Work equipment

Abstract

To provide a working machine capable of positioning a part related to work in a target position without a load of arithmetic processing.SOLUTION: A working machine includes: a first boom 411 disposed so as to be turnable at a turning angle including a primary first boom angle α1 and a secondary first boom angle α2; a second boom 413 disposed so as to be relatively turnable to the first boom 411 at an angle including the first and second boom angles in a turning direction the same as the primary first boom angle α1 and the secondary first boom angle α2, and disposed so as to be relatively turnable to the first boom 411 while being positioned in a first turning position, a second turning position and a third turning position in a turning direction crossing the primary first boom angle α1 and the secondary first boom angle α2; and an operation unit for causing the first boom 411 and the second boom 413 to perform automatic housing operation between a housing posture and a development posture. After the operation starts, it is determined whether or not the second boom 413 is in the first turning position, and when it is not, the a target angle is set to the primary first boom 411 angle, and the first boom 411 is turned so as to be the primary first boom angle α1.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 ground work is attached to the arms. This mowing device is provided with a sensor for detecting the position and posture of the arms and the mowing tool, and by performing arithmetic processing on the information detected by the sensor with a control unit, the mowing operation by the mowing tool is accurately controlled.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the device shown in Patent Document 1 does not use the mowing tool which is the working part, it is better to set the working part to a storage position close to the traveling part, so that the working part and the robot arm do not interfere with the traveling. On the other hand, when performing work, it is more convenient to set the working part to a deployed position far from the traveling part, because the work can be performed efficiently. When operating the arm and the working part from the storage position to the deployed position or from the deployed position to the storage position, since there are multiple joints due to the plurality of arms, the degree of freedom of movement is high. That is, the degree of freedom of operating the plurality of arms is also high, and when an operator operates, there is a problem that the number of operations is large and it becomes complicated. Since there are innumerable steps until reaching the deployed state or the stored state, it is difficult to immediately see an appropriate order, and when the operator is inexperienced, there is a possibility of accidentally hitting the working part against the ground or other members due to a misoperation. Furthermore, as described in Patent Document 1, there is also a method of automatically controlling the position of an arm, etc., by using sensors and other means and performing calculations in the control unit. However, if a large amount of information needs to be processed, the processing power must be increased, which leads to the problem that the configuration of the control unit that performs the calculations becomes expensive. The purpose of this invention is to provide a work machine that can easily position a work-related part at a desired location without increasing the burden of computational processing. [Means for solving the problem]

[0005] This invention is A first boom is connected to a first pivot axis which is a horizontal axis and is capable of pivoting in the left-right direction relative to the direction of travel, and is capable of pivoting to a pivot angle that includes a first boom angle and a second boom angle which is greater than the first boom angle, A second boom is rotatable relative to the first boom angle by a second boom axis parallel to the first boom axis, and is connected to a third boom axis in a direction intersecting the first boom axis, and is rotatable within a range from the rearmost retracted position to the forwardmost forward position, It comprises a working section connected to the second boom and capable of vertical rotation on a fourth pivot axis in the front-rear direction relative to the direction of travel, The first boom, the second boom, and the working section can be stored in a state in which the first boom is lowered, the second boom is folded relative to the first boom, the second boom is rotated to the retracted position, and the working section is positioned so as to overlap with the second boom. The posture can be changed to a state in which the first boom is rotated around the first pivot axis so that the other end of the first boom is positioned laterally to the first pivot axis, or in a state in which the second boom is rotated around the second pivot axis from a folded state relative to the first boom so that the angle between them is widened, or in a state in which the second boom is rotated around the third pivot axis so that it is rotated from the retracted position toward the forward position, or in a deployed state in which the working section is rotated around the fourth pivot axis so that the second boom is rotated toward the side that extends from one end toward the other end, The first boom, the second boom, and the work unit are each equipped with an operating unit capable of automatic retraction operation to automatically change their posture from an extended position to a retracted position. If, after the automatic retraction operation has started, the first boom has reached the first boom angle, the second boom has reached the first second boom angle, and the second boom has reached the retracted position, The target angles of the first boom and the second boom are changed to the angles of the stowed position. A work machine characterized by, It relates to.

[0006] This invention further, The operation of the first boom and the second boom is performed only while the operating unit is being operated manually. A work machine characterized by, It relates to. [Effects of the Invention]

[0007] This invention provides a work machine that can easily position the work-related part at the desired location without increasing the burden of computational processing. [Brief explanation of the drawing]

[0008] [Figure 1] This is a front view of a work machine according to an embodiment of the present invention, in its stowed state, as seen from the rear in the direction of travel. The second boom is in the first slewing position. [Figure 2] This is a front view of the working machine according to an embodiment of the present invention when it is deployed. [Figure 3] This is a side view of a work machine according to an embodiment of the present invention, and shows an example of a working position. The solid line indicates the working section and other parts when the second boom is in the third rotation position. The dashed line section 51-1 represents the working section and other parts when the second boom is in the first rotation position, and 51-2 represents the working section and other parts when the second boom is in the second rotation position. [Figure 4] This is an enlarged view of the vicinity of the third pivot axis of a work machine according to an embodiment of the present invention, as seen from the axial direction of the third pivot axis, with the second boom in the first pivot position. [Figure 5] An enlarged view of the vicinity of the third turning axis as seen from the axial direction of the third turning axis of the working machine according to an embodiment of the present invention, where the second boom is in the second turning position. [Figure 6] An enlarged view of the vicinity of the third turning axis as seen from the axial direction of the third turning axis of the working machine according to an embodiment of the present invention, where the second boom is in the third turning position. [Figure 7] An enlarged view of the working machine according to an embodiment of the present invention. It is an enlarged view seen from the side of the third turning axis, showing the state when the second boom is in the third turning position. Both the first switch and the second switch are in an operated state. [Figure 8] A hydraulic circuit diagram according to an embodiment of the present invention. [Figure 9] A perspective view of the operation part of the working machine according to an embodiment of the present invention. [Figure 10] A block diagram showing the configuration of the working machine according to an embodiment of the present invention. [Figure 11] A flowchart showing the automatic deployment operation of the working machine according to an embodiment of the present invention. [Figure 12] A flowchart showing the automatic storage operation of the working machine according to an embodiment of the present invention. [Figure 13] An explanatory view of the working machine according to an embodiment of the present invention, which is a front view in the stored posture. In the embodiment, the first boom angle = α0 (= 0°), and the second boom angle = β0 (= 0°). [Figure 14] An explanatory view of the working machine according to an embodiment of the present invention, which is a front view in the first intermediate posture. In the embodiment, the first boom angle = α0 (= 0°), and the second boom angle = β1 (≈ 60°). [Figure 15] A side view of an explanatory view of the working machine according to an embodiment of the present invention, which is in the second intermediate posture, and the second boom is in the retracted position at the first turning position. In the embodiment, the first boom angle = α1 (≈ 100°), and the second boom angle = β1 (≈ 60°). [Figure 16]A front view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the retracted position which is the first turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 17] A plan view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the retracted position which is the first turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 18] A side view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the intermediate position which is the second turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 19] A front view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the intermediate position which is the second turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 20] A plan view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the intermediate position which is the second turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 21] A side view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the intermediate position which is the third turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 22] A front view which is an explanatory view of a working machine according to an embodiment of the present invention. It is in the second intermediate position, and the second boom is in the intermediate position which is the third turning position. In the embodiment, the first boom angle = α1 (≈100°), and the second boom angle = β1 (≈60°). [Figure 23]This is a plan view illustrating an embodiment of the present invention, showing the second intermediate position, where the second boom is in the third rotation position. In this embodiment, the first boom angle = α1 (≒100°) and the second boom angle = β1 (≒60°). [Figure 24] This is a front view diagram illustrating an embodiment of the present invention. It shows a state in between the second intermediate position and the deployed position, with the second boom in the forward position, which is the third slewing position. In this embodiment, the first boom angle = α2 (=125°), the second boom angle = β1 (≒60°), and the second boom is in the third slewing position. [Figure 25] This is a front view, an explanatory diagram of a work machine according to an embodiment of the present invention. It is in the home position, which is the deployed position. In this embodiment, the first boom angle = α2 (=125°), the second boom angle = β1 (≒60°), and the second boom is in the third rotation position. [Figure 26] This is a front view, an explanatory diagram of a work machine according to an embodiment of this invention. It shows an example of a working position. In this embodiment, the first boom angle is arbitrary, the second boom angle is arbitrary, and the slewing position of the second boom is arbitrary. [Figure 27] This is a front view diagram illustrating an embodiment of the present invention. It shows an example of a state in between the working position and the second intermediate position. In this embodiment, the first boom angle is α2 (=125°), the second boom angle is arbitrary, and the second boom is in the third or second slewing position. [Modes for carrying out the invention]

[0009] The mechanical structure of an embodiment of the work machine according to this invention will be described with reference to the drawings. A is a work implement. In this embodiment of the invention, work implement A relates to a work implement that performs tasks such as mowing grass. Work implement A is attached to and driven by a traveling machine B, which consists of a tractor or the like. The mobile machine B, consisting of a tractor or the like, has implement A attached to its rear, as shown in Figures 13 to 27, and in Figure 1, implement A is located behind it. M is the operator of the mobile machine B.

[0010] 11 is the main frame. The main frame 11 is attached to the work implement A. The main frame 11 is mounted on the rear side in the direction of travel of the traveling machine B. The main frame 11 is provided with mounting parts 111 and 112 for attachment to the traveling machine, as shown in the figure. The two 111s are mounting parts (lower) located at the bottom, and 112 is a mounting part (top) located at the top, so the work implement A is attached to the traveling machine at three points.

[0011] In Figure 3, 22 is the input shaft. The input shaft 22 takes driving force from the attached traveling machine B to the work implement A. In the gear shifting unit (not shown), the driving force input from the mobile body B is shifted by the input shaft 22.

[0012] In Figures 1 to 3, 24 is a hydraulic pump, which is a fluid pressure source. The hydraulic pump 24 is driven by a driving force that is input from the traveling machine B via an input shaft 22 and shifted by a transmission (not shown). The hydraulic pump 24 delivers hydraulic pressure to the hydraulic equipment of the work machine A, which is operated by hydraulic pressure. The part 25 shown in Figures 1 and 2 is a valve unit, which is a directional control valve. The valve unit 25 controls the flow of hydraulic pressure by switching it.

[0013] In Figures 1 to 3, 21 is the mast frame. 211 is the mast frame pivot shaft. The mast frame 21 is rotatably attached to the main frame 11 by the mast frame pivot shaft 211. The mast frame 21 is provided on one end or the center of the main frame 11 of the work machine A in the direction of travel. In this embodiment, the mast frame pivot axis 211 is provided at a position slightly offset to the left in the direction of travel from the center, which is one end of the main frame 11, and the mast frame 21 is positioned on the left side in the direction of travel, which is one end of the main frame 11.

[0014] The mast frame 21 is capable of rotatably extending the extension mechanism 41, which will be described later, in the horizontal direction. The mast frame 21 is capable of rotatably extending the extension mechanism 41 around the mast frame pivot axis 211, which is the vertical axis. By rotating the extension mechanism 41 horizontally around the mast frame pivot axis 211, the mast frame 21 can change its posture between a normal position in which the extension mechanism 41 is positioned to the left and right sides in the direction of travel, and a retracted position in which the extension mechanism 41 is positioned to the rear in the direction of travel. The mast frame 21 can be fixed to the main frame 11 in a manner that prevents it from swiveling. Figure 1 shows the mast frame 21 in a state where the other end of the first boom 411 of the telescopic means 41 is fixed in a position that allows it to swivel to the left and right sides relative to the direction of travel of the traveling machine B.

[0015] 31 is a tank. In this embodiment, tank 31 is an oil tank. Tank 31 is installed at the other end of the main frame 11 on the left and right sides in the direction of travel of the work machine A. Since each cylinder used in the work machine A is a hydraulic cylinder, tank 31 stores the oil for driving each oil cylinder.

[0016] 41 is an extension / retraction mechanism. One end of the extension / retraction mechanism 41 is connected to a mast frame 21 that is rotatable near the main frame 11. As shown in Figures 1 and 13, the extension / retraction mechanism 41 can be folded into the work section 51 to position the work section 51 on the main frame 11 in a stored state, and as shown in Figure 2, the extension / retraction mechanism 41 can be extended to position the work section 51 laterally relative to the direction of travel from the main frame 11 in a working state. Furthermore, it is possible to assume the states shown in Figures 14 to 27.

[0017] In other words, the telescopic means 41 can be changed between a stored 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. In this explanation, the stored state may be referred to as the storage state, and the extended state as the deployed state or working state. The telescopic mechanism 41 includes a first boom 411, a first connecting body 412, a second boom 413, a second connecting body 414, a first cylinder 415, a second cylinder 416, a third cylinder 417, and a fourth cylinder 418. These cylinders, including the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, are double-acting cylinders that rotate the boom.

[0018] The first boom 411 is connected to the mast frame 21 at one end and is rotatable in the vertical direction. The other end of the first boom 411 can be positioned far to the side in the direction of travel of the traveling machine B. The first connecting body 412 is connected at one end to the tip of the other end of the first boom 411 and is provided to be rotatable in the vertical direction relative to the first boom 411. The second boom 413 is connected at one end to the tip of the other end of the first connecting body 412, and is provided so that it can rotate in the front-rear direction relative to the direction of travel when the mast frame 21 is in its normal position. In other words, the second boom 413 is able to rotate vertically in a direction parallel to the rotation direction of the first boom 411, and in the front-rear direction relative to the direction of travel, which is a direction intersecting the rotation direction of the first boom 411, by the first connecting body 412. The second connecting body 414 has one end attached to the tip of the other end of the second boom 413, and when the mast frame 21 is in its normal position, it forms a parallel link with the first connecting body 412, thereby allowing it to move parallel to the first connecting body 412 in the front-rear direction without changing the inclination direction in the vertical and left-right directions relative to the front-rear direction of travel. In other words, even if the second boom 413 is rotated in the front-rear direction, the axial direction of the fourth pivot axis 418A of the second connecting body 414, which will be described later, is not changed.

