JP6657067B2 - Control device and work equipment - Google Patents

Description

  The present invention relates to a control device and a working machine including the control device.

BACKGROUND ART Conventionally, a steering device for a working machine (backhoe) disclosed in Patent Document 1 is known.
The steering device disclosed in Patent Literature 1 includes a grip that is gripped by an operator, a universal joint that supports the grip so as to be rotatable in an arbitrary rotation direction, and a lever shaft that connects the grip and the universal joint.

JP-A-7-55033

  In the steering device disclosed in Patent Document 1, since the grip is connected to the universal joint via the lever shaft, the distance from the grip to the pivot point is long. For this reason, the amount of operation at hand when operating the grip increases, and a wide operation space is required in design. In addition, since the grip is away from the pivot point, when the body swings, the grip may swing relatively to the body.

  In view of the foregoing, an object of the present invention is to provide a control device and a working machine that can reduce the amount of operation at hand and can operate stably even when the body shakes. I do.

Steering device according to one embodiment of the present invention, a tolyl lip be gripped operator, and a support portion rotatably supporting the grip in an arbitrary rotation direction, the rotation fulcrum of the grip the grip located in the inner part of the, symmetrical with respect to the virtual straight line passing through the pivot point, and a plurality of push rod whose one end is disposed in a position in which it contacts directly or through another member to the grip, said each push A detector for detecting the amount of movement of the rod, and a biasing member for biasing the push rod to the one end side along the direction in which the push rod extends, and each of the push rods is not rotated when the grip is not operated. The position of the grip is defined at a neutral position by a push rod, and when the grip is rotated, one or a plurality of the push rods are moved in accordance with a rotation direction. Overcomes the biasing force of the biasing member by being pushed directly or through another member flop moves in the extending direction of the push rod.

  According to the above steering device, the operator can grasp a position near the pivot of the grip. As a result, the amount of operation at hand when operating the grip can be reduced, and the operation space of the grip can be reduced. Further, even when the machine body shakes, the hand of the operator holding the grip shakes with the machine body, so that the operation can be stably performed.

It is a left side sectional view of the control device of one embodiment. It is a rear sectional view of a control device of one embodiment. It is a right side sectional view of an important section of a control device of one embodiment. It is a rear sectional view of the important section of the steering device of one embodiment. FIG. 4 is a sectional view taken along line X1-X1 of FIG. 3. FIG. 4 is a sectional view taken along line X2-X2 in FIG. 3. FIG. 4 is a sectional view taken along line X3-X3 of FIG. 3. It is a perspective view of a support part. It is a perspective view of an oscillating body and a shim. It is a top view of a grip. It is a side sectional view of a grip. FIG. 3 is a rear cross-sectional view illustrating an operation state of the steering device. FIG. 4 is a side sectional view showing an operation state of the steering device. FIG. 11 is a cross-sectional view taken along line X4-X4 of FIG. 10. FIG. 12 is a sectional view taken along line X5-X5 of FIG. 11. It is sectional drawing which shows the case where a 1st, 2nd contact surface is made into a flat surface. It is a side view of the modification of a grip. It is a left view sectional view of the control device of other embodiments. It is a rear sectional view of the steering device of other embodiments. It is a schematic side view of a working machine. It is a schematic plan view of a part of working machine.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
FIG. 16 is a schematic side view illustrating the entire configuration of the working machine 1 according to the present embodiment. FIG. 17 is a schematic plan view of the work machine 1. In the present embodiment, a backhoe that is a turning work machine is illustrated as the work machine 1.
First, the overall configuration of the working machine 1 will be described.

As shown in FIGS. 16 and 17, the working machine 1 includes an airframe (turntable) 2, a traveling device 3, and a working device 4. A cabin 5 is mounted on the body 2. A driver's seat (seat) 6 on which a driver (operator) sits is provided in the cabin 5.
In the embodiment of the present invention, the front side (in the direction of arrow A1 in FIGS. 16 and 17) of the driver sitting on the driver's seat 6 of the work machine 1 is forward, and the rear side of the driver (arrow A2 in FIGS. 16 and 17). Direction is the rear, the left side of the driver (front side in FIG. 16, the direction of arrow B1 in FIG. 17) is left, and the right side of the driver (rear side in FIG. 16, direction of arrow B2 in FIG. 17) is right side. I do.

  Also, a horizontal direction that is a direction orthogonal to the front-rear direction K1 is described as a body width direction K2 (see FIG. 17). The direction from the center in the width direction of the body 2 to the right or left will be described as the outside of the body. In other words, the outside of the body refers to a direction that is in the body width direction K2 and is separated from the center of the body 2 in the width direction. The direction opposite to the outside of the body will be described as the inside of the body. In other words, the inside of the airframe is a direction that is the airframe width direction K2 and approaches the center of the airframe 2 in the width direction. Further, the body width direction K2 is a body left-right direction.

As shown in FIG. 16, the traveling device 3 includes a traveling frame 3A, a traveling device 3L provided on the left side of the traveling frame 3A, and a traveling device 3R provided on the right side of the traveling frame 3A. In the present embodiment, the traveling devices 3L and 3R are configured by crawler-type traveling devices. In other words, the traveling device 3 is a crawler traveling device.
A dozer device 7 is mounted on a front portion of the traveling device 3. The dozer device 7 can be moved up and down (raising and lowering the blade) by expanding and contracting a dozer cylinder (not shown).

  The body 2 is supported on the running frame 3A via a swing bearing 8 so as to be swingable about a vertical axis (an axis extending in the up-down direction). The body 2 is turned by a turning motor M3 including a hydraulic motor (hydraulic actuator). The fuselage 2 has a board 9 (hereinafter, referred to as a swivel board) that turns around a vertical axis, and a weight 10. The turning board 9 is formed from a steel plate or the like, and is connected to the turning bearing 8. The weight 10 is provided at the rear of the body 2. A prime mover E1 is mounted at the rear of the body 2. The prime mover E1 is a diesel engine. The prime mover E1 may be an electric motor or a hybrid type having a diesel engine and an electric motor.

The fuselage 2 has a support bracket 13 in the front part slightly to the right in the center in the fuselage width direction K2. A swing bracket 14 is attached to the support bracket 13 so as to be swingable about a vertical axis. The working device 4 is attached to the swing bracket 14.
As illustrated in FIG. 16, the working device 4 includes a boom 15, an arm 16, and a bucket (work implement) 17. The base of the boom 15 is pivotally attached to the swing bracket 14 so as to be rotatable around a horizontal axis (an axis extending in the machine width direction). This allows the boom 15 to swing up and down. The arm 16 is pivotally mounted on the distal end side of the boom 15 so as to be rotatable around a horizontal axis. This allows the arm 16 to swing back and forth or up and down. The bucket 17 is provided on the distal end side of the arm 16 so as to be able to perform a squeeze operation and a dump operation. The work machine 1 can be equipped with another work tool (hydraulic attachment) that can be driven by a hydraulic actuator instead of or in addition to the bucket 17. Examples of other working tools include a hydraulic breaker, a hydraulic crusher, an angle bloom, an earth auger, a pallet fork, a sweeper, a mower, a snow blower, and the like.

  The swing bracket 14 is swingable by expansion and contraction of a swing cylinder C2 provided in the body 2. The boom 15 is swingable by the expansion and contraction of the boom cylinder C3. The arm 16 is swingable by the expansion and contraction of an arm cylinder C4. The bucket 17 can freely perform a squeeze operation and a dump operation by expansion and contraction of a bucket cylinder (work implement cylinder) C5. The dozer cylinder, swing cylinder C2, boom cylinder C3, arm cylinder C4, and bucket cylinder C5 are constituted by hydraulic cylinders (hydraulic actuators).

  As shown in FIG. 17, on the left side of the driver's seat 6 in the cabin 5, a control base 18L fixed (supported) on the fuselage 2 and a control device 19L attached to the control base 18L are provided. Have been. Also, on the right side of the driver's seat 6, a control base 18R fixed (supported) on the fuselage 2 and a control device 19R attached to the control base 18R are provided. The control device 19L and the control device 19R are both devices that can operate two operation targets provided in the work machine 1.

The control device 19L can operate, for example, the body 2 that is the first operation target, and can operate the arm 16 that is the second operation target. Further, the control device 19R can operate, for example, the bucket 17 that is the first operation target and the boom 15 that is the second operation target.
In the present embodiment, the control device 19L and the control device 19R are provided on the side of the driver's seat 6, but the positions where they are provided can be variously changed. For example, a control table may be provided in front of the driver's seat 6, and the control device 19 </ b> L and the control device 19 </ b> R may be provided side by side in the body width direction K <b> 2 on the control table.

Next, the control devices 19L and 19R will be described in detail. Since the control device 19L and the control device 19R have substantially the same structure, the control device 19R will be described, and the description of the control device 19L will be omitted.
1 to 13 show an embodiment of the control devices 19L and 19R.
FIG. 1 is a left side sectional view of the control device 19R (19L). FIG. 2 is a rear cross-sectional view of the control device 19R (19L). As shown in FIGS. 1 and 2, the control device 19 </ b> R (19 </ b> L) includes a base 21, a support portion 22, a plurality of push rods 23 </ b> A to 23 </ b> D, a rocking body 24, and a grip 25. The base 21 is attached to the control table 18R (18L). The support part 22 is attached to the base 21. The plurality of push rods 23A to 23D are provided on the base 21. The oscillating body 24 is attached to the support 22. The grip 25 is attached to the rocking body 24.

As shown in FIGS. 1 and 2, the base 21 has a base 26 and a main body 27 erected on the base 26. The base 26 is bolted to the control table 18R (18L). The main body 27 is fixed to the base 26 by bolts 28A to 28D. The main body 27 has a fitting hole 29 and a plurality of mounting parts 30A to 30D on the upper part.
As shown in FIGS. 3 and 4, the fitting hole 29 is formed by a cylindrical surface having a bottom and formed to be recessed downward from the upper surface of the main body 27. That is, the base 21 has a fitting hole 29 formed on the upper surface of the base 21. As shown in FIGS. 6A and 6B, the fitting hole 29 is located at the center of the main body 27. Note that the fitting hole 29 may be formed to penetrate the base 21.

  As shown in FIGS. 6A and 6B, first pin holes 31 </ b> A and 31 </ b> B are formed in the upper part of the main body 27 so as to pass through the main body 27 (the base 21) across the fitting hole 29. The first pin holes 31A and 31B are formed by an annular edge (peripheral surface) formed through the main body 27. In the present embodiment, two first pin holes 31A and 31B are formed. The two first pin holes 31A and 31B are formed in parallel vertically. Note that at least one first pin hole 31A, 31B may be provided.

