Work vehicle, lever unit, and automatic actuator control method

Abstract

A hydraulic shovel (1) is provided with a left work machine operation lever (150); a second motor (25); and a control unit (30). The left work machine operation lever (150) operates a work machine (3). The second motor (25) moves the left work machine operation lever (150). The control unit (30) controls the second motor (25) to move the left work machine operation lever (150) to a retreating position (P4) outside the operation range (R1) of the left work machine operation lever (150).

Description

[Technical field]

[0001] The present invention relates to a work vehicle, a lever unit, and an automatic actuator control method. [Background technology]

[0002] In the cab of a work vehicle such as a hydraulic excavator, the access door is located to the side of the driver's seat, and the operating lever is also located to the side of the driver's seat. This makes it difficult for drivers to get in and out of the cab because the passageway for getting in and out is narrow.

[0003] Therefore, a configuration has been disclosed in which the entire console including the operating lever is lifted up to ensure passage space for the operator to get on and off the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2002-146839 A Summary of the Invention

[0005] However, in the case of a flip-up type structure, a large operating force is required to flip up the entire console together with the frame.

[0006] An object of the present invention is to provide a work vehicle, a lever unit, and an automatic actuator control method that can ensure passage space for getting on and off without the need for operational force by the operator. (Means for solving the problem)

[0007] The disclosed work vehicle includes an operating lever, an actuator, and a control unit. The operating lever operates a work machine. The actuator moves the operating lever. The control unit controls the actuator to move the operating lever to a retracted position outside the operating range of the operating lever.

[0008] The disclosed work vehicle includes an operating lever, an actuator, and a control unit. The operating lever operates a work machine. The actuator moves the operating lever. The control unit acquires information for determining that an operator will board the vehicle, and when it determines that the operator will board, performs control to drive the actuator and move the operating lever to a retracted position.

[0009] The disclosed lever unit includes an operating lever, an actuator, and a holding portion. The operating lever operates a working machine. The actuator moves the operating lever. The control portion holds the operating lever in a retracted position outside the operating range of the operating lever.

[0010] The disclosed actuator automatic control method is a method for automatically controlling an actuator of an operating lever for operating a work machine, and includes a generating step and a transmitting step. The generating step generates a control signal for the actuator for moving the operating lever to a retracted position outside the operating range of the operating lever. The transmitting step transmits the control signal to the actuator. (Effects of the Invention)

[0011] According to the present disclosure, it is possible to provide a work vehicle, a lever unit, and an automatic actuator control method that can ensure aisle space for getting on and off without putting a burden on the operator. [Brief description of the drawings]

[0012] [Figure 1] 1 is a perspective view of a hydraulic excavator according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view showing the inside of the cab of the hydraulic excavator of FIG. 1. [Diagram 3] FIG. 2 is a side view of the cab of FIG. 1. [Figure 4] FIG. 4 is an external perspective view showing the left working machine operation lever unit of FIG. 3. [Diagram 5] FIG. 5 is a perspective view showing a schematic internal configuration of the left working machine operation lever unit shown in FIG. 4; [Figure 6] Side view of Figure 4. [Figure 7] FIG. 2 is a block diagram showing a configuration related to control of the hydraulic excavator shown in FIG. 1. [Figure 8] FIG. 2 is a flow diagram showing a control method for riding on the hydraulic excavator of FIG. 1. [Figure 9] FIG. 2 is a flow diagram showing a control method for dismounting the hydraulic excavator shown in FIG. 1. [Figure 10] FIG. 11 is a block diagram showing a configuration related to control of a hydraulic excavator according to a second embodiment of the present disclosure. [Figure 11] FIG. 11 is a flowchart showing a control method during riding on a hydraulic excavator according to a second embodiment of the present disclosure. [Figure 12] FIG. 11 is a flowchart showing a control method for dismounting a hydraulic excavator according to a second embodiment of the present disclosure. [Figure 13] FIG. 11 is a block diagram showing a configuration related to control of a hydraulic excavator according to a third embodiment of the present disclosure. [Figure 14] FIG. 11 is a block diagram showing a configuration related to control of a hydraulic excavator according to a fourth embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, a hydraulic excavator 1 (an example of a work vehicle) according to an embodiment of the present invention will be described with reference to the drawings.

[0014] (Embodiment 1) <Configuration> (Overview of the hydraulic excavator 1 configuration) FIG. 1 is a schematic diagram showing the configuration of a hydraulic excavator 1 according to the present embodiment.

[0015] The hydraulic excavator 1 includes a vehicle body 2 and a work machine 3. As shown in Fig. 1, the vehicle body 2 has a running body 4 and a rotating body 5. The running body 4 has a pair of running devices 4a, 4b. Each of the running devices 4a, 4b has tracks 4c, 4d, and the hydraulic excavator 1 travels when the tracks 4c, 4d are driven by driving force from the engine.

[0016] The rotating body 5 is placed on the traveling body 4. The rotating body 5 is provided so as to be rotatable relative to the traveling body 4 about an axis extending in the vertical direction by a turning device (not shown).

[0017] A cab 6 serving as a driver's compartment is provided at the front left position of the rotating body 5. The rotating body 5 houses an engine and a hydraulic pump (not shown), etc. In this embodiment, unless otherwise specified, front, rear, left and right will be described based on the driver's seat in the cab 6. The direction in which the driver's seat faces directly ahead is defined as the forward direction F, and the direction opposite the forward direction is defined as the rear direction B. The right and left sides when the driver's seat faces directly ahead are defined as the right direction R and the left direction L, respectively.

[0018] The cab 6 has a door 6a on the left side opposite the work machine 3.

[0019] The working machine 3 has a boom 7, an arm 8, and an excavation bucket 9, and is attached to the front center position of the rotating body 5. More specifically, the working machine 3 is disposed on the right side of the cab 6. The base end of the boom 7 is rotatably connected to the rotating body 5. The tip of the boom 7 is rotatably connected to the base end of the arm 8. The tip of the arm 8 is rotatably connected to the excavation bucket 9. The excavation bucket 9 is attached to the arm 8 so that its opening faces the vehicle body 2 (rearward). A hydraulic excavator in which the excavation bucket 9 is attached in such a direction is called a backhoe. Hydraulic cylinders 10 to 12 (boom cylinder 10, arm cylinder 11, and bucket cylinder 12) are disposed corresponding to the boom 7, arm 8, and excavation bucket 9, respectively. The working machine 3 is driven by driving these hydraulic cylinders 10 to 12. This allows work such as excavation to be performed.

[0020] 7, which will be described later, is provided on the vehicle body 2. The control unit 30 controls the work machine 3, the revolving body 5, and an application unit 17, which will be described later.

[0021] (Cab 6) FIG. 2 is a perspective view showing the inside of the cab 6. As shown in FIG.

[0022] A driver's seat 13, a travel lever 14, a left work machine operation lever unit 15 (an example of an operation lever), and a right work machine operation lever unit 16 are provided in the cab 6.

[0023] The travel lever 14 is disposed in front of the driver's seat 13. By pushing the travel lever 14 forward, the vehicle body 2 moves forward, and by pulling the travel lever 14 toward the driver, the vehicle body 2 moves backward.

[0024] The left working machine operation lever unit 15 is provided in a console box 51 arranged to the left of the driver's seat 13. A left working machine operation lever 150 of the left working machine operation lever unit 15 can be tilted in four directions, i.e., forward / backward, left / right, and the like.

[0025] Tilting the left working machine operation lever 150 forward pushes out the arm 8, and tilting it backward retracts the arm 8. Tilting the left working machine operation lever 150 towards the driver's seat 13 rotates the rotating body 5 to the right, and tilting it away from the driver's seat 13 rotates the rotating body to the left. When the left working machine operation lever 150 is placed in a neutral position in the front-rear and left-right directions, the rotating body 5 and the arm 8 are stopped and held in that position.

[0026] The right working machine operation lever unit 16 is provided in a console box 52 arranged to the right of the driver's seat 13. A right working machine operation lever 160 of the right working machine operation lever unit 16 can be tilted in four directions, i.e., forward / backward, left / right, and the like.

