Working machine

Abstract

To provide a working machine capable of grasping the posture of a movable section without increasing a load of arithmetic processing.SOLUTION: A working machine includes a first boom 411 disposed so as to be turnable, and a second boom 413 disposed so as to be relatively turnable to the first boom 411 in a direction crossing the turning direction of the first boom 411, and capable of being positioned in a first turning position, a second turning position and a third turning position. The second boom 413 has a first sensor Se1 for detecting the second turning position of the second boom 413, and a second sensor Se2 for detecting the third turning position of the second boom 413. In accordance with an angle of turning of the second boom 413, a state in which the other end side is positioned in the rearmost end relative to the travelling direction is the first turning position, a state in which the other end side is positioned in the foremost end relative to the travelling direction is the third turning position, and a state in which the other end side is positioned in an intermediate part from the first tuning position to the third turning position is the second turning position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to a working machine.

Background Art

[0002] A mowing device has been proposed in Patent Document 1 in which a plurality of arms are connected and a mowing tool for performing ground work on the arms is attached. This mowing device is provided with a sensor for detecting the position and posture of the arm and the mowing tool, and accurately controls the mowing operation by the mowing tool by subjecting the information detected by the sensor to arithmetic processing in a control unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if the position and posture information, which is the information obtained from the sensor, is input to the control unit as something direct or linear, the burden on the arithmetic processing increases. Also, the more the control of the movable parts and directions of the arm increases, the greater the burden on the arithmetic processing inevitably becomes. When trying to perform arithmetic processing on a large amount of information, the processing ability must be increased, so there is a problem that the configuration of the control unit that performs the arithmetic processing becomes expensive. Therefore, an object of the present invention is to provide a working machine capable of grasping the posture of a movable part without increasing the burden of arithmetic processing.

Means for Solving the Problems

[0005] This invention is a first boom provided so as to be rotatable, A second boom that is provided so as to be rotatable relative to the first boom in a direction intersecting the turning direction of the first boom and that can be positioned at a first turning position, a second turning position, and a third turning position. The second boom detects the second turning position of the second boom Transmit the first contact signal with a first Switch and detects the third turning position of the second boom Transmit the second contact signal with a second Switch and is provided with 、 Connected to the first switch and the second switch, and provided with a control unit capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by the combination of receiving the first contact signal and the second contact signal A working machine characterized by the above. relates to.

[0006] This invention has a first boom provided so as to be rotatable, and a second boom that is provided so as to be rotatable relative to the first boom in a direction intersecting the turning direction of the first boom and that can be positioned at a first turning position, a second turning position, and a third turning position. The second boom detects the second turning position of the second boom Transmit the first contact signal with a first Switch and detects the third turning position of the second boom Transmit the second contact signal with a second Switch and Connected to the first switch and the second switch, and a control unit capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by the combination of receiving the first contact signal and the second contact signal is provided with A working machine characterized in that, according to the angle of rotation of the second boom, the state where the other end side is positioned at the rearmost end with respect to the traveling direction is the first turning position, the state where the other end side is positioned at the foremost end with respect to the traveling direction is the third turning position, and the state where it is positioned at the middle part between the first turning position and the third turning position is the second turning position. relates to.

[0007] This invention 、 has a first boom provided so as to be rotatable, and a second boom that is provided so as to be rotatable relative to the first boom in a direction intersecting the turning direction of the first boom and that can be positioned at a first turning position, a second turning position, and a third turning position. A connecting body that connects the first boom and the second boom and rotates the second boom in directions parallel and intersecting relative to the first boom, The second boom detects the second turning position of the second boom Transmit the first contact signal of the first Switch and detects the third turning position of the second boom Transmit the second contact signal of the second Switch and Connected to the first switch and the second switch, and a control unit capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by the combination of receiving the first contact signal and the second contact signal A working machine characterized by comprising relates to.

[0008] The present invention further provides The second boom has a first acting part for detecting the second turning position at the first Switch and a second acting part for detecting the third turning position at the second Switch A working machine characterized by comprising relates to. relates to.

[0009] The present invention further provides the first Switch and the second Switch When not detected, the second boom is recognized as being in the first turning position, and when only the first Switch is detected, the second boom is recognized as being in the second turning position, and when both the first Switch and the second Switch are detected, the second boom is recognized as being in the third turning position, and a control unit A working machine characterized by comprising relates to.

Effects of the Invention

[0010] The present invention can provide a working machine capable of grasping the posture of a movable part without increasing the burden of arithmetic processing.

Brief Description of the Drawings

[0011]

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Mode for Carrying Out the Invention

[0012] The mechanical structure of an embodiment of the working machine according to the present invention will be described with reference to the drawings. A is a working machine. In an embodiment of the present invention, the working machine A is related to a working machine that performs operations such as mowing grass. The working machine A is attached and driven to a traveling machine body B composed of a tractor or the like. The traveling machine body B composed of a tractor or the like attaches the working machine A to the rear as shown in FIGS. 13 to 27, and in FIG. 1, it is located on the back side of the working machine A. M is an operator who operates the traveling machine body B.

[0013] 11 is a main frame. The main frame 11 is attached to the working machine A. The main frame 11 is mounted on the rear side in the traveling direction of the traveling machine body B. As shown in the figure, the main frame 11 is provided with mounting portions 111 and 112 for mounting to the traveling machine body. The two 111 are lower mounting portions (lower), and 112 is an upper mounting portion (top), and the working machine A is mounted to the traveling machine body at three points.

[0014] 22 shown in FIG. 3 is an input shaft. The input shaft 22 takes in the driving force from the traveling machine body B to be attached and inputs it to the working machine A. In a speed change unit (not shown), the driving force input from the traveling machine body B by the input shaft 22 is speed-changed.

[0015] 24 shown in FIGS. 1 to 3 is a hydraulic pump which is a fluid pressure generation source. The hydraulic pump 24 is driven by the driving force input from the traveling machine body B by the input shaft 22 and speed-changed by a transmission (not shown). The hydraulic pump 24 delivers hydraulic pressure to the hydraulic equipment related to the hydraulic operation of the working machine A. 25 shown in FIGS. 1 and 2 is a valve unit which is a direction control valve. In the valve unit 25, the flow of hydraulic pressure is switched and controlled.

[0016] 21 shown in FIGS. 1 to 3 is a mast frame. 211 is a mast frame rotation shaft. The mast frame 21 is rotatably attached to the main frame 11 by the mast frame rotation shaft 211. The mast frame 21 is provided at one end or the central part of the main frame 11 of the working machine A with respect to the left and right in the traveling direction. In the embodiment, the mast frame rotation shaft 211 is provided at a position slightly deviated to the left side in the traveling direction from the central part which is one end of the main frame 11, and the mast frame 21 is arranged on the left side in the traveling direction which is one end of the main frame 11.

[0017] The mast frame 21 can rotate the telescopic means 41 described later in the horizontal direction. The mast frame 21 can rotate around the mast frame rotation shaft 211 which is around the vertical axis. By horizontally rotating the telescopic means 41 around the mast frame rotation shaft 211, the mast frame 21 can change its posture between the normal position where the telescopic means 41 is positioned on the left and right sides in the traveling direction and the retracted position where the telescopic means 41 is positioned on the rear side in the traveling direction. The mast frame 21 can be fixed so as not to be able to swivel with respect to the main frame 11. The mast frame 21 shown in FIG. 1 shows a state where the other end side of the first boom 411 of the telescopic means 41 is fixed at a position where it can swivel toward the left and right sides with respect to the traveling direction of the traveling body B.

[0018] 31 is a tank. In the embodiment, the tank 31 is an oil tank. The tank 31 is provided at the other end of the main frame 11 with respect to the left and right in the traveling direction of the working machine A. Since each cylinder used in the working machine A is a hydraulic cylinder, the tank 31 stores oil for driving each oil cylinder.

[0019] 41 is a telescopic means. One end side of the telescopic means 41 is connected to the mast frame 21 which can rotate near the main frame 11. As shown in FIGS. 1 and 13, the telescopic means 41 can be folded and the working part 51 can be positioned on the main frame 11 in the stored state, and as shown in FIG. 2, the telescopic means 41 can be extended to make the working part 51 take the working state where it is positioned on the side in the traveling direction with respect to the main frame 11. Furthermore, it is possible to take the states shown in FIGS. 14 to 27.

[0020] That is, the telescoping means 41 can be changed to a retracted state where it is folded near the main frame 11, an extended state where it is extended to the side of the main frame 11, and an intermediate state therebetween. Also, in the description, the retracted state may be referred to as the stored state, and the extended state may be referred to as the deployed state or the working state. The telescoping means 41 includes a first boom 411, a first connector 412, a second boom 413, a second connector 414, a first cylinder 415, a second cylinder 416, a third cylinder 417, and a fourth cylinder 418. These cylinders such as the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 are double-acting cylinders for pivoting the boom.

[0021] One end of the first boom 411 is connected to the mast frame 21 and is provided so as to be rotatable in the vertical direction. The other end side of the first boom 411 can be positioned distantly to the side in the traveling direction of the traveling body B. One end of the first connector 412, which is a connector, is connected to the tip of the other end side of the first boom 411, and is provided so as to be rotatable in the vertical direction with respect to the first boom 411. One end of the second boom 413 is connected to the tip of the other end side of the first connector 412, and is provided so as to be rotatable in the front-rear direction with respect to the traveling direction when the mast frame 21 is in the normal position. That is, the second boom 413 can be rotated in the vertical direction parallel to the rotation direction of the first boom 411 and in the front-rear direction with respect to the traveling direction, which is a direction intersecting the rotation direction of the first boom 411, by the first connector 412. One end of the second connector 414 is provided at the tip of the other end side of the second boom 413, and forms a parallel link with the first connector 412 when the mast frame 21 is in the normal position, so that it can move parallel to the first connector 412 in the front-rear direction without changing the inclination directions in the vertical and horizontal directions with respect to the front-rear direction. That is, even when the second boom 413 rotates back and forth, the axial direction of the fourth pivot axis 418A of the second connector 414, which will be described later, does not change.

[0022] The first cylinder 415 is a hydraulic cylinder, which connects the mast frame 21 and the first boom 411 via a link mechanism 42 composed of two arms that connect the mast frame 21 and the first boom 411. The first cylinder 415 is for rotating the first boom 411, is provided on the first boom 411, and while telescoping, rotates together with the first boom 411 to rotate the first boom 411 vertically. The first cylinder 415 rotationally drives the first boom 411, which is the telescoping means 41, around the first pivot axis 411A, which is a horizontal axis provided between the mast frame 21 and the first boom 411. The first boom 411 is connected to the mast frame 21 so as to be rotatable in the vertical direction about the first pivot axis 411A as the rotation center. The first boom 411 is supported by the first pivot axis 411A, which is a horizontal axis, and is rotatable around the horizontal axis 411A. The first boom 411 can be changed between a retracted state folded on the upper part of the main frame 11 and a deployed state pivoted to the side of the main frame 11.

[0023] The second pivot axis 413A is an axis that connects the first boom 411 and the first connecting body 412, which is a connecting body, and is provided parallel to the first pivot axis 411A. One end side of the first connecting body 412, which is a connecting body, is provided so as to be rotatable in the same direction as the pivoting direction of the first boom 411 by the second pivot axis 413A parallel to the first pivot axis 411A. A third pivot axis 417A is provided on the other end side of the first connecting body 412, which is a connecting body. By connecting one end side of the second boom 413 to the third pivot axis 417A, the second boom 413 is rotatable around the third pivot axis 417A. The third pivot axis 417A is provided in a direction intersecting the first pivot axis 411A and the second pivot axis 413A. Therefore, the second boom 413 can pivot in a direction intersecting the first boom 411 by the third pivot axis 417A. The second boom 413 can rotate in a direction parallel to the first boom 411 by means of a second pivot axis 413A through a first connector 412 which is a connecting body. In other words, the second boom 413 through the second pivot axis 413A and the third pivot axis 417A can rotate in directions respectively intersecting with a direction relatively parallel to the rotation direction of the first boom 411.

[0024] The second cylinder 416 is a hydraulic cylinder and connects the first boom 411 and the other end side of the first connector 412. The second cylinder 416 is for the up-and-down rotation of the first connector 412 with the second pivot axis 413A as the axis. The third cylinder 417 is a front-and-back rotation cylinder which is a hydraulic cylinder and connects the first connector 412 and the second boom 413. The third cylinder 417 is for the front-and-back rotation of the second boom 413 relative to the first boom 411. The third cylinder 417, by the expansion and contraction of its stroke, drives the telescoping means 41 to rotate in the front-and-back direction when the mast frame 21 is in the normal position.

[0025] The fourth cylinder 418 is a hydraulic cylinder and connects the second connector 414 and a working part 51 described later. The fourth cylinder 418 is for the up-and-down rotation of the working part 51. As shown in FIG. 8, each of the cylinders of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 has a rod-side chamber (415b, 416b, 417b, 418b) and a bottom-side chamber (415a, 416a, 417a, 418a) respectively.

[0026] 51 is a working part. The working part 51 is provided at the tip of the other end side of the second connector 414 and on the front side with respect to the advancing direction of the second connector 414. The working part 51 is further provided so as to be rotatable in the up-and-down direction with respect to the second connector 414. In this embodiment, the working part 51 arranges a plurality of blade parts on a rotating shaft 512 which is a rotor shaft directed in a direction orthogonal to the advancing direction when the mast frame 21 is in the normal position, and performs ground operations such as grass cutting by rotationally driving the plurality of blade parts. 514 is a cover that covers the periphery of the rotating shaft 512 and covers the upper side of the rotating shaft 512 in the working state.

[0027] The working unit 51 is attached to the second boom 413 via the second connecting body 414. Further, the working unit 51 is provided so as to be rotatable with respect to the second connecting body 414 by a fourth turning shaft 418A which is a working unit turning shaft directed forward and backward in the advancing direction provided in the second connecting body 414. The second connecting body 414 does not tilt in the front-rear direction with respect to the advancing direction even when the second boom 413 turns around the third turning shaft 417A by a link mechanism (not shown) provided in the second boom 413. That is, since the fourth turning shaft 418A is always kept parallel in the advancing direction, the left and right end portions of the working unit 51 do not tilt in the front-rear direction with respect to the advancing direction. The working unit 51 is capable of a turning operation relative to the second boom 413.

[0028] The first boom 411 is driven to turn by the first cylinder 415, the connecting body 412 which is the first connecting body is driven to turn by the second cylinder 416, the second boom 413 is driven to turn by the third cylinder 417, and the working unit 51 is driven to turn by the fourth cylinder 418. Each cylinder is connected to the direction control valve 25. The direction control valve 25 operates each of the above-described cylinder groups by receiving a command signal from the control unit t disposed close to the working machine A.

[0029] u shown in FIG. 9 is an operation unit. The operation unit u is provided on the traveling body B and operates the direction control valve 25 via the control unit t. The operation unit u is provided with an operation lever u3 and an operation button B including a plurality of first buttons B1, second buttons B2, third buttons B3, and fourth buttons B4 provided at the tip of the operation lever u3. The operation unit u is provided with a pressure switch operation switch u1 and a floating switch u2 which is a floating means. The operation lever u3 operates the direction control valve 25 for operating the first boom 411, the first connecting body 412, and the second boom 413.