  As shown in FIGS. 6A and 6B, each of the first pin holes 31A and 31B is formed to extend in an oblique direction between the front-rear direction K1 and the body width direction K2. Each of the first pin holes 31A and 31B is formed in a stepped shape having a reduced diameter behind the fitting hole 29. That is, each of the first pin holes 31A and 31B is a large-diameter portion 32A, 32B on the front side and a small-diameter portion 33A, 33B on the rear side, and a small-diameter portion 33A smaller in diameter than the large-diameter portions 32A, 32B. , 33B. The large diameter portions 32A and 32B are formed from the front part of the main body 27 across the fitting hole 29.

  As shown in FIGS. 1 to 4 and 6A, the plurality of mounting sections 30A to 30D include a first mounting section 30A, a second mounting section 30B, a third mounting section 30C, and a fourth mounting section 30D. Including. The first mounting portion 30A is provided at a front portion of the main body 27 (of the base 21). The second mounting portion 30B is provided at a rear portion of the main body 27 (of the base 21). The third mounting part 30C is provided on the left part of the main body part 27 (of the base 21). The fourth mounting part 30D is provided on the right part of the main body part 27 (of the base 21).

  Support holes 34A to 34D are formed in the mounting portions 30A to 30D, respectively. The support holes 34A to 34D are formed by annular edges (peripheral surfaces) formed vertically through the mounting portions 30A to 30D. The support hole formed in the first mounting portion 30A is referred to as a first support hole 34A. The support hole formed in the second mounting portion 30B is called a second support hole 34B. The support hole formed in the third mounting portion 30C is referred to as a third support hole 34C. The support hole formed in the fourth mounting portion 30D is referred to as a fourth support hole 34D. 34 A of 1st support holes have the axial center extended in the inclination direction which shifts forward as it goes upward. The second support hole 34B has an axis extending in an inclined direction that shifts rearward as going upward. 34 C of 3rd support holes have the axial center extended in the inclination direction which shifts to the left (inside of a machine) as it goes upward. The fourth support hole 34D has an axis extending in an inclined direction that shifts rightward (outward of the fuselage) as going upward.

  As shown in FIGS. 1 to 4 and 6B, the main body 27 has recesses 35A to 35D formed below the mounting portions 30A to 30D. The concave portion formed at a position corresponding to the lower side of the first mounting portion 30A is referred to as a first concave portion 35A. The recess formed at a position corresponding to the lower side of the second mounting portion 30B is referred to as a second recess 35B. The concave portion formed at a position corresponding to the lower side of the third mounting portion 30C is referred to as a third concave portion 35C. The concave portion formed at a position corresponding to the lower side of the fourth mounting portion 30D is referred to as a fourth concave portion 35D. Each of the recesses 35A to 35D is recessed from the outer surface of the base 21 toward the center. Each of the recesses 35A to 35D is formed by a vertically long semicircular cross-sectional groove formed from the upper and lower middle part of the main body 27 to the mounting parts 30A to 30D.

As shown in FIGS. 1 and 3, the first concave portion 35A extends in the same inclination direction as the inclination direction of the axis of the first support hole 34A, and one end surface (upper surface) communicates with the first support hole 34A. are doing. The second recess 35B extends in the same inclination direction as the inclination direction of the axis of the second support hole 34B, and one end surface (upper surface) communicates with the second support hole 34B.
As shown in FIGS. 2 and 4, the third recess 35C extends in the same inclination direction as the inclination direction of the axis of the third support hole 34C, and one end surface (upper surface) communicates with the third support hole 34C. are doing. The fourth concave portion 35D extends in the same inclination direction as the inclination direction of the axis of the fourth support hole 34D, and one end surface (upper surface) communicates with the fourth support hole 34D.

  The sleeves 36A to 36D are inserted into the support holes 34A to 34D from below (recess side). The sleeve inserted into the first support hole 34A is called a first sleeve 36A. The sleeve inserted through the second support hole 34B is called a second sleeve 36B. The sleeve inserted into the third support hole 34C is referred to as a third sleeve 36C. The sleeve inserted through the fourth support hole 34D is referred to as a fourth sleeve 36D.

  As shown in FIG. 3, the first sleeve 36A extends in the same inclination direction as the inclination direction of the axis of the first support hole 34A. At a lower portion of the first sleeve 36A, a retaining portion (first removal portion) that contacts the lower surface (mounting portion) of the first mounting portion 30A to restrict the first sleeve 36A from coming out of the first support hole 34A upward. 37A) is provided. In addition, a snap ring mounting portion (referred to as a first snap ring) 38A is mounted on an upper portion of the first sleeve 36A to prevent the first sleeve 36A from being pulled upward from the first support hole 34A. 39A) is provided. Thereby, the first sleeve 36A is assembled to the first mounting portion 30A.

  As shown in FIG. 3, the second sleeve 36B extends in the same inclination direction as the axis of the second support hole 34B. At the lower portion of the second sleeve 36B, a stopper portion (second pull-out portion) that contacts the lower surface (mounting portion) of the second mounting portion 30B in order to prevent the second sleeve 36B from coming out upward from the second support hole 34B. 37B). In addition, a retaining ring mounting portion (referred to as a second retaining ring) 38B is provided on an upper portion of the second sleeve 36B to restrict the second sleeve 36B from coming out upward from the second support hole 34B. 39B) is provided. Thereby, the second sleeve 36B is assembled to the second mounting portion 30B.

  As shown in FIG. 4, the third sleeve 36C extends in the same inclination direction as the inclination direction of the axis of the third support hole 34C. At a lower portion of the third sleeve 36C, a retaining portion (third withdrawal) that contacts the lower surface (mounting portion) of the third mounting portion 30C in order to restrict the third sleeve 36C from coming out of the third support hole 34C upward. 37C). Further, a snap ring mounting portion (referred to as a third snap ring) 38C is mounted on the upper portion of the third sleeve 36C to prevent the third sleeve 36C from coming out upward from the third support hole 34C. 39C) is provided. Thereby, the third sleeve 36C is assembled to the third mounting portion 30C.

  As shown in FIG. 4, the fourth sleeve 36D extends in the same inclination direction as the axis of the fourth support hole 34D. At the lower portion of the fourth sleeve 36D, a stopper portion (fourth pull-out portion) that contacts the lower surface (mounting portion) of the fourth mounting portion 30D in order to restrict the fourth sleeve 36D from coming out upward from the fourth support hole 34D. 37D). In addition, a snap ring mounting portion (referred to as a fourth snap ring) 38D is mounted on an upper portion of the fourth sleeve 36D so as to restrict the fourth sleeve 36D from coming out of the fourth support hole 34D upward. 39D) is provided. Thereby, the fourth sleeve 36D is assembled to the fourth mounting portion 30D.

  As shown in FIGS. 1 and 2, stoppers 40A to 40D are provided below the mounting portions 30A to 30D (below the sleeves 36A to 36D). The stopper below the first mounting portion 30A (the first sleeve 36A) is referred to as a first stopper 40A. The stopper below the second mounting portion 30B (second sleeve 36B) is referred to as a second stopper 40B. The stopper below the third mounting portion 30C (the third sleeve 36C) is referred to as a third stopper 40C. The stopper below the fourth mounting portion 30D (the fourth sleeve 36D) is referred to as a fourth stopper 40D.

  As shown in FIG. 3, the first stopper 40A extends in the same inclination direction as the inclination direction of the axis of the first support hole 34A. The first stopper 40A is arranged at a lower portion in the first recess 35A at a distance from the first sleeve 36A. The first stopper 40A is fixed to the other end surface (lower surface) of the first recess 35A. A spring receiving portion (first spring receiving portion) 41A is provided below the first stopper 40A.

  As shown in FIG. 3, the second stopper 40B extends in the same inclination direction as the inclination direction of the axis of the second support hole 34B. The second stopper 40B is disposed at a lower portion in the second recess 35B at a distance from the second sleeve 36B. The second stopper 40B is fixed to the other end surface (lower surface) of the second recess 35B. A spring receiving portion (second spring receiving portion) 41B is also provided below the second stopper 40B.

  As shown in FIG. 4, the third stopper 40C extends in the same inclination direction as the inclination direction of the axis of the third support hole 34C. The third stopper 40C is arranged at a lower portion in the third recess 35C with an interval from the third sleeve 36C. The third stopper 40C is fixed to the other end surface (lower surface) of the third recess 35C. A spring receiving portion (third spring receiving portion) 41C is also provided below the third stopper 40C.

  As shown in FIG. 4, the fourth stopper 40D extends in the same inclination direction as the inclination direction of the axis of the fourth support hole 34D. The fourth stopper 40D is arranged at a lower portion in the fourth recess 35D with an interval from the fourth sleeve 36D. The fourth stopper 40D is fixed to the other end surface (lower surface) of the fourth recess 35D. A spring receiving portion (fourth spring receiving portion) 41D is provided below the fourth stopper 40D.

As shown in FIGS. 1, 2, and 7, the support portion 22 has a universal joint structure (a universal joint), and supports the grip 25 so as to be rotatable in an arbitrary rotation direction. The support 22 has a first yoke 42, a connector 43, and a second yoke 44.
As shown in FIG. 3, the first yoke 42 has a first connecting portion 46A, a second connecting portion 46B, a first connecting portion 47A, and a mounting portion 48. The first connecting portion 46A is located in front of the fitting hole 29. The second connecting portion 46B is located behind the fitting hole 29. The first connecting portion 46A and the second connecting portion 46B are provided facing each other at an interval in the front-rear direction K1. The first connecting portion 47A connects the lower portions of the first connecting portion 46A and the second connecting portion 46B.

  As shown in FIG. 3, a first shaft hole 49A is formed in the first connecting portion 46A. The first shaft hole 49A is formed by an annular edge (peripheral surface) formed to penetrate the first connecting portion 46A along the front-rear direction K1. The first shaft hole 49A has an axis extending in the front-rear direction K1. A second shaft hole 49B is formed in the second connecting portion 46B. The second shaft hole 49B is formed by an annular edge (peripheral surface) formed to penetrate the second connecting portion 46B along the front-rear direction K1. The second shaft hole 49B has an axis extending in the front-rear direction K1. That is, the axis of the second shaft hole 49B is concentric with the axis of the first shaft hole 49A.

  As shown in FIGS. 3 and 4, the mounting portion 48 protrudes downward from the lower surface of the first connection portion 47A. The attachment portion 48 is formed in a bar shape extending in the up-down direction. In other words, the mounting portion 48 is formed in a column shape having an axis extending in the up-down direction. The mounting portion 48 is inserted into the fitting hole 29 from above and fitted into the fitting hole 29. That is, the control device 19R (19L) has the first yoke 42 fitted to the base 21.

