Work equipment

Abstract

To provide a work machine that can perform work efficiently over a wide area while minimizing the chances of contact with obstacles. [Solution] A work machine A is characterized by comprising: a boom body (first boom 16) including a boom in which multiple parts are rotatably connected and at least one of which is configured to be extendable and retractable in the longitudinal direction; a work section C capable of working at the tip of the boom body 16; and a control unit H capable of controlling the boom 16 to extend and retract in response to the movement of the work section C in the width direction of the direction of travel.

Description

Technical Field

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[0001] This invention relates to a working machine, specifically an agricultural working machine.

Background Art

[0002] A working machine that is mounted on a traveling body and performs mowing work is disclosed in Patent Document 1. According to Patent Document 1, by deploying a boom device composed of a plurality of booms, it is possible to mow vegetation located on the side far from the traveling body during traveling with a working part located at the tip of the boom device. Also, by operating the boom device, it is possible to mow vegetation located at a position close to the traveling body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the working part is positioned at a position close to the traveling body, the boom device is arranged to fold on the working part. During work in this state, if there is an obstacle above the working part, the boom device located above the working part becomes an obstruction. Therefore, it is necessary to operate the boom device to avoid the obstacle and then operate the boom device again to position the working part on the working surface again. For this reason, there is room for improvement in order to perform work more efficiently. <00!0029> The present invention has been made by focusing on the above problems, and an object thereof is to provide a working machine that can efficiently perform work over a wide range of locations while suppressing the chance of contact with obstacles.

Means for Solving the Problems

[0006] This invention is A boom body including a boom in which multiple sections are rotatably connected and at least one section is configured to be extendable and retractable in the longitudinal direction, The boom body has a working section at its tip that allows for work, The control unit is capable of controlling the boom to extend and retract in response to the movement of the work unit in the width direction of the direction of travel, A work machine characterized by having, It relates to.

[0007] This invention further, The boom comprises a first boom that is extendable in the longitudinal direction, It comprises a second boom that rotates in the width direction of the direction of travel relative to the first boom, The control unit controls the first boom to extend and retract in response to the movement of the work unit in the width direction of the direction of travel. A work machine characterized by, It relates to.

[0008] This invention further, The control unit controls the extension and retraction of the first boom according to the relative angle of the second boom with respect to the first boom. A work machine characterized by, It relates to.

[0009] This invention further, The control unit controls the extension and retraction of the first boom according to the absolute angle of the second boom with respect to the direction of gravity. A work machine characterized by, It relates to.

[0010] This invention further, The control unit controls the rotation of the second boom so that the end of the work section is located outward in the width direction in the direction of travel from the end of the first boom. A work machine characterized by, It relates to.

[0011] The present invention further relates to a working machine characterized in that the boom body includes a mounting frame mounted on a moving body, and relates to

[0012] The present invention further relates to a working machine characterized in that the boom body includes a mounting portion mounted on a moving body, and relates to

[0013] The present invention further relates to a working machine having a first boom attached to the base side of the telescoping means and a second boom attached to the working part side at the tip side of the first boom, wherein, at the deployment angle of the second boom with respect to the first boom when viewed from the traveling direction of the working machine, a specified angle which is a predetermined angle as an absolute angle and a current angle representing the current angle as a relative angle are compared, when the current angle is larger than the specified angle, the tip of the second boom is moved in the direction of approaching and extending toward the first boom, when the current angle is smaller than the specified angle, the tip of the second boom is moved in the extending direction away from the first boom, and relates to

[0014] [[ID=D39]] The present invention further relates to a working machine characterized in that the first boom has an outer boom, an inner boom, and a sixth cylinder, and the first boom is a multi-stage telescoping boom. The inner boom is stored in a nested manner inside the cylindrical outer boom, and the inner boom is configured to be slidable with respect to the outer boom, so that the overall length of the first boom can be varied. By the telescopic drive of the sixth cylinder, the inner boom can project and retract with respect to the outer boom. When the cylinder rod of the sixth cylinder projects, the inner boom also projects from the outer boom, and when the rod retracts, the inner boom also retracts into the outer boom, and relates to

[0015] This invention further When it is determined that the second boom is at or below a specified angle, the sixth cylinder is driven to shorten the inner boom, and at the same time, the second boom is rotated inward in the storage direction. When it is determined that the second boom is at or below a specified angle, the sixth cylinder is driven to shorten the inner boom. When it is determined that the second boom is not at or below the specified angle, the sixth cylinder is driven to push out the inner boom and extend the first boom. characterized by a working machine <00001​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​This is a side view of a work machine according to the first embodiment of this invention. The work section is in the deployed state. The tailgate and securing members on the left side in the direction of vehicle travel are omitted from the illustration. [Figure 5] This is a plan view of a work machine according to the first embodiment of this invention. The work section is in the extended state. The first boom is shown in its fully extended state. [Figure 6] This is a rear view of a work machine according to the first embodiment of this invention. The work section is in the deployed state. This is a rear cross-sectional view excluding the tailgate at the rear in the direction of vehicle travel, and the first boom is shown in its fully extended state. [Figure 7] This is a rear view of a work machine according to the first embodiment of this invention. The work section is in the deployed state. This is a rear cross-sectional view excluding the tailgate at the rear in the direction of vehicle travel, and the first boom is shown in its shortest shortened state. [Figure 8] This is a rear view of a work machine according to the first embodiment of this invention. The work section is in the extended state, and this is a rear cross-sectional view excluding the tailgate at the rear in the direction of vehicle travel. The first boom is in its shortest retracted state, and the work section is closest to the vehicle. [Figure 9] This is a block diagram of a work machine according to the first embodiment of the present invention. [Figure 10] This is a control flowchart of a work machine according to the first embodiment of this invention. It shows the case when the second boom is rotated to the deployed side in automatic mode. [Figure 11] This is a control flowchart of a work machine according to the first embodiment of this invention. It shows the case where the second boom is rotated to the retracted side in automatic mode. [Figure 12] This is a control flowchart of a work machine according to the first embodiment of this invention. It shows the case when the second boom is rotated to the deployed side in automatic mode. [Figure 13] This is a control flowchart of a work machine according to the first embodiment of this invention. It shows the case where the second boom is rotated to the retracted side in automatic mode. [Figure 14] This is a rear view of the storage state of the work machine according to the second embodiment of this invention, as seen from the rear in the direction of travel. [Figure 15] This is a rear view of the deployed state of the work machine according to the second embodiment of this invention, as seen from the rear in the direction of travel. [Modes for carrying out the invention]

[0019] A first embodiment of this invention, work machine A, will be described with reference to the drawings. (Summary of the invention) The work machine A, which is a device according to the first embodiment of this invention, is detachably mounted on the cargo bed G of a vehicle B such as a truck having a cargo bed G, and cuts grass and other plants located to the side of the moving vehicle B. The work machine A has a frame D placed on the cargo bed G and an extendable means F consisting of a plurality of booms, and a work section C for cutting grass and other plants is at the tip of the extendable means F. The work unit C can be moved between a stowed state, where the telescopic mechanism F and the work unit C are positioned on the cargo bed G, and an unfolded state, where the work unit C is positioned to the side of the vehicle B, by rotating the telescopic mechanism F. In the unfolded state, the work unit C can be positioned at any location to the side of the vehicle B by rotating the telescopic mechanism F, allowing for grass cutting work.

