JP2016114129A - Electric type operation device and work machine with electric type operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric type operation device and a work machine including the same in which a hydraulic actuator can be driven at a speed equal to or less than that of normal state even if there occurs an irregular state in which electromagnetic proportional valves are closed due to trouble or another irregular state in which a controller is stopped.SOLUTION: This invention relates to an electric type operation device 100A comprising electromagnetic proportional valves 43 to 50 for reducing a pilot hydraulic pressure and a controller 100. There are provided emergency operation means 1e to 1j operated at the time of emergency to output a signal corresponding to an amount of operation; electromagnetic valves 53 to 58 driven by signals got from the emergency operation means so as to guide the pilot hydraulic pressure; and high pressure selector valves 33 to 38 for selecting a higher pressure from hydraulic oil from each of the electromagnetic proportional valves and hydraulic oil from each of the electromagnetic valves and outputting it. A pilot hydraulic adjustment means 2h changes a setting of discharging pressure of a hydraulic source 2g in response to an instruction signal got from the controller and sets it lower than a prescribed pressure when the instruction signal from the controller disappears.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electric operating device and a work machine including the electric operating device.

  In general, a work machine such as a hydraulic excavator supplies an engine, a hydraulic pump driven by the engine, a hydraulic actuator that drives a working device such as a boom by hydraulic oil supplied from the hydraulic pump, and a hydraulic pump that supplies the hydraulic actuator to the hydraulic actuator. A control valve for controlling the flow rate and direction of the hydraulic oil to be operated, and an operating device for controlling the opening degree of the control valve.

  Because of the simplification of hydraulic piping and high compatibility with machine control, an electric lever that outputs an electric signal according to the operation amount, an electromagnetic proportional valve driven by this electric signal, and driving of the electromagnetic proportional valve There is known an electric operation device that drives a hydraulic actuator by applying a pilot pressure generated by the above to a control valve (see, for example, Patent Documents 1 and 2).

  In Patent Document 1, even when the electric lever itself breaks down, the safety of the work machine that enables an operation such as changing the posture of the hydraulic actuator when the work machine is moved to a safe repair place or the like. An apparatus is disclosed. The safety device includes a determination unit that determines whether or not the operation signal output by the electric lever is within a normal range. When the operation signal is determined not to be within the normal range, the safety device is determined to be within the normal range. Rather, the hydraulic actuator is allowed to drive while restricting the flow of pressure oil to the hydraulic actuator.

  Patent Document 2 discloses a pilot control device that aims to realize high controllability and responsiveness with a simple configuration and low cost. This pilot control device is a control device for a control valve that adjusts the flow rate of hydraulic oil to an actuator that controls a pilot pressure to drive the work device in a work machine equipped with a hydraulically driven work device, An operating device that is operated by an operator of the working device and outputs an electric signal corresponding to the operation amount, and a first electric oil that outputs a first pilot pressure oil having a hydraulic pressure corresponding to the magnitude of the input electric signal One of the high pressures of the conversion valve, the second electric oil conversion valve that outputs the second pilot pressure oil of a predetermined pressure when the electric signal is input, and the first pilot pressure oil and the second pilot pressure oil A high pressure selection valve that outputs the pilot pressure oil of the control valve, and a cut valve that can block the flow of the second pilot pressure oil output from the second electric oil conversion valve to the high pressure selection valve And the operating device Depending on the output electrical signal, is characterized by comprising a controller for controlling the flow of said second pilot pressure oil in the cut valve.

JP 2008-215421 A JP 2006-220193 A

  The safety device described in Patent Document 1 can perform operations such as changing the posture of the hydraulic actuator even when the electric lever fails. However, no mention is made of the case where the electromagnetic proportional valve or the controller fails.

  The pilot control device described in Patent Document 2 is configured such that even if the electromagnetic proportional valve or controller indicated as the first electro-oil conversion valve fails, the second electro-oil conversion valve is operated using the electric lever indicated as the operation device. Since the ON / OFF valve indicated as “can be directly driven, the hydraulic actuator can be driven. However, the pressure acting on the main spool of the control valve cannot be controlled via the on / off valve. For this reason, for example, when the operation direction of a hydraulic actuator such as a hydraulic cylinder is the falling direction of its own weight, there is a possibility that it operates at a higher speed than normal.

  When the work machine is moved to a safe repair place or the like, if it is necessary to change the posture of the hydraulic actuator, it is necessary to drive it slowly from the viewpoint of ensuring safety. For this reason, the pilot control device described above may not be used.

  The present invention has been made on the basis of the above-mentioned matters, and the purpose thereof is when an abnormal state in which the electromagnetic proportional valve constituting the electric operation device closes due to a failure or an abnormal state in which the controller stops occurs. Another object of the present invention is to provide an electric operating device capable of driving a hydraulic actuator at a speed equal to or lower than a normal state, and a work machine including the electric operating device.

  In order to solve the above problems, for example, the configuration described in the claims is adopted. The present application includes a plurality of means for solving the above-mentioned problems. For example, the hydraulic fluid flow to the hydraulic actuator is adjusted by controlling the hydraulic actuator, the pilot hydraulic source, and the pilot pressure. A control valve, an electric lever operation device that outputs an electric signal according to lever operation, an electromagnetic proportional valve that depressurizes pressure oil supplied from the pilot hydraulic power source, and an electric signal from the electric lever operation device An electrical operation device comprising a controller that outputs a drive command to the electromagnetic proportional valve, wherein the emergency operation means is operated in an emergency and outputs a signal corresponding to the operation amount, and the emergency operation means An electromagnetic valve that is driven by a signal from the pilot hydraulic pressure source and that introduces pressure oil supplied from the pilot hydraulic pressure source, pressure oil from the electromagnetic proportional valve, and pressure oil from the solenoid valve. A high pressure selection valve that selects one of the high pressures and outputs it as pilot pressure oil of the control valve; and a pilot hydraulic pressure adjustment means that maintains a discharge pressure of the hydraulic power source at a predetermined pressure. The hydraulic pressure adjusting means changes the setting of the discharge pressure of the hydraulic pressure source according to a command signal from the controller, and sets the pressure lower than the predetermined pressure when the command signal from the controller disappears. And

  According to the present invention, when the electromagnetic proportional valve is closed due to a failure or the controller is stopped, the pilot hydraulic pressure adjusting means for reducing the pressure of the pilot hydraulic power source is provided. Even if it occurs, the hydraulic actuator of the work machine can be driven at a speed below the normal state.

