Work equipment

Abstract

Properly release the idle state of the work equipment. [Solution] The work machine includes a pressure sensor that detects the pressure of the hydraulic fluid from the hydraulic pump to the control valve, an operation sensor that detects operation of the operating member in a specific operating direction that moves the work device in the direction in which gravity acts, and a control device that performs idling control to rotate the prime mover at a predetermined idling speed. The control device releases the idling control when the pressure sensor detects a hydraulic fluid pressure of a predetermined value or higher, and when the operation sensor detects operation of the operating member in the specific operating direction.

Description

Technical Field

[0001] The present invention relates to a working machine having an auto-idle function.

Background Art

[0002] For example, in Patent Document 1, in a construction machine, when the supply of pressure oil from a hydraulic pump to a hydraulic actuator is stopped and a pressure switch becomes in an inoperative state, the engine speed is reduced to a low speed, and when the supply of the pressure oil is restarted and the pressure switch becomes in an operative state, an auto-decel (auto-idle) device that returns the engine speed to the original set speed is disclosed.

[0003] Also, in Patent Document 2, a grip sensor that senses the approach or contact of a human body is provided at a grip portion of an operation lever for work of a construction machine, and an auto-decel device that detects a work pause state based on an output signal of the grip sensor and rotates the engine at a low speed is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the work equipment, including arms and other components of the work machine, moves in the direction of gravity, the load is lighter and the pressure fluctuations of the hydraulic fluid are smaller than when the work equipment moves in the direction against gravity. This can cause a delay in the activation of the pressure switch, a delay in releasing the idle state, or even prevent the pressure switch from activating, resulting in the idle state not being released. Furthermore, work machines are equipped with multiple operating components (such as levers) for controlling operation or movement. If grip sensors or similar components are installed on each operating component, the number of parts increases, leading to higher costs.

[0006] The present invention was made to solve the problems of the prior art described above, and aims to properly release the idling state of the work machine. [Means for solving the problem]

[0007] A work machine according to one aspect of the present invention comprises a prime mover, a hydraulic pump driven by the prime mover to discharge hydraulic fluid, a work device having a hydraulic actuator operated by the hydraulic fluid, a control valve capable of switching the supply state of the hydraulic fluid to the hydraulic actuator, an operating member that can be operated in a plurality of operating directions to switch the position of the control valve and operate the hydraulic actuator and the work device, a pressure sensor for detecting the pressure of the hydraulic fluid from the hydraulic pump to the control valve, a specific operating sensor for detecting operation of the operating member in a specific operating direction among the plurality of operating directions that causes the work device to move in the direction in which gravity acts, and a control device that performs idling control to rotate the prime mover at a predetermined idling speed, wherein the control device releases the idling control when the pressure sensor detects a hydraulic fluid pressure of a predetermined value or higher, and when the specific operating sensor detects operation of the operating member in the specific operating direction. [Effects of the Invention]

[0008] According to the above configuration, the idling state of the work machine can be properly released. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view of an example of a work machine. [Figure 2] This is a schematic diagram showing an example of a hydraulic circuit installed in a work machine. [Figure 3] This is a schematic diagram showing an example of the configuration of a work machine. [Figure 4] This is a conceptual diagram showing an example of an operating sensor. [Figure 5] This is a conceptual diagram showing an example of an operating sensor. [Figure 6] This is a conceptual diagram showing an example of an operating sensor. [Figure 7] A flowchart illustrating an example of the operation of a work machine. [Figure 8] This is a schematic diagram showing another example of a hydraulic circuit installed in a work machine. [Figure 9] This is a schematic diagram showing another example of the configuration of a work machine. [Figure 10] This is a conceptual diagram showing another example of an operating sensor. [Figure 11] This is a conceptual diagram showing another example of an operating sensor. [Figure 12] This is a conceptual diagram showing another example of an operating sensor. [Figure 13] This is a schematic diagram showing another example of the configuration of a work machine. [Modes for carrying out the invention]

[0010] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 is a side view of an example of a work machine 1. The work machine 1 in this embodiment is an excavator called a backhoe. The work machine according to the present invention is not limited to work machine 1, but may be other construction machinery, agricultural machinery, or work vehicles, etc.

[0011] The working machine 1 includes a machine body (swing body) 2, a traveling device 10, working devices 20, 18, etc. Further, the working machine 1 includes an electric motor 9 as a prime mover inside the machine body 2, and is an electric working machine that operates by the power of the electric motor 9. The working machine according to the present invention is not limited to an electric working machine, and may be a working machine equipped with an engine as a prime mover.

[0012] A cab 6 is mounted on the upper part of the machine body 2. Inside the cab 6, a driver's seat 4 on which a driver (operator) sits, a control device 5, etc. are provided. Note that the working machine according to the present invention may be a working machine equipped with a protective mechanism such as a ROPS or a canopy instead of the cab 6. The control device 5 is installed at a position where it can be operated by a driver sitting on the driver's seat 4.

[0013] The traveling device 10 supports the machine body 2 so that it can travel. The traveling device 10 has a traveling frame (truck frame) 11 and a traveling mechanism 12. The traveling frame 11 is a structure that attaches the traveling mechanism 12 around it and supports the machine body 2 on the upper part. The traveling mechanism 12 is, for example, a crawler-type traveling mechanism. The traveling mechanisms 12 are provided on the left side and the right side of the traveling frame 11 respectively.

[0014] The traveling mechanism 12 has an idler 13, a drive wheel 14, a plurality of idler wheels 15, an endless crawler belt 16, and traveling motors ML, MR. The idler 13 is arranged at the front part of the traveling frame 11. The drive wheel 14 is arranged at the rear part of the traveling frame 11. The plurality of idler wheels 15 are provided between the idler 13 and the drive wheel 14. The crawler belt 16 is wound around the idler 13, the drive wheel 14, and the idler wheels 15.

[0015] The left traveling motor ML is included in the traveling mechanism 12 on the left side of the traveling frame 11. The right traveling motor MR is included in the traveling mechanism 12 on the right side of the traveling frame 11. These traveling motors ML, MR are composed of hydraulic motors. In each traveling mechanism 12, the drive wheels 14 are rotationally driven by the power of the traveling motors ML, MR, and the crawler belt 16 is rotated around... Circulate and run in a certain direction.

[0016] A dozer 18 is mounted on the front part of the traveling device 10. The dozer 18 is a working device that performs operations such as scraping, pushing, and leveling soil. The dozer 18 swings up and down by the extension and retraction of the dozer cylinder C5. Specifically, the earthworking plate of the dozer 18 swings up and down by the extension and retraction of the dozer cylinder C5. The dozer cylinder C5 is attached to the traveling frame 11. The dozer cylinder C5 is composed of a hydraulic cylinder.

[0017] The machine body 2 is rotatably supported around the turning axis X via a slewing bearing 3 on the traveling frame 11. A slewing motor MT is provided inside the machine body 2. The slewing motor MT is composed of a hydraulic motor. The machine body 2 turns around the turning axis X by the power of the slewing motor MT.

[0018] The working device 20 is connected to the front part of the machine body 2. The working device 20 has a boom 21, an arm 22, a bucket (working tool) 23, and hydraulic cylinders C1 to C5. The base end side of the boom 21 is pivotally attached to a swing bracket 24 so as to be rotatable around a horizontal axis (an axis extending in the width direction of the machine body 2). Therefore, the boom 21 can swing in the vertical direction (the vertical direction). The arm 22 is pivotally attached to the tip side of the boom 21 so as to be rotatable around a horizontal axis. Therefore, the arm 22 can swing in the front-rear direction or the vertical direction. The bucket 23 is provided at the tip side of the arm 22 so as to be capable of performing a shovel operation and a dump operation.

[0019] Instead of or in addition to the bucket 23, it is possible to attach other working tools (hydraulic attachments) that can be driven by a hydraulic actuator to the tip of the arm 22. Examples of other working tools include a hydraulic breaker, a hydraulic crusher, an angle boom, an earth auger, a pallet fork, a sweeper, a mower, a snow blower, etc. The working device 20 performs various operations with the attached working tool.

[0020] The swing bracket 24 swings from side to side by the extension and retraction of the swing cylinder C1 located inside the machine body 2. The boom 21 swings up and down by the extension and retraction of the boom cylinder C2. The arm 22 swings back and forth or up and down by the extension and retraction of the arm cylinder C3. The bucket 23 swings back and forth or up and down by the extension and retraction of the work tool cylinder C4 to perform shoveling and dumping operations. The swing cylinder C1, boom cylinder C2, arm cylinder C3, and work tool cylinder C4 are composed of hydraulic cylinders.

[0021] The travel device 1 moves when the travel motors ML and MR drive the travel device 10. The work device 1 moves by traveling, changes the orientation of the machine body 2 with the slewing motor MT, and changes the posture (position and orientation) of the work devices 20 and 18 with hydraulic cylinders C1 to C5 to perform work such as excavation. Not only the work devices 20 and 18, but also the travel device 10 is a work device attached to the work device 1. The travel motors ML and MR, the slewing motor MT, and the hydraulic cylinders C1 to C5 are hydraulic actuators attached to the work device 1 and are driven by hydraulic fluid.