[0027] The boom 7 is lowered by tilting the right work machine operation lever 160 forward, and raised by tilting it backward. The excavation bucket 9 is dumped by tilting the right work machine operation lever 160 away from the driver's seat 13, and the excavation bucket 9 is excavated by tilting it towards the driver's seat 13. When the right work machine operation lever 160 is positioned in a neutral position in the front / rear / left / right directions, the boom 7 and the excavation bucket 9 do not move and are held in that position.

[0028] Fig. 3 is a side view of the cab 6. Fig. 3 shows a state in which the door 6a has been removed. Of the frames surrounding the door 6a of the cab 6, the front frame of the door 6a is designated as 6b, and the rear frame of the door 6a is designated as 6c. The door 6a can be opened and closed with the rear frame 6c as a fulcrum.

[0029] As shown in Fig. 3, the area between the console box 51 and the left work equipment operation lever 150 and the travel lever 14 provided at the upper front end thereof is an aisle space 6s for the operator to get on and off. A lock lever 20 is provided so as to be able to protrude into this aisle space 6s. As shown in Fig. 3, the lock lever 20 is rotatably attached to the side surface of the console box 51. The lock lever 20 has a rotation support portion 20a, a grip portion 20b, and a blocking bar 20c.

[0030] The rotation support part 20a is rotatably supported on a side surface of the console box 51. The grip part 20b protrudes from the rotation support part 20a and is a part that an operator grips when rotating the lock lever 20. The blocking bar 20c protrudes from the opposite side of the rotation support part 20a from the grip part 20b. The lock lever 20 can rotate between an unlocked position P1 where the blocking bar 20c protrudes toward the passage space 6s and a locked position P2 where the blocking bar 20c is retracted from the passage space 6s and is arranged to extend downward along the console box 51. In FIG. 3, the unlocked position is indicated by a solid line, and the locked position P2 is indicated by a two-dot chain line.

[0031] The locked position P2 is a position where the blocking bar 20c is retracted from the passage space 6s so that the operator can dismount. In the locked position, pilot hydraulic pressure that operates the valve that operates the hydraulic cylinder flows into the oil storage tank to prevent accidental operation of the left work equipment operation lever 150, etc., making it impossible to operate the valve and to operate the hydraulic excavator. In the unlocked position P1, pilot hydraulic pressure is supplied to the valve, enabling it to be operated, and the hydraulic excavator to be operated.

[0032] 3, the left working implement control lever 150, indicated by a solid line, is shown in a state in which it is disposed in a neutral position P3. By moving the left working implement control lever 150 to a retreated position P4 (two-dot chain line) rearward of the normal operation range, the distance from the travel lever 14 increases from L1 to L2, making it easier for the operator to ascend and descend.

[0033] In the hydraulic excavator 1 of this embodiment, a determination is made as to whether the operator has dismounted or gotten on, and the left work implement operation lever 150 is automatically moved to the retracted position P4.

[0034] (Left work machine operation lever unit 15 and right work machine operation lever unit 16) Since the left working implement operation lever unit 15 and the right working implement operation lever unit 16 have the same configuration, the left working implement operation lever unit 15 will be described as an example.

[0035] Fig. 4 is a perspective view that typically shows the external configuration of the left working machine operation lever unit 15. Fig. 5 is a perspective view that typically shows the internal configuration of the left working machine operation lever unit 15. Fig. 6 is a side view of Fig. 4.

[0036] As shown in Fig. 5, the left working implement operation lever unit 15 includes a first support frame 21, a second support frame 22, a third support frame 23, an applying portion 17, a first neutral spring 26, a second neutral spring 27 (an example of a first biasing member), a first potentiometer 28 (see Fig. 4), and a second potentiometer 29 (see Fig. 4). Note that the first potentiometer 28 and the second potentiometer 29 are omitted in Figs. 5 and 6.

[0037] (First support frame 21) The first support frame 21 is fixed to the frame of the console box 51, and supports the left working machine operation lever 150 via the second support frame 22 and the third support frame 23 so that the left working machine operation lever 150 can be tilted forward / backward and left / right.

[0038] For example, as shown in FIG. 4, the first support frame 21 is box-shaped and has an upper surface 21a, a pair of side surfaces 21b, a pair of side surfaces 21c, placement surfaces 21d and 21e, and locking portions 21i and 21j.

[0039] A through hole 21h having a rectangular shape in a plan view is formed in the upper surface 21a.

[0040] The pair of side surfaces 21b are provided so as to extend downward from the front end and the rear end of the upper surface 21a. The pair of side surfaces 21b are disposed so as to face each other in the front-rear direction. A through hole 21f is formed in each of the pair of side surfaces 21b. Only one of the through holes 21f is shown in FIG.

[0041] The pair of side surfaces 21c are provided so as to extend downward from the left and right ends of the upper surface 21a. The pair of side surfaces 21c are disposed so as to face each other in the left-right direction. A through hole 21g is formed in each of the pair of side surfaces 21c. Only one of the through holes 21g is shown in FIG.

[0042] The top surface 21a, the pair of side surfaces 21b and the pair of side surfaces 21c form a box shape.

[0043] The placement surface 21d is provided so as to extend outward from the lower end of one of the pair of side surfaces 21b perpendicularly to the side surface 21b. A first motor 24, which will be described later, is disposed on the placement surface 21d.

[0044] The locking portion 21i is provided so as to extend outwardly from the lower end of the other of the pair of side surfaces 21b perpendicularly to the side surface 21b. A first neutral spring 26, which will be described later, is locked to the locking portion 21i.

[0045] The placement surface 21e is provided so as to extend outward from the lower end of one of the pair of side surfaces 21c perpendicularly to the side surface 21c. A second motor 25, which will be described later, is disposed on the placement surface 21e.

[0046] The locking portion 21j is provided so as to extend outward from the lower end of the other of the pair of side surfaces 21c perpendicularly to the side surface 21c. A second neutral spring 27, which will be described later, is locked to the locking portion 21j.

[0047] (Second support frame 22) In FIG. 5, the first support frame 21 is indicated by a two-dot chain line, and the configuration inside thereof is indicated by a solid line.

[0048] The second support frame 22 tilts in accordance with the forward / rearward tilt of the left working machine operation lever 150. The second support frame 22 does not rotate in response to the left / right tilt of the left working machine operation lever 150, and supports the left / right tilt of the left working machine operation lever 150.

[0049] The second support frame 22 is disposed inside the first support frame 21 so as to be rotatable relative to the first support frame 21. As shown in Fig. 6, the second support frame 22 is formed in an inverted U-shape when viewed along the front-rear direction.

[0050] The second support frame 22 has an upper surface 22a, a pair of side surfaces 22b, a pair of shafts 22c, an extension portion 22e, and a locking portion 22f. The pair of side surfaces 22b are provided so as to face each other in the left-right direction. The pair of side surfaces 22b are formed so as to extend downward from the left and right ends of the upper surface 22a.

[0051] The extension 22e extends downward from the lower end of one of the pair of side surfaces 22b (the left side in the figure). The lower end of the extension 22e is located lower than the locking portion 21j of the first support frame 21.

[0052] The locking portion 22f is provided so as to extend outward from the lower end of the extension portion 22e perpendicular to the extension portion 22e. The locking portion 22f is located lower than the locking portion 21j and is provided substantially parallel to the locking portion 21j. A second neutral spring 27, which will be described later, is locked to the locking portion 22f.

[0053] The other side surface 22b is formed so as to extend downward from the right end of the upper surface 22a.

[0054] The upper surface 22a is provided with a through hole 22d formed along the left-right direction. The width of the through hole 22d in the front-rear direction is set to be approximately the same as the diameter of the left working machine operation lever 150. The left working machine operation lever 150 inclines in the left-right direction along the through hole 22d.

[0055] The shafts 22c are provided on each of the pair of side surfaces 22b along the left-right direction so as to protrude outward. The shaft 22c on the left side surface 22b is provided from the left side surface 22b toward the left, and the shaft 22c on the right side surface 22b is provided from the right side surface 22b toward the right. The pair of shafts 22c are rotatably inserted into through holes 21g (see FIG. 4) formed in each of the pair of side surfaces 21c.

[0056] (Third support frame 23) The third support frame 23 rotates in accordance with the left-right tilt of the left working machine operation lever 150. The third support frame 23 does not rotate in response to the front-rear tilt of the left working machine operation lever 150, but supports the rotation of the left working machine operation lever 150.