[0030] The floating switch u2, which is a floating means, sets the working unit 51 to a floating mode in which it is in a floating operating state or a state where the floating operation is released. When the working unit 51 is set to the floating operating state, the working unit 51 in the deployed state can move up and down freely regardless of the operation of the operation lever u3, so it can follow the uneven parts of the working surface as it progresses. The operation lever u3 can operate the direction control valve 25 to cause the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 to extend and contract respectively.

[0031] The operation unit u can tilt the operation lever u3 forward (first direction D1), backward (second direction D2), left (third direction D3), and right (fourth direction D4) corresponding to the traveling direction, or operate each operation button B of the forward button (first button B1), backward button (second button B2), left button (third button B3), and right button (fourth button B4) corresponding to the traveling direction, thereby enabling the turning operation of the first boom 411, the turning operation of the first connecting body 412 which is a connecting body, the turning operation of the second boom 413, and the turning operation of the working unit 51.

[0032] In the embodiment, when the operation lever u3 is tilted forward (first direction D1), the first boom 411 turns around the first turning axis 411A toward the storage side, and when tilted backward (second direction D2), it turns toward the deployment side. Also, when the operation lever u3 is tilted left (third direction D3), the first turning axis 411A and the second boom 413 which are connecting bodies turn toward the deployment side around the second turning axis, and when tilted right (fourth direction D4), they turn toward the storage side.

[0033] Also, among the operation buttons B, when the forward button (first button B1) is operated, the other end side of the second boom 413 turns forward around the third turning axis 417A, and when the backward button (second button B2) is operated, the other end side of the second boom 413 turns backward. When the left button (third button B3) is operated, the working unit 51 turns in the deployment direction around the fourth turning axis 418A which is the turning axis of the working unit 51, and when the right button (fourth button B4) is operated, the working unit 51 turns in the storage direction around the fourth turning axis 418A. In the illustrated turning direction, the deployment side of the first boom 411 refers to turning in the left rotation direction with the first turning axis 411A as the fulcrum when viewed from the rear in the traveling direction, and the storage side of the first boom 411 refers to turning in the right rotation direction with the first turning axis 411A as the fulcrum when viewed from the rear in the traveling direction. Also, in the illustrated turning direction, the deployment side of the second boom 413 refers to turning in the right rotation direction with the second turning axis 413A as the fulcrum when viewed from the rear in the traveling direction, and the storage side of the second boom 413 refers to turning in the left rotation direction with the second turning axis 413A as the fulcrum when viewed from the rear in the traveling direction. Further, in the illustrated turning direction, the deployment side of the working unit 51 refers to turning in the left rotation direction with the fourth turning axis 418A as the fulcrum when viewed from the rear in the traveling direction, and the storage side of the working unit 51 refers to turning in the right rotation direction with the fourth turning axis 418A as the fulcrum when viewed from the rear in the traveling direction.

[0034] The hydraulic circuit according to an embodiment of the present invention will be described with reference to FIG. 8. c is a first relief valve (first pilot relief valve). The direction control valve 25 is composed of a direction control valve 251 for the first cylinder, a direction control valve 252 for the second cylinder, a direction control valve 253 for the third cylinder, and a direction control valve 254 for the fourth cylinder. The direction control valve 25 is a valve that operates by an electric signal, and its operation is controlled by the control unit t. The direction control valve 25 switches and controls the fluid flowing in and out of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 to the extending direction or the shortening direction of each of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. The first relief valve c is provided in the direction control valve 25. The first relief valve c automatically opens at a set pressure and has a function of reducing the pressure. The first relief valve c is a pressure relief or safety relief valve when abnormal pressure occurs in the fluid in the circuit within the direction control valve 25.

[0035] It is connected from the tank (oil tank) 31 to the direction control valve 25 via the fluid pressure source 24 which is a hydraulic pump. Inside the direction control valve 25, it is sequentially connected to the direction control valve 254 for the fourth cylinder, the direction control valve 253 for the third cylinder, the direction control valve 252 for the second cylinder, and the direction control valve 251 for the first cylinder.

[0036] The direction control valves 251 for the first cylinder, 252 for the second cylinder, 253 for the third cylinder, and 254 for the fourth cylinder inside the direction control valve 25 are respectively connected to the first cylinder 415, the second cylinder 416, the third cylinder 417 which is the front - rear rotation cylinder, and the fourth cylinder 418. When there is no operation by the operation unit u, they are connected to the unloading circuit (no - load circuit) h that returns the fluid flowing into the respective direction control valves 251 for the first cylinder, 252 for the second cylinder, 253 for the third cylinder, and 254 for the fourth cylinder to the tank (oil tank) 31. The first cylinder 415 is connected to the direction control valve 251 that controls the fluid flowing in and out of the first cylinder 415. The first cylinder 415 is controlled by the direction control valve 251 to control the fluid flowing in and out of the first cylinder 415.

[0037] One end of the first relief valve c is connected to the unloading circuit h that returns the fluid to the tank (oil tank) 31 side when there is no operation of the operation unit u from the direction control valves 251 for the first cylinder, 252 for the second cylinder, 253 for the third cylinder, and 254 for the fourth cylinder which are the respective direction control valves 25. The other end of the first relief valve c is connected to the direction control valves 251 for the first cylinder, 252 for the second cylinder, 253 for the third cylinder, and 254 for the fourth cylinder which are the direction control valves 25 via the first check valve 251a, the second check valve 252a, the third check valve 253a, and the fourth check valve 254a that can suppress the inflow of the fluid from the direction control valves 251 for the first cylinder, 252 for the second cylinder, 253 for the third cylinder, and 254 for the fourth cylinder to the first relief valve c side. The other end of the first relief valve c is also connected to the tank (oil tank) 31.

[0038] As shown in FIG. 8, the first cylinder 415 has a rod-side chamber 415b and a bottom-side chamber 415a. The second cylinder 416 has a rod-side chamber 416b and a bottom-side chamber 416a. The third cylinder 417 has a rod-side chamber 417b and a bottom-side chamber 417a. The rod-side chamber 418b and the bottom-side chamber 418a of the fourth cylinder 418 are provided.

[0039] The direction control valve 251 for the first cylinder is respectively connected to the rod-side chamber 415b and the bottom-side chamber 415a of the first cylinder 415. The direction control valve 252 for the second cylinder is respectively connected to the rod-side chamber 416b and the bottom-side chamber 416a of the second cylinder 416. The direction control valve 253 for the third cylinder is respectively connected to the rod-side chamber 417b and the bottom-side chamber 417a of the third cylinder 417. The direction control valve 254 for the fourth cylinder is respectively connected to the rod-side chamber 418b and the bottom-side chamber 418a of the fourth cylinder 418.

[0040] The direction control valve 251 for the first cylinder is configured to be able to connect a circuit from the direction control valve 251 for the first cylinder to the first cylinder 415 and a circuit from the direction control valve 251 for the first cylinder to the tank (oil tank) 31.

[0041] The direction control valve 252 for the second cylinder is configured to be able to connect a circuit from the direction control valve 252 for the second cylinder to the second cylinder 416 and a circuit from the direction control valve 252 for the second cylinder to the tank (oil tank) 31. The direction control valve 253 for the third cylinder is configured to be able to connect a circuit from the direction control valve 253 for the third cylinder to the third cylinder 417 and a circuit from the direction control valve 253 for the third cylinder to the tank (oil tank) 31. The direction control valve 254 for the fourth cylinder is configured to be able to connect a circuit from the direction control valve 254 for the fourth cylinder to the fourth cylinder 418 and a circuit from the direction control valve 254 for the fourth cylinder to the tank (oil tank) 31.

[0042] The first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, which are direction control valves 25 for controlling the first cylinder 415 to the fourth cylinder 418 of this embodiment, cut off the circuit within the direction control valves 25, namely, the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, so that when there is no switching operation by the operation unit u, the fluid transferred from the fluid pressure generation source 24 cannot flow into or out of the first cylinder 415 to the fourth cylinder 418 through the direction control valves 25.

[0043] When a switching operation is performed by the operation unit u, it is configured to enable the inflow of fluid from the fluid pressure generation source 24 to the first cylinder 415 to the fourth cylinder 418 and the outflow of fluid from the first cylinder 415 to the fourth cylinder 418 to the tank (oil tank) 31. In addition, each of the first cylinder direction control valve 251, the second cylinder direction control valve 252, the third cylinder direction control valve 253, and the fourth cylinder direction control valve 254, which are the direction control valves 25 used in this embodiment, returns the fluid constantly transferred from the fluid pressure generation source 24 to the tank 31 through the unloading circuit h in the neutral state when not in operation.

[0044] The first cylinder direction control valve 251 has a circuit leading from the first cylinder direction control valve 251 toward the tank 31 different from the unloading circuit h, and a circuit that connects the first cylinder direction control valve 251 to the first relief valve c and the unloading circuit h through a check valve 251a that can suppress the inflow of fluid to one end side of the first relief valve c. The direction control valve 252 for the second cylinder has a circuit that leads from the direction control valve 252 for the second cylinder to a tank 31 side different from the unloading circuit h, and a circuit that connects from the direction control valve 252 for the second cylinder to the first relief valve c and the unloading circuit h via a check valve 252a capable of suppressing the inflow of fluid to one end side of the first relief valve c.

[0045] The direction control valve 253 for the third cylinder has a circuit that leads from the direction control valve 253 for the third cylinder to a tank 31 side different from the unloading circuit h, and a circuit that connects from the direction control valve 253 for the third cylinder to the first relief valve c and the unloading circuit h via a check valve 253a capable of suppressing the inflow of fluid to one end side of the first relief valve c. The direction control valve 254 for the fourth cylinder has a circuit that leads from the direction control valve 254 for the fourth cylinder to a tank 31 side different from the unloading circuit h, and a circuit that connects from the direction control valve 254 for the fourth cylinder to the first relief valve c and the unloading circuit h via a check valve 254a capable of suppressing the inflow of fluid to one end side of the first relief valve c.

[0046] The rod side chamber 415b and the bottom side chamber 415a of the first cylinder 415 are respectively connected to the direction control valve 251 for the first cylinder. The rod side chamber 415b and the bottom side chamber 415a of the first cylinder 415 are connected to the tank 31 by switching the direction control valve 251 for the first cylinder. The first cylinder 415 controls the direction control valve 251 with a relief valve c, draws fluid into the bottom side chamber 415a and pushes out fluid from the rod side chamber 415b when the stroke extends in the stroke end direction, and pushes out fluid from the bottom side chamber 415a and draws fluid into the rod side chamber 415b when the stroke shortens. The first cylinder 415 can rotate the first boom 411 that constitutes the telescopic means 41 by extending and contracting the stroke, and raise or lower the working unit 51. The extension and contraction of the first cylinder 415 are controlled by the direction control valve 25 having the first relief valve c.

[0047] The rod-side chamber 416b of the second cylinder 416 and the bottom-side chamber 416a of the second cylinder 416 are respectively connected to the direction control valve 252 for the second cylinder. The rod-side chamber 416b and the bottom-side chamber 416a of the second cylinder 416 are connected to the tank 31 by switching the direction control valve 252 for the second cylinder. The second cylinder 416 controls the direction control valve 252 for the second cylinder. When the stroke extends in the stroke end direction, fluid is drawn into the bottom-side chamber 416a and pushed out from the rod-side chamber 416b. When the stroke shortens, fluid is pushed out from the bottom-side chamber 416a and drawn into the rod-side chamber 416b. The second cylinder 416 can rotate the first connecting body 412 constituting the expansion and contraction means 41 by the expansion and contraction of the stroke, thereby raising or lowering the working unit 51. The expansion and contraction of the second cylinder 416 is controlled by the direction control valve 25 having the first relief valve c.

[0048] The rod-side chamber 417b of the third cylinder 417 and the bottom-side chamber 417a of the third cylinder 417 are respectively connected to the direction control valve 253 for the third cylinder. The rod-side chamber 417b and the bottom-side chamber 417a of the third cylinder 417 are connected to the tank 31 by switching the direction control valve 253 for the third cylinder. The third cylinder 417 controls the direction control valve 253 for the third cylinder. When the stroke extends in the stroke end direction, fluid is drawn into the bottom-side chamber 417a and pushed out from the rod-side chamber 417b. When the stroke shortens, fluid is pushed out from the bottom-side chamber 417a and drawn into the rod-side chamber 417b. The third cylinder 417 rotates the second boom 413 constituting the expansion and contraction means 41 in the front-rear direction by the expansion and contraction of the stroke when the mast frame 21 is in the normal state. The expansion and contraction of the third cylinder 417 is controlled by the direction control valve 25 having the first relief valve c.

[0049] The rod-side chamber 418b of the fourth cylinder 418 and the bottom-side chamber 418a of the fourth cylinder 418 are respectively connected to the direction control valve 254 for the fourth cylinder. The rod-side chamber 418b and the bottom-side chamber 418a of the fourth cylinder 418 are connected to the tank 31 by switching the direction control valve 254 for the fourth cylinder. The fourth cylinder 418 controls the direction control valve 254 for the fourth cylinder. When the stroke extends in the stroke end direction, it draws fluid into the bottom-side chamber 418a and pushes the fluid out of the rod-side chamber 418b. When the stroke shortens, it pushes the fluid out of the bottom-side chamber 418a and draws the fluid into the rod-side chamber 418b. The fourth cylinder 418 rotates the working unit 51 in the vertical direction with respect to the second connecting body 414 by expanding and contracting the stroke when the mast frame 21 is in the normal state. The expansion and contraction of the fourth cylinder 418 are controlled by the direction control valve 25 having the first relief valve c.

[0050] The first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 commonly use the first relief valve c. The direction control valve 25 can switch to the extending direction or the shortening direction of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 respectively, and pump the fluid pressure generated from the pump 24 to the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 sides, so as to drive each cylinder to extend and contract.

[0051] Furthermore, the direction control valve 25 may return the pumped fluid from the pump 24 to the return circuit on the tank 31 side to unload the fluid, and may provide a neutral position having a circuit connected to the bottom-side chamber 415a and the rod-side chamber 415b of the cylinder 415 in this return circuit and communicating with the tank 31.

[0052] When a neutral circuit that communicates with the tank 31 is provided in the circuit within the direction control valve 25 at the neutral position, the fluid in the rod-side chamber 415b and the bottom-side chamber 415a in the cylinder 415 can freely flow into each other's chambers, so the cylinder 415 can be in a state where it can expand and contract. When the floating switch u2 is operated to enter the floating operation state, the first boom 411 can move up and down freely, so the working unit 51 can follow the uneven parts of the working surface as the work progresses.

[0053] The control unit t shown in FIG. 10 is connected to a direction control valve 25 including a direction control valve 251 for the first cylinder, a direction control valve 252 for the second cylinder, a direction control valve 253 for the third cylinder, and a direction control valve 254 for the fourth cylinder, and controls their operations. As shown in FIG. 10, the control unit t is connected to an alarm unit q, a receiving unit o, a first sensor Se1, a second sensor Se2, a first switch Sw1, and a second switch Sw2. After the control unit t receives the operation signal generated by the operation of the manually operated operation lever u3 and operation button B transmitted from the operation unit u at the receiving unit o, the control unit t uses this operation signal as an input of the operation signal and outputs an operation signal for operating the direction control valve 25 to the direction control valve 25.

