JP2016030958A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remotely operate two work fronts simultaneously.SOLUTION: A remote operation device 40 is configured by including: a remote operation box 41 having an intermediate part 42 extending in the lateral direction, and left and right projecting parts 43, 44 projected respectively from left and right sides in the lateral direction of the intermediate part 42; a left remote operation lever 54L attached to the left projecting part 43 and formed rotatable in the vertical direction and in the fore-and-aft direction; and a right remote operation lever 54R attached to the right projecting part 44 and formed rotatable in the vertical direction and in the fore-and-aft direction. In this configuration, an operator grasps the left and right remote operation levers 54L, 54R simultaneously, controls the operation of a left work front 16L according to the operation on the left remote operation lever 54L, and meanwhile, controls the operation of a right work front 16R according to the operation on the right remote operation lever 54R, thereby the left work front 16L and the right work front 16R can be remotely operated simultaneously.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work machine used for a structure or waste dismantling work, a civil engineering work, and the like, and more particularly, to a work machine provided with a remote operation device for performing a remote operation.

  In general, a hydraulic excavator, which is a typical example of a work machine, includes a vehicle body that includes a self-propelled lower traveling body and an upper revolving body that is rotatably mounted on the lower traveling body. An articulated work front is provided.

  The work front of the hydraulic excavator includes a boom that is pivotably attached to the upper swing body, an arm that is pivotally attached to the tip of the boom, and a work tool that is pivotally attached to the tip of the arm. And an actuator such as a boom cylinder, an arm cylinder, and a work tool cylinder for driving them.

  Here, for example, a double-armed work machine provided with two work fronts has been proposed as a work machine used for dismantling work of structures and waste. This double-arm type work machine can disassemble the structure in a state where the structure is gripped by, for example, a grapple attached to one work front and a grapple attached to the other work front. Therefore, by gripping the broken pieces of the disassembled structure with the grapple, it is possible to eliminate the work of collecting and discarding the dropped pieces. In addition, when an object to be stored (stored material) is included in the structure, the work for holding the stored material using a crane or the like can be eliminated by gripping the stored material with a grapple. (See Patent Document 1).

  The above-described double-arm type work machine is provided with a driver's seat and left and right operating devices for operating the two work fronts in a cab mounted on the upper swing body, and is seated in the driver's seat. The operator operates the two work fronts with the left and right operating devices. This double-armed work machine is often used in a work environment such as dismantling work such as waste at a disaster site, or dismantling work such as a building. For this reason, depending on the work contents, dismantled waste and building debris may fall toward the vehicle body, which reduces the safety when the operator controls the operation of the work front with the operation device in the cab. There is a fear.

  On the other hand, a remote control device has been proposed for an operator to operate the work front at a position away from the vehicle body. In this remote control device, for example, when excavating a vertical shaft in the ground using a hydraulic excavator, an operator who has descended from the cab can remotely control the work front while viewing the vertical shaft ( Patent Document 2).

JP 2006-252224 A JP-A-7-203568

  However, in the remote control device according to Patent Document 2, an operator operates a plurality of operation levers protruding upward from the upper surface of the operation panel, so that one work front provided on the upper swing body of the excavator is opened. Remote control. For this reason, even if the remote control device according to Patent Document 2 is used, there is a problem that it is difficult to remotely control two work fronts simultaneously.

  The present invention has been made in view of the above-described prior art, and an object thereof is to provide a work machine including a remote operation device capable of remotely operating two work fronts simultaneously.

  In order to solve the above-described problems, the present invention provides a self-propelled vehicle body, a first work front provided on the vehicle body and operated by a plurality of first actuators, and the first work front and left and right. A second work front which is provided on the vehicle body side by side and is operated by a plurality of second actuators; and the vehicle body and the first and second work fronts which are remotely operated by an operator at a position away from the vehicle body The present invention is applied to a work machine including a remote control device that controls the operation.

  A feature of the invention of claim 1 is that the remote control device includes a remote operation comprising an intermediate portion extending in the left and right directions, and left and right protruding portions protruding upward from both left and right sides of the intermediate portion. A box and a base end side are attached to the left protruding portion of the remote control box, and a distal end side extends to the middle portion of the intermediate portion toward the right protruding portion, and is upward, downward, and forward with respect to the left protruding portion. , The left remote control lever that can be rotated backward, and the base end side is attached to the right protruding portion of the remote control box and the distal end side extends to the middle portion of the intermediate portion toward the left protruding portion, A right remote control lever that can be rotated upward, downward, forward, and backward with respect to the right protruding portion, and an upward, downward, forward, and backward rotation operation with respect to the left remote control lever. According Control the operation of the first actuator of the first work front, and the second work front of the second work front by rotating the right remote control lever in the upward, downward, forward and backward directions. The configuration is to control the operation of the actuator.

  According to the invention of claim 2, the remote control box is formed as a U-shaped box body opened upward by the intermediate portion, the left protruding portion, and the right protruding portion, and the left protruding portion and the left protruding portion An operation space for operating the left and right remote control levers is formed between the right protruding portion.

  According to a third aspect of the present invention, the remote control box of the remote control device has a remote operation for controlling another actuator different from the first and second actuators controlled by the left and right remote control levers. The configuration is such that a switch is provided.

  According to a fourth aspect of the present invention, the vehicle body is provided with a cab on which an operator rides, a driver seat on which the operator is seated, and a left side and a right side of the driver seat. The left in-vehicle operation device includes a left operation arm that extends forward from the left side of the driver's seat, and a left operation arm. A left in-vehicle operation lever attached to the base end side and capable of rotating upward, downward, forward, and rearward with respect to the left operation arm, and the right in-vehicle operation device moves forward from the right side of the driver seat. A right operation arm that extends to the right operation arm, and a right in-vehicle operation lever that is attached to the right operation arm and that is rotatable upward, downward, forward, and rearward relative to the right operation arm. By turning the left in-vehicle operation lever The first actuators of the first work front controlled by the first actuators of the first work front to be controlled and the turning operation of the left remote control lever provided in the remote control box. Each actuator is the same actuator, the first actuator on the second work front controlled by the turning operation of the right in-vehicle operation lever, and the right remote operation provided in the remote operation box The second actuator of the second work front controlled by the lever turning operation is the same actuator.

  The invention according to claim 5 is that the left projecting portion and the right projecting portion constituting the remote operation box of the remote control device are configured to be attachable to and removable from the intermediate portion.

  According to the first aspect of the present invention, the operator grasps and operates the left and right remote control levers of the remote control device at the same time, thereby operating the first actuator on the first work front, The operation of the second actuator on the work front can be controlled simultaneously. As a result, the operator can smoothly dismantle the structure using the first and second work fronts by operating the remote control device at a position away from the vehicle body.

  According to the invention of claim 2, the left and right remote control levers can be accommodated compactly in the operation space formed between the left protruding portion and the right protruding portion of the remote control box. The rotation operation for each remote control lever can be smoothly performed in the space. Moreover, the left and right remote control levers are arranged in the operation space surrounded by the left projecting part and the right projecting part, so that the left and right remote control can be performed even when the remote control device is dropped on the ground, for example. The lever can be protected.

  According to the third aspect of the invention, not only the actuator controlled by the turning operation with respect to the left and right remote control levers but also other actuators can be controlled by operating the remote control switch. As a result, a large number of actuators can be controlled by the remote control device.

  According to the invention of claim 4, the operator senses the operation when operating the left and right in-vehicle operation levers in the cab, and operates the left and right remote operation levers of the remote operation device at a position away from the vehicle body. It is possible to match the feeling of operation when doing. As a result, the operator can control the operation of the first and second work fronts without feeling uncomfortable, even when operating the in-vehicle operation device in the cab or operating the remote operation device away from the vehicle body, The workability can be improved.

