Operating mechanism for a working machine

Abstract

To provide an operation mechanism for a work machine which can make design of a periphery of an operation lever compact and which can hold proper clearance in a view point of avoiding interference between an operation lever and a guide member.SOLUTION: A first operation mechanism 1 includes: a first actuator 72 capable of tilting a fourth operation lever 5 in a front / back direction based on an operation command; a pair of first guide members 74, 74 which extend along a front / back direction from a front end 74a toward a rear end 74b so as to guide the fourth operation lever 5 and which are provided to face each other so as to sandwich the fourth operation lever 5 in a lateral direction; a pair of first turning members 75, 75 to which the pair of first guide members 74, 74 are respectively attached at the front end 74a and the rear end 74b; and a protrusion 74d which is provided in the pair of first turning members 75, 75 and which positions the front ends 74a of the pair of first guide members 74, 74 in a lateral direction.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an operation mechanism for a work machine that tilts an operation lever, for controlling the operation of the work machine in accordance with tilting in one direction, in that one direction based on an operation command. [Background technology]

[0002] Conventionally, there has been known an operation mechanism for remotely controlling a work machine by indirectly operating an operation lever that can be directly operated by an operator while seated in a seat, based on an operation command transmitted from outside the work machine (see, for example, Patent Document 1). The operation mechanism described in Patent Document 1 includes an actuator that operates based on the operation command to tilt the operation lever, and a pair of guide members that guide the tilt direction of the operation lever. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-172174 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, since many parts are arranged around the operating lever, there is a need to design it as compact as possible.

[0005] In the operation mechanism described in Patent Document 1, a pair of guide members are disposed so as to sandwich the operation lever, and are assembled to support members that support the respective guide members. However, if the pair of guide members are disposed as close to each other as possible in order to make the design around the operation lever compact, there is a risk that the operation lever and the guide members will interfere with each other. In addition, if the distance between the pair of guide members is increased so as to prevent the operation lever and the guide members from interfering with each other, there is a risk that the responsiveness of the operation lever will deteriorate.

[0006] The present invention has been made in consideration of such problems, and has an object to provide an operating mechanism for a work machine that has a compact design around the operating lever and is capable of maintaining an appropriate clearance from the standpoint of avoiding interference between the operating lever and a guide member. [Means for solving the problem]

[0007] In order to achieve this object, the working machine operation mechanism of the present invention is a working machine operation mechanism that tilts an operation lever for controlling the operation of the working machine in response to tilting in a first direction based on a driving command, and is characterized in having an actuator that is capable of tilting the operation lever in the first direction based on the driving command, a pair of guide members that extend from one end to the other end along the first direction so as to guide the operation lever and are provided opposite each other so as to sandwich the operation lever in a second direction perpendicular to the first direction, a pair of support members to which each of the pair of guide members is attached at the one end and the other end, respectively, and a positioning portion formed on the pair of support members for positioning at least one of the one end and the other end of each of the pair of guide portions in the second direction.

[0008] According to the working machine operation mechanism of the present invention, when both ends of a pair of guide parts are attached to a pair of support members, it is possible to eliminate or reduce the positional deviation in the second direction caused by the mechanical fixing mechanism and the slight positional deviation in the second direction during the attachment work. This makes it possible to maintain an appropriate clearance from the viewpoint of avoiding interference between the operation lever and the guide member. In addition, since the guide member is formed in the positioning part, there is no need to provide a separate member for positioning the guide member, making it possible to achieve a compact design.

[0009] In the working machine operating mechanism of the present invention, it is preferable that the positioning portion is constituted by one or both of a recess and a protrusion formed on the support member in a third direction perpendicular to the first direction and the second direction, and engages with at least a portion of at least one of the one end and the other end of each of the pair of guide members.

[0010] In this case, the recesses and protrusions allow the one end and the other end of the pair of guide members to be positioned in the second direction by engaging with the support member, making it possible to facilitate positioning.

[0011] Moreover, in the working machine operating mechanism of the present invention, it is preferable to further include a bracket which covers at least a portion of an outer periphery of the operating lever and is sandwiched between the pair of guide portions.

[0012] The gap between the operating lever and the pair of guide parts varies depending on the operating lever, but in this case, by attaching a bracket that covers at least a part of the outer periphery of the operating lever, it is possible to make the gap between the bracket and the pair of guide parts constant even if the operating lever is different. This makes it possible to make the operation by the pair of guide members constant regardless of the operating lever.