[0020] In the first embodiment, the left side of the page shown in Figure 1, which is a side view of the work machine and shows the work unit in its retracted state, is described as the front, and the right side of the page shown in Figure 1 is described as the rear. The upper side of the page shown in Figure 1 is described as the upside, and the lower side of the page shown in Figure 1 is described as the downside. Furthermore, the working section is a plan view of the first embodiment of the present invention, and the upper side of the page shown in Figure 2, which is in the stored state, is described as the right side with respect to the direction of travel, and the lower side of the page shown in Figure 2 is described as the left side with respect to the direction of travel.

[0021] Vehicle B will now be described. In the first embodiment of this invention, vehicle B is a flatbed cargo vehicle B having a cargo bed G, and the vehicle size of the cargo vehicle B used in the first embodiment is a so-called 2-ton truck. Of course, it is also possible to use a vehicle size other than that of the cargo vehicle exemplified. The cargo bed G has three sides, on the sides and rear, which are panels called tailgates 21 to prevent the cargo from falling. The rear tailgate is denoted as 211, and the two side tailgates flanking the rear tailgate 211 are denoted as 212. In the first embodiment, the height of the tailgates 21 will be described as being the same on all three sides. B1 is the cabin of vehicle B. The cabin B1, located at the front of vehicle B, houses worker B2 and the driver, worker B3. Worker B2 operates the control unit V. In the first embodiment, vehicle B performs grass cutting work while moving forward, towards cabin B1.

[0022] The dimensions of vehicle B and cargo bed G shown in Figure 5 are as follows. Note that the dimensions shown below are examples, and the present invention is not limited to these dimensional relationships. Vehicle length: 5.98m Total length of cargo bed: 4.35m Vehicle width: 1.95m Total width of cargo bed: 1.85m

[0023] Let me explain frame D. The frame D can be detachably loaded onto the cargo bed G of vehicle B and on the front side of cargo bed G. The frame D is a component made by combining long pieces of material in a grid pattern. The frame D has a ground contact portion D1 that makes contact with the cargo bed G, a fixing portion D3 that is fixed to the cargo bed G, and a support portion D2 that supports the mast frame E and the telescopic means F. The ground contact point D1 is positioned on the front side of the cargo bed G. The fixing point D3 is positioned above the ground contact point D1 on the side in the direction of travel, with its upper part higher than the upper end of the tailgate 21. The frame D is firmly secured to the cargo bed G by binding members D4 such as ropes, chains, turnbuckles, and cargo securing devices between the fixing point D3 and the tailgate 21 or cargo bed G. In the first embodiment, multiple binding members D4 are used to secure the frame to the side tailgates 211 on both sides. The support point D2 is provided at the front end of the ground contact point D1, and long members arranged in a grid pattern are positioned upward. A first pivot axis E1 is positioned on one end of the frame D in the left-right direction, facing either in the slope direction or perpendicular to the surface of the cargo bed G.

[0024] Let me explain the mast frame E. The mast frame E is positioned higher than the tailgate 21 of vehicle B and the fixing part D3 of the underframe D. One side of the mast frame E is attached to the first pivot axis E1, allowing the extension / retraction mechanism F and the work section C to rotate horizontally. The mast frame E is mounted to the frame D so as to be able to rotate horizontally. Since the mast frame E is positioned higher than the tailgate 21 and the fixed part D3, it does not come into contact with the tailgate 21 or the fixed part D3 when rotating. In addition, it is possible to create a space between the bottom of the mast frame E and the ground contact part D1, which prevents the mast frame E from coming into close proximity to the work section C when the work section C described later is stored. The mast frame E can be driven to rotate around the first pivot axis E1 by the extension and retraction of the first cylinder 11 which is stretched between the support part D2 and the mast frame E. A second pivot axis E2, which is a horizontal axis, is provided on the other side of the mast frame E.

[0025] The extension / retraction mechanism F will now be described. The boom body, or telescopic means F, is mounted so as to be able to rotate up and down by connecting one end to the second pivot axis E2 of the mast frame E. The telescopic means F is connected to the base frame D and can be deployed to extend and retract to the side of the vehicle B. The telescopic means F has a first boom 16, a first connecting body 18, a second boom 17, a second connecting body 19, and a fifth pivot axis E5 which is the front-to-rear axis. The working section C is connected to the second connecting body 19. The first boom 16 is mounted so as to be able to pivot up and down relative to the mast frame E, which is provided on the mast frame E at the base of the telescopic means F, with one end connected to the second pivot axis E2. The second boom 17 is mounted so as to be able to pivot up and down relative to the first boom 16, with one end connected to the working section C, which is the other end of the first boom 16. Furthermore, the second boom 17 is mounted so as to be able to pivot in a direction intersecting the pivot direction of the first boom 16. One end of the second connecting body 19 is connected to the other end of the second boom 17.

[0026] The configuration of the first boom 16 will be explained. The first boom 16 consists of an outer boom 161, an inner boom 162, and a sixth cylinder 163. The first boom 16 is a multi-stage telescopic boom, with the inner boom 162 nested inside the rectangular outer boom 161. By configuring the inner boom 162 to slide relative to the outer boom 161, the overall length of the first boom 16 can be varied. The inner boom 162 is made retractable relative to the outer boom 161 by the extension and retraction drive of the sixth cylinder 163. In this embodiment, the sixth cylinder 163 has its cylinder tube fixed to the side of the outer boom 161 and the end of its cylinder rod connected to the tip of the inner boom 162. The configuration is such that when the cylinder rod of the sixth cylinder 163 protrudes, the inner boom 162 also protrudes from the outer boom 161, and when the cylinder rod retracts, the inner boom 162 also retracts into the outer boom 161.

[0027] The telescopic mechanism F moves the work section C, which is connected to the second connecting body 19, in any direction. The telescopic mechanism F can be stored on the loading platform G. In the stored state, with the telescopic mechanism F and the work section C positioned on the loading platform G, the work section C is located above the frame D and below the telescopic mechanism F. Therefore, as shown in Figure 1, it is possible to lower the center of gravity.