It is a perspective view showing a working machine provided with a 1st embodiment of a working machine provided with an electric operating device and an electric operating device of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a hydraulic control circuit diagram of a work machine provided with a first embodiment of an electric operation device and a work machine provided with the electric operation device of the present invention. It is a conceptual diagram which shows the structure of the controller which comprises 1st Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. It is a control block diagram which shows an example of the calculation content of the main spool control part of the controller which comprises 1st Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. It is a conceptual diagram which shows the structure of the pilot relief control part of the controller which comprises 1st Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. It is a control block diagram which shows an example of the calculation content of the electromagnetic proportional valve abnormality detection part of the controller which comprises 1st Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. It is a control block diagram which shows an example of the calculation content of the pilot relief pressure command calculating part of the controller which comprises 1st Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. FIG. 5 is a hydraulic control circuit diagram of a work machine provided with a second embodiment of the electric operation device and the work machine provided with the electric operation device of the present invention. It is a conceptual diagram which shows the structure of the controller which comprises 2nd Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention. It is a control block diagram which shows an example of the calculation content of the electromagnetic on-off valve drive part of the controller which comprises 2nd Embodiment of the working machine provided with the electric operating device and the electric operating device of this invention.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an electric operating device and a work machine equipped with the electric operating device of the present invention will be described below with reference to the drawings.

  FIG. 1 is a perspective view showing a working machine provided with a first embodiment of an electric operating device and a working machine provided with the electric operating device of the present invention. As shown in FIG. 1, the excavator includes a lower traveling body 10, an upper swing body 11, and a front work machine 12. The lower traveling body 10 has left and right crawler type traveling devices 10b and 10a (only the left side is illustrated), and is driven by left and right traveling motors 3b and 3a (only the left side is illustrated). The upper turning body 11 is mounted on the lower traveling body 10 so as to be turnable and is driven to turn by the turning motor 4. The upper swing body 11 includes an engine 11A as a prime mover and a hydraulic pump device 2 driven by the engine 11A.

  The front work machine 12 is attached to the front part of the upper swing body 11 so as to be able to be raised and lowered. The upper swing body 11 is provided with a cab 13, and operating devices such as a traveling right operation lever device 1 a, a traveling left operation lever device 1 b, a right operation lever device 1 c, and a left operation lever device 1 d are provided in the cab 13. Is arranged.

  The front work machine 12 has an articulated structure having a boom 14, an arm 16, and a bucket 18, and the boom 14 is rotated up and down with respect to the upper swing body 11 by expansion and contraction of the boom cylinder 15. The bucket 18 rotates up and down and front and rear with respect to the boom 14 due to the expansion and contraction of the bucket.

  Further, the upper turning body 11 turns with respect to the lower traveling body 10 by the rotation of the turning motor 4 by the pressure oil, and the lower traveling body 10 travels by the rotation of the right traveling motor 3a and the left traveling motor 3b by the pressure oil. .

  The control valve 20 controls the flow (flow rate and direction) of the pressure oil supplied from the hydraulic pump device 2 to each of the hydraulic actuators such as the boom cylinder 15 described above.

  FIG. 2 is a hydraulic control circuit diagram of the working machine provided with the first embodiment of the electric operating device and the working machine provided with the electric operating device of the present invention. For simplification of description, illustration and description of a main relief valve, a load check valve, a return circuit, a drain circuit and the like that are not directly related to the embodiment of the present invention are omitted.

  As shown in FIG. 2, the hydraulic control circuit in the present embodiment includes a main hydraulic control circuit including a control valve 20, a hydraulic actuator, and a hydraulic pump device 2, a pilot hydraulic pump 2g, an electric operating device 100A, and a hydraulic pressure. And a pilot hydraulic control circuit including the type operation device 100B.

  First, the main hydraulic control circuit will be described. The control valve 20 includes a right traveling direction control valve 21, a bucket direction control valve 22, a first boom direction control valve 23, a left traveling direction control valve 24, and a second arm direction control valve 25. The turning direction control valve 26, the first arm direction control valve 27, and the second boom direction control valve 28 are provided.

  These directional control valves 21 to 28 are all center bypass type control valves, and are divided into three valve groups of a first valve group 5a, a second valve group 5b, and a third valve group 5c. The first valve group 5a includes a right traveling direction control valve 21 connected only to the right traveling motor 3a, a bucket direction control valve 22 connected only to the bucket cylinder 19, and a first connected to only the boom cylinder 15. 1 direction control valve 23 for 1 boom is comprised. The second valve group 5 b includes a second boom direction control valve 28 connected only to the boom cylinder 15 and a first arm direction control valve 27 connected only to the arm cylinder 17. The third valve group 5c is connected only to the turning direction control valve 26 connected only to the turning motor 4, the second arm direction control valve 25 connected only to the arm cylinder 17, and the left travel motor 3b. And a left traveling direction control valve 24.

  Each of these directional control valves has an operation part at both ends. A pilot line for supplying pilot pressure oil from an electric operation device or a hydraulic operation device, which will be described later, is connected to these operation units, and the operation unit opposite from the operation unit side to which the pilot pressure oil is supplied By switching the spool to the side, the flow rate and direction of the pressure oil supplied from the hydraulic pump to the hydraulic actuator are controlled. Here, pilot lines P1 and P2 are connected to the operation part of the right travel direction control valve 21, and pilot lines P3 and P4 are connected to the operation part of the left travel direction control valve 24, respectively.

  Pilot lines P5 and P6 are provided at the operating portion of the turning direction control valve 26, and pilot lines P7 and P8 are provided at the operating portions of the first boom direction control valve 23 and the second boom direction control valve 28. Each is connected. Further, pilot lines P9 and P10 are provided at the operation portions of the first arm direction control valve 27 and the second arm direction control valve 25, and pilot lines P11 and P12 are provided at the operation portion of the bucket direction control valve 22. Each is connected.

