present invention, a working section provided at the other end of the second boom 413 with a rotor shaft 512 that is rotationally driven to perform ground work; The set angles include a first set angle αr, which is the set angle of the first boom angle θ1, and a second set angle αc, The operation restriction range includes a first operation restriction range R in which, when the first boom angle θ1 becomes equal to or less than the first set angle αr, only the first boom angle θ1 of the first boom angle θ1 and the second boom angle θ2 is correlated to control the rotation of the rotor shaft 512; a second operation restriction range S that restricts the operation of the first boom 411 and the second boom 413 when the first boom angle θ1 becomes equal to or less than the second set angle αc, with only the first boom angle θ1 of the first boom angle θ1 and the second boom angle θ2 as the correlation object; The present invention relates to a work machine or a work system characterized by the above.

[0340] In an embodiment of the present invention, The first boom 411 has a first pivot shaft 411A that is pivotable around one end thereof. a second pivot shaft 413A that is provided on the other end of the first boom 411 and that is parallel to the first pivot shaft 411A and that allows the second boom 413 to pivot; The second boom 413 is provided on the other end side of the first boom 411, and includes a third pivot shaft 417A that pivots the second boom 413 in a direction intersecting the pivot direction of the first boom 411; a fourth pivot shaft 418A parallel to the first pivot shaft 411A for connecting the working unit to the other end of the second boom 413 to make it rotatable; The present invention relates to a work machine or a work system comprising: [Explanation of symbols]

[0341] 11 Main Frame 111 Mounting attachment part (lower) 112 Mounting attachment part (top) 21 Mast frame 24 Fluid pressure source (hydraulic pump) 31 Tank (oil tank) 41 Expanding means 411 First Boom 411A First rotating axis (horizontal axis) 412 1st connector 413 Second Boom 414 Second Connector 415 No. 1 cylinder 416 No. 2 cylinder 417 Third cylinder 418 4th cylinder 42 Link mechanism 51 Working section 512 Rotation axis 76 First switch for pressure detection w Second switch for pressure detection Sw1 First switch for detecting rotation position Sw2 Second switch for detecting rotation position A Work equipment t Control section u Operation section u3 Control lever Se1 First sensor Se2 Second sensor

Claims

1. a first boom that is connected to a main frame that can be attached to the traveling machine body and is rotatable; a second boom connected to the first boom and rotatable about an axis parallel to the first boom; a working unit having a rotor shaft that is rotatably connected to the second boom and is driven to rotate, a control unit that controls the rotor shaft to stop when it is determined that the working unit is located inside the width of the traveling machine body when viewed from behind in the direction of travel due to the rotation of the first boom and the second boom; A work machine characterized by comprising:

2. an operating unit provided with a rotor rotation switch for rotating the rotor shaft forward or backward, and an emergency stop switch for stopping the rotation of the rotor shaft by pressing the switch regardless of whether the rotor rotation switch is operated or not; The control unit controls the rotor shaft to stop when the rotor rotation switch is in a state where the rotor shaft is rotated forward or backward, the emergency stop switch is in a release state, and it is determined that the working unit is located inside the width of the traveling machine body.

2. The work machine according to claim 1.

3. The control unit controls the rotor shaft to stop when a rotation area seen from the traveling direction of the working unit rotating at the tip of the second boom enters inside the left and right width of the traveling machine body.

3. The work machine according to claim 1 or 2.

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