[0022] Figure 2 is a schematic diagram of an example of a hydraulic circuit K provided in the work machine 1. The hydraulic circuit K is equipped with hydraulic components such as hydraulic actuators C1 to C5, ML, MR, MT, control valve unit CV, hydraulic pumps P1 and P2, operating valves PV1 to PV6, and an oil passage 50.

[0023] Multiple hydraulic pumps P1 and P2 are each driven by the power of an electric motor 9 to discharge hydraulic fluid. Specifically, the first hydraulic pump P1 draws hydraulic fluid stored in the hydraulic fluid tank 48 and then discharges the hydraulic fluid into the oil passage 51 toward the control valve unit CV. The first hydraulic pump P1 operates hydraulic actuators C1-C5, ML, MR, and MT. This is an operating pump that discharges hydraulic fluid. The second hydraulic pump P2 draws hydraulic fluid stored in the hydraulic fluid tank 48 and then discharges the hydraulic fluid into the oil passage 52 to output hydraulic pressure for signaling or control. In other words, the second hydraulic pump P2 is a pilot pump that discharges pilot oil. In Figure 2, one first hydraulic pump P1 and one second hydraulic pump P2 are shown, but the number of first hydraulic pumps P1 and second hydraulic pumps P2 can be appropriately determined according to the number and performance of the hydraulic actuators C1 to C5, ML, MR, and MT.

[0024] The control valve unit CV includes multiple control valves V1 to V8. These control valves V1 to V8 are provided to correspond to multiple hydraulic actuators C1 to C5, ML, MR, and MT. The swing control valve V1 corresponds to the swing cylinder C1. The boom control valve V2 corresponds to the boom cylinder C2. The arm control valve V3 corresponds to the arm cylinder C3. The bucket control valve V4 corresponds to the work tool cylinder C4. The dozer control valve V5 corresponds to the dozer cylinder C5. The left-side travel control valve V6 corresponds to the left-side travel motor ML. The right-side travel control valve V7 corresponds to the right-side travel motor MR. The slewing control valve V8 corresponds to the slewing motor MT.

[0025] Each control valve V1 to V8 is supplied with hydraulic fluid discharged from the first hydraulic pump P1. Each control valve V1 to V8 is composed of a three-position switching valve that can be switched between positions V1a to V8a and V1b to V8b that supply hydraulic fluid to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT, and a neutral position V1c to V8c that shuts off the hydraulic fluid. When the spools in each control valve V1 to V8 move and switch each control valve V1 to V8a to the first supply position V1a to V8a, and when switch to the second supply position V1b to V8b, the direction of hydraulic fluid supply to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT differs. The opening degree of each control valve V1 to V8 at each supply position V1a to V8a and V1b to V8b changes according to the position of the spool of each control valve V1 to V8. Each control valve V1 to V8 can switch the supply state of hydraulic fluid from the first hydraulic pump P1 to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT by changing its position and opening degree. In other words, control valves V1 to V8 control the supply, shut-off, supply direction, supply amount, and supply pressure of hydraulic fluid to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT.

[0026] The work machine 1 is equipped with multiple operating members 5a to 5f. The multiple operating members 5a to 5f are located inside the cabin 6 and are operated by the driver seated in the driver's seat 4. Operating members 5a and 5b are levers that can be swung in four directions: forward, backward, left, and right. Operating members 5c to 5e are work levers that can be swung in two directions: forward and backward. Operating member 5f is a work lever that can be swung in two directions: left and right.

[0027] Furthermore, operating member 5a is a first work lever that, when swung from side to side, extends and retracts the swing cylinder C1, causing the swing bracket 24 to swing from side to side, and when swung back and forth, extends and retracts the boom cylinder C2, causing the boom 21 to swing up and down. Operating member 5b is a second work lever that, when swung from side to side, extends and retracts the arm cylinder C3, causing the arm 22 to swing up and down, and when swung back and forth, extends and retracts the work tool cylinder C4, causing work tools such as the bucket 23 to swing back and forth.

[0028] Operating member 5c is a left travel lever that, when swung back and forth, rotates the left travel motor ML forward or backward, thereby moving the left travel device 10 forward or backward. Operating member 5d is a right travel lever that, when swung back and forth, rotates the right travel motor MR forward or backward, thereby moving the right travel device 10 forward or backward. Operating member 5e is a dozer lever that, when swung back and forth, extends and retracts the dozer cylinder C5, causing the dozer 18 to swing up and down. Operating member 5f is a swivel lever that, when swung left and right, rotates the swivel motor MT forward or backward, causing the machine body 2 to swivel left or right around the swivel axis X. Note: Operating members 5a to 5f This could be an operating component other than a lever, such as a pedal, slider, or push button.

[0029] As described above, operating member 5a corresponds to the operating valve PV1, control valves V1 and V2, swing cylinder C1, and boom cylinder C2. Operating member 5b corresponds to the operating valve PV2, control valves V3 and V4, arm cylinder C3, and work tool cylinder C4. Operating member 5c corresponds to the operating valve PV3, control valve V6, and left-hand travel motor ML. Operating member 5d corresponds to the operating valve PV4, control valve V7, and right-hand travel motor MR. Operating member 5e corresponds to the operating valve PV5, control valve V5, and dozer cylinder C5. Operating member 5f corresponds to the operating valve PV6, control valve V8, and slewing motor MT. Each operating member 5a to 5f can be operated in multiple operating directions to change the opening degree of the corresponding operating valves PV1 to PV8, thereby switching the positions V1a to V8a, V1b to V8b, and V1c to V8c of the corresponding control valves V1 to V8, and to operate or stop the corresponding hydraulic actuators C1 to C5, ML, MR, MT and working devices 20, 18, 10.

[0030] Multiple operating members 5a to 5f and multiple operating valves PV1 to PV6 are included in the control device 5. Multiple operating valves PV1 and PV2 are provided to correspond to the operating directions of operating members 5a and 5b, the supply positions V1a to V4b of control valves V1 to V4, and the operating directions (extension and contraction) of hydraulic actuators C1 to C4. Multiple operating valves PV3 to PV6 are provided to correspond to the operating directions of operating members 5c to 5f, the supply positions V5a to V8a of control valves V5 to V8, and the operating directions of hydraulic actuators ML, MR, C5, and MT. Pilot oil, which is a control fluid, is supplied to each operating valve PV1 to PV6 from the second hydraulic pump P2. Each operating valve PV1 to PV6 opens and closes in conjunction with the operation of the corresponding operating member 5a to 5f, and the degree of opening is changed to adjust the pressure of the pilot oil flowing through the second oil passage 52.

[0031] In detail, when the operator of the work machine 1 operates each of the operating members 5a to 5f, each of the operating valves PV1 to PV6 is activated according to the direction and amount of operation of each of the operating members 5a to 5f. Pilot oil at a flow rate proportional to the amount of operation of each of the operating valves PV1 to PV6 acts from each of the operating valves PV1 to PV6 to the pressure receiving parts V1d to V8d and V1e to V8e of one of the control valves V1 to V8. As a result, the spools of each of the control valves V1 to V8 move in a straight line, each of the control valves V1 to V8 switches to one of the supply positions, and the opening degree of each of the control valves V1 to V8 is changed. Then, hydraulic oil at a flow rate proportional to the amount of movement of the spools of each of the control valves V1 to V8 is supplied to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT in the direction corresponding to the switched supply position of each of the control valves V1 to V8. Then, each hydraulic actuator C1-C5, ML, MR, and MT operates according to the amount and direction of hydraulic fluid supplied from each control valve V1-V8.

[0032] The oil passage 50 is a passage that connects the various parts of the hydraulic circuit K and supplies hydraulic fluid or pilot oil to each part. The oil passage 50 includes a first oil passage 51 and a second oil passage 52. The first oil passage 51 is connected to the first hydraulic pump P1 and hydraulic actuators C1~C5, ML, MR, and MT. The first oil passage 51 includes a main oil passage 51a, a branch oil passage 51b, and reciprocating oil passages 51c, 51d, and a discharge oil passage 51e. The main oil passage 51a is a passage through which the hydraulic fluid discharged by the first hydraulic pump P1 flows toward the control valve unit CV. The control valve unit CV is provided with a plurality of branch oil passages 51b that branch off from the main oil passage 51a. Control valves V1~V8 are connected to each branch oil passage 51b, respectively.