  The bottom oil chamber of the boom cylinder 15, the first boom direction control valve 23, and the second boom direction control valve 28 are connected by a main oil pipe 61, and the rod side oil chamber of the boom cylinder 15 The first boom direction control valve 23 and the second boom direction control valve 28 are connected by a main oil pipe 62. The bottom side oil chamber of the bucket cylinder 19 and the bucket direction control valve 22 are connected by a main oil pipe 63, and the rod side oil chamber of the bucket cylinder 19 and the bucket direction control valve 22 are connected by a main oil pipe 64. Connected with. Furthermore, the bottom side oil chamber of the arm cylinder 17 and the first arm direction control valve 27 and the second arm direction control valve 25 are connected by a main oil pipe 65, and the rod side oil chamber of the arm cylinder 17, The first arm direction control valve 27 and the second arm direction control valve 25 are connected by a main oil pipe 66. The turning motor 4 and the turning direction control valve 26 are connected by main oil pipes 67 and 68. Further, the left travel motor 3b and the left travel direction control valve 24 are connected by main oil pipes 71 and 72, and the right travel motor 3a and the right travel direction control valve 21 are connected by main oil pipes 73 and 74. Yes.

  The hydraulic pump device 2 is a fixed displacement pump that is driven by the engine 11A, and discharges pressure oil to the first valve group 5a and pressure oil to the second valve group 5b. The second hydraulic pump 2b, the third hydraulic pump 2c that discharges the pressure oil to the third valve group 5c, and the pilot hydraulic pump 2g that is a pilot hydraulic source.

  In the first valve group 5a, the right traveling control valve 21 preferentially delivers the pressure oil from the first hydraulic pump 2a to the right rather than the other bucket direction control valve 22 and the first boom direction control valve 23. The bucket direction control valve 22 and the first boom direction control valve 23 are connected in parallel to each other so as to be supplied to the travel motor 3a. In the second valve group 5b, the second boom direction control valve 28 and the first arm direction control valve 27 are parallel to each other so as to supply the pressure oil from the second hydraulic pump 2b without priority. It is connected. Further, in the third valve group 5c, the turning direction control valve 26, the second arm direction control valve 25, and the left travel control valve are supplied so as to supply the pressure oil from the third hydraulic pump 2c without priority. 24 are respectively connected in parallel.

  Next, the pilot hydraulic control circuit will be described. The pilot hydraulic control circuit includes a pilot hydraulic pump 2g which is a pilot hydraulic pressure source, an electric operating device 100A, and a hydraulic operating device 100B.

  The electric operating device 100A is a plurality of electromagnetic proportional valves 43 to 50, a plurality of electromagnetic on / off valves 53 to 58, a plurality of shuttle valves 33 to 38, an electromagnetic variable relief valve 2h, and an electric lever operating device. A right operation lever device 1c, a left operation lever device 1d, emergency operation switches 1e to 1j, and a controller 100 are provided.

  The hydraulic operating device 100B includes a gate lock valve 30, a traveling right operation lever device 1a, and a traveling left operation lever device 1b.

  One end side of the pilot main pipe 81 is connected to the discharge port of the pilot hydraulic pump 2g, and the other end side is an electromagnetic type that is ON / OFF controlled by the open / close state of the gate lock lever 29 provided at the entrance of the cab 13. A gate lock valve 30 which is a switching valve is provided. The pilot main pipe 81 is provided with an electromagnetic variable relief valve 2h that prevents the pressure of the pilot pressure oil from exceeding a certain value. A pilot first pipe 82 and a pilot second pipe 83 are arranged in parallel on the downstream side of the gate lock valve 30. This variable relief valve 2h constitutes a pilot hydraulic pressure adjusting means.

  Here, in the gate lock valve 30, when the operator closes the gate lock lever 29, the switch is closed and the operation section is excited, and the pilot main pipe 81, the pilot first pipe 82, and the pilot second pipe 83 are closed. Switch to the spool position that communicates with. Thus, the pilot pressure oil from the pilot hydraulic pump 2g is supplied to the pilot first pipe 82 and the pilot second pipe 83. On the other hand, when the operator opens the gate lock lever 29, the switch is opened, the operation portion is de-energized, and the supply of pilot hydraulic pressure is stopped.

  Further, the variable relief valve 2h sets the relief pressure to either a high pressure or a low pressure according to the energization amount (command from the controller 100 which will be described later) to the spring and the solenoid portion arranged inside. When the solenoid unit is not energized (when the command signal from the controller 100 disappears), the pressure is set to a low pressure by a spring. Here, the low pressure relief pressure to be set is preferably a value obtained by adding a pilot pressure that can be driven to the position at which the spool opening of each directional control valve starts to open and a small margin value.

  The pilot first piping 82 includes the primary port of the swing right solenoid proportional valve 43, the boom raising solenoid proportional valve 45, the arm dump solenoid proportional valve 47, and the bucket dump solenoid proportional valve 49, the swing right solenoid on / off valve 53, and the boom raising solenoid. The primary side ports of the on / off valve 55 and the arm dump electromagnetic on / off valve 57 are connected to the primary side port of the traveling right pilot valve 41 provided in the traveling right operation lever device 1a.

  The pilot second pipe 83 includes the primary left port of the swing left solenoid proportional valve 44, the boom lower solenoid proportional valve 46, the arm cloud solenoid proportional valve 48, and the bucket cloud solenoid proportional valve 50, the swing left solenoid on / off valve 54, and the boom lower solenoid. The primary side ports of the on / off valve 56 and the arm cloud electromagnetic on / off valve 58 are connected to the primary side port of the traveling left pilot valve 42 provided in the traveling left operation lever device 1b.

  The traveling right operation lever device 1a constituting the hydraulic operation device 100B has a traveling right pilot valve 41 mechanically connected to the operation lever. The traveling right pilot valve 41 generates a pilot secondary pressure according to the operation amount and operation direction of the operation lever. When the operator operates the traveling right operation lever device 1a to the forward side, the traveling right forward pilot pressure is supplied to the operating portion of the traveling right direction control valve 21 via the pilot line P1, and when the operator operates the backward direction, the traveling The traveling right reverse pilot pressure is supplied to the operating portion of the right direction control valve 21 via the pilot line P2.

  Further, the traveling left operation lever device 1b constituting the hydraulic operation device 100B includes a traveling left pilot valve 42 that is mechanically coupled to the operation lever. The traveling left pilot valve 42 generates a pilot secondary pressure according to the operation amount and operation direction of the operation lever. When the operator operates the travel left operation lever device 1b to the forward side, the travel left forward pilot pressure is supplied to the operating portion of the travel left direction control valve 24 via the pilot line P3. The traveling left reverse pilot pressure is supplied to the operating portion of the direction control valve 24 via the pilot line P4.

