WO2015041300A1

WO2015041300A1 - Device for operating working machine

Info

Publication number: WO2015041300A1
Application number: PCT/JP2014/074726
Authority: WO
Inventors: 啓範石井; 和吉花川; 邦嗣冨田
Original assignee: 日立建機株式会社
Priority date: 2013-09-18
Filing date: 2014-09-18
Publication date: 2015-03-26
Also published as: EP3048505B1; JP5969444B2; JP2015060403A; EP3048505A1; EP3048505A4; CN105452975A; CN105452975B

Abstract

A device for operating a double-arm-type hydraulic shovel (1) provided with a left operation device (50) provided on the left side of a driver seat (4) and a right operation device (51) provided on the right side of the driver seat (4), wherein the left operation device (50) includes a left operation lever (54) and a left operation switch (56) provided to the left operation lever (54), the right operation device (51) includes a right operation lever (55) and a right operation switch (57) provided to the right operation lever (55), and the shortest distance between the left operation lever (54) and the right operation lever (55) is greater than the width of the driver seat (4). When operating a right work front (B), the operation is performed using the left operation lever (54) and the right operation lever (55); when operating a left work front (A), the operation is performed using the left operation switch (56) and the right operation switch (57). It is thereby possible to perform an operation in an equivalent manner to that according to prior art, prevent damage caused by contact with an operation lever, and enable the driver to sit unhindered.

Description

Operation equipment for work machines

The present invention relates to a double-armed work machine having two articulated work fronts used for dismantling work such as structures and wastes and civil engineering work.

As a work machine used for structure demolition work, waste demolition work, civil engineering construction work, etc., an upper swinging body is pivotably attached to a lower traveling body equipped with a traveling body, and an articulated type is attached to the upper swinging body. There is known a work front mounted so that it can swing up and down. 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 the upper swing 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 to perform 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 excavators, since only one work front is attached to one work machine, for example, the following problems occur. When removing a part using the attachment for dismantling in car dismantling work, if only one front work machine is attached, naturally the front work machine is used to remove car parts, so the car body is fixed. For this reason, when the parts are removed with the disassembly attachment, the automobile body exhibits an unstable behavior and the workability is deteriorated.

Also, when destroying a structure using a breaker, crusher, rebar cutter, etc. in the structure demolition work, if only one front work machine is installed, the front work machine will naturally be 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.

There is a technique disclosed in Patent Document 1 as a technique for solving problems caused by these operations. The technique disclosed in Patent Document 1 is a multi-joint type first work front having a first work tool that can be turned up and down on both the left and right sides of the front part of the upper swing body, and a second work tool that can be turned up and down. And a multi-joint type second working front equipped with a double-armed working machine.

In the double-arm work machine disclosed in Patent Document 1, two operation devices for operating the first work front and the second work front are provided, one on each side of the driver's seat in the cab. . For example, the left side of the driver's seat has an operating arm bracket attached to the left side of the driver's seat, and the operating arm bracket can swing left and right. An operating arm for instructing, an armrest attached so as to swing integrally with this operating arm, and further attached to the tip of the operating arm so as to be able to rotate up and down and back and forth toward the inner side in the horizontal direction (driver's side) An operation lever for instructing the operation of the arm tip of the first work front.

JP 2006-252224 A

However, according to such a configuration, the driver may feel uncomfortable when sitting on the driver's seat by contacting with the operating lever provided inward in the horizontal direction, or excessively with respect to the operating lever. There is a possibility of damage due to application of a load.

The present invention has been made in view of the above points, and is an operation device for a work machine that can be operated in the same manner as the prior art, and that can be prevented from being damaged by contact with an operation lever, so that a driver can sit without hindrance. The purpose is to provide.