[0033] The reciprocating oil passages 51c and 51d are flow paths that connect the corresponding control valves V1 to V8 and the hydraulic actuators C1 to C5, ML, MR, and MT in pairs. That is, the reciprocating oil passages 51c and 51d supply hydraulic fluid from the connected control valves V1 to V8 to the hydraulic actuators C1 to C5, ML, MR, and MT, and also supply hydraulic fluid from the hydraulic actuators C1 to C5, ML, MR, and MT to the control valves This is a passage for returning hydraulic fluid to V1 to V8. The discharge passage 51f is connected to each control valve V1 to V8 and the hydraulic fluid tank 48. The discharge passage 51f is a passage for discharging the hydraulic fluid that has returned from each hydraulic actuator C1 to C5, ML, MR, and MT to each control valve V1 to V8 into the hydraulic fluid tank 48.

[0034] The hydraulic fluid discharged from the first hydraulic pump P1 flows through the main oil passage 51a and the branch oil passage 51b to the control valves V1 to V8. When the control valves V1 to V8 are in any of the supply positions V1a to V8a or V1b to V8b, the hydraulic fluid passes through the supply positions V1a to V8a or V1b to V8b and through one of the connected reciprocating oil passages 51c or 51d to be supplied to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT. The hydraulic fluid discharged from the corresponding hydraulic actuators C1 to C5, ML, MR, and MT returns to the connected control valves V1 to V8 through one of the reciprocating oil passages 51c or 51d, passes through any of the supply positions V1a to V8a or V1b to V8b of the control valves V1 to V8, and is discharged into the discharge oil passage 51f.

[0035] Furthermore, when the control valves V1 to V8 are in the neutral position V1c to V8c, the hydraulic fluid that flows from the branch oil passage 51b to the control valves V1 to V8 is not supplied to the hydraulic actuators C1 to C5, ML, MR, and MT, but passes through the neutral position V1c to V8c and is discharged into the discharge oil passage 52f. An oil cooler 37 is provided in the discharge oil passage 51f. The hydraulic fluid discharged into the discharge oil passage 52f is cooled by the oil cooler 37 and then flows into the hydraulic fluid tank 48. As described above, the first oil passage 51 is arranged to circulate the hydraulic fluid to the hydraulic fluid tank 48, the first hydraulic pump P1, and the control valves V1 to V8 of the control valve unit CV, or to the hydraulic actuators C1 to C5, ML, MR, and MT.

[0036] The second oil passage 52 includes a discharge oil passage 52a, a branch oil passage 52b, and pilot oil passages 52c and 52d. The discharge oil passage 52a is the passage through which pilot oil discharged by the second hydraulic pump P2 flows toward the control valves PV1 to PV6. The pilot oil passages 52c and 52d are passages connecting the corresponding control valves PV1 to PV6 to the pressure receiving sections V1d to V8d and V1e to V8e of the control valves V1 to V8. For convenience, in Figure 2, the intermediate sections of pilot oil passages 52c and 52d are not shown, and the connection relationships are indicated by numbers in parentheses.

[0037] When operating members 5a to 5f are not operated, pilot oil flowing through the discharge oil passage 52a is discharged through the discharge oil passage 52e. When any of the operating members 5a to 5f are operated, the operating valves PV1 to PV6 corresponding to the operating direction of the operated operating member 5a to 5f are opened. As a result, the pilot oil flowing through the discharge oil passage 52a acts on the pressure receiving parts V1d to V8d and V1e to V8e of the corresponding control valves V1 to V8, passing through the opened operating valves PV1 to PV6 and the pilot oil passages 52c and 52d connected thereto. Then, one of the control valves V1 to V8 switches to the corresponding supply position V1a to V8a and V1b to V8b, and the hydraulic fluid from the first hydraulic pump P1 passes through the switched control valves V1 to V8 and is supplied to the corresponding hydraulic actuators C1 to C5, ML, MR, and MT. Then, the corresponding hydraulic actuators C1-C5, ML, MR, and MT are operated by the pressure of the supplied hydraulic fluid, driving the corresponding working devices 20, 18, and 10.

[0038] Figure 3 is a schematic diagram showing an example of the configuration of the work machine 1. More specifically, Figure 3 shows an example of the configuration of the idling system incorporated into the work machine 1. The work machine 1 is equipped with a control device 7, a battery unit 30, an inverter 38, a PDU (Power Distribution Unit) 39, a key switch 41, an accelerator dial 42, a pressure sensor 43, an operation sensor 44, a user interface 45, and a communication device 46.

[0039] The control device 7 has a processor 7a such as a CPU and memory 7b. This includes volatile memory and non-volatile memory. The control device 7 (processor 7a) is a controller that controls the operation of each part of the work machine 1 and executes predetermined processes. Various information, control data, and software programs are stored in memory 7b in a read / write manner. Memory 7b is an example of a storage device. Other storage devices may be built into the control device 7, or may be provided separately in the work machine 1. Furthermore, such storage devices may consist of at least one of non-volatile memory, SSD (Solid State Drive), and hard disk.

[0040] The battery unit 30 has multiple battery packs 31 and 32. Each battery pack 31 and 32 is a secondary battery (storage battery) such as a lithium-ion battery, composed of at least one battery, and is capable of discharging high-voltage power, for example, 200V to 400V. Each battery constituting each battery pack 31 and 32 has multiple cells inside, and these multiple cells are electrically connected in series and / or parallel. The battery packs 31 and 32 are connected in parallel to each other. In Figure 3, the battery unit 30 is provided with two battery packs 31 and 32, but the number of battery packs that the battery unit 30 has is not limited to two, and may be three or more.

[0041] The PDU 39 has a switching circuit that switches the power supply source. The control device 7 uses the PDU 39 to discharge from either the battery pack 31 or 32, or to discharge from both the battery pack 31 and 32. The inverter 38 is a drive device that has a drive circuit for driving the electric motor 9. The electric motor 9 is composed of, for example, a permanent magnet embedded three-phase AC synchronous motor. The inverter 38 converts the DC power input from the battery unit 30 via the PDU 39 into three-phase AC power, and supplies this three-phase AC power to the electric motor 9 to drive the electric motor 9. The inverter 38 can also arbitrarily adjust the current and voltage of the power supplied to the electric motor 9. The control device 7 uses the inverter 38 to control the rotation, stopping, direction of rotation, and rotation speed of the electric motor 9.

[0042] The key switch 41 and accelerator dial 42 are located inside the cabin 6 and are operated by the driver seated in the driver's seat 4. The key switch 41 is operated to start and stop the work implement 1. Specifically, by turning the key switch 41 ON, the control device 7 starts the electric motor 9 and also starts other parts of the work implement 1. Conversely, by turning the key switch 41 OFF, the control device 7 stops the electric motor 9 and also stops other parts of the work implement 1.

[0043] The accelerator dial 42 is rotated to input the target rotational speed of the electric motor 9. For example, the range of angles in which the accelerator dial 42 can be rotated corresponds to the range in which the target rotational speed of the electric motor 9 can be input. By changing the operating position of the accelerator dial 42, the target rotational speed of the electric motor 9 can also be changed. Specifically, the control device 7 determines (calculates) the target rotational speed of the electric motor 9 according to the operating state of the accelerator dial 42 (whether or not it is operated and the operating position). The accelerator dial 42 is an input device (input interface) for inputting the target rotational speed. As other examples, other operating devices such as push buttons, tumbler switches, and pedals may be provided on the work machine 1 as input devices for inputting the target rotational speed of the electric motor 9.

[0044] The user interface 45 includes a touch panel, display, and speaker located inside the cabin 6. The operator can input various information about the work equipment 1 via the user interface 45. In addition, various information about the work equipment 1 can be output (displayed) to the operator or other users via the user interface 45. The user interface 45 is both an input device and an output device (output interface).

[0045] The communication device 46 includes a communication circuit for communicating via a mobile phone network and a wide-area network such as the Internet, or a communication circuit for wireless communication via a narrow-area network such as Wi-Fi (registered trademark). The control device 7 transmits and receives information and data wirelessly to terminal devices, servers, and remote devices located outside the work machine 1 via the communication device 46. The communication device 46 is a communication interface, an input device, and an output device.

[0046] Alternatively, a software key for inputting a target rotational speed of the electric motor 9 may be provided on the display screen of the user interface 45, in place of or in addition to the accelerator dial 42. In this case, the operator inputs the target rotational speed of the electric motor 9 by operating the software key via the user interface 45. Alternatively, a signal indicating the target rotational speed of the electric motor 9 may be transmitted from a remote device capable of remotely controlling the work machine 1, and this signal may be received (input) by the communication device 46. In this case, the operator inputs the target rotational speed of the electric motor 9 by operating the user interface provided on the remote device.

[0047] The pressure sensor 43 is connected to the main oil passage 51a of the first oil passage 51, as shown in Figure 2, for example, and detects the pressure of the hydraulic fluid flowing through the main oil passage 51a. That is, the pressure sensor 43 detects the pressure of the hydraulic fluid from the first hydraulic pump P1 to the control valves V1 to V8 of the control valve unit CV. The pressure sensor 43 may be, for example, a pressure gauge that measures the pressure of the hydraulic fluid. Alternatively, the pressure sensor 43 may be a pressure switch that is in a non-operating state and outputs an OFF signal when the pressure is not above a predetermined value, and becomes operating and outputs an ON signal when the pressure is above a predetermined value.