[0019] The first cylinder 415 is a hydraulic cylinder and connects the mast frame 21 and the first boom 411 via a link mechanism 42 consisting 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 and is installed on the first boom 411. When it extends and retracts, it rotates together with the first boom 411, causing the first boom 411 to rotate up and down. The first cylinder 415 rotates the first boom 411, which is the extension / retraction mechanism 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 able to rotate vertically around the first pivot axis 411A as the pivot point. The first boom 411 is supported by a 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 stored state where it is folded on top of the main frame 11 and an extended state where it is swung to the side of the main frame 11.

[0020] The second slewing shaft 413A is an axis that connects the first boom 411 to the first connecting body 412, which is a connecting body, and is installed parallel to the first slewing shaft 411A. The first connecting body 412 is provided with one end rotatable in the same direction as the rotation direction of the first boom 411 by a second slewing axis 413A which is parallel to the first slewing axis 411A. A third pivot axis 417A is provided at the other end of the first connecting body 412, which is a connecting body. By connecting one end of the second boom 413 to the third pivot axis 417A, the second boom 413 can pivot around the third pivot axis 417A. The third pivot axis 417A is provided in a direction that intersects with the first pivot axis 411A and the second pivot axis 413A. Therefore, the second boom 413 can pivot by the third pivot axis 417A in a direction that intersects with the first boom 411. The second boom 413 can be rotated in a direction parallel to the first boom 411 via the second pivot axis 413A through the first connecting body 412. In other words, the second boom 413, via the second pivot axis 413A and the third pivot axis 417A, can be rotated in both a direction parallel to the rotation direction of the first boom 411 and a direction intersecting it.

[0021] The second cylinder 416 is a hydraulic cylinder and connects the first boom 411 to the other end of the first connecting body 412. The second cylinder 416 is for vertical rotation of the first connecting body 412 around the second pivot shaft 413A. The third cylinder 417 is a forward and backward rotating cylinder, made of hydraulic material, and connects the first connecting body 412 and the second boom 413. The third cylinder 417 is for the forward and backward rotation of the second boom 413 relative to the first boom 411. The extension and retraction of the stroke of the third cylinder 417 drives the extension and retraction mechanism 41 to rotate in the forward and backward direction when the mast frame 21 is in its normal position.

[0022] The fourth cylinder 418 is a hydraulic cylinder and connects the second connecting body 414 to the working section 51, which will be described later. The fourth cylinder 418 is for the vertical rotation of the working section 51. As shown in Figure 8, each of the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418 has a rod-side chamber (415b, 416b, 417b, 418b) and a bottom-side chamber (415a, 416a, 417a, 418a).

[0023] 51 is a working section. The working section 51 is located at the other end of the second connecting body 414 and on the front side of the second connecting body 414 in the direction of travel. The working section 51 is further rotatable in the vertical direction relative to the second connecting body 414. In this embodiment, the work unit 51 has multiple blades arranged on a rotating shaft 512, which is a rotor shaft oriented perpendicular to the direction of travel, when the mast frame 21 is in its normal position, and performs ground work such as mowing by rotating the multiple blades. 514 is a cover that surrounds the rotating shaft 512 and covers the upper side of the rotating shaft 512 in the working state.

[0024] The working section 51 is attached to the second boom 413 via the second connecting body 414. The working section 51 is also provided with a fourth pivot axis 418A, which is a working section pivot axis oriented in the forward and backward directions of travel, and is provided on the second connecting body 414 so as to be able to pivot relative to the second connecting body 414. The second connecting body 414 does not tilt in the forward and backward directions relative to the direction of travel even when the second boom 413 pivots around the third pivot axis 417A, due to a link mechanism (not shown) provided on the second boom 413. That is, the fourth pivot axis 418A is always kept parallel to the direction of travel so that the left and right ends of the working section 51 do not tilt in the forward and backward directions relative to the direction of travel. The working section 51 is able to pivot relative to the second boom 413.

[0025] The first boom 411 is driven by the first cylinder 415, the first connecting body 412 by the second cylinder 416, the second boom 413 by the third cylinder 417, and the working section 51 by the fourth cylinder 418, each of which is capable of pivoting. Each cylinder is connected to a directional control valve 25. The directional control valve 25 operates each of the aforementioned cylinder groups by receiving command signals from a control unit t located in close proximity to the work machine A.

[0026] In Figure 9, u represents the operating unit. The operating unit u is installed on the traveling machine body B and operates the directional control valve 25 via the control unit t. The operating unit u is equipped with an operating lever u3 and an operating button B consisting of a plurality of first buttons B1, second buttons B2, third buttons B3, and fourth buttons B4 located at the tip of the operating lever u3. The operating unit u is also equipped with a pressure switch operating switch u1 and a floating switch u2, which is a floating means. The operating lever u3 operates the directional control valve 25 for operating the first boom 411, the first connecting body 412, and the second boom 413.

[0027] The floating switch u2, which is a floating means, puts the work section 51 into a floating mode or a floating deactivation state. When the work section 51 is in the floating mode, the extended work section 51 moves up and down freely without being operated by the operating lever u3, so that it can follow the unevenness of the work surface as it moves. The operating lever u3 operates the directional control valve 25, which can extend and retract the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, respectively.

[0028] The control unit u can perform the following actions by tilting the control lever u3 forward (first direction D1), backward (second direction D2), left (third direction D3), and right (fourth direction D4) corresponding to the direction of travel, or by operating the respective control buttons B: forward button (first button B1), backward button (second button B2), left button (third button B3), and right button (fourth button B4) corresponding to the direction of travel: the first boom 411 can rotate, the first connecting body 412 can rotate, the second boom 413 can rotate, and the work unit 51 can rotate.

[0029] In this embodiment, when the operating lever u3 is moved forward (first direction D1), the first boom 411 rotates around the first pivot axis 411A toward the retracted side, and when moved backward (second direction D2), it rotates toward the deployed side. Also, when the operating lever u3 is moved to the left (third direction D3), the connecting body, consisting of the first pivot axis 411A and the second boom 413, rotates toward the deployed side around the second pivot axis, and when moved to the right (fourth direction D4), it rotates toward the retracted side.

[0030] Furthermore, when the forward button (first button B1) of the operation buttons B is operated, the other end of the second boom 413 rotates forward around the third pivot axis 417A, and when the rear button (second button B2) is operated, the other end of the second boom 413 rotates backward. When the left button (third button B3) is operated, the work unit 51 rotates in the deployment direction around the fourth pivot axis 418A, which is the pivot axis of the work unit 51, and when the right button (fourth button B4) is operated, the work unit 51 rotates in the storage direction around the fourth pivot axis 418A. In the illustrated rotational directions, the deployment side of the first boom 411 refers to rotation to the left with the first pivot axis 411A as the pivot point when viewed from the rear in the direction of travel, and the retraction side of the first boom 411 refers to rotation to the right with the first pivot axis 411A as the pivot point when viewed from the rear in the direction of travel. Furthermore, in the illustrated rotational directions, the deployment side of the second boom 413 refers to rotation to the right with the second pivot axis 413A as the pivot point when viewed from the rear in the direction of travel, and the retraction side of the second boom 413 refers to rotation to the left with the second pivot axis 413A as the pivot point when viewed from the rear in the direction of travel. Furthermore, in the illustrated rotational directions, the deployment side of the working section 51 refers to rotation to the left with the fourth pivot axis 418A as the pivot point when viewed from the rear in the direction of travel, and the retraction side of the working section 51 refers to rotation to the right with the fourth pivot axis 418A as the pivot point when viewed from the rear in the direction of travel.

[0031] A hydraulic circuit according to an embodiment of this invention will be described with reference to Figure 8. c is the first relief valve (first pilot relief valve). The directional control valve 25 consists of a directional control valve 251 for the first cylinder, a directional control valve 252 for the second cylinder, a directional control valve 253 for the third cylinder, and a directional control valve 254 for the fourth cylinder. The directional control valve 25 is a valve that operates by an electrical signal, and its operation is controlled by a control unit t. The directional control valve 25 controls the fluid flowing into and out of the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418, switching between the direction in which the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418 extend, or the direction in which they shorten. The first relief valve c is provided in the directional control valve 25. The first relief valve c has the function of automatically opening at a set pressure and reducing the pressure. The first relief valve c is a pressure relief valve or safety relief valve that releases pressure when abnormal pressure occurs in the fluid in the circuit within the directional control valve 25.

[0032] From the tank (oil tank) 31, via the hydraulic pump, which is the fluid pressure generating source 24, it is connected to the directional control valve 25. Inside the directional control valve 25, it is sequentially connected to the directional control valve 254 for the fourth cylinder, the directional control valve 253 for the third cylinder, the directional control valve 252 for the second cylinder, and the directional control valve 251 for the first cylinder.

[0033] Within the directional control valve 25, the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254 are connected to an unload circuit (no-load circuit) h that returns the fluid flowing into the first cylinder directional control valve 251, the second cylinder 416, and the forward and backward rotating cylinders, the third cylinder 417 and the fourth cylinder 418, respectively, back to the tank (oil tank) 31 when there is no operation by the operating unit u. The first cylinder 415 is connected to a directional control valve 251 that controls the fluid flowing into and out of the first cylinder 415. The directional control valve 251 controls the fluid flowing into and out of the first cylinder 415.

[0034] One end of the first relief valve c is connected to an unload circuit h that returns fluid to the tank (oil tank) 31 side when the operating unit u is not operated, from the respective directional control valves 25: the directional control valve 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 254 for the fourth cylinder. The other end of the first relief valve c is connected to the directional control valves 25: the directional control valves 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 254 for the fourth cylinder via first check valves 251a, second check valve 252a, third check valve 253a, and fourth check valve 254a, which can suppress the inflow of fluid from the directional control valves 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 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.

[0035] As shown in Figure 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 fourth cylinder 418 has a rod-side chamber 418b and a bottom-side chamber 418a.

[0036] The directional control valve 251 for the first cylinder is connected to the rod-side chamber 415b and the bottom-side chamber 415a of the first cylinder 415, respectively. The directional control valve 252 for the second cylinder is connected to the rod-side chamber 416b and the bottom-side chamber 416a of the second cylinder 416, respectively. The directional control valve 253 for the third cylinder is connected to the rod-side chamber 417b and the bottom-side chamber 417a of the third cylinder 417, respectively. The directional control valve 254 for the fourth cylinder is connected to the rod-side chamber 418b and the bottom-side chamber 418a of the fourth cylinder 418, respectively.

[0037] The directional control valve 251 for the first cylinder is configured to allow connection of a circuit from the directional control valve 251 for the first cylinder to the first cylinder 415 and a circuit from the directional control valve 251 for the first cylinder to the tank (oil tank) 31.

[0038] The directional control valve 252 for the second cylinder is configured to allow connection of a circuit from the directional control valve 252 to the second cylinder 416 and a circuit from the directional control valve 252 to the tank (oil tank) 31. The directional control valve 253 for the third cylinder is configured to allow connection of a circuit from the directional control valve 253 to the third cylinder 417 and a circuit from the directional control valve 253 to the tank (oil tank) 31. The directional control valve 254 for the fourth cylinder is configured to allow connection of a circuit from the directional control valve 254 to the fourth cylinder 418 and a circuit from the directional control valve 254 to the tank (oil tank) 31.

[0039] In this embodiment, the directional control valves 25 for controlling the first cylinder 415 to the fourth cylinder 418, namely the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254, block the circuit within the directional control valves 25, namely the first cylinder directional control valve 251, the second cylinder directional control valve 252, the third cylinder directional control valve 253, and the fourth cylinder directional control valve 254, when no switching operation is performed by the operating unit u, so as to prevent the fluid transferred from the fluid pressure source 24 from flowing in or out of the first cylinder 415 to the fourth cylinder 418 through the directional control valves 254.

[0040] When a switching operation is performed by the control unit u, the system is configured to allow fluid to flow from the fluid pressure source 24 to the first cylinder 415 through the fourth cylinder 418, and to flow from the first cylinder 415 through the fourth cylinder 418 to the tank (oil tank) 31. Furthermore, each of the directional control valves 25 used in this embodiment—the directional control valve 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 254 for the fourth cylinder—returns the fluid that is constantly being transported from the fluid pressure source 24 to the tank 31 via the unload circuit h when in a neutral state during non-operation.

[0041] The first cylinder directional control valve 251 has a circuit that goes from the first cylinder directional control valve 251 toward the tank 31 side, which is different from the unload circuit h, and a circuit that connects from the first cylinder directional control valve 251 to the first relief valve c and the unload circuit h via a check valve 251a that can suppress the inflow of fluid to one end of the first relief valve c. The second cylinder directional control valve 252 has a circuit that goes from the second cylinder directional control valve 252 toward the tank 31 side, which is different from the unload circuit h, and a circuit that connects from the second cylinder directional control valve 252 to the first relief valve c and the unload circuit h via a check valve 252a that can suppress the inflow of fluid to one end of the first relief valve c.

[0042] The third cylinder directional control valve 253 has a circuit that goes from the third cylinder directional control valve 253 toward the tank 31 side, which is different from the unload circuit h, and a circuit that connects from the third cylinder directional control valve 253 to the first relief valve c and the unload circuit h via a check valve 253a that can suppress the inflow of fluid to one end of the first relief valve c. The fourth cylinder directional control valve 254 has a circuit that goes from the fourth cylinder directional control valve 254 toward the tank 31 side, which is different from the unload circuit h, and a circuit that connects from the fourth cylinder directional control valve 254 to the first relief valve c and the unload circuit h via a check valve 254a that can suppress the inflow of fluid to one end of the first relief valve c.

[0043] The rod-side chamber 415b and the bottom-side chamber 415a of the first cylinder 415 are connected to the directional control valve 251 for the first cylinder, respectively. By switching the directional control valve 251 for the first cylinder, either the rod-side chamber 415b or the bottom-side chamber 415a of the first cylinder 415 is connected to the tank 31. The first cylinder 415 controls the directional control valve 251 for the first cylinder so that when the stroke is extended in the direction of the stroke end, fluid is drawn into the bottom chamber 415a and pushed out from the rod chamber 415b, and when the stroke is shortened, fluid is pushed out from the bottom chamber 415a and drawn into the rod chamber 415b. The first cylinder 415, by extending and retracting its stroke, rotates the first boom 411 which constitutes the extension / retraction mechanism 41, thereby raising or lowering the work section 51. The extension and retraction of the first cylinder 415 is controlled by a directional control valve 25 having a first relief valve c.