[0057] The third support frame 23 is disposed inside the first support frame 21 so as to be rotatable relative to the first support frame 21. The third support frame 23 is disposed inside the second support frame 22.

[0058] As shown in FIG. 5, the third support frame 23 has a frame portion 23a, a pair of shafts 23b, an extension portion 23f, and a locking portion 23g.

[0059] The frame portion 23a has a rectangular shape that is long in the front-rear direction in a plan view. The frame portion 23a surrounds the left working machine operation lever 150 in a plan view. The left working machine operation lever 150 is inclined along the front-rear direction of the frame portion 23a. The frame portion 23a has a pair of side surfaces 23c and a pair of side surfaces 23d (see FIG. 6). The pair of side surfaces 23c are arranged opposite each other in the front-rear direction. The pair of side surfaces 23d are arranged opposite each other in the left-right direction. The side surfaces 23d are formed longer than the side surfaces 23c in a plan view. A through hole is formed in each of the pair of side surfaces 23d, and the left working machine operation lever 150 is rotatably inserted therein.

[0060] The shafts 23b are provided on each of the pair of side surfaces 23d along the front-rear direction so as to protrude outward. The shafts 23b provided on the front side surface 23c are provided from the front side surface 23c toward the front direction, and the shafts 23b provided on the rear side surface 23c are provided from the rear side surface 23c toward the rear direction. The pair of shafts 23b are rotatably inserted into through holes 21f (see FIG. 4) formed in each of the pair of side surfaces 21b.

[0061] As shown in Fig. 6, the left working machine operation lever 150 has a shaft 150a protruding in both the left and right directions at its base. The shaft 150a is rotatably inserted into each of the through holes in the pair of side surfaces 23d. The shaft 150a and the pair of shafts 22c of the second support frame 22 described above are arranged coaxially (see shaft C2). The pair of shafts 23b of the third support frame 23 are arranged coaxially (see shaft C1).

[0062] As a result, for example, when the left working implement control lever 150 is tilted in the front-rear direction, the left working implement control lever 150 rotates about the shaft 150a relative to the third support frame 23. At this time, because the frame portion 23a of the third support frame 23 is formed long in the front-rear direction, the left working implement control lever 150 can be tilted in the front-rear direction without interfering with the frame portion 23a.

[0063] On the other hand, since the left working implement control lever 150 abuts against the edge of the through-hole 22d, the second support frame 22 rotates about the shaft 22c as the left working implement control lever 150 rotates in the front-rear direction. Since the shaft 150a and the pair of shafts 22c of the second support frame 22 described above are arranged on the same axis C2, the left working implement control lever 150 tilts in the front-rear direction about the axis C2.

[0064] Furthermore, when the left working implement control lever 150 is tilted left or right, the left working implement control lever 150 rotates about the shaft 23b together with the third support frame 23. When the left working implement control lever 150 is tilted left or right, the left working implement control lever 150 moves along the through-hole 22d of the second support frame 22, so that the left working implement control lever 150 can be tilted left or right without interfering with the upper surface 22a of the second support frame 22. Since the pair of shafts 23b of the third support frame 23 are arranged on the same axis C1, the left working implement control lever 150 tilts left or right about the axis C1.

[0065] (Grant 17) The applying portion 17 applies a reaction force to the left working implement control lever 150 when the left working implement control lever 150 is operated by the operator, thereby generating a feeling of operation.

[0066] The application unit 17 includes a first motor 24 and a second motor 25 .

[0067] (First motor 24) The first motor 24 is an electric motor, and is connected to one of the pair of shafts 23b of the third support frame 23. The first motor 24 is fixed to the placement surface 21d.

[0068] The first motor 24 applies a force to the shaft 23b, thereby applying a force to the left working machine operation lever 150 so as to tilt it in the left-right direction.

[0069] In normal operation, the first motor 24 can apply a reaction force to the left work implement operation lever 150 and the right work implement operation lever 160 in response to the operator's operation so that the operator can feel the operation sensation of the levers. For example, when the operator tilts the left work implement operation lever 150 to the left, a force is applied to the shaft 23b so that the left work implement operation lever 150 tilts to the right, thereby giving the operator a feeling of operation.

[0070] (Second motor 25) The second motor 25 (an example of an actuator) is an electric motor, and is connected to one of the pair of shafts 22c of the second support frame 22. The second motor 25 is fixed to the placement surface 21e.

[0071] The second motor 25 applies a force to the shaft 22c, thereby applying a force to the left working implement control lever 150 to tilt it in the front-rear direction. When the second motor 25 is rotated, the second support frame 22 rotates in the front-rear direction, and the edge of the through-hole 22d abuts against the left working implement control lever 150, so that the left working implement control lever 150 also tilts in the front-rear direction.

[0072] In order to give the operator a feeling of operation of the levers, the second motor 25 can apply a reaction force to the left work implement operation lever 150 and the right work implement operation lever 160 in response to the operator's operation. For example, when the operator tilts the left work implement operation lever 150 forward, a force is applied to the shaft 22c so that the left work implement operation lever 150 tilts backward, thereby giving the operator a feeling of operation.

[0073] Furthermore, when the operator gets in or out of the cab 6, the second motor 25 applies force to the shaft 22c, causing the left work implement operation lever 150 to automatically move to the retracted position. Note that only the left work implement operation lever 150, which may interfere with the operator getting in or out of the cab 6, needs to be moved to the retracted position, and the right work implement operation lever 160 does not need to be moved to the retracted position.

[0074] (First neutral spring 26) The first neutral spring 26 biases the left working machine operation lever 150 so that the left working machine operation lever 150 is disposed in a neutral position that is the center in the left-right direction. The first neutral spring 26 is a coil spring and has a coil portion 26a, a first end portion 26b, and a second end portion 26c.

[0075] The coil portion 26a is inserted into the shaft 23b. The first end portion 26b and the second end portion 26c are both ends of the first neutral spring 26, and are provided so as to sandwich the locking portion 21i and the locking portion 23g from both sides. The first end portion 26b extends downward from the coil portion 26a and abuts against the right ends of the locking portion 21i and the locking portion 23g. The second end portion 26c extends downward and left from the coil portion 26a and abuts against the left ends of the locking portion 21i and the locking portion 23g. The first neutral spring 26 is biased so as to close the gap between the first end portion 26b and the second end portion 26c. The first neutral spring 26 biases the locking portions 21j and 23g to the left at its first end 26b, and biases the locking portions 21i and 23g to the right at its second end 26c.

[0076] As a result, when the left working implement operation lever 150 is tilted to the left or right, a reaction force is generated when the third support frame 23 is rotated about the axis C1 relative to the first support frame 21 by the first neutral spring 26.

[0077] (Second neutral spring 27) The second neutral spring 27 biases the left working machine operation lever 150 so that the left working machine operation lever 150 is disposed in a neutral position which is the center in the front-rear direction. The second neutral spring 27 is a coil spring and has a coil portion 27a, a first end portion 27b, and a second end portion 27c.

[0078] The coil portion 27a is inserted into the shaft 22c. The first end portion 27b and the second end portion 27c are both ends of the second neutral spring 27, and are provided so as to sandwich the locking portion 21j and the locking portion 22f from both sides. The first end portion 27b extends downward from the coil portion 27a and abuts against the rear ends of the locking portion 21j and the locking portion 22f. The second end portion 27c extends downward and forward from the coil portion 27a and abuts against the front ends of the locking portion 21j and the locking portion 22f. The second neutral spring 27 is biased so as to close the gap between the first end portion 27b and the second end portion 27c. The second neutral spring 27 biases the locking portions 21j and 22f forward at a first end 27b, and biases the locking portions 21j and 22f rearward at a second end 27c.

[0079] As a result, when the left working implement operation lever 150 is tilted forward or backward, a reaction force is generated when the second support frame 22 is rotated about the axis C2 relative to the first support frame 21 by the second neutral spring 27.

[0080] (First potentiometer 28) 4, the first potentiometer 28 is connected to a pair of shafts 23b of the third support frame 23. The first potentiometer 18 is fixed to the frame of the console box 51.

[0081] The first potentiometer 28 detects the rotational position of the shaft 23b, thereby detecting the left-right tilt position of the left working implement operation lever 150. Based on this tilt position, a command signal is transmitted and the rotating body 5 rotates.

