JP4587848B2 - Operation equipment for work machines - Google Patents

Description

  The present invention relates to a work machine used for structure demolition work, waste demolition work, road work, construction work, civil engineering work, and the like, and more particularly, to an operation device for a work machine provided with two articulated work fronts. .

  As a work machine used for structure demolition work, waste demolition work, civil engineering construction work, etc., the upper car body is pivotably attached to the lower car body equipped with a traveling body, and an articulated work front is attached to this upper car body. The one that can be swung up and down is known. There is a hydraulic excavator as an example of such a working machine. In this hydraulic excavator, a work front composed of a boom and an arm is connected to an upper vehicle body so as to be able to swing up and down, and a bucket is attached to the tip of the arm so as to be able to swing up and down, thereby performing operations such as excavation, loading and leveling. In addition, breakers, crushers, grapples, and the like are attached instead of buckets so that work such as structure demolition work and waste demolition work can be performed.

  However, in these general hydraulic excavators, since only one work front is attached to one work machine, for example, there is the following inconvenience. When removing a part using the attachment for dismantling in the car dismantling work, if only one work front is attached, the work front is naturally used as a part for removing the car parts, so the car body must be fixed. Therefore, when removing parts with the dismantling attachment, the car body shows unstable behavior and is difficult to work.

  Also, when breaking a structure using a breaker, crusher, rebar cutter, etc. in the structure demolition work, if only one work front is attached, the work front is naturally used to destroy the structure. Therefore, the structure cannot be gripped. For this reason, every time the structure is crushed with a breaker or the like, the debris falls, and the debris scatters to the surroundings due to the fallen pieces. Therefore, it is necessary to collect and discard the debris, which is inefficient. Further, when there is a part to be stored in the object to be dismantled, it is necessary to hang it with a crane or the like in advance so that it does not fall, and an operation and worker for that purpose are also required.

  A conventional operation device having two articulated work fronts for solving such a problem is disclosed in Japanese Patent Application Laid-Open No. 11-181815. In the device described in Japanese Patent Laid-Open No. 11-181815, operating devices for work machines including a swing operating arm, an operating lever, an elbow support and the like are installed on both the left and right sides of the driver's seat. As a result, the operator can easily operate the first and second work fronts simultaneously and independently by operating each of the first work front control device and the second work front control device. Yes.

Japanese Patent Laid-Open No. 11-181815

  However, the operating device for a work machine described in the above-mentioned JP-A-11-181815 has the following problems.

  The operating device for a work machine described in the above publication is attached to an elbow support fixed to the side of the driver's seat and attached to the elbow support so as to be swingable to the left and right around the swing center axis, and instructs the swing of the work front. The swing operation arm includes an operation lever attached to the front end portion of the swing operation arm so as to be swingable back and forth and right and left.

  To move the work front by operating the operating device, the operator sits in the driver's seat, puts his elbow on the elbow rest, puts his forearm on the swing operating arm, and holds the operating lever with his palm. When swinging the work front from side to side, the operator swings the swing operation arm by swinging his / her forearm around the elbow joint. In this case, since the swing center axis of the swing operation arm that instructs the left and right swing of the work front is located in front of the elbow rest on which the operator places the elbow, the swing center of the operator's forearm The position of the elbow joint and the swing center axis of the swing operation arm do not overlap. As a result, the movement of the swing arm and the forearm of the operator does not correspond one-on-one, and the operator needs to move the elbow and forearm more than necessary, resulting in problems such as poor operability and fatigue. To do.

An object of the present invention is to provide an operation device for a work machine having a work front provided with a boom, an arm, and a work tool, and various operations for operating the boom, arm, work tool, and turning (or swinging) of the work front. It is an object of the present invention to provide an operating device for a work machine that can perform operations without interfering with each other , improve operability, and reduce fatigue even when an operator works for a long time.

(1) In order to achieve the above object, the present invention provides a lower vehicle body having a traveling body, a revolving body that is turnably attached to an upper portion of the lower vehicle body, and a front part of the revolving body. A work front that is swingable up and down, and the work front includes a boom that is swingable up and down on the revolving body, an arm that is swingable up and down on the boom, and a tip of the arm. In an operating device for a work machine provided with a work tool provided so as to be pivotable up and down, an arm bracket provided on a side of a driver's seat installed in the driver's cab, and a front / rear direction of the driver's seat on the arm bracket And an operator arm attached to the operation arm so as to swing left and right with respect to the front-rear direction of the driver's seat. A And Muresuto, the distal end of the operating arm, pivotally attached to the longitudinal and transverse vertical both the driver's seat extends transversely from the distal end of the operating arm, each heave of the arm and boom A horizontal operation lever for instructing movement; a work tool rotation lever for rotating the work tool up and down provided around the horizontal operation lever so as to be rotatable about the axis of the operation lever; The armrest includes an elbow joint support portion where an elbow joint portion of the operator is located, and the operation arm is configured such that the elbow joint support portion of the armrest is positioned on a swing center axis of the operation arm. wherein attached to arm bracket Rutotomoni, the operating lever of every said horizontal, as the operation force at the time before and after operation of the operating lever does not generate the rotational movement of the pivot axis about said operating arm, It is assumed that the driver's seat front-rear direction of the plane transverse to the operator gripping the central portion of the work lever is mounted so as to be positioned in the swing center axis of the operating arm.

First, attach the armrest to the operation arm so that it swings to the left and right with respect to the front-rear direction of the driver's seat, and mount the operation arm to the arm bracket so that the elbow joint support part of the armrest is located on the swinging central axis The position of the elbow joint, which is the center of swinging of the operator's forearm, and the center axis of swinging of the operating arm overlap, so that the operator can center the elbow joint with the forearm resting on the armrest on the operating arm. only to swing the forearm to the left and right, it is possible to operate the operation arm and Do Ri operability without moving the elbows improved to.

Next, an operation arm for instructing the turning of the revolving body (work front) is attached to the arm bracket so as to be swingable to the left and right with respect to the front-rear direction of the driver's seat. Is attached to the tip of the operating arm in a lateral direction extending from the tip of the operating arm so as to be rotatable in the longitudinal direction of the driver's seat and in the horizontal and vertical directions. Since the moving lever is provided around the horizontal operating lever so as to be rotatable around the axis of the operating lever, the operating directions of the arm, boom, work tool and swivel are different. Since the operating directions of the moving lever and the operating arm are independent from each other and do not overlap, when the operator operates any of the operating lever, work implement rotating lever, or operating arm, it will not interfere with other operations, operation There is further improved.

  Further, the horizontally-operated operating lever is a driver's seat that crosses the operator gripping center portion of the operating lever so that the operating force when the operating lever is operated forward and backward does not generate a rotational movement around the swinging and pivoting axis of the operating arm. Since the front / rear / up / down plane is mounted so as to be positioned on the swing center axis of the operation arm, the front / rear operation of the operation lever does not interfere with the operation of the operation arm, thereby improving the operability.