[0044] The rod-side chamber 416b and the bottom-side chamber 416a of the second cylinder 416 are connected to the second cylinder directional control valve 252, respectively. By switching the second cylinder directional control valve 252, either the rod-side chamber 416b or the bottom-side chamber 416a of the second cylinder 416 is connected to the tank 31. The second cylinder 416 controls the directional control valve 252 for the second cylinder so that when the stroke is extended in the direction of the stroke end, fluid is drawn into the bottom chamber 416a and pushed out from the rod chamber 416b, and when the stroke is shortened, fluid is pushed out from the bottom chamber 416a and drawn into the rod chamber 416b. The second cylinder 416, by extending and retracting its stroke, rotates the first connecting body 412 that constitutes the extension / retraction mechanism 41, thereby raising or lowering the work section 51. The extension and retraction of the second cylinder 416 is controlled by a directional control valve 25 having a first relief valve c.

[0045] The rod-side chamber 417b and the bottom-side chamber 417a of the third cylinder 417 are connected to the third cylinder directional control valve 253, respectively. By switching the third cylinder directional control valve 253, either the rod-side chamber 417b or the bottom-side chamber 417a of the third cylinder 417 is connected to the tank 31. The third cylinder 417 controls the third cylinder directional control valve 253 so that when the stroke is extended in the stroke end direction, fluid is drawn into the bottom chamber 417a and pushed out from the rod chamber 417b, and when the stroke is shortened, fluid is pushed out from the bottom chamber 417a and drawn into the rod chamber 417b. The third cylinder 417, through the extension and retraction of its stroke, rotates the second boom 413, which constitutes the extension and retraction mechanism 41, in the forward and backward directions when the mast frame 21 is in its normal state. The extension and retraction of the third cylinder 417 is controlled by a directional control valve 25 having a first relief valve c.

[0046] The rod-side chamber 418b and the bottom-side chamber 418a of the fourth cylinder 418 are connected to the directional control valve 254 for the fourth cylinder, respectively. By switching the directional control valve 254 for the fourth cylinder, either the rod-side chamber 418b or the bottom-side chamber 418a of the fourth cylinder 418 is connected to the tank 31. The fourth cylinder 418 controls the directional control valve 254 for the fourth cylinder so that when the stroke is extended in the direction of the stroke end, fluid is drawn into the bottom chamber 418a and pushed out from the rod chamber 418b, and when the stroke is shortened, fluid is pushed out from the bottom chamber 418a and drawn into the rod chamber 418b. The fourth cylinder 418, through the extension and retraction of its stroke, drives the working section 51 to rotate vertically relative to the second connecting body 414 when the mast frame 21 is in its normal state. The extension and retraction of the fourth cylinder 418 is controlled by a directional control valve 25 having a first relief valve c.

[0047] The first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418 all use the first relief valve c in common. The directional control valve 25 can be switched to either extend or retract the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418, thereby supplying fluid pressure generated by the pump 24 to the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418, and driving each cylinder to extend or retract.

[0048] Furthermore, the directional control valve 25 may also have a neutral position that connects the pressurized fluid from the pump 24 back to the return circuit on the tank 31 side to unload the fluid, and also has a circuit that connects to the bottom chamber 415a and rod chamber 415b of the cylinder 415 and communicates with the tank 31.

[0049] When a neutral circuit, which is in a neutral position and communicates with the tank 31, is provided in the circuit of the directional control valve 25, the fluid in the rod-side chamber 415b and the bottom-side chamber 415a of the cylinder 415 can freely move between each other, so that the cylinder 415 can be extended and retracted. When the floating switch u2 is operated to put the device into a floating operation state, the first boom 411 can move freely up and down, so that the work section 51 can follow the unevenness of the work surface as it moves.

[0050] The control unit t shown in Figure 10 is connected to the directional control valves 25, including the directional control valve 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 254 for the fourth cylinder, and controls their operation. As shown in Figure 10, the control unit t is connected to the notification unit q, the receiving unit o, the first sensor Se1, the second sensor Se2, the first switch Sw1, and the second switch Sw2. The control unit t receives the operation signals from the operation unit u, which are generated by the operation of the manually operated operation lever u3 and operation button B, at the receiving unit o. The control unit t then takes these operation signals as input and outputs an operation signal to the directional control valve 25 to operate the directional control valve 25.

[0051] When the directional control valve 25 receives an operating signal output from the control unit t, it operates the directional control valve 251 for the first cylinder, the directional control valve 252 for the second cylinder, the directional control valve 253 for the third cylinder, and the directional control valve 254 for the fourth cylinder based on the operation of the operating lever u3 and the operating button B, thereby controlling 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 operating unit u, it controls the operation of the directional control valve 25 via the control unit t.

[0052] When the operation lever u3 and operation button B are operated manually, 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. Upon receiving the operation signal, the control unit t then outputs an operation signal to operate the other components. The operation signal output by the control unit t controls the operation of the directional control valve 25 to move the end of the telescopic means 41 in an upward or downward direction. The operation signal also controls the operation of the directional control valve 25 to move the end of the telescopic means 41 in leftward and rightward directions relative to the direction of travel, as well as in forward and reverse directions. The directional control valves 25 are valves that operate by electrical signals, and their operation is controlled by the control unit t. The operating unit u is shown to operate various valves via wireless transmission through the control unit t, but it may also be wired.

[0053] Upon receiving the operation signal, the control unit t outputs an operation signal to operate the directional control valve 25. Upon receiving this operation signal, the directional control valve 25 switches the circuit to supply fluid to the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418 in order to raise or lower the working section 51 provided at the other end of the telescopic means 41, or move it to the left or right relative to the direction of travel, or move it forward or backward, or turn it to the left as viewed from the direction of travel, or turn it to the left as viewed from the direction of travel. In the working state embodiment, the working section 51 is raised by switching the circuit to pump fluid from the directional control valve 251 to the bottom chamber 415a, and the working section 51 is lowered by switching the circuit to pump fluid from the directional control valve 251 to the rod chamber 415b. Furthermore, the working section 51 is moved to the left by switching the circuit to pump fluid from the directional control valve 252 to the bottom chamber 416a, and the working section 51 is moved to the right by switching the circuit to pump fluid from the directional control valve 252 to the rod chamber 416b. In addition, the working section 51 is moved forward by switching the circuit to pump fluid from the directional control valve 253 to the bottom chamber 417a, and the working section 51 is moved backward by switching the circuit to pump fluid from the directional control valve 253 to the rod chamber 417b. Furthermore, leftward rotation around the fourth pivot axis 418A, as viewed from the rear in the direction of travel of the work unit 51, is performed by switching the circuit to pump fluid from the directional control valve 254 to the bottom chamber 418a, and rightward rotation around the fourth pivot axis 418A, as viewed from the rear in the direction of travel of the work unit 51, is performed by switching the circuit to pump fluid from the directional control valve 254 to the rod chamber 418b.

[0054] The control unit t can send operating signals to various valves and other components that require electrical control. The transmitted operating signals can then be used to send signals to operate notification units (speakers and other audio equipment) q, display units (not shown, such as display devices and lamps), and the like.

[0055] When the control unit t recognizes that an automatic deployment operation, which will be explained later based on the flowchart in Figure 11, has been performed, it automatically deploys the first boom 411, the connecting body (first connecting body 412), the second boom 413, and the work section 51 according to a predetermined procedure. The automatic deployment operation is performed only while the operation unit u is performing the automatic deployment operation, and stops when the operator M stops the operation. In this embodiment, the automatic deployment operation is performed by simultaneously tilting the operating lever u3 shown in Figure 9 to the left (third direction D3) and pressing the left button (third button B3). The control unit t recognizes that the automatic deployment operation has been performed when these conditions are met. Instead of simultaneously operating the operating lever u3 and operating button B, a dedicated operating tool (not shown) for the automatic deployment operation may be provided on the operating unit u.

[0056] When the control unit t recognizes that an automatic retraction operation, which will be explained later based on the flowchart in Figure 12, has been performed, it automatically retracts the first boom 411, the connecting body (first connecting body 412), the second boom 413, and the work section 51 according to a predetermined procedure. The automatic retraction operation is performed only while the operation unit u is performing the automatic retraction operation, and stops when the operator M stops the operation. In this embodiment, the automatic storage operation is performed by simultaneously tilting the operating lever u3 shown in Figure 9 to the right (fourth direction D4) and pressing the right button (fourth button B4). The control unit t recognizes that the automatic storage operation has been performed when these conditions are met. Instead of simultaneously operating the operating lever u3 and operating button B, a dedicated operating tool (not shown) for the automatic storage operation may be provided on the operating unit u.

[0057] The first boom 411 is equipped with a first sensor Se1. The first sensor Se1 consists of a potentiometer and constantly detects the slewing angle of the first boom 411 around the first slewing axis 411A relative to the mast frame 21. Se11 is the first sensor arm. The first sensor arm Se11 protrudes from the first sensor Se1. The first sensor Se1 is an angle measuring device that detects the amount of rotational angle displacement, which is the amount by which the first boom 411 moves, by the rotation of the first sensor arm Se11 connected to the first boom 411, and outputs the detected value.

[0058] In this embodiment, the first sensor Se1 is provided with a rotatable first sensor arm Se11 for angle detection, and has an elongated first detection hole Se13 at its tip. By positioning a first pin-shaped part Se12 fixed to the mast frame 21 within the first detection hole Se13, the first sensor arm Se11 rotates around the first sensor Se1 as the first boom 411 rotates, and the rotation angle of the first boom 411 is detected. The first sensor Se1 is configured 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 slewing angle of the first boom 411 relative to the main frame 11 as it slewing around the first slewing axis 411A.

[0059] The first connecting body 412 is equipped with a second sensor Se2 near the second pivot axis 413A. 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 detects the amount of rotational angle displacement, which is the amount by which the first boom 411 has moved, by the rotation of the second sensor arm Se21 connected to the first boom 411, and outputs the detected value.

[0060] The second sensor Se2 consists of a potentiometer and constantly detects the rotation angle of the first connecting body 412, which rotates around the second pivot axis 413A relative to the first boom 411. In this embodiment, the second sensor Se2 is provided with a second sensor arm Se21 for angle detection that is rotatable relative to the second sensor Se2, and has an elongated second detection hole Se23 at its tip. By positioning the second pin-shaped part Se22, which is fixed to the tip of the other end of the first boom 411, within the second detection hole Se23, the second sensor arm Se21 rotates around the second sensor Se2 as the first connecting body 412 rotates around the second pivot axis 413A, and the second sensor Se2 detects the rotation 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.

[0061] The first switch Sw1 and the second switch Sw2 will be explained with reference to Figures 4 to 6, which are enlarged views of the vicinity of the third slewing axis 417A of the work machine A according to the embodiment, as seen from the axial direction of the third slewing axis 417A. A first switch Sw1 and a second switch Sw2 are provided near the third pivot axis 417A of the first connecting body 412. The first switch Sw1 and the second switch Sw2 are each composed of limit switches 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. The opening and closing operation of this circuit allows the first switch Sw1 to transmit a first contact signal and the second switch Sw2 to transmit a second contact signal to the control unit t. The second switch Sw2 is positioned radially away from the first switch Sw1 with respect to the radial direction of the third pivot axis 417A. The first switch Sw1 and the second switch Sw2 are positioned approximately the same with respect to the circumferential direction of the third pivot axis 417A.

[0062] The first working part F1 and the second working part F2 will be described based on Figures 4 to 6. As shown in Figures 4 to 6, a first working part F1 and a second working part F2 are provided on one end of the second boom 413. The first working part F1 is a portion that protrudes radially from one end of the second boom 413 with respect to the radial direction of the third pivot axis 417A, and can contact the first switch Sw1 when the second boom 413 rotates around the third pivot axis 417A.

[0063] The second working part F2 is a portion that protrudes radially from one end of the second boom 413 with respect to the radial direction of the third pivot axis 417A, and is positioned further away from the first working part F1 in the radial direction with respect to the third pivot axis 417A. The second working part F2 is positioned differently from the first working part F1 in relation to the circumferential direction of the third pivot axis 417A.

[0064] The contact and non-contact states between the first operating part F1 and the first switch Sw1, and the contact and non-contact states between the second operating part F2 and the second switch Sw2 will be explained. When the second boom 413 shown in Figure 4 is in the first slewing position, the first operating part F1 does not contact the first switch Sw1, and the second operating part F2 does not contact the second switch Sw2. When the second boom 413 is in the second pivot position as shown in Figure 5, due to the pivoting of the second boom 413 around the third pivot axis 417A relative to the first connecting body 412, the first operating part F1 is in contact with the first switch Sw1, while the second operating part F2 is not in contact. When the second boom 413, as shown in Figure 6, is in the third pivot position due to rotation around the third pivot axis 417A relative to the first connecting body 412 from the state shown in Figure 5, the first operating part F1 contacts the first switch Sw1, and the second operating part F2 contacts the second switch Sw2.

[0065] When the second boom 413 rotates from the first rotation position to the third rotation position, the first switch Sw1 is operated by contact with the first operating part F1 at the second rotation position, and then continues to be operated while rotating towards the third rotation position. Since the second working part F2 and the first working part F1 are positioned at different locations relative to the circumferential direction of the third pivot axis 417A, the pivot angle of the second boom 413 at which the first switch Sw1 makes contact and emits a first contact signal can be made different from the pivot angle of the second boom 413 around the third pivot axis 417A at which the second switch Sw2 makes contact and emits a second contact signal.