  According to the invention of claim 5, when the left and right protruding portions are attached to the intermediate portion of the remote control box and are removable, for example, the intermediate portion and the left and right protruding portions are integrally formed. Compared to the above, the intermediate portion and the left and right protruding portions can be formed in a simple shape. As a result, the manufacturing cost of the remote control box can be reduced. Moreover, when attaching the left and right protruding parts to the intermediate part, the left and right remote control levers can be arranged at positions that are easy for the operator to operate by adjusting the mounting position of each protruding part with respect to the intermediate part. it can.

1 is a front view showing a double-armed hydraulic excavator as a work machine according to a first embodiment of the present invention together with an operator who operates a remote control device. It is a top view which shows a double arm type hydraulic excavator. It is a perspective view which shows the driver's seat arrange | positioned in the cab of a double arm type hydraulic excavator, the left and right vehicle-mounted operation apparatus. It is a perspective view which shows the state in which an operator operates a remote control device. It is a perspective view which shows a remote control device. It is the front view which looked at the remote control device from the arrow VI-VI direction in FIG. It is a front view which shows the state which the left and right remote control levers rotated to the up and down direction. It is the top view which looked at the remote control apparatus from the arrow VIII-VIII direction in FIG. It is a top view which shows the state which the left and right remote control levers rotated to the front and back. It is a block diagram which shows the system which controls the left and right traveling hydraulic motor, the turning hydraulic motor, and the left and right work fronts. It is a block diagram which shows the relationship between each detector of a remote control device, a transmitter, and a receiver. It is a perspective view similar to FIG. 5 which shows the remote control apparatus by the 2nd Embodiment of this invention. It is a perspective view similar to FIG. 5 which shows the remote control apparatus by a modification.

  Hereinafter, a working machine according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking as an example a case where the working machine is applied to a double-armed hydraulic excavator provided with two working fronts in one vehicle body. To do. 1 to 11 show a first embodiment of the present invention.

  In the figure, reference numeral 1 denotes a double-armed hydraulic excavator. The vehicle body of the double-armed hydraulic excavator 1 includes a self-propelled crawler type lower traveling body 2 and an upper revolving body 8 (described later) that is mounted on the lower traveling body 2 so as to be able to swivel. A left work front 16L and a right work front 16R, which will be described later, are provided on the front side of the upper swing body 8 so as to be spaced apart left and right with the cab 12 therebetween. The double-armed hydraulic excavator 1 is suitably used for, for example, a structure or waste dismantling work by operating the left work front 16L and the right work front 16R separately.

  Here, the lower traveling body 2 includes a track frame 3 serving as a base, and left and right drive wheels 5 provided on one side of the front and rear directions of the track frame 3 and driven to rotate by traveling hydraulic motors 4L and 4R. And left and right idler wheels 6 provided on the other front and rear sides of the track frame 3, and left and right crawler belts 7 wound around the drive wheels 5 and idler wheels 6. (The drive wheel 5, idler wheel 6, and crawler belt 7 are shown only on the left side).

  On the other hand, the upper turning body 8 is mounted on the lower traveling body 2 so as to be able to turn via the turning device 9, and performs a turning operation on the lower traveling body 2 by driving the turning hydraulic motor 10 of the turning device 9. Is.

  The upper swing body 8 includes a swing frame 11 serving as a base, a cab 12 provided in the center of the front portion of the swing frame 11 to define a driver's cab, and left and right operations provided on the rear end side of the swing frame 11. A counterweight 13 that balances the weight of the front 16L, 16R, an engine (not shown) mounted on the revolving frame 11 in front of the counterweight 13, and mounted equipment such as a hydraulic pump 59 described later; It is generally configured by an exterior cover 14 provided on the revolving frame 11 so as to cover the mounted device. In the cab 12, a driver's seat 26, which will be described later, and left and right in-vehicle operation devices 31L and 31R are provided.

  Here, as shown in FIG. 2, a left support bracket 15 </ b> L that supports a swing post 17 </ b> L of a left work front 16 </ b> L, which will be described later, is provided on the front left side of the revolving frame 11 so as to protrude forward. A right support bracket 15R that supports a swing post 17R of a right work front 16R, which will be described later, is provided on the right side of the front portion of the revolving frame 11 so as to protrude forward.

  Next, the left work front 16L as the first work front provided on the left side of the front part of the upper swing body 8 and the right work front as the second work front provided on the right side of the front part of the upper swing body 8 16R will be described. Here, the left work front 16L and the right work front 16R have the same configuration. Therefore, hereinafter, the configuration of the left work front 16L will be described, and for the right work front 16R, the subscript “L” of the component corresponding to the left work front 16L is changed to “R”, and the description will be given. Simplify.

  The left work front 16L as the first work front is located on the left front side of the revolving frame 11 so as to be located on the left side of the cab 12 and swingable left and right. The left work front 16L is attached to the left support bracket 15L of the swing frame 11 so as to be swingable in the left and right directions, and the base end side is attached to the swing post 17L so as to be rotatable upward and downward. A boom 18L, an arm 19L rotatably attached to the distal end side of the boom 18L, and a grapple 20L as a work tool rotatably attached to the distal end side of the arm 19L.

  The left work front 16L is provided as a first actuator for driving the left work front 16L, between a swing cylinder 21L provided between the swing post 17L and the swing frame 11, and between the swing post 17L and the boom 18L. A boom cylinder 22L, an arm cylinder 23L provided between the boom 18L and the arm 19L, a work implement cylinder 24L provided between the arm 19L and the grapple 20L, and a grapple opening for opening and closing the grapple 20L. And a closed cylinder 25L.

  The left work front 16L swings the swing post 17L in the left and right directions by expanding and contracting the swing cylinder 21L, and rotates the boom 18L and the arm 19L by extending and contracting the boom cylinder 22L and the arm cylinder 23L. Is moved to a desired working position. Then, the work tool cylinder 24L and the grapple opening / closing cylinder 25L are expanded and contracted, for example, to hold the waste to be disassembled by the grapple 20L.

  On the other hand, the right work front 16R as the second work front is located on the right front side of the cab 12 and is provided on the right front side of the revolving frame 11 so as to be swingable left and right. Like the left work front 16L, the right work front 16R includes a swing post 17R, a boom 18R, an arm 19R, and a grapple 20R, as well as a swing cylinder 21R, a boom cylinder 22R, an arm cylinder 23R as a second actuator, A tool cylinder 24R and a grapple opening / closing cylinder 25R are provided.

  In the cab 12 of the upper swing body 8, as shown in FIG. 3, a driver seat 26 on which an operator is seated and a floor plate 27 that forms a platform for the operator are provided. On the front side of the driver's seat 26, a left traveling pedal 28, a right traveling pedal 29, and a turning pedal 30 are provided side by side in the left and right directions.

  The left travel pedal 28 swings forward and backward as the operator performs a stepping operation. The left travel pedal 28 is provided with a left travel pedal displacement detector 28a. The left travel pedal displacement detector 28a detects the displacement amount in the front and rear directions of the left travel pedal 28, and according to the displacement amount. The detected signal is output to the control device 61 described later. Thus, the rotation of the left traveling hydraulic motor 4L is controlled in accordance with the swing direction of the left traveling pedal 28 and the amount of displacement (operation amount).

  The right travel pedal 29 swings forward and backward as the operator performs a stepping operation. The right travel pedal 29 is provided with a right travel pedal displacement detector 29a. The right travel pedal displacement detector 29a detects the amount of displacement in the front and rear directions of the right travel pedal 29, and according to the amount of displacement. The detected signal is output to the control device 61. Accordingly, the rotation of the right traveling hydraulic motor 4R is controlled in accordance with the swinging direction and the displacement amount (operation amount) of the right traveling pedal 29.