[0013] A work machine according to the present invention is characterized in that it includes the above-described work machine operating mechanism. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing the overall configuration of a remote control system for a work machine according to an embodiment; [Diagram 2] 2 is a schematic diagram showing a schematic configuration of a remote control device of the remote control system of FIG. 1; [Diagram 3] FIG. 2 is a block diagram showing a configuration related to control of the remote control system of FIG. [Figure 4] 2 is a perspective view showing a configuration around a seat of the work machine shown in FIG. 1. [Diagram 5] FIG. 2 is a perspective view showing an operating mechanism of the work machine of FIG. 1. [Figure 6] FIG. 2 is a plan view showing an operating mechanism of the work machine of FIG. 1. [Figure 7] 7A and 7B are diagrams showing an alignment mechanism according to the first embodiment, FIG. 7A being a front view and FIG. 7B being a plan view. [Figure 8] 8A and 8B are diagrams showing an alignment mechanism according to a second embodiment, FIG. 8A being a front view and FIG. 8B being a plan view. [Figure 9] FIG. 11 is a perspective view showing an operation mechanism of a work machine according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, a remote control system S according to an embodiment will be described with reference to the drawings.

[0016] First, the configuration of a remote control system S will be described with reference to FIGS.

[0017] 1, the remote operation system S includes a work machine 1, which is a hydraulic excavator, and a remote operation device 2 for remotely operating the work machine 1. The work machine 1 can be operated directly by an operator on board, or can be operated indirectly via the remote operation device 2 without an operator on board.

[0018] In this embodiment, the work machine is a hydraulic excavator. However, the work machine of the present invention is not limited to a hydraulic excavator, and may be, for example, a crane truck, a dump truck, or the like.

[0019] The work machine 1 comprises a work implement constituted by a boom 10, an arm 11 and an attachment 12, a rotating body 13 on which the work implement is mounted, and a running body 14 which supports the rotating body 13 so that it can rotate freely.

[0020] The base end of the boom 10 is swingably attached to the front of the rotating body 13. The boom 10 has a first hydraulic cylinder 10a, both ends of which are attached to the boom 10 and the rotating body 13. The boom 10 is swingable relative to the rotating body 13 by the extension and contraction action of the first hydraulic cylinder 10a.

[0021] The base end of the arm 11 is attached to the tip of the boom 10 so as to be able to swing. The arm 11 is connected to a second hydraulic cylinder 11a, both ends of which are attached to the arm 11 and the boom 10. The arm 11 is swung relative to the boom 10 by the extension and contraction of the second hydraulic cylinder 11a.

[0022] The attachment 12 is swingably attached to the tip of the arm 11. The attachment 12 has a third hydraulic cylinder 12a, both ends of which are attached to the attachment 12 and the arm 11. The attachment 12 swings relative to the arm 11 by the extension and retraction of the third hydraulic cylinder 12a.

[0023] In this embodiment, a bucket is used as the attachment 12. However, the attachment 12 is not limited to a bucket, and may be another type of attachment (for example, a crusher, a breaker, a magnet, etc.).

[0024] The rotating body 13 is configured to be able to rotate around a yaw axis relative to the running body 14 by a rotation hydraulic motor (not shown). A driver's cab 13a for an operator to ride in is provided at the front of the rotating body 13, and a machine room 13b is provided at the rear of the rotating body 13.

[0025] A slave-side operating device 15 (see FIG. 2) for operating the work machine 1 is disposed in the driver's cab 13a. The slave-side operating device 15 is, for example, an operating pedal, an operating switch, a fourth operating lever 5 and a fifth operating lever 6 (see FIG. 4) described below, and the like.

[0026] The machine room 13b accommodates hydraulic equipment (not shown) such as a hydraulic pump, a directional control valve, and a hydraulic oil tank, as well as an engine (not shown) that serves as a power source for the hydraulic pump and the like.

[0027] The running body 14 is a crawler type running body, and is driven by a hydraulic motor for running (not shown). Note that the running body of the work machine of the present invention is not limited to crawlers. For example, the running body may be one that moves on wheels or one that moves on legs. Furthermore, if the work machine is one that is used on water, the running body may be a barge or the like.