[0054] When the direction control valve 25 receives the operation signal output from the control unit t, based on the operations of the operation lever u3 and the operation button B, it operates the direction control valve 251 for the first cylinder, the direction control valve 252 for the second cylinder, the direction control valve 253 for the third cylinder, and the direction control valve 254 for the fourth cylinder, and controls the fluid flowing into and out of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. When the control unit t receives a signal transmitted in response to the operation of the operation unit u, it controls the operation of the direction control valve 25 via the control unit t.

[0055] When the operation lever u3 and the operation button B are manually operated, the operation signal transmitted from the operation unit u is received by the receiving unit o and sent to the control unit t and input to the control unit t. The control unit t that has received the operation signal then outputs an operation signal for operating other components. The operation signal output by the control unit t controls the operation of the direction control valve 25 so as to move the end side of the expansion and contraction means 41 in the upward or downward direction. Further, the operation signal controls the operation of the direction control valve 25 so as to move the end side of the expansion and contraction means 41 in the left and right directions, forward and backward directions with respect to the traveling direction. The direction control valve 25 is a valve that operates by an electric signal, and the operation of these valves is controlled by the control unit t. The operation unit u is shown to operate various valves via the control unit t by wireless transmission, but it may be wired.

[0056] The control unit t that has received the operation signal outputs an operation signal for operating the direction control valve 25. The direction control valve 25 that has received this operation signal causes the working unit 51 provided at the other end of the expansion and contraction means 41 to move up or down, or to move left or right with respect to the traveling direction, or to move forward or backward, or to rotate left or right as viewed from the traveling direction. To send fluid to the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, the circuit is switched. In the example of the operating state, the raising of the working unit 51 switches the circuit to pump fluid from the direction control valve 251 into the bottom side chamber 415a, and the lowering of the working unit 51 switches the circuit to pump fluid from the direction control valve 251 into the rod side chamber 415b. Also, the left movement of the working unit 51 switches the circuit to pump fluid from the direction control valve 252 into the bottom side chamber 416a, and the right movement of the working unit 51 is performed by switching the circuit to pump fluid from the direction control valve 252 into the rod side chamber 416b. Further, the forward movement of the working unit 51 switches the circuit to pump fluid from the direction control valve 253 into the bottom side chamber 417a, and the backward movement of the working unit 51 is performed by switching the circuit to pump fluid from the direction control valve 253 into the rod side chamber 417b. Also, the left rotation around the fourth swivel axis 418A as viewed from behind the advancing direction of the working unit 51 switches the circuit to pump fluid from the direction control valve 254 into the bottom side chamber 418a, and the right rotation around the fourth swivel axis 418A as viewed from behind the advancing direction of the working unit 51 is performed by switching the circuit to pump fluid from the direction control valve 254 into the rod side chamber 418b.

[0057] The control unit t can send operation signals to various members that require electrical control, including the above-described various valves. It is possible to send signals that operate a notification unit (acoustic device such as a speaker) q, a display unit (not shown, display device or lamps), etc. according to the transmitted operation signals.

[0058] When the control unit t recognizes that the automatic deployment operation, which will be described later based on FIG. 11 which is a flow diagram, has been performed, it causes the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 to perform a deployment operation in a predetermined procedure. The automatic deployment operation is performed only while the automatic deployment operation is being performed by the operation unit u, and the operation stops when the operator M stops the operation. In the embodiment, the control unit t is provided such that when the operation lever u3 shown in FIG. 9 is tilted to the left (third direction D3) and the left button (third button B3) is pressed simultaneously, the control unit t recognizes that the automatic deployment operation has been performed. Instead of the simultaneous operation of the operation lever u3 and the operation button B, an operation tool dedicated to the operation related to automatic deployment (not shown) may be provided on the operation unit u.

[0059] When the control unit t recognizes that the automatic storage operation, which will be described later based on FIG. 12 which is a flow chart, has been performed, the control unit t causes the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 to perform a storage operation in an automatically determined procedure. The automatic storage operation is performed only while the automatic storage operation is being performed on the operation unit u, and the operation stops when the operator M stops the operation. In the embodiment, the control unit t is provided such that when the operation lever u3 shown in FIG. 9 is tilted to the right (fourth direction D4) and the right button (fourth button B4) is pressed simultaneously, the control unit t recognizes that the automatic storage operation has been performed. Instead of the simultaneous operation of the operation lever u3 and the operation button B, an operation tool dedicated to the operation related to automatic storage (not shown) may be provided on the operation unit u.

[0060] The first boom 411 is provided with a first sensor Se1. The first sensor Se1 is a potentiometer and constantly detects the turning angle of the first boom 411 around the first turning axis 411A with respect to the mast frame 21. Se11 is a first sensor arm. The first sensor arm Se11 protrudes from the first sensor Se1. The first sensor Se1 is an angle measuring device that can detect the displacement amount of the turning angle, which is the amount of movement of the first boom 411, by the turning of the first sensor arm Se11 connected to the first boom 411, and output it as a detection value.

[0061] In the embodiment, the first sensor Se1 is provided with a first sensor arm Se11 for rotatable angle detection on the first sensor Se1, and a long-hole-shaped first detection hole Se13 is provided at the tip of the first sensor arm Se11. By positioning the first pin-shaped part Se12 fixed to the mast frame 21 in the first detection hole Se13, as the first boom 411 rotates, the first sensor arm Se11 rotates around the first sensor Se1, and the rotation angle of the first boom 411 is detected. The first sensor Se1 is provided so as to be able to transmit the detected first angle signal to the control unit t. Since the first boom 411 is attached to the main frame 11 via the mast frame 21, the first sensor Se1 detects the turning angle of the first boom 411 relative to the main frame 11 that turns around the first turning axis 411A.

[0062] A second sensor Se2 is provided near the second turning axis 413A of the first connecting body 412. Se21 is a second sensor arm. The second sensor arm Se21 protrudes from the second sensor Se2. The second sensor Se2 is an angle measuring device that can detect the displacement amount of the rotation angle, which is the amount of operation of the first boom 411, by the rotation of the second sensor arm Se21 connected to the first boom 411, and can output it as a detected value.

[0063] The second sensor Se2 is composed of a potentiometer and constantly detects the turning angle of the first connecting body 412 that turns around the second turning axis 413A relative to the first boom 411. In the embodiment, the second sensor Se2 is provided with a second sensor arm Se21 for rotatable angle detection with respect to the second sensor Se2, and a long-hole-shaped second detection hole Se23 is provided at the tip of the second sensor arm Se21. By positioning the second pin-shaped part Se22 fixed to the tip of the other end side of the first boom 411 in the second detection hole Se23, as the first connecting body 412 rotates around the second turning axis 413A, the second sensor arm Se21 rotates around the second sensor Se2, and the second sensor Se2 detects the turning angle of the first connecting body 412 relative to the first boom 411. The second sensor Se2 transmits the detected second angle signal to the control unit t.

[0064] The first switch Sw1 and the second switch Sw2 will be described with reference to FIGS. 4 to 6, which are enlarged views of the vicinity of the third turning shaft 417A of the working machine A according to the embodiment, as viewed from the axial direction of the third turning shaft 417A. The first switch Sw1 and the second switch Sw2 are provided in the vicinity of the third turning shaft 417A of the first connecting body 412. The first switch Sw1 and the second switch Sw2 are each constituted by a limit switch, and open and close the circuit by physical contact. The first switch Sw1 and the second switch Sw2 are attached to a mounting base Sw3 provided on the first connecting body 412. By the opening and closing operation of this circuit, the first switch Sw1 can transmit a first contact signal, and the second switch Sw2 can transmit a second contact signal to the control unit t. The second switch Sw2 is arranged at a position radially away from the third turning shaft 417A in the radial direction with respect to the first switch Sw1. The first switch Sw1 and the second switch Sw2 are arranged such that their positions with respect to the circumferential direction of the third turning shaft 417A are substantially the same.

[0065] The first acting part F1 and the second acting part F2 will be described with reference to FIGS. 4 to 6. As shown in FIGS. 4 to 6, the first acting part F1 and the second acting part F2 are provided at one end side of the second boom 413. The first acting part F1 is a part protruding in the radial direction with respect to the third turning shaft 417A from one end side of the second boom 413, and the second boom 413 can contact the first switch Sw1 by turning around the third turning shaft 417A.

[0066] The second acting part F2 is a part protruding in the radial direction with respect to the third turning shaft 417A from one end side of the second boom 413, and is arranged at a position radially away from the third turning shaft 417A in the radial direction with respect to the first acting part F1. The second acting part F2 is arranged such that its position with respect to the circumferential direction of the third turning shaft 417A is different from that of the first acting part F1.

[0067] The contact and non-contact between the first acting part F1 and the first switch Sw1, and the contact and non-contact between the second acting part F2 and the second switch Sw2 will be described. When the second boom 413 shown in FIG. 4 is in the first turning position, the first acting part F1 does not contact the first switch Sw1, and the second acting part F2 does not contact the second switch Sw2. When the second boom 413 shown in FIG. 5 is in the second turning position due to the turning of the second boom 413 around the third turning axis 417A with respect to the first connecting body 412, the first acting part F1 contacts the first switch Sw1, and the second acting part F2 is not in contact. When the second boom 413 shown in FIG. 6 is in the third turning position due to the turning of the second boom 413 around the third turning axis 417A with respect to the first connecting body 412 from the state shown in FIG. 5, the first acting part F1 contacts the first switch Sw1, and the second acting part F2 contacts the second switch Sw2.

[0068] When the second boom 413 turns from the first turning position toward the third turning position, after the first switch Sw1 is operated by contacting the first acting part F1 at the second turning position, it continues to be operated while turning toward the third turning position. Since the second acting part F2 and the first acting part F1 are arranged such that their positions with respect to the circumferential direction of the third turning axis 417A are different, the turning angle of the second boom 413 at which the first switch Sw1 contacts and issues the first contact signal can be made different from the turning angle of the second boom 413 around the third turning axis 417A at which the second switch Sw2 contacts and issues the second contact signal.

[0069] In the embodiment, it has been described that the first switch Sw1 and the second switch Sw2 are arranged such that their positions relative to the circumferential direction of the third turning axis 417A are substantially the same, and the first acting portion F1 and the second acting portion F2 are arranged such that their positions relative to the circumferential direction of the third turning axis 417A are different. However, the present invention is not limited to this example. As long as the angles at which the first switch Sw1 and the second switch Sw2 are operated by the first acting portion F1 and the second acting portion F2 are different due to the turning of the second boom 413 around the third turning axis 417A. For example, the first switch Sw1 and the second switch Sw2 may be arranged at different positions relative to the circumferential direction of the third turning axis 417A, and the first acting portion F1 and the second acting portion F2 may be arranged at substantially the same positions relative to the circumferential direction of the third turning axis 417A for correspondence. In the description, the state in which the first switch Sw1 is in contact with the first acting portion F1 may also be referred to as ON or on or the ON state, and the state in which the first switch Sw1 is not in contact with the first acting portion F1 may also be referred to as the first switch Sw1 being OFF or off or the OFF state. Further, the state in which the second switch Sw2 is in contact with the second acting portion F2 may also be referred to as the second switch Sw2 being ON or on or the ON state, and the state in which the second switch Sw2 is not in contact with the second acting portion F2 may also be referred to as the second switch Sw2 being OFF or off or the OFF state.

[0070] The stored posture of the work machine A will be described. The stored posture refers to a state in which the first boom 411 lies horizontally on the upper part of the mast frame 21 or the main frame 11, and the second boom 413 is positioned so as to overlap or fold with respect to the first boom 411, a state in which the second boom 413 is turned to the first turning position (retracted position) as shown in FIGS. 1, 4, and 13, and a state in which the working portion 51 is positioned so as to overlap or fold with respect to the second boom 413. In the front view shown in FIGS. 1 and 13, the working portion 51 in the stored posture is provided with the rotation axis 512 parallel to the first boom 411 and the second boom 413. Further, the top surface of the cover 514 during operation is directed toward the second boom 413 by turning around the fourth turning axis. The stored posture may also be referred to as the storage position. The horizontal plane used in the description of the present invention is for the purpose of conveniently expressing the running surface of the running machine body in order to explain in light of the illustrated drawings, and is different from the so-called horizontal plane used with respect to the direction of gravity.

[0071] In the stored posture of the working machine A, as shown in FIG. 13 which is a front view of the stored posture of the working machine A according to the embodiment, the working unit 51 is folded and stored at the rear part of the running machine body B. The angle from the horizontal plane to the first boom 411 is defined as the first boom angle, and the angle between the first boom 411 and the second boom 413 is defined as the second boom angle. In the stored state shown in FIG. 13, the first boom angle = α0 (= 0°) and the second boom angle = β0 (= 0°). The turning of the second boom 413 around the third turning axis 417A is at the first turning position which is not on the forward side.

[0072] The intermediate posture and the deployed posture of the working machine A will be described. The deployed posture of the working machine A consists of the following states. (1) The first boom 411 in the stored posture is turned around the first turning axis 411A and turned to the deployment side so as to rise with respect to the mast frame 21 or the main frame 11, and the other end side of the first boom 411 is positioned laterally with respect to the mast frame 21 or the main frame 11. (2) The second boom 413 is turned to the deployment side around the second turning axis 413A from the state of being folded with respect to the first boom 411 to widen the angle between them. (3) The second boom 413 is turned around the third turning axis 417A and positioned at the third turning position shown by the solid line in FIG. 3 and illustrated in FIGS. 6, 7, 21, 22, 23, and 24. (4) The working unit 51 is turned around the fourth turning axis 418A and turned to the deployment side in the direction of extending the second boom 413 from one end side to the other end side. is what is meant. The deployed posture is the posture shown in FIG. 25, and may also be referred to as the deployment position or the home position.

[0073] The turning angle will be explained. Regarding the first boom 411, as shown in FIGS. 13 and 14, the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the stowed position is defined as the stowed angle α0 of the first boom 411, and as shown in FIG. 24, the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the deployed position is defined as the second first boom angle α2. The turning angle of the first boom 411, which is between the turning angles of α0 and α2 and is a preset angle, is referred to as the first first boom angle α1. The first boom 411 can turn around the first turning axis 411A at least from α0 to α2. In the description, the stowed angle α0 may be referred to as the turning angle α0, the first first boom angle α1 may be referred to as the turning angle α1, and the second first boom angle α2 may be referred to as the turning angle α1.

[0074] Regarding the second boom 413, as shown in FIG. 13, the relative turning angle with respect to the first boom 411 in the stowed position is defined as the stowed angle β0 of the second boom 413, and as shown in FIGS. 14 to 23, the relative turning angle with respect to the second boom 413 in the deployed position is referred to as the first second boom angle β1. The second boom 413 can turn around the second turning axis 413A at least from β0 to β1. In the description, the stowed angle β0 may be referred to as the turning angle β0, and the first second boom angle β1 may be referred to as the turning angle β1.

[0075] As shown in FIG. 3, the second boom 413 turns from the first turning position (retracted position) close to the mast frame 21 around the third turning axis 417A to the third turning position (extended position) via the second turning position, which is an intermediate position, by turning forward around the third turning axis 417A with respect to the first connecting body 412.

