JPH076206Y2 - Control device for boom type work machine - Google Patents

Description

[Detailed Description of the Invention] (Industrial field of application) A control device for a boom-type working machine such as a front loader, in which the boom is raised and lowered according to the operation of the operation unit, and the work implement is scooped and dumped. Regarding

(Prior Art) For example, a front loader is one of the tractor impures that is attached and detached depending on the work content. In recent years, operability of the front loader has become an important selling point. Therefore,
The front loader drives the solenoid valve for the boom from the boom control signal so as to raise and lower the boom in response to the operation of the operation unit, and scoops and dumps the bucket according to the operation of the operation unit. There is one in which a bucket solenoid valve is driven by a bucket control signal (for example, Japanese Patent Application No. 61-87337 (Japanese Unexamined Patent Publication No. 62-244927)), and an operation lever is provided by using the solenoid valve. It is now possible to put the operating part in the position where the operator can operate it most simply by twisting the harness. by the way,
In a conventional control device for a work machine of this type, an operating portion and a controller board that generates a boom control signal and a work implement control signal according to the operation of the operating portion are incorporated in the same case, and the tractor is provided as one unit. It was common to install it near the driver's seat that can be operated from the driver's seat.

(Problems to be solved by the invention) However, the boom type work machine such as the front loader is removed from the vehicle body when not in use, and the operation unit for the work machine is also in the unused state during other work, which is an obstacle. There is a fear of becoming. In addition, the tractor has many levers such as a gear shift lever and a hydraulic control lever, and in reality there is a space limitation unless it is a dedicated machine, so an operation unit (including the case) that is as compact and easy to operate as possible is available. is necessary. Also, in the future, a lot of automation such as operability improvement and bucket (work implement) angle control will be promoted, and the controller board for this will also require some space, and there is a limit to putting it in the same case as the operation part. , There was a problem that it interferes with the operation of other operating levers in the driver's seat.

In view of the above problems, the present invention is intended to improve the operability of the lever and the like from the driver's seat and to widen the operation space near the driver's seat as much as possible.

(Means for Solving the Problems) The technical means for solving the technical problem is to arrange the floor sheet 102 between the pair of left and right rear wheel fenders 5 and to arrange the floor sheet between the rear wheel fenders 5. A boom 13 pivotally supported so as to be able to move up and down on a vehicle body 1 having a driver's seat 6 on the 102.
And a work implement 16 rotatably provided on the boom 13, and the boom solenoid 13 is driven by a control signal so that the boom 13 is moved up and down according to the operation of the operation unit 109. The solenoid valve for the work implement is controlled by the control signal so that the work implement 16 is scooped and dumped according to the operation of 109.
In the control device of the front loader configured to drive 80, the operation unit 109, and a controller unit 111 that drives and controls the boom solenoid valve 77 and the work implement solenoid valve 80 according to the operation of the operation unit 109. The control unit 111 is divided and the operation unit 109 is provided on the rear wheel fender 5 on the side of the driver's seat 6.
Is provided at the rear of the floor seat 102 behind the driver's seat 6.

(Operation) The controller unit 111, which is not necessary for driving from the driver's seat 6 or operating the lever, is separated from the operating portion 109 necessary for the operation, and is removed from the operating space near the driver's seat 109 to maximize the operating space. It will be possible.

(Embodiment) The present invention will be described in detail below with reference to the illustrated embodiment.
In the figure, 1 is a tractor body, 2 is front wheels, 3 is rear wheels,
4 is a hood, 5 is a rear wheel fan, 6 is a driver's seat, and 7 is a steering wheel. A hydraulic device 101 is mounted on the upper rear portion of the vehicle body 1. Reference numeral 102 denotes a floor sheet, which is arranged between the fans 5 and covers the upper side of the hydraulic device 101, and left and right steps 103 are provided at the front part thereof. At the rear part of the floor seat 102, a back plate portion 104 extending upward along the back surface of the driver's seat 6 is formed, and the back plate portion 1 is formed.
04 A mounting portion 105 is formed which is horizontally bent backward from the upper end. Reference numeral 106 denotes a control lever for operating the control valve 107 of the hydraulic system 101.
It is inserted in 2 so that it can swing back and forth, and is arranged beside the driver's seat 6. 8 is a front loader and a mounting base 9
Mast 10 which is detachably erected on both sides of the tractor vehicle body 1 via the brace 11, which extends forwardly from the mast 10 and is detachably fixed to the front end portion of the tractor vehicle body 1, and a horizontal axis at the upper end portion of the mast 10. Boom pivoted up and down by 12
13, a boom cylinder 14 for moving the boom 13 up and down, a bucket (work implement) 16 pivotally supported by a horizontal shaft 15 at the tip of the boom 13, a bucket cylinder 17 for rotating the bucket 16, etc. Consists of. Mast 10, brace 11,
The boom 13, the boom cylinder 14, and the bucket cylinder 17 are paired on the left and right, and the pair of left and right booms 13 are connected by a connecting pipe 18 in the lateral direction on the front side of the bonnet 4, as shown in FIGS. 3 to 6. It is connected.