  The swivel pedal 30 swings left and right when the operator steps on the pedal. The swing pedal 30 is provided with a swing pedal displacement detector 30a. The swing pedal displacement detector 30a detects the left and right displacement amounts of the swing pedal 30, and generates a detection signal corresponding to the displacement amount. Output to the controller 61. Thus, the rotation of the swing hydraulic motor 10 is controlled according to the swinging direction of the swing pedal 30 and the amount of displacement (operation amount).

  On the left side of the driver's seat 26 is provided a left in-vehicle operation device 31L for an operator who has boarded the cab 12 to operate the left work front 16L, and on the right side of the driver's seat 26 is for operating the right work front 16R. A right in-vehicle operation device 31R is provided.

  Next, the left in-vehicle operation device 31L and the right in-vehicle operation device 31R will be described. Here, the left in-vehicle operation device 31L and the right in-vehicle operation device 31R have the same configuration. Therefore, hereinafter, the configuration of the left in-vehicle operation device 31L will be described, and for the right in-vehicle operation device 31R, the subscript “L” of the component corresponding to the left in-vehicle operation device 31L is changed to “R” and shown. The description is simplified.

  As shown in FIG. 3, the left in-vehicle operation device 31 </ b> L includes a rotation shaft 33 </ b> L rotatably supported by a hollow housing 32 </ b> L fixed to the left side of the driver's seat 26, and a base end side via a position adjustment mechanism 35 described later. And a left operating arm 34L that is connected to the rotating shaft 33L and extends forward from the driver's seat 26. The left operation arm 34L instructs the swing operation of the swing post 17L, and can swing left and right about the rotation shaft 33L. A swing displacement detector 34aL is provided in the housing 32L, and the swing displacement detector 34aL detects the swing displacement amount of the left operation arm 34L in the left and right directions around the rotation shaft 33L. Then, a detection signal corresponding to the displacement amount is output to the control device 61. Accordingly, the operation of the swing cylinder 21L is controlled in accordance with the swing direction and the displacement amount (operation amount) of the left operation arm 34L.

  A position adjustment mechanism 35L is provided between the rotation shaft 33L and the left operation arm 34L, and the position adjustment mechanism 35L allows the front, rear, upper, and lower mounting positions of the left operation arm 34L with respect to the rotation shaft 33L. It can be adjusted. The left operation arm 34L is integrally provided with a flat armrest 36L, and the left arm of the operator seated on the driver's seat 26 is placed on the armrest 36L.

  A base end side of a left in-vehicle operation lever 37L made of a cylindrical body is attached to a distal end portion of the left operation arm 34L, and the left in-vehicle operation lever 37L is held by the left hand of an operator seated in the driver seat 26. The left in-vehicle operation lever 37L instructs the rotation operation of the boom 18L and the rotation operation of the arm 19L, protrudes rightward from the distal end portion of the left operation arm 34L, and moves upward with respect to the distal end portion of the left operation arm 34L. , Downward (arrow A direction in FIG. 3) and forward and backward (arrow B direction in FIG. 3).

  On the distal end side of the left operation arm 34L, an up / down displacement detector 37aL and a forward / backward displacement detector 37bL are provided. The up / down direction displacement amount detector 37aL detects the up / down direction displacement amount of the left in-vehicle operation lever 37L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Accordingly, the operation of the boom cylinder 22L is controlled according to the rotation direction and the displacement amount (operation amount) of the left in-vehicle operation lever 37L. On the other hand, the front / rear direction displacement detector 37bL detects the front / rear direction displacement amount of the left in-vehicle operation lever 37L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Thus, the operation of the arm cylinder 23L is controlled according to the rotation direction and the displacement amount (operation amount) of the left in-vehicle operation lever 37L.

  A cylindrical left working tool rotation lever 38L is provided on the outer peripheral side of the left in-vehicle operation lever 37L. The left work implement rotation lever 38L instructs the rotation operation of the grapple 20L with respect to the arm 19L, and can rotate in the direction indicated by the arrow C in FIG. 3 about the axis of the left in-vehicle operation lever 37L. Yes.

  A left work tool operation switch 39L including a momentary switch (a rocker switch, a seesaw switch, etc.) is provided at the tip of the left in-vehicle operation lever 37L. The left work tool operation switch 39L is used to open and close the grapple 20L. An operation is instructed, and can be tilted upward and downward, for example.

  A rotational displacement detector 38aL and a switch displacement detector 39aL are provided on the inner peripheral side of the left in-vehicle operation lever 37L. The rotation displacement amount detector 38aL detects the rotation displacement amount of the left work tool rotation lever 38L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Thus, the operation of the work tool cylinder 24L is controlled in accordance with the turning direction and the displacement amount (operation amount) of the left work tool turning lever 38L.

  The switch displacement amount detector 39aL detects the tilt displacement amount of the left work implement operation switch 39L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Accordingly, the operation of the grapple opening and closing cylinder 25L is controlled in accordance with the tilting direction and the displacement amount (operation amount) of the left work tool operation switch 39L.

  On the other hand, the right in-vehicle operation device 31R includes a rotation shaft 33R rotatably supported by a housing 32R fixed to the right side of the driver seat 26, and a base end side attached to the rotation shaft 33R and extending forward from the driver seat 26. A right operating arm 34R for instructing the swinging motion of the swing post 17R, a position adjusting mechanism 35R for adjusting the mounting position of the right operating arm 34R with respect to the rotating shaft 33R, and an armrest 36R for placing the operator's right arm. have. The left and right swing displacement amount of the right operation arm 34R is detected by a swing displacement detector 34aR, and the operation of the swing cylinder 21R is controlled according to the swing direction and the displacement amount of the right operation arm 34R. .

  A right in-vehicle operation lever 37R for instructing a rotation operation of the boom 18R and a rotation operation of the arm 19R is provided at the distal end portion of the right operation arm 34R, and the right in-vehicle operation lever 37R extends from the distal end portion of the right operation arm 34R. It protrudes to the left and can be rotated upward, downward, forward, and backward with respect to the tip of the right operation arm 34R. The upward and downward displacement amount of the right in-vehicle operation lever 37R is detected by an up / down direction displacement detector 37aR, and the operation of the boom cylinder 22R is controlled according to the turning direction and the displacement amount of the right in-vehicle operation lever 37R. Is done. Also, the front and rear displacement amounts of the right in-vehicle operation lever 37R are detected by the front and rear direction displacement detectors 37bR, and the arm cylinder 23R operates according to the turning direction and the displacement amount of the right in-vehicle operation lever 37R. Is controlled.

  A right work tool rotation lever 38R for instructing a rotation operation of the grapple 20R relative to the arm 19R is provided on the outer peripheral side of the right vehicle operation lever 37R. The right work tool rotation lever 38R is a shaft of the right vehicle operation lever 37R. It can be rotated around the heart. A right work tool operation switch 39R for instructing an opening / closing operation of the grapple 20R is provided at the tip of the right in-vehicle operation lever 37R. The rotation displacement amount of the right work tool rotation lever 38R is detected by the rotation displacement amount detector 38aR, and the operation of the work tool cylinder 24R is controlled according to the rotation direction and the displacement amount of the right work tool rotation lever 38R. Is done. Further, the displacement amount of the right work tool operation switch 39R is detected by the switch displacement amount detector 39aR, and the operation of the grapple opening and closing cylinder 25R is controlled according to the tilt direction and the displacement amount of the right work tool operation switch 39R. .

  Next, the remote operation device 40 for remotely operating the double-arm hydraulic excavator 1 from a remote position will be described. As shown in FIGS. 5 to 9, the remote operation device 40 includes a remote operation box 41, which will be described later, a left remote operation lever 54L, and a right remote operation lever 54R.