[0048] When none of the operating members 5a to 5f are operated, the control valves V1 to V8 are all in the neutral position V1c to V8c, and the hydraulic actuators C1 to C5, ML, MR, and MT are all not operating, so the working devices 20, 18, and 10 are stopped. In other words, the working machine 1 is in a work-rest state (including a non-moving state), and there is almost no load on the electric motor 9, etc., in a low-load or no-load state. At this time, the pressure of the hydraulic fluid flowing through the main oil passage 51a is approximately atmospheric pressure. Therefore, if the pressure sensor 43 is configured as a pressure gauge, the pressure sensor 43 detects a value approximately atmospheric pressure, and a signal indicating this detected value is output from the pressure sensor 43. Also, if the pressure sensor 43 is configured as a pressure switch, the pressure sensor 43 is in a non-operating state, and an OFF signal is output from the pressure sensor 43.

[0049] When at least one of the operating members 5a to 5f is operated, the corresponding control valves V1 to V8 switch to one of the supply positions V1a to V8a or V1b to V8b, and the corresponding hydraulic actuators C1 to C5, ML, MR, and MT are operated by the hydraulic fluid supplied from the control valves V1 to V8. As a result, the corresponding work devices 20, 18, and 10 are driven, the work machine 1 enters an operating state (including a traveling state), and a load is placed on the electric motor 9, etc. At this time, the pressure of the hydraulic fluid flowing through the main oil passage 51a becomes higher than a predetermined value, which is higher than atmospheric pressure. Therefore, if the pressure sensor 43 is configured as a pressure gauge, the pressure sensor 43 detects a value higher than the predetermined value, which is higher than atmospheric pressure, and a signal indicating this detected value is output from the pressure sensor 43. Also, if the pressure sensor 43 is configured as a pressure switch, the pressure sensor 43 is in an operating state and an ON signal is output from the pressure sensor 43.

[0050] Of the work device 20, dozer 18, and travel device 10 used to perform work (including travel) with the work machine 1, only the work device 20 and dozer 18 may operate in the direction in which gravity acts (vertically, downward). The operation sensor 44 detects operation in a specific direction of specific operating members 5a, 5b, and 5e, which move the work device 20 and dozer 18 in the direction in which gravity acts, from among the multiple operating directions of the operating members 5a to 5f used to operate the work device 20 and dozer 18.

[0051] Figure 4 is a conceptual diagram showing an example of an operation sensor 44 (44a) that detects operation of the operating member 5a in a specific operating direction. The operating member 5a can be swung in four directions: left, right, forward, and backward, in order to swing the work device 20 from side to side and swing the boom 21 of the work device 20 up and down. Four operating valves PV1 (PV1a, PV1b, PV1c, PV1d) are provided to correspond to each operating direction of the operating member 5a. In addition, four movable pieces 5a1, 5a2, 5a3c, and 5a4 are connected to the lower part of the operating member 5a to correspond to each operating valve PV1a, PV1b, PV1c, and PV1d. Each movable piece 5a1, 5a2, 5a3c, and 5a4 moves in conjunction with the operation of the operating member 5a in each operating direction, opening the corresponding operating valves PV1a, PV1b, PV1c, and PV1d.

[0052] More specifically, when the operator operates the operating member 5a in one of the following directions—left, right, forward, or backward—one of the movable pieces 5a1, 5a2, 5a3c, or 5a4 corresponding to that direction of operation moves downward and presses the corresponding operating valves PV1a, PV1b, PV1c, or PV1d. As a result, the pressed operating valves PV1a, PV1b, PV1c, or PV1d open and supply pilot oil to the corresponding pilot oil passages 52c and 52d. The pressure of the supplied pilot oil acts on the corresponding pressure receiving parts V1d, V1e, V2d, or V2e (Figure 2), causing the control valves V1 and V2 to switch to the corresponding supply positions V1a, V1b, V2a, or V2b. Then, hydraulic fluid from the first hydraulic pump P1 is supplied to the swing cylinder C1 or boom cylinder C2 via either the control valve V1 or V2, causing the swing cylinder C1 or boom cylinder C2 to extend or retract, the working device 20 to swing to the left or right, or the boom 21 to swing up or down.

[0053] When the operating member 5a is operated forward, the work device 20 and boom 21 move downward due to gravity. To detect when the operating member 5a is operated forward, one of the four possible operating directions of the operating member 5a, a first operating sensor 44a is positioned within a predetermined distance from the movable piece 5a3 that activates the operating valve PV1c corresponding to that forward movement, as shown in Figure 4. The first operating sensor 44a is also positioned at a distance greater than a predetermined distance from the other movable pieces 5a1, 5a2, and 5a4.

[0054] The first operating sensor 44a is a non-contact sensor, such as a capacitive or dielectric proximity switch. The movable pieces 5a1 to 5a4 are made of a metal (magnetic material) such as iron. The same applies to the other operating sensors 44b, 44c, 44d and other movable pieces described later.

[0055] When the operating member 5a is not being operated, or when the operating member 5a is being operated in a direction other than forward, the movable piece 5a3 does not enter the detection range of the operating sensor 44a, so the first operating sensor 44a outputs an OFF signal indicating that the operating member 5a is not being operated forward. When the operating member 5a is swung forward, the movable piece 5a3 moves downward and enters the detection range of the first operating sensor 44a, so the first operating sensor 44a detects the approach of the movable piece 5a3 (that it has entered the detection range) and outputs an ON signal indicating that the operating member 5a has been operated forward.

[0056] Depending on the position (swing angle) of the boom 21, the arm 22 of the work device 20 may also move (swing) downward due to the effects of gravity. Also, depending on the position (swing angle) of the boom 21 and the arm 22, the bucket (working tool) 23 of the work device 20 may also move downward due to the effects of gravity. For this reason, an operation sensor 44 may be provided to detect operation of the operating member 5b that operates the arm 22 and the bucket 23 in a specific operating direction.

[0057] Figure 5 is a conceptual diagram showing an example of an operation sensor 44 that detects operation of the operating member 5b in a specific operating direction. The operating member 5b can be swung in four directions: left, right, forward, and backward, in order to swing the arm 22 and bucket 23 up and down (forward and backward). Four control valves PV2 (PV2a, PV2b, PV2c, PV2d) are provided to correspond to the operating direction. In addition, four movable pieces 5b1, 5b2, 5b3, and 5b4 are connected to the lower part of the operating member 5b to correspond to each of the control valves PV2a, PV2b, PV2c, and PV2d.

[0058] Each movable piece 5b1, 5b2, 5b3, and 5b4 moves in conjunction with the operation of the operating member 5b in each operating direction, opening the corresponding operating valves PV2a, PV2b, PV2c, and PV2d. The operation of each part at this time is the same as that of the operating member 5a, movable pieces 5a1 to 5a4, and operating valves PV1a to PV1d described above. When any of the operating valves PV2a, PV2b, PV2c, and PV2d are opened, the pressure of the pilot oil acts on the corresponding pressure receiving parts V3d, V3e, V4d, and V4e, and the control valves V3 and V4 switch to the corresponding supply positions V3a, V3b, V4a, and V4b. Then, the hydraulic oil is supplied to the arm cylinder C3 or the work tool cylinder C4 via either the control valves V3 or V4, causing the arm cylinder C3 or the work tool cylinder C4 to extend or retract, and either the arm 22 or the bucket 23 to swing in the corresponding direction.

[0059] For example, when the operating member 5b is operated to the left, the arm 22 may move downward, and when the operating member 5b is operated forward, the bucket 23 may move downward. In order to detect when the operating member 5b is operated to the left and forward, as shown in Figure 5, a second operating sensor 44b may be positioned within a predetermined distance from the movable piece 5b1 that operates the operating valve PV2a corresponding to the left, and a third operating sensor 44c may be positioned within a predetermined distance from the movable piece 5b3 that operates the operating valve PV2c corresponding to the forward.

[0060] When the operating member 5b is not operated, or when the operating member 5b is operated in a direction other than left or forward, the movable pieces 5b1 and 5b3 do not enter the detection range of the operating sensors 44b and 44c, so the operating sensors 44b and 44c output an OFF signal. When the operating member 5b is swung to the left, the movable piece 5b1 moves downward and enters the detection range of the second operating sensor 44b, so the second operating sensor 44b detects the approach of the movable piece 5b1 and outputs an ON signal indicating that the operating member 5b has been operated to the left. When the operating member 5b is swung forward, the movable piece 5b3 moves downward and enters the detection range of the third operating sensor 44c, so the third operating sensor 44c detects the approach of the movable piece 5b3 and outputs an ON signal indicating that the operating member 5b has been operated forward.