[0082] (2nd potentiometer 29) The second potentiometer 29 is connected to a pair of shafts 22c of the second support frame 22. The second potentiometer 29 is fixed to the frame of the console box 51.

[0083] The second potentiometer 29 detects the rotational position of the shaft 22c, thereby detecting the tilt position in the front-rear direction of the left working implement operation lever 150. Based on this tilt position, a command signal is transmitted and the arm 8 is pushed out or retracted.

[0084] (Control unit 30) Fig. 7 is a block diagram showing a configuration related to control. In Fig. 7, the first potentiometer 18 and the second potentiometer 19 are shown together. The first motor 24 and the second motor 25 are shown together. Also, only the second neutral spring 27 is shown.

[0085] The control unit 30 includes a processor such as a CPU (Central Processing Unit), a memory, etc. The control unit 30 loads a stored program onto the memory and executes it using the processor.

[0086] The control unit 30 includes an alighting determination unit 31, a boarding determination unit 32, and a drive signal generation unit 33. The alighting determination unit 31, the boarding determination unit 32, and the drive signal generation unit 33 are executed by a program.

[0087] When the dismount determination unit 31 receives a signal s1 including information for determining whether the operator has dismounted, the dismount determination unit 31 determines that the operator has dismounted. Note that, as shown in Fig. 7, an example of the information for determining whether the operator has dismounted is information from the engine switch sensor 41 that the engine has been turned off. That is, by receiving the information that the engine has been turned off, the dismount determination unit 31 determines that the operator has dismounted.

[0088] In addition, the information used to determine disembarkation may not only be engine off information from the engine switch sensor 41, but also, for example, lock lever operation information, seat belt sensor information, seat occupancy sensor information, door lock lock information, operator posture information, operating lever grip information, or operator movement information.

[0089] The lock lever operation information is information indicating that the lock lever 20 has been operated to the lock position P2. The seat belt sensor information is information indicating that the seat belt of the driver's seat 13 has been undone. The seat occupancy sensor information is information indicating that the operator has left the seat by the seat occupancy sensor. The door lock lock information is door lock information by a radio key or a physical key detected by a door lock sensor provided with the door lock sensor. The operator's posture information is information on the posture of the operator attempting to get off the vehicle, which is obtained by analyzing an image of a camera provided in the cab 6. The operation lever grip information is information indicating that the operator has released his / her hand from the left work implement operation lever 150, which is provided with a pressure sensor. The operator's movement information is information on the movement of the operator attempting to get off the vehicle, which is obtained by analyzing an image of a camera provided in the cab 6.

[0090] In addition, the above-mentioned examples of information for determining whether the operator has dismounted may be appropriately combined to determine whether the operator has dismounted. For example, when both engine off information and operation information of the lock lever 20 to the lock position are received, the dismount determination unit 31 may determine that the operator has dismounted.

[0091] When the boarding determination unit 32 receives the signal s2 including information for determining whether the operator will board, the boarding determination unit 32 determines that the operator will board. Note that the information for determining whether the operator will board may be, for example, door opening / closing information. For example, as shown in FIG. 7, the door opening / closing information is information that indicates that a door opening / closing detection sensor 42 is provided and detects the opening of the door 6a by the door opening / closing detection sensor 42.

[0092] In addition, the information for determining boarding may not only be door opening / closing information from the door opening / closing detection sensor 42, but may also be, for example, door lock release information, handrail gripping information, boarding step weight information, or operator detection information.

[0093] The door lock release information is door lock release information using a radio key or a physical key detected by a door lock sensor. The handrail grip information is information detected by a pressure sensor provided on a handrail (not shown) provided in the cab 6, the pressure sensor detecting that the operator has gripped the handrail. The boarding step weight information is information detected by a pressure sensor provided on a step (not shown) provided for boarding or disembarking from the cab 6, the pressure sensor detecting that the operator is using the step. The operator detection information is information detected by a human presence sensor or the like provided near the door 6a of the cab 6, the human presence sensor detecting that the operator is boarding.

[0094] When the dismount determination unit 31 receives a signal s1 including information for determining dismounting and determines that the operator dismounts, the drive signal generation unit 33 creates an evacuation command signal s3 for moving the left work implement operation lever 150 to the evacuation position P4 and transmits it to the second motor 25 of the application unit 17. When the drive signal generation unit 33 receives a signal s2 including information for determining boarding and determines that the operator boards, the drive signal generation unit 33 creates an evacuation command signal s3 for moving the left work implement operation lever 150 to the evacuation position P4 and transmits it to the second motor 25 of the application unit 17. Based on the evacuation command signal s3, the second motor 25 drives the shaft 22c to move the left work implement operation lever 150 to the rear evacuation position P4. As shown in FIG. 7, it is preferable that the evacuation position P4 is located rearward of the operation range R1 for operating the left work implement operation lever 150 forward and backward.

[0095] In addition, the drive signal generating unit 33 detects the start of the engine, generates a neutral position command signal s8 that drives the second motor 25 to move the left work implement operation lever 150 from the retracted position P4 to the neutral position P3, and transmits the signal to the second motor 25.

[0096] Further, a starting circuit 43, an engine key unit 44, a battery 45, and a timer 46 are electrically connected to the control unit 30.

[0097] The start circuit 43 receives the signal s2 from the door open / close detection sensor 42 and transmits a start command signal s4 to the control unit 30. The control unit 30 starts up when it receives the start command signal s4.

[0098] By rotating the key, the engine key unit 44 can take three positions: an engine start position, an ACC power on position, and an engine off position. Position information of the engine key unit 44 is transmitted to the control unit 30. When the engine key unit 44 is in the engine start position or the ACC power on position, electricity is supplied from the battery 45 to the control unit 30. The battery 45 is electrically connected to the control unit 30 via the engine key unit 44.

[0099] When the timer 46 receives a count start signal s5 from the control unit 30, it starts counting.

[0100] The control unit 30 is also electrically connected, wirelessly or by wire, to the first potentiometer 28 and the second potentiometer 29 provided in the left work implement operation lever unit 15. The control unit 30 receives a signal s6 including position information of the left work implement operation lever 150 from the first potentiometer 28 or the second potentiometer 29. Although not shown, the control unit 30 is also electrically connected, wirelessly or by wire, to the first potentiometer 28 or the second potentiometer 29 provided in the right work implement operation lever unit 16, and receives a signal including position information of the right work implement operation lever 160 from the first potentiometer 28 and the second potentiometer 29.

[0101] The control unit 30 sends a command signal s7 based on a signal s6 including position information received from the first potentiometer 18 and the second potentiometer 19 of the left work implement operating lever 150 and a signal received from the first potentiometer 18 and the second potentiometer 19 of the right work implement operating lever 160 to drive the hydraulic cylinders 10-12 to operate the work implement 3 and rotate the rotating body 5.

[0102] <Operation> The operation of the hydraulic excavator 1 according to the embodiment of the present disclosure will be described below, along with an example of an automatic actuator control method.

[0103] (Control method when boarding) FIG. 8 is a flow chart showing a method of controlling the hydraulic excavator 1 during boarding.

[0104] First, in step S1, the hydraulic excavator 1 is in a stopped state.

[0105] Next, in step S2, the control unit 30 reads signals of various detection results.

[0106] Next, when information for determining whether or not boarding is detected in step S3, a start-up command signal s4 is transmitted from the start-up circuit 43 in step S4 to start up the control unit 30. Note that steps S1 and S2 are repeated and a standby state is entered until information for determining whether or not boarding is received. In this embodiment, for example, the detection of the door opening by the door opening / closing detection sensor 42 corresponds to the detection of information for determining whether or not boarding is performed.

[0107] Next, in step S5, when the boarding determination unit 32 of the control unit 30 receives a signal s2 including information for determining boarding via the start circuit 43, it determines that the operator will board, and the drive signal generation unit 33 generates an evacuation command signal s3. Next, in step S6, the drive signal generation unit 33 transmits the evacuation command signal s3 to the second motor 25. In step S7, the second motor 25 is driven based on the evacuation command signal s3, and the left work implement operation lever 150 moves to the evacuation position P4.

[0108] Next, in step S8, the control unit 30 determines whether or not the engine key unit 44 has been operated to detect engine start.