[0028] Let me explain work area C. The work unit C is positioned on the other end of the second connecting body 19. In the deployed state shown in Figures 4 to 6, the work unit C can freely rotate up and down around the fifth pivot axis E5, which is a horizontal axis oriented in the front-rear direction and is positioned on the other end of the second connecting body 19. The work unit C can be driven to rotate up and down by the extension and retraction of the fifth cylinder 15 that spans the second connecting body 19 and the work unit C.

[0029] As shown in Figures 5, 6, 7, and 8, the working unit C in the first embodiment of this invention has a rotor shaft C1, which is a horizontal shaft that rotates in the left-right direction, arranged inside a cover body that is long in the left-right direction. Multiple cutting blades C2 are arranged at intervals in the direction of the rotor shaft C1 and in the direction of rotation of the rotor shaft C1. The cutting blades C2 cut and shred grass and other plants by the rotational drive of the rotor shaft C1. The working unit C is as described above, but there are no limitations on the direction of rotation, the arrangement and number of cutting blades C2, or the method of cutting grass and plants. For example, the cutting blades C2 may be in the form of a cord, or they may be cutting blades C2 that rotate around a vertical axis with respect to the working surface, or multiple such cutting blades arranged in the left-right direction, or the working unit C may have cutting blades C2 that reciprocate in the left-right direction.

[0030] Since the work unit C is movable up and down, even if the work surface is uneven, the work unit C can be appropriately positioned to follow the surface and cut accordingly. If work is being done in work area C, for example, on the shoulder of a road such as a highway, work area C will be extended to the slope outside the highway to perform grass cutting on the slope. The work unit C can be positioned in an deployed state, where it is located to the side of the vehicle B in the direction of travel, by rotating the mast frame E and the telescopic mechanism (boom body) F, and in a retracted state, where it is located on the cargo bed G, by rotating the mast frame E and the telescopic mechanism F.

[0031] In the telescopic mechanism F, the first boom 16 is a long member that can pivot vertically relative to the mast frame E and the base frame D by a second pivot axis E2, which is a horizontal axis provided on the mast frame E. The base end of the first boom 16 has a bent portion that is bent in a V-shape with the mountain side facing downwards. A second cylinder 12 is positioned above the first boom 16, extending from the upper part of the other end of the mast frame E to the middle part of the first boom 16. The extension and retraction of the second cylinder 12 allows the first boom 16 to be driven to pivot vertically.

[0032] In the telescopic mechanism F, 18 is the first connecting body. The first connecting body 18 is pivotably connected to the other end of the first boom 16. The first connecting body 18 is pivotably rotatable in the vertical direction parallel to the rotation direction of the first boom 16 by a third pivot axis E3, which is a horizontal axis parallel to the second pivot axis located at the tip of the first boom 16. The first connecting body 18 is driven to rotate vertically by the extension and retraction of the third cylinder 13, which connects the upper middle part of the first boom 16 to one end of the connecting body. The third cylinder 13 will now be described. The third cylinder 13, which rotates the first connecting body 18 and the second boom 17, is connected to the inner boom 162. The third cylinder 13 is movable in accordance with the extension and retraction movement of the inner boom 162 relative to the outer boom 161. In other words, the extension and retraction movement of the inner boom 162 does not affect the rotational position of the first connecting body 18 and the second boom 17.

[0033] In the telescopic mechanism F, 17 is the second boom. The second boom 17 is connected to the other end of the attachment end of the first connecting body 18 to the first boom 16. The second boom 17 is able to rotate freely in the front-rear direction when deployed by being connected to the fourth pivot axis E4, which is a horizontal axis positioned perpendicular to the third pivot axis E3. The second boom 17 rotates in a direction perpendicular to the first boom 16 and the first connecting body 18 by the fourth pivot axis E4. The second boom 17 is driven to rotate in the front-rear direction around the fourth pivot axis E4 when deployed by the fourth cylinder 14, which spans the other end of the first connecting body 18 and the middle part of the second boom 17.

[0034] In the telescopic mechanism F, 19 is a second connecting body. The second connecting body 19 is positioned at the tip of the second boom 17. The second connecting body 19 forms a parallel link with the second boom 17 and the first connecting body 18 by a rod 171 positioned inside the second boom 17. Therefore, the second connecting body 19 does not change direction even when the second boom 17 rotates around the fourth pivot axis E4.

[0035] M, as shown in Figures 1 to 8, is a power unit. In the first embodiment of this invention, the power unit M is positioned on the other end of the frame D in the left-right direction. That is, it is provided on the frame D on the side opposite to the direction in which the work section C unfolds. The power unit M comprises a prime mover M1 consisting of an internal combustion engine, a fuel tank M2, a fluid pressure source M3 that generates fluid pressure by receiving rotational power from the prime mover M1, and a directional control valve M4 that distributes the fluid pressure generated by the fluid pressure source M3 to the motor O that rotates each cylinder and rotor shaft C1. As a result, the implement A of the present invention can be operated by generating power independently without being towed by a tractor or without drawing power from the tractor. In the first embodiment, the fluid pressure source M3 consists of a hydraulic pump.

[0036] The frame D is equipped with a prime mover M1 and a fluid pressure source M3 capable of generating fluid pressure using the power of the prime mover M1. The fluid pressure generated by the power unit M is received by the first cylinder 11, second cylinder 12, third cylinder 13, fourth cylinder 14, fifth cylinder 15, and sixth cylinder 163, which operate the extension / retraction mechanism F. The generated fluid pressure also rotates the rotor shaft C1, which in turn rotates the cutting blade C2. The positional relationships of the parts of work machine A are as follows. Note that the dimensions shown below are examples, and the present invention is not limited to these dimensional relationships. L4 Distance between the first pivot axis E1 and the end of the first connecting body 18 in the stowed position: 2.5m L5 Work area C total width: 1.3m

[0037] The slewing radius of the first boom 16 and the first connecting body 18 around the first pivot axis E1 is such that the end of the first connecting body 18 has a maximum radius L4 when the first boom 16 is laid almost horizontally in the stowed position. The total width L5 of the working section C in the working width direction is set so that it does not protrude further rearward than the maximum radius L4 in the stowed position. When the first boom 16 is slewing upward around the second pivot axis E2 from the stowed position, even if the working section C, which is located below the first boom 16, slewing together with the first boom 16, it will not protrude radially outward beyond the maximum radius L4. Therefore, when the first boom 16 is raised from the stowed position, there is no risk of the working section C coming into contact with other members on the loading platform G. Furthermore, due to the relationship between the maximum radius L4 and the overall width L5, the retracted work unit C can be stored on the frame D without enlarging the contact area D1. Therefore, the retracted work machine A can stably make contact with the cargo bed G, and the vehicle B loaded with the work machine A can travel stably.

[0038] A hydraulic pump M3 is connected to the prime mover M1, and the hydraulic pump M3 generates hydraulic pressure, which is fluid pressure, by obtaining rotational power from the prime mover M1. In this embodiment, a fixed displacement type pump is used for the hydraulic pump M3.