[0066] In this embodiment, the first switch Sw1 and the second switch Sw2 are positioned at approximately the same location relative to the circumferential direction of the third pivot axis 417A, while the first and second operating parts F1 and F2 are positioned at different locations relative to the circumferential direction of the third pivot axis 417A. However, the invention is not limited to this example. It is sufficient that the angle at which the first and second switches Sw1 and Sw2 are operated by the first and second operating parts F1 and F2 differs as the second boom 413 rotates around the third pivot axis 417A. For example, the first and second switches Sw1 and Sw2 may be positioned at different locations relative to the circumferential direction of the third pivot axis 417A, while the first and second operating parts F1 and F2 may be positioned at approximately the same location relative to the circumferential direction of the third pivot axis 417A to create a correspondence. In this explanation, the state in which the first switch Sw1 is in contact with the first actuation part F1 is sometimes referred to as the ON state, and the state in which the first switch Sw1 is not in contact with the first actuation part F1 is sometimes referred to as the OFF state. Similarly, the state in which the second switch Sw2 is in contact with the second actuation part F2 is sometimes referred to as the ON state, and the state in which the second switch Sw2 is not in contact with the second actuation part F2 is sometimes referred to as the OFF state.

[0067] Let's explain the storage position of implement A. The stowed position refers to a state in which the first boom 411 is horizontally tilted over the mast frame 21 or main frame 11, the second boom 413 is positioned so as to overlap or fold over the first boom 411, the second boom 413 is rotated to the first slewing position (retracted position) as shown in Figures 1, 4, and 13, and the working section 51 is positioned so as to overlap or fold over the second boom 413. In the front view shown in Figures 1 and 13, the working section 51 in the stowed position has its rotation axis 512 parallel to the first boom 411 and the second boom 413. Also, the top surface of the cover 514 during operation is directed toward the second boom 413 by slewing around the fourth slewing axis. The stowed position is sometimes also called the stowed position. The horizontal plane used in this description of the present invention is used to conveniently represent the running surface of the mobile vehicle in order to explain it in reference to the illustrated drawings, and is different from the horizontal plane used in relation to the direction of gravity.

[0068] In the stowed position of work machine A, as shown in Figure 13, a front view of the stowed position of work machine A according to the embodiment, the work section 51 is folded and stored at the rear of the traveling 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 stowed state shown in Figure 13, the first boom angle = α0 (=0°) and the second boom angle = β0 (=0°). The second boom 413 is in the first slewing position, not in the forward direction, when slewing around the third slewing axis 417A.

[0069] This section describes the intermediate and deployed positions of implement A. The deployed position of implement A consists of the following states: (1) The first boom 411 in the stowed position is rotated around the first pivot axis 411A and rotated toward the deployed side so that it rises relative to the mast frame 21 or main frame 11, so that the other end of the first boom 411 is positioned laterally relative to the mast frame 21 or main frame 11. (2) The second boom 413 is rotated from a folded state relative to the first boom 411 to an unfolded state around the second pivot axis 413A, widening the angle between them. (3) The second boom 413 is rotated around the third pivot axis 417A, as shown by the solid line in Figure 3, and positioned in the third pivot position as shown in Figures 6, 7, 21, 22, 23, and 24. (4) The working section 51 is rotated around the fourth pivot axis 418A, and the second boom 413 is rotated in the deployment direction, which is the direction in which it is extended from one end to the other. It refers to. The deployed position is the position shown in Figure 25, and is sometimes referred to as the deployed position or home position.

[0070] Let me explain the turning angle. With respect to the first boom 411, as shown in Figures 13 and 14, the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the stowed position is defined as the stowed angle α0 of the first boom 411, and as shown in Figure 24, the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the deployed position is defined as the second first boom angle α2. The rotation angle of the first boom 411 that is between rotation angles α0 and α2 and is a predetermined angle is referred to as the first boom angle α1. The first boom 411 can rotate around the first pivot axis 411A from at least α0 to α2. In this explanation, the storage angle α0 may be referred to as rotation angle α0, the first boom angle α1 as rotation angle α1, and the second boom angle α2 as rotation angle α1.

[0071] With respect to the second boom 413, as shown in Figure 13, the relative rotation angle with respect to the first boom 411 in the retracted position is referred to as the retracted angle β0 of the second boom 413, and as shown in Figures 14 to 23, the relative rotation angle with respect to the second boom 413 in the deployed position is referred to as the first and second boom angles β1. The second boom 413 can rotate around the second rotation axis 413A from at least β0 to β1. In this explanation, the retracted angle β0 may be referred to as the rotation angle β0, and the first and second boom angles β1 may be referred to as the rotation angle β1.

[0072] As shown in Figure 3, the second boom 413 rotates from a first rotation position (retracted position) close to the mast frame 21 around the third pivot axis 417A to a third rotation position (forward position) by rotating forward around the third pivot axis 417A relative to the first connecting body 412, passing through an intermediate position, the second rotation position.

[0073] Regarding the current angles, the current angle θ1 is the current angle of the first boom 411, which rotates around the first pivot axis 411A, relative to the main frame 11 or mast frame 21, and the current angle θ2 is the current angle of the second boom 413, which rotates around the second pivot axis, relative to the first boom 411. The control unit t can constantly recognize the current angles θ1 and θ2.

[0074] The stowed position shown in Figures 1 and 13 is formed when the current angle θ1 of the first boom 411 is 0° at a stowed angle α0 (θ1=α0), the current angle θ2 of the second boom 413 is 0° at a stowed angle β0 (θ2=β0), and both the first switch Sw1 and the second switch Sw2, which indicate the second boom 413 in the first slewing position (retracted position), are in the OFF state, not in contact with the first operating part F1 and the second operating part F2. (Stowed position)

[0075] The first intermediate posture shown in Figure 14 is formed when 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 equal to the first-second boom angle β1 (θ2=β1), and both the first switch Sw1 and the second switch Sw2, which indicate the first slewing position (retracted position) of the second boom 413, are in the OFF state. (First intermediate posture) The example shown in Figure 14 illustrates the case where the current angle θ1 of the first boom 411 is 0°, which is less than or equal to the first boom angle α1.

[0076] 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, which indicate the first slewing position (retracted position) of the second boom 413, are OFF, the second intermediate posture shown in Figures 15, 16, and 17 is formed. (Second intermediate posture, first slewing position)

[0077] 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), the first switch Sw1 indicating the second slewing position of the second boom 413 is ON, and the second switch Sw2 is OFF, the second intermediate posture shown in Figures 18, 19, and 20 is formed. (Second intermediate posture and second slewing position)

[0078] 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, which indicate the third rotation position of the second boom 413, are ON, the second intermediate posture shown in Figures 21, 22, and 23 is formed. (Second intermediate posture, third rotation position)

[0079] 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, which indicate the third rotation position of the second boom 413, are ON, the deployed position shown in Figure 25 is formed. (Deployed position = home position) In the deployed position, the working section 51 is in a state where, as shown in the front view in Figure 25, the top surface of the rotating shaft 512 or cover 514 is rotated toward the deployed side, intersecting the longitudinal direction of the second boom 413.

[0080] Let's explain the target angles. The control unit can set the target rotation angles, which are the target angles that the first boom 411 and the second boom 413 should reach as they rotate. The control unit t sets the target rotation angle α for the first boom 411, and this target rotation angle α is the rotation angle of the first boom 411 and can be changed to the set values ​​of the storage angle α0, the first boom angle α1, and the second boom angle α2. The first boom 411 can be made to rotate toward α0, α1, or α2 by switching the target rotation angle α. The control unit sets the target rotation angle for the second boom 413 as β, and can change between the set values ​​of the rotation angle of the second boom 413, namely the stowed angle β0 and the first and second boom angles β1. The second boom 413 can rotate by switching the target rotation angle β.

[0081] Regarding the rotation of the second boom 413 around the third pivot axis 417A, the rotation angle of the second boom 413 around the third pivot axis 417A will be explained based on Figures 15 to 23. In this embodiment, the second boom 413 rotates around the third pivot axis 417A, moving its other end in the front-rear direction. Depending on the angle of rotation of the second boom 413, the state in which the other end is positioned at the rearmost end relative to the direction of travel, as shown in Figures 15 to 17, is defined as the first pivot position (retracted position). As shown in Figures 21 and 22, the state in which the other end is positioned at the foremost end in the direction of travel is defined as the third turning position (forward position). As shown in Figures 18 to 21, the second turning position (intermediate position) is defined as the state in which the vehicle is positioned midway between the first turning position (reversed position) and the third turning position. The second boom 413 can be rotated around the third pivot axis 417A relative to the first connecting body 412, from the first pivot position (retracted position) to the third pivot position (forward position) via the second pivot position (intermediate position).

[0082] The intermediate posture is divided into a first intermediate posture and a second intermediate posture that is continuous with the first intermediate posture (see Figures 15, 16, and 17). In the first intermediate position of work machine A, as shown in Figure 14, a front view of the first intermediate position of work machine A according to the embodiment, the work section 51 is lifted above the main frame 11 by the rotation of the second boom 413 around the second pivot axis. The first boom angle is the storage angle α0 (=0°), and the second boom angle is the first-to-second boom angle β1 (≒60°). The second boom 413 is in the first rotation position, not rotating in the forward direction around the third pivot axis 417A.

[0083] In the second intermediate position of work machine A, the second boom 413 is in the state shown in Figures 15 to 17. The second boom 413 is in the retracted position, which is the first slewing position (retracted position). As shown in Figures 16 to 17, the work section 51 is located laterally and outward from the mast frame 211 in terms of width in the direction of travel. In this 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°). In the state shown in Figures 18 to 20, the second boom 413 is in the second intermediate position, which is the intermediate position of the second slewing position. In this embodiment, the first boom angle is the first boom angle α1 (≒100°), and the second boom angle is the first boom angle β1 (≒60°). As shown in Figures 18 and 20, the working section 51 moves forward in the direction of travel relative to the first slewing position from the mast frame 211 by the rotation of the second boom 413 around the third slewing axis 417A. In the state shown in Figures 21 to 23, the second boom 413 is in the second intermediate position, and the second boom 413 is in the forward position, which is the third pivot position. In this 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 Figures 21 and 23, the working section 51 moves further forward in the direction of travel than the mast frame 211 relative to the second pivot position due to the pivot of the second boom 413 around the third pivot axis 417A.

[0084] Next, we will explain the intermediate state of the work machine A from its second intermediate position to its deployed position. Figure 24 shows a front view of the work machine A according to the embodiment, in a state between the second intermediate position and the deployed position. The second boom 413 is in the forward position, which is the third slewing 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 in the third slewing position. The first boom 411 is rotated from the first boom angle α1 to the second boom angle α2, and the working section 51 is lowered. The working section 51 remains in the position on the stowed side relative to the second boom 413.

[0085] Figure 25 shows a front view of the work machine A according to the embodiment, in the home position, which is the deployed 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 in the third slewing position. Figure 25 shows the state in which the work section 51 has been slewing to the deployed side from the state shown in Figure 24, with the top surface of the work section 51 rising so as to intersect the longitudinal direction of the second boom 413. In the embodiment shown in Figure 25, the angle between the work section 51 and the second boom 413 is approximately 90°. The telescopic means 41 is formed at the second first boom angle α2 and the first second boom angle β1, and the work section is slewing to the deployed side to form the deployed position. The second and first boom angles α2, the first and second boom angles β1, and the angles of the working section 51 and the second boom 413 in the deployed home position can be freely changed depending on the specifications and configuration of the work machine to which it is applied.

[0086] Figure 26 shows a front view of the work machine A according to an embodiment, which is an example of a working position. The first boom angle is arbitrary, the second boom angle is arbitrary, the rotation position of the second boom 413 around the third rotation axis 417A is arbitrary, and the rotation angle of the work section 51 around the fourth rotation axis 418A is arbitrary. In other words, the first boom 411, the first connecting body 412, the second boom 413, and the work section 51 can be moved to any rotation position desired by the operator M by operating the control unit u, and the work section 51 can be moved to any position and angle desired by the operator M. Figure 26 shows the state in which the work section 51 is positioned on a plane at the same height as the plane on which the traveling machine B travels. Of course, the work section 51 can be changed to any position by operating the control unit u, and is not limited to the illustration in Figure 26. Figure 27 shows a front view of the work machine A according to the embodiment, which is an example of a state in between the working position and the second intermediate position, where 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 slewing position (forward position) or the second slewing position (intermediate position).

[0087] The deployed position of implement A is the third slewing position (forward position) as shown on the side of implement A in Figure 3, and the second boom 413 is in the working section 51 position (51-3) shown by the solid line. In the first slewing position (retracted position), the second boom 413 is at the working section 51 position of the dashed-dot line section 51-1. In the second slewing position (intermediate position), the second boom 413 is at the working section position of the dashed-dot line section 51-2. At the work position, worker M can freely select the first, second, or third slewing position of the second boom 413 to perform the work.

[0088] The changes in the first rotation position (retracted position) to the third rotation position in the vicinity of the third rotation axis 417A, as viewed from the axial direction of the third rotation axis 417A, are explained in accordance with Figures 4 to 6. Figure 4 shows a close-up view of the vicinity of the third slewing axis 417A of the work machine A according to the embodiment, as seen from the axial direction of the third slewing axis 417A, with the second boom 413 in the first slewing position (retracted position). In the first slewing position (retracted position), there is no contact between the first actuation part F1 of the first switch Sw1 and the second actuation part F2 of the second switch Sw2. In other words, the control unit t does not receive 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 slewing position (retracted position) in this state.

[0089] Figure 5 shows a close-up view of the vicinity of the third slewing axis 417A of the work machine A according to the embodiment, as seen from the axial direction of the third slewing axis 417A, with the second boom 413 in the second slewing position (intermediate position). In the second slewing 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. In other words, the control unit t receives the first contact signal, but does not receive the second contact signal. The control unit t is configured to determine that the second boom 413 is in the second slewing position (intermediate position) in this state.

[0090] Figure 6 shows a close-up view of the vicinity of the third pivot axis 417A of the work machine A according to the embodiment, as seen from the axial direction of the third pivot axis 417A, with the second boom 413 in the third pivot position. Figure 7 shows an enlarged side view of the third pivot axis 417A of the work machine A according to the embodiment, showing the second boom 413 in the third pivot position. Both the first switch and the second switch are operated. In the third slewing position, the first switch Sw1 is in contact with its first operating part F1, and the second switch Sw2 is in contact with its second operating part F2. In other words, the control unit t receives 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 slewing position in this state.

[0091] The control unit is configured to detect only the switching operation of the second switch Sw2 of the first switch Sw1. This allows the rotational position of the second boom 413, which rotates around the third pivot axis 417A, to be recognized with a simple configuration. By recognizing the opening and closing of the circuits of the two switches Sw1 and Sw2 and their combinations, it becomes possible to determine the three rotational positions of the second boom 413.