  The remote control box 41 includes a rectangular parallelepiped box-shaped intermediate portion 42 extending in the left and right directions, and a rectangular parallelepiped box-shaped left protruding portion 43 disposed on the left end side of the intermediate portion 42 and protruding upward from the intermediate portion 42. And a right projecting portion 44 having a rectangular parallelepiped box shape disposed on the right end side of the intermediate portion 42 and projecting upward from the intermediate portion 42, is integrally formed as a substantially U-shaped box having an upper opening.

  The intermediate portion 42 is surrounded by an upper surface 42a, a lower surface 42b, a front surface 42c, and a rear surface 42d. The upper surface 42a includes left and right travel switches 49 and 50 as remote operation switches described later, left and right swing switches 51, 52, a turning switch 53 is provided. The left protruding portion 43 is surrounded by the upper surface 43a, the lower surface 43b, the front surface 43c, the rear surface 43d, the left side surface 43e, and the right side surface 43f, and is connected to the left end of the intermediate portion 42 so as to close the left side of the intermediate portion 42. Yes. The right protruding portion 44 is surrounded by the upper surface 44a, the lower surface 44b, the front surface 44c, the rear surface 44d, the left side surface 44e, and the right side surface 44f, and is connected to the right end portion of the intermediate portion 42 so as to close the right side of the intermediate portion 42. Yes.

  Here, the left protruding portion 43 and the right protruding portion 44 extend above the upper surface 42a of the intermediate portion 42, and the right side surface 43f of the left protruding portion 43 and the left side surface 43e of the right protruding portion 44 are in the left and right directions. And face each other at intervals. Thus, an operation space 45 is secured between the left protruding portion 43 and the right protruding portion 44 on the upper surface 42a side of the intermediate portion 42, and a left remote operation lever 54L, which will be described later, is secured in the operation space 45. And the right remote control lever 54R can be smoothly operated.

  A support plate 46 made of a substantially rectangular plate extending in the left and right directions is fixed to the rear surface 42d of the intermediate portion 42, the rear surface 43d of the left protruding portion 43, and the rear surface 44d of the right protruding portion 44. The support plate 46 has a larger left and right length dimension than the remote operation box 41, and the left end side of the support plate 46 protrudes leftward from the left projecting portion 43 of the remote operation box 41 to support it. The right end side of the plate 46 projects rightward from the right protruding portion 44 of the remote control box 41.

  A shoulder belt fixing portion 46a and a waist belt fixing portion 46b each having a rectangular hole are provided on both left and right ends of the support plate 46, respectively. As shown in FIG. 4, a shoulder belt 47 is fixed to the shoulder belt fixing portion 46a, and a waist belt 48 is fixed to the waist belt fixing portion 46b. Then, the shoulder belt 47 is hooked on the operator's shoulder and the waist belt 48 is hooked on the operator's waist, so that the operator can easily hold the remote control device 40 and hold the remote control device 40 in a stable state. It can be operated.

  Next, the remote operation switch provided in the remote operation box 41 will be described.

  A left travel switch 49 for instructing rotation of the left traveling hydraulic motor 4L and a right traveling hydraulic motor at the center in the left and right directions of the upper surface 42a of the intermediate portion 42 constituting the remote control box 41. A right travel switch 50 for instructing the rotation of 4R is provided side by side in the left and right directions.

  The left travel switch 49 is composed of a momentary switch (a rocker switch, a seesaw switch, etc.) and can be tilted forward and backward. The left travel switch 49 is provided with a switch displacement amount detector 49a. The switch displacement amount detector 49a detects a tilt displacement amount in the front and rear directions of the left travel switch 49, and a detection signal corresponding to the displacement amount. Is output to the control device 61. Thus, the rotation of the left traveling hydraulic motor 4L is controlled in accordance with the tilting direction of the left travel switch 49 and the amount of displacement (operation amount).

  Similarly to the left travel switch 49, the right travel switch 50 is also a momentary switch, and can be tilted forward and backward. The right travel switch 50 is provided with a switch displacement amount detector 50a. The switch displacement amount detector 50a detects a tilt displacement amount in the front and rear directions of the right travel switch 50, and a detection signal corresponding to the displacement amount. Is output to the control device 61. As a result, the rotation of the right traveling hydraulic motor 4R is controlled in accordance with the tilting direction and displacement amount (operation amount) of the right travel switch 50.

  In the upper surface 42a of the intermediate portion 42 constituting the remote control box 41, the left work front 16L (swing post 17L) is instructed to swing at positions where the left and right travel switches 49 and 50 are sandwiched from the left and right directions. And a right swing switch 52 for instructing swinging of the right work front 16R (swing post 17R).

  The left swing switch 51 is a momentary switch similar to the left travel switch 49 and can be tilted forward and backward. The left swing switch 51 is provided with a switch displacement amount detector 51a. The switch displacement amount detector 51a detects a tilt displacement amount in the front and rear directions of the left swing switch 51, and a detection signal corresponding to the displacement amount. Is output to the control device 61. Accordingly, the operation of the swing cylinder 21L is controlled in accordance with the tilting direction and the displacement amount (operation amount) of the left swing switch 51.

  The right swing switch 52 is also a momentary switch similar to the left travel switch 49, and can be tilted forward and backward. The right swing switch 52 is provided with a switch displacement amount detector 52a. The switch displacement amount detector 52a detects a tilt displacement amount in the front and rear directions of the right swing switch 52, and a detection signal corresponding to the displacement amount. Is output to the control device 61. Accordingly, the operation of the swing cylinder 21R is controlled according to the tilting direction and the displacement amount (operation amount) of the right swing switch 52.

  A turning switch 53 for controlling the operation of the turning hydraulic motor 10 is provided between the right protruding portion 44 and the right swing switch 52 in the upper surface 42a of the intermediate portion 42 constituting the remote operation box 41. The turning switch 53 is a momentary switch similar to the left travel switch 49, and can be tilted leftward and rightward. The swing switch 53 is provided with a switch displacement amount detector 53a. The switch displacement amount detector 53a detects a tilt displacement amount in the left and right directions of the swing switch 53 and controls a detection signal corresponding to the displacement amount. Output to the device 61. Thus, the rotation of the swing hydraulic motor 10 is controlled according to the tilting direction and the displacement amount (operation amount) of the swing switch 53.

  Next, the left remote control lever 54L attached to the left protruding portion 43 of the remote control device 40 and the right remote control lever 54R attached to the right protruding portion 44 will be described. Here, the left remote control lever 54L and the right remote control lever 54R have the same configuration. Therefore, hereinafter, the configuration of the left remote control lever 54L will be described, and for the right remote control lever 54R, the subscript “L” of the component corresponding to the left remote control lever 54L is changed to “R” and shown. The description is simplified.

  The left remote control lever 54L is formed of, for example, a cylindrical body extending in the left and right directions. The proximal end side is attached to the left protruding portion 43 of the remote operation box 41, and the distal end side is directed to the right protruding portion 44. It extends to the middle part in the vertical direction (left, right direction). The left remote operation lever 54L instructs the rotation operation of the boom 18L and the rotation operation of the arm 19L, and is directed upward and downward with respect to the left protruding portion 43 of the remote operation box 41 (indicated by an arrow A in FIG. 6). Direction) and forward and backward (arrow B direction in FIG. 8).

  Here, the upper and lower turning ranges of the left and right remote control levers 54L and 54R are set to the range shown in FIG. 7, for example, and the left remote control lever 54L is turned to the lowest position. However, a gap is formed between the upper surface 42a of the intermediate portion 42 of the remote operation box 41 and the left remote operation lever 54L so that the operator's finger is not pinched. On the other hand, the rotation range in the front and rear directions of the left and right remote control levers 54L and 54R is set, for example, to the range shown in FIG. 9, and the left remote control lever 54L is moved to the rearmost (support plate 46 side). Even when it is rotated, a gap is formed between the support plate 46 and the left remote control lever 54L so that the operator's finger is not caught. It should be noted that the left remote control lever 54L and the right remote control lever 54R are arranged in the left and right directions in a state in which the center of each axis coincides as shown in FIGS. The extended neutral position is maintained.