[0039] Even when only work machine A is in operation, the hydraulic pump M3 will operate as long as the prime mover M1, which is located near work machine A, is operating. However, because the above circuit configuration does not place a load on the hydraulic pump M3 or its piping, this operation is possible even when only work machine A is in operation, without placing a load on components such as the power unit M. Therefore, the configuration in which the equipment is mounted on the cargo bed G can be freely changed depending on the nature of the work, improving the operational efficiency of vehicle B.

[0040] The storage state of the retractable mechanism F shown in Figures 1 to 3 will be explained. In the retracted state, the first boom 16 and the second boom 17 are positioned approximately parallel to the surface of the loading platform G. The telescopic mechanism F consists of a long body, and in the retracted state, the telescopic mechanism F is positioned to fold over the loading platform G in the long direction. The longitudinal direction of the first boom 16 and the second boom 17, which constitute the extension / retraction mechanism F in the retracted state, is oriented in the longitudinal direction relative to the direction of travel of the vehicle B. It is also possible to tilt the second boom 17 slightly in the left-right direction, as shown in Figure 2, so that it intersects with the first boom 16 in a plan view. In the stored state, with the telescopic mechanism F and the work section C positioned on the loading platform G, the work section C is located above the frame D and below the telescopic mechanism F. Therefore, it is possible to lower the center of gravity of the work machine A in the stored state (Q1a Center of gravity of work machine A alone). In the stowed position, the first boom 16 and the second boom 17 are positioned lower than the pivot axis relative to the mast frame E.

[0041] As shown in Figures 1 to 3, the retractable mechanism F is stored by rotating the mast frame E around the first pivot axis E1 such that the second pivot axis E2 is positioned rearward relative to the first pivot axis E1. The first boom 16 has its longest side facing the rear, and the longest portion from the bent section to the third pivot axis E3 is positioned approximately parallel to the loading platform G. In this configuration, the third pivot axis E3 is positioned below the second pivot axis E2. This arrangement prevents the second cylinder 12, the third cylinder 13, and the first boom 16 from protruding above the mast frame E, so that the mast frame E is at its highest point when the work implement A is stowed. In other words, when the work implement A is loaded onto the loading platform G, the upper end of the mast frame E is its highest point. Therefore, since the portion protruding above the cargo bed G does not increase, the overall dimensions of vehicle B when the work implement A is loaded are fixed at a low level, making operation easier. In addition, the center of gravity of the work implement A in the stored state can be further lowered. Consequently, when vehicle B is traveling with the work implement A loaded in the stored state, safety is enhanced and the stability of vehicle B during driving is improved, so driver B3 can drive vehicle B with confidence.

[0042] In the retractable mechanism F is stored, as shown in Figures 1 to 3, the second boom 17 is folded below the first boom 16, the second boom 17 is rotated, and the working section C is positioned below the second boom 17. At this time, the first boom 16 is shortened by retracting the inner boom 162 into the outer boom 161. In other words, the work section C is located on the frame D and positioned below the folded telescopic mechanism F. The first connecting body 18 connected to the inner boom 162 is also positioned towards the front, and the work section C is also positioned towards the front. As a result, in addition to lowering the center of gravity and positioning it towards the front, it is possible to shorten the longitudinal length of the first boom 16 and the second boom 17 when stored. Furthermore, in a side view, the extended portion of the first boom 16 beyond the bend is positioned almost parallel to the second boom 17, and the cover body or rotor shaft C1 is positioned parallel to the extended portion of the first boom 16 beyond the bend and to the second boom 17. In this way, the bend allows the first boom 16 and the second boom 17 to be folded close together, so the entire telescopic mechanism F can be positioned at a low position when stored. As a result, the center of gravity of the entire work machine A in the stored state can be kept low, improving the driving stability of the vehicle B when the work machine A is loaded.

[0043] In the retractable mechanism F's stowed state, as shown in Figures 1 to 3, the work unit C in the stowed state is positioned closer to the mast frame E, so that the center of gravity, including the frame D, can be positioned approximately in the center of the frame D in both plan and side views. Therefore, when loaded onto the loading platform G, the work machine A can be stably grounded on the loading platform G. In other words, uneven loading is less likely to occur on the loading platform G, and stable loading is possible because the ground contact part D1 makes even contact with the loading platform G.

[0044] In the retractable mechanism F, as shown in Figure 2, in a plan view, the retracted second boom 17 is tilted toward the other end of the frame D on the fifth pivot axis E5 side as it moves from the fourth pivot axis E4 side toward the fifth pivot axis E5 side. This allows the working section C to be positioned directly below the first boom 16. In other words, the working section C can be moved toward the center of the frame D in a plan view, so the center of gravity of the working machine A in a plan view can be positioned approximately in the center of the frame D.

[0045] When the telescopic mechanism F is retracted, as shown in Figures 1 and 3, the center of gravity of the entire work machine A when retracted can be positioned near the center of the frame D and at a low position on the frame D, allowing for stable loading on the cargo bed G. Furthermore, when removing the work machine A from the cargo bed G, it can be lifted and lowered stably without tilting, whether by supporting it from below with a lift device or by lifting the frame D with a crane device. In other words, the work machine A can be easily removed from and installed on the cargo bed G. In addition, since the telescopic mechanism F does not protrude to the rear in a side view relative to the frame D, or the amount of protrusion can be reduced, the rear end of the telescopic mechanism F on the cargo bed G does not get in the way when retracted, and the cargo bed G can be used efficiently when the mobile unit is in operation. During periods when work with the work machine A is not being performed, the work machine A can be removed from the cargo bed G, and vehicle B can be operated as a normal cargo vehicle. Furthermore, since the amount of protrusion of the telescopic mechanism extending from the cargo bed G is reduced, the telescopic mechanism F does not get in the way when removing or loading the work machine A from the cargo bed, making it easy to attach and detach from the cargo bed G. Therefore, vehicle B can be used as both a cargo vehicle and a grass-cutting work vehicle B, improving operational efficiency.

[0046] The method for storing the retractable mechanism F will be explained. To switch from the deployed state to the retracted state, operator B2 operates the control unit V to rotate and move the telescopic mechanism F and the work unit C. Let's explain an example of operation. Here, we will explain the transition from the deployed state shown in Figures 4 to 8 to the stored state shown in Figures 1 to 3. Figure 6 shows the working section C in its deployed state and the first boom 16 in its fully extended state. Figure 7 shows the first boom 16 in its deployed state and in its most retracted state. Figure 8 shows the working section C in its deployed state, the first boom 16 in its most retracted state, and the working section C in its closest position to the vehicle. (1) The second boom 17 is rotated in the backward direction to move the work section C to the rear. (2) Then the work unit C is raised and rotated around the fifth slewing axis E5 until the rotor axis C1 or the cover body is parallel to the second boom 17 when viewed from the rear. (3) The first connecting body 18 is rotated around the third pivot axis E3, and the second boom 17 is rotated so that it is nearly parallel to the first boom 16 when viewed from the rear. (4) The inner boom 162 is stored in the outer boom 161 to shorten the first boom 16 to its shortest state. (5) The first boom 16 is rotated around the second pivot axis E2 to raise the working section C so that it is positioned above the tailgate 21 and the fixed section D3. (6) Rotate the mast frame E horizontally to position the work section C on the base frame D. (7) The first boom 16 is rotated and the working section C is lowered to form the stowed state. On the other hand, the device can be moved from the stored state to the deployed state by reversing the above procedure.