[0061] To detect the operation of the operating member 5e that moves the dozer 18 downwards due to gravity, an operating sensor 44 is provided as shown in Figure 6. Figure 6 is a conceptual diagram showing an example of an operating sensor 44 that detects operation of the operating member 5e in a specific operating direction. The operating member 5e can be swung in two directions, forward and backward, in order to swing the dozer 18 up and down. Two operating valves PV5 (PV5a, PV5b) are provided to correspond to each operating direction of the operating member 5e. In addition, two movable pieces 5e1 and 5e2 are connected to the lower part of the operating member 5e to correspond to each operating valve PV5a and PV5b. The other operating members 5c, 5d, 5f and operating valves PV3, PV4, PV6 have the same configuration as the operating member 5e and operating valve PV5.

[0062] Each movable piece 5e1, 5e2 moves in conjunction with the operation of the operating member 5e in each operating direction, opening the corresponding operating valves PV5a, PV5b. When either operating valve PV5a, PV5b opens, the pressure of the pilot oil acts on the corresponding pressure receiving parts V5d, V5e, causing the control valve V5 to switch to the corresponding supply position V5a, V5b. Then, the hydraulic oil is supplied to the dozer cylinder C5 via the control valve V5, causing the dozer cylinder C5 to extend and retract, and the dozer 18 to swing up and down.

[0063] When the operating member 5e is operated forward, the dozer 18 moves downward. Therefore, in order to detect the forward operation of the operating member 5b, as shown in Figure 6, the fourth operating sensor 44d is positioned within a predetermined distance from the movable piece 5e1 that operates the corresponding operating valve PV5a. When the operating member 5e is not operated and when the operating member 5b is operated backward, the movable piece 5e1 does not enter the detection range of the fourth operating sensor 44d, so the fourth operating sensor 44d outputs an OFF signal. When the operating member 5e is swung forward, the movable piece 5e1 moves downward and enters the detection range of the fourth operating sensor 44d. Therefore, the fourth operating sensor 44d detects the approach of the movable piece 5e1 and outputs an ON signal indicating that the operating member 5e has been operated forward.

[0064] The operation sensors 44 (44a to 44d) may be other non-contact sensors such as photoelectric sensors or magnetic sensors, in addition to proximity switches. That is, the operation sensors 44 may be sensors that detect the approach of movable pieces 5a3, 5b1, 5b3, and 5e1 that move in conjunction with the operation of the operating members 5a, 5b, and 5e in a specific operating direction, without contact. As another example, the operation sensors 44 (44a to 44d) may be contact-type sensors such as limit switches that detect contact of movable pieces 5a3, 5b1, 5b3, and 5e1 that move in conjunction with the operation of the operating members 5a, 5b, and 5e in a specific operating direction. Furthermore, at least one of the operation sensors 44a to 44d may be provided on the work machine 1.

[0065] When the key switch 41 is turned ON, the control device 7 starts the electric motor 9 using the inverter 38. Then, when a target rotational speed is input via the accelerator dial 42 or the like (or user interface 45 or communication device 46), the control device 7 rotates the electric motor 9 at the target rotational speed using the inverter 38. A rotational speed sensor 47 for detecting (measuring) the actual rotational speed of the electric motor 9 may be provided in the work machine 1. In this case, the control device 7 may refer to the actual rotational speed of the electric motor 9 detected by the rotational speed sensor 47 and use the inverter 38 to feedback control the drive of the electric motor 9 so that the actual rotational speed of the electric motor 9 matches the target rotational speed. The target rotational speed that can be input via the accelerator dial 42 or the like is set to, for example, 1300 rpm to 2500 rpm.

[0066] To conserve power (energy), the control device 7 performs idling control (also called auto idling). Specifically, when the work machine 1 is in a work stop state while the electric motor 9 is running, and the pressure sensor 43 no longer detects a hydraulic fluid pressure above a predetermined value, the control device 7 performs idling control by rotating the electric motor 9 at a predetermined idling speed using the inverter 38. In other words, when the electric motor 9 is rotating at the target speed, and none of the operating members 5a to 5f are operated, and work is no longer performed by the work devices 20, 18, and 10, the control device 7 automatically reduces the rotation speed of the electric motor 9 to the idling speed when the electric motor 9 is rotating at the target speed, and none of the operating members 5a to 5f are operated, and work is no longer performed by the work devices 20, 18, and 10, and the electric motor 9 etc. are in a low-load or no-load state. The idling speed is set to, for example, one of the rotation speeds between 500 rpm and 1300 rpm.

[0067] If the work implement 1 is equipped with a rotation speed sensor 47, the control device 7 may refer to the actual rotation speed of the electric motor 9 detected by the rotation speed sensor 47 and use the inverter 38 to provide feedback control to drive the electric motor 9 so that the actual rotation speed of the electric motor 9 matches the idling speed.

[0068] During idle control, the control device 7 releases (stops) the idle control when the work machine 1 enters an operating state and the pressure sensor 43 detects that the hydraulic fluid pressure is above a predetermined value. The control device 7 also releases the idle control when any of the operation sensors 44 (44a to 44d) detects operation of the operating members 5a, 5b, or 5e in a specific operating direction. When the control device 7 releases the idle control, the inverter 38... The electric motor 9 is rotated at the target rotational speed. That is, when the electric motor 9 is rotating at the idling speed, if at least one of the operating members 5a to 5f is operated and at least one of the work devices 20, 18, or 10 is driven, and a load is placed on the electric motor 9, etc., the control device 7 increases (returns) the rotational speed of the electric motor 9 to the target rotational speed.

[0069] Furthermore, the control device 7 may release the idling control when it detects operation of any of the operation sensors 44 (44a to 44d) in a specific operating direction for a predetermined period of time or longer. Alternatively, the control device 7 may release the idling control after detecting operation of any of the operation sensors 44 (44a to 44d) in a specific operating direction, or after detecting it continuously for a predetermined period of time (first period) or longer, and after a further predetermined period of time (second period) has elapsed. In this case, the control device 7 may further set the predetermined period of time (second period) for confirmation to be shorter than the time required from the detection of operation of any of the operation sensors 44 in a specific operating direction to the detection of a hydraulic fluid pressure of a predetermined value or higher by the pressure sensor 43.

[0070] Figure 7 is a flowchart showing an example of the operation of the work machine 1. Each process (step) in Figure 7 is executed by the control device 7 (processor 7a) according to the software program stored in memory 7b.

[0071] When the driver turns on the key switch 41, the control device 7 starts the electric motor 9 using the inverter 38 (S1). Then, when the control device 7 receives input for a target rotational speed via the accelerator dial 42 or the like (S2), it rotates the electric motor 9 at the target rotational speed using the inverter 38 (S3).

[0072] When the electric motor 9 is rotating at the target rotational speed, the control device 7 checks whether the pressure of the hydraulic fluid detected by the pressure sensor 43 is above a predetermined value. Specifically, if the pressure sensor 43 is a pressure gauge, the control device 7 checks whether the hydraulic fluid pressure value detected by the pressure sensor 43 is above a predetermined value. Also, if the pressure sensor 43 is a pressure switch, the control device 7 checks whether an ON signal is input from the pressure sensor 43.

[0073] When at least one of the operating members 5a to 5f is operated by the operator and at least one of the work devices 20, 18, and 10 is driven, the pressure sensor 43 detects a hydraulic fluid pressure above a predetermined value (S4:NO). In this case, the control device 7 continues to rotate the electric motor 9 at the target rotational speed using the inverter 38 (S2, S3). Also, when the target rotational speed is changed by the accelerator dial 42 or the like (S2), the control device 7 rotates the electric motor 9 at the changed target rotational speed using the inverter 38 (S3).

[0074] When the operating members 5a to 5f are not operated and the work devices 20, 18, and 10 stop, resulting in a work pause state, the pressure sensor 43 no longer detects a hydraulic fluid pressure above a predetermined value (S4: YES). That is, if the pressure sensor 43 is a pressure gauge, the hydraulic fluid pressure value detected by the pressure sensor 43 falls below the predetermined value. Also, if the pressure sensor 43 is a pressure switch, an OFF signal is input from the pressure sensor 43. In this case, the control device 7 performs idling control and rotates the electric motor 9 at an idling speed using the inverter 38 (S5). As a result, the work machine 1 enters an idling state. The control device 7 may also perform idling control if the state in which the hydraulic fluid pressure above a predetermined value is no longer detected by the pressure sensor 43 continues for a certain period of time (third time) or longer.

[0075] During idle control, the control device 7 uses the operation sensors 44 (44a to 44d) The system checks whether operation of the operating members 5a, 5b, and 5e in a specific operating direction has been detected, and also checks whether the pressure of the hydraulic fluid has been detected by the pressure sensor 43 to a predetermined value or higher.