In order to achieve the above object, the present invention is provided in a work machine main body, a cab provided in the work machine main body or provided outside the work machine main body, and a front portion of the work machine main body. A first work front and a second work front which are driven to swing up and down, a driver seat provided in the driver's cab, a left operating device provided on the left side of the driver seat, and the driver seat. The left operating device includes a first left operating unit and a second left operating unit provided in the left operating unit. The right operation device includes a first right operation unit and a second right operation unit provided in the first right operation unit, and the shortest distance between the first left operation unit and the first right operation unit is When operating the first work front longer than the width of the driver seat, When operating using the 1st left operation part and the 1st right operation part, and operating the 2nd work front, it operates using the 2nd left operation part and the 2nd right operation part. And

According to the present invention, by using the left operating device and the right operating device described above, it is possible to operate in the same manner as in the prior art, and further, it is possible to avoid damage to the operating lever, which has been difficult in the past, and the driver can sit without any trouble. can do. As a result, the present invention can improve the comfort for the driver and the life of the operation lever and the like.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing a double-armed hydraulic excavator that is an example of a construction machine including an operating device according to a first embodiment of the present invention. It is a top view of the double arm type hydraulic excavator shown in FIG. It is a side view which shows the operating device with which the double arm type hydraulic excavator shown in FIG. 1 was equipped. It is a front view which shows the operating device shown in FIG. It is a figure which shows the principal part and input-output relationship of the control apparatus of the double arm type hydraulic excavator in the 1st Embodiment of this invention. It is a figure which shows the relationship with the drive direction of the actuator which the double-arm type hydraulic shovel has with respect to the operation direction output from the operating device in the 1st Embodiment of this invention, (a) is the double with respect to the operating direction of an operating device. The driving direction of the arm type hydraulic excavator, (b) shows the operating direction of the operating device. It is a figure which shows the principal part and input-output relationship of the control apparatus of the double arm type hydraulic excavator in the 2nd Embodiment of this invention. It is a figure which shows the relationship with the drive direction of the actuator which the double arm type hydraulic excavator has with respect to the operation instruction | indication of the operating device in the 2nd Embodiment of this invention, (a) is the double arm type hydraulic pressure with respect to the operating direction of an operating device. The drive direction of the shovel, (b) shows the operation direction of the operating device. It is a figure which shows the principal part and input / output relationship of the control apparatus of the double arm type hydraulic excavator in the 3rd Embodiment of this invention. It is a front view which shows the operating device with which the double arm type hydraulic excavator in the 4th Embodiment of this invention was equipped. It is a figure which shows the principal part and input / output relationship of the control apparatus of the double arm type hydraulic excavator in the 4th Embodiment of this invention. It is a figure which shows the relationship with the drive direction of the actuator which the double arm type hydraulic excavator has with respect to the operation instruction | indication of the operating device in the 4th Embodiment of this invention, (a) is the double arm type hydraulic pressure with respect to the operating direction of an operating device. The drive direction of the shovel, (b) shows the operation direction of the operating device.

Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a side view showing a double-arm hydraulic excavator as an example of a construction machine including an operating device according to a first embodiment of the present invention, and FIG. 2 is a plan view of the double-arm hydraulic excavator shown in FIG. FIG. When there is no notice in the following description, the front of the driver's seat (upper left direction in the figure) is the front of the aircraft.

1, a double-armed hydraulic excavator 1 (working machine) shown in FIG. 1 has an upper swing body 3 attached to a lower traveling body 2 so that the upper swing body 3 can turn, and a cab 4 is provided in front of the upper swing body 3. A left work front A (second work front) and a right work front B (first work front) are respectively provided on the front right side and front left side of the cab 4, and the engine is provided on the side and rear of the cab 4. 40, a pump 41, and the like are provided.

The lower traveling body 2 includes left and right traveling

motors

43a and 43b (the right traveling motor 43b is not illustrated) that are rotatably provided behind the left and

right track frames

5a and 5b (the right track frame 5b is not illustrated), Left and right crawler tracks 44a and 44b (the right crawler track 44b is not shown) provided on the

track frames

5a and 5b and the

traveling motors

43a and 43b. When the left and right traveling

motors

43a and 43b are rotationally driven by the supply of pressure oil from the pump 41, the left and right crawler tracks 44a and 44b rotate around the

track frames

5a and 5b, and the double-armed hydraulic excavator 1 travels.