  Further, the mounting portion 48 is formed with second pin holes 50A and 50B penetrating the mounting portion 48 in the radial direction. The second pin holes 50A, 50B are formed by annular edges (peripheral surfaces) formed through the mounting portion 48. In the present embodiment, two second pin holes 50A and 50B are formed. The two second pin holes 50A and 50B are formed in parallel vertically. It is sufficient that at least one second pin hole 50A, 50B is provided, and the number corresponding to the first pin holes 31A, 31B is provided.

  As shown in FIG. 6A, the upper second pin hole 50A can coaxially communicate with the upper first pin hole 31A in a state where the mounting portion 48 is fitted in the fitting hole 29. That is, when the mounting portion 48 is fitted into the fitting hole 29, the second pin hole 50A communicates with the first pin hole 31A. In addition, the base 21 is provided with a fixing member 51A that is inserted through the first pin hole 31A and the second pin hole 50A. That is, the fixing member 51 </ b> A is a member that is inserted into the base 21 and the first yoke 42 fitted to the base 21 to fix the first yoke 42 to the base 21. The fixing member 51A is a pin inserted through the first pin hole 31A and the second pin hole 50A.

  As shown in FIG. 6B, the lower second pin hole 50B can coaxially communicate with the lower first pin hole 31B in a state where the mounting portion 48 is fitted in the fitting hole 29. That is, when the mounting portion 48 is fitted into the fitting hole 29, the second pin hole 50B communicates with the first pin hole 31B. The base 21 is provided with another fixing member 51B that is inserted through the first pin hole 31B and the second pin hole 50B. That is, the fixing member 51B is a member that is inserted into the base 21 and the first yoke 42 fitted to the base 21 to fix the first yoke 42 to the base 21. The fixing member 51B is a pin inserted through the first pin hole 31B and the second pin hole 50B.

As shown in FIGS. 3 and 4, the first yoke 42 is always fixed to the base 21 (body 2) in a fixed direction by the fixing members 51A and 51B. The upper portion of the base 21 is a fixing portion 21A, which is a portion of the base 21 to which the support portion 22 is attached.
As shown in FIGS. 3, 4, and 5, the connecting body 43 is formed in a square block shape, and is disposed between the first connecting portion 46A and the second connecting portion 46B. The connecting body 43 has a first shaft insertion hole 52A, a second shaft insertion hole 52B, a third shaft insertion hole 52C, and a fourth shaft insertion hole 52D. The first shaft insertion hole 52A coaxially communicates with the first shaft hole 49A. The second shaft insertion hole 52B communicates coaxially with the second shaft hole 49B. The first shaft insertion hole 52A is formed by an annular edge (peripheral surface) formed from the front surface of the connecting body 43 toward the center. The second shaft insertion hole 52B is formed by an annular edge (peripheral surface) formed from the front surface of the connecting body 43 toward the center. The third shaft insertion hole 52C is formed by an annular edge (peripheral surface) formed from the left side (inside of the machine) of the connecting body 43 toward the center. The fourth shaft insertion hole 52D is formed by an annular edge (peripheral surface) formed from the right (outer body) side surface of the connecting body 43 toward the center.

  As shown in FIG. 4, the second yoke 44 has a third connecting portion 46C, a fourth connecting portion 46D, a second connecting portion 47B, and a mounting shaft 54. The third connecting portion 46C is located on the left side (inside the aircraft) of the connecting body 43. The fourth connecting portion 46D is located on the right side (outside the body) of the connecting body 43. That is, the third connecting portion 46C and the fourth connecting portion 46D are provided facing each other at an interval in the machine body width direction K2, and the connecting body 43 is provided between the third connecting portion 46C and the fourth connecting portion 46D. Are located. The second connection portion 47B connects the upper portions of the third connection portion 46C and the fourth connection portion 46D.

  As shown in FIG. 4, a third shaft hole 49C is formed in the third connecting portion 46C. The third shaft hole 49C is formed by an annular edge (peripheral surface) formed to penetrate the third connecting portion 46C in the body width direction K2. The third shaft hole 49C has an axis extending in the machine body width direction K2. The third shaft hole 49C communicates coaxially with the third shaft insertion hole 52C. A fourth shaft hole 49D is formed in the fourth connecting portion 46D. The fourth shaft hole 49D is formed by an annular edge (peripheral surface) formed to penetrate the fourth connecting portion 46D in the machine body width direction K2. The fourth shaft hole 49D has an axis extending in the machine body width direction K2. The fourth shaft hole 49D communicates coaxially with the fourth shaft insertion hole 52D. The axis of the fourth shaft hole 49D is concentric with the axis of the third shaft hole 49C.

As shown in FIGS. 1 and 2, the mounting shaft 54 protrudes upward from the upper surface of the second connection portion 47B. That is, the mounting shaft 54 protrudes from the second yoke 44. A screw portion (male screw) 54a is formed on an upper portion (front end side) of the mounting shaft 54.
As shown in FIG. 5, the first shaft member 53A is inserted through the first shaft hole 49A and the first shaft insertion hole 52A. That is, the first yoke 42 has the first connecting portion 46A rotatably connected to the connecting body 43 by the first shaft member 53A. The second shaft member 53B is inserted through the second shaft hole 49B and the second shaft insertion hole 52B. That is, the first yoke 42 has the second connecting portion 46B rotatably connected to the connecting body 43 by the second shaft member 53B. The first shaft member 53A and the second shaft member 53B have a common first shaft center Y1. In other words, the first shaft member 53A and the second shaft member 53B are arranged on the first shaft center Y1. The first axis Y1 is substantially parallel to (substantially coincides with) the front-rear direction K1 of the driver's seat (seat) 6 on which the operator operating the grip 25 sits. That is, the first axis Y1 is an axis extending in the front-rear direction K1.

  As shown in FIG. 5, the third shaft member 53C is inserted through the third shaft hole 49C and the third shaft insertion hole 52C. That is, the second yoke 44 has the third connecting portion 46C that is rotatably connected to the connecting body 43 by the third shaft member 53C. The fourth shaft member 53D is inserted through the fourth shaft hole 49D and the fourth shaft insertion hole 52D. That is, the second yoke 44 has the fourth connecting portion 46D rotatably connected to the connecting body 43 by the fourth shaft member 53D. The third shaft member 53C and the fourth shaft member 53D have a common second shaft center Y2. In other words, the third shaft member 53C and the fourth shaft member 53D are arranged on the second shaft center Y2. The second axis Y2 is substantially parallel to (substantially coincides with) a horizontal direction (body width direction K2) orthogonal to the front-rear direction K1. That is, the second axis Y2 is an axis different from the first axis Y1, and is an axis extending in the machine body width direction K2.

  As shown in FIG. 3, the connector 43 is provided with a first retaining pin 55A that is driven over the connector 43 and the first shaft member 53A. That is, the first shaft member 53 </ b> A is pin-fixed to the connecting body 43. Further, the connecting body 43 is provided with a second retaining pin 55B that is driven over the connecting body 43 and the second shaft member 53B. That is, the second shaft member 53B is pin-fixed to the connecting body 43. The first connecting portion 46A is rotatable relative to the first shaft member 53A about the first axis Y1. The second connecting portion 46B is rotatable relative to the second shaft member 53B around the first axis Y1. As described above, the first shaft member 53A and the second shaft member 53B rotate integrally with the connecting body 43 around the first shaft center Y1. The connecting body 43 is connected to the first yoke 42 so as to be rotatable around the first axis Y1 by the first shaft member 53A and the second shaft member 53B.

  As shown in FIG. 4, the connecting body 43 is provided with a third retaining pin 55C that is driven over the connecting body 43 and the third shaft member 53C. That is, the third shaft member 53C is pin-fixed to the connecting body 43. The connecting body 43 is provided with a fourth retaining pin 55D that is driven over the connecting body 43 and the fourth shaft member 53D. That is, the fourth shaft member 53D is pin-fixed to the connecting body 43. The third connecting portion 46C is relatively rotatable around the second axis Y2 with respect to the third shaft member 53C. The fourth connecting portion 46D is rotatable relative to the fourth shaft member 53D around the second axis Y2. As described above, the third shaft member 53C and the fourth shaft member 53D rotate integrally with the connecting body 43 around the second shaft center Y2. The second yoke 44 is rotatably connected to the connecting body 43 around the second axis Y2 by a third shaft member 53C and a fourth shaft member 53D.

The intersection of the first axis Y1 and the second axis Y2 is a pivot point (center of rotation) Y3 of the grip 25 (see FIG. 5).
As shown in FIG. 3, the first retaining pin 55A is driven into the connecting body 43 from above. Below the first retaining pin 55A, there is formed a disassembly hole 56A into which a tool for removing the first retaining pin 55A upward is inserted. The second retaining pin 55B is driven into the connecting body 43 from above. Below the second retaining pin 55B, a disassembly hole 56B into which a tool for removing the second retaining pin 55B upward is inserted is formed.

  As shown in FIG. 4, the third retaining pin 55C is driven into the connecting body 43 from above. Below the third retaining pin 55C, a disassembling hole 56C into which a tool for removing the third retaining pin 55C upward is inserted. The fourth retaining pin 55D is driven into the connecting body 43 from above. Below the fourth retaining pin 55D, a disassembling hole 56D into which a tool for removing the fourth retaining pin 55D upward is inserted.

  As shown in FIG. 5, a slit groove 57A extending in the radial direction is provided at one end (front end) of the first shaft member 53A. The other end (rear end) of the first shaft member 53A is formed to have a tapered shape toward the second shaft member 53B (rear) in plan view. In this embodiment, the outer surface of the first shaft member 53A and the inner surface of the first shaft member 53A are cut at an angle of 45 °. Also, a slit groove 57B extending in the radial direction is provided at one end (rear end) of the second shaft member 53B. The other end (front end) of the second shaft member 53B is tapered toward the first shaft member 53A (front) in plan view. In the present embodiment, the surface on the outside of the body and the surface on the inside of the body at the other end of the second shaft member 53B are cut at an angle of 45 °.

  As shown in FIG. 5, a slit groove 57C extending in the radial direction is also provided at one end of the third shaft member 53C (the end on the inner side of the machine). The other end of the third shaft member 53C (the end on the outside of the body) is tapered toward the fourth shaft member 53D (outside the body) in plan view. In the present embodiment, the front and rear surfaces of the other end of the third shaft member 53C are cut at an angle of 45 °. Also, a slit groove 57D extending in the radial direction is provided at one end of the fourth shaft member 53D (the end on the outer side of the fuselage). The other end of the fourth shaft member 53D (the end on the inside of the machine) is tapered toward the third shaft member 53C (the inside of the machine) in plan view. In the present embodiment, the front and rear surfaces of the other end of the fourth shaft member 53D are cut at an angle of 45 °.