  In addition, the rotation direction in which the work tool rotation lever is operated matches the direction in which the work tool operates, that is, the vertical rotation direction thereof, so that the operator can intuitively operate the work tool. The operability of the operating device is further improved.

As described above, according to the present invention, since the operability is remarkably improved, the operator's fatigue can be reduced even in a long-time work.

(2) In the above (1), preferably, the work front includes a swing post that can swing left and right with respect to the front-rear direction of the driver's seat, and the boom is provided on the swing post so as to swing up and down. The operating arm instructs the swing post to swing left and right instead of giving an instruction to turn the swing body .

As a result, the operator can operate the operation arm to instruct the swing post to swing left and right, and the operation direction of the operation arm is equal to the operation direction of the work front. The operability is further improved.

( 3) In the above (1), preferably, an operation switch provided at the distal end portion of the operation lever and instructing start / stop of the work tool provided at the distal end portion of the work front is further provided.

Accordingly, the operator can instruct the operation of the front end portion of the work front and the start / stop of the work tool while holding the operation lever, and the operability is further improved.

(4) In order to achieve the above object, the present invention provides a lower vehicle body provided with a traveling body, a revolving body that is turnably attached to an upper portion of the lower vehicle body, and a front part of the revolving body. The left and right work fronts are swingable up and down, and one of the left and right work fronts can swing left and right with respect to the front and rear direction of the driver's seat. A boom provided on the boom, an arm provided on the boom so as to be swingable up and down, and a work tool provided on the tip of the arm so as to be pivotable up and down. In a working machine comprising a boom that is movably provided, an arm that is swingably movable up and down on the boom, and a work tool that is pivotally movable at the tip of the arm, the operation installed in the cab Left and right of the seat Left and right operation devices provided corresponding to the left and right work fronts, each of the left and right operation devices swinging left and right with respect to the longitudinal direction of the driver's seat on the arm bracket and the arm bracket. An operation arm that is freely attached and directs either the turning of the swivel body or the swinging of the swing post, and is attached to the operation arm so as to swing left and right with respect to the front-rear direction of the driver's seat. An armrest on which the operator's arm is placed, and the arm and the boom are attached to the front end of the operation arm so as to extend laterally from the front end of the operation arm and to be rotatable in the front-rear direction and the horizontal up-down direction. A horizontal operation lever for instructing the vertical swing of each of the operation levers, and a horizontal operation lever provided around the horizontal operation lever so as to be rotatable about a horizontal axis of the operation lever. The armrest has an elbow joint support portion on which an elbow joint portion of the operator is located, and the elbow joint support portion of the armrest has the elbow joint support portion of the operation arm. The horizontal operation lever is attached to the arm bracket so as to be positioned on the swing center axis, and the operation force when the operation lever is operated forward and backward is caused to rotate around the swing axis of the operation arm. It is assumed that a plane in the front-rear direction of the driver's seat that crosses the operator's grip center portion of the operation lever is mounted so as to be positioned on the swing center axis of the operation arm so as not to generate it.

As a result, in the work machine having the left and right work fronts, as described in the above (1), the operability is remarkably improved, and the operator's fatigue can be reduced even during long-time work.

(5) In order to achieve the above object, the present invention has a lower vehicle body provided with a traveling body, an upper vehicle body provided on the upper portion of the lower vehicle body and provided with a driver's cab, and a front body left and right of the upper vehicle body. The left and right work fronts are provided with swing posts that can be swung left and right with respect to the front-rear direction of the driver's seat, and can be swung up and down on the swing posts. was boom in the boom vertically swingably provided arms and work machine provided with a working tool provided to be freely up and down pivoting on the tip of the arm, the left and right of the installed driver's seat in the cab Left and right operating devices are provided on both sides corresponding to the left and right work fronts, and the left and right operating devices each swing to the left and right with respect to the front and rear direction of the driver's seat. Freely An operating arm for indicating right and left swinging of attaching et al less queuing post Ri, and armrest to put the arm mounted operator to swing to the left and right with respect to the longitudinal direction of the driver's seat integrally with the operating arm, Extending laterally from the distal end of the operating arm to the distal end of the operating arm and pivoting in the front-rear direction and lateral vertical direction of the driver's seat around the base end, A horizontally-operated operation lever that instructs each vertical swing, and a work tool that is provided around the horizontally-operated operation lever so as to be rotatable around a lateral axis of the operation lever and that instructs the vertical rotation of the work tool. A pivot lever, wherein the armrest has an elbow joint support portion on which an elbow joint portion of the operator is located, and the operation arm has an elbow joint support portion on the swing center axis of the operation arm. Located in The horizontal operation lever is attached to the arm bracket so that the operation force during front-back operation of the operation lever does not generate a rotational movement around the swing axis of the operation arm. It is assumed that the plane in the front-rear direction of the driver's seat that crosses the operator gripping center portion is attached so as to be positioned on the swing center axis of the operation arm.

As a result, in the work machine having the left and right work fronts, as described in the above (1), the operability is remarkably improved, and the operator's fatigue can be reduced even during long-time work.

According to the present invention, in an operating device for a work machine having a work front provided with a boom, an arm, and a work tool, each operation for operating the boom, arm, work tool, and the swing (or turning) of the work front is performed. The operations can be performed without interfering with each other, so that the operability is remarkably improved, and the operator's fatigue can be reduced even during long-time work.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a working machine operating device according to the present invention will be described below with reference to the drawings.

<Work machine>
FIG. 1 and FIG. 2 are views showing the appearance of a double-armed hydraulic excavator that is an example of a working machine provided with the operating device according to the first embodiment of the present invention. FIG. 1 is an elevation view of a double-arm hydraulic excavator, and FIG. 2 is a top view of the double-arm hydraulic excavator.

<Overall configuration of work machine>
1 and 2, a hydraulic excavator 200 includes a lower vehicle body 2 including a traveling body 1 and an upper swing body 3 that is turnably mounted on the lower vehicle body 2. A driver's cab 4 is attached near the center of the section, and an engine, a pump, and the like (not shown) are provided on the side and rear of the upper swing body 3. A first work front A and a second work front B are attached to the front left and right of the upper swing body 3 so as to be swingable up and down and left and right.

<Work front configuration>
The first work front A includes a first bracket 6a provided on the left side of the front portion of the upper swing body 3, a swing post 7a attached to the first bracket 6a so as to be swingable left and right around the vertical axis, and the swing post 7a. A boom 10a attached to the boom 10a so as to freely swing up and down, an arm 12a attached to the boom 10a so as to freely swing up and down, and a work tool 14a attached to the arm 12a so as to be rotatable up and down (in the figure, a grapple 20a). ), The swing post 7a and the upper swing body 3 are connected to the swing post cylinder 9a that swings the swing post 7a in the horizontal direction around the vertical axis, and the swing post 7a and the boom 10a are connected to each other. It is connected to a boom cylinder 11a that swings up and down, a boom 10a and an arm 12a, and the arm 12a is moved up and down. It has an arm cylinder 13a for swinging (in the figure grapple 20a) implement 14a and its arm 12a is coupled to a, and a working implement cylinder 15a for rotating the work implement 14a in the vertical direction.