The upper turning body 3 has a turning motor 48 for turning itself, and the upper turning body 3 turns with respect to the lower traveling body 2 as the turning motor 48 rotates.

As shown in FIGS. 1 and 2, the left work front A includes a swing post 7a (member) attached to the front left side of the upper swing body 3 so as to be swingable in the left-right direction, and the swing post 7a in the vertical direction. A boom 10a (member) that is swingably attached, an arm 12a (member) that is swingably attached to the boom 10a in the up-and-down direction, and a first arm that is rotatably attached to the arm 12a in the up-and-down direction. It has a grapple 14a (member) which is one work tool.

The left work front A is connected to the swing post 7a and the upper swing body 3, and is connected to the swing post cylinder 9a (actuator) that swings the swing post 7a left and right, and the swing post 7a and the boom 10a. Boom cylinder 11a (actuator) that swings 10a up and down, is connected to boom 10a and arm 12a, and is connected to arm cylinder 13a (actuator) that swings arm 12a up and down, arm 12a and work tool 14a. And a work tool cylinder 15a (actuator) for rotating the work tool 14a up and down. In addition to the grapple shown in the drawing, the work tool 14a can be arbitrarily replaced with any one of a cutter, a breaker, a bucket, and other work tools in accordance with the work content.

The right work front B is provided on the right front side of the upper swing body 3. The configuration of the right work front B is substantially symmetrical with the left work front A, and the subscript “a” of each member corresponding to the left work front A is indicated as “b”. Is omitted.

FIG. 3 is a side view showing the operating device provided in the double-armed hydraulic excavator shown in FIG. 1, and FIG. 4 is a front view showing the operating device shown in FIG.

A driver's seat 49 is installed in the driver's cab 4, and a left operating device 50 and a right operating device 51 are provided on the left and right sides of the driver's seat 49.

Pedals

59a and 59b are provided.

The left operating device 50 includes a left operating lever bracket 52 provided on the left side of the driver's seat 49, and a left operating lever 54 (first left operating portion) provided on the left operating lever bracket 52 so as to be swingable back and forth and left and right. A left operation switch 56 (second left operation unit) is provided at the tip of the left operation lever 54 so as to be swingable back and forth and left and right.

Similarly, the right operation device 51 includes a right operation lever bracket 53 provided on the right side of the driver's seat 49 and a right operation lever 55 (first right operation) provided on the right operation lever bracket 53 so as to be swingable back and forth and left and right. And a right operation switch 57 (second right operation unit) provided at the tip of the right operation lever 55 so as to be swingable back and forth and left and right.

Here, the left operation lever 54 and the right operation lever 55 are arranged in parallel with the driver seat 49, and are included in the driver seat 49, and do not overlap the seat portion 491 having the longest width, for example, the left operation lever. The shortest distance L1 between the lever 54 and the right operation lever 55 is longer than the width L2 of the driver seat 49.

The left operating device 50 includes a displacement detector 541 and a displacement detector 542 that detect the amount of displacement of the left operating lever 54 that is generated by tilting in the front-rear and left-right directions. The displacement detector 541 detects the amount of displacement of the left operation lever 54 in the front-rear direction, and the displacement detector 542 detects the amount of displacement of the left operation lever 54 in the left-right direction. The tilting of the left operation lever 54 in the front-rear direction or the left-right direction indicates the driving direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed with respect to the actuator. The right operating device 51 also includes

displacement detectors

551 and 552 corresponding to the

displacement detectors

541 and 542, respectively. In addition to the left operation lever 54, the front / rear / left / right directions in which the right operation lever 55, the left operation switch 56, and the right operation switch 57 tilt are referred to as operation directions.