[0076] If the operator does not operate the operating members 5a to 5f, and the work devices 20, 18, and 10 are stopped, and the work is suspended, the operation sensors 44 (44a to 44d) do not detect operation of the operating members 5a, 5b, and 5e in a specific direction (S6: NO), and the pressure sensor 43 does not detect any hydraulic fluid pressure above a predetermined value (S8: NO). In this case, the control device 7 continues idling control and the inverter 38 continues to rotate the electric motor 9 at the idling speed. The operation of the operating members 5a, 5b, and 5e in a specific direction refers to the operation of operating member 5a forward, the operation of operating member 5b to the left and forward, and the operation of operating member 5e forward, as described above.

[0077] When the driver operates any of the operating members 5a, 5b, or 5e in a specific operating direction, the operation is detected by the corresponding operating sensor 44 (44a to 44d) (S6: YES). In this case, when the detection state continues for a predetermined time (first hour) or longer (S7: YES), the control device 7 releases the idling control and rotates the electric motor 9 at a target rotational speed input by the accelerator dial 42 or the like using the inverter 38 (S9).

[0078] Furthermore, if the operator operates any of the operating members 5a, 5b, or 5e in an operating direction other than the specified operating direction, or if any of the other operating members 5c, 5d, or 5f are operated, the operation will not be detected by the operating sensor 44 (44a to 44d) (S6: NO), but the pressure sensor 43 will detect a hydraulic fluid pressure above a predetermined value (S8: YES). In this case, the control device 7 will release the idling control and use the inverter 38 to rotate the electric motor 9 at a target rotational speed input by the accelerator dial 42 or the like (S9).

[0079] Then, if the key switch 41 remains in the ON position (S10: NO), the control device 7 repeatedly executes steps S2 onward. Also, if the key switch 41 is turned OFF (S10: YES), the control device 7 stops the electric motor 9 using the inverter 38 (S11).

[0080] In the above embodiment, an example was shown in which the pressure of the hydraulic fluid from the first hydraulic pump P1 to the control valves V1 to V8 is detected by the pressure sensor 43 to detect whether the work machine 1 is in a work-rest state (low load state, no load state) or in a work state (load state), but it is not limited to this. In addition, for example as shown in Figure 8, the pressure sensor 49 may be connected to the discharge oil passage 52a, and the pressure of the pilot oil, which is the hydraulic fluid acting on the pressure-receiving parts V1d to V8d and V1e to V8e of the control valves V1 to V8 via the operating valves PV1 to PV6 from the second hydraulic pump P2, may be detected by the pressure sensor 49. The pressure sensor 49 may also be a pressure gauge or a pressure switch. The pressure of the pilot oil detected by the pressure sensor 49 can also be used to detect whether the work machine 1 is in a work-rest state or in a work state.

[0081] Alternatively, instead of the pressure sensors 43 and 49, the work machine 1 may be equipped with a detection device 59 that detects either the current or voltage acting on the electric motor 9, as shown in Figure 9. The detection device 59 consists of one or more of the following: a current sensor that detects a current of a predetermined value or more flowing from the inverter 38 to the electric motor 9 in order to drive the first hydraulic pump P1; a voltage sensor that detects a voltage of a predetermined value or more applied from the inverter 38 to the electric motor 9; and an electrical circuit that includes a shunt resistor that detects either the current or voltage. When the work machine 1 is in operation, the current and voltage acting from the inverter 38 to the electric motor 9 increase, so the current or voltage detected by the detection device 59 becomes greater than or equal to the corresponding predetermined value. Also, when the work machine 1 is in a non-operational state, the current and voltage acting from the inverter 38 to the electric motor 9 decrease, so the current detected by the detection device 59 becomes greater than or equal to the corresponding predetermined value. Alternatively, the voltage falls below a corresponding predetermined value. In this configuration, the control device 7 releases the idling control when the detection device 59 detects a current or voltage exceeding a predetermined value, or when the operation sensor 44 detects operation of the operating members 5a, 5b, and 5e in a specific operating direction, while performing idling control of the electric motor 9.

[0082] In the embodiments described above, the operation sensors 44 (44a to 44d) are shown as non-contact sensors that detect the approach of movable pieces 5a3, 5b1, 5b3, and 5e3 that move in conjunction with the operation of the operation members 5a, 5b, and 5e in a specific operating direction, or as contact-type sensors that detect the approach of movable pieces 5a3, 5b1, 5b3, and 5e3, but are not limited to these. In addition, for example as shown in Figures 10, 11, and 12, the specific operation sensors may consist of pilot pressure sensors 54 (54a, 54b, 54c, and 54d) that detect the pressure of pilot oil output from operation valves PV1c, PV2a, PV2c, and PV5a corresponding to the specific operating direction of the operation members 5a, 5b, and 5e.

[0083] Furthermore, the pilot pressure sensors 54 (54a, 54b, 54c, 54d) may consist of pressure switches that are in a non-operating state and output an OFF signal when pilot oil is not supplied from the corresponding operating valves PV1c, PV2a, PV2c, PV5a, and become operating and output an ON signal when pilot oil is supplied.

[0084] In the embodiments described above, the present invention is illustrated by the case where the prime mover is an electric motor 9, but it is not limited to this. For example, as shown in Figure 13, the present invention is also applicable when the prime mover is an engine 69. In the embodiment of Figure 13, the control device 7 injects fuel supplied from the fuel tank 61 by the fuel pump 62 into the engine 69 using the fuel injector 63, and ignites the injected fuel with the ignition device 64 to drive the engine 69. The control device 7 also controls the rotational speed of the engine 69 by adjusting the amount of fuel injected by the fuel injector 63 and the timing of ignition by the ignition device 64. The rotational speed of the engine 69 may be detected by a rotational speed sensor. The fuel injector 63 and the ignition device 64 are drive devices that drive the engine 69. In the embodiment of Figure 13, an operation sensor 54 may be used instead of the operation sensor 44.

[0085] The work machine 1 of the embodiment described above has the configuration described in the following items and achieves the effects described therein. (Item 1) The work machine 1 includes prime movers 9, 69 (electric motor 9, engine 69), hydraulic pumps P1, P2 driven by prime movers 9, 69 to discharge hydraulic fluid, work devices 20, 18, 10 (work device 20, dozer 18, travel device 10) having hydraulic actuators C1~C5, ML, MR, MT that are operated by the hydraulic fluid, control valves V1~V8 that can switch the supply state of hydraulic fluid to hydraulic actuators C1~C5, ML, MR, MT, operating members 5a~5f that can be operated in multiple operating directions in order to switch the positions V1a~V8a, V1b~V8b, V1c~V8c of the control valves V1~V8 to operate the hydraulic actuators C1~C5, ML, MR, MT and work devices 20, 18, 10, and hydraulic pump P1, The system includes pressure sensors 43 and 49 that detect the pressure of the hydraulic fluid from P2 to control valves V1 to V8, operation sensors 44 (44a to 44d) and 54 (54a to 54d) that detect operation in a specific direction among multiple operating directions of operating members 5a to 5f that moves the work devices 20, 18, and 10 in the direction in which gravity acts, and a control device 7 that performs idling control to rotate the prime movers 9 and 69 at a predetermined idling speed. The control device 7 releases the idling control when it detects a hydraulic fluid pressure above a predetermined value by the pressure sensors 43 and 49, or when it detects operation in a specific direction of the operating members 5a, 5b, and 5e by the operation sensors 44 (44a to 44d) and 54 (54a to 54d) during the execution of idling control.

[0086] According to the configuration of item 1 above, when the work machine 1 is in an idling state, if the operating members 5a, 5b, and 5e that move the work devices 20, 18, and 10 in the direction in which gravity acts are operated in a specific direction, the load is light and the pressure fluctuation of the hydraulic fluid is small. Therefore, even if the operation is not detected by the pressure sensors 43 and 49 or is detected late, the operation can be immediately detected by the operating sensors 44 (44a to 44d) and 54 (54a to 54d), and the idling state can be reliably released without delay. Furthermore, if the operating members 5a to 5f that move the work devices 20, 18, and 10 in a direction in which gravity does not act are operated in a specific direction, a certain amount of load is applied when the operating members 5a to 5f are operated in a direction other than the specific direction, and the pressure fluctuation of the hydraulic fluid becomes large. Therefore, the operation can be properly detected by the pressure sensors 43 and 49, and the idling state can be reliably released without delay. Therefore, it becomes possible to properly release the idling state of the work machine, and it is also possible to prevent a decrease in work efficiency by the work devices 20, 18, and 10. Furthermore, since the operation sensors 44 (44a to 44d) and 54 (54a to 54d) are provided only for operation in specific directions of the operation members 5a, 5b, and 5e, rather than for operation in the operating direction of all operation members 5a to 5f, the increase in the number of parts and costs can be suppressed.