  Here, the work tool 14a can be arbitrarily replaced with any one of the grapple 20a, a cutter, a breaker, a bucket, and other work tools as shown in the drawing according to the work content of the work machine.

  The second work front B is provided on the front right side of the upper swing body 3. This is configured in the same manner as the first work front A, and the same members are indicated by changing the subscripts from “a” to “b”, and the description is omitted here.

<Operation device configuration>
3 and 4 are diagrams showing the operating device in the present embodiment. A driver seat 49 is installed in the driver's cab 4, and operating devices 50 a and 50 b are provided on the left and right sides of the driver seat 49. The operating device 50a is for the first work front A, and the operating device 50b is for the second work front B.

  The operating device 50a is attached to the left side of the driver's seat 49 with an arm bracket 51a and attached to the arm bracket 51a so as to be able to swing left and right around the swing center axis 73a. An operating arm 52a for instructing and an armrest 53a attached to the operating arm 52a so as to swing together are provided. The armrest 53a has an elbow joint support portion 77a where the operator's elbow joint is located, and the operation arm 52a and the armrest 53a have the elbow joint support portion 77a of the armrest 53a positioned on the swing center axis 73a of the operation arm 52a. It is attached to the arm bracket 51a. The arm bracket 51a has an elbow joint position adjusting device 78a for adjusting the position of the elbow joint support portion 77a according to the body shape of the operator.

  The operating device 50a is attached to the front end portion of the operating arm 52a so as to be pivotable up and down, and a horizontal operating lever 54a for instructing the operation of the arm front end 71a of the first work front A, and the operating lever 54a. Are attached to the front end of the operation lever 54a and a work tool rotation lever 55a for instructing the rotation of the work tool 14a. And a work tool operation switch 56a for instructing start / stop.

  The operation lever 54a is attached so that the plane in the front-rear direction of the driver's seat 49 that crosses the operator gripping point 72a of the operation lever 54a is positioned on the swing center axis 73a of the operation arm 52a. The operator gripping point 72a is a point that becomes a gripping center when an operator of a normal body shape grips the work tool rotating lever 55a.

  The operating device 50a is provided on the arm bracket 51a, and is provided with an operating arm displacement detector 57a that detects a swing displacement amount of the operating arm 52a and transmits a signal, and an operating arm 52a. An operation lever vertical displacement detector 581a that detects a displacement amount in the vertical direction and transmits a signal, and an operation lever longitudinal displacement detector 582a that detects a displacement amount in the front and rear direction and transmits a signal in the same manner. And a rotation lever displacement detector 59a that detects a rotational displacement amount of the work tool rotation lever 55a and transmits a signal, and a work tool rotation lever 55a. And an operation switch displacement detector 60a for detecting a displacement amount of the switch 56a and transmitting a signal.

  FIG. 5 is an enlarged perspective view of the vicinity of the elbow joint position adjusting device 78a. The operation device 50b on the right side of the driver's seat is shown in parentheses in the figure. The elbow joint support adjusting device 78a includes a base block 781a having a recess 783a and a rectangular holding block 782a provided in the recess 783a. The base block 781a has a through hole 784a provided in the vertical direction, and a substantially semicircular recess 785a on the bottom surface of the recess 783a. A swing shaft 79a rotatably attached to the arm bracket 51a is inserted into the through hole 784a, and the base block 781a is fixed to the swing shaft 79a by a bolt 786a. The holding block 782a has a substantially semicircular recess 787a paired with the substantially semicircular recess 785a of the base block 781a. The base block 781a and the holding block 782a sandwich the operation arm 52a from above and below with the aforementioned substantially semicircular recesses 785a and 787a, and are fixed to the operation arm 52a with bolts 788a.

In the elbow joint position adjusting device 78a configured as described above, for example, when the elbow joint support portion 77a is not positioned on the swing center axis 73a of the operation arm 52a due to the difference in the body shape of the operator. The bolt 788a is loosened, the operation arm 52a is slid in the front-rear direction (see P in FIG. 5), and the elbow joint support portion 77a can be adjusted so as to be positioned on the swinging central axis 73a. Further, by loosening the bolt 786a , the base block 781a can be slid in the vertical direction (see H in FIG. 5), and the height of the armrest 53a can be adjusted according to the body shape of the operator.

  The operating device 50b is configured on the right side of the driver's seat in the same manner as the operating device 50a, and the same members are indicated by changing the subscripts from “a” to “b”, and the description thereof is omitted here.

<Control system overall configuration>
FIG. 6 shows a functional block diagram of the control system of the first work front A and the second work front B. The second work front B is shown in parentheses in the figure.

  The control system shown in FIG. 6 is roughly classified into the displacement detectors 57a, 57b, 581a, 581b, 582a, 582b, 59a, 59b, 60a, 60b in the operation device and the angle sensors (later And a control device 61 that generates a drive signal and outputs a drive signal after receiving an input signal from the input system, performs a predetermined calculation, and outputs an output signal from the control device 61. And an output system composed of respective drive systems (described in detail later) for operating each part of the work implement.

  As an input system of the control device 61, the displacement detectors 57a, 57b, 581a, 581b, 582a, 582b, 59a, 59b, 60a, 60b and the swing posts 7a, 7b are attached in the vicinity of the swing axis. Swing post angle sensors 67a and 67b for detecting the rotation angles of the swing posts 7a and 7b, and boom angle sensors 68a and 68b for detecting the rotation angles of the booms 10a and 10b, which are attached in the vicinity of the swing axes of the booms 10a and 10b. , Arm angle sensors 69a and 69b that are mounted near the swing axis of the arms 12a and 12b and detect the rotation angle of the arms 12a and 12b; and the work tool 14a that is mounted near the rotation axis of the work tools 14a and 14b. Work tool angle sensors 70a and 70b for detecting the rotation angle of 14b are provided.

  As an output system of the control device 61, swing post cylinder drive systems 62a and 62b for driving the swing post cylinders 9a and 9b for swinging the swing posts 7a and 7b to the left and right, and the booms 10a and 10b are swung up and down. Boom cylinder drive systems 63a and 63b for driving the boom cylinders 11a and 11b, arm cylinder drive systems 64a and 64b for driving the arm cylinders 13a and 13b for vertically swinging the arms 12a and 12b, and a work tool. Work tool cylinder drive systems 65a and 65b for driving work tool cylinders 15a and 15b for rotating 14a and 14b, and work tool drive systems 66a and 66b for driving the work tools 14a and 14b are provided.