Further, the left operation device 50 includes a displacement detector 561 and a displacement detector 562 for detecting the amount of displacement of the left operation switch 56 generated by tilting in the front-rear and left-right directions. The displacement detector 561 detects the amount of displacement of the left operation switch 56 in the front-rear direction, and the displacement detector 562 detects the amount of displacement of the left operation switch 56 in the left-right direction. The left operation switch 56 tilts in the front-rear direction or in the left-right direction, that is, the operation direction described above indicates the drive direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed relative to the actuator. Instruct. The right operating device 51 also includes

displacement detectors

571 and 572 corresponding to the

displacement detectors

561 and 562, respectively.

The turning pedal 58 includes a turning pedal displacement detector 581 that detects a displacement amount of the turning pedal 58 and transmits a signal, and the left and right traveling

pedals

59a and 59b detect the displacement amounts of the traveling

pedals

59a and 59b.

Displacement detectors

591a and 591b for traveling pedal that transmit signals are provided.

FIG. 5 is a diagram showing the main parts and the input / output relationship of the control device for the double-armed hydraulic excavator in the first embodiment of the present invention.

The control device 161 inputs displacement amounts from the above-described displacement detectors 541 and the like provided in the left and

right operation devices

50 and 51 in the cab 4, and performs a predetermined calculation based on the displacement amounts from these input systems. Then, a drive signal is generated, and the generated drive signal is output to each solenoid valve that operates each part of the left and right work fronts A and B.

The detector that outputs the displacement amount to the control device 161 is as described above. The solenoid valves output from the control device 161 are swing post drive solenoid valves 218a and 218b, boom drive solenoid valves 215a and 215b, arm drive solenoid valves 216a and 216b, work implement drive solenoid valves 217a and 217b, A turning drive solenoid valve 213 and travel drive solenoid valves 214a and 214b are provided.

Next, the operation of the first embodiment will be described.

FIG. 6 is a diagram showing the relationship between the operating direction output from the operating device according to the first embodiment of the present invention and the driving direction of the actuator of the double-armed hydraulic excavator. FIG. The driving direction of the double-arm hydraulic excavator with respect to the operating direction, (b) shows the operating direction of the operating device.

As shown in FIG. 6B, when the left operation lever 54 is displaced in the forward direction (ll1), the front-rear direction displacement detector 541 of the left operation lever 54 is moved into the control device 161 as shown in FIG. The detection signal is output to the drive signal generator 161A. Upon receiving this detection signal, the drive signal generator 161A transmits the drive signal to the drive electromagnetic valve 216b of the right arm 12b. The right arm cylinder 13b is contracted by this drive signal, and as shown in FIG. 6A, the right arm 12b is swung forward (LL1). At this time, the swing speed of the right arm 12b is in a simple increase relationship, for example, a proportional relationship with the displacement amount of the longitudinal displacement detector 541, and the displacement amount detected by the longitudinal displacement detector 541 is the right arm 12b. The speed of the swing of the is controlled.

Similarly, when the left operation lever 54 is displaced rearward (ll2), the right arm 12b is swung backward (LL2), and when the left operation lever 54 is displaced leftward (ll3), the right swing post 7b is When the left operating lever 54 is displaced rightward (ll4), the right swing post 7b is rocked rightward (LL4).

Similarly to the left operation lever 54 described above, when the right operation lever 55 is displaced in the forward direction (rl1), the right boom 10b is swung downward (RL1), and the right operation lever 55 is displaced in the rear direction (rl2). As a result, the right boom 10b is swung upward (RL2), and when the right operation lever 55 is displaced leftward (rl3), the right work tool 14b is swung backward (RL3), and further the right operation lever 55 is moved. When displaced in the right direction (rl4), the right work tool 14b is swung forward (RL4).