As shown in FIG. 5, the other end of the first shaft member 53A, the other end of the second shaft member 53B, the other end of the third shaft member 53C, and the other end of the fourth shaft member 53D are put together. Thus, the positioning in the rotation direction about the axis is performed, and the directions of the slit grooves 57A to 57D are determined.
As shown in FIGS. 3 and 5, a detector 58A (referred to as a first detector) is provided on the front surface of the first connecting portion 46A. The detector 59A of the first detector 58A is engaged with the slit groove 57A of the first shaft member 53A and rotates integrally with the first shaft member 53A. The first detector 58A is an angle detector that detects rotation of the coupling body 43 (grip 25) around the first axis Y1. In other words, the first detector 58A is a potentiometer that detects the operation angle of the grip 25.

Note that the first detector 58A may be provided on the rear surface of the second connecting portion 46B. In this case, the detector 59A of the first detector 58A engages with the slit groove 57B of the second shaft member 53B. The first detector 58A may be provided on both the front surface of the first connecting portion 46A and the rear surface of the second connecting portion 46B.
As shown in FIGS. 4 and 5, a detector (referred to as a second detector) 58B is provided on the outside of the body of the fourth connecting portion 46D. The detector 59B of the second detector 58B is engaged with the slit groove 57D of the fourth shaft member 53D, and rotates integrally with the fourth shaft member 53D. The second detector 58B is an angle detector that detects rotation of the second yoke 44 (grip 25) around the second axis Y2. In other words, the second detector 58B is a potentiometer that detects the operation angle of the grip 25.

The second detector 58B may be provided on the inner side of the third connecting portion 46C in the machine. In this case, the detector 59B of the second detector 58B engages with the slit groove 57C of the third shaft member 53C. In addition, the second detector 58B may be provided both on the outer side of the body of the third connecting portion 46C and on the inner side of the body of the fourth connecting portion 46D.
In the structure of the support portion 22, the connecting body 43 is not always necessary for connecting the first yoke 42 and the second yoke 44. For example, the second yoke 44 is connected to the first yoke 42 so as to be rotatable about the first axis Y1 and is connected to be rotatable about a second axis Y2 different from the first axis Y1. However, they may be connected by a cross pin. A cruciform pin is a member having four pins located at right angles to each other in one plane and interconnected.

The first axis Y1 is preferably substantially parallel to the front-rear direction K1, but the first yoke 42 is fixed to the base 21 so that the first axis Y1 is substantially parallel to the body width direction K2. You may do so.
As shown in FIGS. 1 and 2, the plurality of push rods 23 </ b> A to 23 </ b> D are arranged around the rotation fulcrum Y <b> 3 such that one ends (upper ends) 61 </ b> A to 61 </ b> D abut on the rocking body 24. In other words, the plurality of push rods 23A to 23D have one ends 61A to 61D in contact with the grip 25 via the rocking body 24 (another member). Further, one end sides 61A to 61D of the plurality of push rods 23A to 23D may directly contact the grip 25. That is, the plurality of push rods 23A to 23D are arranged at positions where the one ends 61A to 61D abut on the grip 25 directly or via another member. Further, the plurality of push rods 23A to 23D are arranged symmetrically with respect to an imaginary straight line Y4 extending in the vertical direction passing through the rotation fulcrum Y3.

  The plurality of push rods 23A to 23D include a first push rod 23A, a second push rod 23B, a third push rod 23C, and a fourth push rod 23D. The main parts of the first to fourth push rods 23A to 23D are formed in a columnar shape. One end sides 61A to 61D of the first to fourth push rods 23A to 23D have a curved surface shape (spherical shape) that is convex toward the rocking body 24 (upper side).

  As shown in FIG. 3, the first push rod 23A is arranged on one side in the extending direction of the first axis Y1 with respect to the rotation fulcrum Y3. Specifically, the first push rod 23A is disposed in front of the rotation fulcrum Y3 (support portion 22). The second push rod 23B is arranged on the other side in the extending direction of the first axis Y1 with respect to the rotation fulcrum Y3. Specifically, the second push rod 23B is arranged behind the rotation fulcrum Y3 (support portion 22). As shown in FIG. 4, the third push rod 23C is arranged on one side in the extending direction of the second axis Y2 with respect to the rotation fulcrum Y3. Specifically, the third push rod 23C is disposed to the left (inside of the machine) of the rotation fulcrum Y3 (support portion 22). The fourth push rod 23D is disposed on the other side in the extending direction of the second axis Y2 with respect to the rotation fulcrum Y3. Specifically, the fourth push rod 23D is disposed on the right side (outside the body) of the rotation fulcrum Y3 (support portion 22).

  As shown in FIGS. 3 and 4, the push rods (first to fourth push rods 23A to 23D) are slidably inserted into sleeves (first to fourth sleeves 36A to 36D). Explaining individually, the first push rod 23A is slidably inserted in the first sleeve 36A from below in the axial direction. Therefore, the first push rod 23A extends in the same inclination direction as the inclination direction of the axis of the first support hole 34A. The second push rod 23B is slidably inserted through the second sleeve 36B from below in the axial direction. Therefore, the second push rod 23B extends in the same inclination direction as the inclination direction of the axis of the second support hole 34B. The third push rod 23C is slidably inserted in the third sleeve 36C in the axial direction from below. Accordingly, the third push rod 23C extends in the same inclination direction as the inclination direction of the axis of the third support hole 34C. The fourth push rod 23D is slidably inserted through the fourth sleeve 36D from below in the axial direction. Therefore, the fourth push rod 23D extends in the same inclination direction as the inclination direction of the axis of the fourth support hole 34D.

  As shown in FIGS. 3 and 4, the other end (lower end) 76A to 76D of the push rod (first to fourth push rods 23A to 23D) has a retaining portion (first to fourth retaining portions). 37A to 37D), and has contact portions 62A to 62D for restricting the sleeves (first to fourth sleeves 36A to 36D) from coming off to the one end side. Explaining individually, an outward flange-shaped contact portion (first contact portion) 62A is provided on the other end side 76A of the first push rod 23A. The first contact portion 62A contacts the lower surface of the first retaining portion 37A. An outward flange-shaped contact portion (second contact portion) 62B is provided on the other end side 76B of the second push rod 23B. The second contact portion 62B contacts the lower surface of the second retaining portion 37B. An outward flange-shaped contact portion (third contact portion) 62C is provided on the other end side 76C of the third push rod 23C. The third contact portion 62C contacts the lower surface of the third retaining portion 37C. An outward flange-shaped contact portion (fourth contact portion) 62D is provided on the other end side 76D of the fourth push rod 23D. The fourth contact portion 62D contacts the lower surface of the fourth retaining portion 37D.

  As shown in FIGS. 1 and 2, below each of the push rods 23A to 23D, an urging force for urging the push rods 23A to 23D to one end sides 61A to 61D along the extending direction of the push rods 23A to 23D. Members 63A to 63D are provided. The biasing members 63A to 63D are members that hold the grip 25 at the neutral position without operating the grip 25, and return the grip 25 from the operated position to the neutral position. The biasing members 63A to 63D are formed from compression coil springs. The urging members 63A to 63D include a first urging member 63A, a second urging member 63B, a third urging member 63C, and a fourth urging member 63D. As shown in FIG. 3, the first biasing member 63A is interposed between the first contact portion 62A and the first spring receiving portion 41A in a compressed manner. The second biasing member 63B is compressed and interposed between the second contact portion 62B and the second spring receiving portion 41B. As shown in FIG. 4, the third biasing member 63C is interposed in a compressed manner between the third contact portion 62C and the third spring receiving portion 41C. The fourth biasing member 63D is interposed in a compressed state between the fourth contact portion 62D and the fourth spring receiving portion 41D.

  As shown in FIGS. 3, 4, and 8, the rocking body 24 has a mounting wall 64, first to fourth arms 65 </ b> A to 65 </ b> D, and first to fourth extensions 66 </ b> A to 66 </ b> D. . The mounting wall 64 has a mounting hole 67. The mounting hole 67 is formed by an annular edge (peripheral surface) formed to penetrate the mounting wall 64 vertically. The mounting wall portion 64 is located above the second connection portion 47B, and the mounting shaft 54 is inserted into the mounting hole 67 from below. The screw portion 54a of the mounting shaft 54 protrudes upward from the mounting wall portion 64, and fasteners 68A and 68B are screwed to the protruding portions (see FIGS. 1 and 2). The rocking body 24 is fixed to the second yoke 44 by the fasteners 68A and 68B. In this embodiment, nuts are used as the fasteners 68A and 68B.

  As shown in FIGS. 3 and 4, a shim 69 is interposed between the second yoke 44 and the rocking body 24. By selectively interposing shims 69 having different thicknesses between the second yoke 44 and the oscillator 24, the position of the oscillator 24 along the extending direction of the mounting shaft 54 can be adjusted. That is, the shim 69 is a member that adjusts the position of the oscillator 24 along the direction in which the mounting shaft 54 extends. The shim 69 is formed in a ring disk shape (see FIG. 8), and is externally fitted to the mounting shaft 54 between the rocking body 24 and the first yoke 42.

As shown in FIG. 3, the first arm 65A protrudes forward from the mounting wall 64. The second arm portion 65B projects rearward from the mounting wall portion 64. As shown in FIG. 4, the third arm 65 </ b> C protrudes leftward (inside the machine) from the mounting wall 64. The fourth arm portion 65D protrudes rightward (outward of the body) from the mounting wall portion 64.
As shown in FIG. 4, a first regulating pin 71A is provided over the base (oscillating body 24) of the third arm 65C and the third connecting portion 46C (the second yoke 44). Further, a second regulating pin 71B is provided over the base (oscillating body 24) of the fourth arm 65D and the fourth connecting portion 46D (the second yoke 44). The relative rotation of the second yoke 44 and the oscillating body 24 about the mounting shaft 54 is regulated by the first regulating pin 71A and the second regulating pin 71B. That is, the first restricting pin 71A and the second restricting pin 71B constitute a detent part 72 for restricting relative rotation of the second yoke 44 and the rocking body 24 about the mounting shaft 54. The rotation preventing portion may have a rotation preventing structure formed by contacting a plane formed on a part of the inner surface of the mounting hole 67 with a plane formed on a part of the outer surface of the mounting shaft 54. .