[0109] If engine start is detected in step S8, it is determined that the operator has entered the driver's seat 13, and in step S9, the drive signal generating unit 33 generates a neutral position command signal s8. Next, in step S10, the drive signal generating unit 33 transmits the neutral position command signal s8 to the second motor 25. When the neutral position command signal s8 is transmitted in step S10, in step S11, the second motor 25 moves the left work implement operation lever 150 to the neutral position P3.

[0110] Next, in step S12, the hydraulic excavator 1 becomes operable, and the control ends.

[0111] On the other hand, if engine start is not detected in step S8, control proceeds to step S13, in which the control unit 30 sends a count start signal s5 to the timer 46, and the timer 46 is activated to turn off the power after a predetermined time.

[0112] Next, in step S14, if the count of timer 46 reaches the set time, the power is turned off in step S15, and control returns to step S1. On the other hand, in step S14, if the set time has not been reached, it is determined whether or not engine start has been detected in step S8. That is, if the engine is started before timer 46 reaches the set time, the control of steps S9 to S12 is performed, and when the set time is reached, the power is turned off. This makes it possible to turn off the power when the door is only opened without being operated.

[0113] (Control method when getting off the vehicle) FIG. 9 is a flow chart showing a method for controlling the hydraulic excavator 1 when dismounting.

[0114] First, in step S21, the hydraulic excavator 1 is ready to operate.

[0115] Next, in step S22, the control unit 30 reads signals of various detection results.

[0116] Next, in step S23, the dismount determination unit 31 of the control unit 30 determines that the operator will dismount when it receives a signal s1 including information for determining dismounting, such as engine off information, from the engine switch sensor 41. If a signal including information for determining dismounting is not received, steps S21 and S22 are repeated, and when a signal including information for determining dismounting is received, the control proceeds to step S24.

[0117] Next, in step S24, the drive signal generating unit 33 generates an evacuation command signal s3, and in step S25, transmits the evacuation command signal s3 to the second motor 25. Then, in step S26, the second motor 25 is driven based on the evacuation command signal s3, and the left work implement operation lever 150 moves to the evacuation position P4.

[0118] Next, in step S27, the control unit 30 transmits a count start signal s5 to the timer 46, and the timer 46 is activated to turn off the power.

[0119] Next, in step S28, when the timer 46 reaches the set time, the power is turned off.

[0120] Next, in step S29, since the power supply is turned off, the power supply to the second motor 25 is also stopped, and the left working implement operation lever 150 is moved by the biasing force of the second neutral spring 27 to a neutral position in the front-rear direction.

[0121] Control at the time of disembarking is carried out as described above.

[0122] (Embodiment 2) The hydraulic excavator according to the second embodiment will be described below.

[0123] <Configuration> The hydraulic excavator of the second embodiment differs from the first embodiment in the configuration of the left work implement operation lever unit and the control section. Therefore, the second embodiment will be described mainly with reference to the differences from the first embodiment.

[0124] Fig. 10 is a diagram that shows a schematic diagram of a left working implement operation lever unit 115 according to the second embodiment. Fig. 10 also shows a block diagram showing the configuration of a control unit 130.

[0125] Compared to the left working implement control lever unit 15 of the first embodiment, the left working implement control lever unit 115 of the second embodiment is provided with a holding portion 61 that holds the left working implement control lever 150 in the retracted position P4.

[0126] The holding portion 61 may be, for example, a magnet, and may be fixed to the inside of the rear side surface 23c of the pair of side surfaces 23c of the third support frame 23.

[0127] In the left work implement operating lever unit 115 of embodiment 2, even if the power supply to the second motor 25 is stopped after the left work implement operating lever 150 is moved to the retracted position P4, the left work implement operating lever 150 is held by the holding portion 61 against the biasing force of the second neutral spring 27.

[0128] Furthermore, the control unit 130 of the second embodiment is not provided with the boarding determination unit 32, as compared with the control unit 30 of the first embodiment. Furthermore, the hydraulic excavator 1 of the second embodiment is not provided with the door opening / closing detection sensor 42, the starting circuit 43, and the timer 46.

[0129] <Operation> Next, a method for controlling a hydraulic excavator according to the second embodiment will be described, along with an example of a method for automatically controlling an actuator.

[0130] (Control method when boarding) FIG. 11 is a flow chart showing a method of controlling the hydraulic excavator 1 during boarding.

[0131] First, in step S31, the hydraulic excavator 1 is in a stopped state.

[0132] Next, when engine start is detected in step S32, power is supplied from the battery 45 and the control unit 130 is started in step S33. In the second embodiment, since the left work implement operation lever 150 is held in the retracted position P4 by the holding portion 61 when the vehicle is stopped, there is no need to move the left work implement operation lever 150 to the retracted position P4 as in the first embodiment.

[0133] Next, in step S34, the drive signal generating unit 33 creates a neutral position command signal s8, and in step S35, the drive signal generating unit 33 transmits the neutral position command signal s8 to the second motor 25. Upon receiving the neutral position command signal s8, in step S36, the second motor 25 moves the left work implement operation lever 150 to the neutral position P3.

[0134] Next, in step S37, the hydraulic excavator 1 becomes operable, and the control ends.

[0135] (Control method when getting off the vehicle) FIG. 12 is a flow chart showing a method for controlling the hydraulic excavator 1 when dismounting.

[0136] First, in step S41, the hydraulic excavator 1 is ready to operate.

[0137] Next, in step S42, the control unit 130 reads signals of various detection results.

[0138] Next, in step S43, the dismounting determination unit 31 of the control unit 130 determines that the operator will dismount when it receives a signal s1 including information for determining dismounting, that is, engine off information, from the engine switch sensor 41. If a signal including information for determining dismounting is not received, steps S41 and S42 are repeated, and when a signal including information for determining dismounting is received, the control proceeds to step S44.

[0139] Next, in step S44, the drive signal generating unit 33 generates an evacuation command signal s3, and in step S45, the drive signal generating unit 33 transmits the evacuation command signal s3 to the second motor 25. Then, in step S46, the second motor 25 is driven based on the evacuation command signal s3, and the left work implement operation lever 150 moves to the evacuation position P4.

[0140] Next, in step S47, the power is turned off and the control ends. The left work implement operation lever 150 that has been moved to the retracted position P4 is held by the holding portion 61. Therefore, the next time the operator gets on, there is no need to move the left work implement operation lever 150 to the retracted position P4.

[0141] (Embodiment 3) The hydraulic excavator according to the third embodiment will be described below.

[0142] <Configuration> The hydraulic excavator of the third embodiment differs from the first embodiment in the configuration of the left work implement operation lever unit and the control section. Therefore, the third embodiment will be described mainly with reference to the differences from the first embodiment.

[0143] Fig. 13 is a diagram that shows a schematic diagram of a left working implement operation lever unit 215 according to the third embodiment. Fig. 13 also shows a block diagram showing the configuration of the control unit 130.

[0144] As shown in FIG. 13, a left working implement control lever unit 215 of the third embodiment is not provided with the first neutral spring 26 and the second neutral spring 27 compared to the left working implement control lever unit 15 of the first embodiment.

[0145] Moreover, the control unit 130 of the third embodiment is similar to that of the second embodiment, and is not provided with the boarding determination unit 32 as compared with the control unit 30 of the first embodiment. Moreover, the hydraulic excavator 1 of the second embodiment is not provided with the door opening / closing detection sensor 42, the starting circuit 43, and the timer 46.

[0146] <Operation> Next, a control method for a hydraulic excavator according to the third embodiment will be described, along with an example of an automatic actuator control method. Note that the flow chart showing the control method when boarding and the flow chart showing the control method when disembarking according to the third embodiment are similar to those in the second embodiment, and therefore will be described using Figures 11 and 12 of the second embodiment.

[0147] (Control method when boarding) First, in step S31, the hydraulic excavator 1 is in a stopped state.

[0148] Next, when engine start is detected in step S32, power is supplied from the battery 45 and the control unit 130 is started in step S33. Note that in the third embodiment, the left work implement operation lever 150 is moved to the retracted position P4 when dismounting, which will be described later, and is placed at the retracted position P4 due to its own weight when the vehicle is stopped, so there is no need to move the left work implement operation lever 150 to the retracted position P4 as in the first embodiment.

