JP7635615B2 - Operating mechanism for work machine - Google Patents

Description

The present invention relates to an operating mechanism for a work machine that tilts an operating lever, which controls the operation of the work machine in a certain direction in response to tilting in that direction, based on an operating command.

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

JP 2017-172174 A

However, since many parts are placed around the operating lever, there is a need to design it as compact as possible.

In the operating mechanism described in Patent Document 1, a pair of guide members are arranged to sandwich the operating lever, and are attached to support members that support each guide member. However, if the pair of guide members are arranged as close to each other as possible to make the design around the operating lever compact, there is a risk that the operating lever and the guide members will interfere with each other. Furthermore, if the distance between the pair of guide members is increased to prevent interference between the operating lever and the guide members, there is a risk that the responsiveness of the operating lever will deteriorate.

The present invention was made in consideration of such problems, and aims to provide an operating mechanism for a work machine that has a compact design around the operating lever and is capable of maintaining an appropriate clearance in order to avoid interference between the operating lever and the guide member.

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

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

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

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

In addition, it is preferable that the operating mechanism for a work machine of the present invention is provided with a bracket that covers at least a portion of the outer periphery of the operating lever and is sandwiched between the pair of guide portions.

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

The work machine of the present invention is characterized by being equipped with the above-mentioned work machine operating mechanism.

1 is a schematic diagram showing the overall configuration of a remote control system for a work machine according to an embodiment; FIG. 2 is a schematic diagram showing a schematic configuration of a remote control device of the remote control system of FIG. 1 . FIG. 2 is a block diagram showing a configuration related to control of the remote control system of FIG. 1 . FIG. 2 is a perspective view showing a configuration around a seat of the work machine shown in FIG. 1 . FIG. 2 is a perspective view showing an operating mechanism of the work machine of FIG. 1 . FIG. 2 is a plan view showing an operating mechanism of the work machine of FIG. 1 . 7A and 7B are diagrams showing an alignment mechanism according to the first embodiment, FIG. 7A being a front view and FIG. 7B being a plan view. 8A and 8B are diagrams showing an alignment mechanism according to a second embodiment, FIG. 8A being a front view and FIG. 8B being a plan view. FIG. 11 is a perspective view showing an operation mechanism of a work machine according to a third embodiment.

The remote control system S according to the embodiment will be described below with reference to the drawings.

First, the configuration of the remote control system S will be described with reference to Figures 1 to 3.

As shown in FIG. 1, the remote control system S includes a work machine 1, which is a hydraulic excavator, and a remote control device 2 for remotely controlling the work machine 1. The work machine 1 can be operated directly by an operator on board, or indirectly via the remote control device 2 without an operator on board.

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

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

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

A base end of the arm 11 is swingably attached to a tip end of the boom 10. The arm 11 has a second hydraulic cylinder 11a, both ends of which are attached to the arm 11 and the boom 10. The arm 11 swings relative to the boom 10 by the extension and retraction action of the second hydraulic cylinder 11a.

The attachment 12 is attached to the tip of the arm 11 so that it can swing. The attachment 12 has a third hydraulic cylinder 12a, both ends of which are attached to the attachment 12 and the arm 11. The attachment 12 swings relative to the arm 11 by the extension and retraction of the third hydraulic cylinder 12a.

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

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

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

The machinery room 13b houses hydraulic equipment (not shown) such as a hydraulic pump, a directional control valve, and a hydraulic oil tank, as well as an engine (not shown) that serves as the power source for the hydraulic pump, etc.

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

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

When operating the work machine 1, the slave side operating device 15 is operated with the engine running to operate each of the actuators, such as the traveling hydraulic motor, the turning hydraulic motor, the first hydraulic cylinder 10a, the second hydraulic cylinder 11a, and the third hydraulic cylinder 12a. The operation of each actuator in response to the operation of the slave side operating device 15 can be performed in the same manner as, for example, a known work machine.

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

The operation drive device 16 is connected to the slave side operation device 15. The operation drive device 16 may be configured to be removable from the work machine 1.

The operation drive device 16 also has multiple electric motors (not shown). Using the driving force from the electric motors, the operation drive device 16 drives each of the operation pedals, operation switches, and the fourth and fifth operation levers 5 and 6 (see FIG. 4) included in the slave side operation device 15.

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

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

The external sensor 18 is composed of, for example, a camera, a distance measurement sensor, a radar, etc. The cameras and other components of the external sensor 18 are installed at multiple locations, such as the periphery of the rotating body 13, so that they can detect objects present around the rotating body 13.

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

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

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

The surrounding object detection unit 19b detects objects such as people or installations when they are present in a specified target space around the work machine 1 based on the detection signal from the external sensor 18.

The slave communication unit 19c wirelessly communicates with the remote control device 2 as appropriate via the master communication unit 27b, which will be described later.