[0092] The detection method using the second switch Sw2 of the first switch Sw1 eliminates the need to constantly detect and calculate the rotation angle of all movable parts, unlike the detection method for the rotation angle of the first boom 411 using the first sensor Se1 and the detection method for the rotation angle of the first connecting body 412 using the second sensor Se2. This reduces the computational burden on the control unit t. As a result, the group of devices involved in calculations within the control unit t can be made simpler.

[0093] In the illustrated embodiment, the first working part F1 and the second working part F2 are shown as being integrated near the fulcrum of the second boom 413, but they may also be provided as separate parts that can be attached freely.

[0094] This section explains automatic posture changes and automatic deployment operations. The first boom 411 and the second boom 413 can be automatically changed in posture and automatically deployed between the stowed position shown in Figures 1 and 13 and the deployed position shown in Figure 2 by operating the control unit u. Based on the flowchart illustrating the automatic deployment operation shown in Figure 11, the basic pattern of the aircraft's operation when an automatic deployment operation is performed from the stowed state will be explained according to the control procedure. In the explanation and diagrams, the first switch Sw1 may be referred to as switch 1, and the second switch Sw2 may be referred to as switch 2. When the automatic unfolding operation is initiated, the system waits for operation in step 101, and then in step 102, the operator M performs the automatic unfolding operation. Then, in step 103, it is determined whether "switch 1 is ON and switch 2 is ON". In other words, it is determined whether the second boom 413 is in the third slewing position, which is its furthest forward position.

[0095] In step 103, determine whether "switch 1 is ON AND switch 2 is ON". If the control unit t determines that the answer is No, that is, that the second boom 413 is not in the third pivot position which is its furthest forward position, the system proceeds to the next step 104 and enters the first deployment process. In this embodiment, since there is no interference with the operation of the first boom 411 and the second boom 413 at positions other than the third slewing position, it is determined that subsequent slewing operations can be performed by control.

[0096] In step 104, the control unit t switches the target rotation angle α of the first boom 411 to the first boom angle α1 and the target rotation angle β of the second boom 413 to the first boom angle β1, and then proceeds to step 106.

[0097] If the control unit t determines that the answer in step 103 is Yes, that is, that the second boom 413 is in the third rotation position, the process proceeds to step 105.

[0098] In step 105, the control unit t switches and sets the target rotation angle α of the first boom 411 to the second first boom angle α2, and the target rotation angle β of the second boom 413 to the first second boom angle β1. Details of the operation control after the switch in step 105 will be described later.

[0099] In step 106, based on 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 boom angle α1.

[0100] If, in step 106, it is determined that the current angle θ1 of the first boom 411 is greater than the first boom angle α1, the process proceeds to step 107, in which the first boom 411 is rotated toward the stowage direction. In this embodiment, the directional control valve 25 is switched to shorten the first cylinder 415. The control unit then transmits a signal.

[0101] Proceed to step 127 via step 107. In step 127, it is determined whether the automatic deployment operation of the control unit u is continuing. If it is not continuing, a signal is sent in step 128 to switch the directional control valve 25 to stop all cylinders, and the process returns to step 101. If the operation is continuing, the process returns to step 103 again and the control is repeated.

[0102] In step 106, if it is determined that the current angle θ1 of the first boom 411 is less than or equal to the first boom angle α1, the process proceeds to step 108, where the control unit t sends a signal to switch the directional control valve 25 to stop all cylinders. Then the process proceeds to the next step 109. In other words, once the automatic deployment operation has started, as long as the operation continues, as in the procedure from step 103 through step 106 to step 127, if the current angle θ1 of the first boom 411 is greater than the first boom angle α1 and the position is other than the third slewing position, the first boom 411 is rotated until the current angle θ1 of the first boom 411 is less than or equal to the first boom angle α1.

[0103] In step 109, it is determined whether the current angle θ2 of the second boom 413 is equal to the first and second boom angle β1, which is the target rotation angle β of the second boom 413. If the current angle θ2 of the second boom 413 is not the target rotation angle β, which is the first second boom angle β1, then in step 110, it is determined whether the current angle θ2 of the second boom 413 is smaller or larger than the first second boom angle β1.

[0104] If the current angle θ2 of the second boom 413 is greater than the first-second boom angle β1, step 111 causes the second boom 413 to be swivel toward the stowed side. In this embodiment, a signal is sent to switch the directional control valve 25 to shorten the second cylinder, causing the first connecting body 412 to swivel around the second pivot axis 413A, and causing the second boom 413 to swivel relative to the first boom 411.

[0105] If the current angle θ2 of the second boom 413 is smaller than the target slewing angle β, which is the first-second boom angle β1, step 112 causes the second boom 413 to slewing toward the deployed side. In the embodiment, a signal is sent to switch the directional control valve 25 to extend the second cylinder 416, causing the first coupling body 412 to slewing around the second slewing axis 413A, and the second boom 413 to slewing relative to the first boom 411. The operations in steps 111 and 112 are performed while the automatic deployment operation is being continued by step 127.

[0106] If, in step 109, the current angle θ2 of the second boom 413 is the same as the first and second boom angles β1, then in step 113, a signal is sent to switch the directional control valve 25 to stop all cylinders, and the process proceeds to step 114.

[0107] Upon completion of step 113, the first boom 411 and the second boom 413 form a first intermediate position (see Figure 14). The first connecting body 412, the second boom 413, and the work section 51, which are the connecting elements from the stowed position to the first intermediate position, do not protrude laterally beyond the left-right width of the work machine A in the stowed position. In other words, in this embodiment, the first connecting body 412, the second boom 413, and the work section 51, which are the connecting elements, do not protrude to the right side in the direction of travel, which is opposite to the side from which the work section 51 is deployed to the deployed position. Therefore, even if there is an obstacle or the like on the right side in the direction of travel, which is not the side from which the work section 51 is deployed to the deployed position, the first connecting body 412, the second boom 413, and the work section 51, which are the connecting elements, do not interfere with this obstacle or the like.

[0108] Furthermore, when performing an automatic deployment operation from the stowed position, the next control step cannot be initiated unless the first intermediate position (see Figure 14) is formed. The case when performing an automatic deployment operation from a state other than the stowed position will be described later. The first intermediate position (see Figure 14) allows for the early removal of the work section 51, which has a large projected area and significantly obstructs the view of the operator M on the rear side in the direction of travel, from the operator M's field of view, thereby securing the view to the rear of the vehicle B. In other words, by carelessly moving the work section 51 up and down many times in a position close to the stowed position, it is possible to prevent the duration of time during which a blind spot occurs to the operator M on the rear side of the vehicle B.

[0109] In the first intermediate position (see Figure 14), the other end of the second boom 413 and the working section 51 located on the other end of the second boom 413 are provided so as not to protrude excessively radially outward from the slewing region formed inside the other end of the first boom 411 that slewing around the first slewing axis 411A, when viewed from the direction of travel. Therefore, even if the angle of the second boom 413 remains the same as the first and second boom angle β1, and the first boom 411 rotates around the first pivot axis 411A in steps 114 to 117 described later, the opportunity for the second boom 413 and the working section 51 to come into contact with other obstacles during rotation is reduced.

[0110] In the next step, step 114, it is determined whether the current angle θ1 of the first boom 411 is equal to the target rotation angle α of the first boom 411. If it is determined in step 104 that α = α1, then determine whether the current angle θ1 of the first boom 411 is the first boom angle α1, which is the target slewing angle α. (The case where α = α2 will be described later.)

[0111] If the current angle θ1 of the first boom 411 is not the target rotation angle α (first boom angle α1), step 115 determines whether the current angle θ1 of the first boom 411 is smaller or larger than the first boom angle α1.

[0112] In step 115, if the current angle θ1 of the first boom 411 is greater than the first boom angle α1, the first boom 411 is rotated to the stowed side in step 116. In this embodiment, a signal is sent to switch the directional control valve 25 to shorten the first cylinder 415, causing the first boom 411 to rotate around the first pivot axis 411A, and the first boom 411 to rotate relative to the main frame and mast frame.

[0113] If the current angle θ1 of the first boom 411 is smaller than the target rotation angle α, which is the first boom angle α1, then in step 117, the first boom 411 is rotated toward the deployed side. In this embodiment, a signal is generated to switch the directional control valve 25 to extend the first cylinder 415, causing the boom to swivel around the first pivot axis 411A. The operations in steps 116 and 117 are performed while the automatic deployment operation is continuing as described in step 127.

[0114] If, in step 114, the current angle θ1 of the first boom 411 is the target slewing angle α (first boom angle α1), then in step 118, a signal is sent to switch the directional control valve 25 to stop all cylinders, and the process proceeds to step 119.

[0115] Upon completion of step 118, the first boom 411 and the second boom 413 form a second intermediate position (see Figures 15, 16, and 17). When an automatic deployment operation is performed from the stowed position, a first intermediate position (see Figure 14) is formed, followed by a second intermediate position. As shown in Figures 15, 16, and 17, the second intermediate position is a position in which the work section 51 is located to the side of the traveling machine B or the main frame 11, and the second boom 413 and the work section 51 can rotate from the retracted position to the forward position, from the first rotation position (retracted position) to the third rotation position (forward position), without interfering with the traveling machine B or the ground.

[0116] Even when transitioning from the first intermediate position (see Figure 14) to the second intermediate position (see Figures 15, 16, and 17), the first boom 411, the connecting body consisting of the first connecting body 412 and the second boom 413, and the working section 51 do not protrude outward in the direction opposite to the direction of deployment to the deployed position beyond the width of the machine in the left-right direction relative to the direction of travel of the work machine A in the stowed position. Therefore, even if there is an obstacle on the right side in the direction of travel, which is not the side from which the working section 51 is deployed, during the automatic deployment operation, the connecting body consisting of the first connecting body 412 and the second boom 413 and the working section 51 do not interfere with this obstacle.

[0117] Once the second intermediate position (see Figures 15, 16, and 17) is formed in step 118, step 119 determines whether the second boom 413 is in its furthest forward position, that is, whether the second boom 413 is in the third slewing position as shown in Figures 6, 21 to 23. In other words, as shown in Figure 6, step 119 determines whether both the first switch Sw1 and the second switch Sw2 are on. If it is determined that the second boom 413 is not in the furthest forward position, that is, not in the third pivot position as shown in Figures 6, 21-23, but rather in the first pivot position (retracted position) as shown in Figures 4, 15-17, or the second pivot position (intermediate position) as shown in Figures 5, 18-20, then in step 120, the third cylinder 417 is extended and the second boom 413 is pivoted toward the third pivot position (see Figures 21-23). This operation is performed while the automatic deployment operation continues as described in step 127. Furthermore, the control is repeated from step 103 until the second boom 413 reaches the third slewing position in step 119. Once it is determined that the second boom 413 has reached the third slewing position (Figures 6, 21-23), all cylinders are stopped in step 121, and the process proceeds to step 122.

[0118] In 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. ru. This stage is referred to as the first deployment process. If it is determined that the current angle θ1 of the first boom 411 is not equal to the second first boom angle α2, and the current angle θ2 of the second boom 413 is not equal to the first second boom angle β1, the process returns to step 103 and proceeds to the second deployment process.

[0119] Returning to step 103 and entering the second deployment process, the system determines whether the second boom 413 is in the third slewing position, which is its furthest forward position, with the first switch Sw1 and the second switch Sw2 turned ON. After completing steps 101 to 122 from the fully retracted state, the second boom 413 is in the third slewing position, so the system determines "Yes" and proceeds to step 105.

[0120] In step 105, the control unit t switches the target rotation angle α of the first boom 411 to the second first boom angle α2, and the target rotation angle β of the second boom 413 to the first second boom angle β1, and then proceeds to step 106. Here, only the value of the target rotation angle α of the first boom 411 changes (α1 ⇒ α2), while the target rotation angle β of the second boom 413 does not change.

[0121] In step 106, after changing the target rotation angle α of the first boom 411 to the second first boom angle α2, if 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, in which the first boom 411 is rotated toward the stowage direction. The control unit t switches the directional control valve 25 to shorten the first cylinder 415.

[0122] The explanation of steps 108 to 113 of the second deployment process is omitted because the β value remains constant. In the unlikely event that the current angle θ2 of the second boom 413 becomes 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, similar to the control described above, so that the current angle θ2 becomes the first second boom angle β1 (θ2 = β1).

[0123] In step 114, it is determined whether the current angle θ1 of the first boom 411 is the target slewing angle α of the first boom 411. Here, since the target slewing 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 the second first boom angle α2.

[0124] In step 115, if the current angle θ1 of the first boom 411 is not the second first boom angle α2 In addition, the current angle θ1 of the first boom 411 is smaller than the second first boom angle α2, or Determine if it's large.

[0125] In 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 to the stowed side in step 116. In this embodiment, the directional control valve 25 is switched to shorten the first cylinder 415, causing the first boom 411 to rotate around the first pivot axis 411A. If the current angle θ1 of the first boom 411 is smaller than the second first boom angle α2, the first boom 411 is rotated to the deployed side in step 117. The operations in steps 116 and 117 of the second deployment process are performed while the automatic deployment operation is being continued by step 127. These operations are also 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 work section 51 is positioned in a position lowered by the rotation of the first boom 411 (see Figure 24).

[0126] If, in step 114, it is determined that the current angle θ1 of the first boom 411 is the second first boom angle α2, then in step 119, after going through step 118, it is determined whether or not the second boom 413 is in its furthest forward position. If it is not, step 120 operates the third cylinder 417 and repeats the control in step 119 until the second boom 413 is in the furthest forward position, which is the third slewing position. The control from step 119 to step 120 is performed as long as the automatic deployment operation is being performed via the control in step 127, and is repeated until the second boom 413 is in the third slewing position.

[0127] If, in step 119, it is determined that the second boom 413 is in the third slewing position, which is its furthest forward position, then, after stopping all cylinders in step 121, the process proceeds to step 122. In 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. If it is determined that the current angle θ1 of the first boom 411 is not equal to the second first boom angle α2, and the current angle θ2 of the second boom 413 is not equal to the first second boom angle β1, the process returns to step 103 and the control is repeated.