The connecting pipe 18 penetrates the boom 13 in the lateral direction, and the outer end of the connecting pipe 18 projects slightly outward from the boom 13.

The connecting pipe 18 has a cylindrical shape with openings at both ends. Inside the connecting pipe 18, as shown in FIGS. 3 to 6, a first sensor 19 for detecting a ground inclination angle of the bucket 16 and a bucket.
Second sensor for detecting the relative tilt angle of the 16 to the boom 13
20 and are stored. The first sensor 19 uses a magnetic fluid, the second sensor 20 uses a potentiometer, and the first sensor 19 is attached to a U-shaped bracket 21. The bracket 21 is fixed to an inner end of a horizontal shaft 22, and the horizontal shaft 22 is rotatably supported by boss portions 24 and 25 fixed to a mounting plate 23 and has an operation link 26 at an outer end. On the side of the bracket 21 opposite to the horizontal axis 22, a horizontal axis 27 located on the same axis as the bracket is fixed. The second sensor 20 is attached to a U-shaped bracket 28, and its rotation shaft 29 is connected to the horizontal shaft 27. The horizontal shaft 27 is rotatably inserted into a boss portion 30 fixed to a U-shaped bracket 28, and the bracket 28 is fixed to a mounting plate 23. The mounting plate 23 has a substantially rectangular shape, and with the first and second sensors 19 and 20 stored in the connecting pipe 18, two bolts are attached to a pair of boss portions 31 welded to the outer surface of the boom 13. Installed by 32. The mounting plate 23 has notches 33 at four corners, and one of the notches 33 at the four corners is notched.
33a is formed to be larger than the other notch 33. The mounting plate 23 is mounted such that the outer end opening of the connecting pipe 18 is closed on the outer side and a tube take-out space 34 is formed on the lower side so that dirt and the like do not enter. The lead wires 35, 36 of the first and second sensors 19, 20 are connected to harnesses 39, 40 via connectors 37, 38, and the harnesses 39, 40 are covered with a corrugated tube 41 for protection. The corrugated tube 41 is provided in the connecting pipe 18 with a sufficient margin so as not to interfere with the rotation of the first sensor 19 in the connecting pipe 18 and the like. It is led out from the tube extraction space 34 to the outside of the connecting pipe 18 via the lower side. The corrugated tube 41 is clamped between the connecting pipe 18 and the one boss portion 31 by the mounting plate 23 and the boom 13, and is slightly pressed, and the clip 43 is attached to the hydraulic pipe 42 of the bucket cylinder 17. It is stopped and is guided to the tractor vehicle body 1 side along hydraulic pipes inside the boom 13.

The end of the operation link 26 is connected to a joint 46 at one end of a rod 45 via a pin 44, and the joint 47 at the other end of the rod 45 is connected to a bracket 49 on the back surface of the bucket 16 via a pin 48. The rod 45 is arranged substantially parallel to the upper edge side of the boom 13 in a close state, and the horizontal shafts 15, 22 and the pins 46, 48 are arranged so as to form the four links of the parallel link mechanism.
When the bucket 16 rotates around the horizontal shaft 15 due to the expansion and contraction of the bucket cylinder 17, the horizontal shaft 22 rotates by the same angle.

As shown in FIG. 7, the first sensor 19 has a magnetic fluid 51 enclosed in a bottomed cylindrical container 50 made of a non-magnetic material, and cylindrical permanent magnets 52 and 2 arranged around the outer periphery of the container 50. Coils
53 and 54 are fitted in, and when they are rotated around the horizontal axis 22, the distribution of the magnetic fluid 52 changes as shown in FIG.
The output voltage of 3,54 changes in proportion to the inclination angle to ground. A lid 55 is fitted on the container 50, and the first sensor 19 is housed in a case 56.