  One end side of the conduit 91a is connected to the secondary port of the turning right solenoid proportional valve 43 constituting the electric operating device 100A, and one end of the conduit 91b is connected to the secondary port of the turning right solenoid on / off valve 53. The side is connected. An input port of the shuttle valve 33 that outputs high-pressure oil of these pipes is connected to the other ends of the pipes 91a and 91b. The output port of the shuttle valve 33 is connected to a pilot line P5 that supplies a turning right pilot pressure to the operating portion of the turning direction control valve 26.

  Similarly, the turning left electromagnetic proportional valve 44 to the arm cloud electromagnetic proportional valve 48, the turning left electromagnetic on / off valve 54 to the arm cloud electromagnetic on / off valve 58, and the shuttle valves 34 to 38 are connected by pipelines 92a to 96b. It constitutes a group for each operation part of the directional control valve. The output ports of the shuttle valves 34 to 38 have a turning direction control valve 26, a first boom direction control valve 23, a second boom direction control valve 28, a first arm direction control valve 27, and a second arm use. Pilot lines P <b> 6 to 10 for supplying pilot pressure oil are connected to each operation portion of the direction control valve 25.

  The secondary port of the bucket dump solenoid proportional valve 49 is connected to a pilot line P11 that supplies a bucket dump pilot pressure to the operation portion of the bucket direction control valve 22. The secondary port of the bucket cloud electromagnetic proportional valve 50 is connected to a pilot line P12 that supplies bucket cloud pilot pressure to the operation portion of the bucket direction control valve 22.

  The pilot line P5 is provided with a pressure sensor S3 for detecting a turning right pilot pressure, and the pilot line P6 is provided with a pressure sensor S4 for detecting a turning left pilot pressure. Signals detected by these pressure sensors are input to the controller 100.

  The pilot line P7 is provided with a pressure sensor S5 for detecting the boom raising pilot pressure, and the pilot line P8 is provided with a pressure sensor S6 for detecting the boom lowering pilot pressure. Signals detected by these pressure sensors are input to the controller 100.

  The pilot line P9 is provided with a pressure sensor S7 for detecting an arm dump pilot pressure, and the pilot line P10 is provided with a pressure sensor S8 for detecting an arm cloud pilot pressure. Signals detected by these pressure sensors are input to the controller 100.

  The right operation lever device 1c outputs a voltage signal to the controller 100 as a boom operation signal and a bucket operation signal according to the operation amount and operation direction of the operation lever. Similarly, the left operation lever device 1d outputs a voltage signal to the controller 100 as a turning operation signal and an arm operation signal in accordance with the operation amount and operation direction of the operation lever.

  The controller 100 calculates a command signal from the input operation signals by a calculation unit, which will be described later, and a turning right electromagnetic proportional valve 43, a turning left electromagnetic proportional valve 44, a boom raising electromagnetic proportional valve 45, a boom lowering electromagnetic proportional valve 46, A current signal is output to each solenoid part of the arm dump electromagnetic proportional valve 47, the arm cloud electromagnetic proportional valve 48, the bucket dump electromagnetic proportional valve 49, and the bucket cloud electromagnetic proportional valve 50. Further, the controller 100 calculates an abnormal state of each electromagnetic proportional valve from the input pilot pressures and operation signals, and outputs a current signal for reducing the relief pressure to the solenoid part of the variable relief valve 2h. . In addition, the display device 60 is connected to the controller 100, and the display device 60 notifies the operator of the abnormal state of each electromagnetic proportional valve calculated by the calculation unit described above.

  On the other hand, the emergency operation switches 1e to 1j are arranged in the cab 13 and can safely evacuate the work machine even when an abnormal state such as an electromagnetic proportional valve or controller stopping occurs. The purpose is to drive gently in order to change the required posture of the hydraulic actuator. Even when the bucket operation cannot be performed, the work machine can be retracted, and therefore, the emergency operation switch for the bucket cylinder 19 is not provided in the present embodiment.

  The turning right emergency operation switch 1e controls ON / OFF of the current signal to the solenoid part of the turning right electromagnetic on / off valve 53, and the turning left emergency operation switch 1f is connected to the solenoid part of the turning left electromagnetic on / off valve 54. Controls ON / OFF of current signal. The boom raising emergency operation switch 1g controls ON / OFF of a current signal to the solenoid part of the boom raising electromagnetic on / off valve 55, and the boom lowering emergency operation switch 1h is a solenoid part of the boom lowering electromagnetic on / off valve 56. ON / OFF of the current signal to is controlled. Further, the arm dump emergency operation switch 1 i controls ON / OFF of the current signal to the solenoid part of the arm dump electromagnetic on / off valve 57, and the arm cloud emergency operation switch 1 j is the solenoid part of the arm cloud electromagnetic on / off valve 58. ON / OFF of the current signal to is controlled.

  Next, a controller constituting the first embodiment of the electric operating device of the present invention will be described with reference to the drawings. FIG. 3 is a conceptual diagram showing the configuration of the controller constituting the first embodiment of the electric operating device and work machine equipped with the electric operating device of the present invention, and FIG. 4 is the electric operating device and electric of the present invention. FIG. 5 is a control block diagram showing an example of the calculation contents of the main spool control unit of the controller constituting the first embodiment of the work machine provided with an operation device, FIG. 5 is an electric operation device and an electric operation device of the present invention FIG. 6 is a conceptual diagram showing a configuration of a pilot relief control unit of a controller that constitutes a first embodiment of a work machine provided with FIG. 6, and FIG. FIG. 7 is a control block diagram showing an example of calculation contents of an electromagnetic proportional valve abnormality detection unit of a controller constituting one embodiment. FIG. The fruit An example of the operation contents of the pilot relief pressure command calculating unit of the controller which constitutes the form of a control block diagram showing the.

  As shown in FIG. 3, the controller 100 includes a main spool control unit 110 that calculates a control pressure command to each electromagnetic proportional valve from each operation signal, a control pressure command to each electromagnetic proportional valve, and a pilot pressure of each pilot line. And a pilot relief control unit 120 for calculating the presence / absence of an abnormality flag of each electromagnetic proportional valve and the value of the pilot relief set pressure. The pilot relief control unit 120 outputs the presence / absence of an abnormality flag of each electromagnetic proportional valve to the display device 60, and also outputs a pilot relief set pressure command signal to the solenoid unit of the variable relief valve 2h. The relief pressure at is set.