[0149] Next, in step S34, the drive signal generating unit 33 of the control unit 130 creates a neutral position command signal s8, and in step S35, the drive signal generating unit 33 transmits the neutral position command signal s8 to the second motor 25. Upon receiving the neutral position command signal s8, in step S36, the second motor 25 moves the left work implement operation lever 150 to the neutral position P3.

[0150] Next, in step S37, the hydraulic excavator 1 becomes operable, and the control ends.

[0151] (Control method when getting off the vehicle) First, in step S41, the hydraulic excavator 1 is ready to operate.

[0152] Next, in step S42, the control unit 130 reads signals of various detection results.

[0153] Next, in step S43, the dismounting determination unit 31 of the control unit 130 determines that the operator will dismount when it receives a signal s1 including information for determining dismounting, that is, engine off information, from the engine switch sensor 41. If a signal including information for determining dismounting is not received, steps S41 and S42 are repeated, and when a signal including information for determining dismounting is received, the control proceeds to step S44.

[0154] Next, in step S44, the drive signal generating unit 33 generates an evacuation command signal s3, and in step S45, the drive signal generating unit 33 transmits the evacuation command signal s3 to the second motor 25. Then, in step S46, the second motor 25 is driven based on the evacuation command signal s3, and the left work implement operation lever 150 moves to the evacuation position P4.

[0155] Next, in step S47, the power is turned off and the control ends. Note that the left work implement operation lever 150 that has been moved to the retracted position P4 remains in the retracted position P4 due to its own weight. Therefore, the next time a person gets on, there is no need to move the left work implement operation lever 150 to the retracted position P4.

[0156] (Embodiment 4) A hydraulic excavator according to the fourth embodiment will be described below.

[0157] <Configuration> The hydraulic excavator of the fourth embodiment differs from the first embodiment in the configuration of the left work implement operation lever unit and the control section. Therefore, the fourth embodiment will be described mainly with reference to the differences from the first embodiment.

[0158] Fig. 14 is a diagram that shows a left working implement operation lever unit 315 according to the fourth embodiment. In addition, a block diagram showing the configuration of the control unit 230 is also shown in Fig. 14.

[0159] As shown in FIG. 14, the left working implement operation lever unit 315 of the fourth embodiment is different from the left working implement operation lever unit 15 of the first embodiment in that the first neutral spring 26 and the second neutral spring 27 are not provided, and a holding portion 62 that holds the left working implement operation lever 150 at the retracted position P4 is provided. The holding portion 62 has a tilting spring 62a (an example of a second biasing member) that biases the left working implement operation lever 150 to the retracted position P4. The tilting spring 62a biases the left working implement operation lever 150 toward the retracted position P4 at the rear. For example, the tilting spring 62a can be arranged so that one end is connected to the inside of the rear side surface 23c of the pair of side surfaces 23c of the third support frame 23, and the other end is connected to the left working implement operation lever 150.

[0160] Furthermore, compared to the control unit 30 of the first embodiment, the control unit 230 of the fourth embodiment is not provided with the dismount determination unit 31 and the boarding determination unit 32. Moreover, the hydraulic excavator 1 of the second embodiment is not provided with the engine switch sensor 41, the door opening / closing detection sensor 42, the starting circuit 43, and the timer 46.

[0161] <Operation> Next, a control method for a hydraulic excavator according to the fourth embodiment will be described, along with an example of an automatic actuator control method.

[0162] (Control method when boarding) The flow showing the control method at the time of boarding in the fourth embodiment is similar to that in the second embodiment, and therefore will be described with reference to FIG. 11 of the second embodiment.

[0163] First, in step S31, the hydraulic excavator 1 is in a stopped state.

[0164] Next, when the start of the engine is detected in step S32, power is supplied from the battery 45 to start the control unit 130 in step S33. Note that in the fourth embodiment, when the vehicle is stopped, the left working implement operation lever 150 is placed in the retracted position P4 by the biasing force of the tilting spring 62a, so there is no need to move the left working implement operation lever 150 to the retracted position P4 as in the first embodiment.

[0165] Next, in step S34, the drive signal generating unit 33 of the control unit 230 creates a neutral position command signal s8, and in step S35, the drive signal generating unit 33 transmits the neutral position command signal s8 to the second motor 25. Upon receiving the neutral position command signal s8, in step S36, the second motor 25 moves the left work implement operation lever 150 to the neutral position P3.

[0166] Next, in step S37, the hydraulic excavator 1 becomes operable, and the control ends.

[0167] (Control method when getting off the vehicle) In the left working implement operation lever unit 315 of the fourth embodiment, when the engine is turned off, the power supply to the second motor 25 is stopped, and the left working implement operation lever 150 moves to the retracted position P4 by the biasing force of the tilting spring 62a.

[0168] Therefore, there is no need to move the left working implement operation lever 150 to the retracted position P4 by the second motor 25 based on the result of engine-off detection.

[0169] <Features> (1) The hydraulic excavator (an example of a work vehicle) in the first to third embodiments includes a left work implement operation lever 150 (an example of an operation lever), a second motor 25 (an example of an actuator), and a control unit 30, 130. The left work implement operation lever 150 operates the work implement 3. The second motor 25 moves the left work implement operation lever 150. The control units 30, 130 control the second motor 25 so as to move the left work implement operation lever 150 to the retracted position P4 or the neutral position P3 (an example of a work position).

[0170] As a result, the left working implement control lever 150 is automatically moved to the retracted position P4 or the neutral position P3, so that the passage space 6s for getting on and off the vehicle can be secured without the need for an operating force by the operator.

[0171] In addition, since the left working implement operation lever 150 is merely moved to the retracted position P4, there is no need to move the operation lever together with the console box 51.

[0172] (2) The hydraulic excavator (an example of a work vehicle) in the first to third embodiments further includes an engine switch sensor 41 (an example of an operator operation detection sensor). The engine switch sensor 41 detects the operation of the operator. Based on a signal from the engine switch sensor 41, the control unit 30, 130 controls the second motor 25 to move the left work implement operation lever 150 to the retracted position P4 or the neutral position P3 (an example of a work position).

[0173] This makes it possible to automatically move the left working implement operation lever 150 to the retracted position P4 or the neutral position P3 based on the engine switch sensor 41, which is an example of a sensor that detects the action of the operator.

[0174] (3) In the hydraulic excavator (an example of a work vehicle) of the present embodiments 1 to 3, the control unit 30, 130 acquires information for determining that the operator will dismount, and if it is determined that the operator will dismount, controls the second motor 25 to move the left work equipment operation lever 150 to the retracted position P4.

[0175] In this way, when the operator dismounts, the left work implement operation lever 150 is automatically moved to the retreated position P4, so that an aisle space for getting on and off can be secured without the need for operating force by the operator.

[0176] In addition, since the left working implement operation lever 150 is merely moved to the retracted position P4, there is no need to move the operation lever together with the console box 51.

[0177] (4) In the hydraulic excavator (an example of a work vehicle) of the first and second embodiments, when the control unit 30, 130 determines that the operator will dismount, it moves the left work equipment operation lever 150 to the retracted position P4 and then terminates control of the left work equipment operation lever 150 after a predetermined time has elapsed.

[0178] For example, even if the information for determining whether or not to disembark includes information for turning off the engine, the operating lever can be automatically moved to the retracted position after the engine is turned off.

[0179] (5) The hydraulic excavator (an example of a work vehicle) in the first and second embodiments further includes a second neutral spring 27 (an example of a first biasing member). The second neutral spring 27 biases the left work implement operation lever 150 toward the neutral position P3 in the operation range R1.

[0180] When such a second neutral spring 27 is provided, the left working implement operation lever 150 is automatically moved by the second motor 25 against the biasing force of the second neutral spring 27 to the retracted position P4.

[0181] In addition, when the operator dismounts from the vehicle, if the left work implement operating lever 150 is not particularly held in the retracted position P4 after the left work implement operating lever 150 is moved to the retracted position P4, the left work implement operating lever 150 is automatically returned to the neutral position P3 by the second neutral spring 27.

[0182] (6) The hydraulic excavator (an example of a work vehicle) in the first and fourth embodiments further includes holding portions 61, 62. The holding portions 61, 62 hold the left work implement operation lever 150 at a retracted position P4 outside the operation range R1 of the left work implement operation lever 150.