The second sensor 20 rotates in proportion to the inclination angle of the bucket 16 with respect to the boom 13 when the horizontal shaft 22 rotates in conjunction with the bucket 16 and the rotary shaft 29 rotates via the bracket 21 and the horizontal shaft 27. The output voltage changes accordingly.

Reference numeral 109 denotes an operating portion, which is a case 57 mounted on the rear wheel fan 5 on one side of the driver's seat 6 as shown in FIGS. 9 to 12.
In addition, the operation lever 5 that can be operated back and forth, left and right, and diagonally
8. First and second potentiometers 59, 60 and the like which are interlocked with the operating lever 58 are incorporated. That is, the operating lever 5
8 is pivotally supported by a movable frame 61 via a horizontal shaft 62.
Is supported on the case 57 side via the front-rear shaft 63, and therefore the operating lever 58 can be operated in any direction as shown in FIG. 12 with the two axes of the horizontal shaft 62 and the front-rear shaft 63 orthogonal to each other as fulcrums. It is like this. The operating lever 58 is elastically held in the neutral position by a spring (not shown). The first potentiometer 59 is for instructing the raising and lowering of the boom 13, and is interlocked with the longitudinal movement of the operating lever 58 via the horizontal shaft 62,
In addition, a command signal having a voltage corresponding to the operation amount of the operation lever 58 is output. The second potentiometer 60 is for instructing the rotation of the bucket 16, and is interlocked with the left and right movements of the operation lever 58 via the front-rear shaft 63 and the movable frame 61, and has a voltage corresponding to the operation amount of the operation lever 58. Output a command signal.

Push-button type automatic changeover switch on top of operation lever 58
64 is installed. A hemispherical operating portion 65 is provided at the lower end of the operating lever 58, and a bottom portion inside the case 57 is
A raising switch 66, a lowering switch 67, a dump switch 68, and a scooping switch 69 are provided on the front, rear, left, and right around the actuating portion 65. Each of these switches 66 to 69 is operated by the operating lever 58.
Is operated by the operating part 65 when the maximum amount of is operated. Incidentally, 70 is a flexible cover.

Reference numeral 71 is a stand for supporting the front loader 8 with the bottom surface of the bucket 16 grounded after removing the front loader 8 from the tractor body 1, and a connecting rod 72 for connecting the upper end portions of the mast 12 to each other. , Another supporting rod 73. Connecting rod 72
Is detachably attached to the bracket 49 of the bucket 16 with pins 74, and the supporting rod 73 is detachably attached to the middle of the connecting rod 72 and the boom 13 with pins 75 and 76. The notch 33a of the mounting plate 23 is notched up and down when the mounting plate 23 is mounted, and is notched larger than the others so as not to interfere with the supporting rod 73 when the stand 71 is used.

FIG. 14 shows a hydraulic circuit for the boom cylinder 14 and the bucket cylinder 17, and 77 is a boom solenoid valve for controlling the boom cylinder 14, which has an ascending solenoid 78 and a descending solenoid 79. Reference numeral 80 denotes a bucket solenoid valve that controls the bucket cylinder 17, and has a rake solenoid 82 and a dump solenoid 81. The solenoid valves 77 and 80 are of the proportional type.

Reference numeral 111 denotes a controller unit provided at the rear of the driver's seat 6, which is formed by incorporating a control circuit for driving and controlling solenoid valves 77, 80 described later in the case 112. The controller unit 111 is separated from the operation unit 109 and is fixedly mounted on the mounting unit 105 at the rear of the floor seat 102 so as not to interfere with the driving operation and the lever operation from the driver's seat 6.