[0028] The work machine 1 may further include actuators other than the above-mentioned traveling hydraulic motor, swing hydraulic motor, first hydraulic cylinder 10a, second hydraulic cylinder 11a, and third hydraulic cylinder 12a (for example, a hydraulic actuator for driving a dozer, a hydraulic actuator included in an attachment such as a crusher, etc.). Some of the actuators of the work machine 1 (for example, the swing actuator) may be electric actuators.

[0029] When operating the work machine 1, the actuators such as the traveling hydraulic motor, the turning hydraulic motor, the first hydraulic cylinder 10a, the second hydraulic cylinder 11a, and the third hydraulic cylinder 12a are operated by operating the slave-side operating device 15 with the engine running. The actuators can be operated in response to the operation of the slave-side operating device 15 in the same manner as in known work machines, for example.

[0030] As shown in FIG. 2, the work machine 1 is equipped with an electric operation drive device 16 (e.g., a first operation mechanism 7 and a second operation mechanism 8 (see FIG. 4) described later) in the driver's cab 13a, which drives the slave side operation device 15 to enable remote operation.

[0031] The operation drive device 16 is connected to the slave side operation device 15. Note that the operation drive device 16 may be configured to be detachable from the work machine 1.

[0032] The operation drive device 16 also has a plurality of electric motors (not shown). By using the driving force from the electric motors, the operation drive device 16 drives each of the operation pedals, operation switches, and a fourth operation lever 5 and a fifth operation lever 6 (see FIG. 4) which will be described later, which are included in the slave side operation device 15.

[0033] The work machine 1 also includes an operating condition detector 17 for detecting the operating condition of the work machine 1, an external sensor 18 such as a camera for detecting the condition around the work machine 1, and a slave side control device 19 capable of executing various control processes.

[0034] The operation state detector 17 is, for example, a detector that detects the rotation angle of the swinging motion of each of the boom 10, arm 11, and attachment 12, or the stroke length of the first hydraulic cylinder 10a, the second hydraulic cylinder 11a, and the third hydraulic cylinder 12a, a detector that detects the rotation angle of the rotating body 13, a detector that detects the driving speed of the running body 14, a detector that detects the inclination angle of the rotating body 13 or the running body 14, an inertial sensor that detects the angular velocity or acceleration of the rotating body 13, etc.

[0035] The external sensor 18 is composed of, for example, a camera, a distance measuring sensor, a radar, etc. The cameras and other components constituting the external sensor 18 are installed at multiple locations such as the periphery of the rotating body 13 so as to be able to detect objects present around the rotating body 13.

[0036] The slave-side control device 19 is configured with one or more electronic circuit units including, for example, a microcomputer, a memory, an interface circuit, etc. The slave-side control device 19 appropriately acquires the detection signals of the operation state detector 17 and the external sensor 18.

[0037] The slave side control device 19 has a function as a driving control unit 19a, a function as a surrounding object detection unit 19b, and a function as a slave side communication unit 19c, which are functions realized by both or either of the implemented hardware configuration and program (software configuration).

[0038] The operation control unit 19a controls the operation of the work machine 1 by controlling the operation of the operation drive device 16 (and thus the operation control of the slave side operation device 15) and the operation of the engine in response to the operation of the slave side operation device 15 or in response to an operation command given from the remote operation device 2.

[0039] The surrounding object detection unit 19b detects an object such as a person or an installed object, when such an object is present in a predetermined target space around the work machine 1, based on a detection signal from the external sensor 18.

[0040] The slave side communication unit 19c appropriately performs wireless communication with the remote control device 2 side via the master side communication unit 27b, which will be described later.

[0041] As shown in FIG. 3, the remote control device 2 is provided inside a remote control room 20 with a master side seat 21 on which an operator sits, a pair of master side console boxes 22 arranged on the left and right of the master side seat 21, a master side operation device 23 operated by the operator to remotely control the work machine 1, a speaker 24 as an output device for acoustic information (auditory information), and a display 25 as an output device for display information (visual information).

[0042] 2, the remote operation device 2 includes an operation state detector 26 for detecting the operation state of the master side operation device 23, and a master side control device 27 capable of executing various control processes. Note that the master side control device 27 may be located either inside or outside the remote operation room 20.

[0043] The master-side operating device 23 has a configuration the same as or similar to that of the slave-side operating device 15 of the work machine 1, for example.