  The control device 61 uses the signals from the operation arm displacement detectors 57a and 57b and the swing post angle sensors 67a and 67b to perform a calculation for link control, and a calculation by the link calculation unit 61A. The result is converted into a drive signal that can be driven by the swing post cylinder drive systems 62a and 62b, the operation lever vertical displacement detectors 581a and 581b, the boom angle sensors 68a and 68b, and the operation lever front and rear. Using the signals from the direction displacement detectors 582a and 582b and the arm angle sensors 69a and 69b, a vector calculation unit 61C that performs calculations for vector control, and the calculation results of the vector calculation unit 61C are used as the boom cylinder drive system 63a. 63b and arm cylinder drive systems 64a and 64b are converted into drive signals that can be driven. The link calculation unit 61E that performs calculation for link control using signals from the drive signal generation unit 61D, the work tool rotation lever displacement detectors 59a and 59b, and the work tool angle sensors 70a and 70b, and the link Signals from the drive signal generation unit 61F that converts the calculation result of the calculation unit 61E into drive signals that can be driven by the work tool cylinder drive systems 65a and 65b, and the work tool operation switch displacement detectors 60a and 60b, The drive systems 66a and 66b have a drive signal generation unit 61G that converts the drive signals into drive signals that can be driven.

  Next, operations of the first work front A and the second work front B will be described with reference to FIGS. FIG. 7 is a diagram illustrating the operation direction of the operation device, and FIG. 8 is a diagram illustrating the operation of the work front corresponding to the operation direction of the operation device. The second work front B is shown in parentheses in the figure.

<Operation posture>
In order to move the first work front A and the second work front B by operating the operation devices 50a and 50b, the operator sits on the driver's seat 49, and the elbow joint of the left arm is connected to the elbow joint of the armrest 53a on the operation arm 52a. Place on the support portion 77a, hold the work tool turning lever 55a with the palm, hang the finger on the work tool operation switch 56a, and connect the elbow joint of the left arm to the elbow joint support portion 77b of the armrest 53b on the operation arm 52b. The work tool rotation lever 55b is gripped by the palm part, and the finger part is hung on the work tool operation switch 56b.

<Operation by operation arm>
In this state, when the operator swings the operating arms 52a and 52b of the operating devices 50a and 50b left and right on the forearm (see w in FIG. 7), the operating arm displacement detectors 57a and 57b and the swing post angle The sensors 67a and 67b transmit detection signals to the link calculation unit 61A in the control device 61. Next, the link calculation unit 61A that has received this detection signal performs link calculation and transmits the calculation result to the drive signal generation unit 61B in the control device 61. Upon receiving this signal, the drive signal generator 61B transmits a drive signal to the swing post cylinder drive systems 62a and 62b. Further, the swing post cylinder drive systems 62a and 62b that have received this drive signal expand and contract the swing post cylinders 6a and 6b. As a result, the swing posts 7a and 7b are swung in a direction coinciding with the displacement direction of the operation arms 52a and 52b (see W in FIG. 8).

  At this time, the swing speed of the swing posts 7a and 7b is in a simple increase relationship, for example, a proportional relationship with the displacement amount of the operation arms 52a and 52b, and the displacement of the operation arms 52a and 52b is the swing motion of the swing posts 7a and 7b. Control the speed of movement. In this case, the position of the operating arms 52a and 52b may be controlled in proportion to the swing angle of the swing posts 7a and 7b.

<Operation by operation lever>
Further, when the operating levers 54a and 54b are displaced up and down and front and rear by the palm, the operating lever vertical displacement detectors 581a and 581b, the operating lever front and rear direction displacement detectors 582a and 582b, the boom angle sensors 68a and 68b, the arm The angle sensors 69a and 69b transmit detection signals to the vector calculation unit 61C in the control device 61. Next, upon receiving this detection signal, the vector calculation unit 61C performs vector calculation and transmits the calculation result to the drive signal generation unit 61D in the control device 61. Upon receiving this signal, the drive signal generator 61D transmits a drive signal to the boom cylinder drive systems 63a and 63b and the arm cylinder drive systems 64a and 64b, and the arm tips 71a and 71b are displaced by the operation levers 54a and 54b. The boom cylinders 11a and 11b and the arm cylinders 13a and 13b are expanded and contracted so as to move in accordance with the direction. Details will be described below.

  In FIG. 7, in the plane including the vertical rotation axis and the front-rear rotation axis of the operation levers 54 a and 54 b, the front-rear direction is the x direction, the vertical direction is the y direction, and the plane is the xy plane. To do. 8, in the plane including the booms 10a, 10b and the arms 12a, 12b constituting the first work front A and the second work front B, the front-rear direction is the X direction, and the vertical direction is the Y direction. Let it be an XY plane.

  In this case, when the operation levers 54a and 54b are displaced in an arbitrary direction on the xy plane, the boom cylinders 11a and 11b and the arm cylinders 13a and 13b are simultaneously respectively controlled in the control device 61 according to the displacement direction. The arm front ends 71a and 71b of the work front move in the direction corresponding to the displacement direction of the operation levers 54a and 54b on the XY plane.

  At this time, the moving speeds of the arm front ends 71a and 71b of the work front are in a proportional increase relationship with the displacement amounts of the operation levers 54a and 54b, for example, the displacement of the operation levers 54a and 54b is the movement front arm tip 71a. , 71b is controlled in speed. In this case, the position control may be performed by making the displacement amount of the operation levers 54a and 54b proportional to the movement of the arm front ends 71a and 71b of the work front.

<Operation by rotating lever>
Further, when the work tool rotation levers 55a and 55b are rotated around the rotation center axes 74a and 74b with the palm (see z in FIG. 7), the work tool rotation lever displacement detectors 59a and 59b and the work tool angle are detected. The sensors 70a and 70b transmit detection signals to the link calculation unit 61E in the control device 61. Next, the link calculation unit 61E that has received this detection signal performs link calculation and transmits the calculation result to the drive signal generation unit 61F in the control device 61. Upon receiving this signal, the drive signal generator 61F transmits a drive signal to the work implement cylinder drive systems 65a and 65b. Further, the work tool cylinder drive systems 65a and 65b that have received this drive signal expand and contract the work tool cylinders 15a and 15b. Accordingly, the work tools 14a and 14b are rotated in a direction that coincides with the rotation direction of the work tool rotation levers 55a and 55b (see Z in FIG. 8).

  At this time, the rotation speeds of the work tools 14a and 14b are in a proportionally increasing relationship with the displacement amounts of the work tool rotation levers 55a and 55b, for example, the displacement of the work tool rotation levers 55a and 55b. The speed of the rotation of 14a and 14b is controlled. In this case, the position control may be performed by making the displacement amount of the work tool turning levers 55a and 55b proportional to the turning angle of the work tools 14a and 14b.