FIG. 15 shows a control circuit for driving and controlling the solenoid valves 77, 80.
In FIG. 15, reference numeral 83 is an ascending / descending discriminating circuit for discriminating the operation direction of the boom 13 by the positive / negative of the voltage signal from the first potentiometer 59. Discriminate the descent when the direction is negative. Reference numeral 84 is a first voltage-current conversion circuit for converting the voltage signal from the first potentiometer 59 into a current signal, which drives the ascending solenoid 78 or the descending solenoid 79 in the direction discriminated by the ascending / descending discrimination circuit 83. ing. Reference numeral 85 denotes a tilt storage circuit, which reads and stores the tilt signal from the first sensor 19 at the time when the automatic changeover switch 64 is turned on when the automatic changeover switch 64 is turned on and the operating lever 58 is operated in the upward direction. ing. A first deviation / amplification circuit 86 obtains and amplifies the deviation between the tilt signal from the first sensor 19 and the tilt storage signal from the tilt storage circuit 85. Reference numeral 87 is a target value setting circuit for setting a target value at the time of horizontal grounding in which the bottom surface of the bucket 16 is ground parallel to the ground. Reference numeral 88 denotes a second deviation / amplification circuit, which obtains and amplifies the deviation between the angle signal from the second sensor 20 and the target value from the setting circuit 87. 89 is an automatic manual switching circuit, which switches from manual to automatic when the automatic changeover switch 64 of the operating lever 58 is pressed to turn it on, and selects the first deviation / amplification circuit 86 by the rising signal from the rising / falling discrimination circuit 83. Then, the posture holding control is performed, and the second deviation / amplification circuit 88 is selected by the descending signal to perform the horizontal grounding control. 90 is a scoop / dump discriminating circuit that discriminates the operating direction of the bucket 16 by the positive / negative of the voltage signal sent from the second potentiometer 60, the first deviation / amplification circuit 86 or the second deviation / amplification circuit 88 via the switching circuit 89. When the signal from the switching circuit 89 is positive, the scooping is performed, and when the signal is negative, the dump is discriminated. Reference numeral 91 is a second voltage-current conversion circuit that converts the voltage signal from the switching circuit 89 into a current signal, and drives the rake solenoid 82 or the dump solenoid 81 in the direction discriminated by the rake / dump discriminating circuit 90. There is.

In the above configuration, when the operation lever 58 is operated in the upward or downward direction during manual control, the first potentiometer 59
Positive or negative voltage signal is output from the up / down discrimination circuit
The first voltage-current conversion circuit 84 converts the voltage signal into a current signal while the 83 discriminates the rise or the fall, and drives the rise solenoid 78 or the fall solenoid 79 of the boom solenoid valve 77. At this time, since the boom solenoid valve 77 is of the proportional type, the boom 13 is switched to ascend or descend in proportion to the absolute value of the voltage signal, and the boom 13 ascends or descends at a speed proportional to the operation amount of the operation lever 58.

When the operating lever 58 is operated in the scooping or dumping direction, a positive or negative voltage signal from the second potentiometer 60 is used to drive the bucket electromagnetic solenoid through the scooping / dumping discrimination circuit 90 and the second voltage-current conversion circuit 91. The valve 80 switches to the scoop or dump direction and the bucket 16 scoops or dumps in the same manner as described above.

When scooping earth and sand into the bucket 16, the bucket 16 is grounded horizontally on the bottom surface, and then the operation lever 58 is slightly rotated in the scooping direction to be in the state of the phantom line in FIG. At this time, since the bucket 16 rotates about the horizontal shaft 15 in the direction indicated by the arrow a, the operating link 26 rotates about the horizontal shaft 22 via the rod 45 as indicated by b in FIG.
The first sensor 19 turns in the tilted state as shown in FIG. 8 by rotating in the direction of the arrow, and outputs a negative voltage signal according to the ground tilt angle of the bucket 16.

Therefore, when the automatic changeover switch 64 of the operation lever 58 is pushed and operated in the ascending direction, the boom 13 ascends while the bucket 16 maintains the posture of the phantom line in FIG. 1, and spillage of earth and sand from the bucket 16 is prevented. . That is, the automatic changeover switch 64
When is pressed, the switching circuit 89 switches to the automatic side, and the tilt storage circuit 85 stores the tilt signal from the first sensor 19, that is, the tilted posture of the bucket 16 at the start of rising. Also, since the operating lever 58 is operated in the ascending direction,
The descending discrimination circuit 83 discriminates the rising, and the switching circuit 89 selects the first deviation / amplification circuit 86 side. Then, when the boom 16 starts to rise, if the bucket 16 remains in the fixed state, the first
Since the sensor 19 further tilts and its tilt signal becomes large on the negative side, the first deviation / amplification circuit 86 obtains the deviation between the tilt signal from the first sensor 19 and the tilt memory signal from the tilt memory circuit 85. To amplify. Since the deviation signal at this time is negative, the rake / dump discrimination circuit 90 discriminates the dump, drives the dump solenoid 81 of the bucket solenoid valve 80 via the second voltage-current conversion circuit 91, and the bucket 16 Rotate in the dump direction. When the bucket 16 rotates in the dump direction, the operation link 26 rotates around the horizontal shaft 22 in the direction opposite to the arrow b direction via the rod 45, and the first sensor 19 returns to the state shown in FIG. 1 When the tilt signal from the sensor 19 matches the tilt storage signal of the tilt storage circuit 85, the dump operation of the bucket 16 is stopped. Thereafter, the boom 13 is raised while correcting the attitude of the bucket 16 by the same function.