[0044] Specifically, the master side operating device 23 includes a first operating lever 23b with an operating pedal 23a installed on the front side of the master side seat 21 so as to be operable by an operator seated on the master side seat 21, and a second operating lever (not shown) and a third operating lever 23c mounted on each of the pair of left and right master side console boxes 22.

[0045] However, the master-side operating device 23 may have a different configuration from the slave-side operating device 15 of the work machine 1. For example, the master-side operating device 23 may be a portable operating device having a joystick, operating buttons, etc.

[0046] The operation state detector 26 is, for example, a potentiometer, a contact switch, or the like incorporated in the master-side operation device 23. The operation state detector 26 is configured to output a detection signal indicating the operation state of each operation part of the master-side operation device 23 (the operation pedal 23a, the first operation lever 23b, the second operation lever, the third operation lever 23c, etc.).

[0047] The speakers 24 are arranged at a number of locations inside the remote control room 20, for example, at the front, rear and both the left and right sides of the remote control room 20.

[0048] The display 25 is configured by, for example, a liquid crystal display, a head-up display, etc. The display 25 is disposed in front of the master-side seat 21 so that the operator seated on the master-side seat 21 can see it.

[0049] The master-side control device 27 is configured with one or more electronic circuit units including, for example, a microcomputer, a memory, an interface circuit, etc. The master-side control device 27 appropriately acquires a detection signal from the operation state detector 26. Based on this detection signal, the master-side control device 27 recognizes an operation command to the work machine 1 that is defined by the operation state of the master-side operation device 23.

[0050] The master control device 27 has a function as an output information control unit 27a and a function as a master communication unit 27b as functions realized by both or one of a mounted hardware configuration and a program (software configuration).

[0051] The output information control unit 27 a controls the speaker 24 and the display 25 .

[0052] The master-side communication unit 27b appropriately communicates wirelessly with the work machine 1 via the slave-side communication unit 19c. Through this wireless communication, the master-side control device 27 transmits driving commands to the work machine 1 to the slave-side control device 19, and receives various information on the work machine 1 (images captured by a camera, information detected on objects around the work machine 1, information detected on the operating state of the work machine 1, etc.) from the slave-side control device 19.

[0053] Next, the configuration of the first operation mechanism 7 and the second operation mechanism 8, which are one of the operation drive devices 16, will be described in detail with reference to Figs.

[0054] As shown in FIG. 4, the work machine 1 is provided with, inside the driver's cab 13a, a slave side seat 3 on which an operator is seated, and a pair of slave side console boxes 4 arranged on the left and right sides of the slave side seat 3.

[0055] The work machine 1 also includes a slave-side operating device 15 (see FIG. 2). The slave-side operating device 15 includes a fourth operating lever 5 and a fifth operating lever 6, which are provided in each of the slave-side console boxes 4, an operating pedal, and the like.

[0056] The work machine 1 also includes an operation drive device 16 (see FIG. 2). The operation drive device 16 includes a first operation mechanism 7 (work machine operation mechanism) and a second operation mechanism 8 (work machine operation mechanism) for operating the fourth operation lever 5 and the fifth operation lever 6, respectively.

[0057] Further, inside the driver's cab 13a, on the front side of the slave side seat 3 and the fifth operating lever 6, there is formed an entry / exit passage 9 through which the operator passes when seated on the slave side seat 3.

[0058] A fourth operating lever 5 and a fifth operating lever 6 are disposed at the front end of each of the slave side console boxes 4, and a first operating mechanism 7 and a second operating mechanism 8 are attached to the front end of each of the slave side console boxes 4 so as to surround the base ends of the corresponding fourth operating lever 5 and fifth operating lever 6.

[0059] Of the left and right slave console boxes 4, the slave console box 4 on the right side of the seated operator (the left side in FIG. 4) is provided with a control panel 4a at a position behind the fourth operating lever 5. An operating switch is provided on the control panel 4a.

[0060] The fourth control lever 5 and the fifth control lever 6 transmit signals to a slave-side control device 19 (see FIG. 2) according to the tilt angle and tilt direction. The slave-side control device 19 controls the amount of movement of the work machine 1 (for example, in this embodiment, the swing angles of the boom 10 and the arm 11, etc.) based on the signals.