  As shown in FIG. 3, the first extension 66A extends downward from the protruding end (tip) of the first arm 65A. The lower surface of the first extension 66A is a first contact surface 73A that contacts the one end 61A of the first push rod 23A. The second extension 66B extends downward from the protruding end (tip) of the second arm 65B. The lower surface of the second extension 66B is a second contact surface 73B that contacts one end 61B of the second push rod 23B.

  As shown in FIG. 4, the third extension 66C extends downward from the protruding end (tip) of the third arm 65C. The lower surface of the third extension 66C is a third contact surface 73C that contacts one end 61C of the third push rod 23C. The fourth extension 66D extends downward from the protruding end (tip) of the fourth arm 65D. The lower surface of the fourth extension 66D is a fourth contact surface 73D that contacts the one end 61D of the fourth push rod 23D.

  As shown in FIGS. 8 and 10, the first contact surface 73A and the second contact surface 73B are formed in a curved surface shape (arc shape). The first contact surface 73A has a curved shape that is convex toward the first push rod 23A, and the second contact surface 73B has a curved shape that is convex toward the second push rod 23B. As shown in FIG. 3, when the grip 25 is located at the neutral position, the first contact surface 73A and the second contact surface 73B are curved around a line Y5 parallel to the second axis Y2. (See FIG. 10).

As shown in FIG. 8, the third contact surface 73C and the fourth contact surface 73D are formed as flat surfaces. As shown in FIG. 4, the third contact surface 73C and the fourth contact surface 73D have a planar shape parallel to the first axis Y1 and the second axis Y2 when the grip 25 is located at the neutral position. It is.
The thickness of the shim 69 is changed according to the state of contact between the first to fourth contact surfaces 73A to 73D and the first to fourth push rods 23A to 23D. That is, by changing the thickness of the shim 69, the contact state between the first to fourth abutting surfaces 73A to 73D and the first to fourth push rods 23A to 23D can be optimized.

  The grip 25 is a member that is gripped by an operator (user) operating the control device 19R (19L). As shown in FIGS. 1 and 2, the grip 25 includes a first grip portion 74 that is an upper portion of the grip and a second grip portion 75 that is a lower portion of the first grip portion 74 (a lower portion of the grip 25). And The operator holds the grip 25 by bringing the palm of the hand into contact with the first grip 74 and the little finger (or the little finger and the ring finger) with the second grip 75. The grip 25 has a hollow shape with an open lower surface (bottom surface 25A). The opening area of the lower inner surface of the grip 25 increases toward the bottom surface 25A (lower surface). Further, the distance from the virtual straight line Y4 to the inner surface of the grip 25 becomes longer toward the bottom surface 25A from the position corresponding to the one end 61A to 61D of the push rod (first to fourth push rods 23A to 23D). . Further, each of the push rods (first to fourth push rods 23A to 23D) is inserted into the grip 25 from the bottom surface 25A of the grip 25 such that one end side 61A to 61D is disposed on the back side 25B of the grip 25. It is arranged such that the distance from the virtual straight line Y4 becomes shorter as going from one end side 61A to 61D to the other end side 76A to 76D. Note that the back side 25B of the grip 25 is opposite to the opening of the bottom surface (lower surface) 25A, and in the present embodiment, the upper side inside the grip 25 is the back side 25B.

  9A and 9B, the grip 25 includes a grip body 77 and a lower frame 78. The grip body 77 is a member that forms a skeleton of the grip 25. As shown by a virtual line in FIG. 9B, the grip body 77 is preferably covered from the upper end to the lower end and over the entire circumference by a cover member 79 made of, for example, resin. As shown in FIG. 13, the grip body 77 may be integrally formed of resin or the like so as to be closed except for the lower end opening. That is, in the grip 25 shown in FIG. 13, the first gripping part 74 and the second gripping part 75 are formed by a peripheral wall that is continuous over the entire circumference in the circumferential direction around the virtual straight line Y4, and the upper wall 25a is formed by the first gripping part 74. Is formed by a circular wall covering the upper end of the. Similarly, the bottom surface (lower surface) 25A has a hollow shape with an opening.

  As shown in FIGS. 9A and 9B, the grip body 77 has a top plate 81 and first to eighth plate members 82A to 82H. The top plate 81 is formed in a rectangular shape, and is arranged so that the plate surface faces up and down. The first to eighth plate members 82A to 82H are formed by band plate members. The first plate member 82A is located at the front of the grip 25. The second plate 82B is located at the rear of the grip 25. The third plate 82C is located on the left side of the grip 25. The fourth plate member 82D is located on the right side of the grip 25. The fifth plate 82E is located between the first plate 82A and the third plate 82C. The sixth plate 82F is located between the second plate 82B and the third plate 82C. The seventh plate 82G is located between the second plate 82B and the fourth plate 82D. The eighth plate 82H is located between the first plate 82A and the fourth plate 82D.

  The first plate member 82A has a first portion 83A, a second portion 84A, and a third portion 85A. The second plate 82B also has a first portion 83B, a second portion 84B, and a third portion 85B. The third plate member 82C also has a first portion 83C, a second portion 84C, and a third portion 85C. The fourth plate member 82D also has a first portion 83D, a second portion 84D, and a third portion 85D. The fifth plate member 82E also has a first portion 83E, a second portion 84E, and a third portion 85E. The sixth plate member 82F also has a first portion 83F, a second portion 84F, and a third portion 85F. The seventh plate 82G also has a first portion 83G, a second portion 84G, and a third portion 85G. The eighth plate member 82H also has a first portion 83H, a second portion 84H, and a third portion 85H.

  Each of the first portions 83A to 83H protrudes radially from the top plate 81, and forms an upper wall of the grip 25 together with the top plate 81. Each of the second portions 84A to 84H is a portion that forms the first grip portion 74. Each of the second portions 84A to 84H is inclined in a direction to spread outward from the inside of the grip 25 as going downward. Each of the third portions 85A to 85H is a portion that forms the second grip portion 75. The upper portions 86A to 86H of the third portions 85A to 85H are inclined in a direction to spread outward from the inside of the grip 25 toward the lower side, and are inclined at a larger angle than the second portions 84. . The lower portions 87A to 87H of each of the third portions 85 are inclined in a direction to spread outward from the inside of the grip 25 as going downward, and are inclined at a larger angle than the upper portions 86A to 86H.

As shown in FIG. 1 and FIG. 2, the grip body 77 (grip 25) covers (supports) the support part 22, the rocking body 24, the first to fourth push rods 23 </ b> A to 23 </ b> D, and the upper part of the base 21. ).
As shown in FIG. 1, a first extension 66A is fixed to a lower portion of the second portion 84A of the first plate member 82A by a screw 88A. Further, a second extension 66B is fixed to a lower portion of the second portion 84B of the second plate member 82B by a screw 88B. As shown in FIG. 2, a third extension 66C is fixed to a lower portion of the second portion 84C of the third plate member 82C by a screw 88C. A fourth extension 66D is fixed to a lower portion of the second portion 84D of the fourth plate 82D by a screw 88D. Therefore, the grip 25 is attached to the second yoke 44 via the rocking body 24. In other words, the rocking body 24 connects the second yoke 44 and the grip 25. Note that the grip 25 may be directly attached to the second yoke 44. That is, the grip 25 is attached to the second yoke 44 directly or via another member.

As shown in FIG. 9A, the lower frame 78 is formed in a ring shape and is fixed over the lower portions 87A to 87H of the third portions 85A to 85H. As shown in FIGS. 1 and 2, an upper portion of a rubber boot 89 is attached to an outer surface of the lower frame 78. The lower part of the boot 89 is attached to the outer peripheral surface of the base 26 of the base 21.
As shown in FIGS. 1 and 2, in the present embodiment, the rotation fulcrum Y3 of the grip 25, which is the intersection of the first axis Y1 and the second axis Y2, is located inside the grip 25. Further, the rotation fulcrum Y3 is located in a region surrounded by the first grip portion 74, which is a portion of the grip 25 that is gripped by the operator. Further, the support portion 22 is housed inside the grip 25. The support portion 22 and a fixed portion 21 </ b> A of the base 21 to which the support portion 22 is attached are inserted into the grip 25.

In the present embodiment, the configuration in which the grip 25 includes the top plate 81 and the first to eighth plate members 82A to 82H has been described, but the present invention is not limited to this. For example, the grip 25 may be constituted by a cover member 79 made of resin or the like, omitting the top plate 81 and the first to eighth plate members 82A to 82H.
1 and 2 show a state where the grip 25 is at the neutral position. As shown in FIGS. 1 and 2, when the grip 25 is not rotated, the position of the grip 25 is defined by the first to fourth push rods 23A to 23D (push rods) to the neutral position. That is, the first push rod 23A comes into contact with the first contact surface 73A by the urging force of the first urging member 63A, and the second push rod 23B comes into contact with the second contact surface 73B by the urging force of the second urging member 63B. , The third push rod 23C comes into contact with the third contact surface 73C by the urging force of the third urging member 63C, and the fourth push rod 23D comes into fourth contact with the urging force of the fourth urging member 63D. By contacting the surface 73D, the grip 25 is held at the neutral position by the urging forces of the first to fourth urging members 63A to 63D.

  When the grip 25 is rotated around the first axis Y1 in the machine body width direction K2 (first operation direction) from the neutral position, as shown in FIG. 10, the second yoke 44 and the connecting body 43 are moved to the first axis. It turns around Y1. Then, the third push rod 23C or the fourth push rod 23D (push rod) is pressed by the rocking body 24 (or directly by the grip 25). That is, when the grip 25 is swung to the left, the third push rod 23C (push rod) overcomes the urging force of the third urging member 63C (urging member) and the third push rod 23C (push rod). Move downward in the stretching direction. When the grip 25 is swung to the right, the fourth push rod 23D (push rod) overcomes the urging force of the fourth urging member 63D (urging member), and the fourth push rod 23 (push rod). Move downward in the stretching direction. Thereby, the first operation target is operated. The operation of the first operation target will be described with reference to the above-described example. In the control device 19L, when the rocking body 24 (grip 25) rocks to the left (toward the inside of the machine), the machine body 2 turns to the left, and the body 2 turns. When the moving body 24 (grip 25) swings rightward (outward of the body), the body 2 turns right. In the control device 19R, when the rocking body 24 (grip 25) rocks to the left (inside of the machine), the bucket 17 performs a cloud operation, and the rocking body 24 (grip 25) moves to the right (outside of the machine). ), The bucket 17 performs a dumping operation.

  The amount of rotation (the amount of operation) of the grip 25 around the first axis Y1 and the direction of the operation are detected by the first detector 58A. Based on the detection value of the first detector 58A, the first operation target operates at a speed proportional to the amount of rotation of the grip 25 around the first axis Y1. Further, it can be said that the first detector 58A is a detector that detects the amount of movement of the third push rod 23C or the fourth push rod 23D (push rod).