  An example of the calculation performed by the main spool control unit 110 will be described with reference to FIG. The main spool control unit 110 calculates each control pressure command based on each input operation signal, but since this calculation itself is substantially the same regardless of the type of the operation signal, the calculation for the boom operation signal is performed here. Explained as an example.

  In FIG. 4, the main spool control unit 110 includes a first function generator 111 and a second function generator 112. As shown in FIG. 4, the first function generator 111 and the second function generator 112 input a boom operation signal from the left operation lever device (electric lever operation device) 1d, and control pressure corresponding to the input value. Outputs a command.

  The boom operation signal has a positive value corresponding to the boom raising direction and a negative value corresponding to the boom lowering direction. In the first function generator 111, the control pressure of the boom raising electromagnetic proportional valve 45 in response to the boom raising command is stored in advance as a map. Similarly, in the second function generator 112, the control pressure of the boom lowering electromagnetic proportional valve 46 corresponding to the boom lowering command is stored in advance as a map. These maps are set to characteristics that proportionally increase each control pressure command that is an output in accordance with an increase in the absolute value of each operation signal that is an input.

  Next, the detailed configuration of the pilot relief control unit 120 will be described with reference to FIG. The pilot relief control unit 120 includes an electromagnetic proportional valve abnormality detection unit 140 that calculates the presence / absence of an abnormality flag of each electromagnetic proportional valve based on each control pressure command and the pilot pressure of each pilot line, and an abnormality flag of each electromagnetic proportional valve. A pilot relief pressure command calculation unit 150 is configured to calculate a pilot relief pressure command based on the presence / absence signal and the pilot pressure.

  An example of the calculation performed by the electromagnetic proportional valve abnormality detection unit 140 will be described with reference to FIG. The electromagnetic proportional valve abnormality detection unit 140 calculates the presence / absence of an abnormality flag for each electromagnetic proportional valve based on the input control pressure command and the pilot pressure of each pilot line. Regardless of the fact that they are almost the same regardless of the above, here, the calculation for the boom lowering electromagnetic proportional valve will be described as an example.

  In FIG. 6, the electromagnetic proportional valve abnormality detection unit 140 includes a subtractor 141, an absolute value calculator 142, a large deviation value determination calculator 143, a timer counter 144, a comparison calculator 145, and a logical sum calculator 146. .

  The subtractor 141 inputs the boom lowering control command pressure from the main spool control unit 110 and the boom lowering pilot pressure detected by the pressure sensor S6, and subtracts the boom lowering pilot pressure from the boom lowering control pressure command to thereby obtain a pressure deviation. Is calculated. This pressure deviation is input to the absolute value calculator 142 to calculate the absolute value of the pressure deviation, and is input to the deviation value large determination calculator 143.

  The deviation value large determination computing unit 143 has a preset ON threshold value and an OFF threshold value, and compares the absolute value of the input pressure deviation with the threshold value, and when the input value increases beyond the ON threshold value. In addition, a digital signal 1 (true value) is output, and a digital signal 0 (false value) is output when the input value decreases to less than the OFF threshold. Here, the ON threshold value and the OFF threshold value are set with hysteresis.

  The timer counter 144 counts the time when the output of the deviation value large determination calculator 143 is 1, and outputs the count value. When the output of the deviation value large determination calculator 143 becomes 0, the count value is reset to 0.

  The comparison operator 145 compares a predetermined value C (corresponding to the allowable time) with the output value of the timer counter 144, and the digital signal 1 (when the counted value (time) is equal to or greater than the predetermined value C). (True value) is output.

  The logical sum calculator 146 and the true / false value calculated by the comparison calculator 145 and the output of the logical sum calculator 146 one control cycle before the controller 100 (that is, the true / false value of the boom lowering electromagnetic proportional valve abnormality flag). If any of the input values is true, the true value (the boom lowering electromagnetic proportional valve abnormality flag is true) is output. In other words, once the boom lowering electromagnetic proportional valve abnormality flag becomes a true value, the boom lowering electromagnetic proportional valve is not restarted until the controller 100 is restarted (for example, the key switch of the work machine is turned off and then turned on again). The abnormal flag holds a true value.

  As described above, the electromagnetic proportional valve abnormality detection unit 140 monitors the deviation between the control pressure command to be operated and the pilot pressure, and abnormally detects the corresponding electromagnetic proportional valve when the deviation exceeds a predetermined value and continues for a predetermined time. This signal is output to the display device 60 and the pilot relief pressure command calculation unit 150.

  An example of calculation performed by the pilot relief pressure command calculation unit 150 will be described with reference to FIG. The pilot relief pressure command calculation unit 150 calculates a pilot relief set pressure value (high value) based on a signal indicating the presence or absence of an abnormality flag of each electromagnetic proportional valve calculated by the electromagnetic proportional valve abnormality detection unit 140 and the pilot and pressure detected by the pressure sensor. / Low value) is calculated and a pilot relief pressure command is output to the variable relief valve 2h.

  In FIG. 7, the pilot relief pressure command calculation unit 150 includes a first comparison calculator 151a, a second comparison calculator 151b, a third comparison calculator 151c, a fourth comparison calculator 151d, a first AND calculator 152a, and a first AND calculator 152a. A 2-logical product computing unit 152b, a third logical product computing unit 152c, a fourth logical product computing unit 152d, a logical sum computing unit 153, and a relief pressure command computing unit 154 are provided.

  The first comparator 151a inputs the turning right pilot pressure detected by the pressure sensor S3, compares a predetermined value P with a turning right pilot pressure, and when the turning right pilot pressure is greater than or equal to the predetermined value P. Digital signal 1 (true value) is output. Here, the predetermined value P is preferably set to a pilot pressure that can be driven to a position at which the spool opening of the turning direction control valve 26 starts to open.

  The first AND operation unit 152a receives the turning right electromagnetic proportional valve abnormality flag calculated by the electromagnetic proportional valve abnormality detection unit 140 and the output of the first comparison operation unit 151a, and when both input values are true values. Output true value.