[0061] The first operation mechanism 7 and the second operation mechanism 8 tilt the corresponding fourth operation lever 5 and fifth operation lever 6 based on an operation command from the remote control device 2. Specifically, the first operation mechanism 7 tilts the fourth operation lever 5 in response to the tilting of the second operation lever (not shown) of the remote control device 2. Moreover, the second operation mechanism 8 tilts the fifth operation lever 6 in response to the tilting of the third operation lever 23c (see FIG. 3) of the remote control device 2.

[0062] Hereinafter, a description will be given of the first operating mechanism 7 and the second operating mechanism 8, which are operating mechanisms for a work machine according to an embodiment of the present invention. Since the first operating mechanism 7 and the second operating mechanism 8 have the same configuration, the first operating mechanism 7 will be described in detail here.

[0063] As shown in the perspective view of Fig. 5 and the plan view of Fig. 6, the first operating mechanism 7 includes a plate 70 fixed to the upper surface of the slave-side console box 4, and a support member 71 that pivotally supports the fourth operating lever 5 in a tiltable manner at the center of the upper surface side of the plate 70. The plate 70 is a rectangular flat member.

[0064] The support member 71 axially supports the base end 5a of the fourth operating lever 5 so that it can be tilted freely in the left-right direction, which is a first direction, and in the front-rear direction, which is a second direction perpendicular to the first direction (the up-down direction in Figure 6).

[0065] The first operating mechanism 7 also includes a first actuator 72 arranged on the upper surface side of the plate 70 (the front side in Figures 5 and 6) and a second actuator 73 arranged on the lower surface side of the plate 70 (the rear side in Figures 5 and 6).

[0066] The first actuator 72 and the second actuator 73 are electric actuators. The first actuator 72 generates a driving force for rotating about an axis extending in the up-down direction from a rotation axis (not shown) provided at the lower end. The second actuator 73 generates a driving force for rotating about an axis extending in the left-right direction from a rotation axis (not shown) provided at the left end.

[0067] The first operation mechanism 7 also includes first guide members 74, 74 extending in the front-rear direction on the upper surface side of the plate 70, and a pair of second guide members 77, 77 extending in the left-right direction on the upper surface side of the plate 70 and below the pair of first guide members 74, 74. The first guide members 74, 74 and the second guide members 77, 77 correspond to the guide members of this invention.

[0068] The pair of first guide members 74, 74 is composed of a pair of arch-shaped members on the left and right. The pair of first guide parts 74, 74 are extended in the front-rear direction so as to sandwich the base end 5a of the fourth operating lever 5 and extend in an arch shape from a front end 74a, which is one end on the front side, to a rear end 74b, which is the other end on the rear side. The pair of first guide members 74, 74 are attached to a pair of first rotating members 75, which correspond to a pair of support members of the present invention.

[0069] Specifically, front end portions 74a, 74a of the first guide members 74, 74 are attached to the first rotating member 75 located on the front side. Rear end portions 74b, 74b of the first guide members 74, 74 are attached to the first rotating member 75 located on the rear side.

[0070] These attachments are achieved by screwing bolts 76, 76 into bolt holes 75a, 75a formed in the first rotating member 75 with the bolts 76, 76 inserted through through holes 74c, 74c formed in the first guide members 74, 74, respectively.

[0071] The front first rotating member 75 is directly or indirectly fixed to the rotation shaft of the first actuator 72, and rotates about the second axis a2 extending along the second direction by the driving force generated by the first actuator 72. When the front first rotating member 75 rotates, the pair of first guide members 74 also rotate integrally. As a result, the first guide member 74 presses the base end portion 5a of the fourth operating lever 5, tilting the fourth operating lever 5 in the left-right direction (first direction) along the first axis a1.

[0072] The second guide members 77, 77 are a pair of front and rear second guide members each made of a rod-shaped member. The pair of second guide members 77, 77 are provided to extend in the left-right direction so as to sandwich the base end portion 5a of the fourth operating lever 5 and extend in a straight line from a left end portion 77a, which is one end portion on the left side, to a right end portion 77b, which is the other end portion on the right side. The pair of second guide members 77, 77 are attached to a pair of second rotating members 78, 78 which correspond to a pair of support members of the present invention.

[0073] Specifically, right end portions 77a, 77a of the second guide members 77, 77 are attached to the second rotating member 78 located on the right side. Left end portions 77b, 77b of the second guide members 77, 77 are attached to the second rotating member 78 located on the left side.

[0074] These attachments are made by inserting bolts 79, 79 through through holes (not shown) formed in the second guide members 77, 77, respectively, and screwing them into bolt holes (not shown) formed in the second rotating member 78.