[0183] This makes it possible to hold the left working implement operation lever 150 in the retracted position P4 even when the operator has dismounted and the power is turned off.

[0184] (7) The hydraulic excavator 1 (an example of a work vehicle) in the first and second embodiments further includes a second neutral spring 27 (an example of a first biasing member). The second neutral spring 27 biases the left work implement operation lever 150 to the neutral position P3 in the operation range R1. The control unit 30 acquires information for determining that an operator will board, and when it is determined that the operator will board, controls the second motor 25 to move the left work implement operation lever 150 to the retracted position P4.

[0185] When the second neutral spring 27 is provided in this manner, the left working implement operation lever 150 is disposed in the neutral position P3 when the power is off. Therefore, by automatically moving the left working implement operation lever 150 to the retracted position P4 when it is determined that the operator will board, it is possible to ensure passage space for the operator to board and disembark without the need for operating force by the operator.

[0186] In addition, since the left working implement control lever 150 only needs to be moved to the retracted position P4, there is no need to move the left working implement control lever 150 together with the console box 51.

[0187] (8) In the hydraulic excavator 1 (an example of a work vehicle) of embodiment 1, when the control unit 30 determines that an operator will board, it moves the left work equipment operation lever 150 to the retracted position P4, and then, when engine start-up is detected, it moves the left work equipment operation lever 150 to the neutral position P3 in the operation range R1.

[0188] As a result, when the operator begins work, the left work implement operation lever 150 automatically moves to the neutral position P3, allowing a smooth transition from boarding to operation.

[0189] (9) In the hydraulic excavator 1 (an example of a work vehicle) of embodiments 1 to 4, the control unit 30, 130 acquires information for determining that an operator will board, and if it is determined that an operator will board, when engine start is detected, moves the left work equipment operation lever 150 from the retracted position P4 to the neutral position P3 in the operation range R1.

[0190] As a result, even if the left working implement control lever 150 is moved to the retracted position P4 when the operator boards the machine, the left working implement control lever 150 automatically moves to the neutral position P3 when the operator begins work. This allows the operator to smoothly transition from boarding to work.

[0191] (10) In the hydraulic excavator 1 (an example of a work vehicle) in the first to fourth embodiments, the control unit 30, 130 ends the control when the start of the engine is not detected for a predetermined time.

[0192] Even if the information for determining whether the operator will board is acquired and it is determined that the operator will board, there may be cases where the operator will not perform work using the work machine 3, so if the engine is not started for a predetermined time, it can be determined that no work will be performed and the control can be terminated. Note that the control can be terminated, for example, by turning off the power.

[0193] (11) In the hydraulic excavator 1 (an example of a work vehicle) according to the first to fourth embodiments, the retreat position P4 is provided on the opposite side of the passage space S for the operator to dismount, with reference to the neutral position P3 of the operation range R1. This allows the aisle to be wider when disembarking, making it easier for operators to disembark.

[0194] (12) In the hydraulic excavator 1 (an example of a work vehicle) of embodiments 1 to 4, the information for determining that the operator has dismounted includes at least one of engine switch off information, operation information of a lock lever that locks the operation of the vehicle when dismounting, fastening / unfastening information of a seat belt sensor, seating information from a seating sensor, operator posture information, grip information of the operating lever, or operator movement information.

[0195] This makes it possible to determine that the operator will disembark.

[0196] (13) In the hydraulic excavator 1 (an example of a work vehicle) of embodiments 1 to 4, information for determining boarding includes any one of door opening / closing information, door lock release information, handrail gripping information, boarding step weight information, or operator detection information.

[0197] This makes it possible to determine that an operator will board.

[0198] (14) The hydraulic excavator 1 (an example of a work vehicle) in the first to third embodiments includes a left work implement operation lever 150 (an example of an operation lever), a second motor 25 (an example of an actuator), and control units 30, 130. The left work implement operation lever 150 operates the work implement 3. The second motor 25 moves the left work implement operation lever 150. The control units 30, 130 acquire information for determining that an operator will board, and when it is determined that the operator will board, perform control to drive the second motor 25 and move the left work implement operation lever 150 to the retracted position P4.

[0199] In this way, when the operator boards, the left working implement operation lever 150 is automatically moved to the retracted position P4, so that an aisle space for getting on and off can be secured without the need for operating force by the operator.

[0200] In addition, since the left working implement operation lever 150 is merely moved to the retracted position P4, there is no need to move the operation lever together with the console box 51.

[0201] (15) The left work implement operation lever unit 115, 315 (an example of a lever unit) in the second and fourth embodiments includes a left work implement operation lever 150, a second motor 25, and holding portions 61, 62. The left work implement operation lever 150 operates the work implement 3. The second motor 25 moves the left work implement operation lever 150. The holding portions 61, 62 hold the left work implement operation lever 150 at a retracted position P4 outside the operation range R1 of the left work implement operation lever 150.

[0202] This makes it possible to hold the left working implement operation lever 150 in the retracted position P4 even when the operator has dismounted and the power is turned off.

[0203] (16) In the left working implement operation lever unit 115 (an example of a lever unit) of the second embodiment, the holding portion 61 holds the left working implement operation lever 150 that has been moved by the drive of the second motor 25 to the retracted position P4.

[0204] As a result, the left working implement operation lever 150, which has automatically moved to the retracted position P4 by the drive of the second motor 25, can be held at the retracted position P4.

[0205] (17) In the left working implement control lever unit 315 (an example of a lever unit) of the fourth embodiment, the holding portion 62 has a tilting spring 62a (an example of a second biasing member) that biases the left working implement control lever 150 to the retracted position P4.

[0206] As a result, the left working implement operation lever 150 can be automatically moved to the retracted position P4 by the biasing force of the tilting spring 62a, and held at the retracted position P4.

[0207] (18) The actuator automatic control method of the first to third embodiments is a method for automatically controlling the second motor 25 (an example of an actuator) of the left working implement operation lever 150 (an example of an operation lever) for operating the working implement 3, and includes steps S5, S9, S24, S34, and S44 (an example of a generating step) and steps S6, S10, S25, S35, and S45 (an example of a transmitting step). Steps S5, S9, S24, S34, and S44 generate a retract command signal s3 or a neutral position command signal s8 (an example of a control signal) for the second motor 25 (an example of an actuator) for moving the left working implement operation lever 150 to the retracted position P4 or the neutral position P3 (an example of a working position). Steps S6, S10, S25, S35, and S45 transmit the retract command signal s3 or the neutral position command signal s8 to the second motor 25.

[0208] As a result, the left working implement control lever 150 is automatically moved to the retracted position P4 or the neutral position P3, so that an aisle space for getting on and off the vehicle can be secured without the need for an operating force by the operator.

[0209] In addition, since the left working implement operation lever 150 is merely moved to the retracted position P4, there is no need to move the operation lever together with the console box 51.

[0210] (19) The actuator automatic control method according to the first to third embodiments further includes steps S2, S8, S22, S32, and S42 (an example of a detection step). Steps S2, S8, S22, S32, and S42 detect the operation of the operator. Steps S5, S9, S24, S34, and S44 (an example of a generation step) generate a retract command signal s3 or a neutral position command signal s8 for the second motor 25 based on the detection result so as to move the left work implement operation lever 150 (an example of an operation lever) to the retracted position P4 or the neutral position P3 (an example of a working position).

[0211] (20) The actuator automatic control method according to the first to third embodiments includes steps S22 and S42 (an example of a first acquisition step) and steps S23 and S43 (an example of a determination step). Steps S22 and S42 acquire information for determining that the operator will dismount from the hydraulic excavator 1. Steps S23 and S43 determine whether the operator will dismount from the hydraulic excavator 1 from the acquired information. Steps S24 and S44 (an example of a generation step) generate a retraction command signal s3 (an example of a control signal) for the second motor 25 to move the left work implement operation lever 150, which operates the work implement 3, to the retracted position P4 when it is determined that the operator will dismount.

[0212] In this way, when the operator gets off the vehicle, the left working implement operation lever 150 is automatically moved to the retreated position P4, so that space for getting on and off the vehicle can be secured without the need for operational force by the operator.

[0213] In addition, since the left working implement control lever 150 only needs to be moved to the retracted position P4, there is no need to move the left working implement control lever 150 together with the console box 51.