After dumping the bucket 16 at the raised position of the boom 13 to discharge the earth and sand, when lowering the boom 13, push the automatic changeover switch 64 and operate the operating lever 58 in the lowering direction to make the bottom surface of the bucket 16 horizontal. Ground to. That is, when the operation lever 58 is operated in the descending direction, the up / down discriminating circuit 83
Discriminates the fall, the switching circuit 89 selects the second deviation / amplification circuit 88 side. Then, if the bucket 16 is in the dumping state, the second rod is passed through the rod 45, the operation link 26, the horizontal shaft 22, etc.
The sensor 20 detects the tilt angle of the bucket 16 with respect to the boom 13, and the second deviation / amplification circuit 88 determines the deviation between the tilt signal at that time and the target value of the setting circuit 87. Since the deviation signal in this case is positive, the rake / dump discrimination circuit 90 discriminates the rake, drives the rake solenoid 82 of the bucket solenoid valve 80 via the second voltage-current conversion circuit 91, and
16 rotates to the rake side. When the bucket 16 rotates in the scooping direction, the operating link 26 rotates around the horizontal shaft 22 in the direction of the arrow b via the rod 45, and the inclination signal of the second sensor 20 approaches the target value. Then, when the tilt signal from the second sensor 20 matches the target value, the tilt angle of the bucket 16 with respect to the boom 13 becomes an angle at which the bottom surface of the bucket 16 horizontally touches the ground at the lowered position of the boom 13, and the bucket 16 moves. Stop the rake action. Therefore, the bucket 16 can be grounded horizontally on the bottom surface simply by lowering the boom 13.

Since the first sensor 19 and the second sensor 20 are housed inside the connecting pipe 18, the first sensor 19 and the second sensor 20 do not come into contact with earth and sand and other obstacles, and the reliability is remarkably improved. Further, since the structure is such that the continuous pipe 18 protects the sensors 19 and 20, and the existing members are used as they are, it is not necessary to separately provide a protective member, and the cost increase can be prevented.

Further, the first sensor 19 for detecting the inclination angle of the bucket 16 with respect to the ground
And the second sensor 20 for detecting the inclination angle of the bucket 16 with respect to the boom 13 are arranged on the same axis center of the horizontal shaft 22, and are linked to the bucket 16 via the operation link 26 and the rod. It's simple, especially 1 interlocking system such as rod 45
There is an advantage that it can be shared by individuals. Further, since the rod 45 is arranged close to the upper edge side of the boom 13 and in substantially parallel therewith, there is little contact with obstacles, and even if it comes into contact with it, it is not greatly separated from the boom 13, so the rod 45 is slightly It can be deformed to a very small extent. In this case, boom 13 and rod
The distance from 45 is such that it does not interfere with the connecting rod 72 of the stand 71 when removed. The connecting rod 72 may be arranged inside or outside the rod 45.

When mounting the mounting plate 23, the corrugated tube 41 is lightly pressed against the boom 13 side by tightening the bolt 32 to fix it. Therefore, the corrugated tube 41 can be fixed without a fixing tool. Since the mounting plate 23 closes the open end of the connecting pipe 18 while leaving the tube extraction space 34, it is difficult for dirt and the like to enter the connecting pipe 18, and even if it does enter, it does not collect inside, and the front loader 8 swings to the left and right. It can be discharged naturally during operation. Further, since the harnesses 39, 40 and the like inside the connecting pipe 18 can be confirmed from the tube extraction space 34, the disassembling work can be omitted.