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

As shown in FIG. 2, the remote control device 2 includes an operation state detector 26 for detecting the operation state of the master operation device 23, and a master control device 27 capable of executing various control processes. The master control device 27 may be located either inside or outside the remote control room 20.

The master side operating device 23 has, for example, the same or similar configuration as the slave side operating device 15 of the work machine 1.

Specifically, the master side operating device 23 includes a first operating lever 23b with an operating pedal 23a installed on the front side of the master side seat 21 so that the operator seated on the master side seat 21 can operate it, and a second operating lever (not shown) and a third operating lever 23c mounted on each of the pair of left and right master side console boxes 22.

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

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

The speakers 24 are arranged in multiple locations inside the remote control room 20, for example, at the front, rear, and both the left and right sides of the remote control room 20.

The display 25 is, for example, a liquid crystal display, a head-up display, etc. The display 25 is disposed in front of the master seat 21 so that it can be seen by an operator seated in the master seat 21.

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

The master-side control device 27 has a function as an output information control unit 27a and a function as a master-side communication unit 27b, which are functions realized by both or either of the implemented hardware configuration and program (software configuration).

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

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

Next, the configuration of the first operation mechanism 7 and the second operation mechanism 8, which are part of the operation drive device 16, will be described in detail with reference to Figures 4 to 6.

As shown in FIG. 4, the work machine 1 includes, inside the cab 13a, a slave seat 3 on which the operator sits, and a pair of slave console boxes 4 arranged on the left and right sides of the slave seat 3.

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

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

In addition, inside the driver's cab 13a, a boarding/alighting passage 9 is formed in front of the slave seat 3 and the fifth operating lever 6, through which the operator passes when seated on the slave seat 3.

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

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

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

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

The following describes the first operating mechanism 7 and the second operating mechanism 8, which are operating mechanisms for a work machine according to an embodiment of the present invention. The first operating mechanism 7 and the second operating mechanism 8 have the same configuration, so the first operating mechanism 7 will be described in detail here.

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

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

The first operating mechanism 7 also includes a first actuator 72 arranged on the upper surface of the plate 70 (the near side in Figs. 5 and 6) and a second actuator 73 arranged on the lower surface of the plate 70 (the far side in Figs. 5 and 6).

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

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

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

Specifically, the front end 74a, 74a of each of the first guide members 74, 74 is attached to the first rotating member 75 located on the front side. The rear end 74b, 74b of each of the first guide members 74, 74 is attached to the first rotating member 75 located on the rear side.

These attachments are made by inserting bolts 76, 76 through through holes 74c, 74c formed in the first guide members 74, 74, respectively, and screwing them into bolt holes 75a, 75a formed in the first rotating member 75.

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

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

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

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

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

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

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

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

Therefore, it is necessary to set the spacing between the pair of first guide members 74 and the pair of second guide members 77 to the specified spacing. In order to set these spacings to the specified spacing, it is important to accurately align the pair of first guide members 74 when fixing them to the front first rotating member 74, and to accurately align the pair of second guide members 77 when fixing them to the left second rotating member 78.

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

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

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

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

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

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

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

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

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

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

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

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

The operating mechanism for a work machine of the present invention makes it possible to eliminate or reduce misalignment in the second direction caused by the mechanical fixing mechanism when attaching both ends of a pair of guide parts to a pair of support members, as well as slight misalignment in the second direction during the attachment work.

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

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

Furthermore, in this embodiment, the working machine of the present invention is described as having two first operating mechanisms 7 and two second operating mechanisms 8 that correspond to the working machine operating mechanisms of the present invention, but this is not limited thereto, and the working machine of the present invention may have one or three or more mechanisms that correspond to the working machine operating mechanisms of the present invention.

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

Claims (3)

1. An operation mechanism for a work machine, the operation lever for controlling an operation of the work machine in response to tilting in a first direction based on an operation command,
an actuator capable of tilting the operation lever in the first direction based on the driving command;
a pair of guide members extending from one end to the other end along the first direction so as to guide the operating lever, and provided opposite to each other so as to sandwich the operating lever in a second direction perpendicular to the first direction;
a pair of support members to which the pair of guide members are attached at the one end and the other end, respectively;
a positioning portion formed on the pair of support members for positioning at least one of the one end portion or the other end portion of each of the pair of guide members in the second direction ,
The positioning portion is configured by one or both of a recess and a protrusion formed on the support member in a third direction perpendicular to the first direction and the second direction, and is characterized in that it engages with at least a portion of at least one of the one end and the other end of each of the pair of guide members . 2. The operating mechanism for a work machine according to claim 1 , further comprising a bracket that covers at least a portion of an outer periphery of the operating lever and is sandwiched between the pair of guide members . A work machine comprising the operation mechanism for a work machine according to claim 1 or 2 .

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