<Operation by operation switch>
Further, when the work tool operation switches 56 a and 56 b are displaced by the finger parts, the work tool operation switch displacement detectors 60 a and 60 b transmit detection signals to the drive signal generation unit 61 G in the control device 61. Next, the drive signal generator 61G that has received this detection signal transmits a drive signal to the work implement drive systems 66a and 66b. Further, the work tool drive systems 66a and 66b receiving this drive signal drive the work tools 14a and 14b. For example, when the grapples 20a and 20b are handled as the work tools 14a and 14b, the grapples 20a and 20b are opened and closed according to the operation of the work tool operation switches 56a and 56b.

  At this time, the opening / closing speed of the grapples 20a, 20b is in a proportionally proportional relationship with the displacement amount of the work tool operation switches 56a, 56b, for example, the displacement of the work tool operation switches 56a, 56b controls the speed of the work tool. To do.

<Effect>
Here, the effect of this embodiment will be described using FIG. 9 while comparing the operation machine operating device described in JP-A-11-181815, which is the prior art, with this embodiment.

<Conventional technology configuration>
As shown in FIG. 9, the operating devices 80a and 80b for the work machine according to the prior art include elbow supports 83a and 83b fixed to the side of the driver's seat 99, and left and right around the pivot shafts 93a and 93b. Swing operation arms 82a and 82b that are swingably mounted, work machine operation levers 84a and 84b that are swingably mounted to the front and rear, left and right at the ends of the swing operation arms 82a and 82b, and the work machine operation lever 84a. , 84b are provided with working tool turning levers 85a and 85b mounted around the turning axes 94a and 94b so as to be rotatable.

  To operate the operating devices 80a and 80b to move the work front, the operator sits on the driver's seat 99, places both elbows on the elbow supports 83a and 83b, and puts the forearms of both arms on the swing operation arms 82a and 82b. The work machine operation levers 84a and 84b are held with both palms.

<Effect of operation arm>
In the prior art, when the work front is swung from side to side, the swing axis 93a, 93b of the swing operation arm 82a, 82b for instructing the swing of the work front is provided on the elbow receiver 86a, 86b on which the operator places the elbow. Since it is located in the front, the position of the elbow joint that becomes the swing center of the operator's forearm does not overlap with the swing center axes 93a and 93b of the swing operation arms 82a and 82b. As a result, the movement of the swing arm and the forearm of the operator does not correspond one-on-one, and the operator needs to move the elbow and forearm more than necessary, resulting in problems such as poor operability and fatigue. To do.

  On the other hand, in the operating devices 50a and 50b of the present embodiment, the elbows of the operator of the armrests 53a and 53b are on the swing center line of the operation arms 52a and 52b that swing the first work front A and the second work front B. Since the operation arms 52a and 52b are attached to the arm brackets 51a and 51b so that the joint support portions 77a and 77b are positioned, the position of the elbow joint that becomes the swing center of the operator's forearm and the operation arms 52a and 52b Of the center axis of the rotation overlap. For this reason, the operator can operate the operation arms 52a and 52b without moving the elbow by merely swinging the forearm left and right around the elbow joint while the forearm is placed on the armrests 53a and 53b on the operation arms 50a and 50b. It becomes possible to do. As a result, the operability of the operating device is improved, and the operator's fatigue can be reduced even during long-time work.

<Effect of control lever>
Next, in the related art, when the front end portion of the work front is moved up and down and back and forth, it is assumed that the work implement operation levers 84a and 84b are rotated left and right. At this time, the operation direction of the work machine operation levers 84a and 84b overlaps with the left-right direction that is the operation direction of the swing operation arms 82a and 82b, and one operation easily interferes with the other operation. That is, at the same time as one operation, the other device may be operated against the operator's intention, and the operability of the operating device is reduced.

  On the other hand, in the operation devices 50a and 50b of the present embodiment, the operation arms 52a and 52b for instructing the left and right swings of the first work front A and the second work front B are attached so as to be swingable left and right. On the other hand, operation levers 54a and 54b for instructing the operation of the arm tips 71a and 71b of the first work front A and the second work front B are mounted horizontally so as to be rotatable up and down. As a result, the operation directions of the operation arms 52a and 52b and the operation levers 54a and 54b are independent from each other, and when the operator performs one operation, the other is not operated against the operator's intention. The operability is further improved.

  Further, the control of the operation levers 54a and 54b of this embodiment is performed by assigning and controlling the expansion and contraction of the boom cylinders 11a and 11b and the arm cylinders 13a and 13b to different operation directions of the operation lever, and the arm front end of the work front is controlled. Instead of the general cylinder individual control system to be operated, the vector control system is adopted as shown in FIG. Therefore, when the operation levers 54a and 54b are operated up and down, the arm tips 71a and 71b of the first work front A and the second work front B operate up and down, respectively, and when the operation levers 54a and 54b are operated back and forth, The arm tips 71a and 71b of the first work front A and the second work front B move back and forth. Further, the operation of the operation levers 54a and 54b is controlled by the control device 61 so that even if the operation levers 54a and 54b are operated in an oblique direction, the arm front ends of the respective work fronts are operated following the directions. . For example, when the operation lever 54a is operated in the forward upward direction (a direction of 45 degrees upward in the forward direction), the arm tip 71a of the first work front A moves in the forward upward direction.

  That is, since the operation direction of the operation levers 54a and 54b and the operation directions of the arm tips 71a and 71b of the first work front A and the second work front B match, the operator can operate intuitively. The operability of the apparatus is improved.

<Rotation motion prevention effect>
Further, in the operation levers 54a and 54b in the present embodiment, the plane in the front-rear direction of the driver's seat 49 that crosses the operator gripping points 72a and 72b of the operation levers 54a and 54b is the swing center axis 73a of the operation arms 52a and 52b. , 73b so as to be pivotable up and down and up and down.

  As a result, the operating force when the operating levers 54a and 54b are moved back and forth does not generate a rotational movement around the swing axes 73a and 73b of the operating arms 52a and 52b, and the operation of the operating levers 54a and 54b is controlled by the operating arm. It does not interfere with the operation of 52a and 52b. As a result, when the operation levers 54a and 54b are operated, it is possible to avoid the operation arms 52a and 52b from operating simultaneously with the intention of the operator, thereby further improving the operability of the operation device.

<Effect of rotating lever>
Furthermore, since the rotation direction in which the work tool rotation levers 55a and 55b are operated coincides with the direction in which the work tools 14a and 14b operate, that is, the rotation direction thereof, the operator can operate intuitively. This improves the operability of the operating device.

  Further, by attaching the work tool turning levers 55a and 55b around the operation levers 54a and 54b so as to be rotatable around the axis of the operation levers 54a and 54b, the operator can turn the work tool turning levers 55a and 55b. It is possible to instruct both the operation of the arm tips 71a and 71b of the first work front A and the second work front B and the rotation of the work tools 14a and 14b simply by gripping. This further improves the operability of the operating device.