  Inside the left protruding portion 43, an up / down direction displacement detector 54aL and a front / back direction displacement detector 54bL are provided. The up / down displacement detector 54aL detects the up / down displacement of the left remote control lever 54L, and outputs a detection signal corresponding to the displacement to the controller 61. Accordingly, the operation of the boom cylinder 22L is controlled according to the turning direction and the displacement amount (operation amount) of the left remote control lever 54L. On the other hand, the front / rear direction displacement detector 54bL detects the front / rear direction displacement amount of the left remote control lever 54L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Accordingly, the operation of the arm cylinder 23L is controlled in accordance with the turning direction and the displacement amount (operation amount) of the left remote operation lever 54L.

  A cylindrical left working tool rotation lever 55L is provided on the outer peripheral side of the left remote control lever 54L. The left work tool turning lever 55L instructs the turning operation of the grapple 20L with respect to the arm 19L, and can turn in the direction indicated by the arrow C in FIG. 6 about the axis of the left remote control lever 54L. Yes.

  The left work tool operation switch 56L, which is a momentary switch, is provided at the tip of the left remote control lever 54L. The left work tool operation switch 56L instructs opening and closing of the grapple 20L. It can be tilted upward and downward.

  On the inner peripheral side of the left remote control lever 54L, a rotational displacement amount detector 55aL and a switch displacement amount detector 56aL are provided. The rotation displacement amount detector 55aL detects the rotation displacement amount of the left work implement rotation lever 55L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Thus, the operation of the work tool cylinder 24L is controlled in accordance with the turning direction and the displacement amount (operation amount) of the left work tool turning lever 55L.

  The switch displacement amount detector 56aL detects the tilt displacement amount of the left work tool operation switch 56L, and outputs a detection signal corresponding to the displacement amount to the control device 61. Accordingly, the operation of the grapple opening and closing cylinder 25L is controlled in accordance with the tilting direction and the displacement amount (operation amount) of the left work tool operation switch 56L.

  On the other hand, the right remote operation lever 54R is attached to the right projecting portion 44 of the remote operation box 41 at the base end side, and the distal end side is in the middle of the length direction (left, right direction) of the intermediate portion 42 toward the left projecting portion 43. It extends to the site. The right remote control lever 54R instructs the pivot operation of the boom 18R and the pivot operation of the arm 19R, and pivots upward, downward, forward, and backward with respect to the right projecting portion 44 of the remote operation box 41. It is possible. The upward and downward displacement amount of the right remote control lever 54R is detected by the upward and downward displacement detector 54aR, and the operation of the boom cylinder 22R is controlled according to the turning direction and the displacement amount of the right remote control lever 54R. Is done. Further, the front and rear displacement amounts of the right remote operation lever 54R are detected by the front and rear displacement amount detector 54bR, and the arm cylinder 23R operates in accordance with the turning direction and displacement amount of the right remote operation lever 54R. Is controlled.

  A right work tool turning lever 55R for instructing a turning operation of the grapple 20R relative to the arm 19R is provided on the outer peripheral side of the right remote control lever 54R. The right work tool turning lever 55R is a shaft of the right remote operation lever 54R. It can be rotated around the heart. A right work tool operation switch 56R for instructing an opening / closing operation of the grapple 20R is provided at the tip of the right remote control lever 54R. The rotation displacement amount of the right work tool rotation lever 55R is detected by a rotation displacement amount detector 55aR, and the operation of the work tool cylinder 24R is controlled according to the rotation direction and the displacement amount of the right work tool rotation lever 55R. Is done. The displacement amount of the right work tool operation switch 56R is detected by the switch displacement amount detector 56aR, and the operations of the grapple opening and closing cylinders 25R are controlled according to the tilt direction and the displacement amount of the right work tool operation switch 56R. .

  A transmitter 57 is provided inside the remote operation box 41 constituting the remote operation device 40. As shown in FIG. 11, the transmitter 57 includes detectors provided in the remote control device 40, that is, a switch displacement amount detector 49a of the left travel switch 49, a switch displacement amount detector 50a of the right travel switch 50, Switch displacement amount detector 51a of the left swing switch 51, switch displacement amount detector 52a of the right swing switch 52, switch displacement amount detector 53a of the turning switch 53, upper and lower direction displacement amount detector 54aL of the left remote control lever 54L. Further, the front and rear displacement detector 54bL, the right remote control lever 54R, the upper and lower displacement detector 54aR, the front and rear displacement detector 54bR, and the left work implement rotation lever 55L are detected. 55aL, rotation displacement amount detector 55aR of the right work tool rotation lever 55R, switch displacement amount detector 56a of the left work tool operation switch 56L Receives the detection signal from the switch displacement detector 56aR of the right working tool operation switch 56R, the detection signal is transmitted to the receiver 58 provided on the dual arm hydraulic excavator 1.

  Next, a control system of the double arm type hydraulic excavator 1 will be described.

  As shown in FIG. 10, left and right traveling hydraulic motors 4L and 4R, swing hydraulic motor 10, swing cylinders 21L and 21R, boom cylinders 22L and 22R, arm cylinders provided on left and right work fronts 16L and 16R, A control valve 60 is provided between the hydraulic pumps 59 and 23L, 23R, the work tool cylinders 24L, 24R, the grapple open / close cylinders 25L, 25R. The control valve 60 is composed of an assembly of electromagnetic pilot type directional control valves, and by supplying a drive signal from the control device 61 to the electromagnetic pilot section, the pressure oil discharged from the hydraulic pump 59 is selectively supplied to each actuator. To supply.

  The control device 61 includes a remote operation switching unit 61a. The remote operation switching unit 61a includes a left travel pedal displacement detector 28a, a right travel pedal displacement detector 29a, a turning pedal displacement detector 30a, Swing displacement detector 34aL of the operating arm 34L, swing displacement detector 34aR of the right operating arm 34R, left in-vehicle operation lever 37L, upper and lower displacement detector 37aL, and front and rear displacement detector 37bL. , The upper and lower displacement detector 37aR and the front / rear displacement detector 37bR of the right in-vehicle operation lever 37R, the rotational displacement detector 38aL of the left working tool turning lever 38L, and the right working tool turning lever 38R. Rotation displacement amount detector 38aR, left work implement operation switch 39L switch displacement amount detector 39aL, right work implement operation switch 39R switch displacement amount detector 39aR. It is.

  Further, a receiver 58 is connected to the remote operation switching unit 61a of the control device 61, and a remote operation ON / OFF switch for selecting whether or not to operate the double-armed hydraulic excavator 1 using the remote operation device 40. 62 is connected. The remote operation ON / OFF switch 62 is disposed, for example, in the cab 12 and is turned on when performing remote operation, and is turned off when remote operation is not performed.

  When the remote operation ON / OFF switch 62 is turned OFF, the control device 61 has left and right traveling pedals 28 and 29, a turning pedal 30, and left and right vehicle-mounted operation devices 31L and 31R arranged in the cab 12. Select the operation for. In this case, calculation is performed based on detection signals from the left and right travel pedal displacement detectors 28a and 29a arranged in the cab 12, and then the left and right driving signal generators 61b and 61c A drive signal for driving the traveling hydraulic motors 4 </ b> L and 4 </ b> R is generated and output to the electromagnetic pilot section of the control valve 60. Accordingly, the rotation of the left and right traveling hydraulic motors 4L and 4R is controlled in accordance with the operation of the left and right traveling pedals 28 and 29.

  Similarly, the drive signal generator 61d of the control device 61 generates a drive signal for driving the swing hydraulic motor 10 based on the detection signal from the swing pedal displacement detector 30a, and this is used as the control valve 60. Output to the electromagnetic pilot. Thereby, the rotation of the swing hydraulic motor 10 is controlled according to the operation of the swing pedal 30.