[0128] If it is determined that the current angle θ1 of the first boom 411 is equal to the second first boom angle α2, and the current angle θ2 of the second boom 413 is equal to the first second boom angle β1, the countdown starts in step 122.

[0129] In step 122, when the countdown begins, step 124 operates the fourth cylinder 418 to extend the work section 51 until the remaining time reaches zero. This operation is performed while the automatic extension operation is being continued by step 127. If it is determined in step 124 that the remaining time is 0, all cylinders are stopped in step 126 and the control ends. The posture formed in step 126 becomes the deployed posture (see Figure 25).

[0130] The deployed position is also called the deployed position or home position. Using this position as a reference, the operator M can manually operate the control unit u to move the first boom 411, the connecting body (first connecting body 412), the second boom 413, and the work unit 51, thereby positioning the work unit 51 to any desired work position (see, for example, Figure 26). In this embodiment, the working section 51 in the home position is located to the side of the traveling machine B, particularly to the side of the operator M who is the operator of the traveling machine B, with the second boom 413 in the third slewing position, as shown in Figure 25, and is located slightly above the traveling surface of the traveling machine B. Furthermore, the upper surface of the work section 51, as viewed from the direction of travel, is rotated to a position that is approximately perpendicular to the longitudinal direction of the second boom 413, and the tip of the work section 51 is inclined to be slightly above the fourth pivot axis with respect to the running surface of the traveling machine B. The operator M operates the control unit u from the home position to any desired working position to position the work section 51 and perform the work.

[0131] Rather than manually operating the first boom 411, the connecting body 412, and the second boom 413 from the storage position to the work position, it is far less burdensome to automatically move from the storage position to the home position and then manually operate from the home position to the work position. Furthermore, at the work position, the working surface is not limited to the surface on which the mobile machine B travels, but may also be a stepped surface, a slope, or a remote location further to the side from the home position. By setting the home position, the work unit 51 can be quickly positioned at the work position after automatic deployment to the home position.

[0132] In the control related to the automatic deployment operation, only whether the current angles θ1 and θ2 have reached the target slewing angles α and β, or whether they are greater than or less than the target angles, is determined, thus reducing the control burden related to calculation processing. Furthermore, the slewing position of the second boom 413 in the forward and reverse directions is determined only by the ON / OFF operation of the first switch Sw1 and the second switch Sw2, thus reducing the control burden.

[0133] Since the same control procedure is repeated by switching between target turning angles α1 and α2, it is not necessary to prepare a dedicated control code for each operation. In other words, the memory unit that stores the control code (program) in the control unit t does not become bloated, and the configuration of the control unit t can be simplified.

[0134] The movement from the stowed position to the deployed position is always performed after forming the first intermediate position (see Figure 14) and the second intermediate position (see Figures 15, 16, and 17). Therefore, even if there are irregularities in the positional relationship of each part, interference with other obstacles can be prevented, and the system can be operated safely. An example of this is described below.

[0135] Let's explain an example of a situation where it wasn't fully retracted. In step 106, we assume that the target rotation angle α is the first boom angle α1 (α=α1), and that the current angle θ1 of the first boom 411 is greater than the first boom angle α1. At this time, since it is not in the stowed state, if the second boom 413 is suddenly moved by the control in steps 109 to 112, the working section 51 and the second boom 413, which rotate around the second pivot axis 413A, will move to protrude laterally, especially to the side on the deployed side. If an obstacle is located in the deployment direction, the working section and the second boom 413 may interfere with each other, causing problems. To prevent this, in step 106, the first boom 411 is temporarily moved to a first boom angle α1 or less, so that the working section 51 and the second boom 413 are moved laterally towards the center of the traveling machine B, and then the second boom 413 is moved to a first intermediate position (see Figure 14) where the first boom angle β1 is achieved. In this way, the operator M can maintain a clear view of the rear while safely performing the automatic deployment operation.

[0136] Let's explain another example of a situation where the device was not fully retracted. The following describes a state in which the first boom 411 is in the retracted position and the second boom 413 is larger than β1. In this state, the working section 51 located at the tip of the second boom 413 is positioned to protrude to the right in the direction of travel of the traveling machine B. In this state, if the control in step 114 is performed, the work unit 51 will rotate significantly around the first pivot axis 411A from a position protruding to the right side in the direction of travel of the mobile body B. Therefore, if there is an obstacle to the right side or above the right side of the mobile body B, problems such as collisions may occur.

[0137] To avoid this inconvenience, even when the second boom 413 is greater than the first-second boom angle β1, the second boom 413 is rotated in the storage direction opposite to the deployment direction so that it becomes the first-second boom angle β1. This avoids the inconvenience of contact with obstacles that may be present around the traveling machine B and the work machine A, especially to the sides. Furthermore, even when the second boom 413 is greater than the first-second boom angle β1, by operating the second boom 413 so that it becomes the first-second boom angle β1, the rotation area including the work section 51, as viewed from the direction of travel, can be reduced, making it adaptable to narrow working environments. During automatic deployment, the operation can be stopped by releasing the operation of the control unit u, so the operation to stop the operation is not complicated.

[0138] In the embodiment, the first cylinder 415 extends to rotate the first boom 411 in the deployment direction and shortens to rotate the first boom 411 in the storage direction; the second cylinder extends to rotate the connecting body, the first connecting body 412 and the second boom 413, in the deployment direction and shortens to rotate the connecting body, the first connecting body 412 and the second boom 413, in the storage direction; the third cylinder 417 extends to rotate the second boom 413 in the forward direction and shortens to rotate the second boom 413 in the backward direction; and the fourth cylinder 418 extends to rotate the working section 51 in the deployment direction and shortens to rotate in the storage direction. In this invention, there are no limitations on the extension and retraction direction and the rotational direction of each cylinder, and it can be applied to various combinations.

[0139] In the embodiment, the first boom angle α1 is preferably 90 to 110°, and approximately 100° is used in the example. The second boom angle α2 is preferably 115 to 135°, and approximately 125° is used in the example. The first boom angle β1 is preferably 50 to 70°, and approximately 60° is used in the example. Furthermore, the angle between the working section 51 and the second boom 413 in the deployed position shown in the embodiment is preferably 80 to 100°, and approximately 90° is used in the example. In addition, the first boom angle α1, the second boom angle α2, the first boom angle β1, and the angle of the working section 51 can be freely changed in addition to the example angles, depending on the specifications and form of the mounted traveling machine B and working machine A.

[0140] In other words, in the embodiments of this invention, A work machine A is provided with a main frame 11 on the work machine, to which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a work section 51 are sequentially attached. The mast frame 21 and the first boom 411 are attached by the first slewing axis 411A, which is the horizontal axis. The first boom 411 and the connecting body, the first connecting body 412, are mounted on the second slewing axis 413A parallel to the first slewing axis 411A, so as to be able to slewing in the same direction as the slewing direction of the first boom 411. The third pivot axis 417A is provided between the other end of the first connecting body 412 and the second boom 413, in a direction intersecting the first pivot axis 411A and the second pivot axis 413A. The second boom 413 is rotatable around the third pivot axis 417A, and by connecting one end of the second boom 413 to the third pivot axis 417A, the second boom 413 can be rotated by the third pivot axis 417A in a direction intersecting the first boom 411.

[0141] The second boom 413 rotates around the third pivot axis 417A relative to the first connecting body 412, causing its other end to move in the forward and backward directions. Depending on the angle of rotation of the second boom 413, it rotates from a first rotation position (retracted position) where the other end is positioned at the rearmost end relative to the direction of travel and close to the mast frame 21, through an intermediate position (second rotation position), to a third rotation position (forward position). The storage position of implement A is, This refers to a state in which the first boom 411 is horizontally tilted over the mast frame 21 or main frame 11, and the second boom 413 is positioned so as to overlap or fold over the first boom 411, the second boom 413 is rotated to the first slewing position (retracted position) which is the retracted position, and the working section 51 is positioned so as to overlap or fold over the second boom 413.

[0142] The deployed position of implement A is, The first boom 411, in its stowed position, is rotated around the first pivot axis 411A, and rotated toward the deployed side so that it rises relative to the mast frame 21 or main frame 11, so that the other end of the first boom 411 is positioned laterally relative to the mast frame 21 or main frame 11, or The second boom 413 is folded relative to the first boom 411, then rotated around the second pivot axis 413A to the unfolded side, thereby widening the angle between them, or, The second boom 413 is rotated around the third pivot axis 417A to the third pivot position, or, This refers to a state in which the working section 51 is rotated around the fourth pivot axis, and the second boom 413 is rotated in the deployment direction, which is the direction in which it is extended from one end to the other end.

[0143] With respect to the first boom 411, the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the stowed position is defined as α0, and the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the deployed position is defined as the second first boom angle α2. The first boom angle α1 is the slewing angle of the first boom 411, which is between the slewing angles α0 and α2 and is a preset angle. The range between the rotation angles α0 and α2 is the range in which the first boom 411 can rotate around the first rotation axis 411A, at least from rotation angle α0 to rotation angle α2.

[0144] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivoting 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 equipped with an operating unit that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. The work machine A consists of a first boom 411 that, if the first boom 411 is greater than the first boom angle α1 before the second boom 413 is rotated toward the first boom angle β1 after the automatic deployment operation has started, rotates the first boom 411 so that it is less than or equal to the first boom angle α1.

[0145] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. The work machine A comprises, after the automatic deployment operation has started and before the second boom 413 is rotated toward the first second boom angle β1, which is the angle of the second boom 413 relative to the first boom 411, if the second boom 413 is in the first rotation position (retracted position) or the second rotation position and the first boom 411 is greater than the first first boom angle α1, the work machine A rotates the first boom 411 so that it is less than or equal to the first first boom angle α1.

[0146] In embodiments of this invention, The operation toward the aforementioned deployed position is performed by the work machine A, which forms the deployed position after the first boom 411 has reached a first boom angle α1 or less and the second boom 413 has reached a first boom angle β1.

[0147] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, The first boom angle α1 and the second boom angle relative to the first boom 411 A second boom 413 is provided so as to be able to rotate relative to an angle that includes the first and second boom angles β1 in the same rotational direction as degree α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. The work machine A comprises, if the first boom 411 is less than or equal to the first boom angle α1 after the automatic deployment operation has started, the second boom 413 is rotated toward the first boom angle β1 to achieve the first boom angle β1, and then the first boom 411 is rotated toward the first boom angle α1.

[0148] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivoting 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 equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. If, after the automatic deployment operation has started, the first boom 411 is less than or equal to the first boom angle α1 and the second boom 413 is not at the first boom angle β1, the second boom 413 is rotated so that it reaches the first boom angle α2. It consists of a work machine characterized by the following features.

[0149] In embodiments of this invention, The second boom 413 is provided so as to be rotatable relative to the first boom 411 so as to be positioned in a first slewing position (retracted position), a second slewing position, and a third slewing position in a slewing direction that intersects the first boom angle α1 and the second boom angle α2. After the change in attitude to the deployed position by the automatic deployment operation has started, if 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, then it is determined whether the second boom 413 is in the first slewing position (retracted position) or the second slewing position. The work machine A rotates the second boom 413 toward the third rotation position when the second boom 413 is in the first rotation position (retracted position) or the second rotation position.

[0150] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. The work machine A determines whether the first boom 411 is at the second first boom angle α2 when the second boom 413 is in the third slewing position, after the automatic deployment operation has been started and the first boom 411 has formed the first first boom angle α1 and the second boom 413 has formed the first second boom angle β1.

[0151] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. After the automatic deployment operation is initiated, the target angle β of the second boom 413 is set as the first second boom angle β1, and the second boom 413 is rotated toward the first second boom angle β1. Then, the target angle α of the first boom 411 is set as the first first boom angle α1, and the first boom 411 is rotated toward the first first boom angle α1. The work machine A is configured to change the target angle α of the first boom 411 to the second first boom angle α2 when it is determined that the second boom 413 is in the third rotation position.

[0152] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. The aforementioned automatic deployment operation begins after the first deployment step is completed, in which the second boom 413 is rotated toward the first second boom angle β1, which is the set target angle of the second boom 413, and then the first boom 411 is rotated toward the first first boom angle α1, which is the set target angle of the first boom 411. The work machine A comprises a first boom 411 at the first boom angle α1, the second boom 413 at the first boom angle β1, and the second boom 413 at the third rotation position, and performs a second deployment step in which the target angle of the first boom 411 is changed from the first boom angle α1 to the second boom angle α2 during the first deployment step.

[0153] In embodiments of this invention, The operation of the first boom 411 and the second boom 413 is performed only while the operating unit u is being operated manually, and the work machine A comprises these two components.

[0154] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate position, which is a position between the retracted position and the deployed position, and then transition to the deployed position, forming a work machine A.

[0155] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables automatic deployment operation to automatically change their posture between the stowed position and the deployed position. When the automatic deployment operation is performed, the first boom 411 and the second boom 413 form a first intermediate position, which is a position between the retracted position and the initial deployed position, then form a second intermediate position, which is a position between the retracted position and the deployed position, and then transition to the deployed position, as part of the work machine A.

[0156] In embodiments of this invention, During the transition from the stowed position to the deployed position via the first intermediate position, the second boom 413 is a work implement A that does not protrude laterally beyond the width of the machine body, which is located opposite to the pivot point of the first boom 411 in the stowed position.

[0157] This section describes an embodiment of the present invention that includes automatic posture change and automatic storage operations. The first boom 411 and the second boom 413 can be automatically repositioned and stored between the stowed position shown in Figures 1 and 13 and the deployed position shown in Figure 2 by operating the control unit u. Based on the flowchart illustrating the automatic storage operation shown in Figure 12, the basic pattern of the machine's movement when the work machine A performs an automatic storage operation from the work position is explained in accordance with the control procedure. The initial working position is described as being one in which the rotational positions of the first boom 411, the connecting body (first connecting body 412), the second boom 413, and the working section 51 are slightly shifted from the predetermined deployment position (for example, Figure 26). When the automatic storage operation is initiated, the system waits for operation in step 201, and in step 202, the operator M performs the automatic unfolding 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 the second boom 413 is in the first slewing position (retracted position), which is the fully retracted position.