[0076] Regarding the current angle, the relative angle at the current time with respect to the main frame 11 or the mast frame 21 of the first boom 411 that turns around the first turning axis 411A is defined as the current angle θ1, and the relative angle at the current time with respect to the first boom 411 of the second boom 413 that turns around the second turning axis is defined as the current angle θ2. The control unit t can always recognize the current angle θ1 and the current angle θ2.

[0077] The storage angle α0 where the current angle θ1 of the first boom 411 is 0° (θ1 = α0), the storage angle β0 where the current angle θ2 of the second boom 413 is 0° (θ2 = β0), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the first turning position (retracted position) are both in the OFF state where they are not in contact with the first acting part F1 and the second acting part F2. At this time, the storage posture shown in FIGS. 1 and 13 is formed. (Storage posture)

[0078] The current angle θ1 of the first boom 411 is less than or equal to the first first boom angle α1 (θ1 ≤ α1), the current angle θ2 of the second boom 413 is the first second boom angle β1 (θ2 = β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the first turning position (retracted position) are both in the OFF state. At this time, the first intermediate posture shown in FIG. 14 is formed. (First intermediate posture) In the example shown in FIG. 14, the case where the current angle θ1 of the first boom 411 is 0° which is less than or equal to the first first boom angle α1 is shown.

[0079] The current angle θ1 of the first boom 411 is the first first boom angle α1 (θ1 = α1), the current angle θ2 of the second boom 413 is the first second boom angle β1 (θ2 = β1), and the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the first turning position (retracted position) are both in the OFF state. At this time, the second intermediate posture shown in FIGS. 15, 16, and 17 is formed. (Second intermediate posture and the first turning position)

[0080] The current angle θ1 of the first boom 411 is the first first boom angle α1 (θ1 = α1), the current angle θ2 of the second boom 413 is the first second boom angle β1 (θ2 = β1), the first switch Sw1 indicating that the second boom 413 is in the second turning position is in the ON state, and the second switch Sw2 is in the OFF state. At this time, the second intermediate posture shown in FIGS. 18, 19, and 20 is formed. (Second intermediate posture and the second turning position)

[0081] When the current angle θ1 of the first boom 411 is the first first boom angle α1 (θ1 = α1), the current angle θ2 of the second boom 413 is the first second boom angle β1 (θ2 = β1), and both the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the third turning position are in the ON state, a second intermediate posture shown in FIGS. 21, 22, and 23 is formed. (Second intermediate posture, third turning position)

[0082] When the current angle θ1 of the first boom 411 is the first first boom angle α2 (θ1 = α2), the current angle θ2 of the second boom 413 is the first second boom angle β1 (θ2 = β1), and both the first switch Sw1 and the second switch Sw2 indicating that the second boom 413 is in the third turning position are in the ON state, a deployed posture shown in FIG. 25 is formed. (Deployed posture = home position) In the working part 51 in the deployed posture, in the front view shown in FIG. 25, the top surface of the rotating shaft 512 or the cover 514 is in a state of being turned to the deployment side intersecting the longitudinal direction of the second boom 413.

[0083] The target angle will be described. The control unit t can set the target turning angles that the first boom 411 and the second boom 413 should turn to reach, respectively. The control unit t sets the target turning angle for the first boom 411 as α, and this target turning angle α can be changed to the stored angle α0 which is the turning angle of the first boom 411 and a set value, the first first boom angle α1, and the second first boom angle α2, respectively. The first boom 411 can switch the target turning angle α and perform a turning operation toward any one of α0, α1, and α2. The control unit sets the target turning angle for the second boom 413 as β, and it can be changed to the stored angle β0 which is the turning angle of the second boom 413 and a set value, and the first second boom angle β1, respectively. The second boom 413 can switch the target turning angle β and perform a turning operation.

[0084] Regarding the turning of the second boom 413 around the third turning shaft 417A, based on FIGS. 15 to 23, the turning angle of the second boom 413 around the third turning shaft 417A will be described. In the embodiment, the second boom 413 rotates around the third turning axis 417A so that the other end side moves back and forth. According to the rotation angle of the second boom 413, as shown in FIGS. 15 to 17, the state where the other end side is positioned at the rearmost end with respect to the traveling direction is defined as the first turning position (retracted position). As shown in FIGS. 21 to 22, the state where the other end side is positioned at the foremost end with respect to the traveling direction is defined as the third turning position (advanced position). As shown in FIGS. 18 to 21, the state where it is positioned at the middle part between the first turning position (retracted position) and the third turning position is defined as the second turning position (middle position). The second boom 413 can be rotated around the third turning axis 417A between the first turning position (retracted position), via the second turning position (middle position), and the third turning position (advanced position) by rotating around the third turning axis 417A with respect to the first connecting body 412.

[0085] The middle posture is divided into a first middle posture and a second middle posture (see FIGS. 15, 16, and 17) continuous with the first middle posture. In the first middle posture of the working machine A, as shown in FIG. 14 which is a front view of the first middle posture of the working machine A according to the embodiment, the working part 51 is lifted above the main frame 11 by rotating around the second turning axis of the second boom 413. The first boom angle is the stored angle α0 (= 0°), and the second boom angle is the first second boom angle β1 (≈ 60°). The second boom 413 is in the first turning position where it does not rotate in the forward direction around the third turning axis 417A.

[0086] In the second middle posture of the working machine A, the second boom 413 is in the state shown in FIGS. 15 to 17. The second boom 413 is in the retracted position which is the first turning position (retracted position). As shown in FIGS. 16 to 17, the working part 51 is located laterally outside the width in the traveling direction of the mast frame 211. In the embodiment, the first boom angle is the first first boom angle α1 (≈ 100°), and the second boom angle is the first second boom angle β1 (≈ 60°). The states shown in FIGS. 18 to 20 are such that the second boom 413 is in the second intermediate posture, and the second boom 413 is at an intermediate position which is the second turning position. In the embodiment, the first boom angle is the first first boom angle α1 (≈100°), and the second boom angle is the first second boom angle β1 (≈60°). As shown in FIGS. 18 and 20, the working unit 51 is moved to the front side in the traveling direction from the mast frame 211 with respect to the first turning position by turning around the third turning axis 417A of the second boom 413. The states shown in FIGS. 21 to 23 are such that the second boom 413 is in the second intermediate posture, and the second boom 413 is at a forward position which is the third turning position. In the embodiment, the first boom angle is the first first boom angle α1 (≈100°), and the second boom angle is the first second boom angle β1 (≈60°). As shown in FIGS. 21 and 23, the working unit 51 is moved to the further front side in the traveling direction from the mast frame 211 with respect to the second turning position by turning around the third turning axis 417A of the second boom 413.

[0087] Next, a state during the transition from the second intermediate posture of the working machine A to the deployment position will be described. FIG. 24 shows a front view of the working machine A according to the embodiment, which is in a state during the transition from the second intermediate posture to the deployment position. The second boom 413 is at a forward position which is the third turning position. In the embodiment, the first boom angle is the second first boom angle α2 (=125°), the second boom angle is the first second boom angle β1 (≈60°), and the second boom 413 is at the third turning position. The first boom 411 is turned from the first first boom angle α1 to the second first boom angle α2, and the working unit 51 is lowered. The working unit 51 remains in a state of being located on the storage side with respect to the second boom 413.

[0088] Fig. 25 shows a front view of the working machine A according to the embodiment, which is in the home position in the deployed posture. In the embodiment, the first boom angle is the second first boom angle α2 (= 125°), the second boom angle is the first second boom angle β1 (≈ 60°), and the second boom 413 is in the third turning position. Fig. 25 shows a state in which the working unit 51 is turned to the deployment side from the state shown in Fig. 24, and the top surface of the working unit 51 stands up so as to intersect the longitudinal direction of the second boom 413. In the embodiment shown in Fig. 25, the angle between the working unit 51 and the second boom 413 is about 90°. The telescoping means 41 is formed at the second first boom angle α2 and the first second boom angle β1, and the working unit is turned to the deployment side to form the deployment posture. The second first boom angle α2, the first second boom angle β1 in the home position in the deployed posture, and the angle between the working unit 51 and the second boom 413 can be freely changed according to the specifications and modes of the working machine to be adapted.

[0089] Fig. 26 shows a front view of the working machine A according to the embodiment, which is an example of the working position. The first boom angle is arbitrary, the second boom angle is arbitrary, the turning position of the second boom 413 around the third turning axis 417A is arbitrary, and the turning angle of the working unit 51 around the fourth turning axis 418A is arbitrary. That is, the first boom 411, the first connecting body 412, the second boom 413, and the working unit 51 can be set to any turning position desired by the operator M by operating the operation unit u, and the working unit 51 can be set to any position and angle desired by the operator M. Fig. 26 shows a state in which the working unit 51 is positioned on a plane at the same height as the plane on which the traveling body B travels. Of course, it is not limited to the illustration in Fig. 26, and the working unit 51 can be changed to an arbitrary position by operating the operation unit u. Fig. 27 shows a front view of the working machine A according to the embodiment, which is an example of a state on the way from the working position to the second intermediate posture. The first boom angle is the second first boom angle α2 (= 125°), the second boom angle is an arbitrary angle, and the second boom 413 is in the third turning position (forward position) or the second turning position (intermediate position).

[0090] When the working machine A is in the deployed position, as shown in FIG. 3 on the side of the working machine A, it is in the third turning position (forward position), and the second boom 413 is at the position of the working part 51 (51-3) represented by the solid line. In the first turning position (retreat position), the second boom 413 is at the position of the working part 51 of the two-dot chain line part 51-1. In the second turning position (intermediate position), the second boom 413 is at the working part position of the two-dot chain line part 51-2. In the working position, the operator M can freely select the second boom 413 to be in each of the first turning position, the second turning position, and the third turning position to perform work.

[0091] According to FIGS. 4 to 6, the change of the first turning position (retreat position) to the third turning position in the vicinity of the third turning axis 417A as viewed from the axial direction of the third turning axis 417A will be described. FIG. 4 shows an enlarged view of the vicinity of the third turning axis 417A as viewed from the axial direction of the third turning axis 417A of the working machine A according to the embodiment, and the second boom 413 is in the first turning position (retreat position). In the first turning position (retreat position), there is no contact between the first operating part F1 of the first switch Sw1 and the second operating part F2 of the second switch Sw2. That is, the control unit t has not received either the first contact signal or the second contact signal. The control unit t is configured to determine that the second boom 413 is in the first turning position (retreat position) in this state.

[0092] FIG. 5 shows an enlarged view of the vicinity of the third turning axis 417A as viewed from the axial direction of the third turning axis 417A of the working machine A according to the embodiment, and the second boom 413 is in the second turning position (intermediate position). In the second turning position (intermediate position), the first switch Sw1 is in contact with the first operating part F1, and the second switch Sw2 is not in contact with the second operating part F2. That is, the control unit t receives the first contact signal and does not receive the second contact signal. The control unit t is configured to determine that the second boom 413 is in the second turning position (intermediate position) in this state.

[0093] FIG. 6 is an enlarged view of the vicinity of the third turning shaft 417A of the working machine A according to the embodiment, as viewed from the axial direction of the third turning shaft 417A, with the second boom 413 in the third turning position. FIG. 7 is an enlarged view of the working machine A according to the embodiment, as viewed from the side of the third turning shaft 417A, showing the state when the second boom 413 is in the third turning position. Both the first switch and the second switch are in an operated state. In the third turning position, contact is made with the first acting portion F1 of the first switch Sw1 and contact is made with the second acting portion F2 of the second switch Sw2. That is, the control unit t has received both the first contact signal and the second contact signal. The control unit is configured to determine that the second boom 413 is in the third turning position in this state.

[0094] The control unit t is configured to detect only the switching operation of the second switch Sw2 of the first switch Sw1. As a result, the turning position of the second boom 413 that turns around the third turning shaft 417A can be recognized with a simple configuration. By recognizing the circuit opening and closing of the two switches Sw1 and Sw2 and this combination, the three turning positions of the second boom 413 can be grasped.

[0095] With the detection method using the second switch Sw2 of the first switch Sw1, like the detection method of the turning angle of the first boom 411 using the first sensor Se1 and the detection method of the turning angle of the first link 412 using the second sensor Se2, the turning angles of all movable parts are not constantly detected and arithmetic processed, so the arithmetic burden on the control unit t can be reduced. As a result, the device group related to the arithmetic in the control unit t can be made simpler.

[0096] In the illustrated embodiment, the first acting portion F1 and the second acting portion F2 are shown as being integrated near the fulcrum portion of the second boom 413, but they may be provided detachably as separate bodies.

[0097] Automatic posture change and automatic deployment operation will be described. The first boom 411 and the second boom 413 can be automatically changed in posture and automatically deployed by operating the operation unit u between the stored posture as shown in FIGS. 1 and 13 and the deployed posture as shown in FIG. 2. Based on the flowchart showing the automatic deployment operation illustrated in FIG. 11, the basic pattern of the operation of the aircraft when performing the automatic deployment operation from the stored state will be described according to the control procedure. In the description and the drawings, the first switch Sw1 may be referred to as switch 1, and the second switch Sw2 may be referred to as switch 2. When starting the automatic deployment operation, it waits for an operation in step 101, and in step 102, the operator M performs the automatic deployment operation. Then, in step 103, it is determined whether "the switch 1 is in the on state and the switch 2 is in the on state". That is, it is determined whether the second boom 413 is in the third turning position which is the most forward position.

[0098] If in step 103, the determination of whether "the switch 1 is in the on state and the switch 2 is in the on state" is No, that is, if the control unit t determines that the second boom 413 is not in the third turning position which is the most forward position, it proceeds to the next step step 104 and enters the first deployment process. In the case of the embodiment, it is determined that since there is no hindrance to the operation of the first boom 411 and the second boom 413 other than the third turning position, the turning operation by subsequent control is possible.

[0099] In step 104, the control unit t switches the target turning angle α of the first boom 411 to the first first boom angle α1, and the target turning angle β of the second boom 413 to the first second boom angle β1, and proceeds to step 106.

[0100] If it is Yes in step 103, that is, if the control unit t determines that the second boom 413 is in the third turning position, it proceeds to step 105.

[0101] In step 105, the control unit t switches the target turning angle α of the first boom 411 to the second first boom angle α2, and the target turning angle β of the second boom 413 to the first second boom angle β1, respectively, and causes them to be set. Details of the operation control after the switching in step 105 will be described later.

[0102] In step 106, which receives the result of step 104, it is determined whether the current angle θ1 of the first boom 411 is less than or equal to the first first boom angle α1.

[0103] If it is determined in step 106 that the current angle θ1 of the first boom 411 is greater than the first first boom angle α1, the process proceeds to step 107, and the first boom 411 is turned in the stowing direction. In the case of the embodiment, the control unit t transmits a signal to switch the direction control valve 25 so as to shorten the first cylinder 415.

[0104] The process proceeds to step 127 via step 107. In step 127, it is determined whether the automatic deployment operation of the operation unit u is continued. If it is not continued, a signal is transmitted to switch the direction control valve 25 to stop all the cylinders in step 128, and the process returns to step 101. If the operation is continued, the process returns to step 103 again and the control is repeated.