[0047] The unfolded state of the telescopic means F, as shown in Figures 4 to 8, will be explained. The extended state of the telescopic mechanism F is when the mast frame E is rotated by the first cylinder 11, with its other end facing the side of the vehicle B. In other words, in the extended state, the telescopic mechanism F and the work section C are positioned to the side of the vehicle B. In the deployed state, as shown in Figure 5, the work unit C is located right next to worker B2, who is in vehicle B, making it possible to perform the work while checking the work status.

[0048] The mast frame E in the deployed state of the telescopic means F shown in Figures 4 to 8 will be described below. As shown in Figures 4 to 8, in the extended state of the telescopic means F, the mast frame E is positioned at a distance above the ground contact portion D1 of the frame D, so that when rotating from the retracted state to the extended state, the mast frame E does not interfere with the tailgate 21 or the fixing portion D3. Furthermore, because interference can be avoided, the distance between the first pivot axis E1 and the second pivot axis E2 of the mast frame E can be increased, allowing the second pivot axis E2 to protrude from the loading platform G toward the side of the vehicle B. Also, since the second pivot axis E2 can be positioned at a high position on the frame D, the first boom 16, which is the telescopic means F connected to the second pivot axis E2, can be positioned at a high position. In other words, a wide space can be secured from above the work surface to below the first boom 16. This increases the chances of easily passing over obstacles (in the first embodiment, these include guardrails, protective fences, signs, trees not to be mowed, etc.) that are located below the first boom 16.

[0049] The first boom 16 in the deployed state of the telescopic means F will be described below. As shown in Figure 6, in the extended state of the telescopic means F, the first boom 16 can be positioned upwards by the bending portion, so that the tip side where the longitudinal third pivot axis E3 is located can be positioned upwards, thereby making it possible to secure a wider space below the first boom 16. In addition, since the second cylinder 12 and the third cylinder 13 are positioned above the first boom 16, they facilitate the securing of space below the first boom 16.

[0050] The first connecting body 18 and the second boom 17 in the deployed state of the telescopic means F will be described below. As shown in Figure 6, in the extended state of the telescopic means F, the first connecting body 18 is rotated by a third pivot axis E3 parallel to the second pivot axis E2, allowing the lower end of the extended second boom 17 to swing left and right in the direction of travel. Furthermore, by providing a fourth pivot axis E4, the first connecting body 18 can swing the lower end of the second boom 17 back and forth. The fourth cylinder 14 that swings the second boom 17 is positioned on the rear side of the second boom 17, preventing it from directly colliding with obstacles approaching from the front as it moves forward.

[0051] The second connecting body 19 and the working section C in the deployed state of the telescopic means F will be described below. As shown in Figures 4 to 8, in the extended state of the telescopic mechanism F, the first connecting body 18, the second connecting body 19, the second boom 17, and the rod 171 form a parallel link which is a four-bar link. Therefore, even when the second boom 17 of the working section C is rotated in the front-rear direction around the fourth pivot axis E4, there is no change in the front-rear tilt. When the telescopic mechanism F is extended, the work section C can be positioned to the side of the cabin B1 in front of the loading platform G by rotating the second boom 17 forward and backward. The worker B2 positioned inside the cabin B1 can easily visually confirm the work section C from inside the cabin B1. Although not shown in the diagram, the work vehicle can adjust the position of the telescopic mechanism F and the work section C by operating the control unit V located inside the cabin B1 to drive each cylinder. Since the work section C can be tilted left and right by the fifth cylinder 15, the work section C can be easily adjusted to be parallel to the work surface in places where the work surface is sloped left or right. To deploy the retractable mechanism F, the procedure is the reverse of the procedure used to retract the retractable mechanism F into its stored state. Let it.

[0052] Although we will describe Vehicle B (the truck) as traveling at 5 km / h while performing grass cutting work, there are no restrictions on the speed, and the speed will be adjusted as needed during grass cutting.

[0053] In the deployed state of work unit C, as shown in Figure 4, work unit C is located right next to worker B2 who is in vehicle B, making it possible to perform work while checking the work status.

[0054] Let's explain the sensor group. The expandable / contractible mechanism F, which consists of multiple members, is equipped with the following sensor group, which is composed of multiple sensors, in order to grasp the rotational state of each member.

[0055] First boom angle sensor (not shown) A first boom angle sensor (not shown) is attached to the first boom 16 to detect the relative rotation angle between the mast frame E and the first boom 16. The first boom angle sensor (not shown) allows us to determine the deployment angle of the first boom 16 when viewed from the direction of travel while the first boom 16 is deployed.

[0056] First connecting element angle sensor (not shown) A first connecting member angle sensor (not shown) is attached to the first connecting member 18 to detect the relative rotation angle between the first boom 16 and the first connecting member 18. The first connecting member angle sensor (not shown) makes it possible to compare the angle of the deployment angle of the second boom 17 relative to the first boom 16, as viewed from the direction of travel of vehicle B, with a specified angle N1 and the current angle N2.

[0057] The first boom angle sensor (not shown) and the first connecting body angle sensor (not shown) are angle sensors that detect the relative angle between each member and the base, which is the pivot point of its rotation. Each sensor uses a potentiometer, but it is sufficient if it can measure the rotation angle or relative positional relationship of each member, and there are no limitations on the type, detection method, or mounting position of the detection configuration.

[0058] First boom length sensor (not shown) The first boom 16 is provided with a first boom length sensor (not shown) for measuring the amount of protrusion of the inner boom 162 relative to the outer boom 161. In this embodiment, the first boom length sensor (not shown) is a sensor that measures distance using measuring electromagnetic waves including infrared rays and visible light, and is provided at the tip of the outer boom 161. The inner boom 162 is provided with a reflective member that reflects the above electromagnetic waves, so that the amount of protrusion of the inner boom 162 can be measured by the first boom length sensor (not shown) receiving the reflected waves that are reflected by the reflective member from the electromagnetic waves emitted from the first boom length sensor (not shown).