[0075] Here, the second left rotating member 78 is directly or indirectly fixed to the rotation shaft of the second actuator 73, and rotates around the first axis a1 extending along the first direction, which is a direction perpendicular to the second direction, by the driving force generated by the second actuator 73. When the second left rotating member 77 rotates, the pair of second guide members 77 also rotate integrally. As a result, the second guide member 77 presses the base end portion 5a of the fourth operating lever 5, tilting the fourth operating lever 5 in the vertical direction (second direction) along the second axis a2.

[0076] The second guide member 77 is located below the first guide member 74 (at the rear side in Figs. 5 and 6). However, the first guide member 74 is formed in a second axial arch shape centered on the first axis a1. Therefore, even when the second guide member 77 rotates, the second guide member 77 does not come into contact with the first guide member 74.

[0077] In the first operating mechanism 7, the first direction is the left-right direction, and the second direction is the front-rear direction. That is, the first direction and the second direction are perpendicular to each other. However, the first direction and the second direction of the present invention are not limited to being perpendicular to each other, but may be any directions that intersect each other. Therefore, the first direction and the second direction may be appropriately determined depending on the direction in which the operating mechanism tilts the operating lever.

[0078] In this way, the first guide member 74 and the second guide member 77 rotate to press the base end 5a of the fourth operating lever 5, thereby tilting the fourth operating lever 5. Therefore, if the gap between the first guide member 74 and the second guide member 77 and the base end 5a of the fourth operating lever 5 is not a specified interval, there is a risk that the fourth operating lever 5 cannot be tilted to the desired tilt angle.

[0079] For this reason, it is necessary to set a specified distance between the pair of first guide members 74 and the pair of second guide members 77. To set these distances to the specified distances, it is important to accurately align the pair of first guide members 74 when they are fixed to the front first rotating member 74, and to accurately align the pair of second guide members 77 when they are fixed to the left second rotating member 78.

[0080] Hereinafter, a description will be given of an alignment mechanism used when fixing the front sides of the pair of first guide members 74 to the first rotating member 75. In this alignment mechanism, the first direction of the present invention corresponds to the front-rear direction (Y direction), the second direction of the present invention corresponds to the left-right direction (X direction), and the third direction of the present invention corresponds to the up-down direction (Z direction). Note that the alignment mechanism used when fixing the pair of second guide members 77 to the second rotating member 78 on the left side is similar to this, so a description will be omitted.

[0081] In the first embodiment, as shown in Fig. 7A and Fig. 7B, a protrusion 74d is formed on the front end 74a of each of the pair of first guide members 74 at a side (inner side in the left-right direction) close to the other front end 74a in the left-right direction (X direction) of the front end 74a, protruding downward from the lower surface. These protrusions 74d are formed so that the side (outer side in the left-right direction) away from the other front end 74a in the left-right direction (X direction) is flat. A recess 75b is formed in the front first rotating member 75 at its middle part in the left-right direction. The recess 75b is formed by a bottom surface portion formed by a horizontal surface lower than the upper surface of the first rotating member 75, and a pair of side surfaces formed by flat surfaces connecting the upper surface and the width direction end of the bottom surface of the first rotating member 75, respectively. Note that Fig. 7A and Fig. 7B and Fig. 8A and Fig. 8B described later only show the structure of the attachment portion of the front end of the pair of guide members 74 to the first rotating member 75.

[0082] In such a configuration, with the outer surfaces in the left-right direction of the protruding portion 74d of the first guide member 74 abutting against both side surfaces located outside the recessed portion 75b of the first rotating member 75, bolts 76, 76 are inserted into the through holes 74c, 74c of the pair of first guide members 74, and these bolts 76, 76 are screwed into the bolt holes 75a, 75a formed in the first rotating member 75. This makes it easy to set the distance between the pair of first guide members 74, which can change due to the clearance of the through hole 74c for the bolt 76, to a specified value.

[0083] In this manner, when attaching first guide member 74 to first rotating member 75, at least a part of one of the left and right side surfaces of protrusion 74d is brought into contact with the side surface of recess 75b, thereby making it possible to reliably align first guide member 74 in the left and right direction with respect to first rotating member 75. Here, the outer left and right surface of first guide member 74 and the inner left and right surface of first rotating member 75 are aligned.