Note that the movement of the third push rod 23C may be directly detected to detect the movement amount of the third push rod 23C, and the fourth movement may be detected by detecting the movement amount of the fourth push rod 23D. The movement of the push rod 23D may be directly detected.
When the grip 25 is rotated from the neutral position about the second axis Y2 in the front-rear direction K1 (second operation direction), the second yoke 44 is rotated about the second axis Y2 as shown in FIG. I do. Then, the first push rod 23A or the second push rod 23B (push rod) is pressed by the rocking body 24 (or directly by the grip 25). That is, when the grip 25 swings forward, the first push rod 23A (push rod) overcomes the urging force of the first urging member 63A (urging member), and the first push rod 23A (push rod) Move down in the stretching direction. When the grip 25 swings backward, the second push rod 23B (push rod) overcomes the urging force of the second urging member 63B and moves downward in the extending direction of the second push rod 23B (push rod). Moving. Thereby, the second operation target is operated. The operation of the second operation target will be described with reference to the above example. In the control device 19L, the arm 16 performs a dump operation when swinging forward, and performs a cloud operation when swinging rearward. Further, in the control device 19R, the boom lowers when it swings forward, and raises when it swings rearward.

  The rotation amount (operation amount) of the grip 25 around the second axis Y2 and the operation direction are detected by the second detector 58B. Based on the detection value of the second detector 58B, the second operation target operates at a speed proportional to the amount of rotation of the grip 25 around the second axis Y2. Also, it can be said that the second detector 58B is a detector that detects the amount of movement (of the push rod) of the first push rod 23A or the second push rod 23B.

In order to detect the movement amount of the first push rod 23A, the movement of the first push rod 23A in the extending direction may be directly detected. In order to detect the movement amount of the second push rod 23B, The movement of the second push rod 23B in the extending direction may be directly detected.
On the other hand, when the grip 25 is operated from the neutral position in any oblique direction between the first operation direction (front-back direction K1) and the second operation direction (body width direction K2), the first operation object and the second operation The target and the second operation target are operated simultaneously (the composite operation of the first operation target and the second operation target is performed).

  As described above, when the grip 25 is not rotated, the position of the grip 25 is regulated to the neutral position by each of the push rods 23A to 23D, and when the grip 25 is rotated, 1 or depending on the rotation direction. The plurality of push rods 23A to 23D are pushed by the grip 25 via the rocking body 24 (directly by the grip 25 or via another member) to overcome the urging force of the urging members 63A to 63D to push the push rod 23A.に 23D.

Here, the reason why the first contact surface 73A and the second contact surface 73B are formed as curved surfaces will be described.
A solid line in FIG. 12A indicates a cross section taken along line X4-X4 in FIG. The solid line in FIG. 10 shows a state in which the grip 25 has been rotated leftward with a full stroke about the first axis Y1. The full stroke means that the push rods 23A to 23D are operated until they come into contact with the stoppers 40A to 40D.

  When the grip 25 is rotated forward (or backward) about the second axis Y2 by a full stroke from the state where the grip 25 is rotated leftward about the first axis Y1 by a full stroke, the imaginary line in FIG. As shown by, the third contact surface 73C moves on the end surface of the one end 61C of the third push rod 23C along the end surface. Therefore, the position of the third push rod 23C is not affected by the rotation of the grip 25 around the second axis Y2, and there is no problem. The same applies to the case where the grip 25 is rotated forward (or backward) about the second axis Y2 by a full stroke from the state where the grip 25 is rotated rightward about the first axis Y1 by a full stroke. is there.

The solid line in FIG. 12B shows a cross section taken along line X5-X5 in FIG. The solid line in FIG. 11 shows a state in which the grip 25 has been rotated forward around the second axis Y2 by a full stroke.
When the grip 25 is rotated to the right (or to the left) around the first axis Y1 by a full stroke from the state in which the grip 25 is rotated forward by a full stroke around the second axis Y2, a virtual view in FIG. As shown by the line, the first contact surface 73A formed in a curved shape slides on the end surface of one end 61A of the first push rod 23A. Therefore, the position of the first push rod 23A is not affected by the rotation of the grip 25 around the first axis Y1, and there is no problem. The same applies to the case where the grip 25 is rotated rightward (or leftward) with a full stroke around the first axis Y1 from the state where the grip 25 is rotated backward with a full stroke around the second axis Y2. It is.

On the other hand, FIG. 12C shows a case where it is assumed that the first contact surface 73A and the second contact surface 73B are formed as flat surfaces. This case will be described with the same reference numerals as in the present embodiment. The solid line in FIG. 12C indicates a state in which the grip 25 is rotated forward around the second axis Y2 by a full stroke, that is, a cross section corresponding to a cross section taken along line X5-X5 in FIG.
When the grip 25 is rotated to the right (or left) around the first axis Y1 by a full stroke from this state, the first contact surface 73A is a flat surface as shown by a virtual line in FIG. 12C. The first contact surface 73A attempts to move so as to push down the first push rod 23A. However, since the first push rod 23A is in contact with the first stopper 40A and does not move (see FIG. 11), the first contact surface 73A is necessarily returned by the amount indicated by the oblique line Z1 in FIG. 12C. It will be. That is, when the grip 25 is rotated forward and to the right by a full stroke as compared to the state where the grip 25 is rotated to the right by a full stroke, the grip 25 is shown by a hatched portion in FIG. Is returned around the first axis Y1 from the position. The same applies to the case where the grip 25 is rotated rightward (or leftward) with a full stroke around the first axis Y1 from the state where the grip 25 is rotated backward with a full stroke around the second axis Y2.

  Therefore, when the first contact surface 73A and the second contact surface 73B are formed as flat surfaces, if the operation amount of the grip 25 is detected by the rotation about the first axis Y1, the operation amount of the grip 25 is reduced. The detection is out of order. Therefore, the first contact surface 73A and the second contact surface 73B are formed as curved surfaces. More specifically, in the present embodiment, the amount of movement of the first push rod 23A (or the second push rod 23B) when the grip 25 is rotated around the first axis Y1 by a full stroke is determined by the amount of movement of the grip 25. The first contact surface 73A and the second contact surface 73B are curved at a curvature that becomes substantially constant irrespective of the rotation position about the second axis Y2. By forming the first contact surface 73A and the second contact surface 73B with curved surfaces having such a curvature, regardless of the rotational position of the grip 25 around the second axis Y2, the first contact surface 73A and the second contact surface 73B can be rotated around the first axis Y1. Operation amount can be appropriately detected.

14 and 15 show another embodiment. FIG. 14 is a left side sectional view of the control device 19R (19L). FIG. 15 is a rear cross-sectional view of the control device 19R (19L).
In this other embodiment, the point that the grip body 77 (grip 25) has a hollow shape with the bottom surface 25A opened is the same as the one embodiment, but differs from the one embodiment in that the shape is different. The grip body 77 is formed symmetrically in the body width direction K2 between the control device 19L and the control device 19R. In the other embodiment, the first to fourth contact surfaces 73A to 73D, the push rods 23A to 23D, the sleeves 36A to 36D, and the stoppers 40A to 40D in one embodiment are not provided.

  In this other embodiment, contact members 91A to 91D, upper spring hooks 92A to 92D, and lower spring hooks 93A to 93D are provided. The contact members include a first contact member 91A, a second contact member 91B, a third contact member 91C, and a fourth contact member 91D. The upper spring hook portion includes a first upper spring hook portion 92A, a second upper spring hook portion 92B, a third upper spring hook portion 92C, and a fourth upper spring hook portion 92D. The lower spring hook portion includes a first lower spring hook portion 93A, a second lower spring hook portion 93B, a third lower spring hook portion 93C, and a fourth lower spring hook portion 93D.

  The first contact member 91A and the first upper spring hook portion 92A are provided on the first extension portion 66A. The second contact member 91B and the second upper spring hook portion 92B are provided on the second extension 66B. The third contact member 91C and the third upper spring hook 92C are provided on the third extension 66C. The fourth contact member 91D and the fourth upper spring hook 92D are provided on the fourth extension 66D.

  The first lower spring hook portion 93A is located below the first contact member 91A and is provided on the base 21 (the main body 27). The second lower spring hook portion 93B is located below the second contact member 91B and is provided on the base 21 (main body portion 27). The third lower spring hook portion 93C is located below the third contact member 91C and is provided on the base 21 (the main body 27). The fourth lower spring hook portion 93D is located below the fourth contact member 91D and is provided on the base 21 (main body portion 27).

  The base 21 is provided with stopper surfaces 94A to 94D with which the contact members (first to fourth contact members 91A to 91D) come into contact when the grip 25 is rotated by a full stroke. The stopper surface includes a first stopper surface 94A with which the first contact member 91A contacts, a second stopper surface 94B with which the second contact member 91B contacts, a third stopper surface 94C with which the third contact member 91C contacts, and And a fourth stopper surface 94D with which the fourth contact member 91D contacts.

The biasing members 98A to 98D that hold the grip 25 at the neutral position and return the grip 25 from the operated position to the neutral position are formed of tension coil springs.
The urging members 98A to 98D include a first urging member 98A, a second urging member 98B, a third urging member 98C, and a fourth urging member 98D. The first biasing member 98A is stretched over the first upper spring hook 92A and the first lower spring hook 93A. The second biasing member 98B is stretched over the second upper spring hook 92B and the second lower spring hook 93B. The third biasing member 98C is stretched over a third upper spring hook 92C and a third lower spring hook 93C. The fourth biasing member 98D is stretched over the fourth upper spring hook 92D and the fourth lower spring hook 93D.

The attachment portion 48 is formed separately from the first connection portion 47A, and is fixed to the first connection portion 47A. The point that the mounting portion 48 is fitted into the fitting hole 29 of the base 21 and is fixed by the fixing members (pins) 50A and 50B is the same as in the embodiment.
Below the top plate 81 of the grip 25, a cylinder 96 attached to the top plate 81 with mounting bolts 95 is provided. The mounting shaft 54 is fixed to the cylindrical body 96 by pins 97A and 97B penetrating the cylindrical body 96 and the mounting shaft 54. The mounting shaft 54 is formed separately from the second connection portion 47B, and is fixed to the second connection portion 47B.

In the other embodiment, the first connecting portion 46A and the second connecting portion 46B face each other in the body width direction K2. The third connecting portion 46C and the fourth connecting portion 46D face each other in the front-rear direction K1. Therefore, the grip 25 rotates forward or backward about the first axis Y1, and rotates left or right about the second axis Y2.
As described above, the different points of the other embodiments from the one embodiment shown in FIGS. 1 to 13 have been described. Other configurations are substantially the same as those of the first embodiment.