  The drive signal generator 61eL of the control device 61 generates a drive signal for driving the swing cylinder 21L based on the detection signal from the swing displacement detector 34aL. The drive signal generator 61fL A drive signal for driving the boom cylinder 22L is generated based on the detection signal from the downward displacement detector 37aL, and the drive signal generator 61gL is based on the detection signal from the front and rear displacement detector 37bL. Then, a drive signal for driving the arm cylinder 23L is generated, and the drive signal generator 61hL generates a drive signal for driving the work tool cylinder 24L based on the detection signal from the rotational displacement detector 38aL. The drive signal generator 61jL drives the grapple open / close cylinder 25L based on the detection signal from the switch displacement detector 39aL. Generating a drive signal.

  Then, the drive signal generated by the drive signal generators 61eL, 61fL, 61gL, 61hL, 61jL is output to the electromagnetic pilot part of the control valve 60, so that the left work front 16L according to the operation on the left in-vehicle operation device 31L. Can be controlled.

  The drive signal generator 61eR of the control device 61 generates a drive signal for driving the swing cylinder 21R based on the detection signal from the swing displacement detector 34aR, and the drive signal generator 61fR A drive signal for driving the boom cylinder 22R is generated based on the detection signal from the downward displacement detector 37aR, and the drive signal generator 61gR is based on the detection signal from the front and rear displacement detector 37bR. The drive signal for driving the arm cylinder 23R is generated, and the drive signal generator 61hR generates a drive signal for driving the work tool cylinder 24R based on the detection signal from the rotational displacement detector 38aR. The drive signal generator 61jR drives the grapple open / close cylinder 25R based on the detection signal from the switch displacement detector 39aR. Generating a drive signal.

  Then, the drive signals generated by the drive signal generators 61eR, 61fR, 61gR, 61hR, 61jR are output to the electromagnetic pilot part of the control valve 60, so that the right work front 16R is operated according to the operation on the right in-vehicle operation device 31R. Can be controlled.

  On the other hand, the control device 61 selects an operation for the remote operation device 40 when the remote operation ON / OFF switch 62 is turned on. In this case, calculation is performed based on the signal from the receiver 58, that is, the detection signals from the left and right switch displacement detectors 49a and 50a provided in the remote control device 40, and then the drive signal is generated. Drive signals for driving the left and right traveling hydraulic motors 4L and 4R are generated in the portions 61b and 61c, and are output to the electromagnetic pilot portion of the control valve 60. Thus, the rotation of the left and right traveling hydraulic motors 4L and 4R is controlled in accordance with the operation of the left and right traveling switches 49 and 50.

  Similarly, the drive signal generation unit 61d of the control device 61 generates a drive signal for driving the swing hydraulic motor 10 based on the detection signal from the switch displacement amount detector 53a, and this is generated by the control valve 60. Output to the electromagnetic pilot section. Thereby, the rotation of the swing hydraulic motor 10 is controlled according to the operation of the swing switch 53.

  The drive signal generator 61eL of the control device 61 generates a drive signal for driving the swing cylinder 21L based on the detection signal from the switch displacement detector 51a of the left swing switch 51, and the drive signal generator 61fL. Generates a drive signal for driving the boom cylinder 22L based on the detection signal from the up / down direction displacement detector 54aL, and the drive signal generator 61gL generates a signal from the front / rear direction displacement detector 54bL. A drive signal for driving the arm cylinder 23L is generated based on the detection signal, and the drive signal generator 61hL is a drive for driving the work tool cylinder 24L based on the detection signal from the rotational displacement detector 55aL. The drive signal generator 61jL generates a signal and opens / closes the grapple based on the detection signal from the switch displacement detector 56aL. Generating a driving signal for driving the cylinder 25L.

  The drive signals generated by the drive signal generators 61eL, 61fL, 61gL, 61hL, and 61jL are output to the electromagnetic pilot unit of the control valve 60, whereby the left swing switch 51 and the left remote control lever of the remote control device 40 are output. The operation of the left work front 16L can be controlled in accordance with the operations on 54L, the left work tool turning lever 55L, and the left work tool operation switch 56L.

  On the other hand, the drive signal generation unit 61eR of the control device 61 generates a drive signal for driving the swing cylinder 21R based on the detection signal from the switch displacement amount detector 52a of the right swing switch 52, and the drive signal generation unit 61fL. Generates a drive signal for driving the boom cylinder 22R based on the detection signal from the up / down direction displacement detector 54aR, and the drive signal generator 61gL outputs the drive signal from the front / rear direction displacement detector 54bR. A drive signal for driving the arm cylinder 23R is generated based on the detection signal, and the drive signal generator 61hR is a drive for driving the work tool cylinder 24R based on the detection signal from the rotational displacement detector 55aR. The drive signal generator 61jR generates a signal and opens / closes the grapple based on the detection signal from the switch displacement detector 56aR. Generating a driving signal for driving the cylinder 25R.

  The drive signals generated by the drive signal generators 61eR, 61fR, 61gR, 61hR, 61jR are output to the electromagnetic pilot part of the control valve 60, whereby the right swing switch 52 and the right remote control lever of the remote control device 40 are output. The operation of the right work front 16R can be controlled in accordance with operations on the 54R, the right work tool rotating lever 55R, and the right work tool operation switch 56R.

  The double-armed hydraulic excavator 1 according to the present embodiment has the above-described configuration, and the operation thereof will be described below.

  First, when the operator operates the left and right in-vehicle operation devices 31L and 31R in the cab 12, the remote operation ON / OFF switch 62 is turned OFF. Accordingly, the control device 61 selects an operation for the left and right traveling pedals 28 and 29, the turning pedal 30, and the left and right vehicle-mounted operating devices 31L and 31R arranged in the cab 12.

  In this state, the operator seated in the driver's seat 26 controls the rotation of the left and right traveling hydraulic motors 4L and 4R by stepping on the left and right traveling pedals 28 and 29, and the double-arm hydraulic excavator is controlled. 1 performs a running operation. Further, when the operator depresses the swing pedal 30, the rotation of the swing hydraulic motor 10 is controlled, and the upper swing body 8 performs a swing operation.

  When operating the left work front 16L, the operator holds the left in-vehicle operation lever 37L with the left hand while the left arm is placed on the armrest 36L of the left operation arm 34L. In this state, by swinging the left operation arm 34L in the left and right directions, the swing cylinder 21L can be expanded and contracted, and the swing post 17L can be swung in the left and right directions. Further, by rotating the left in-vehicle operation lever 37L upward and downward, the boom cylinder 22L can be expanded and contracted to rotate the boom 18L, and the left in-vehicle operation lever 37L is rotated forward and backward. Thus, the arm 19L can be rotated by extending and contracting the arm cylinder 23L.

  Further, by rotating the left work tool rotating lever 38L, the work tool cylinder 24L can be expanded and contracted to rotate the grapple 20L, and by tilting the left work tool operation switch 39L, the grapple opening and closing cylinders can be rotated. The grapple 20L can be opened and closed by expanding and contracting 25L.

  On the other hand, when operating the right work front 16R, the operator holds the right in-vehicle operation lever 37R with the right hand while the right arm is placed on the armrest 36R of the right operation arm 34R. In this state, the swing cylinder 21R is expanded and contracted by swinging the right operation arm 34R in the left and right directions, and the swing post 17R can be swung in the left and right directions. Further, by rotating the right in-vehicle operation lever 37R upward and downward, the boom cylinder 22R can be expanded and contracted to rotate the boom 18R, and the right in-vehicle operation lever 37R is rotated forward and backward. Thus, the arm cylinder 23R can be expanded and contracted to rotate the arm 19R.