<Effect of operation switch>
Further, by attaching the work tool operation switches 56a and 56b to the tip portions of the work tool rotation levers 55a and 55b, the work tool rotation levers 55a and 55b mounted around the operation levers 54a and 54b are gripped. Thus, the fingers can be hung on the work tool operation switches 56a and 56b, and both the operation of the arm tips 71a and 71b of the first work front A and the second work front B and the start / stop of the work tools 14a and 14b. Can be instructed. This further improves the operability of the operating device.

<Additional note about turning operation>
In the first embodiment, the hydraulic excavator 200 has been described as an example of the working machine in which the first work front A and the second work front B both have the swing posts 7a and 7b. Not limited to this, the work front having a swing post may be either left or right. In this case, one of the operation arms 52a and 52b may be assigned to the turning instruction of the upper swing body 3.

  Assuming that the first work front A does not have a swing post, when the operation arm 52a is swung, the control device 61 detects the operation arm displacement detector 57a and an upper swing body angle sensor (not shown). In response to this detection signal, a predetermined calculation is performed, and a control signal is transmitted to a turning drive system (not shown) of the upper swing body 3 so that the upper swing body 3 turns in a direction that matches the displacement direction of the operation arm 52a. You may control.

  At this time, the turning speed of the upper swing body 3 is simply increased, for example, proportional to the displacement amount of the operation arm 52 a, and the displacement amount of the operation arm 52 a controls the speed of the upper swing body 3. In this case, the position control may be performed by making the displacement amount of the operation arm 52 a proportional to the turning angle of the upper swing body 3.

  A second embodiment of the present invention will be described with reference to FIGS.

  Unlike the first embodiment in which the vector control method is adopted as the control method, this embodiment adopts a general cylinder individual control method. As for the configuration, the configuration of the control system is different, but the configuration of the other work machines and the operation devices of the work machines is the same as that of the first embodiment. Hereinafter, after describing the configuration of the control system of the present embodiment, the operation of the work machine in this case will be described.

<Control system configuration>
FIG. 10 is a functional block diagram of the control system of the first work front A and the second work front B. The second work front B is shown in parentheses.

  As in FIG. 6, the control system of FIG. 10 includes an input system comprising displacement detectors 57a, 57b, 581a, 581b, 582a, 582b, 59a, 59b, 60a, 60b, a control device 161, and each drive system 62a. 62b, 63a, 63b, 64a, 64b, 65a, 65b, 66a, 66b.

  The input system of the control device 161 includes operation arm displacement detectors 57a and 57b, operation lever vertical displacement detectors 581a and 581b, operation lever longitudinal displacement detectors 582a and 582b, and a work tool rotating lever. Displacement detectors 59a and 59b and work tool operation switch displacement detectors 60a and 60b are provided.

  The operation device 161 uses a signal from the operation arm displacement detectors 57a and 57b to convert the swing post cylinder drive system 62a and 62b into a drive signal that can be driven, and an operation lever vertical direction. A signal from the displacement detectors 581a and 581b is used to convert the boom cylinder drive systems 63a and 63b into drive signals that can be driven, and signals from the operation lever longitudinal displacement detectors 582a and 582b. Is used to drive the work tool cylinder using signals from the drive signal generator 161C that converts the drive signals to the drive signals that can be driven by the arm cylinder drive systems 64a and 64b and the displacement detectors 59a and 59b for the work tool rotation lever. A driving signal generator 161D for converting the driving signals to the driving signals that can be driven by the systems 65a and 65b; Vessel 60a, the signal from 60b, the implement driveline 66a, 66b has a drive signal generating unit 161E to be converted in drivable drive signal. The output system is the same as in the first embodiment.

  Next, operations of the first work front A and the second work front B will be described with reference to FIGS. 10 to 12. FIG. 11 is a diagram illustrating the operation direction of the operation device, and FIG. 12 is a diagram illustrating the operation of the work front corresponding to the operation direction of the operation device. The second work front B is shown in parentheses in the figure.

<Operation by operation arm>
If the operator swings the operating arms 52a and 52b of the operating devices 50a and 50b to the left and right with the forearm portion in the state that the operator is in the same operating posture as in the first embodiment (see w in FIG. 11), Displacement detectors 57a and 57b transmit detection signals to drive signal generator 161A in control device 161. Next, the drive signal generator 161A in the control device 161 that has received the detection signal transmits a drive signal to the swing post cylinder drive systems 62a and 62b. Further, the swing post cylinder drive systems 62a and 62b that have received this drive signal expand and contract the swing post cylinders 6a and 6b. As a result, the swing posts 7a and 7b are swung in a direction coinciding with the displacement direction of the operation arms 52a and 52b (see W in FIG. 12).

  At this time, the swing speed of the swing posts 7a and 7b is in a simple increase relationship, for example, a proportional relationship with the displacement amount of the operation arms 52a and 52b, and the displacement of the operation arms 52a and 52b is the swing motion of the swing posts 7a and 7b. Speed control the movement.

<Operation by operation lever>
When the operation levers 54a and 54b are displaced in the vertical direction (see y in FIG. 11) with the palm, the operation lever vertical displacement detectors 581a and 581b detect the drive signal generation unit 161B in the control device 161. Send a signal. Next, the drive signal generator 161B that has received this detection signal transmits a drive signal to the boom cylinder drive systems 63a and 63b. Further, the boom cylinder drive systems 63a and 63b that have received this drive signal expand and contract the boom cylinders 11a and 11b. As a result, the booms 10a and 10b are swung (see Y in FIG. 12).

  At this time, the swing speed of the booms 10a and 10b is in a proportional increase relationship with the displacement amount of the operation levers 54a and 54b, for example, and the displacement of the operation levers 54a and 54b causes the booms 10a and 10b to swing. Speed control.

  Similarly, when the operation levers 54a and 54b are displaced in the front-rear direction (see x in FIG. 11) with the palm, the operation lever front-rear direction displacement detectors 582a and 582b are moved to the drive signal generation unit 161C in the control device 161. Send a detection signal. Next, the drive signal generator 161C that has received this detection signal transmits a drive signal to the arm cylinder drive systems 64a and 64b. Further, the arm cylinder drive systems 64a and 64b that have received this drive signal extend and contract the arm cylinders 13a and 13b. As a result, the arms 12a and 12b are swung (see X in FIG. 12).

  At this time, the swing speed of the arms 12a and 12b is simply proportional to the displacement amount of the operation levers 54a and 54b, for example, proportional, and the displacement of the operation levers 54a and 54b causes the arms 12a and 12b to swing. Speed control.