[0084] Furthermore, in a modified example of the first embodiment, although not shown, the protrusions 74d may not be formed on the pair of guide members 74. In this case, the length of the recess 75b of the first rotating member 75 in the left-right direction is made longer than that of the first embodiment so that the interval between the pair of first guide members 74 becomes a specified value, and bolts 76 are inserted into the through holes 74c of the pair of first guide members 74, respectively, in a state in which the outer surfaces of the lower part of the first guide member 74 abut against both side surfaces positioned outside the recess 75b, and these bolts 76 are screwed into the bolt holes 75a formed in the first rotating member 75.

[0085] In the second embodiment, as shown in Fig. 8A and Fig. 8B, a protrusion 74e is formed on the front end 74a of each of the pair of first guide members 74 at a side (outside in the left-right direction) away from the other front end 74a in the left-right direction (X direction) so as to protrude downward from the lower surface. These protrusions 74e are formed so that the side (inside in the left-right direction) closer to the other front end 74a in the left-right direction (X direction) is flat. The front first rotating member 75 has a protrusion 75c formed in its left-right middle part. The protrusion 75c is formed by an upper surface portion formed by a horizontal surface that is higher than the upper surface of the first rotating member 75, and a pair of side surfaces formed by flat surfaces that connect the upper surface of the first rotating member 75 and the width direction end portions of the upper surface portion, respectively.

[0086] In this configuration, with the inner surfaces in the left-right direction of the protruding portion 74e of the first guide member 74 abutting against both side surfaces of the convex portion 75c of the first rotating member 75, bolts 76, 76 are inserted into the through holes 74c, 74c of the pair of first guide members 74, and these bolts 76, 76 are screwed into the bolt holes 75a, 75a formed in the first rotating member 75. This makes it easy to set the interval between the pair of first guide members 74, which may vary due to the clearance of the through holes 74c for the bolts 76, to a specified value. In this case, the inner surfaces in the left-right direction of the first guide member 74 and the outer surfaces in the left-right direction of the first rotating member 75 are abutted against each other to be aligned.

[0087] In a modified example of the second embodiment, although not shown, the pair of guide members 74, 74 may not be provided with the protrusions 74e. In this case, the length in the left-right direction of the convex portion 75c of the first rotating member 75 is made shorter than that of the second embodiment so that the interval between the pair of first guide members 74 becomes a specified value, and bolts 76, 76 are inserted into the through holes 74c, 74c of the pair of first guide members 74, respectively, in a state in which the inner surfaces of the lower part of the first guide member 74 abut against both side surfaces of the convex portion 75c, and these bolts 76, 76 are screwed into the bolt holes 75a, 75a formed in the first rotating member 75.

[0088] In the above-described first and second embodiments, the cases where the front end portions 74a of each of the pair of first guide members 74 are aligned with the first rotating member 75 are described. However, it is preferable to similarly align the rear end portions 74b of each of the pair of first guide members 74 with the first rotating member 75.

[0089] Furthermore, as described above, the inclination angle of the fourth operating lever 5 depends not only on the rotation angle of the first guide member 74 and the second guide member 77 but also on the gap between the first guide member 74 and the second guide member 77 and the base end 5a of the fourth operating lever 5. Therefore, if the size of the base end 5a changes, the relationship between the rotation angle of the first guide member 74 and the second guide member 77 and the inclination angle of the fourth operating lever 5 changes. Therefore, even if a specified value of the interval between the pair of first guide members 74 is determined in accordance with the fourth operating lever 5 whose size (thickness) of the base end 5a is known, if the size of the base end 5a changes, it becomes necessary to redefine the specified value.

[0090] 9, when the size of the base end 81 is smaller than the base end 5a whose size is set as a specified value, it is preferable to attach a cover 82 to the base end 81 to make it the same size as the base end 5a. In this case, the base end 81 with the cover 82 attached is not limited to having the same overall size as the base end 5a, and the size (diameter) of the portion in contact with the first guide member 74 and the second guide member 77 may be the same. The cover 82 corresponds to the bracket of the present invention. Also, a cover may be attached to the guide member 74.