[0158] If, in step 203, the control unit t determines that "switch 1 is OFF and switch 2 is OFF," that is, that the second boom 413 is not in the first slewing position (retracted position), which is the fully retracted position, then the control unit t proceeds to the next step 204 and enters the first storage process.

[0159] In step 204, the control unit t switches the target rotation angle α of the first boom 411 to the first boom angle α1 and the target rotation angle β of the second boom 413 to the first boom angle β1, and then proceeds to step 206.

[0160] Furthermore, if the control unit t determines that the answer in step 203 is Yes, that is, that the second boom 413 is in the first slewing position (retracted position), the process proceeds to step 205.

[0161] In step 205, the control unit t switches the target slewing angle α of the first boom 411 to the retracted angle α0, and the target slewing angle β of the second boom 413 to the retracted angle β0. Details of the operation control after the switch in step 205 will be described later.

[0162] In step 206, based on the result of step 204, it is determined whether the current angle θ1 of the first boom 411 is equal to the first boom angle α1, which is the target rotation angle α of the first boom 411.

[0163] If, in step 206, it is determined that the current angle θ1 of the first boom 411 is not the target rotation angle α, which is the first boom angle α1, then the process proceeds to step 207, where it is determined whether the current angle θ1 of the first boom 411 is smaller than the target rotation angle α. If the current angle θ1 of the first boom 411 is greater than the target slewing angle α, the control unit t sends a signal to switch the working section 51 in step 208 to shorten both the first cylinder 415 and the fourth cylinder 418.

[0164] Specifically, the first boom 411 is rotated toward the target rotation angle α, and the working section 51 is rotated toward the storage direction. The first boom 411 and the working section 51 move from the state shown in Figure 26 to the state shown in Figure 27. If the current angle θ1 of the first boom 411 is smaller than the target slewing angle α, in step 209 the control unit t sends a signal to switch the working section 51 so that the first cylinder 415 is extended and the fourth cylinder is shortened. That is, the first boom 411 is rotated toward the target slewing angle α, and the working section 51 is rotated toward the storage direction.

[0165] In steps 208 and 209, regardless of the rotation direction of the first boom 411, the work section 51 rotates in the storage direction with the fourth pivot axis 418A as the pivot point (see Figure 27).

[0166] Furthermore, after going through steps 208 and 209, step 223 causes the first boom 411 and the working section 51 to be rotated again via step 203 and step 208 or step 209, as long as the automatic storage operation continues, until the conditions of step 206 are met. When the operation is released, step 224 signals the work unit 51 to stop the operation of all cylinders, and the process returns to step 201. If the operation is continued, the process returns to step 203 again and the control is repeated.

[0167] In step 206, if it is determined that the current angle θ1 of the first boom 411 is the first boom angle α1, the process proceeds to step 210, where the control unit t sends a signal to switch the directional control valve 25 to stop all cylinders. Then the process proceeds to the next step 211.

[0168] During the period up to step 210, the first boom 411 is set to the first boom angle α1, thereby raising the working section 51 and the second boom 413 upwards (see Figure 27). This ensures that during the rotational movement of the second boom 413 performed in subsequent control steps, a region or space is secured below the second boom 413 in which it can rotate, preventing the second boom 413 and the working section 51 from coming into contact with the running surface.

[0169] In step 211, it is determined whether the current angle θ2 of the second boom 413 is equal to the first and second boom angle β1, which is the target rotation angle β of the second boom 413.

[0170] In step 211, if the current angle θ2 of the second boom 413 is not the first second boom angle β1 which is the target rotation angle β, the control unit t determines in step 212 whether the current angle θ2 of the second boom 413 is smaller than the first second boom angle β1. If the current angle θ2 of the second boom 413 is greater than the first and second boom angles β1, step 213 signals to switch the directional control valve 25 to shorten the second cylinder 416 and the fourth cylinder 418. Specifically, the second boom 413 and the connecting body, the first connecting body 412, are rotated towards the target rotation angle α using the second pivot axis 413A as the fulcrum, and the working section 51 is rotated in the storage direction using the fourth pivot axis 418A as the fulcrum.

[0171] If the current angle θ2 of the second boom 413 is smaller than the first and second boom angles β1, the control unit t issues a signal to switch the directional control valve 25 in step 214 to extend the second cylinder 416 and shorten the fourth cylinder 418. In other words, the second boom 413 and the connecting body, the first connecting body 412, are rotated towards the target rotation angle α with the second pivot axis 413A as the fulcrum, and the working section 51 is rotated in the storage direction with the fourth pivot axis 418A as the fulcrum. In steps 213 and 214, regardless of the rotation direction of the second boom 413, the working section 51 is rotated in the storage direction with the fourth pivot axis 418A as the fulcrum.

[0172] Furthermore, after going through steps 213 and 214, step 223 causes the second boom 413 and working section 51 to be swung again via step 211 and step 213 or step 214, as long as the automatic retraction operation continues, until the conditions of step 211 are met. When the operation is released, step 224 sends a signal to the directional control valve 25 to stop the operation of all cylinders, and the process returns to step 201.

[0173] If, in step 211, the current angle θ2 of the second boom 413 is the first and second boom angle β1 which is the target angle β (see Figure 22), then in step 215, a signal is sent to switch the work unit 51 to stop all cylinders, and the process proceeds to step 216.

[0174] Upon completion of step 215, the first boom 411 and the second boom 413 form a second intermediate posture (see Figures 21 to 23). That is, when an automatic retraction operation is performed from the working position, the second intermediate posture is first formed. The second intermediate posture is a posture in which the working section 51 is positioned to the side of the traveling machine B or the main frame 11, and the second boom 413 and the working section 51 can rotate from the first rotation position (retracted position) to the third rotation position, from the retracted position to the forward position, without interfering with the traveling machine B or the ground.

[0175] By forming a second intermediate posture, the working section 51, which is a heavy object located at the tip of the boom device, can be moved closer to the traveling machine B, thereby prioritizing the stability of the traveling machine B.

[0176] In step 216, which follows step 215, it is determined whether switch 1 and switch 2 are both in the off state. That is, it is determined again whether the second boom 413 is in the first slewing position (retracted position), which is the fully retracted position.

[0177] In step 216, if the control unit t determines that "switch 1 is OFF and switch 2 is OFF," that is, if the second boom 413 is not in the first slewing position (retracted position), which is its fully retracted position, then the unit proceeds to the next step 217. In step 217, the control unit t issues a signal to switch the work unit 51 to shorten the third cylinder 417 and the fourth cylinder 418. That is, the second boom 413 is rotated with the third pivot axis 417A as the pivot point toward the first pivot position (retracted position) (from the state shown in Figures 21 to 23 to the state shown in Figures 15 to 17), and the work unit 51 is rotated with the fourth pivot axis 418A as the pivot point toward the storage direction.

[0178] After going through step 217, as long as the automatic storage operation continues, the second boom 413 and the working section 51 are rotated again via step 203 and step 217, until the conditions of step 216 are met, by step 223. Step 223 releases the automatic retraction operation, a signal is sent to the directional control valve 25 to stop the operation of all cylinders, and the process returns to step 201.

[0179] In step 216, if switch 1 is in the off state and switch 2 is also in the off state, and the second boom 413 is in the first slewing position (retracted position) (see Figures 15 to 17), in step 218 the control unit t sends a signal to the directional control valve 25 to stop all cylinders.

[0180] Next, in step 219, it is determined whether the current angle θ1 of the first boom 411 is the stowed position angle α0, and whether the current angle θ2 of the second boom 413 is the stowed position angle β0.

[0181] If, as determined in step 219, the current angle θ1 of the first boom 411 is not the stowed angle α0, and the current angle θ2 of the second boom 413 is not the stowed angle β0, the process returns to step 203 and the control is repeated. If the current angle θ1 is the stowed angle α0 and the current angle θ2 is the stowed angle β0, the process will be described later.

[0182] Returning to step 203, it is determined again whether the second boom 413 is in the first slewing position (retracted position), which is its fully retracted position. If the control unit t determines in step 203 that Yes, that is, the second boom 413 is in the first slewing position (retracted position), the process proceeds to step 205 and enters the second storage process. When the second boom 413 is in the first slewing position (retracted position), it can be determined that even if the second boom 413 is slewing around the first slewing axis 411A and the second slewing axis 413A, the work machine A will not come into contact with the traveling machine body B.

[0183] In step 205, the control unit t switches the target slewing angle α of the first boom 411 to the stowed angle α0 and the target slewing angle β of the second boom 413 to the stowed angle β0, and then proceeds to step 206.

[0184] Based on the results of step 205, in step 206, which is the second storage process, it is determined whether the current angle θ1 of the first boom 411 is the storage angle α0, which is the target rotation angle α of the first boom 411.

[0185] In step 206, if it is determined that the current angle θ1 of the first boom 411 is not the stowed angle α0 which is the target slewing angle α, the process proceeds to step 207, where it is determined whether the current angle θ1 of the first boom 411 is smaller than the target slewing angle α(α0). If the current angle θ1 of the first boom 411 is greater than the target slewing angle α0, in step 208, the control unit t sends a signal to switch the directional control valve 25 to shorten both the first cylinder 415 and the fourth cylinder 418. That is, the first boom 411 is slewing from the current angle θ1 toward the stowed position which is the target slewing angle α, and the working section 51 is slewing toward the stowed position (transitioning from the state shown in Figure 16 to the state shown in Figure 14).

[0186] If the current angle θ1 of the first boom 411 is smaller than the stowed angle α0, which is the target slewing angle α, the control unit t sends a signal to switch the directional control valve 25 in step 209 to extend the first cylinder 415 and shorten the fourth cylinder 418. In other words, the first boom 411 is rotated toward the storage angle α0, and the work section 51 is rotated toward the storage direction. In most cases, the first boom 411, once it enters the second storage process, will not become smaller than the storage angle α0. In steps 208 and 209, regardless of the rotation direction of the first boom 411, the work section 51 is rotated toward the storage direction.

[0187] Furthermore, as with the first storage process, as long as the automatic storage operation continues, step 223 causes the first boom 411 and the working section 51 to rotate. When the operation is released, step 224 stops the operation of all cylinders.

[0188] In step 206, if it is determined that the current angle θ1 of the first boom 411 is the stowed angle α0, which is the target slewing angle α, the process moves to step 210, where the control unit t sends a signal to switch the work unit 51 to stop all cylinders. Then the process moves to the next step 211.

[0189] Upon completion of step 210 of the second storage process, the first boom 411 reaches a storage angle α0 and the second boom 413 reaches a first-second boom angle β1, forming the first intermediate posture (see Figure 14).

[0190] Between the second intermediate position and the first intermediate position, by setting the second boom 413 to a first-second boom angle β1 with respect to the first boom 411, the other end of the second boom 413 and the working section 51 located on the other end of the second boom 413 do not protrude excessively radially outward from the slewing region formed inside the other end of the first boom 411 that slewing around the first slewing axis 411A, when viewed from the direction of travel. Therefore, even if the angle of the second boom 413 remains the same as the first-second boom angle β1, and the first boom 411 is rotated around the first pivot axis 411A, the opportunity for the second boom 413 and the working section 51 to come into contact with other obstacles is reduced.

[0191] Furthermore, by setting the second boom 413 to the first-second boom angle β1, it is possible to prevent the work section 51, which has a large projected area that significantly obstructs the view of the operator M, from passing directly in front of the operator M during the rotational movement from the second intermediate position to the first intermediate position. In other words, the operator M can maintain a clear view of the rear of the traveling machine B, allowing the operator M to pay attention to the area around the work machine A and avoid contact between the work machine A and obstacles.

[0192] During the rotational movement from the second intermediate position to the first intermediate position, the first boom 411 and the connecting body, the first connecting body 412, the second boom 413, and the working section 51 do not protrude laterally beyond the lateral width of the work machine A in the stowed position. Therefore, even if there is an obstacle on the right side in the direction of travel of the traveling machine B and work machine A during the automatic stowage operation, the connecting body, the first connecting body 412, the second boom 413, and the working section 51 do not interfere with this obstacle.

[0193] In step 211, it is determined whether the current angle θ2 of the second boom 413 is the stowed angle β0, which is the target rotation angle β of the second boom 413.

[0194] If the current angle θ2 of the second boom 413 is not the retraction angle β0, the control unit t determines in step 212 whether the current angle θ2 of the second boom 413 is less than the retraction angle β0. If the current angle θ2 of the second boom 413 is greater than the retraction angle β0, step 213 generates a signal to switch the directional control valve 25 to shorten the second cylinder 416 and the fourth cylinder 418. That is, the second boom 413 and the connecting body, the first connecting body 412, are rotated in the retraction direction with the second slewing axis 413A as the pivot point, and the working section 51 is rotated in the retraction direction with the fourth slewing axis 418A as the pivot point.

[0195] 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 storage direction. In many cases, the second boom 413 that has entered the second storage 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 storage direction.

[0196] Similar to the first storage process, after passing through steps 213 and 214, as long as the automatic storage 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 operation of all cylinders is stopped by step 224.

[0197] 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 body width of the working machine A in the stored posture, so the chance of contact with other obstacles during the automatic storage operation is reduced.

[0198] When the current angle θ2 of the second boom 413 in step 211 is the stored angle β0 which is the target angle β, a signal is issued to switch the direction control valve 25 so as to stop all cylinders in step 215, and the process proceeds to step 216.

[0199] At the stage when step 215 of the second storage process ends, the first boom 411 and the second boom 413 form a stored posture (see FIG. 13). That is, when the automatic storage 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.

[0200] Then, in step 216, it is determined whether the second boom 413 is in the first slewing position (retracted position), which is its fully retracted position. If the second boom 413 is not in the first slewing position (retracted position), the control unit t sends a signal in step 217 to shorten the second cylinder 416 and to switch the directional control valve 25 to shorten the fourth cylinder 418. Specifically, the second boom 413 is rotated towards the first rotation position (retracted position) using the third rotation axis 417A as a pivot point, and the work section 51 is rotated toward the storage direction using the fourth rotation axis 418A as a pivot point. While the second boom 413 is rotating, the work section 51 rotates toward the storage direction.

[0201] In step 216, when it is determined that the second boom 413 is in the first slewing position (retracted position), which is the fully retracted position, the control unit t signals the directional control valve 25 to stop the operation of all cylinders and proceeds to step 219.