[0105] If it is determined in step 106 that the current angle θ1 of the first boom 411 is less than or equal to the first first boom angle α1, the process proceeds to step 108, and the control unit t transmits a signal to switch the direction control valve 25 to stop all the cylinders. Then the process proceeds to the next step 109. That is, as long as the operation is continued after the automatic deployment operation starts, when the current angle θ1 of the first boom 411 is greater than the first first boom angle α1 at a position other than the third turning position and passing through steps 103 to 106 to step 127, the first boom 411 is turned until the current angle θ1 of the first boom 411 becomes less than or equal to the first first boom angle α1.

[0106] In step 109, it is determined whether the current angle θ2 of the second boom 413 is the first second boom angle β1 which is the target turning angle β of the second boom 413. If the current angle θ2 of the second boom 413 is not the first second boom angle β1 which is the target turning angle β, in step 110, it is determined whether the current angle θ2 of the second boom 413 is smaller than or larger than the first second boom angle β1.

[0107] If the current angle θ2 of the second boom 413 is larger than the first second boom angle β1, in step 111, the second boom 413 is turned toward the storage side. In the embodiment, a signal for switching the direction control valve 25 so as to shorten the second cylinder is issued, the first connecting body 412 is turned around the second turning shaft 413A, and the second boom 413 is turned relative to the first boom 411.

[0108] If the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1 which is the target turning angle β, in step 112, the second boom 413 is turned toward the deployment side. In the embodiment, a signal for switching the direction control valve 25 so as to extend the second cylinder 416 is issued, the first connecting body 412 is turned around the second turning shaft 413A, and the second boom 413 is turned relative to the first boom 411. The operations in step 111 and step 112 are performed while the automatic deployment operation is continued by step 127.

[0109] If the current angle θ2 of the second boom 413 is the first second boom angle β1 in step 109, a signal for switching the direction control valve 25 so as to stop all cylinders is issued in step 113, and the process proceeds to step 114.

[0110] At the stage of completing step 113, the first boom 411 and the second boom 413 form the first intermediate posture (see FIG. 14). The first connecting body 412, which is a connecting body from the stored posture to the first intermediate posture, the second boom 413, and the working unit 51 do not protrude laterally beyond the lateral body width of the working machine A in the stored posture. That is, in the embodiment, the first connecting body 412, the second boom 413, and the working unit 51, which are connecting bodies, do not protrude on the right side in the traveling direction, which is the side opposite to the side where the working unit 51 is deployed to the deployed posture. Therefore, even if there are obstacles or the like on the right side in the traveling direction, which is not the side where the working unit 51 is deployed to the deployed posture during the automatic deployment operation, there is no inconvenience that the first connecting body 412, the second boom 413, and the working unit 51, which are connecting bodies, interfere with these obstacles or the like.

[0111] Also, when performing the automatic deployment operation from the stored posture, it is not possible to proceed to the next control step unless the first intermediate posture (see FIG. 14) is necessarily formed. The case of performing the automatic deployment operation from a state other than the stored posture will be described later. With the first intermediate posture (see FIG. 14), the working unit 51, which has a large projected area that significantly blocks the view from the operator M boarding the traveling body B to the rear side in the traveling direction, is quickly excluded from the view of the operator M, ensuring the view on the rear side of the traveling body B. That is, by inadvertently moving the working unit 51 up and down many times at a position close to the stored posture, it is possible to prevent the time during which a blind spot is generated on the rear side of the traveling body B from the operator M from becoming long.

[0112] The other end side of the second boom 413 and the working unit 51 located at the other end side of the second boom 413 in the first intermediate posture (see FIG. 14) are provided so as not to protrude excessively radially outward from the turning area formed inside the other end of the first boom 411 that turns around the first turning axis 411A when viewed from the traveling direction. Therefore, even if the first boom 411 turns around the first turning axis 411A in the steps of step 114 to step 117 described later while the angle of the second boom 413 remains at the first and second boom angle β1, the chance of the second boom 413 and the working unit 51 contacting other obstacles during turning is reduced.

[0113] Next step, in step 114, it is determined whether the current angle θ1 of the first boom 411 is the target turning angle α of the first boom 411. If it is recognized in step 104 that α = α1, it is determined whether the current angle θ1 of the first boom 411 is the first first boom angle α1 which is the target turning angle α. (When α = α2, it will be described later.)

[0114] If the current angle θ1 of the first boom 411 is not the target turning angle α (the first first boom angle α1), in step 115, it is determined whether the current angle θ1 of the first boom 411 is smaller than or larger than the first first boom angle α1.

[0115] If, in the determination in step 115, the current angle θ1 of the first boom 411 is larger than the first first boom angle α1, in step 116, the first boom 411 is turned toward the storage side. In the embodiment, a signal is issued to switch the direction control valve 25 so as to shorten the first cylinder 415, and the first boom 411 is turned around the first turning axis 411A, and the first boom 411 is turned relative to the main frame and the mast frame.

[0116] If the current angle θ1 of the first boom 411 is smaller than the first first boom angle α1 which is the target turning angle α, in step 117, the first boom 411 is turned toward the deployment side. In the embodiment, a signal is issued to switch the direction control valve 25 so as to extend the first cylinder 415, and the boom is turned around the first turning axis 411A. The operations in step 116 and step 117 are performed while the automatic deployment operation is continued by step 127.

[0117] If, in step 114, the current angle θ1 of the first boom 411 is the target turning angle α (the first first boom angle α1), a signal is issued to switch the direction control valve 25 to stop all cylinders in step 118, and the process proceeds to step 119.

[0118] At the stage when step 118 is completed, the first boom 411 and the second boom 413 form the second intermediate posture (see FIGS. 15, 16, and 17). When performing the automatic deployment operation from the stored posture, the first intermediate posture (see FIG. 14) is formed, and then the second intermediate posture is formed. As shown in FIGS. 15, 16, and 17, the second intermediate posture is a posture in which the working unit 51 is located on the side of the traveling body B or the main frame 11, and the second boom 413 and the working unit 51 do not interfere with the traveling body B or the ground, and the posture position is such that it can rotate from the first turning position (retracted position) to the third turning position (advanced position) from the retracted position to the advanced position.

[0119] Also, from the first intermediate posture (see FIG. 14) to the second intermediate posture (see FIGS. 15, 16, and 17), the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 do not protrude outward to the side opposite to the deployment direction in the deployed posture more than the body width in the left-right direction with respect to the traveling direction of the working machine A in the stored posture. For this reason, even if there are obstacles or the like on the right side in the traveling direction, which is not the side where the working unit 51 is deployed during the automatic deployment operation, there is no inconvenience that the first connecting body 412, the second boom 413, and the working unit 51, which are connecting bodies, interfere with this obstacle or the like.

[0120] When the second intermediate posture (see FIGS. 15, 16, and 17) is formed in step 118, in step 119, it is determined whether the second boom 413 is at the most advanced position, that is, whether the second boom 413 is at the third turning position as shown in FIGS. 6, 21 to 23. That is, as shown in FIG. 6, it is determined in step 119 whether the first switch Sw1 is on and whether the second switch Sw2 is also on. If it is determined that it is not at the most advanced position, that is, the second boom 413 is not at the third turning position as shown in FIGS. 6, 21 to 23, but the second boom 413 is at the first turning position (retracted position) shown in FIGS. 4, 15 to 17 or the second boom 413 is at the second turning position (intermediate position) shown in FIGS. 5, 18 to 20, then in step 120, the third cylinder 417 is extended to rotate the second boom 413 toward the third turning position (see FIGS. 21 to 23). This operation is performed while the automatic deployment operation is continued by step 127. Also, until the second boom 413 reaches the third turning position at step 119, the control is repeated from step 103 again. When it is determined that the second boom 413 has reached the third turning position (Figs. 6, 21 to 23), all cylinders are stopped at step 121, and the process proceeds to step 122.

[0121] At step 122, it is determined whether the current angle θ1 of the first boom 411 is the second first boom angle α2 and whether the current angle θ2 of the second boom 413 is the first second boom angle β1. The above is called the first deployment process. When it is determined that the current angle θ1 of the first boom 411 is not the second first boom angle α2 and the current angle θ2 of the second boom 413 is not the first second boom angle β1, the process returns to step 103 and proceeds to the second deployment process.

[0122] When returning to step 103 and entering the second deployment process, it is determined whether the first switch Sw1 and the second switch Sw2 are in the on state and the second boom 413 is at the third turning position which is the most forward position. After completing the steps of step 101 to step 122 from the fully retracted state, since the second boom 413 is at the third turning position, it is determined as Yes and the process proceeds to step 105.

[0123] At step 105, the control unit t switches the target turning angle α of the first boom 411 to the second first boom angle α2 and the target turning angle β of the second boom 413 to the first second boom angle β1 respectively, and proceeds to step 106. What switches here is only the value of the target turning angle α of the first boom 411 (α1 ⇒ α2), and the target turning angle β of the second boom 413 does not switch.

[0124] At step 106 after changing the target turning angle α of the first boom 411 to the second first boom angle α2, when it is determined that the current angle θ1 of the first boom 411 is less than or equal to the second first boom angle α2, the process proceeds to step 108. In step 106, if it is determined that the current angle θ1 of the first boom 411 is greater than the second first boom angle α2, the process proceeds to step 107, and the first boom 411 is rotated in the retracting direction. The control unit t switches the direction control valve 25 so as to shorten the first cylinder 415.

[0125] The description of steps 108 to 113 of the second deployment process is omitted because the β value remains unchanged. If, by any chance, the current angle θ2 of the second boom 413 becomes an angle different from the first second boom angle β1 (θ2≠β1), the second boom 413 is rotated by steps 108 to 113 of the second deployment process in the same manner as the above-described control so that the current angle θ2 becomes the first second boom angle β1 (θ2 = β1).

[0126] In step 114, it is determined whether the current angle θ1 of the first boom 411 is equal to the target turning angle α of the first boom 411. Here, since the target turning angle α is the second first boom angle α2 (α = α2), it is determined whether the current angle θ1 of the first boom 411 is equal to the second first boom angle α2.

[0127] In step 115, if the current angle θ1 of the first boom 411 is not equal to the second first boom angle α2, it is determined whether the current angle θ1 of the first boom 411 is smaller than or greater than the second first boom angle α2.

[0128] In the determination of step 115, if the current angle θ1 of the first boom 411 is greater than the second first boom angle α2, the first boom 411 is rotated toward the retracted side in step 116. In the embodiment, the direction control valve 25 is switched so as to shorten the first cylinder 415, and the first boom 411 is rotated around the first turning axis 411A. When the current angle θ1 of the first boom 411 is smaller than the second first boom angle α2, the first boom 411 is rotated toward the deployment side in step 117. The operations of steps 116 and 117 of the second deployment process are performed while the automatic deployment operation is continued by step 127. Further, it is performed until it is determined in step 114 that the current angle θ1 of the first boom 411 is the second first boom angle α2. Then, with respect to the second intermediate position, the working unit 51 is disposed at a position where it has descended downward due to the rotation of the first boom 411 (see FIG. 24).

[0129] When it is determined in step 114 that the current angle θ1 of the first boom 411 is the second first boom angle α2, in step 119 via step 118, it is determined whether the second boom 413 is at the most advanced position. If it is different, the control of step 119 is repeated by step 120 until the second boom 413 reaches the third turning position where it is at the most advanced position by operating the third cylinder 417. The control from step 119 to step 120 is performed as long as the automatic deployment operation is being performed via the control of step 127, and is repeated until the second boom 413 reaches the third turning position.

[0130] When it is determined in step 119 that the second boom 413 is at the third turning position which is the most advanced position, it proceeds to step 122 after stopping all cylinders by step 121. In step 122, it is determined whether the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is the first second boom angle β1. When it is determined that the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is not the first second boom angle β1, it returns to step 103 and repeats the control.

[0131] When it is determined in step 122 that the current angle θ1 of the first boom 411 is the second first boom angle α2 and the current angle θ2 of the second boom 413 is the first second boom angle β1, a countdown is started in step 122.

[0132] In step 122, when the countdown starts, in step 124, the fourth cylinder 418 is operated until the remaining time reaches 0 to deploy the working unit 51. This operation is performed while the automatic deployment operation is continued in step 127. In step 124, when it is determined that the remaining time is 0, all cylinders are stopped in step 126 and the control ends. The posture formed in this step 126 becomes the deployment posture (see FIG. 25).

[0133] The deployment posture is also called the deployment position or the home position. Based on this position, when the operator M manually operates the operation unit u, the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 are operated, and the working unit 51 can be positioned at an arbitrary working position intended by the operator M (for example, see FIG. 26). As shown in FIG. 25, the working unit 51 in the home position in the embodiment is positioned on the side of the traveling body B, particularly on the side of the operator M who is the driver of the traveling body B, by positioning the second boom 413 at the third turning position, and is positioned slightly above the traveling surface of the traveling body B. In addition, the upper surface portion of the working unit 51 viewed from the traveling direction is turned to a position generally perpendicular to the longitudinal direction of the second boom 413, and with respect to the traveling surface of the traveling body B, the tip side of the working unit 51 is inclined so as to be slightly above the fourth turning axis. The operator M operates the operation unit u from the home position to an arbitrary working position to position the working unit 51 and perform work.

[0134] Rather than operating the first boom 411, the first coupler 412 which is a coupler, and the second boom 413 only by manual operation from the storage position toward the working position, the movement from the storage position to the home position is automatically performed, and the manual operation from the home position toward the working position can significantly reduce the operation burden. Further, at the working position, the working surface is not limited to only the traveling surface on which the traveling machine body B travels, and may be a stepped surface, a normal surface, or a remote location further laterally away from the home position. By setting the home position, the working unit 51 can be quickly positioned at the working position after the automatic deployment to the home position.

[0135] In the control related to the automatic deployment operation, since it is only determined whether the current angles θ1 and θ2 have reached the target turning angles α and β, or whether they are larger or smaller, the control burden related to the arithmetic processing can be reduced. Further, since the turning positions in the forward and backward directions of the second boom 413 are also determined only by the ON / OFF operations of the first switch Sw1 and the second switch Sw2, the control burden can be reduced.

[0136] Since the target turning angle α is switched between α1 and α2 and the same control procedure is repeated, it is not necessary to prepare control codes dedicated to each operation. That is, since it is not necessary to enlarge the storage unit for storing the control code (program) in the control unit t, the configuration of the control unit t can be simplified.

[0137] The operation from the storage posture to the deployment position is performed after necessarily forming the first intermediate posture (see FIG. 14) and the second intermediate posture (see FIGS. 15, 16, and 17). Therefore, even if there are irregularities in the positional relationship of each part, interference with other obstacles or the like can be prevented and the operation can be performed safely. An example of this is described below.

[0138] An example in the case where it is not in the fully stored state will be described. In step 106, it is assumed that the target turning angle α is the first first boom angle α1 (α = α1), and the current angle θ1 of the first boom 411 is larger than the first first boom angle α1. At this time, since it is not in the stored state, if the second boom 413 is suddenly operated under the control of steps 109 to 112, the working unit 51 that pivots around the second pivot axis 413A and the second boom 413 will operate so as to protrude laterally, particularly laterally on the deployment side. In the event that there are obstacles or the like in the deployment direction, the working unit and the second boom 413 will interfere, causing inconvenience. To prevent this, in step 106, the first boom 411 is once operated so as to be at an angle α1 or less of the first boom, and the working unit 51 and the second boom 413 are moved closer to the center side of the traveling body B laterally, and then the second boom 413 is operated to the first intermediate posture (see FIG. 14) at the first second boom angle β1. By doing so, it is possible to ensure the rear view from the operator M and perform the automatic deployment operation safely.