[0091] As described above, according to the first operation mechanism 7 in the embodiment of the operating mechanism for a work machine of the present invention, it is possible to eliminate or reduce misalignment in the left-right direction caused by the mechanical fixing mechanism when attaching both ends 74a, 74b of the pair of guide portions 74, 74 to the pair of first rotating members 75, 75, respectively, and slight misalignment in the left-right direction during the attachment work. This makes it possible to maintain an appropriate clearance from the viewpoint of avoiding interference between the fourth operation lever 5 and the guide member 74. In addition, since the guide member 74 has the protrusion 74d or the protrusion 74e that is a positioning portion, there is no need to provide a separate member for positioning the guide member 74, and therefore a compact design is possible.

[0092] According to the working machine operating mechanism of the present invention, when both ends of a pair of guide parts are attached to a pair of support members, respectively, it is possible to eliminate or reduce positional misalignment in the second direction caused by the mechanical fixing mechanism and slight positional misalignment in the second direction during the attachment work.

[0093] Although the illustrated embodiment has been described above, the present invention is not limited to such an embodiment. For example, in this embodiment, the pair of first guide members 74, 74, the pair of first rotating members 75, 75, and the alignment mechanism may be different between the front side and the rear side.

[0094] In addition, although the first operating mechanism 7 and the second operating mechanism 8, which correspond to the working machine operating mechanism of the present invention, rotate as a whole, the first guide members 74, 74 and the first rotating members 75, 75, etc. may also be fixed.

[0095] Furthermore, in this embodiment, a case has been described in which the work machine of the present invention is equipped with two first operating mechanisms 7 and two second operating mechanisms 8 which correspond to the work machine operating mechanisms of the present invention, but this is not limited to this, and the work machine of the present invention may be equipped with one or three or more mechanisms which correspond to the work machine operating mechanisms of the present invention. [Explanation of symbols]

[0096] 1...working machine, 2...remote control device, 3...slave side seat, 4...slave side console box, 4a...control panel, 5...fourth operating lever, 5a...base end, 5b...tip end, 6...fifth operating lever, 7...first operating mechanism (operating mechanism for working machine), 8...second operating mechanism (operating mechanism for working machine), 9...passageway, 10...boom, 10a...first hydraulic cylinder, 11...arm, 11a...second hydraulic cylinder, 12...attachment, 12a...third hydraulic cylinder, 13...swivel bed, 13a...operator's cab, 13b...machine room, 14...traveling bed, 15...slave side operating device, 16...operating drive device, 17...operation state detector, 18...external sensor sensor, 19...slave side control device, 19a...driving control unit, 19b...peripheral object detection unit, 19c...slave side communication unit, 20...remote operation room, 21...master side seat, 22...master side console box, 23...master side operation device, 23a...operation pedal, 23b...first operation lever, 23c...third operation lever, 24...speaker, 25...display, 26...operation state detector, 27...master side control device, 27a...output information control unit, 27b...master side communication unit, 70...plate, 71...support member, 72...first actuator, 73...second actuator, 74...first guide member (guide member), 74a...front end (one end), 74b...rear end portion (other end portion), 74c...through hole, 74d...protruding portion (positioning portion), 74e...protruding portion (positioning portion), 75...first rotating member (support member), 75a...bolt hole, 75b...recess, 75c...convex portion, 76...bolt, 77...second guide member (guide member), 77a...left end portion (one end portion), 77b...right end portion (other end portion), 77a...through hole, 78...second rotating member (support member), 79...bolt, 81...base end portion, 82...cover (bracket).

Claims

1. 1. An operation mechanism for a work machine, the operation lever for controlling an operation of the work machine in response to tilting in a first direction based on a driving command, an actuator capable of tilting the operation lever in the first direction based on the driving command; a pair of guide members extending from one end to the other end along the first direction so as to guide the operating lever, and provided opposite to each other so as to sandwich the operating lever in a second direction perpendicular to the first direction; a pair of support members to which the pair of guide members are attached at the one end and the other end, respectively; a positioning portion formed on the pair of support members for positioning at least one of the one end portion or the other end portion of each of the pair of guide members in the second direction, The positioning portion is configured by one or both of a recess and a protrusion formed on the support member in a third direction perpendicular to the first direction and the second direction, and is characterized in that it engages with at least a portion of at least one of the one end and the other end of each of the pair of guide members.

2. 2. The operating mechanism for a work machine according to claim 1, further comprising a bracket that covers at least a portion of an outer periphery of the operating lever and is sandwiched between the pair of guide members.

3. A work machine comprising the operation mechanism for a work machine according to claim 1 or 2.

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