[0059] The first boom length sensor (not shown) is illustrated above, but in addition to the non-contact type described above, a contact-type measurement method is also possible, including a method in which a rotary encoder is brought into contact with the inner boom 162 to measure the rotation angle. Furthermore, there are no limitations on the measurement method or type as long as the amount of protrusion of the inner boom 162 can be measured.

[0060] Examples of other sensors that make up the sensor group Although not shown in the figures, in addition to those shown in the embodiment, a second boom angle sensor (not shown) for detecting the front-to-rear positional relationship of the second boom 17 with respect to the first connecting body 18 may be provided on the second boom 17 or the first connecting body 18. Also, a mast frame angle sensor (not shown), which is a sensor capable of measuring the rotation angle of the mast frame E and the base frame D in the front-to-rear direction, may be provided on the mast frame E. Furthermore, a work section angle sensor (not shown) capable of measuring the relative angle of the work section C, which rotates around the front-to-rear axis (fifth pivot axis) E5, with respect to the second boom 17, or the absolute angle with respect to the direction of gravity, may be provided on the work section C.

[0061] The control unit H will now be explained. As shown in the block diagram of Figure 9, a group of sensors including at least a first boom angle sensor (not shown), a first connecting body angle sensor (not shown), and a first boom length sensor (not shown) is connected to the control unit H. The control unit H receives detection signals from the sensor group and can determine the relative angle of the first boom 16 with respect to the mast frame E, the rotation angle of the first connecting body 18 with respect to the first boom 16, and the extension / retraction distance of the inner boom 162 with respect to the outer boom 161. The rotation angle of the first connecting body 18 with respect to the first boom 16 can also be said to be the rotation angle of the second boom 17 in the left-right direction with respect to the first boom 16 when viewed from the direction of travel.

[0062] Let's explain the operating modes. The control unit H has a manual mode in which the first cylinder 11, second cylinder 12, third cylinder 13, fourth cylinder, fifth cylinder 15, and sixth cylinder 163 each operate individually based on the operation signals received from the operation unit V, and an automatic mode in which multiple cylinders operate with a single operation of the operation unit V. The operation mode may be switched automatically when the first boom 16 is positioned within ±45 degrees relative to the horizontal, as determined by the first boom angle sensor (not shown). Alternatively, the operation mode may be switched automatically when the first boom 16 is positioned to the side of the moving body, in addition to the above condition, as detected by the mast frame angle sensor (not shown). Furthermore, the operation mode may be switched to automatic mode solely on the condition that the first boom 16 is positioned to the side of the moving body, as determined by the mast frame angle sensor (not shown). It is also possible to switch the operation mode manually from the control unit V.

[0063] The control procedure will be explained. The explanation describes the second boom 17 being rotated via the first connecting body 18 so that the work section C moves horizontally on a flat surface located to the side of the moving vehicle. The explanation also uses the example of the first boom 16 having its longitudinal direction oriented horizontally.

[0064] The case in automatic mode where the second boom is rotated to the deployed side will be explained in accordance with Figure 10, which is a control flow diagram of the work machine according to the first embodiment of this invention. (The second boom 17 and working section C move outwards) (Step 1 S1) First, when operator B2 starts operating the control unit V to move the second boom 17 outward in the width direction relative to the direction of travel, that is, towards the deployment side, it is determined whether the current relative angle of the second boom 17 with respect to the first boom 16 (current angle N2) is less than or equal to a specified angle (specified angle N1). In other words, it is determined whether the rotation angle of the first connecting body 18 when the second boom 17 rotates as operator B2 attempts to move the work unit C outward in the direction of travel is less than or equal to a specified angle (specified angle N1).

[0065] In this embodiment of the invention, the specified angle N1 is set to 90 degrees, as shown in Figures 5 to 8. The position of the second boom 17 at the specified angle N1 is shown by the dashed line in Figures 6 to 8. A specified angle N1 of 90 degrees or less means that the angle formed by the second boom 17 and the first boom 16 around the third pivot axis E3, as viewed from the direction of travel, is a right angle or an acute angle. A specified angle N1 or less can also be described as the state in which the first connecting body 18 is located from the left side to the center of the working section C, and above the working section C, as viewed from the direction of travel. In other words, as shown by the solid lines in Figure 8, the second boom 17 and the working section C, when viewed from the direction of travel, do not have the outer portion of the working section C in the direction of travel protruding outward from the first connecting body 18.

[0066] On the other hand, a state greater than the specified angle N1 of 90 degrees means that the angle formed by the second boom 17 and the first boom 16, as viewed from the direction of travel, is obtuse. An example of the second boom 17 in an obtuse angle state is the position shown by the solid line in Figures 6 and 7. A state greater than the specified angle N1 can also be described as a state in which, as viewed from the direction of travel, the first connecting body 18 is located above the work section C, at least from the left side to the center of the work section C. In other words, as viewed from the direction of travel, the outer part of the work section C in the direction of travel protrudes outward from the first connecting body 18. Of course, by increasing the angle of the obtuse angle formed, it is also possible to create a state in which the entire work section C is positioned to protrude outward from the first connecting body 18 in the direction of travel.

[0067] (Step 2 S2) In step 1, if it is determined that the current angle N2 of the second boom 17 is not less than or equal to the specified angle N1, that is, greater than 90 degrees, the sixth cylinder 163 is driven to push out the inner boom 162 and extend the first boom 16.

[0068] (Step 3 S3) After step 2, while the sixth cylinder 163 is in operation, a detection signal from the first boom length sensor (not shown) is received, and it is determined whether the first boom 16 is at its stroke end. Here, "stroke end" refers to whether the inner boom 162 of the first boom 16 is fully extended. If the first boom 16 is not fully extended, step 2 is repeated.

[0069] (Step 4 S4) In step 3, if it is determined that the first boom 16 is fully extended, or if it is determined in step 1 that the second boom 17 is at or below a specified angle N1, which in this embodiment is 90 degrees or less, the second boom 17 is rotated to the deployed side. In other words, the third cylinder 13 is driven to rotate the second boom 17 so that, when viewed from the direction of travel, it does not overlap the first boom 16 in the vertical direction. It can also be said that if the second boom 17 is at or above 90 degrees relative to the first boom 16 and it is determined that the first boom 16 is fully extended, or simply if it is determined that the second boom 17 is at or below 90 degrees, the second boom 17 is controlled to rotate to the deployed side. Subsequently, the control process is repeated sequentially from step 1.

[0070] The case in which the second boom is rotated to the retracted side in automatic mode will be explained in accordance with Figure 11, which is a control flow diagram of the work machine according to the first embodiment of this invention. (The second boom 17 and working section C move inward.) (Step 11 S11) First, when operator B2 starts operating the control unit V to move the second boom 17 inward in the width direction relative to the direction of travel, it is determined whether the current relative angle of the second boom 17 with respect to the first boom 16 (current angle N2) is less than or equal to a specified angle (specified angle N1). In other words, it is determined whether the rotation angle of the first connecting body 18 when the second boom 17 rotates as operator B2 attempts to move the work unit C inward in the direction of travel is less than or equal to a specified angle (specified angle N1).