Although the operation unit 109 is provided on the rear wheel fan 5 in the above embodiment, the position at which the operation unit 109 is provided is not limited to this, and the operation unit 109 can be operated from the driver's seat 6 by the driver's seat 6
It may be provided in the vicinity, for example, may be provided on the floor sheet 102 or the like. Further, in the embodiment, the controller unit 111 is provided on the mounting portion 105 behind the driver's seat 6, but the place where the controller unit 111 is provided is not limited to this, and may be any position that does not disturb the driving operation. For example, it may be provided in the rear part of the fan 5 or other places. Further, instead of the bucket 16, a fork or the like may be attached as a work tool, and the invention can be applied not only to the front loader 8 but also to a backhoe or the like.

In Fig. 14, the boom cylinder 14 and the bucket cylinder are
Although a hydraulic circuit in which 17 and 17 are connected in parallel has been illustrated, a hydraulic circuit in which they are connected in series as shown in FIG. 16 can be similarly implemented.

(Effects of the Invention) According to the present invention, the operation unit 109 and the controller unit 111 that drives and controls the boom solenoid valve 77 and the work implement solenoid valve 80 according to the operation of the operation unit 109 are divided and operated. Since the part 109 is provided on the rear wheel fender 5 on the side of the driver's seat 6 and the controller unit 111 is provided on the rear part of the floor seat 102 behind the driver's seat 6, the operation part 109 can be operated from the driver's seat 6 of the vehicle body 1. It can be provided near the seat 6, the controller unit 111 can be provided at a position where it does not interfere with the driving operation, and the controller unit 111 unnecessary for driving from the driver's seat 6 or lever operation can be removed from the operation space. . Therefore, the operation space near the driver's seat 60 can be expanded as much as possible. Moreover, since the operation unit 109 is provided on the rear wheel fender 5 on the side of the driver's seat 6 and the controller unit 111 is provided on the rear portion of the floor seat 102 behind the driver's seat 6, the rear wheel fender 5 and the floor seat 102 are provided on the operation unit 109. Also, it can be effectively used as a mounting table for installing the controller unit 111, a special stay or the like for installing the operation unit 109 and the controller unit 111 can be eliminated, and the operation unit 109 is located on the side of the driver's seat 6. Therefore, not only can the operation unit 109 be easily operated from the driver's seat 6,
There is no inconvenience that the steering wheel operation or the field of view in front of the vehicle body 1 is obstructed by the operation unit 109, and the practical effect is remarkable.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a side view of the whole, and FIG. 2 is a perspective view of a front portion of a front loader.
3 is a side view of the sensor mounting portion, and FIG. 4 is A- in FIG.
A view from the arrow A, FIG. 5 is a view from the arrow BB of FIG. 3, FIG. 6 is an exploded perspective view of the sensor mounting portion, FIG. 7 is a sectional view of the first sensor, and FIG. Figure, Figure 9 is the rear view of the operating part,
FIG. 10 is a rear view of the same section, FIG. 11 is a view taken along the line CC of FIG. 10, FIG. 12 is a view taken along the line D-D of FIG. 10, and FIG. Fig. 14 is a hydraulic circuit diagram, Fig. 15 is a control circuit diagram,
FIG. 16 is a hydraulic circuit diagram. 1 ... tractor body, 6 ... driver's seat, 8 ... front loader, 13 ... boom, 16 ... bucket, 77 ... boom solenoid valve, 80 ... bucket solenoid valve, 109 ... operating part, 111
...... Controller unit.

Claims (1)

[Scope of utility model registration request] 1. A floor seat 102 is arranged between a pair of left and right rear wheel fenders 5, and a vehicle seat 1 provided with a driver's seat 6 on the floor seat 102 between the rear wheel fenders 5 is rotatably supported. The boom 13 and a work tool 16 rotatably provided on the boom 13 are provided, and the boom 13 is operated according to the operation of the operation unit 109.
The boom solenoid valve 77
Drive the work implement 16 according to the operation of the operation unit 109.
In the control device of the front loader, which drives the solenoid valve 80 for work implement by the control signal so as to perform the scooping and dumping operation, the operation unit 109 and the boom solenoid valve according to the operation of the operation unit 109. 77 and the controller unit 111 for driving and controlling the solenoid valve 80 for a work implement are separated, and the operation unit 109 is provided on the rear wheel fender 5 on the side of the driver's seat 6, and the controller unit 111 is provided.
Is provided in the rear part of the floor seat 102 behind the driver's seat 6 for a boom type working machine.