  Similarly, the second comparison calculator 151b to the fourth comparison calculator 151d input the turning left pilot pressure, the boom lowering pilot pressure, and the arm cloud pilot pressure detected by the pressure sensors, respectively, and compare them with a predetermined value P. If the value is equal to or greater than the predetermined value P, a true value is output. Here, it is desirable that the predetermined value P is set to a pilot pressure that can be driven to a position where the spool opening of each directional control valve starts to open.

  The second logical product calculator 152b receives the turning left electromagnetic proportional valve abnormality flag and the output of the second comparison calculator 151b, and outputs a true value when both input values are true values. The third AND operator 152c receives the boom lowering electromagnetic proportional valve abnormality flag and the output of the third comparison operator 151c, and outputs a true value when both input values are true values. The fourth AND operator 152d receives the arm cloud electromagnetic proportional valve abnormality flag and the output of the fourth comparison operator 151d, and outputs a true value when both input values are true values.

The logical sum operator 153 receives the outputs of the first AND operator 152a to the fourth AND operator 152d and outputs a true value when any of the input values is a true value.
The relief pressure command calculator 154 outputs a high pressure relief pressure command when the output of the input logical sum calculator 153 is a false value (there is no electromagnetic proportional valve abnormality flag), and the input logical sum When the output of the calculator 153 is a true value (there is at least one electromagnetic proportional valve abnormality flag), a low pressure relief pressure command is output.

  Next, the operation of the first embodiment of the electric operating device and the work machine including the electric operating device according to the present invention will be described. In the hydraulic circuit diagram shown in FIG. 2, the case where the solenoid part of the boom lowering electromagnetic proportional valve 46 or the electric wire from the controller 100 is disconnected will be described. In this case, the spool of the boom lowering electromagnetic proportional valve 46 is disposed at the position illustrated by the spring, and no pilot pressure is supplied to the pilot line P8.

  In such a state, when the operator performs a boom lowering operation with the left operation lever device (electric lever operation device) 1d, a boom lowering control pressure command is issued from the main spool control unit 110 of the controller 100 as shown in FIG. It is output to the solenoid part of the electromagnetic proportional valve 46. However, since the solenoid part or the electric wire is disconnected, the electromagnetic proportional valve is not driven and the boom lowering pilot pressure (pressure sensor S6) in the pilot line P8 does not increase.

  As a result, the pressure deviation calculated by the subtractor 141 of the electromagnetic proportional valve abnormality detecting unit 140 of FIG. 6 increases, and the true value is output by the deviation value large determination calculator 143. When a predetermined time elapses, a true value is output from the timer counter 144 and the comparison calculator 145, and the boom lowering electromagnetic proportional valve abnormality flag is established. This is notified to the operator by the display device 60.

  In such a state, when it is necessary to lower the boom 14 for the purpose of safely retracting the work machine, the operator operates the boom lowering emergency operation switch 1h shown in FIG. As a result, a current signal is supplied to the solenoid part of the boom lowering electromagnetic on / off valve 56, and the boom lowering electromagnetic on / off valve 56 is driven. As a result, the pilot pressure oil is conducted through the boom lowering electromagnetic on / off valve 56 and is supplied to the pilot line P8 via the conduit 94b and the shuttle valve 36.

  At this time, in the pilot relief pressure command calculation unit 150 shown in FIG. 7, the signal of the boom lowering electromagnetic proportional valve abnormality flag and the signal that the boom lowering pilot pressure (pressure sensor S6) of the pilot line P8 is greater than or equal to the predetermined value P are true Therefore, the relief pressure command calculator 154 outputs a low value pilot relief pressure command to the variable relief valve 2h.

  As a result, the variable relief valve 2h is set to the low pressure side, and the pressure (pilot primary pressure) in the pilot main pipe 81, the pilot first pipe 82, and the pilot second pipe 83 decreases. Thus, even when the boom lowering operation is performed by the boom lowering emergency operation switch 1h, the strokes of the first boom direction control valve 23 and the second boom direction control valve 28 can be suppressed. As a result, the boom lowering speed can be controlled slower than in the normal state, for example, by the boom lowering operation in the air, even in the direction in which the boom cylinder 15 falls by its own weight.

  Similarly, when the solenoid part of the arm cloud electromagnetic proportional valve 47 or the wire from the controller 100 is disconnected, when the arm cloud pilot pressure is equal to or higher than the predetermined value P, the variable relief valve 2h is set to the low pressure side, and the pilot primary pressure is set. Go down. Thereby, even when the arm cloud operation is performed by the arm cloud emergency operation switch 1j, the strokes of the first arm direction control valve 27 and the second arm direction control valve 25 can be suppressed. As a result, for example, by the arm cloud operation in the air, the arm cloud speed can be controlled slower than that in the normal state even in the direction in which the arm cylinder 17 falls by its own weight.

  Further, when the solenoid part of the swing right solenoid proportional valve 43 or the swing left solenoid proportional valve 44 or the wire from the controller 100 is disconnected, the variable relief valve when the swing right pilot pressure or the swing left pilot pressure is a predetermined value P or more. 2h is set to the low pressure side, and the pilot primary pressure decreases. Accordingly, even when the turning operation is performed by the turning right emergency operation switch 1e or the turning left emergency operation switch 1f, the stroke of the turning direction control valve 26 can be suppressed. As a result, for example, even when turning in the direction of falling weight of the turning hydraulic motor 4 on an inclined ground or the like, the turning speed can be controlled slower than in the normal state.

  As described above, for example, when the command signal to the variable relief valve 2h is lost due to a failure such as the stop of the controller, the variable relief valve 2h sets the relief pressure to a low pressure by a spring disposed inside. It is configured as follows.

  According to the first embodiment of the electric operating device and the working machine having the electric operating device described above, when the electromagnetic proportional valve is closed due to a failure of the electromagnetic proportional valve or when the controller 100 is stopped, the pilot is operated. Since the pilot hydraulic pressure adjusting means 2h for reducing the pressure of the hydraulic pressure source 2g is provided, the hydraulic actuator of the work machine is driven at a speed equal to or lower than the normal state even when an abnormality occurs in the electromagnetic proportional valve or the controller 100. be able to.