[0087] (Item 2) The work machine 1 comprises a prime mover consisting of an electric motor 9, hydraulic pumps P1 and P2 driven by the electric motor 9 to discharge hydraulic fluid, work devices 20, 18, and 10 having hydraulic actuators C1 to C5, ML, MR, and MT that are operated by the hydraulic fluid, control valves V1 to V8 that can switch the supply state of hydraulic fluid to the hydraulic actuators C1 to C5, ML, MR, and MT, operating members 5a to 5f that can be operated in multiple operating directions to switch the control valves V1 to V8, and an electrical system consisting of one or more of a current sensor, a voltage sensor, and an electrical circuit that detects the current or voltage acting on the electric motor 9 to drive the hydraulic pumps P1 and P2. The system includes a detection unit 59, operation sensors 44 (44a to 44d) and 54 (54a to 54d) that detect operation in a specific direction among multiple operating directions of the operating members 5a to 5f that moves the work devices 20, 18, and 10 in the direction in which gravity acts, and a control device 7 that performs idling control to rotate the electric motor 9 at a predetermined idling speed. The control device 7 releases the idling control when the electrical detection unit 59 detects a current or voltage exceeding a predetermined value, or when the operation sensors 44 (44a to 44d) and 54 (54a to 54d) detect operation in a specific direction of the operating members 5a, 5b, and 5e during the execution of idling control.

[0088] According to the configuration of item 2 above, when the work machine 1 is in an idling state, if the operating members 5a, 5b, and 5e are operated in a specific operating direction, the load is light, the pressure fluctuation of the hydraulic fluid becomes small, and the current and voltage acting on the electric motor 9 are less likely to rise above a predetermined value. Therefore, even if the electrical detector 59 fails to detect or is slow to detect a current or voltage exceeding a predetermined value corresponding to the operation of the operating members 5a, 5b, and 5e in a specific operating direction, the operation can be immediately detected by the operating sensors 44 (44a to 44d) and 54 (54a to 54d), and the idling state can be reliably released without delay. Furthermore, when the operating members 5a to 5f are operated in the direction that moves the work devices 20, 18, and 10 in a direction where gravity does not act, a certain load is applied when the operating members 5a to 5f are operated in a direction other than the specified direction, causing a large fluctuation in the hydraulic fluid pressure, and the current and voltage acting on the electric motor 9 rise above a predetermined value. This operation can be properly detected by the pressure sensors 43 and 49, and the idling state can be reliably released without delay. As a result, the idling state of the work machine can be properly released, and the workability of the work devices 20, 18, and 10 can be prevented from decreasing.

[0089] (Item 3) In the work machine 1 described in Item 1 or 2 above, the control device 7 releases the idling control when the operation sensors 44 (44a to 44d) and 54 (54a to 54d) continuously detect operation of the operating members 5a, 5b, and 5e in a specific operating direction for a predetermined period of time or longer.

[0090] According to the configuration described in item 3 above, the operating members 5a, 5b, and 5e are operated in a specific operating direction, ensuring that the work machine 1 transitions reliably from a work-rest state to a work device before the idling state is properly released.

[0091] The time required for the operation sensors 44 (44a-44d) and 54 (54a-54d) to detect operation of the operating members 5a, 5b, and 5e in a specific operating direction is shorter than the time required for the pressure sensors 43 and 49 to detect operation of the operating members 5a-5f in other operating directions. As a result, there is a significant difference in the time until the idling state is released in both cases, which may cause discomfort to the user. Therefore, the control device 7 releases the idling control after a second time has elapsed since the operation sensors 44 (44a-44d) and 54 (54a-54d) detected operation of the operating members 5a, 5b, and 5e in a specific operating direction. This makes it possible to bring the time from when the operation sensors 44 (44a-44d) and 54 (54a-54d) detect operation of the operating members 5a, 5b, and 5e in a specific operating direction until the idling state is released closer to the time from when the pressure sensors 43 and 49 detect operation of the operating members 5a-5f until the idling state is released, thereby preventing a large difference between the two times and avoiding causing discomfort to the user.

[0092] (Item 4) In the work machine 1 described in any of the above items 1 to 3, the operation sensor 44 (44a to 44d) is composed of a non-contact sensor that detects the approach of movable pieces 5a3, 5b1, 5b3, 5e1 which move in conjunction with the operation of the operating members 5a, 5b, 5e in a specific operating direction.

[0093] According to the configuration described in item 4 above, the operation sensors 44 (44a to 44d) can easily and reliably detect only operations of the operating members 5a, 5b, and 5e in specific operating directions. Furthermore, since the operation sensors 44 (44a to 44d) and the movable pieces 5a3, 5b1, 5b3, and 5e1 do not need to be in contact, wear and damage to the operation sensors 44 (44a to 44d) and the movable pieces 5a3, 5b1, 5b3, and 5e1 can be prevented, thereby extending their lifespan.

[0094] (Item 5) In the work machine 1 described in any of the above items 1 to 3, a plurality of operating valves PV1 (PV1a to PV1d), PV2 (PV2a to PV2d), PV3, PV4, PV5 (PV5a, PV5b), and PV6 are provided to adjust the pressure of the pilot oil in accordance with the operation of the operating members 5a, 5b, and 5e, and the operating sensor 54 (54a to 54d) consists of a pilot pressure sensor that detects the pressure of the pilot oil output from the operating valves PV1c, PV2a, PV2c, and PV5a corresponding to a specific operating direction of the operating members 5a, 5b, and 5e.

[0095] According to the configuration of item 5 above, the operating members 5a to 5f change the opening degree of multiple operating valves PV1 (PV1a to PV1d), PV2 (PV2a to PV2d), PV3, PV4, PV5 (PV5a, PV5b), and PV6, thereby switching the positions V1a to V8a, V1b to V8b, and V1c to V8c of the control valves V1 to V8. Therefore, the operating sensors 54 (54a to 54d) can easily and reliably detect only the operation of the operating members 5a, 5b, and 5e in a specific operating direction.

[0096] (Item 6) In the work machine 1 described in any of the above items 1 to 5, input devices 42, 45, 46 (accelerator dial 42, user interface 45, communication device 46) are provided for inputting the target rotational speed of the prime movers 9, 69. When the control device 7 is rotating the prime movers 9, 69 at the target rotational speed input by the input devices 42, 45, 46, and the pressure sensors 43, 49 no longer detect a hydraulic fluid pressure above a predetermined value, the control device 7 executes idling control, and after the idling control is released, the prime movers 9, 69 are rotated at the target rotational speed.

[0097] According to the configuration of item 6 above, after the idling state of the work machine 1 is released, the prime mover immediately... By rotating parts 9 and 69 at the target rotational speed, the work devices 20, 18, and 10 can be used to perform the work properly, thereby improving work efficiency.

[0098] (Item 7) In the work machine 1 described in any of the above items 1 to 6, the work devices 20, 18, and 10 have a plurality of hydraulic actuators C1 to C5, ML, MR, and MT, and control valves V1 to V8 and operating members 5a to 5f are provided in a plurality corresponding to the plurality of hydraulic actuators C1 to C5, ML, MR, and MT, and operating sensors 44 (44a to 44d) and 54 (54a to 54d) detect operation of a specific operating member 5a, 5b, and 5e among the plurality of operating members 5a to 5f in a specific operating direction.

[0099] According to the configuration of item 7 above, the operation of specific operating members 5a, 5b, and 5e among the multiple operating members 5a to 5f in a specific operating direction can be reliably detected by the operating sensors 44 (44a to 44d) and 54 (54a to 54d), and the idling state can be properly released. Furthermore, the number of operating sensors 44 (44a to 44d) and 54 (54a to 54d) can be kept to a minimum.

[0100] (Item 8) In the work machine 1 described in any of the above items 1 to 7, the prime mover is an electric motor 9, and the work machine 1 comprises a battery unit 30 containing a plurality of batteries, and an inverter 38 that supplies current from the battery unit 30 to the electric motor 9 to drive the electric motor 9, and the control device 7 controls the rotational speed of the electric motor 9 by the inverter 38.

[0101] According to the configuration of item 8 above, the idling state of the work machine 1 and the electric motor 9 can be reliably released without delay.

[0102] (Item 9) In the work machine 1 described in any of the above items 1, 3 to 8, the work devices 20, 18, and 10 have a plurality of hydraulic actuators C1 to C5, ML, MR, and MT, and a plurality of control valves V1 to V8 are provided corresponding to the plurality of hydraulic actuators C1 to C5, ML, MR, and MT, and the plurality of control valves V1 to V8 are each connected to a plurality of branch oil passages 51b that branch off from the main oil passage 51a from which the hydraulic pump P1 discharges hydraulic fluid, and the pressure sensor 43 is connected to the main oil passage 51a.

[0103] According to the configuration described in item 9 above, there is no need to provide numerous pressure sensors corresponding to the hydraulic actuators C1-C5, ML, MR, and MT, thus suppressing an increase in the number of parts and costs.