[0139] Another example in the case where it is not in the fully stored state will be described. The state where the first boom 411 is in the stored state and the second boom 413 is in a state larger than β1 will be described. At this time, the working unit 51 located at the tip of the second boom 413 is arranged at a position protruding laterally to the right side in the traveling direction of the traveling body B. In this state, when the control of step 114 is implemented, since the working unit 51 will pivot greatly around the first pivot axis 411A from the position protruding laterally to the right side in the traveling direction of the traveling body B, if there are obstacles on the right side or the upper part of the right side of the traveling body B, inconveniences such as collisions will occur.

[0140] To avoid this inconvenience, even when the second boom 413 is in a state larger than the first second boom angle β1, the second boom 413 is pivoted in the storage direction opposite to the deployment direction so as to be at the first second boom angle β1. It is possible to avoid the inconvenience of contacting obstacles that may exist around the traveling body B and the working machine A, particularly laterally. Also, even when the second boom 413 is in a state larger than the first second boom angle β1, by operating the second boom 413 so as to be at the first second boom angle β1, the turning area including the working unit 51 when viewed from the traveling direction can be reduced, and it can be adapted even in a narrow working environment. During the automatic deployment operation, the operation can be stopped by releasing the operation of the operation unit u, so the operation related to stopping the operation does not become complicated.

[0141] In the embodiment, it has been described that the first cylinder 415 extends to deploy the first boom 411 in the deployment direction, shortens to pivot the first boom 411 in the retraction direction, the second cylinder extends to deploy the first connecting body 412 and the second boom 413 which are connecting bodies in the deployment direction, shortens to pivot the first connecting body 412 and the second boom 413 which are connecting bodies in the retraction direction, the third cylinder 417 extends to move the second boom 413 in the forward direction, shortens to pivot the second boom 413 in the backward direction, and the fourth cylinder 418 extends to deploy the working part 51 in the deployment direction and shortens to pivot it in the retraction direction. In the present invention, there is no limitation on the extension and contraction direction and the turning direction of each cylinder, and it can also be applied to various combinations.

[0142] In the embodiment, the first first boom angle α1 is preferably 90 to 110°, and about 100° is adopted in the illustration. Also, the second first boom angle α2 is preferably 115 to 135°, and about 125° is adopted in the illustration. The first second boom angle β1 is preferably 50 to 70°, and about 60° is adopted in the illustration. Also, the angle between the working part 51 and the second boom 413 in the deployment posture shown in the embodiment is preferably 80 to 100°, and is about 90° in the illustration. Furthermore, the first first boom angle α1, the second first boom angle α2, the first second boom angle β1, and the angle of the working part 51 can be freely changed according to the specifications and forms of the traveling body B to be mounted and the working machine A in addition to the illustrated angles.

[0143] That is, in the embodiment according to the present invention, a working machine A in which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a working part 51 are sequentially attached to a main frame 11 provided on the working machine, the mast frame 21 and the first boom 411 are attached by a first turning shaft 411A which is a horizontal shaft, Attach the first boom 411 and the first connecting body 412, which is a connecting body, parallel to the first turning axis 411A and turnable about a second turning axis 413A in the same direction as the turning direction of the first boom 411. The third turning axis 417A is provided between the other end side of the first connecting body 412 and the second boom 413 in a direction intersecting the first turning axis 411A and the second turning axis 413A. The second boom 413 is turnable about the third turning axis 417A. By connecting one end side of the second boom 413 to the third turning axis 417A, the second boom 413 can be turned by the third turning axis 417A in a direction intersecting the first boom 411.

[0144] The second boom 413 turns around the third turning axis 417A so that the other end side moves back and forth in the front-rear direction by turning around the third turning axis 417A with respect to the first connecting body 412. According to the turning angle of the second boom 413, the second boom 413 turns between the first turning position (retracted position) close to the mast frame 21, which is the retracted position where the other end side is positioned at the rearmost end with respect to the traveling direction, via the second turning position, which is the intermediate position, to the third turning position, which is the advanced position. The stored posture of the working machine A means A state in which the first boom 411 lies horizontally on the upper part of the mast frame 21 or the main frame 11, and the second boom 413 is positioned so as to overlap or fold with respect to the first boom 411. A state in which the second boom 413 is turned to the first turning position (retracted position), which is the retracted position, and a state in which the working part 51 is positioned so as to overlap or fold with respect to the second boom 413.

[0145] The deployed posture of the working machine A means Turn the first boom 411 in the stored posture around the first turning axis 411A and turn it to the deployed side so as to rise with respect to the mast frame 21 or the main frame 11, so that the other end side of the first boom 411 is positioned laterally with respect to the mast frame 21 or the main frame 11, or Turn the second boom 413 to the deployed side around the second turning axis 413A from the state where it is folded with respect to the first boom 411 to widen the angle between them, or The state in which the second boom 413 is rotated around the third turning axis 417A to be positioned at the third turning position, or The working unit 51 is rotated around the fourth turning axis, and the second boom 413 is rotated in the deployment direction, which is the direction in which the second boom 413 extends from one end side to the other end side.

[0146] Regarding the first boom 411, the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the stored posture is α0, and the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the deployed posture is the second first boom angle α2. The first first boom angle α1 is the turning angle of the first boom 411 that is between the turning angles of the turning angle α0 and the turning angle α2 and is a preset angle. The angle between the turning angle α0 and the turning angle α2 means that the first boom 411 can turn around the first turning axis 411A at least from the turning angle α0 to the turning angle α2.

[0147] In the embodiment according to the present invention, The first boom 411 is provided so as to be turnable to a turning angle including the first first boom angle α1 and the second first boom angle α2, and The second boom 413 is provided so as to be relatively turnable to an angle including the first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2 with respect to the first boom 411. The first boom 411 and the second boom 413 are provided with an operation unit capable of an automatic deployment operation for automatically changing the posture between the stored posture and the deployed posture. Before the second boom 413 is rotated toward the first second boom angle β1 after the start of the automatic deployment operation, if the first boom 411 is larger than the first first boom angle α1, the working machine A rotates the first boom 411 so that it becomes equal to or less than the first first boom angle α1.

[0148] In the embodiment according to the present invention, A first boom 411 is provided so as to be pivotable to a turning angle including a first first boom angle α1 and a second first boom angle α2. A second boom 413 is provided so as to be relatively pivotable to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be relatively pivotable to the first boom 411 to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction intersecting with the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic deployment operation for automatically changing the posture between a stored posture and a deployed posture. Before turning the second boom 413 toward the first second boom angle β1 which is the angle of the second boom 413 with respect to the first boom 411 after the start of the automatic deployment operation, if the second boom 413 is at the first turning position (retracted position) or the second turning position, and the first boom 411 is larger than the first first boom angle α1, the working machine A turns the first boom 411 so as to be equal to or less than the first first boom angle α1.

[0149] In an embodiment according to the present invention, The operation toward the deployed posture is composed of the working machine A in which the first boom 411 is equal to or less than the first first boom angle α1, and the second boom 413 forms the deployed posture after forming the first second boom angle β1.

[0150] In an embodiment according to the present invention, A first boom 411 is provided so as to be pivotable to a turning angle including a first first boom angle α1 and a second first boom angle α2. A second boom 413 is provided so as to be relatively pivotable to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic deployment operation for automatically changing the posture between the stored posture and the deployed posture. When the first boom 411 is at an angle equal to or less than the first first boom angle α1 after the start of the automatic deployment operation, the second boom 413 is rotated toward the first second boom angle β1 to make the first second boom angle β1, and then the first boom 411 is rotated toward the first first boom angle α1. It consists of a working machine A.

[0151] In an embodiment according to the present invention, A first boom 411 provided so as to be rotatable to a turning angle including a first first boom angle α1 and a second first boom angle α2, A second boom 413 provided so as to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic deployment operation for automatically changing the posture between the stored posture and the deployed posture. After the start of the automatic deployment operation, when the first boom 411 is at an angle equal to or less than the first first boom angle α1 and the second boom 413 is not at the first second boom angle β1, the second boom 413 is rotated so that the second boom 413 becomes the first second boom angle α2. It consists of a working machine characterized by the above.

[0152] In an embodiment according to the present invention, The second boom 413 is provided so as to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2. After starting the posture change to the deployment posture by the automatic deployment operation, when the second boom 413 is at the first second boom angle β1 and the first boom 411 is at the first first boom angle α1, it is determined whether the second boom 413 is at the first turning position (retracted position) or the second turning position. When the second boom 413 is at the first turning position (retracted position) or the second turning position, it includes a work machine A that turns the second boom 413 toward the third turning position.

[0153] In an embodiment according to this invention, a first boom 411 provided to be rotatable at a turning angle including a first first boom angle α1 and a second first boom angle α2, a second boom 413 provided to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and provided to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle, the first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic deployment operation for automatically changing the posture between the stored posture and the deployed posture. When the automatic deployment operation is started and after the first boom 411 forms the first first boom angle α1 and the second boom 413 forms the first second boom angle β1, when the second boom 413 is at the third turning position, it includes a work machine A that determines whether the first boom 411 is at the second first boom angle α2.

[0154] In an embodiment according to this invention, a first boom 411 provided to be rotatable at a turning angle including a first first boom angle α1 and a second first boom angle α2, The second boom 413 is provided so as to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 include an operation unit u capable of an automatic deployment operation for automatically changing the posture between a stored posture and a deployed posture. After the start of the automatic deployment operation, the target angle β of the second boom 413 is set as the first second boom angle β1, and after turning the second boom 413 toward the first second boom angle β1, the target angle α of the first boom 411 is set as the first first boom angle α1, and after turning the first boom 411 toward the first first boom angle α1. When it is determined that the second boom 413 is in the third turning position, the target angle α of the first boom 411 is changed to the second first boom angle α2. The working machine A is composed of this.

[0155] In an embodiment according to this invention, A first boom 411 provided so as to be rotatable at a turning angle including a first first boom angle α1 and a second first boom angle α2. The second boom 413 is provided so as to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 include an operation unit u capable of an automatic deployment operation for automatically changing the posture between a stored posture and a deployed posture. The automatic deployment operation is such that after the second boom 413 is rotated toward the first and second boom angle β1 which is the set target angle of the second boom 413, after the first deployment step of rotating the first boom 411 toward the first and first boom angle α1 which is the set target angle of the first boom 411 is completed, When the first boom 411 is at the first and first boom angle α1, and the second boom 413 is at the first and second boom angle β1, and the second boom 413 is at the third turning position, in the first deployment step, a second deployment step of changing the set target angle of the first boom 411 from the first and first boom angle α1 to the second and first boom angle α2 is performed, which is a working machine A.

[0156] In an embodiment according to the present invention, The operations of the first boom 411 and the second boom 413 are performed only while the operation unit u is being manually operated, which is a working machine A.

[0157] In an embodiment according to the present invention, A first boom 411 provided so as to be rotatable to a turning angle including a first and first boom angle α1 and a second and first boom angle α2, A second boom 413 provided so as to be relatively rotatable with respect to the first boom 411 to an angle including a first and second boom angle β1 in the same turning direction as the first and first boom angle α1 and the second and first boom angle α2, and provided so as to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction intersecting the first and first boom angle α1 and the second and first boom angle α2, The first boom 411 and the second boom 413 are provided with an operation unit capable of an automatic deployment operation for automatically changing the posture between a stored posture and a deployed posture. When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate posture which is a posture between the stored posture and the deployed posture and then shift to the deployed posture, which is a working machine A.

[0158] In an embodiment according to the present invention, A first boom 411 that is rotatably provided at a turning angle including a first first boom angle α1 and a second first boom angle α2, a second boom 413 that is relatively rotatably provided at an angle including a first second boom angle in the same turning direction as the first first boom angle α1 and the second first boom angle α2 with respect to the first boom 411, and is relatively rotatably provided with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2, the first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic deployment operation for automatically changing the posture between a stored posture and a deployed posture, When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate posture that is a posture between the stored posture and the previous deployment posture, and then form a second intermediate posture that is a posture between the stored posture and the deployed posture, and then shift to the deployed posture, which is a working machine A.

[0159] In an embodiment according to the present invention, Until shifting from the stored posture via the first intermediate posture to the deployed posture, the second boom 413 does not protrude laterally beyond the machine width located opposite to the turning fulcrum portion of the first boom 411 in the stored posture, which is a working machine A.

[0160] An automatic posture change and an automatic storage operation according to an embodiment of the present invention will be described. The first boom 411 and the second boom 413 enable an automatic posture change and an automatic storage operation by operating the operation unit u between a stored posture as shown in FIGS. 1 and 13 and a deployed posture as shown in FIG. 2. Based on the flowchart showing the automatic storage operation illustrated in FIG. 12, the basic pattern of the operation of the machine body when the working machine A performs an automatic storage operation from the working position where the working machine A performs work will be described according to the control procedure. The working position at the initial position is described as follows: the turning positions of the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 are slightly deviated from the predetermined deployed position (for example, as shown in Fig. 26). When starting the automatic storage operation, it waits for an operation in step 201, and in step 202, the operator M performs an automatic deployment operation. Then, in step 203, it is determined whether "switch 1 is in the off state and switch 2 is in the off state". That is, it is determined whether it is the first turning position (retracted position) where the second boom 413 is in the most retracted position.

[0161] If in step 203, it is determined by the control unit t that "switch 1 is in the off state and switch 2 is in the off state" is No, that is, the second boom 413 is not in the first turning position (retracted position) which is the most retracted position, it proceeds to the next step 204 and enters the first storage process.

[0162] In step 204, the control unit t switches the target turning angle α of the first boom 411 to the first first boom angle α1, and the target turning angle β of the second boom 413 to the first second boom angle β1, and proceeds to step 206.

[0163] Also, if in step 203, it is determined by the control unit t that Yes, that is, the second boom 413 is in the first turning position (retracted position), it proceeds to step 205.

[0164] In step 205, the control unit t switches the target turning angle α of the first boom 411 to the storage angle α0, and the target turning angle β of the second boom 413 to the storage angle β0, respectively. The details of the operation control after the switching in step 205 will be described later.

[0165] In step 206 which receives the result of step 204, it is determined whether the current angle θ1 of the first boom 411 is the first first boom angle α1 which is the target turning angle α of the first boom 411.

[0166] In step 206, if it is determined that the current angle θ1 of the first boom 411 is not the first boom angle α1 at which the target turning angle is α, the process proceeds to step 207 to determine whether the current angle θ1 of the first boom 411 is smaller than the target turning angle α. When the current angle θ1 of the first boom 411 is larger than the target turning angle α, the control unit t transmits a signal to switch the working unit 51 so as to shorten both the first cylinder 415 and the fourth cylinder 418 in step 208.

[0167] That is, the first boom 411 is turned toward the target turning angle α, and the working unit 51 is turned in the retracting direction. The first boom 411 and the working unit 51 move from the state shown in FIG. 26 to the state shown in FIG. 27. When the current angle θ1 of the first boom 411 is smaller than the target turning angle α, the control unit t transmits a signal to switch the working unit 51 so as to extend the first cylinder 415 and shorten the fourth cylinder in step 209. That is, the first boom 411 is turned toward the target turning angle α, and the working unit 51 is turned in the retracting direction.