<Operation by rotating lever>
Further, when the work tool turning levers 55a and 55b are turned around the turning center axes 74a and 74b with the palm (see z in FIG. 11), the work tool turning lever displacement detectors 59a and 59b are controlled by the control device. A detection signal is transmitted to the drive signal generator 161D in 161. Next, the drive signal generator 161D that has received this detection signal transmits a drive signal to the work implement cylinder drive systems 65a and 65b. Further, the work tool cylinder drive systems 65a and 65b that have received this drive signal expand and contract the work tool cylinders 15a and 15b. As a result, the work tools 14a and 14b are rotated in a direction coinciding with the rotation direction of the work tool rotation levers 55a and 55b (see Z in FIG. 12).

  At this time, the swing speeds of the work tool 14a and 14b are in a simple increase relationship with the displacement amount of the work tool rotation levers 55a and 55b, for example, a proportional relationship, and the displacement of the work tool rotation levers 55a and 55b is The swing of the tools 14a and 14b is speed controlled.

<Control by operation switch>
Note that drive control of the work tools 14a and 14b by the work tool operation switches 56a and 56b is the same as in the first embodiment, and thus will be omitted.

<Effect>
As described above, according to the present embodiment, even when a general cylinder individual control method is used, when the operator operates the work front and the work tool, the operability of the operating device is improved, and the operation time is increased. The operator's fatigue can be reduced even during work.

<Additional note about turning operation>
In the second embodiment, the hydraulic excavator 200 has been described as an example of the working machine in which the first work front A and the second work front B both have the swing posts 7a and 7b. Not limited to this, the work front having a swing post may be either left or right. In this case, one of the operation arms 52a and 52b may be assigned to the turning instruction of the upper swing body 3.

  If the first work front A does not have a swing post, when the operation arm 52a is swung, the control device 61 receives a detection signal from the operation arm displacement detector 57a and receives a predetermined signal. Calculation may be performed and a control signal may be transmitted to a turning drive system (not shown) of the upper swing body 3 so that the upper swing body 3 is turned in a direction that coincides with the displacement direction of the operation arm 52a.

  At this time, the turning speed of the upper swing body 3 is simply increased, for example, proportional to the displacement amount of the operation arm 52 a, and the displacement amount of the operation arm 52 a controls the speed of the upper swing body 3.

  A third embodiment of the present invention will be described with reference to FIG.

  This embodiment relates to an operating device for a general work machine having one work front, unlike the dual-arm work machine in the first embodiment and the second embodiment having two work fronts. is there.

<Overall configuration>
The working machine of the present embodiment includes a lower vehicle body 2, an upper swing body 3, and a driver's cab 4 similar to those of the above-described embodiment. In the vicinity of the front center of the upper swing body 3, for example, FIG. The work front A of FIG. 2 is attached. Further, the configuration of the control system adopts a vector control method as in the first embodiment.

<Operation device configuration>
FIG. 13 is a diagram illustrating the operating device according to the present embodiment. An operating device 50b is provided on the right side of the driver seat 49, and an arm bracket 51a and an armrest 53a attached thereto are provided on the left side of the driver seat 49. The operating device 50b includes the same components as those in the first embodiment and the second embodiment, and the reference numerals assigned to the components are the same as those shown in FIGS. The function of each component of the operating device 50b to be shown is the same as in the first embodiment. The operating arm 52b instructs the work front A to swing left and right, and the operating lever 54b is the tip of the arm of the working front B. The work tool rotating lever 55b instructs the work tool 14b to rotate, and the work tool operation switch instructs the start / stop of the work tool 14b.

<Effect>
Also in the present embodiment configured as described above, the operator can operate the work front A of the work machine in the same manner as in the first embodiment, so that the operability of the operation device is improved and the work can be performed for a long time. Even the operator's fatigue can be reduced.

<Additional notes on control method>
In the third embodiment, the vector control method is adopted for the control system as in the first embodiment. However, as in the second embodiment, the control system may be controlled using a general cylinder individual control method. Good.

<Additional note about turning operation>
In the third embodiment, the work front A has been described as a work machine having the swing post 7b. However, the work machine is not limited to this and may be a work front without a swing post. In this case, the operation of the operation arm 52b may be assigned to an instruction to turn the upper swing body 3.

1 is an elevation view showing the overall structure of a double-armed hydraulic excavator to which the present invention is applied. It is a top view which shows the whole structure of the double arm type hydraulic excavator used as the application object of this invention. It is a perspective view which shows the whole structure of the operating device of the working machine concerning 1st Embodiment of this invention. It is a top view of the operating device shown in FIG. It is an enlarged view of the elbow joint support part adjustment instrument of the operating device shown in FIG. It is a block diagram which shows the structure of the control system by the vector control system of the operating device of the working machine concerning 1st Embodiment of this invention. It is operation | movement explanatory drawing of the operating device by a vector control system. It is operation | movement explanatory drawing of the work front of the working machine by a vector control system. It is a perspective view which shows the whole structure of the operating device of the working machine in a prior art. It is a block diagram which shows the structure of the control system by the general cylinder separate control system of the operating device of the working machine concerning 2nd Embodiment of this invention. It is operation | movement explanatory drawing of the operating device by a general cylinder separate control system. It is operation | movement explanatory drawing of the work front of the working machine by a general cylinder separate control system. It is a top view which shows the whole structure of the operating device of the working machine concerning 3rd Embodiment of this invention.

Explanation of symbols

A first work front B second work front 1 traveling body 2 lower body 3 upper swing body 3C center line 4 cab 6a first bracket 6b second brackets 7a and 7b swing posts 9a and 9b swing post cylinders 10a and 10b boom 11a , 11b Boom cylinder 12a, 12b Arm 13a, 13b Arm cylinder 14a, 14b Work tool 15a, 15b Work tool cylinder 20a, 20b Grapple 49 Driver's seat 50a, 50b Operation device 51a, 51b Operation arm bracket 52a, 52b Operation arm 53a, 53b Armrests 54a, 54b Operation levers 55a, 55b Work tool rotation levers 56a, 56b Work tool operation switches 57a, 57b Operation arm displacement detectors 581a, 581b Operation lever vertical displacement detectors 582a, 582b Operation lever front / rear direction displacement detectors 59a, 59b Work tool rotation lever displacement detectors 60a, 60b Work tool operation switch displacement detector 61 Controller 61A Link calculation unit (swing post system)
61B Drive signal generator (swing post system)
61C Vector calculation unit (boom / arm system)
61D Drive signal generator (boom / arm system)
61E Link calculation unit (work implement system)
61F Drive signal generator (work implement system)
61G Drive signal generator (work implement drive system)
62a, 62b Swing post cylinder drive system 63a, 63b Boom cylinder drive system 64a, 64b Arm cylinder drive system 65a, 65b Work tool cylinder drive system 66a, 66b Work tool drive system 67a, 67b Swing post angle sensor 68a, 68b Boom angle sensor 69a, 69b Arm angle sensors 70a, 70b Work tool angle sensors 71a, 71b Arm tips 72a, 72b Operator grip points 73a, 73b Oscillation center axis (operation arm)
74a, 74b Rotation center axis (control lever)
75a, 75b Longitudinal extension line (operator gripping point)
77a, 77b Elbow joint support portions 78a, 78b Elbow joint support portion adjustment devices 781a, 781b Base blocks 782a, 782b Holding blocks 783a, 783b Recesses 784a, 784b Through holes 785a, 785b Substantially circular recesses (base blocks)
786a, 786b Bolt (base block)
787a, 787b Substantially circular recess (holding block)
788a, 788b bolt (holding block)
79a, 79b Oscillating shafts 80a, 80b Operation devices 82a, 82b Operation arms 83a, 83b Armrests 84a, 84b Operation levers 85a, 85b Work tool rotation levers 87a, 87b Operation arm displacement detectors 88a, 88b Operation lever displacement detection 89a, 89b Work tool rotation lever displacement detectors 93a, 93b Oscillation axis (operation arm)
94a, 94b Rotation axis (operating lever)
99a, 99b Driver's seat 161 Control device 161A Drive signal generator (swing post system)
161B Drive signal generator (boom system)
161C Drive signal generator (arm system)
161D Drive signal generation unit (work implement system)
161E Drive signal generator (work implement drive system)
200 Excavator