[0214] (twenty one) The actuator automatic control methods of the first to third embodiments include step S2 (an example of a second acquisition step), step S3 (an example of a determination step), and step S7 (an example of a movement step). Step S2 acquires information for determining that an operator will board from the hydraulic excavator 1 (an example of a work vehicle). Step S3 determines from the acquired information whether or not the operator will board. Step S7 moves the left work implement operation lever 150 to the retracted position P4 when it is determined that the operator will board.

[0215] In this way, when the operator boards, the left working implement operation lever 150 is automatically moved to the retracted position P4, so that an aisle space for getting on and off can be secured without the need for operating force by the operator.

[0216] In addition, since the left working implement operation lever 150 is merely moved to the retracted position P4, there is no need to move the operation lever together with the console box 51.

[0217] <Other embodiments> Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0218] (A) In the above-mentioned embodiment 3, a magnet is used as the retaining portion 61, but it is not limited to a magnet, and a mating portion such as a recess may be formed on either the left work implement operating lever 150 or the frame side, and a mating portion such as a protrusion may be formed on the other side.

[0219] Furthermore, the holding portion 61 may be, for example, a detent. That is, a member on which a detent ball is arranged may be provided, and the left working implement operation lever 150 may be formed with a groove into which the detent ball fits.

[0220] (B) In the above embodiments 1 to 4, the passage space 6s is provided on the left side of the cab 6, so the passage space 6s is widened by moving the left work implement operating lever 150 to the retracted position P4. However, if the passage space 6s is provided on the right side, it is sufficient to move the right work implement operating lever 160 to the retracted position.

[0221] (C) In the above-mentioned first embodiment, the first neutral spring 26 and the second neutral spring 27 are provided, and the biasing force of these springs can impart an operational feel to the left working implement operation lever 150, so the left working implement operation lever unit 15 does not need to be provided with the first motor 24. The second motor 25 is necessary to move the left working implement operation lever 150 to the retracted position P4. Also, since there is no need to move the right working implement operation lever 160 to the retracted position P4, the right working implement operation lever unit 16 does not need to be provided with both the first motor 24 and the second motor 25.

[0222] (D) In the above-mentioned embodiment 2, the retracted position P4 is set behind the operation range R1 because the holding portion 61 is provided for holding by using a magnet or the like, but in the above-mentioned embodiments 1, 3, and 4, the retracted position P4 may be set within the operation range R1. In this case, it is preferable to set the retracted position P4 at the position in the operation range R1 farthest from the passage space 6s.

[0223] (E) In the above first to fourth embodiments, a hydraulic excavator has been used as an example of a work vehicle, but the work vehicle is not limited to a hydraulic excavator and may be a wheel loader or the like.

[0224] (F) In the above first to fourth embodiments, a work vehicle using tracks is given as an example, but in the case of a work vehicle using wheels instead of tracks, the information for determining dismounting may include parking switch on information or transmission shift position information. Parking switch on information is information for turning on the parking switch when parking the work vehicle. Transmission shift position information is information that the transmission has been shifted to, for example, neutral or parking.

[0225] (G) In the above first to fourth embodiments, the neutral position P3 is an example of the working position, but this is not limiting, and the working position may be any position within the operation range R1. [Industrial Applicability]

[0226] The work vehicle and actuator automatic control method of the present invention have the effect of ensuring passage space for getting on and off without the need for operational force by the operator, and are useful, for example, in hydraulic excavators. [Explanation of symbols]

[0227] 1: Hydraulic excavator 3: Work equipment 25: Second motor 30: Control section 150: Left work equipment operation lever

Claims

1. An operation lever for operating the work machine; an actuator that moves the operating lever; a control unit that controls the actuator so as to move the operation lever to a retracted position outside an operation range of the operation lever, The actuator applies a reaction force to the operation of the operating lever. Work vehicle.

2. Further comprising an operator motion detection sensor for detecting a motion of an operator, The control unit controls the actuator to move the operation lever to the retracted position based on a signal from the operator operation detection sensor. A work vehicle according to claim 1.

3. the control unit acquires information for determining that the operator will dismount, and when it is determined that the operator will dismount, controls the actuator to move the operation lever to the retracted position. A work vehicle according to claim 1.

4. When it is determined that the operator gets off, the control unit moves the operation lever to the retracted position, and then terminates control of the actuator after a predetermined time has elapsed. A work vehicle according to claim 1.

5. The lever further includes a first biasing member that biases the operating lever to a neutral position in an operating range. A work vehicle according to any one of claims 1 to 4.

6. The operating lever further includes a holding portion for holding the operating lever in the retracted position. A work vehicle according to any one of claims 1 to 5.

7. An operation lever for operating the work machine; an actuator that moves the operating lever; a control unit that controls the actuator so as to move the operation lever to a retracted position outside an operation range of the operation lever; a first biasing member that biases the operating lever to a neutral position in an operating range, The control unit acquires information for determining that an operator will board the aircraft, and when it is determined that the operator will board the aircraft, controls the actuator to move the operation lever to the retracted position. Work vehicles

8. When it is determined that the operator will board, the control unit moves the operation lever to the retracted position, and then, when the start of the engine is detected, moves the operation lever to a neutral position in the operation range. A work vehicle according to claim 7.

9. An operation lever for operating the work machine; an actuator that moves the operating lever; a control unit that controls the actuator so as to move the operation lever to a retracted position outside an operation range of the operation lever, the control unit acquires information for determining that an operator will board the vehicle, and when it is determined that the operator will board the vehicle, when engine start is detected, moves the operation lever from the retracted position to a neutral position within an operation range. Work vehicle.

10. The control unit terminates control of the actuator when the start of the engine is not detected for a predetermined time. A work vehicle according to claim 8 or 9.

11. The retreat position is provided on the opposite side of the passageway through which the operator gets off, with reference to the neutral position of the operation range. A work vehicle according to any one of claims 1 to 10.

12. The information for determining that the operator will get off includes at least one of engine switch off information, operation information of a lock lever that locks the operation of the vehicle when getting off, seat belt sensor information, seat occupancy sensor information, door lock lock information, operator posture information, grip information of the operation lever, operator operation information, parking switch on information, or transmission shift position information. A work vehicle according to claim 3 or 4.

13. The information for determining that the operator is boarding includes any one of door opening / closing information, door lock release information, handrail grip information, boarding step weight information, and operator detection information. A work vehicle according to any one of claims 7 to 10.

14. An operation lever for operating the work machine; an actuator that moves the operating lever; a control unit that acquires information for determining that an operator will board the aircraft and, when it is determined that the operator will board the aircraft, performs control to drive the actuator and move the operation lever to a retracted position, The actuator applies a reaction force to the operation of the operating lever. Work vehicle.

15. An operation lever for operating the work machine; an actuator that moves the operating lever; a holding portion for holding the operating lever at a retracted position outside the operating range of the operating lever, The actuator applies a reaction force to the operation of the operating lever, the holding portion holds the operation lever that has been moved to the retracted position by driving the actuator. Lever unit.

16. The holding portion has a second biasing member that biases the operating lever to the retracted position. A lever unit according to claim 15.

17. A method for automatically controlling an actuator of an operating lever for operating a work machine, comprising: a generating step of generating a control signal for the actuator for moving the operating lever to a retracted position outside an operating range of the operating lever; and transmitting the control signal to the actuator; The actuator applies a reaction force to the operation of the operating lever. A method for automatically controlling an actuator.

18. The method further includes a detection step of detecting an operator's movement, The generating step generates a control signal for the actuator so as to move the operating lever to the retracted position based on a detection result.

18. The method for automatically controlling an actuator according to claim 17.

19. A first acquisition step of acquiring information for determining that an operator will dismount from the work vehicle; and determining whether the operator gets off the vehicle based on the acquired information. The generating step generates a control signal for the actuator so as to move an operation lever for operating a work machine to a retracted position when it is determined that the operator will dismount.

18. The method for automatically controlling an actuator according to claim 17.

20. A second acquisition step of acquiring information for determining that an operator will board the work vehicle; a determination step of determining whether an operator will board the aircraft based on the acquired information; When it is determined that the operator boards the aircraft, the operation lever is moved to a retracted position.

18. The method for automatically controlling an actuator according to claim 17.

Images