[0168] In steps 208 and 209, regardless of the turning direction of the first boom 411, the working unit 51 turns about the fourth turning axis 418A in the retracting direction (see FIG. 27).

[0169] Also, after passing through steps 208 and 209, by step 223, as long as the automatic retraction operation continues, until the conditions of step 206 are satisfied, the process passes through step 203 again, and the first boom 411 and the working unit 51 are turned by step 208 or step 209. When the operation is canceled, a signal is transmitted to the working unit 51 to stop the operation of all cylinders by step 224, and the process returns to step 201. When the operation continues, the process returns to step 203 again and the control is repeated.

[0170] In step 206, when it is determined that the current angle θ1 of the first boom 411 is the first first boom angle α1, the process proceeds to step 210, and the control unit t sends a signal to switch the direction control valve 25 so as to stop all cylinders. Then, the process proceeds to the next step 211.

[0171] Before reaching step 210, by setting the first boom 411 to the first first boom angle α1, the working unit 51 and the second boom 413 are raised upward (see Fig. 27). Thereby, when the second boom 413 performs a turning operation in subsequent control steps, a region or space where the second boom 413 can turn is secured below the second boom 413, and the second boom 413 and the working unit 51 can be prevented from contacting the traveling surface.

[0172] In step 211, it is determined whether the current angle θ2 of the second boom 413 is the first second boom angle β1 which is the target turning angle β of the second boom 413.

[0173] In step 211, when the current angle θ2 of the second boom 413 is not the first second boom angle β1 which is the target turning angle β, in step 212, the control unit t determines whether the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1. When the current angle θ2 of the second boom 413 is larger than the first second boom angle β1, in step 213, a signal is issued to switch the direction control valve 25 so as to shorten the second cylinder 416 and the fourth cylinder 418. That is, with the second turning shaft 413A as a fulcrum, the second boom 413 and the first connecting body 412 which is a connecting body are turned toward the target turning angle α, and with the fourth turning shaft 418A as a fulcrum, the working unit 51 is turned in the storage direction.

[0174] When the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1, the control unit t issues a signal to switch the direction control valve 25 so as to extend the second cylinder 416 and shorten the fourth cylinder 418 in step 214. That is, with the second turning axis 413A as a fulcrum, the second boom 413 and the first connecting body 412 which is a connecting body are turned toward the target turning angle α, and with the fourth turning axis 418A as a fulcrum, the working part 51 is turned in the storage direction. In steps 213 and 214, regardless of the turning direction of the second boom 413, the working part 51 makes a turning motion with the fourth turning axis 418A as a fulcrum in the storage direction.

[0175] Also, after passing through steps 213 and 214, by step 223, as long as the automatic storage operation continues, until the conditions of step 211 are satisfied, again, via step 211, the second boom 413 and the working part 51 are turned by step 213 or step 214. When the operation is released, a signal is sent to the direction control valve 25 to stop the operation of all cylinders by step 224, and it returns to step 201.

[0176] When the current angle θ2 of the second boom 413 in step 211 is the first second boom angle β1 which is the target angle β (see Fig. 22), in step 215, a signal is issued to switch the working part 51 to stop all cylinders, and it shifts to step 216.

[0177] At the stage when step 215 ends, the first boom 411 and the second boom 413 form the second intermediate posture (see Figs. 21 to 23). That is, when performing the automatic storage operation from the working position, first, the second intermediate posture is formed. The second intermediate posture is a posture in which the working part 51 is located on the side of the traveling body B or the main frame 11, and it is a posture position where the second boom 413 and the working part 51 can turn from the first turning position (rearward position) to the third turning position from the rearward position to the forward position without interfering with the traveling body B or the ground.

[0178] By forming the second intermediate posture, the working part 51 which is a heavy object located at the tip of the boom device is brought closer to the traveling body B side, and the stability of the traveling body B can be preferentially ensured.

[0179] In step 216 via step 215, it is determined whether switch 1 is in the off state and switch 2 is in the off state. That is, it is determined again whether it is the first turning position (retracted position) where the second boom 413 is in the fully retracted position.

[0180] In step 216, if "whether switch 1 is in the off state and switch 2 is in the off state" is No, that is, if the control unit t determines that it is not the first turning position (retracted position) where the second boom 413 is in the fully retracted position, the process proceeds to the next step 217. In step 217, the control unit t issues a signal to switch the working unit 51 so as to shorten the third cylinder 417 and the fourth cylinder 418. That is, the second boom 413 is turned (from the state shown in FIGS. 21 to 23 to the state shown in FIGS. 15 to 17) toward the first turning position (retracted position) with the third turning shaft 417A as a fulcrum, and the working unit 51 is turned in the retracting direction with the fourth turning shaft 418A as a fulcrum.

[0181] After passing through step 217, by step 223, as long as the automatic retraction operation continues, until the conditions of step 216 are satisfied, again via step 203, the second boom 413 and the working unit 51 are turned by step 217. When the automatic retraction operation is canceled by step 223, a signal is sent to the direction control valve 25 to stop the operation of all cylinders, and the process returns to step 201.

[0182] In step 216, when the second boom 413 is in the first turning position (retracted position), indicating that switch 1 is in the off state and switch 2 is in the off state (see FIGS. 15 to 17), in step 218, the control unit t issues a signal to the direction control valve 25 to stop all cylinders.

[0183] Next, in step 219, it is determined whether the current angle θ1 of the first boom 411 is the retracted angle α0 at the retracted position and whether the current angle θ2 of the second boom 413 is the retracted angle β0 at the retracted position.

[0184] In the determination of step 219, if the current angle θ1 of the first boom 411 is not the stored angle α0 and the current angle θ2 of the second boom 413 is not the stored angle β0, return to step 203 and repeat the control. If the current angle θ1 has achieved the stored angle α0 and the current angle θ2 has achieved the stored angle β0, this will be described later.

[0185] Return to step 203, and again determine whether the second boom 413 is at the first turning position (retracted position) which is the fully retracted position. If the control unit t determines Yes in step 203, that is, the second boom 413 is at the first turning position (retracted position), it proceeds to step 205 and enters the second storage process. When the second boom 413 is at the first turning position (retracted position), it can be determined that even if the second boom 413 is turned around the first turning axis 411A and the second turning axis 413A, the working machine A will not contact the traveling body B.

[0186] In step 205, the control unit t switches the target turning angle α of the first boom 411 to the stored angle α0 and the target turning angle β of the second boom 413 to the stored angle β0 respectively, and proceeds to step 206.

[0187] In step 206 which has entered the second storage process in response to the result of step 205, determine whether the current angle θ1 of the first boom 411 is the stored angle α0 which is the target turning angle α of the first boom 411.

[0188] If it is determined in step 206 that the current angle θ1 of the first boom 411 is not the stored angle α0 which is the target turning angle α, it proceeds to step 207 and determines whether the current angle θ1 of the first boom 411 is smaller than the target turning angle α (α0). If the current angle θ1 of the first boom 411 is larger than the target turning angle α0, the control unit t transmits a signal to switch the direction control valve 25 so as to shorten both the first cylinder 415 and the fourth cylinder 418 in step 208. That is, the first boom 411 is turned from the current angle θ1 toward the stored position which is the target turning angle α, and the working unit 51 is turned in the storage direction (shifts from the state shown in Fig. 16 to the state shown in Fig. 14).

[0189] When the current angle θ1 of the first boom 411 is smaller than the stored angle α0 which is the target turning angle α, the control unit t transmits a signal to switch the direction control valve 25 so as to extend the first cylinder 415 and shorten the fourth cylinder 418 in step 209. That is, the first boom 411 is turned toward the stored angle α0 and the working unit 51 is turned in the storing direction. In many cases, the first boom 411 that has entered the second storing process does not become smaller than the stored angle α0. In steps 208 and 209, regardless of the turning direction of the first boom 411, the working unit 51 is turned in the storing direction.

[0190] Also, as long as the automatic storing operation continues in the same manner as in the first storing process, the first boom 411 and the working unit 51 are turned by step 223. When the operation is released, the operation of all the cylinders is stopped by step 224.

[0191] If it is determined in step 206 that the current angle θ1 of the first boom 411 is the stored angle α0 which is the target turning angle α, the process proceeds to step 210, and the control unit t transmits a signal to switch the working unit 51 so as to stop all the cylinders. Then, the process proceeds to the next step 211.

[0192] When step 210 of the second storing process ends, the first boom 411 becomes the stored angle α0, the second boom 413 becomes the first and second boom angle β1, and the first intermediate posture is formed (see FIG. 14).

[0193] Between the second intermediate posture and the first intermediate posture, by setting the second boom 413 to the first and second boom angle β1 with respect to the first boom 411, the other end side of the second boom 413 and the working unit 51 located on the other end side of the second boom 413 do not protrude excessively radially outward from the turning region formed inside the other end of the first boom 411 that turns around the first turning axis 411A when viewed from the traveling direction. Therefore, even if the first boom 411 is pivoted around the first pivot axis 411A while the angle of the second boom 413 remains the first and second boom angle β1, the chance of the second boom 413 and the working unit 51 contacting other obstacles is reduced.

[0194] Also, by setting the second boom 413 to the first and second boom angle β1, during the pivoting operation from the second intermediate position to the first intermediate position, it is possible to suppress the working unit 51, which has a large projected area that significantly blocks the view to the rear side with respect to the operator M, from passing in front of the operator M. That is, since the view to the rear side of the traveling body B from the operator M can be secured, the operator M can pay attention to the surroundings of the working machine A and avoid the working machine A from contacting an obstacle.

[0195] During the pivoting operation from the second intermediate position to the first intermediate position, the first boom 411, the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 do not protrude outward laterally beyond the machine width in the left - right direction of the working machine A in the stored position. For this reason, even if there are obstacles or the like on the right side in the traveling direction of the traveling body B and the working machine A during the automatic storage operation, there is no inconvenience that the first connecting body 412 which is a connecting body, the second boom 413, and the working unit 51 interfere with this obstacle or the like.

[0196] In step 211, it is determined whether the current angle θ2 of the second boom 413 is the storage angle β0 which is the target turning angle β of the second boom 413.

[0197] If the current angle θ2 of the second boom 413 is not the storage angle β0, the control unit t determines in step 212 whether the current angle θ2 of the second boom 413 is smaller than the storage angle β0. When the current angle θ2 of the second boom 413 is larger than the storage angle β0, in step 213, a signal is issued to switch the direction control valve 25 so as to shorten the second cylinder 416 and the fourth cylinder 418. That is, with the second pivot axis 413A as a fulcrum, the second boom 413 and the first connecting body 412 which is a connecting body are pivoted in the storage direction, and with the fourth pivot axis 418A as a fulcrum, the working unit 51 is pivoted in the storage direction.

[0198] When the current angle θ2 of the second boom 413 is smaller than the stored angle β0, the control unit t issues a signal to switch the direction control valve 25 so as to extend the second cylinder 416 and shorten the fourth cylinder 418 in step 214. That is, with the second swivel shaft 413A as a fulcrum, the second boom 413 and the first link 412 which is a connecting body are swiveled toward the stored angle β0, and with the fourth swivel shaft 418A as a fulcrum, the working unit 51 is swiveled in the storing direction. In many cases, the second boom 413 that has entered the second storing process does not become smaller than the stored angle β0. In steps 213 and 214, regardless of the swivel direction of the second boom 413, the working unit 51 is swiveled in the storing direction.

[0199] Similar to the first storing process, after passing through steps 213 and 214, as long as the automatic storing operation is continued by step 223, the second boom 413 and the working unit 51 are swiveled. Also, when the operation of the operation unit u is released, the operations of all the cylinders are stopped by step 224.

[0200] During the operation from the first intermediate posture to the stored posture (see FIG. 13), the second boom 413 and the working unit 51 do not protrude outside the width of the machine body of the working machine A in the stored posture, so the chance of contact with other obstacles during the automatic storing operation is reduced.

[0201] When the current angle θ2 of the second boom 413 is the stored angle β0 which is the target angle β in step 211, a signal is issued to switch the direction control valve 25 so as to stop all the cylinders in step 215, and the process proceeds to step 216.

[0202] At the stage when step 215 of the second storing process ends, the first boom 411 and the second boom 413 form a stored posture (see FIG. 13). That is, when the automatic storing operation is performed from the working position, the first boom 411 and the second boom 413 always form the second intermediate posture, then always form the first intermediate posture, and reach the stored posture.

[0203] Then, in step 216, it is determined whether or not the second boom 413 is at the first turning position (retracted position) which is the most retracted position. When the second boom 413 is not at the first turning position (retracted position), the control unit t issues a signal to switch the direction control valve 25 so as to shorten the second cylinder 416 and shorten the fourth cylinder 418 in step 217. That is, the second boom 413 is turned in the direction of the first turning position (retracted position) with the third turning shaft 417A as a fulcrum, and the working unit 51 is turned in the retracting direction with the fourth turning shaft 418A as a fulcrum. During the turning of the second boom 413, the working unit 51 is turned in the retracting direction.

[0204] If it is determined in step 216 that the second boom 413 is at the first turning position (retracted position) which is the most retracted position, the control unit t issues a signal to the direction control valve 25 to stop the operation of all cylinders and proceeds to step 219.

[0205] In step 219, it is determined whether or not the current angle θ1 of the first boom 411 is the stored angle α0 and the current angle θ2 of the second boom 413 is the stored angle β0.

[0206] If it is determined in step 219 that the current angle θ1 has reached the stored angle α0 and the current angle θ2 has reached the stored angle β0, the process proceeds to step 220, and all the cylinders of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 are shortened. That is, the first boom 411 and the first connecting body 412 which is a connecting body are turned in the retracting direction, the second boom 413 is turned in the direction of the first turning position (retracted position), and the working unit 51 is turned in the retracting direction again.

[0207] By this re-swinging operation, pressure is applied to the fluid pressure pipes leading from at least the working unit 51 to each of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. The first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 with pressure applied thereto do not easily extend. By applying a locking operation to the fluid pressure circuit so that each of the first boom 411, the first connecting body 412 as a connecting body, the second boom 413, and the working unit 51 heads in the storage direction, the storage posture is maintained.

[0208] After that, in step 221, the control unit t issues a signal to the direction control valve 25 to stop the operation of all the cylinders of the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. Then, it proceeds to step 222, and the control unit t causes a notification operation. The notification operation may be a voice that can be recognized by the hearing of the operator M, or a signal lamp, an image, or a video that can be recognized by the vision of the operator M. The operator M who has received the notification can recognize that the automatic storage operation has ended.

[0209] The storage angle of the first boom 411 in the storage posture is a state where, when viewed from the traveling direction of the traveling body B, the longitudinal direction of the first boom 411 lies horizontally as if folded above the main frame 11. Also, the storage posture of the second boom 413 is a state where, when viewed from the traveling direction of the traveling body B, the longitudinal direction of the second boom 413 is folded parallel to the longitudinal direction of the first boom 411 and is in a posture rotated around the third turning axis 417A at the first turning position (retracted position) which is the retracted position. The working unit 51 in the storage posture has the upper surface of the working unit 51 or the rotor shaft which is the working unit rotation axis 512 parallel to the longitudinal direction of the second boom 413 when viewed from the traveling direction of the traveling body B, and is in a state of being folded above the second boom 413.