  In the present embodiment, the control devices 19L and 19R that electrically detect the operation amount of the grip 25 and electrically operate the control valve of the hydraulic actuator that drives the operation target based on the detection result are illustrated. However, the present invention is not limited to this. That is, similarly to the conventional control device, the operation amount of the grip 25 is transmitted to the pilot operation switching valve by the pressure of the hydraulic oil (pilot pressure), and the pilot operation switching valve controls the hydraulic actuator that drives the operation target. There may be.

  In the present embodiment, the control devices 19L and 19R are connected to the base 21, the first yoke 42 fitted to the base 21, and the first yoke 42 so as to be rotatable around the first axis Y1. A second yoke 44 rotatably connected about a second axis Y2 different from the first axis Y1, an oscillator 24 attached to the second yoke 44, and an oscillator 24 attached to the oscillator 24. The grip 25 includes fixing members 51A and 51B that are inserted through the base 21 and the first yoke 42 fitted to the base 21 to fix the first yoke 42 to the base 21.

According to this, the first yoke 42 is fixed to the base 21 by inserting the fixing members 51A and 51B into the base 21 and the first yoke 42 fitted to the base 21. 42 can always be fixed to the base 21 (body 2) in a fixed direction.
Conventionally, the fixing method of the first yoke to the base is a screw type in which a screw shaft provided on the first yoke is screwed into the base, so that the first yoke is fixed to the base in an arbitrary direction. . That is, the first yoke cannot always be fixed to the base in a fixed direction. Therefore, the direction along the first axis and the front-rear direction (first operation direction) have an arbitrary positional relationship, and the direction along the second axis and the body width direction (second operation direction) have an arbitrary positional relationship. Was in If the first axis is not parallel to the first operation direction and the second axis is not parallel to the second operation direction, the grip is fully extended in any oblique direction between the first operation direction and the second operation direction. When operated with a stroke, a sense of incongruity or variation arises due to the difference in the direction of operation and the way in which the grip moves. This discomfort and variation are more likely to be experienced as the distance from the grip to the pivot point is shorter.

  In the present embodiment, the first yoke 42 can be fixed to the base 21 (body 2) in a fixed direction at all times, so that the direction along the first axis Y1 and the front-rear direction K1 (first operation direction). Can be made parallel and the direction along the second axis Y2 and the body width direction K2 (second operation direction) can be made parallel. Thereby, the operation angle of the grip 25 at the time of the composite operation becomes uniform in the front-rear direction K1 and the body width direction K2, and the operation at the time of the composite operation can be performed smoothly. Further, even when the distance from the grip 25 to the rotation fulcrum Y3 is shortened, it is possible to prevent the operator from feeling uncomfortable according to the operation direction.

  Conventionally, the operation angle of the grip 25 cannot be detected by the support portion 22 (universal joint). In the present embodiment, the first axis Y1 and the first operation direction can be surely coincident with each other, and the second axis Y2 and the second operation direction can be surely coincident with each other. The operation angle of the grip 25 can be detected by the rotation around the center Y1 and the rotation around the second axis Y2. This makes it possible to provide the steering devices 19L and 19R having a small and simple structure.

  In addition, by attaching the grip 25 to the rocking body 24 attached to the second yoke 44, the distance from the grip 25 to the rotation fulcrum Y3 of the grip 25 can be shortened. Thus, the amount of operation at hand when operating the grip 25 can be reduced, and the operation space of the grip 25 can be reduced. Further, in the related art, since the distance from the grip 25 to the rotation fulcrum Y3 is long, when the body 2 swings, the grip 25 sometimes swings relatively to the body 2. On the other hand, in the present embodiment, when the body 2 swings, the hand of the operator holding the grip 25 swings together with the body 2, so that the operation can be stably performed. In the present embodiment, the configuration in which the rotation fulcrum Y3 is disposed inside the grip 25 has been described. However, the present invention is not limited to this, and the rotation fulcrum Y3 may be provided outside the grip 25 (for example, more than the grip 25). (A slightly lower position).

  The base 21 has a fitting hole 29 formed on the upper surface of the base 21 and first pin holes 31A and 31B penetrating through the base 21 across the fitting hole 29. The one yoke 42 has a rod-shaped mounting portion 48 fitted in the fitting hole 29, and a second pin hole 50A communicating with the first pin holes 31A and 31B when the fitting portion 48 is fitted in the fitting hole 29. , 50B, and the fixing members 51A, 51B are pins inserted through the first pin holes 31A, 31B and the second pin holes 50A, 50B.

According to this, the structure for assembling the first yoke 42 to the base 21 can be simply configured, and the first yoke 42 can be easily assembled to the base 21 at an appropriate assembling angle.
In addition, a mounting shaft 54 that protrudes from the second yoke 44 and penetrates the rocking body 24 and has a threaded portion 54 a on the distal end side, and regulates the relative rotation of the second yoke 44 and the rocking body 24 around the mounting shaft 54. And a fastener 68A, 68B that is screwed into the screw portion 54a and fixes the swinging body 24 to the second yoke 44.

According to this, the grip 25 can be easily assembled to the second yoke 44.
In addition, a shim 69 is provided between the second yoke 44 and the rocking body 24 to adjust the position of the rocking body 24 along the direction in which the mounting shaft 54 extends.
Thereby, the position of the rocking body 24 in the height direction with respect to the second yoke 44 can be adjusted.

The first axis Y1 is substantially parallel to the front-rear direction K1 of the driver's seat 6 on which the operator who operates the grip 25 is seated, and the second axis Y2 is a horizontal direction (machine body width direction) orthogonal to the front-rear direction K1. K2).
According to this, the operational feeling of the operator is improved as compared with the case where the second axis Y2 is substantially parallel to the front-rear direction K1 and the first axis Y1 is substantially parallel to the horizontal direction orthogonal to the front-rear direction K1. be able to.

The rotation fulcrum Y3 of the grip 25, which is the intersection of the first axis Y1 and the second axis Y2, is located inside the grip 25.
According to this, the operator can grip a position near the rotation fulcrum Y3 of the grip 25. In other words, when the operator grips the grip 25, the rotation fulcrum Y3 of the grip 25 can be positioned so as to be wrapped in the operator's hand (in the area covered by the hand). Thus, the amount of operation at hand when operating the grip 25 can be reduced, and the operation space of the grip 25 can be reduced. In addition, when the body 2 shakes, the hand is shaken together with the body 2, so that the operation can be stably performed.

  Also, a plurality of push rods 23A to 23D arranged so that one end thereof comes into contact with the rocking body 24 around a rotation fulcrum Y3 of the grip 25 which is an intersection of the first axis Y1 and the second axis Y2, Detectors 58A and 58B for detecting the amount of movement of each of the push rods 23A to 23D, and urging members 63A to 63D for urging the push rods 23A to 23D to one end side along the extending direction of the push rods 23A to 23D. When the grip 25 is not turned, the position of the grip 25 is defined by the push rods 23A to 23D at the neutral position. When the grip 25 is turned, one or a plurality of positions are determined according to the turning direction. The push rods 23A to 23D are pushed by the grip 25 via the rocking body 24 to overcome the urging forces of the urging members 63A to 63D. Te moves in the extending direction of the push rod 23A to 23D.

According to this, since the operation amount of the grip 25 can be detected by the detector, the operation target can be operated by electronic control, and the structure around the push rod can be reduced. That is, the structure can be simplified, and a small and simple control device can be provided. In addition, the degree of freedom in design around the push rod is improved.
In addition, the base 21 includes mounting portions 30A to 30D in which support holes 34A to 34D through which the sleeves 36A to 36D are inserted are provided with sleeves 36A to 36D through which the push rods 23A to 23D are slidably inserted. The sleeves 36A to 36D have retaining portions 37A to 37D that come into contact with the mounting portions 30A to 30D in order to restrict the sleeves 36A to 36D from coming out of the support holes 34A to 34D to one ends of the push rods 23A to 23D. And retaining rings 39A to 39D to which retaining rings 38A to 38D are attached so as to restrict the sleeves 36A to 36D from coming out of the support holes 34A to 34D to the other ends of the push rods 23A to 23D. On the other end side of the push rods 23A to 23D, the sleeves 36A to 36D are brought into contact with the retaining portions 37A to 37D. Having an abutment 62A~62D to restrict the escape Luo one end.

  Conventionally, plates for retaining the four sleeves are arranged on the upper surface of the base, and the plates are fixedly fastened to the base together with the first yoke by a screwing structure. In the present embodiment, the sleeves 36A to 36D can be prevented from being removed by the retaining portions 37A to 37D that contact the mounting portions 30A to 30D and the retaining rings 38A to 38D that are mounted on the retaining ring mounting portions 39A to 39D. Therefore, the conventional plate can be eliminated. By eliminating the plate, the screwing structure of the first yoke 42 into the base 21 can be eliminated.

  Further, as the plurality of push rods 23A to 23D, a first push rod 23A disposed on one side in the extending direction of the first axis Y1 with respect to the rotation fulcrum Y3, and a first axis with respect to the rotation fulcrum Y3. A second push rod 23B disposed on the other side in the extension direction of Y1, a third push rod 23C disposed on one side in the extension direction of the second axis Y2 with respect to the pivot point Y3, and a pivot point Y3. , A fourth push rod 23D disposed on the other side in the extending direction of the second axis Y2, and the rocking body 24 has a first contact surface 73A that contacts one end of the first push rod 23A, A second contact surface 73B that contacts one end of the second push rod 23B, a third contact surface 73C that contacts one end of the third push rod 23C, and a fourth contact that contacts one end of the fourth push rod 23D. Face 7 D, one end side of each of the first to fourth push rods 23D has a curved surface shape protruding toward the rocking body 24, and the first and second contact surfaces 73A and 73B have the grip 25 disposed at a neutral position. And the third and fourth abutment surfaces 73C and 73D are in a state where the grip 25 is located at the neutral position. The plane shape is parallel to the center Y1 and the second axis Y2.

According to this, when the operation amount of the grip 25 is detected by detecting the rotation of the grip 25 around the first axis Y1 and the rotation of the grip 25 around the second axis Y2, the operation amount is reduced. It can be detected accurately.
A connecting body 43 rotatably connected to the first yoke 42 about the first axis Y1 and rotatably connected to the second yoke 44 about the second axis Y2; A first yoke including a first shaft member 53A and a second shaft member 53B arranged on the one axis Y1, a third shaft member 53C and a fourth shaft member 53D arranged on the second axis Y2, Reference numeral 42 denotes a first connecting portion 46A rotatably connected to the connecting body 43 by the first shaft member 53A, and a second connecting portion 46B rotatably connected to the connecting body 43 by the second shaft member 53B. The second yoke 44 is rotatably connected to the connecting body 43 by a third shaft member 53C and rotatably connected to the connecting body 43 by a third shaft member 53C, and to the connecting body 43 by a fourth shaft member 53D. A first shaft member 53A and a second shaft member 53B. The third shaft member 53C and the fourth shaft member 53D is a pin fixed to the connecting member 43.