  Further, by rotating the right work tool rotating lever 38R, the work tool cylinder 24R can be expanded and contracted to rotate the grapple 20R, and by tilting the right work tool operation switch 39R, the grapple opening and closing cylinders can be rotated. The grapple 20R can be opened and closed by expanding and contracting 25R.

  In this way, the left work front 16L is controlled by controlling the operation of the left work front 16L according to the operation on the left in-vehicle operation device 31L, and the operation of the right work front 16R according to the operation on the right in-vehicle operation device 31R. And the operation of the right work front 16R can be controlled simultaneously. Thereby, the dismantling operation | work of a structure, etc. can be performed efficiently using the two work fronts 16L and 16R.

  Next, when the operator operates the remote operation device 40 at a position away from the double-arm hydraulic excavator 1, the remote operation ON / OFF switch 62 is turned ON. As a result, the control device 61 includes left and right travel switches 49 and 50, left and right swing switches 51 and 52, a turn switch 53, and left and right remote control levers 54L and 54R provided in the remote operation device 40. Select the operation for.

  In this case, as shown in FIG. 4, the operator can comfortably hang the shoulder belt 47 fixed to the support plate 46 of the remote control device 40 on the shoulder and the waist belt 48 on the waist. The remote operation device 40 can be operated with the remote operation device 40 held.

  In this state, when the operator tilts the left and right traveling switches 49 and 50, the rotation of the left and right traveling hydraulic motors 4L and 4R is controlled, and the double-armed hydraulic excavator 1 performs the traveling operation. . Further, when the operator tilts the turning switch 53, the rotation of the turning hydraulic motor 10 is controlled, and the upper turning body 8 performs the turning operation.

  Further, when operating the left work front 16L, the operator tilts the left swing switch 51. As a result, the swing cylinder 21L expands and contracts, and the swing post 17L can be swung left and right. Further, the operator can rotate the boom cylinder 22L to rotate the boom 18L by rotating the left remote control lever 54L upward and downward, and the left remote control lever 54L can be moved forward and backward. By rotating, the arm cylinder 23L can be expanded and contracted to rotate the arm 19L.

  Further, by rotating the left work tool rotation lever 55L, the work tool cylinder 24L can be expanded and contracted to rotate the grapple 20L, and the left work tool operation switch 56L is tilted to open and close the grapple. The grapple 20L can be opened and closed by expanding and contracting the cylinder 25L.

  On the other hand, when operating the right work front 16R, the operator tilts the right swing switch 52. As a result, the swing cylinder 21R expands and contracts, and the swing post 17R can be swung left and right. Further, the operator can rotate the boom cylinder 22R to rotate the boom 18R by rotating the right remote operation lever 54R upward and downward, and the right remote operation lever 54R can be moved forward and backward. By pivoting, the arm cylinder 23R can be expanded and contracted to pivot the arm 19R.

  Further, by rotating the right work tool rotating lever 55R, the work tool cylinder 24R can be expanded and contracted to rotate the grapple 20R, and the right work tool operation switch 56R is tilted to open and close the grapple. The grapple 20R can be opened and closed by expanding and contracting the cylinder 25R.

  As described above, the operator holds the left and right remote control levers 54L and 54R provided in the remote control device 40 at the same time, and controls the left work front 16L according to the operations on the left swing switch 51 and the left remote control lever 54L. The left work front 16L and the right work front 16R can be remotely operated simultaneously by controlling the action and controlling the action of the right work front 16R according to the operations on the right swing switch 52 and the right remote control lever 54R. . Thus, for example, even in a work site where it is dangerous for an operator to operate the left and right in-vehicle operation devices 31L and 31R in the cab 12, such as in a disaster site or a building dismantling operation, the remote operation device 40 is used for the dual operation. The arm-type hydraulic excavator 1 can be remotely operated.

  In this case, in the present embodiment, the left in-vehicle operation lever 37L of the left in-vehicle operation device 31L is turned up and down, and the left remote operation lever 54L of the remote operation device 40 is in the up and down direction. The operation of the boom cylinder 22L, which is the same actuator, can be controlled when the rotation operation is performed. Further, when the left in-vehicle operation lever 37L of the left in-vehicle operation device 31L is operated to rotate forward and backward, and when the left remote operation lever 54L of the remote operation device 40 is operated to rotate forward and backward, The operation of the arm cylinder 23L, which is the same actuator, can be controlled.

  Furthermore, the work that is the same actuator is performed when the left work tool turning lever 38L of the left in-vehicle operation device 31L is turned and when the left work tool turning lever 55L of the remote operation device 40 is turned. The operation of the tool cylinder 24L can be controlled. The grapple opening and closing cylinders that are the same actuator are used when the left work tool operation switch 39L of the left in-vehicle operation device 31L is tilted and when the left work tool operation switch 56L of the remote operation device 40 is tilted. The operation of 25L can be controlled.

  Similarly, when operating the right in-vehicle operation lever 37R of the right in-vehicle operation device 31R and when operating the right remote operation lever 54R of the remote operation device 40, the boom cylinder 22R and the arm cylinder which are the same actuators are used. The operation of 23R can be controlled. In addition, when the right work tool rotating lever 38R of the right in-vehicle operation device 31R is operated and when the right work tool rotating lever 38R of the remote operation device 40 is operated, the work tool cylinder 24R which is the same actuator is used. The operation can be controlled.

  For this reason, the operation feeling when the operator operates the left and right in-vehicle operation levers 37L and 37R in the cab 12, and the operation when the left and right remote operation levers 54L and 54R of the remote operation device 40 are operated. Can match the senses. Further, the operation feeling when operating the left and right work tool rotating levers 38L and 38R in the cab 12 and the operation feeling when operating the left and right work tool rotating levers 55L and 55R of the remote control device 40 are described. Can match the senses.

  As a result, the operator can operate the left and right in-vehicle operation devices 31L and 31R in the cab 12 or operate the remote operation device 40 away from the double-armed hydraulic excavator 1 without feeling uncomfortable. The operation of the work fronts 16L and 16R can be controlled, and the workability can be improved.

  Further, according to the present embodiment, the remote operation box 41 constituting the remote operation device 40 is a U-shaped box body whose upper part is opened by the intermediate part 42, the left projecting part 43, and the right projecting part 44. The operation space 45 is formed between the left protruding portion 43 and the right protruding portion 44. Therefore, the left and right remote control levers 54L and 54R can be accommodated in the operation space 45 in a compact manner, and the rotation operation for the remote control levers 54L and 54R can be smoothly performed in the operation space 45. . Moreover, the left and right remote control levers 54L and 54R are disposed in the operation space 45 surrounded by the left protruding portion 43 and the right protruding portion 44, so that, for example, even when the remote control device 40 is dropped on the ground. The left and right remote control levers 54L and 54R can be protected.

  Further, according to the present embodiment, the left and right swing switches 51 and 52 as remote operation switches are provided for the remote operation box 41 of the remote operation device 40 separately from the left and right remote operation levers 54L and 54R. It is set as the structure which provides. Accordingly, the left and right swing switches 51 and 52 are tilted and operated as well as the boom cylinders 22L and 22R and the arm cylinders 23L and 23R controlled by the rotation operation with respect to the left and right remote control levers 54L and 54R. Thus, the left and right swing cylinders 21L and 21R can also be controlled. As a result, a large number of actuators can be controlled by the remote operation device 40 by appropriately providing not only the left and right remote operation levers 54L and 54R but also remote operation switches.

  Next, FIG. 12 shows a second embodiment of the present invention. The feature of the present embodiment is that the left protruding portion and the right protruding portion constituting the remote control box of the remote control device are separated from the intermediate portion. This means that it can be installed and removed. In the second embodiment, the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.