[0071] In this embodiment, the specified angle N1 is set to 90 degrees. The positional relationship between the components of the boom body F and the work section C is the same as described in the control during deployment above, and therefore the explanation is omitted as it would be a repetition.

[0072] (Step 12 S12) In step 1, if it is determined that the current angle N2 of the second boom 17 is less than or equal to the specified angle N1, that is, less than or equal to 90 degrees, the sixth cylinder 163 is driven to shorten the inner boom 162.

[0073] (Step 13 S13) After step 2, while the sixth cylinder 163 is in operation, a detection signal from the first boom length sensor (not shown) is received, and it is determined whether the first boom 16 is at its stroke end. Here, "stroke end" refers to whether the inner boom 162 of the first boom 16 has been fully shortened. If the first boom 16 has not been fully shortened, step 2 is repeated.

[0074] (Step 14 S14) In step 3, if it is determined that the first boom 16 has been fully retracted, or if in step 11 it is determined that the second boom 17 is not at or below the specified angle N1, that is, greater than 90 degrees, the second boom 17 is rotated to the retracted side. In other words, when viewed from the direction of travel, the second boom 17 is rotated so that it overlaps the first boom 16 in the vertical direction. It can also be said that if the angle detected by the first connecting body angle sensor (not shown) is 90 degrees or less, and it is determined that the first boom 16 is completely retracted, or simply that the second boom 17 is greater than 90 degrees, the system controls the second boom 17 to rotate to the retracted side. Subsequently, the control process is repeated sequentially from step 1.

[0075] (effect) By making the first boom 16 extendable and retractable in the longitudinal direction, the dimensions of the machine can be reduced when stored. In this embodiment, since it is loaded onto the cargo bed of a mobile vehicle, the dimensions occupied in the front-to-rear direction of the cargo bed can be suppressed. Specifically, the first connecting body 18 can be stored in close proximity to the mast frame E, making it possible to make effective use of the cargo bed. In other words, it can be loaded onto mobile vehicles that do not have a large cargo bed length G, increasing the possibility of application to various mobile vehicles and enabling more efficient operation of the mobile vehicle. On the other hand, when the boom body F is deployed, the work section C can be positioned at a considerable distance to the side of the mobile vehicle on the deploying side. This achieves both compact storage for effective use of the cargo bed and work at a distance.

[0076] In this embodiment, the boom body F is folded and stored so that the longitudinal direction of each boom faces forward and backward in the direction of travel. However, the boom body F may also be folded and stored so that the longitudinal direction of each boom faces the width direction in the direction of travel. In this case, the dimensions of the boom body F are not expanded in the left-right direction, which is the width direction in the direction of travel, when stored, so it is possible to store it compactly in the width direction in the direction of travel as well.

[0077] When moving the working section C and the second boom 17 outward in the width direction relative to the direction of travel, the configuration involves first positioning the second boom 17 at an angle greater than 90 degrees relative to the first boom 16, and then extending the first boom 16 in the longitudinal direction. In other words, when attempting to move the work unit C to deploy the boom body F, the system is controlled to ensure that there are no components constituting the boom body F above the outer portion of the work unit C. The extension and retraction of the first boom 16 and the rotation of the second boom 17 are controlled so that at least the outer end of the work unit C is located outside the end of the first boom 16 or the first connecting body 18 located at the end of the first boom 16, in the width direction of the direction of travel. By controlling it in this way, even if there is an obstacle above the work unit C, it becomes possible to work by moving only the work unit C under the obstacle. As a result, collision of the boom body F with the obstacle above the work unit C can be suppressed.

[0078] The same applies when moving the working section C and the second boom 17 inward in the width direction relative to the direction of travel. The second boom 17 is controlled to maintain a position greater than 90 degrees relative to the first boom 16 as much as possible. The second boom 17 rotates inward only after the first boom 16 has reached its shortening limit in the longitudinal direction. In other words, even when attempting to move the work section C inward in the width direction, the system is controlled to maintain a state where there are no members constituting the boom body F above the outer portion of the work section C for as long as possible. The extension and retraction of the first boom 16 and the rotation of the second boom 17 are controlled so that at least the outer end of the work section C is located outside the end of the first boom 16 or the first connecting body 18 located at the end of the first boom 16, relative to the width direction in the direction of travel. By controlling it in this way, even when attempting to move the work section C inward in the width direction during operation, it is possible to continue working even when there are obstacles above the work section C without increasing the amount of manual operation required. Therefore, it is possible to suppress the boom body F from colliding with obstacles above the work section C.

[0079] Modified examples will be described with reference to Figures 12 and 13, which are control flow diagrams of the work machine according to the first embodiment of this invention. Figure 12 is a flow diagram when the second boom is rotated to the deployed side in automatic mode. Figure 13 is a flowchart showing the case when the second boom is rotated to the retracted side in automatic mode. In the above example, the control is such that the second boom 17 (first connecting body 18) operates individually after the inner boom 162 operates, but the inner boom 162 and the second boom 17 may be operated simultaneously. Steps 21 to 24 in the illustrated modified example are similar to steps 1 to 4 of the above embodiment, and steps 31 to 34 are similar to steps 11 to 14 of the above embodiment. Of these, step 22 S22 in Figure 12 and step 32 S32 in Figure 13 are different, so the differences will be explained.

[0080] Figure 12 (Step 22) In step 22, which is similar to step 2, if it is determined in step 21 that the second boom 17 is not less than or equal to a specified angle N1, that is, greater than 90 degrees, the sixth cylinder 163 is driven to extend the inner boom 162, and at the same time, the third cylinder 13 is driven to rotate the second boom 17 outward, which is the deployment direction.

[0081] (Step 24) If the inner boom 162 is at its extension limit in step 23, then in step 24, which is similar to step 4, only the second boom 17 is continued to rotate outwards in the deployment direction.

[0082] Figure 13 (Step 32) In step 32, which is similar to step 12, if it is determined in step 31 that the second boom 17 is at or below a specified angle N1, that is, 90 degrees or less, the sixth cylinder 163 is driven to shorten the inner boom 162, and at the same time, the third cylinder 13 is driven to rotate the second boom 17 inward, which is the storage direction. Figure 13 (Step 34) If the inner boom 162 is at its shortening limit in step 33, in step 34, which is similar to step 4, only the second boom 17 is continued to rotate inward, which is the retraction direction.

[0083] (Effects of the modified form) According to the above modification, the inner boom 162 and the second boom 17 operate simultaneously, which reduces the deployment time when the work section C is fully extended. In other words, unnecessary waiting time is eliminated, making it possible to perform work efficiently.