[0210] When moving from the storage position to the working position, the manual operation for performing the automatic storage operation can significantly reduce the operation burden compared to operating the first boom 411, the first connecting body 412 as a connecting body, the second boom 413, and the working unit 51 only by manual operation.

[0211] During the automatic storage operation, the fourth cylinder 418 always operates in the storage direction while the first cylinder 415, the second cylinder 416, and the third cylinder 417 are operating. This operation is performed to avoid the phenomenon that the working unit 51 cannot be fully stored when the first boom 411 and the second boom 413 only take a very short time to reach their respective target angles from the start to the end of the operation of the first cylinder 415, the second cylinder 416, and the third cylinder 417.

[0212] In the control related to the automatic storage operation, only whether the current angles θ1 and θ2 have reached the target turning angles α and β, or whether they are larger or smaller, is judged, so the control burden related to the arithmetic processing can be reduced. Also, since the turning positions of the second boom 413 in the forward and backward directions are judged only by the ON / OFF operations of the switch 1 and the switch 2, the control burden can be reduced.

[0213] Since the target turning angle α is switched to α1 and α0, and the target turning angle β is switched to β1 and β0, and the same control procedure is repeated, it is not necessary to prepare control codes dedicated to each operation. That is, since it is not necessary to enlarge the storage unit for storing the control code (program) in the control unit t, the configuration of the control unit t can be simplified.

[0214] The operation from the deployed posture to the stored posture is always performed after forming the second intermediate posture and the first intermediate posture. Therefore, even if there are irregularities in the positional relationship of each part, interference with other obstacles and the like can be prevented, and the operation can be performed safely.

[0215] During the automatic storage operation, the operation stops by releasing the operation of the operation unit u, so the operation does not become complicated.

[0216] In the embodiment, it has been described that the first cylinder 415 extends to deploy the first boom 411 in the deployment direction, contracts to pivot the first boom 411 in the storage direction, the second cylinder 416 extends to deploy the first connecting body 412 and the second boom 413 which are connecting bodies in the deployment direction, contracts to pivot the first connecting body 412 and the second boom 413 which are connecting bodies in the storage direction, the third cylinder 417 extends to move the second boom 413 forward, contracts to pivot the second boom 413 in the backward direction, and the fourth cylinder 418 extends to deploy the working part 51 and contracts to pivot it in the storage direction. In the present invention, there is no limitation on the extending / contracting direction and the pivoting direction of each cylinder, and it can also be applied to various combinations.

[0217] In the embodiment, the first first boom angle α1 is preferably 90 to 110°, and about 100° is adopted in the illustration. Also, the second first boom angle α2 is preferably 115 to 135°, and about 125° is adopted in the illustration. The first second boom angle β1 is preferably 50 to 70°, and about 60° is adopted in the illustration. Furthermore, the first first boom angle α1, the second first boom angle α2, and the first second boom angle β1 can be freely changed according to the specifications and forms of the traveling machine body B and the working machine A to be mounted, in addition to the illustrated angles.

[0218] That is, in the automatic storage operation in the embodiment of the invention, a working machine A in which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a working part 51 are sequentially attached to the main frame 11 provided on the working machine A, the mast frame 21 and the first boom 411 are attached by a first pivot shaft 411A which is a horizontal axis, the first boom 411 and the first connecting body 412 which is a connecting body are attached so as to be pivotable in the same direction as the pivoting direction of the first boom 411 by a second pivot shaft 413A parallel to the first pivot shaft 411A, The third turning axis 417A is provided between the other end side of the first connecting body 412 and the second boom 413 in a direction intersecting with the first turning axis 411A and the second turning axis 413A. The second boom 413 is rotatable around the third turning axis 417A. By connecting one end side of the second boom 413 to the third turning axis 417A, the second boom 413 can be turned by the third turning axis 417A in a direction intersecting with the first boom 411.

[0219] The second boom 413 turns around the third turning axis 417A by turning around the third turning axis 417A with respect to the first connecting body 412, so that the other end side moves back and forth in the front-rear direction around the third turning axis 417A. According to the turning angle of the second boom 413, the second boom 413 turns between the first turning position (retracted position) close to the mast frame 21, which is the retracted position where the other end side is positioned at the rearmost end with respect to the traveling direction, via the second turning position, which is the intermediate position, to the third turning position, which is the advanced position.

[0220] The stored posture of the working machine A means a state in which the first boom 411 lies horizontally on the upper part of the mast frame 21 or the main frame 11, and the second boom 413 is positioned so as to overlap or fold with respect to the first boom 411, a state in which the second boom 413 is turned to the first turning position (retracted position), which is the retracted position, and a state in which the working part 51 is positioned so as to overlap or fold with respect to the second boom 413.

[0221] The deployed posture of the working machine A means turning the first boom 411 of the stored posture around the first turning axis 411A and turning it to the deployment side so as to rise with respect to the mast frame 21 or the main frame 11, so that the other end side of the first boom 411 is positioned laterally with respect to the mast frame 21 or the main frame 11, or turning the second boom 413 from the state of being folded with respect to the first boom 411 to the deployment side around the second turning axis 413A to widen the angle between them, or turning the second boom 413 around the third turning axis 417A to position it at the third turning position, or The state in which the working unit 51 is rotated around the fourth rotation axis and rotated to the deployment side, which is the direction in which the second boom 413 is extended from one end side toward the other end side, is referred to as

[0222] Regarding the first boom 411, the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the stored posture is α0, and the turning angle of the main frame 11 or the mast frame 21 of the first boom 411 in the deployed posture is the second first boom angle α2. The first first boom angle α1 is the turning angle of the first boom 411 that is between the turning angles of the turning angle α0 and the turning angle α2 and is a preset angle. The angle between the turning angle α0 and the turning angle α2 means that the first boom 411 can turn around the first turning axis 411A at least from the turning angle α0 to the turning angle α2.

[0223] In the embodiment according to the present invention, The first boom 411 is provided so as to be turnable to a turning angle including the first first boom angle α1 and the second first boom angle α2, The second boom 413 is provided so as to be relatively turnable to an angle including the first second boom angle in the same turning direction as the first first boom angle α1 and the second first boom angle α2 with respect to the first boom 411, and is relatively turnable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic storage operation for automatically changing the posture between the stored posture and the deployed posture. After the start of the automatic storage operation, it is determined whether or not the second boom 413 is at the first turning position (retracted position). When the second boom 413 is not at the first turning position (retracted position), the target angle α of the first boom 411 is set to the first first boom angle α1, and the first boom 411 is turned so as to become the first first boom angle α1. This is the working machine A.

[0224] In the embodiment according to the present invention, the second boom 413 includes a working unit 51 that is rotatable relative to the second boom 413 between a working posture and a storage posture, while rotating the first boom 411 to the first first boom angle α1 and simultaneously rotating the working unit 51 toward the storage posture, the working machine A is such that the turning operations of the first boom 411, the second boom 413, and the working unit 51 are performed only while the operation unit u is being manually operated.

[0225] In the embodiment according to the present invention, a first boom 411 provided to be rotatable to a turning angle including a first first boom angle α1 and a second first boom angle α2, a second boom 413 provided to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and provided to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2, the first boom 411 and the second boom 413 include an operation unit u capable of an automatic storage operation for automatically changing the posture between a storage posture and a deployed posture, after the start of the automatic storage operation, it is determined whether or not the second boom 413 is at the first turning position (retracted position), when the second boom 413 is not at the first turning position (retracted position), the target angle of the first boom 411 is set to the first first boom angle α1, and the target angle of the second boom 413 is set to the first second boom angle β1, the working machine A is such that after rotating the first boom 411 to the first first boom angle α1, the second boom 413 is rotated to the first second boom angle β1.

[0226] In the embodiment according to the present invention, The second boom 413 includes a working unit 51 that is rotatable relative to the second boom 413 between a working posture and a stored posture. The first boom 411 is rotated to the first first boom angle α1, and at the same time, the working unit 51 is rotated toward the stored posture. The second boom 413 is rotated to the first second boom angle β1, and at the same time, the working unit 51 is rotated toward the stored posture. The working machine A is such that the turning operations of the first boom 411, the second boom 413, and the working unit 51 are performed only while the operation unit u is manually operated.

[0227] In an embodiment according to the present invention, The working machine A is such that after the first boom 411 forms the first first boom angle α1 and the second boom 413 forms the first second boom angle β1, the second boom 413 is rotated toward the first turning position (retracted position).

[0228] A first boom 411 provided to be rotatable to a turning angle including a first first boom angle α1 and a second first boom angle α2, A second boom 413 provided to be relatively rotatable with respect to the first boom 411 at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2, and provided to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction intersecting the first first boom angle α1 and the second first boom angle α2. The first boom 411 and the second boom 413 include an operation unit u capable of an automatic storage operation for automatically changing the posture between a stored posture and a deployed posture. After the start of the automatic storage operation, when the first boom 411 forms the first first boom angle α1, the second boom 413 forms the first second boom angle β1, and the second boom 413 forms the first turning position (retracted position), The working machine A changes the target angle of the first boom 411 to the first boom storage angle α0 and the target angle of the second boom 413 to the second boom storage angle β0.

[0229] In an embodiment according to the present invention, a first boom 411 provided to be rotatable to a turning angle including a first first boom angle α1 and a second first boom angle α2, a second boom 413 provided to be relatively rotatable to an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2 with respect to the first boom 411, and provided to be relatively rotatable with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction intersecting with the first first boom angle α1 and the second first boom angle α2, the first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic storage operation for automatically changing the posture between a stored posture and a deployed posture, after the automatic storage operation turns the first boom 411 toward the first first boom angle α1 which is the set target angle of the first boom 411 and then turns the second boom 413 toward the first second boom angle β1 which is the set target angle of the second boom 413, after the first storage step is completed, when the first boom 411 is at the first first boom angle α1, the second boom 413 is at the first second boom angle β1, and the second boom 413 is at the first turning position (retracted position), in the first storage step, the working machine A performs a second storage step of changing the set target angle of the first boom 411 from the first first boom angle α1 to the first boom storage angle α0 and the set target angle of the second boom 413 from the first second boom angle β1 to the second boom storage angle β0.

[0230] In an embodiment according to the present invention, the operations of the first boom 411 and the second boom 413 are performed only while the operation unit u is being manually operated, the working machine A.

[0231] A first boom 411 that is rotatably provided at a turning angle including a first first boom angle α1 and a second first boom angle α2, a second boom 413 that is relatively rotatably provided at an angle including a first second boom angle β1 in the same turning direction as the first first boom angle α1 and the second first boom angle α2 with respect to the first boom 411, and is relatively rotatably provided with respect to the first boom 411 so as to be positioned at a first turning position (retracted position), a second turning position, and a third turning position in a turning direction that intersects the first first boom angle α1 and the second first boom angle α2, the first boom 411 and the second boom 413 are provided with an operation unit u capable of an automatic storage operation for automatically changing the posture between a storage posture and a deployed posture, after the start of the automatic storage operation, when the first boom 411 is at a first boom storage angle α0 which is the angle of the storage posture, and the second boom 413 is at a second boom storage angle β0 which is the angle of the storage posture, and the second boom 413 forms the first turning position (retracted position), a working machine A that performs a locking operation of operating the first boom 411 again in a direction toward the first boom storage angle α0 and the second boom 413 in a direction toward the second boom storage angle β0 and the first turning position (retracted position).

[0232] In an embodiment according to the present invention, the second boom 413 is provided with a working portion 51 that is relatively rotatable with respect to the second boom 413 between a working posture and a storage posture, after the start of the automatic storage operation, when the first boom 411 is at a first boom storage angle α0 which is the angle of the storage posture, and the second boom 413 is at a second boom storage angle β0 which is the angle of the storage posture, and the second boom 413 forms the first turning position (retracted position), a working machine A that performs a locking operation of operating the working portion 51 again in a direction toward the storage posture.

[0233] In an embodiment according to the present invention, The work machine A notifies the operator after the locking operation is completed.

Explanation of symbols

[0234] 11 Main frame 111 Mounting part (lower) for mounting 112 Mounting part (top) for mounting 21 Mast frame 24 Fluid pressure generating source (hydraulic pump) 31 Tank (oil tank) 41 Telescoping means 411 First boom 411A First pivot axis (horizontal axis) 412 First connecting body 413 Second boom 414 Second connecting body 415 First cylinder 416 Second cylinder 417 Third cylinder 418 Fourth cylinder 42 Link mechanism 51 Working part 512 Rotation axis A Work machine t Control unit u Operation unit u3 Operation lever Se1 First sensor Se2 Second sensor

Claims

1. A first boom provided to be rotatable, and a second boom provided to be relatively rotatable with respect to the first boom in a direction intersecting the turning direction of the first boom, and capable of being positioned at a first turning position, a second turning position, and a third turning position, wherein the second boom includes a first switch that detects the second turning position of the second boom and transmits a first contact signal, and a second switch that detects the third turning position of the second boom and transmits a second contact signal, and a control unit connected to the first switch and the second switch and capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by a combination of receiving the first contact signal and the second contact signal. The working machine is characterized by this.

2. A first boom provided to be rotatable, and a second boom provided to be relatively rotatable with respect to the first boom in a direction intersecting the turning direction of the first boom, and capable of being positioned at a first turning position, a second turning position, and a third turning position, wherein the second boom includes a first switch that detects the second turning position of the second boom and transmits a first contact signal, and a second switch that detects the third turning position of the second boom and transmits a second contact signal, a control unit connected to the first switch and the second switch and capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by a combination of receiving the first contact signal and the second contact signal, and a working machine characterized in that, according to the angle of rotation of the second boom, a state where the other end side is positioned at the rearmost end with respect to the traveling direction is the first turning position, a state where the other end side is positioned at the foremost end with respect to the traveling direction is the third turning position, and a state where it is positioned at an intermediate portion between the first turning position and the third turning position is the second turning position.

3. A first boom provided to be rotatable, and a second boom provided to be relatively rotatable with respect to the first boom in a direction intersecting the turning direction of the first boom, and capable of being positioned at a first turning position, a second turning position, and a third turning position, a connecting body that connects the first boom and the second boom and rotates the second boom in directions parallel and intersecting with respect to the first boom, wherein the second boom includes a first switch that detects the second turning position of the second boom and transmits a first contact signal, A second switch that detects the third turning position of the second boom and transmits a second contact signal; A control unit connected to the first switch and the second switch, capable of controlling movement to any one of the first turning position, the second turning position, or the third turning position recognized by a combination of receiving the first contact signal and the second contact signal; The working machine is characterized by comprising the above.

4. The second boom includes a first acting part that causes the first switch to detect the second turning position; A second acting part that causes the second switch to detect the third turning position; The working machine according to claim 1, 2, or 3, characterized by comprising the above.

5. When neither the first switch nor the second switch detects, the control unit recognizes that the second boom is in the first turning position; when only the first switch detects, the control unit recognizes that the second boom is in the second turning position; when both the first switch and the second switch detect, the control unit recognizes that the second boom is in the third turning position; The working machine according to claim 1, 2, or 3, characterized by comprising the above.

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