Claims (5)

A lower body provided with a traveling body, a revolving body attached to the upper part of the lower body so as to be turnable, and provided with a driver's cab; The work front includes a boom provided on the swing body so as to be swingable up and down, an arm provided on the boom so as to be swingable up and down, and a work tool provided on the tip of the arm so as to be rotatable up and down. In the machine operating device,
An arm bracket provided on the side of the driver's seat installed in the driver's cab,
An operation arm attached to this arm bracket so as to be swingable left and right with respect to the front-rear direction of the driver's seat, and instructing the turning of the turning body;
An armrest on which an operator's arm that is attached to the operation arm so as to swing left and right with respect to the front-rear direction of the driver's seat is mounted;
Extends laterally from the distal end of the operating arm to the distal end of the operating arm and is pivotably attached to the driver's seat in the front-rear direction and lateral up-down direction. Horizontal operation lever to
A work tool rotation lever provided around the horizontal operation lever so as to be rotatable about the axis of the operation lever and instructing the vertical rotation of the work tool,
The armrest has an elbow joint support portion in which the elbow joint portion of the operator is located,
The operation arm is attached to the arm bracket so that the elbow joint support portion of the armrest is located on the swing center axis of the operation arm,
The horizontal operating lever is arranged so that the operating force when operating the front and rear of the operating lever does not generate a rotational movement around the swing axis of the operating arm. An operating device for a work machine, wherein the operating device is attached so that a plane in a direction is positioned on a swing center axis of the operating arm. The operating device for a work machine according to claim 1, wherein the work front includes a swing post that can swing left and right with respect to the front-rear direction of the driver's seat, and the boom is provided on the swing post so as to swing up and down.
The operating device for a working machine, wherein the operating arm instructs the swing post to swing left and right instead of an instruction to turn the revolving body .   2. The operating device for a work machine according to claim 1, further comprising an operation switch provided at a front end portion of the operation lever and instructing start / stop of a work tool provided at a front end portion of the work front. The operating device of the working machine to do. A lower body provided with a traveling body, a swiveling body having an attached cab to be swivel on top of the lower body, the work front left and right is provided to freely swing vertically to a front portion of the swing body One of the left and right work fronts has a swing post that can swing left and right with respect to the front-rear direction of the driver's seat, a boom that can swing up and down on the swing post, and a boom that can swing up and down. The arm provided and a work tool provided at the tip of the arm so as to be pivotable up and down, the other of the left and right work fronts is a boom provided on the revolving body so as to be pivotable up and down, and swings up and down on the boom. In a working machine provided with a freely provided arm and a work tool provided at the tip of the arm so as to be rotatable up and down,
Left and right operation devices provided corresponding to the left and right work fronts on the left and right sides of the driver's seat installed in the driver's cab,
The left and right operating devices are respectively
An arm bracket,
An operation arm attached to the arm bracket so as to be swingable left and right with respect to the front-rear direction of the driver's seat, and instructing either of the swing of the swing body or the swing of the swing post;
An armrest on which an operator's arm that is attached to the operation arm so as to swing left and right with respect to the front-rear direction of the driver's seat is mounted;
Extending laterally from the distal end of the operating arm to the distal end of the operating arm and pivoting in the front-rear direction and lateral vertical direction of the driver's seat around the base end, A horizontal operation lever that instructs each vertical swing,
A work tool rotation lever provided around the horizontal operation lever so as to be rotatable about a lateral axis of the operation lever and instructing the vertical rotation of the work tool;
The armrest has an elbow joint support portion in which the elbow joint portion of the operator is located,
The operation arm is attached to the arm bracket so that the elbow joint support portion of the armrest is located on the swing center axis of the operation arm,
The horizontal operating lever is arranged so that the operating force when operating the front and rear of the operating lever does not generate a rotational movement around the swing axis of the operating arm. An operating device for a work machine, wherein the operating device is attached so that a plane in a direction is positioned on a swing center axis of the operating arm. A lower vehicle body provided with a traveling body, an upper vehicle body provided at the upper part of the lower vehicle body and provided with a driver's cab, and left and right work fronts provided on the front left and right of the upper vehicle body so as to be swingable up and down The left and right work fronts are respectively provided with swing posts that can swing left and right with respect to the front-rear direction of the driver's seat, a boom that is swingable up and down on the swing post, and a boom that is swingable up and down on the boom. in working machine provided with an arm and a work tool provided freely vertically pivoted at the tip of the arm,
Left and right operation devices provided corresponding to the left and right work fronts on the left and right sides of the driver's seat installed in the driver's cab,
The left and right operating devices are respectively
An arm bracket,
An operating arm for instructing swingably left and right swinging mounting et al less queuing post to the left and right with respect to the longitudinal direction of the driver's seat in the arm bracket,
An armrest on which an operator's arm that is attached to the operation arm so as to swing left and right with respect to the front-rear direction of the driver's seat is mounted;
Extending laterally from the distal end of the operating arm to the distal end of the operating arm and pivoting in the front-rear direction and lateral vertical direction of the driver's seat around the base end, A horizontal operation lever that instructs each vertical swing,
A work tool rotation lever provided around the horizontal operation lever so as to be rotatable about a lateral axis of the operation lever and instructing the vertical rotation of the work tool;
The armrest has an elbow joint support portion in which the elbow joint portion of the operator is located,
The operation arm is attached to the arm bracket so that the elbow joint support portion of the armrest is located on the swing center axis of the operation arm,
The horizontal operating lever is arranged so that the operating force when operating the front and rear of the operating lever does not generate a rotational movement around the swing axis of the operating arm. An operating device for a work machine, wherein the operating device is attached so that a plane in a direction is positioned on a swing center axis of the operating arm.

Images