  Hereinafter, a second embodiment of an electric operating device and a work machine including the electric operating device according to the present invention will be described with reference to the drawings. FIG. 8 is a hydraulic control circuit diagram of a work machine having a second embodiment of the electric operating device and the working machine provided with the electric operating device of the present invention, and FIG. 9 is an electric operating device and electric of the present invention. FIG. 10 is a conceptual diagram showing a configuration of a controller that constitutes a second embodiment of a work machine provided with a type operating device, and FIG. It is a control block diagram which shows an example of the calculation content of the electromagnetic on / off valve drive part of the controller which comprises embodiment. 8 to 10, the same reference numerals as those shown in FIGS. 1 to 7 are the same parts, and thus detailed description thereof is omitted.

  In the second embodiment of the electric operating device and work machine equipped with the electric operating device of the present invention, the overall system configuration is substantially the same as that of the first embodiment, but each electromagnetic on / off valve A difference is that command signals from the controller 100X are connected to the solenoid parts 53 to 58 in parallel with the emergency operation switches 1e to 1j. As a result, when the corresponding electromagnetic proportional valve breaks down, the corresponding electromagnetic on / off valve is connected via the controller 100X from the right operating lever device (electric lever operating device) 1c and the left operating lever device (electric lever operating device) 1d. Can drive.

  Specifically, as shown in FIG. 8, the signal line for the emergency drive command from the controller 100X is connected to the signal line connecting the emergency operation switches 1e to 1j and the solenoid parts of the electromagnetic on / off valves 53 to 58. Are connected in parallel. Thus, the electromagnetic on / off valves 53 to 58 can be driven from the controller 100X in addition to the operations of the emergency operation switches 1e to 1j.

  Next, a controller constituting the second embodiment of the electric operating device of the present invention will be described with reference to the drawings. As shown in FIG. 9, the controller 100X in the present embodiment includes an electromagnetic on / off valve drive unit 130 in addition to the configuration of the controller 100 described in the first embodiment. The electromagnetic on / off valve drive unit 130 is configured to perform each emergency drive based on each control pressure command calculated by the main spool control unit 110 and a signal indicating the presence / absence of an abnormality flag of each electromagnetic proportional valve calculated by the electromagnetic proportional valve abnormality detection unit 140. The signal is calculated and a command signal is output to each electromagnetic on / off valve.

  In FIG. 10, the electromagnetic on / off valve drive unit 130 includes a first comparison calculator 131a, a second comparison calculator 131b, a third comparison calculator 131c, a fourth comparison calculator 131d, a fifth comparison calculator 131e, and a sixth comparison. The calculator 131f, the first AND operator 132a, the second AND operator 132b, the third AND operator 132c, the fourth AND operator 132d, the fifth AND operator 132e, and the sixth AND operator 132f.

  The first comparison calculator 131a receives the turning right control pressure command calculated by the main spool control unit 110, compares a predetermined value Pc with a turning right control pressure command, and the turning right control pressure command is a predetermined value. Digital signal 1 (true value) is output when Pc or more. Here, the predetermined value Pc can be driven to the position at which the spool opening of the turning direction control valve 26 starts to be opened normally when the turning right operation signal of the left operating lever device (electric lever operating device) 1d is operated. It is desirable to set to an operation amount equivalent amount.

  The first AND operation unit 132a receives the turning right electromagnetic proportional valve abnormality flag calculated by the electromagnetic proportional valve abnormality detection unit 140 and the output of the first comparison operation unit 131a, and when both input values are true values. The turning right emergency drive signal is output.

  Similarly, the second comparison arithmetic unit 131b to the sixth comparison arithmetic unit 131f respectively input a turning left control pressure command, a boom raising control pressure command, a boom lowering control pressure command, an arm dump control pressure command, and an arm cloud control pressure command. If the value is greater than or equal to the predetermined value Pc compared to the predetermined value Pc, a true value is output.

  The second AND operator 132b receives the turning left electromagnetic proportional valve abnormality flag and the output of the second comparison operator 131b, and outputs a turning left emergency drive signal when both input values are true values. The third AND operator 132c receives the boom raising electromagnetic proportional valve abnormality flag and the output of the third comparison operator 131c, and outputs a boom raising emergency drive signal when both input values are true values. The fourth AND operation unit 132d receives the boom lowering electromagnetic proportional valve abnormality flag and the output of the fourth comparison operation unit 131d, and outputs a boom lowering emergency drive signal when both input values are true values. The fifth AND operator 132e receives the arm dump electromagnetic proportional valve abnormality flag and the output of the fifth comparison operator 131e, and outputs an arm dump emergency drive signal when both input values are true values. The sixth AND operator 132f receives the arm cloud electromagnetic proportional valve abnormality flag and the output of the sixth comparison operator 131f, and outputs an arm cloud emergency drive signal when both input values are true values.

  Next, the operation of the electric operating device according to the second embodiment of the present invention and the work machine provided with the electric operating device will be described. Similar to the first embodiment, the case where the solenoid part of each electromagnetic proportional valve or the electric wire from the controller 100X is disconnected will be described.

  In such a state, when the operator performs a turning right operation with the left operation lever device (electric lever operation device) 1d, the turning right control pressure command is sent from the main spool control unit 110 of the controller 100 shown in FIG. It is output to the solenoid part of the valve 43. However, since the solenoid unit or the electric wire is disconnected, the electromagnetic proportional valve is not driven, and the turning right electromagnetic proportional valve abnormality flag is established in the electromagnetic proportional valve abnormality detection unit 140 of the pilot relief control unit 120. This is notified to the operator by the display device 60.

  Further, in the electromagnetic on / off valve drive unit 130 shown in FIG. 10, the turning right solenoid proportional valve abnormality flag becomes a true value, the turning right control pressure command becomes Pc or more, and the output of the first comparison computing unit 131a is a true value. Therefore, the first AND operator 132a outputs a turning right emergency drive signal. Thus, the current signal from the controller 100X is supplied to the solenoid portion of the turning right electromagnetic on / off valve 53 shown in FIG. 8, and the turning right electromagnetic on / off valve 53 is driven. As a result, the pilot pressure oil conducts the turning right electromagnetic on / off valve 53 and is supplied to the pilot line P5 via the conduit 91b and the shuttle valve 33, and the turning right operation is performed.

  Similarly, when the turning left electromagnetic proportional valve 44 fails, when the operator operates the left operation lever device 1d in the turning left direction, the second AND operation unit 132b shown in FIG. 10 outputs the turning left emergency drive signal. Output. As a result, the turning left electromagnetic on / off valve 54 is driven, and the turning left operation is performed.