[0202] In step 219, it is determined whether the current angle θ1 of the first boom 411 is the stowed angle α0, and whether the current angle θ2 of the second boom 413 is the stowed angle β0.

[0203] If, as determined in step 219, the current angle θ1 has reached the storage angle α0 and the current angle θ2 has reached the storage angle β0, the process proceeds to step 220, in which all cylinders, the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418, are retracted. In other words, the first boom 411 and the connecting body, the first connecting body 412, are rotated again in the storage direction, the second boom 413 is rotated again in the first rotation position (retracted position) direction, and the working section 51 is rotated again in the storage direction.

[0204] This re-rotating motion applies pressure to the fluid pressure piping from at least the working section 51 to each of the first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418. The first cylinder 415, second cylinder 416, third cylinder 417, and fourth cylinder 418, which are pressurized in the fluid pressure piping, do not easily extend. The stowed position is maintained by applying a locking action within the fluid pressure circuit so that the first boom 411, the connecting body first connecting body 412, the second boom 413, and the working section 51 each face in the stowed direction.

[0205] Subsequently, in step 221, the control unit t sends a signal to the directional control valve 25 to stop the operation of all cylinders, including the first cylinder 415, the second cylinder 416, the third cylinder 417, and the fourth cylinder 418. Then, the process moves to step 222, where the control unit t initiates a notification action. The notification action may be an audible sound that can be perceived by the worker M, or it may be a signal light, image, or video that can be perceived by the worker M. Upon receiving the notification, the worker M can recognize that the automatic storage operation has been completed.

[0206] In the stowed position, the stowed angle of the first boom 411 is such that, as viewed from the direction of travel of the traveling machine B, the longitudinal direction of the first boom 411 is folded horizontally above the main frame 11. Similarly, in the stowed position of the second boom 413, as viewed from the direction of travel of the traveling machine B, the longitudinal direction of the second boom 413 is folded parallel to the longitudinal direction of the first boom 411, and the machine is in a position where it has rotated around the third pivot axis 417A to the first slewing position (retracted position), which is the retracted position. In the stowed position, the working section 51 is such that, as viewed from the direction of travel of the traveling machine B, the upper surface of the working section 51 or the rotor axis, which is the working section rotation axis 512, is parallel to the longitudinal direction of the second boom 413 and is folded above the second boom 413.

[0207] Compared to manually operating the first boom 411, the connecting body 412, the second boom 413, and the working section 51 from the storage position to the working position, using automated storage operation while manually operating the equipment significantly reduces the burden on the operator.

[0208] During the automatic retraction operation, while the first cylinder 415, second cylinder 416, and third cylinder 417 are operating, the fourth cylinder 418 is constantly moving in the retraction direction. This operation is performed to avoid the phenomenon in which the working section 51 is not fully retracted if the first boom 411 and second boom 413 only need a very short time to reach their respective target angles from the start to the end of the operation of the first cylinder 415, second cylinder 416, and third cylinder 417.

[0209] In the control related to the automatic retraction operation, the only determination required is whether the current angles θ1 and θ2 have reached the target slewing angles α and β, or whether they are greater than or less than the target angles, thus reducing the control burden related to calculation processing. Furthermore, the slewing position of the second boom 413 in the forward and reverse directions is determined solely by the ON / OFF operation of switches 1 and 2, thus reducing the control burden.

[0210] Since the same control procedure is repeated by switching the target turning angle α between α1 and α0, and the target turning angle β between β1 and β0, it is not necessary to prepare a dedicated control code for each operation. In other words, the memory unit that stores the control code (program) in the control unit t does not become bloated, and the configuration of the control unit t can be simplified.

[0211] The movement from the deployed position to the stowed position is always performed after forming the second intermediate position and the first intermediate position. Therefore, even if there are irregularities in the positional relationship of each part, interference with other obstacles can be prevented, and the system can be operated safely.

[0212] During automatic storage, the operation stops by releasing the operation of control unit u, so the operation is not complicated.

[0213] In the embodiment, the first cylinder 415 extends to rotate the first boom 411 in the deployment direction and shortens to rotate the first boom 411 in the storage direction; the second cylinder 416 extends to rotate the connecting body, the first connecting body 412 and the second boom 413, in the deployment direction and shortens to rotate the connecting body, the first connecting body 412 and the second boom 413, in the storage direction; the third cylinder 417 extends to rotate the second boom 413 in the forward direction and shortens to rotate the second boom 413 in the backward direction; and the fourth cylinder 418 extends to rotate the working section 51 in the deployment direction and shortens to rotate in the storage direction. In this invention, there are no limitations on the extension and retraction direction and the rotational direction of each cylinder, and it can be applied to various combinations.

[0214] In the embodiment, the first boom angle α1 is preferably 90 to 110°, and approximately 100° is used in the example. The second boom angle α2 is preferably 115 to 135°, and approximately 125° is used in the example. The first boom angle β1 is preferably 50 to 70°, and approximately 60° is used in the example. Furthermore, the first boom angle α1, the second boom angle α2, and the first boom angle β1 can be freely changed in addition to the example angles, depending on the specifications and form of the mounted mobile body B and work machine A.

[0215] In other words, in the automatic storage operation in the embodiment of the invention, A work machine A has a main frame 11 provided on it, to which a mast frame 21, a first boom 411, a first connecting body 412, a second boom 413, and a working section 51 are sequentially attached. The mast frame 21 and the first boom 411 are attached by the first slewing axis 411A, which is the horizontal axis. The first boom 411 and the connecting body, the first connecting body 412, are mounted on the second slewing axis 413A parallel to the first slewing axis 411A, so as to be able to slewing in the same direction as the slewing 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 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.

[0216] 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, and moves the other end side in the front - rear direction. According to the turning angle of the second boom 413, it 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, and the third turning position which is the advanced position.

[0217] The stored posture of the working machine A means A state where 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 where the second boom 413 is turned to the first turning position (retracted position) which is the retracted position, and a state where the working part 51 is positioned so as to overlap or fold with respect to the second boom 413.

[0218] The deployed posture of the working machine A means Turning the first boom 411 of the stored posture around the first turning axis 411A, turning it to the deployed side so as to rise with respect to the mast frame 21 or the main frame 11, and a state where 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 where it is folded with respect to the first boom 411 to the deployed 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 be positioned at the third turning position, or This refers to a state in which the working section 51 is rotated around the fourth pivot axis, and the second boom 413 is rotated in the deployment direction, which is the direction in which it is extended from one end to the other end.

[0219] With respect to the first boom 411, the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the stowed position is defined as α0, and the slewing angle of the first boom 411 with respect to the main frame 11 or mast frame 21 in the deployed position is defined as the second first boom angle α2. The first boom angle α1 is the slewing angle of the first boom 411, which is between the slewing angles α0 and α2 and is a preset angle. The range between the rotation angles α0 and α2 is the range in which the first boom 411 can rotate around the first rotation axis 411A, at least from rotation angle α0 to rotation angle α2.

[0220] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables an automatic retraction operation to automatically change their posture between the retracted position and the deployed position. After the automatic retraction operation is initiated, it is determined whether the second boom 413 is in the first slewing position (retracted position). This work machine A sets the target angle α of the first boom 411 to the first boom angle α1 when the second boom 413 is not in the first slewing position (retracted position), and slewing the first boom 411 to the first boom angle α1.

[0221] In embodiments of this invention, The second boom 413 includes a working section 51 that can pivot relative to the second boom 413 between a working position and a stowed position, The first boom 411 is rotated to the first boom angle α1, and at the same time the working section 51 is rotated toward the stowed position. The first boom 411, the second boom 413, and the working section 51 rotate only while the operating section u is being operated manually. This is a work machine A.

[0222] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables an automatic retraction operation to automatically change their posture between the retracted position and the deployed position. After the automatic retraction operation is initiated, it is determined whether the second boom 413 is in the first slewing position (retracted position). When the second boom 413 is not in the first slewing position (retracted position), the target angle of the first boom 411 is set to the first boom angle α1, and the target angle of the second boom 413 is set to the first boom angle β1. This is a work machine A that rotates the first boom 411 so that it has a first boom angle α1, and then rotates the second boom 413 so that it has a first boom angle β1.

[0223] In embodiments of this invention, The second boom 413 includes a working section 51 that can pivot relative to the second boom 413 between a working position and a stowed position, The first boom 411 is rotated to the first boom angle α1 and the working section 51 is rotated toward the stowed position, and the second boom 413 is rotated to the first boom angle β1 and the working section 51 is rotated toward the stowed position, The first boom 411, the second boom 413, and the working section 51 rotate only while the operating section u is being operated manually. This is a work machine A.

[0224] In embodiments of this invention, The work machine A rotates the second boom 413 toward the first rotation position (retracted position) after the first boom 411 has formed the first boom angle α1 and the second boom 413 has formed the first boom angle β1.

[0225] A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 automatically switch between the stowed position and the deployed position. It includes an operating unit u that enables automatic retraction operations for changing the posture, If, after the automatic retraction operation has started, the first boom 411 is at the first boom angle α1, the second boom 413 is at the first boom angle β1, and the second boom 413 is at the first slewing position (retracted position), This is a work machine A that 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.

[0226] In embodiments of this invention, A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables an automatic retraction operation to automatically change their posture between the retracted position and the deployed position. The automatic retraction operation begins after the first retraction step, which involves rotating the first boom 411 toward the first boom angle α1, which is the set target angle of the first boom 411, and then rotating the second boom 413 toward the first boom angle β1, which is the set target angle of the second boom 413, is completed. This work machine A performs a second storage step in the first storage step, in which, when the first boom 411 is at the first boom angle α1, the second boom 413 is at the first boom angle β1, and the second boom 413 is in the first slewing position (retracted position), the target angle of the first boom 411 is changed from the first boom angle α1 to the first boom storage angle α0, and the target angle of the second boom 413 is changed from the first boom angle β1 to the second boom storage angle β0.

[0227] In embodiments of this invention, The operation of the first boom 411 and the second boom 413 is performed only while the operating unit u is being operated manually. This is a work machine A.

[0228] A first boom 411 is provided so as to be rotatable to a rotation angle that includes a first boom angle α1 and a second boom angle α2, A second boom 413 is provided so as to be able to pivot relative to the first boom 411 at an angle including the first second boom angle β1 in the same pivot direction as the first first boom angle α1 and the second first boom angle α2, and is provided so as to be able to pivot relative to the first boom 411 so as to be positioned at a first pivot position (retracted position), a second pivot position, and a third pivot position in a pivot direction that intersects with the first first boom angle α1 and the second first boom angle α2, The first boom 411 and the second boom 413 are equipped with an operating unit u that enables an automatic retraction operation to automatically change their posture between the retracted position and the deployed position. If, after the automatic retraction operation has started, the first boom 411 is at a first boom retraction angle α0 which is the angle of the retracted position, the second boom 413 is at a second boom retraction angle β0 which is the angle of the retracted position, and the second boom 413 has formed the first slewing position (retracted position), This is work machine A, which performs a locking operation to move the first boom 411 toward the first boom storage angle α0 and the second boom 413 toward the second boom storage angle β0 and the first slewing position (retracted position).

[0229] In embodiments of this invention, The second boom 413 includes a working section 51 that can pivot relative to the second boom 413 between a working position and a stowed position, If, after the automatic retraction operation has started, the first boom 411 is at a first boom retraction angle α0 which is the angle of the retracted position, the second boom 413 is at a second boom retraction angle β0 which is the angle of the retracted position, and the second boom 413 has formed the first slewing position (retracted position), This is the work machine A, which performs a locking operation to move the work unit 51 again in the direction toward the storage position.

[0230] In embodiments of this invention, Machine A notifies the operator after the locking operation is completed. [Explanation of Symbols]

[0231] 11 Main Frame 111 Mounting part (lower) 112 Mounting part (top) 21 Mast Frame 31. Tank (oil tank) 41 Expanding means 411 First Boom 411A First pivot axis (horizontal axis) 412 1st connector 413 Second Boom 413A Second pivot axis 414 Second Connector 415 First Cylinder 416 Second Cylinder 417 Third Cylinder 417A Third pivot axis 418 Fourth Cylinder 418A Fourth pivot axis 42 Link mechanism 51 Work Unit 512 Rotation axis A work machine t Control section u Operation section u3 Operating lever α1 First boom angle α2 Second and First Boom Angle β1 First and second boom angles

Claims

1. A first boom is connected to a first pivot axis which is a horizontal axis and is capable of pivoting in the left-right direction relative to the direction of travel, and is capable of pivoting to a pivot angle that includes a first boom angle and a second boom angle which is greater than the first boom angle, A second boom is rotatable relative to the first slewing axis by a second slewing axis parallel to the first slewing axis, within an angle including the first and second boom angles, and is connected to a third slewing axis in a direction intersecting the first slewing axis, and is rotatable within a range from the rearmost retracted position to the forwardmost forward position, It comprises a working section connected to the second boom and capable of vertical rotation on a fourth pivot axis in the front-rear direction relative to the direction of travel, The first boom, the second boom, and the working section can be stored in a state in which the first boom is lowered, the second boom is folded relative to the first boom, the second boom is rotated to the retracted position, and the working section is positioned so as to overlap with the second boom. The posture can be changed to a state in which the first boom is rotated around the first pivot axis so that the other end of the first boom is positioned laterally to the first pivot axis, or in a state in which the second boom is rotated around the second pivot axis from a folded state relative to the first boom so that the angle between them is widened, or in a state in which the second boom is rotated around the third pivot axis so that it is rotated from the retracted position toward the forward position, or in a deployed state in which the working section is rotated around the fourth pivot axis so that the second boom is rotated toward the side that extends from one end toward the other end, The first boom, the second boom, and the working section are each equipped with an operating unit capable of automatic retraction operation to automatically change their orientation from an extended position to a retracted position. If, after the automatic retraction operation has started, the first boom has reached the first boom angle, the second boom has reached the first second boom angle, and the second boom has reached the retracted position, The target angles of the first boom and the second boom are changed to the angles of the stowed position. A work machine characterized by the following features.

2. The operation of the first boom and the second boom is performed only while the operating unit is being operated manually. The work machine according to feature 1.

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