  The remote control device 63 according to the second embodiment has a substantially U-shaped remote control box 64 that opens upward, as with the remote control device 40 according to the first embodiment. However, the first embodiment differs from the first embodiment in that the left projecting portion 66 and the right projecting portion 67 are attached to and removable from the intermediate portion 65 constituting the remote control box 64.

  Here, the intermediate part 65 is formed in a rectangular parallelepiped box shape extending in the left and right directions. A left mounting hole 65b and a right mounting hole 65c, which are rectangular square holes, are formed on both left and right ends of the upper surface 65a of the intermediate portion 65.

  The left protruding portion 66 and the right protruding portion 67 are formed in a rectangular parallelepiped box shape extending upward and downward, respectively. The left protruding portion 66 is fixed to the intermediate portion 65 using a fastener (not shown) such as a bolt with the lower end side inserted into the left mounting hole 65b of the intermediate portion 65. The right protruding portion 67 is also fixed to the intermediate portion 65 using a fastener (not shown) such as a bolt with the lower end side thereof inserted into the right mounting hole 65c of the intermediate portion 65.

  The remote control device 63 according to the second embodiment uses the remote control box 64 as described above. By forming the intermediate portion 65, the left protruding portion 66, and the right protruding portion 67 as separate members, these are provided. Since the shapes of the intermediate portion 65, the left protruding portion 66, and the right protruding portion 67 can be a simple rectangular parallelepiped shape, the manufacturing cost of the remote control box 64 can be reduced. In addition, when attaching the left and right protruding portions 66 and 67 to the intermediate portion 65, the left and right protruding portions 66 are adjusted by adjusting the mounting positions (heights) of the protruding portions 66 and 67 with respect to the intermediate portion 65. , 67 can be disposed at positions where the left and right remote control levers 54L, 54R can be easily operated by the operator.

  In the second embodiment described above, left and right mounting holes 65b and 65c are formed in the intermediate portion 65 of the remote control box 64, and the lower end side of the left protruding portion 66 is inserted into the left mounting hole 65b. The case where the lower end side of the right protruding portion 67 is inserted into the right mounting hole 65c is illustrated.

  However, the present invention is not limited to this, and for example, a remote control box 68 such as a modification shown in FIG. 13 may be configured. That is, the remote control box 68 includes a rectangular parallelepiped box-shaped intermediate portion 69 extending in the left and right directions, and a left protruding portion 70 and a right protruding portion formed in rectangular parallelepiped box shapes extending upward and downward, respectively. 71. An attachment hole 70b is formed on the lower end side of the right side surface 70a of the left protrusion 70, and an attachment hole 71b is formed on the lower end side of the left side surface 71a of the right protrusion 71. Then, the left end side of the intermediate portion 69 is inserted into the mounting hole 70b of the left protruding portion 70, and the right end side of the intermediate portion 69 is inserted into the mounting hole 71b of the right protruding portion 71 to the left with respect to the intermediate portion 69. The right protrusions 70 and 71 may be fixed using bolts or the like.

  Moreover, in embodiment mentioned above, the case where grapples 20L and 20R are used as the working tools of the left and right work fronts 16L and 16R is illustrated. However, the present invention is not limited to this, and working tools other than the grapples 20L and 20R, for example, other working tools such as a bucket, a reinforcing bar cutter, and a breaker may be used. Also, different work tools may be attached to the left work front 16L and the right work front 16R.

  Furthermore, in embodiment mentioned above, the double-arm type hydraulic excavator 1 provided with the left and right vehicle-mounted operating device 31L and 31R operated by the operator who boarded the cab 12 is illustrated. However, the present invention is not limited to this, and can also be applied to a work machine that is only remotely operated by the remote operation device 40.

2 Lower traveling body (car body)
8 Upper swing body (car body)
12 Cab 16L Left work front (first work front)
16R Right work front (second work front)
21L Swing cylinder (first actuator)
22L Boom cylinder (first actuator)
23L arm cylinder (first actuator)
24L Work tool cylinder (first actuator)
25L grapple open, closed cylinder (first actuator)
21R Swing cylinder (second actuator)
22R Boom cylinder (second actuator)
23R Arm cylinder (second actuator)
24R Work tool cylinder (second actuator)
25R grapple open, closed cylinder (second actuator)
26 Driver's seat 31L Left in-vehicle operation device 31R Right in-vehicle operation device 34L Left operation arm 34R Right operation arm 37L Left in-vehicle operation lever 37R Right in-vehicle operation lever 40, 63 Remote operation device 41, 64, 68 Remote operation box 42, 65, 69 Intermediate part 43, 66, 70 Left projecting part 44, 67, 71 Right projecting part 45 Operation space 51 Left swing switch (remote control switch)
52 Right swing switch (remote control switch)
53 Rotation switch 54L Left remote control lever 54R Right remote control lever

Claims (5)

A self-propelled vehicle body, a first work front provided on the vehicle body and operated by a plurality of first actuators, and a plurality of work vehicles provided on the vehicle body side by side in the left and right directions with the first work front. A second work front that is actuated by the second actuator, and a remote control device that is remotely operated by an operator at a position away from the car body and controls the operation of the car body and the first and second work fronts. In work machines,
The remote control device includes a remote control box including an intermediate portion extending in the left and right directions, and left and right protruding portions protruding upward from both left and right directions of the intermediate portion;
A proximal end is attached to the left projecting portion of the remote control box and a distal end extends toward the middle portion of the intermediate portion toward the right projecting portion, and is upward, downward, forward, and rearward with respect to the left projecting portion. Left remote control lever that can be rotated
A proximal end is attached to the right projecting portion of the remote control box, and a distal end side extends to the middle portion of the intermediate portion toward the left projecting portion, and is upward, downward, forward, and rearward with respect to the right projecting portion. With a right remote control lever that can be rotated,
The operation of the first actuator of the first work front is controlled by the upward, downward, forward, and backward turning operations with respect to the left remote control lever, and the upward, downward, and forward directions with respect to the right remote operation lever. The working machine is configured to control the operation of the second actuator of the second work front by a backward turning operation.   The remote control box is formed as a U-shaped box having an upper portion opened by the intermediate portion, the left protruding portion, and the right protruding portion, and between the left protruding portion and the right protruding portion. The work machine according to claim 1, wherein an operation space for operating the left and right remote control levers is formed.   The remote operation box of the remote operation device is provided with a remote operation switch for controlling another actuator different from the first and second actuators controlled by the left and right remote operation levers. Item 3. The work machine according to Item 1 or 2. The vehicle body is provided with a cab on which an operator is boarded, and a driver's seat on which the operator is seated and the operation of the first and second work fronts arranged on both the left and right sides with the driver's seat in between. It is configured to provide left and right on-board operation devices to be controlled,
The left in-vehicle operation device includes a left operation arm extending forward from the left side of the driver's seat, and a base end side attached to the left operation arm, in an upward, downward, front, and rearward direction with respect to the left operation arm. It has a left in-vehicle operation lever that can be rotated,
The right in-vehicle operation device includes a right operation arm extending forward from the right side of the driver's seat, a base end side attached to the right operation arm, and upward, downward, forward, and rearward with respect to the right operation arm. With a right in-vehicle operation lever that can be rotated,
Each of the first actuators on the first work front controlled by the turning operation of the left in-vehicle operation lever, and the turning of the left remote operation lever provided in the remote operation box. Each of the first actuators on the first work front is the same actuator;
The first actuators of the second work front controlled by the rotation operation of the right in-vehicle operation lever, and the rotation controlled by the right remote operation lever provided in the remote operation box. The work machine according to claim 1, 2, or 3, wherein each of the second actuators on the second work front is the same actuator.   The said left protrusion part and said right protrusion part which comprise the said remote control box of the said remote control apparatus are comprised with respect to the said intermediate part, and it comprises so that removal is possible, The structure of Claim 1, 2, 3 or 4 Work machine.

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