[0104] (Item 10) In the work machine 1 described in any of the above items 1 to 9, the work device 20 includes a boom 21 connected to the body 2 of the work machine 1 so as to be able to swing up and down, and a first actuator (boom cylinder) C2 which is a hydraulic actuator that swings the boom 21, and the operating members 5a to 5f include a first work lever 5a that can be operated in a first direction (forward) to swing the boom 21 downward and a second direction (rearward) to swing the boom 21 upward, and the operating sensors 44 (44a to 44d), 54 (54a to 54d) include first operating sensors 44a, 54a that detect operation of the first work lever 5a in the first direction.

[0105] According to the configuration of item 10 above, the operation of the first work lever 5a in the first direction, which moves the boom 21 downwards where gravity acts, can be reliably and immediately detected by the first operation sensors 44a and 54a, thereby properly releasing the idling state.

[0106] (Item 11) In the work machine 1 described in any of the above items 1 to 10, the work device 20 includes a boom 21 connected to the body 2 of the work machine 1, an arm 22 connected to the tip of the boom 21 so as to be able to swing up and down, a work tool (bucket) 23 connected to the tip of the arm so as to be able to swing up and down, a second actuator (arm cylinder) C3 which is a hydraulic actuator for swinging the arm 22, and a third actuator (work tool cylinder) C4 which is a hydraulic actuator for swinging the work tool 23, and operating members 5a to 5 f includes a second work lever 5b that can be operated in a first direction (left) to swing the arm 22 downward, a second direction (right) to swing the arm 22 upward, a third direction (forward) to swing the work tool 23 downward, and a fourth direction (rearward) to swing the work tool 23 upward. The operation sensors 44 (44a to 44d) and 54 (54a to 54d) include second operation sensors 44b, 54b that detect operation of the second work lever 5b in the first direction, and third operation sensors 44c, 54c that detect operation of the second work lever 5b in the third direction.

[0107] According to the configuration of item 11 above, the operation of the second work lever 5b, which moves the arm 22 and work tool 23 downwards due to gravity, in the first and third directions can be reliably and immediately detected by the second operation sensors 44b, 54b and the third operation sensors 44c, 54c, thereby properly releasing the idling state.

[0108] (Item 12) In the work machine 1 described in any of the above items 1 to 11, the work devices 20, 18, 10 include a dozer 18 connected to the body 2 of the work machine 1 so as to be able to swing up and down, and a fourth actuator (dozer cylinder) C5 which is a hydraulic actuator that swings the dozer 18, and the operating members 5a to 5f include a dozer lever 5e that can be operated in a first direction (forward) to swing the dozer 18 downward and a second direction (rearward) to swing the dozer 18 upward, and the operating sensors 44 (44a to 44d), 54 (54a to 54d) include fourth operating sensors 44d, 54d that detect operation of the dozer lever 5e in the first direction.

[0109] According to the configuration of item 12 above, the operation of the dozer lever 5e in the first direction, which moves the dozer 18 downward due to gravity, can be reliably and immediately detected by the fourth operation sensors 44d and 54d, thereby properly releasing the idling state.

[0110] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0111] 1. Work machine 2 units 5a~5f Operation parts 7 Control device 9. Electric motor (prime mover) 10. Traveling device (working device) 18. Dozer (working equipment) 20 Working equipment 21 Boom 22 Arms 23 Bucket (work tool) 30 Battery Units 38 Inverter 42. Accelerator Dial (Input Device) 43, 49 Pressure Sensor 44, 44a, 44b, 44c, 44d Operation sensors 45. User Interface (Input Device) 46. ​​Communication devices (input devices) 51a Main oil passage 51b Branch oilway 54, 54a, 54b, 54c, 54d Operation Sensors 59 Electrical detectors 69 Engine (prime mover) C1~C5 Hydraulic Cylinders ML, GR, MT Hydraulic Motors P1 Hydraulic pump No. 1 P2 Second hydraulic pump PV1~PV6 Operating valves V1~V8 Control Valves

Claims

1. The prime mover and A hydraulic pump driven by the aforementioned prime mover to discharge hydraulic fluid, A work device having a hydraulic actuator that operates using the aforementioned hydraulic fluid, A control valve capable of switching the supply state of the hydraulic fluid to the hydraulic actuator, To operate the hydraulic actuator and the work device by switching the position of the control valve, an operating member that can be operated in multiple operating directions is provided. A pressure sensor for detecting the pressure of the hydraulic fluid from the hydraulic pump to the control valve, An operation sensor that detects operation in a specific operation direction among a plurality of operation directions of the operating member that causes the work device to move in the direction in which gravity acts, The system includes a control device that performs idling control to rotate the prime mover at a predetermined idling speed, The control device releases the idling control when the pressure sensor detects a hydraulic fluid pressure of a predetermined value or higher during the execution of the idling control, and when the operation sensor detects operation of the operating member in the specific operating direction.

2. A prime mover consisting of an electric motor, A hydraulic pump driven by the aforementioned electric motor to discharge hydraulic fluid, A work device having a hydraulic actuator that operates using the aforementioned hydraulic fluid, A control valve capable of switching the supply state of the hydraulic fluid to the hydraulic actuator, An operating member that can be operated in multiple operating directions in order to switch the control valve, An electrical detector comprising one or more of a current sensor, a voltage sensor, and an electrical circuit for detecting the current or voltage acting on the electric motor in order to drive the hydraulic pump, An operation sensor that detects operation in a specific operation direction among a plurality of operation directions of the operating member that causes the work device to move in the direction in which gravity acts, The system includes a control device that performs idling control to rotate the electric motor at a predetermined idling speed, The control device releases the idling control when, during the execution of the idling control, the electrical detector detects a current or voltage exceeding a predetermined value, or when the operation sensor detects operation of the operating member in the specific operating direction.

3. The work machine according to claim 1 or 2, wherein the control device releases the idling control when the operation sensor detects continuous operation of the operation member in the specific operation direction for a predetermined period of time or longer.

4. The work machine according to claim 1 or 2, wherein the operation sensor is a non-contact sensor that detects the approach of a movable piece that moves in conjunction with the operation of the operation member in the specific operating direction.

5. The system includes a plurality of operating valves that adjust the pressure of the pilot oil in response to the operation of the operating member, The work machine according to claim 1 or 2, wherein the operation sensor comprises a pilot pressure sensor that detects the pressure of the pilot oil output from the operation valve corresponding to the specific operating direction of the operation member.

6. The system includes an input device for inputting the target rotational speed of the prime mover, The control device is When the prime mover is rotating at the target rotational speed input by the input device, and the pressure sensor no longer detects a hydraulic fluid pressure above a predetermined value, the idling control is executed. The work machine according to claim 1, wherein the prime mover is rotated at the target rotational speed after the idling control is released.

7. The work device has a plurality of hydraulic actuators, The control valve and the operating member are provided in multiple locations corresponding to the multiple hydraulic actuators. The work machine according to claim 1 or 2, wherein the operation sensor detects the operation of a specific operation member among a plurality of operation members in the specific operation direction.

8. The prime mover is an electric motor, The work machine in question is, A battery unit containing multiple batteries, The system includes an inverter that supplies current from the battery unit to the electric motor to drive the electric motor, The work machine according to claim 1 or 2, wherein the control device controls the rotational speed of the electric motor using the inverter.

9. The work device has a plurality of hydraulic actuators, The control valves are provided in multiple units corresponding to the multiple hydraulic actuators, and each of the control valves is connected to a plurality of branch oil passages that branch off from the main oil passage through which the hydraulic pump discharges the hydraulic fluid. The work machine according to claim 1, wherein the pressure sensor is connected to the main oil passage.

10. The aforementioned work apparatus is A boom is attached to the body of the work machine so as to be able to swing up and down, The boom has a first actuator, which is a hydraulic actuator that swings the boom, The operating member includes a first working lever that can be operated in a first direction for swinging the boom downward and a second direction for swinging the boom upward. The work machine according to claim 1 or 2, wherein the operation sensor includes a first operation sensor that detects operation of the first work lever in the first direction.

11. The aforementioned work apparatus is The boom attached to the body of the work machine, An arm is connected to the tip of the boom so as to be able to swing up and down, A work tool is connected to the tip of the aforementioned arm so as to be able to swing up and down, The second actuator, which is the hydraulic actuator that swings the arm, It has a third actuator, which is a hydraulic actuator that swings the aforementioned work tool, The operating member includes a second operating lever that can be operated in a first direction for swinging the arm downward, a second direction for swinging the arm upward, a third direction for swinging the work tool downward, and a fourth direction for swinging the work tool upward. The work machine according to claim 1 or 2, wherein the operation sensor includes a second operation sensor that detects operation of the second work lever in the first direction, and a third operation sensor that detects operation of the second work lever in the third direction.

12. The aforementioned work apparatus is A bulldozer is attached to the body of the work machine so as to be able to swing up and down, The dozer has a fourth actuator, which is a hydraulic actuator that swings the dozer, The operating member includes a dozer lever that can be operated in a first direction to swing the dozer downward and a second direction to swing the dozer upward. The work machine according to claim 1 or 2, wherein the operation sensor includes a fourth operation sensor that detects operation of the dozer lever in the first direction.

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