According to this, the first yoke 42, the connecting body 43, and the second yoke 44 can be easily disassembled, and the support portion 22 (universal joint) can be disassembled and maintained.
Further, in the present embodiment, the configuration in which the position of the oscillator 24 along the extending direction of the mounting shaft 54 is adjusted by inserting the shim 69 between the second yoke 44 and the oscillator 24 has been described. The invention is not limited to this. For example, instead of fixing the first yoke 42 and the base 21 with the fixing members 51A and 51B, the first yoke 42 extending along the extending direction of the mounting shaft 54 at the connection portion between the first yoke 42 and the base 21. May be adjusted. In this case, the grip 25 may be directly attached to the second yoke 44 without being limited to the configuration in which the oscillator 24 is attached between the second yoke 44 and the grip 25.

  Further, the steering devices 19L and 19R according to the present embodiment are rotatable about the first yoke 42 and the first yoke 42 about the first axis and about the second axis different from the first axis. It may be configured to include the connected second yoke 44, the swinging body 24 attached to the second yoke 44, and the grip 25 attached to the swinging body 24. According to the above configuration, the amount of operation at hand when operating the grip 25 can be reduced, and the operation space of the grip 25 can be reduced.

  In addition, the steering devices 19L and 19R according to the present embodiment are rotatable about the first yoke 42 and the first yoke 42 around the first axis and around the second axis different from the first axis. And a grip 25 attached to the second yoke 44 may be provided. Alternatively, the rocking body 24 may be formed integrally with the second yoke 44. Even in these cases, the rotation fulcrum of the grip 25 is arranged in the grip 25 or near the grip 25 to shorten the distance from the grip 25 to the rotation fulcrum Y3 of the grip 25. Can be reduced, and the operation space of the grip 25 can be reduced.

In the present embodiment, the control devices 19L and 19R each include a grip 25 that is gripped by an operator, and a support portion 22 that supports the grip 25 so as to be rotatable in an arbitrary rotation direction. Y3 is located inside the grip 25.
That is, the operator can grip a position near the rotation fulcrum Y3 of the grip 25. Thus, the amount of operation at hand when operating the grip 25 can be reduced, and the operation space of the grip 25 can be reduced. Further, in the related art, since the distance from the grip 25 to the rotation fulcrum Y3 is long, when the body 2 swings, the grip 25 sometimes swings relatively to the body 2. On the other hand, in the present embodiment, when the body 2 swings, the hand of the operator holding the grip 25 swings together with the body 2, so that the operation can be stably performed.

Further, the rotation fulcrum Y3 is located in a region surrounded by the first grip portion 74, which is a portion of the grip 25 where the operator contacts and holds the palm.
According to this, the rotation fulcrum Y3 of the grip 25 is located at a position wrapped in the operator's hand (in an area covered by the hand). Thus, the amount of operation at hand of the grip 25 can be reduced and stable operation can be reliably achieved.

Further, the support portion 22 is housed inside the grip 25.
This makes it possible to reduce the size of the control devices 19L and 19R.
The grip 21 includes a base 21 to which the support portion 22 is attached. The support portion 22 and a fixed portion 21 </ b> A of the base 21 to which the support portion 22 is attached are inserted into the grip 25.

This makes it possible to further reduce the size of the control devices 19L and 19R.
The grip 25 has a hollow shape with an open bottom surface 25A, and the opening area of the lower inner surface of the grip 25 increases toward the bottom surface 25A.
If the rotation fulcrum Y3 is inside the grip 25, when the grip 25 is rotated, the grip 25 swings in a direction in which a part of the lower part approaches the part on the rotation fulcrum Y3 side. By forming the inner surface of the lower portion of the grip 25 such that the opening area becomes larger toward the bottom surface 25A side, it is possible to prevent the lower portion of the grip 25 from contacting the portion on the rotation fulcrum Y3 side, The amount of rotation (the amount of operation) of the grip 25 can be secured.

  The support portion 22 includes a first yoke 42 fixed to the base 21, a second yoke 44 attached to the grip 25 directly or via another member, and a first yoke 42 and a second yoke 44. And a connecting body 43 connected to the first yoke 42 so as to be rotatable around a first axis Y1. The second yoke 44 is connected to the connecting body 43 by a first shaft. It is connected rotatably about a second axis Y2 different from the center Y1.

By connecting the first yoke 42 and the second yoke 44 via the connecting body 43, the first yoke 42 and the second yoke 44 can be easily assembled.
A plurality of push rods 23A to 23D arranged symmetrically with respect to an imaginary straight line Y4 passing through the rotation fulcrum Y3 and one end of which is in contact with the grip 25 directly or via another member; Detectors 58A and 58B for detecting the amount of movement of the push rods 23A to 23D, and urging members 63A to 63D for urging the push rods 23A to 23D to one end side in the extending direction of the push rods 23A to 23D. When the rotation of the grip 25 is not performed, the position of the grip 25 is defined at the neutral position by the push rods 23A to 23D. When the rotation of the grip 25 is performed, one or a plurality of push rods 23A to 23A to 23D are determined according to the rotation direction. The urging members 63A to 63D are urged by pressing the grip 23D directly or via another member. Moves in the extending direction of the push rod 23A~23D overcomes the.

According to this, the operation target can be operated by electronic control, and the structure can be simplified.
The grip 25 has a hollow shape with an open bottom surface 25A, and the inner surface of the grip 25 is closer to the bottom surface 25A from a position corresponding to one end of the push rods 23A to 23D from the virtual straight line Y4. , And each of the push rods 23A to 23D is inserted into the grip 25 from the bottom surface 25A of the grip 25 such that one end is disposed on the inner side 25B side of the grip 25, and from one end to the other end. It is arranged so that the distance to the virtual straight line Y4 becomes shorter as going toward.

  If the rotation fulcrum Y3 is inside the grip 25, when the grip 25 is rotated, the grip 25 swings in a direction in which a part on the bottom surface 25A side approaches a part on the rotation fulcrum Y3 side. The distance from the virtual straight line Y4 increases as the inner surface of the grip 25 moves from the position corresponding to one end of the push rods 23A to 23D toward the bottom surface 25A, so that the bottom surface 25A of the grip 25 moves toward the rotation fulcrum Y3. Can be prevented from contacting the part, and the amount of rotation (the amount of operation) of the grip 25 can be secured. Further, each of the push rods 23A to 23D is inserted into the grip 25 from the bottom surface 25A of the grip 25 such that one end side is disposed on the inner side 25B side of the grip 25, and is virtual as going from one end side to the other end side. Since the push rods 23A to 23D are arranged so as to have a shorter distance from the straight line Y4, each of the push rods 23A to 23D has an inclined shape that shifts to the virtual straight line Y4 side as going from the back 25B side of the grip 25 to the bottom surface 25A side that opens. Has become. Thereby, a space where the bottom surface 25A side of the grip 25 enters can be secured between the bottom surface 25A side of the grip 25 and the push rods 23A to 23D. In other words, a sufficient distance between the bottom surface 25A of the grip 25 and the push rods 23A to 23D can be secured. Thereby, compactness can be achieved.

  Although the present invention has been described above, it should be understood that the embodiments disclosed herein are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

21 base 21A fixing part 22 support part 23A push rod (first push rod)
23B push rod (second push rod)
23C push rod (first push rod)
23D push rod (first push rod)
25 Grip 25A Grip bottom surface 25B Grip depth 74 Grip portion 42 First yoke 43 Linked body 44 Second yoke 58A Detector (first detector)
58B detector (second detector)
61A One end of push rod 61B One end of push rod 61C One end of push rod 61D One end of push rod 63A Biasing member (first biasing member)
63B urging member (second urging member)
63C urging member (third urging member)
63D urging member (fourth urging member)
76A The other end of the push rod 76B The other end of the push rod 76C The other end of the push rod 76D The other end of the push rod Y1 First axis Y2 Second axis Y3 Rotation fulcrum Y4 Virtual straight line

Claims (7)

A grip gripped by an operator,
A support portion that supports the grip so as to be rotatable in an arbitrary rotation direction,
A pivot point of the grip is located inside the grip,
A plurality of push rods arranged symmetrically with respect to a virtual straight line passing through the rotation fulcrum, and arranged at a position where one end side abuts on the grip directly or via another member;
A detector for detecting the amount of movement of each of the push rods;
An urging member for urging the push rod toward the one end along the direction in which the push rod extends,
When the grip is not rotated, the position of the grip is defined at the neutral position by the push rods,
When the grip is operated to rotate, one or more push rods are pushed directly by the grip or via another member in accordance with the rotation direction, thereby overcoming the urging force of the urging member and the push rod being pushed. A steering device which moves in a direction in which a rod extends. The grip has a hollow shape with an open bottom surface, and the inner surface of the grip has a longer distance from the virtual straight line toward the bottom surface from a position corresponding to the one end of the push rod. Yes,
Each of the push rods is inserted into the grip from the bottom surface of the grip such that the one end side is disposed on the back side of the grip, and is closer to the virtual straight line from the one end side to the other end side. The control device according to claim 1 , wherein the control device is arranged so that the distance is short. The support portion, the grip is rotatably supported in a different second axis of rotation about a direction from the first axial center and said first axis,
The steering device according to claim 1, wherein a rotation fulcrum of the grip, which is an intersection of the first axis and the second axis, is located in an internal space of the grip. Comprising a base to which the support is fixed,
Wherein a supporting portion, according to claim 1 to 3 any one of which the support portion is fixed and the portion is a portion which is fixed, characterized in that it is inserted into the internal space of the grip in the base Control device. The grip according to any one of claims 1 to 4, wherein the grip has a hollow shape with an open bottom surface, and the inner surface of the lower portion of the grip has an opening area that increases toward the bottom surface. The control device according to the paragraph . Comprising a base to which the support is fixed,
The support section is
A first yoke fixed to the base,
A second yoke attached to the grip directly or via another member;
A connection body for connecting the first yoke and the second yoke,
The connection body is connected to the first yoke so as to be rotatable around the first axis.
The control device according to any one of claims 1 to 5 , wherein the second yoke is connected to the connection body so as to be rotatable around the second axis.   A work machine comprising the control device according to any one of claims 1 to 6.

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