  In addition, when the boom raising electromagnetic proportional valve 45 fails, when the operator operates the right operation lever device 1c in the boom raising direction, the third AND operation unit 132c shown in FIG. 10 outputs a boom raising emergency drive signal. To do. As a result, the boom raising electromagnetic on / off valve 55 is driven, and the boom raising operation is performed.

  Similarly, when the boom lowering electromagnetic proportional valve 46 breaks down and the operator operates the right operation lever device 1c in the boom lowering direction, the fourth AND operation unit 132d shown in FIG. 10 outputs the boom lowering emergency drive signal. Output. As a result, the boom lowering electromagnetic on / off valve 56 is driven, so that the boom lowering operation is performed.

  Further, when the arm dump solenoid proportional valve 47 fails, when the operator operates the left operation lever device 1d in the arm dump direction, the fifth AND operation unit 132e shown in FIG. 10 outputs an arm dump emergency drive signal. To do. As a result, the arm dump electromagnetic on / off valve 57 is driven, so that the arm dump operation is performed.

  Similarly, when the arm cloud electromagnetic proportional valve 48 fails, when the operator operates the left operation lever device 1d in the arm cloud direction, the sixth AND operation unit 132f shown in FIG. 10 outputs the arm cloud emergency drive signal. Output. As a result, the arm cloud electromagnetic on / off valve 58 is driven, so that the arm cloud operation is performed.

  In the present embodiment, when any one of the turning right operation, the turning left operation, the boom lowering operation, and the arm cloud operation is operated, the variable relief is performed as in the case of the first embodiment described above. Since the pilot primary pressure is lowered by setting the valve 2h on the low pressure side, the turning speed, the boom lowering speed, and the arm cloud speed are suppressed more than normal.

  According to the second embodiment of the electric operating device and the working machine provided with the electric operating device of the present invention described above, the same effects as those of the first embodiment described above can be obtained.

  In addition, according to the second embodiment of the electric operating device and the working machine provided with the electric operating device of the present invention described above, when the electromagnetic proportional valve fails, the same operation as the normal operation is performed. Thus, the hydraulic actuator of the work machine can be driven at a speed below the normal state. As a result, safety can be further improved when the work machine is moved in an emergency.

  The present invention is not limited to the above-described embodiments, and includes various modifications within the scope not departing from the gist thereof. For example, in the above-described embodiment, the case where the present invention is applied to a hydraulic excavator has been described. It can also be applied to machines.

1c Right operation lever device (electric lever operation device), 1d Left operation lever device (electric lever operation device), 1e Turning right emergency operation switch, 1f Turning left emergency operation switch, 1g Boom raising emergency operation switch, 1h Boom Lowering emergency operation switch, 1i Arm dump emergency operation switch, 1j Arm cloud emergency operation switch, 2 Hydraulic pump device, 2g Pilot hydraulic pump (pilot hydraulic source), 3 Travel hydraulic motor, 4 Swing hydraulic motor, 5a 1st Valve group, 15 boom cylinder, 17 arm cylinder, 19 bucket cylinder, 20 control valve (control valve), 33-38 shuttle valve, 43 swing right solenoid proportional valve, 44 swing left solenoid proportional valve, 45 boom lift solenoid proportional valve, 46 Boom lowering solenoid proportional valve, 47 Armor Solenoid valve, 48 arm cloud solenoid proportional valve, 49 bucket dump solenoid proportional valve, 50 bucket cloud solenoid proportional valve, 53 swing right solenoid on / off valve, 54 swing left solenoid on / off valve, 55 boom raise solenoid on / off valve, 56 boom lower Electromagnetic on / off valve, 57 arm dump electromagnetic on / off valve, 58 arm cloud electromagnetic on / off valve, 100A Electric operation device

Claims (5)

A hydraulic actuator;
A pilot hydraulic source,
A control valve that adjusts the hydraulic oil flow rate to the hydraulic actuator by controlling the pilot pressure;
An electric lever operating device that outputs an electric signal according to lever operation;
An electromagnetic proportional valve for reducing the pressure oil supplied from the pilot hydraulic source;
An electric operation device comprising a controller that inputs an electric signal from the electric lever operation device and outputs a drive command to the electromagnetic proportional valve,
Emergency operation means that is operated in an emergency and outputs a signal according to the operation amount;
An electromagnetic valve that is driven by a signal from the emergency operation means and introduces pressure oil supplied from the pilot hydraulic pressure source;
Selecting one of the high pressures from the pressure oil from the solenoid proportional valve and the pressure oil from the solenoid valve, and outputting as a pilot pressure oil of the control valve;
A pilot hydraulic pressure adjusting means for holding the discharge pressure of the hydraulic pressure source at a predetermined pressure;
The pilot hydraulic pressure adjusting means changes the setting of the discharge pressure of the hydraulic pressure source according to a command signal from the controller, and sets the pressure lower than the predetermined pressure when the command signal from the controller disappears. An electric operation device characterized by. The electric operating device according to claim 1,
A pressure sensor for detecting the pressure of the pilot pressure oil supplied to the control valve;
The controller receives the pressure signal of the pilot pressure oil detected by the pressure sensor, and detects an abnormality of the electromagnetic proportional valve according to the electric signal from the electric lever operating device and the pressure signal of the pilot pressure oil. An electromagnetic proportional valve abnormality detecting means for
And a pilot relief command calculation unit that outputs a setting command signal for a discharge pressure lower than the predetermined pressure to the pilot hydraulic pressure adjusting means when an abnormality is detected by the electromagnetic proportional valve abnormality detecting means. Electric operating device. The electric operating device according to claim 2,
The pilot relief command calculation unit determines that the operation of the specific work device has been performed from the pressure signal of the pilot pressure oil, and when an abnormality of the electromagnetic proportional valve corresponding to the operation of the specific work device is detected, An electrical operation device that outputs a setting command signal for a discharge pressure lower than the predetermined pressure to the pilot hydraulic pressure adjusting means. The electric operating device according to claim 3,
The operation of the specific work device is at least one of a boom lowering operation, an arm cloud operation, and a turning operation.
An electric operation device characterized by that. A work machine comprising the electric operating device according to any one of claims 1 to 4.

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