[0084] A second embodiment will be described based on Figures 14 and 15. The boom body F has been described as being loaded onto a mobile vehicle B via a frame D, but the invention is not limited to this configuration. Instead of a frame D, the invention may have a machine frame (main frame) D5 including a mounting section D6, and the boom body F may be connected to the front, rear, left, and right sides of the mobile vehicle, which includes a lifting mechanism, via the mounting section D6. In this case, the mobile vehicle is preferably an agricultural or construction tractor, and the prime mover M1, fuel tank M2, and securing member D4 may be omitted and attached to the mobile vehicle. In the illustration, each boom constituting the boom body F is attached to the rear of the mobile vehicle and stored so that its longitudinal side faces left and right in the direction of travel, and the work section C is deployed on the side of the mobile vehicle. The invention is applicable even with this configuration, and its operation and effects are as described above. That is, it is possible to perform work on the left side of the mobile vehicle as described in the first embodiment above, and it is possible to store it while suppressing the width on the left and right in the direction of travel. The mobile vehicle shown as an example includes a lifting mechanism, but it may be attached to a mobile vehicle in a form that omits the lifting mechanism.

[0085] (Other, 1) In the examples described, there are manual and automatic modes, but it is also possible to implement a configuration that only has an automatic mode from the start.

[0086] (Other, 2) The control was previously based on the relative angle between the first boom 16 and the second boom 17, which determined whether the first boom 16 extended or retracted when the second boom 17 was rotated to the retracted or deployed side. However, the control may also be performed using an absolute angle based on the direction of gravity of the second boom 17 itself to determine whether the first boom 16 extends or retracts. In this way, the extension and retraction of the inner boom 162 and the sixth cylinder 163 can be controlled using only the extension angle of the second boom 17, using an absolute angle, without depending on the deployment angle of the first boom 16.

[0087] (Other, 3) Although the explanation focused on the rotational control of the first boom 16 and the second boom 17, the fifth cylinder may be operated to sequentially move the work section C so that the angle of the work section C with respect to the work surface does not change during control. Similarly, the second cylinder 12 may be driven to adjust the angle of the first boom 16 so that the relative height of the work section C with respect to the work surface does not change during the rotational control of the second boom 17. In this way, the orientation and position of the work section C can be maintained while the boom body F is in motion, so that an appropriate positional relationship with respect to the work surface is always maintained, and work can be continued.

[0088] (Other, 4) Although the specified angle N1 was described as 90 degrees, this angle is not limited. Also, although the specified angle N1 was described as being the same in the embodiment, it is possible to have different specified angles N1 when deployed and when stored. These angle conditions can be changed and adjusted as appropriate depending on the form of the boom body F and work section C to which they are applied.

[0089] (Other, 5) In the embodiment, the second boom 17 is described and illustrated as being rotatable in the front-rear direction relative to the first boom 16. However, this configuration is not necessarily required. The design can also be applied in a configuration in which the front-rear rotation function of the second boom 17 is omitted. For example, the first connecting body 18 may be omitted, and the second boom 17 may be directly connected to the third pivot axis E3 of the first boom 16, so that the second boom 17 rotates around the third pivot axis E3. [Explanation of symbols]

[0090] A work machine Vehicle B C Work Section C1 rotor shaft C2 cutting blade D Frame D1 Grounding part D2 Support part D3 Fixing part D4 Binding Member E Mast Frame E1 First pivot axis E2 2nd pivot axis E3 Third pivot axis E4 4th pivot axis E5 Fifth pivot axis F Expansion means G Cargo bed H control section M Power Unit M1 Engine M2 Tank (Fuel Tank) M3 Fluid pressure source (hydraulic pump) M4 Directional Control Valve V Operation section 11. First cylinder 12 Second cylinder 13. Third cylinder 14. Fourth Cylinder 15. Fifth cylinder 163 Cylinder No. 6 16. First Boom 17. Second Boom 18 1st connector 19 Second connector 21 Aori

Claims

1. A boom body including a boom in which multiple sections are rotatably connected and at least one section is configured to be extendable and retractable in the longitudinal direction, The boom body has a working section at its tip that allows for work, The control unit is capable of controlling the boom to extend and retract in response to the movement of the work unit in the width direction of the direction of travel, A work machine characterized by being equipped with the following features.

2. The boom comprises a first boom that is extendable in the longitudinal direction, The system comprises a second boom that rotates in the width direction relative to the first boom, The control unit controls the first boom to extend and retract in response to the movement of the work unit in the width direction of the direction of travel. The work machine according to feature 1.

3. The control unit controls the extension and retraction of the first boom according to the relative angle of the second boom with respect to the first boom. The work machine according to feature 2.

4. The control unit controls the extension and retraction of the first boom according to the absolute angle of the second boom with respect to the direction of gravity. The work machine according to feature 2 or 3.

5. The control unit controls the rotation of the second boom so that the end of the work section is located outward in the width direction in the direction of travel from the end of the first boom. The work machine according to feature 2 or 3.

6. The boom body comprises a frame that is loaded onto the mobile body, A work machine according to any one of claims 1 to 3, characterized by comprising the following:

7. The boom body includes a mounting part for attaching to a mobile body, A work machine according to any one of claims 1 to 3, characterized by comprising the following:

8. It has a first boom attached to the base side of the telescopic mechanism and a second boom attached to the working part side at the tip of the first boom. In terms of the deployment angle of the second boom relative to the first boom when viewed from the direction of the work machine's movement, We compare the predetermined angle, which is an absolute angle, with the current angle, which is a relative angle. When the current angle is greater than the specified angle, the tip of the second boom is moved in the direction of extension toward the first boom. When the current angle is smaller than the specified angle, the tip of the second boom is moved in the extension direction away from the first boom. The work machine according to feature 3.

9. The first boom has an outer boom, an inner boom, and a sixth cylinder. The first boom is a multi-stage telescopic boom, with the inner boom nested inside the cylindrical outer boom. The inner boom is configured to slide relative to the outer boom, thereby allowing the overall length of the first boom to be varied. It can extend and retract relative to the outer boom by the extension and retraction drive of the sixth cylinder. When the cylinder rod of the sixth cylinder extends, the inner boom also extends from the outer boom, and when the cylinder rod retracts, the inner boom also retracts into the outer boom. The work machine according to feature 8.

10. If it is determined that the second boom is below a specified angle, the sixth cylinder is driven to shorten the inner boom and simultaneously rotate the second boom inward, towards the storage direction. If it is determined that the second boom is below the specified angle, the sixth cylinder is driven to shorten the inner boom. If it is determined that the second boom is not below the specified angle, the sixth cylinder is driven to push out the inner boom and extend the first boom. The work machine according to feature 8.

11. The sixth cylinder has its cylinder tube fixed to the side of the outer boom, and the end of the cylinder rod connected to the tip of the inner boom. The work machine according to feature 8.

Images