Further, as shown in FIG. 6B, when the left operation switch 56 is displaced in the forward direction (ls1), as shown in FIG. 5, the front-rear direction displacement detector 561 of the left operation switch 56 is controlled by the control device. A detection signal is transmitted to the drive signal generator 161E in 161. Receiving this detection signal, the drive signal generator 161E transmits a drive signal to the drive solenoid valve 216a of the left arm 12a. The left arm cylinder 13a is reduced by this drive signal, and the left arm 12a is swung forward as shown in FIG. 6A (LS1). At this time, the swing speed of the left arm 12a is simply increased, for example, proportional to the amount of displacement of the longitudinal displacement detector 561, and the displacement of the longitudinal displacement detector 561 causes the swing of the left arm 12a. Speed control.

Similarly, when the left operation switch 56 is displaced rearward (Is2), the left arm 12a is swung backward (LS2), and when the left operation switch 56 is displaced leftward (Is3), the left swing post 7a is moved to the left. When the left operation switch 56 is displaced rightward (ls4), the left swing post 7a is swung rightward (LS4).

Similarly to the left operation switch 56, when the right operation switch 57 is displaced in the forward direction (rs1), the left boom 10a is swung downward (RS1), and the right operation switch 57 is displaced in the rear direction (rs2). The left boom 10a is swung downward (RS2), and when the right operation switch 57 is displaced leftward (rs3), the left work tool 14a is swung downward (RS3) and the right operation switch 57 is moved rightward ( When displaced to rs4), the left work tool 14a is swung upward (RS4).

Note that the actuators operated by the left operation lever 54, the right operation lever 55, the left operation switch 56, and the right operation switch 57 and the operation directions thereof are related to the drive generators 161A... It can be set freely by combining the valves 216a, 216b,... Therefore, it goes without saying that even in a double arm type hydraulic excavator, the actuators operated by the left operation lever 54 and the right operation lever 55 and the operation directions thereof can be made in the same manner as in the conventional hydraulic excavator.

According to the present embodiment configured as described above, the left operation lever 54 and the left operation switch 56 provided on the left operation lever 54 and the left operation lever 55 and the left operation lever 55 provided on the right operation lever 55, as in the prior art. The left working front A and the right working front B can be operated simultaneously using the operation switch 57, and the shortest distance between the left operating lever 54 and the right operating lever 55 is included in the driver seat 49. For example, since it is longer than the seating portion 491 having the longest width, it is unlikely that the driver will come in contact with the operating means when sitting, and comfort to the driver, the left operating lever 54, or the right operating lever 55 Etc. can be improved.

In the present embodiment, the drive direction of the actuator of the right work front B indicated by the operation direction of the left operation lever 54 and the drive direction of the actuator included in the left work front A indicated by the operation direction of the left operation switch 56 And the drive direction of the actuator of the right work front B indicated by the operation direction of the right operation lever 55 and the drive direction of the actuator included in the left work front A indicated by the operation direction of the right operation switch 57 are the same. Since they are the same, the driver can operate the left and right work fronts to be operated in the same operation direction, so that the operation can be effectively learned.

Further, in the present embodiment, the actuator operated by the left operation lever 54 and the right operation lever 55 and the operation direction thereof can be made the same as those of the conventional hydraulic excavator, so that the conventional hydraulic excavator is operated. The driver does not need to learn a new operation, and can easily drive the double-arm double-arm hydraulic excavator 1.

(Second Embodiment)
FIG. 7 is a diagram showing a main part of the control device for a double-armed hydraulic excavator and the input / output relationship in the second embodiment of the present invention, and FIG. 8 is an operating device in the second embodiment of the present invention. It is a figure which shows the relationship with the drive direction of the actuator which the double arm type hydraulic shovel has with respect to the operation instruction | indication of FIG. Indicates the direction of operation.

In this embodiment, the only difference from the first embodiment is that the operation directions of the left operation switch 56 and the right operation switch 57 are changed, and the other configuration is the same.

As described above, the operating directions of the left operating lever 54 and the right operating lever 55 are the same as those in the first embodiment, whereas the left operating switch 56 is moved forward as shown in FIG. 8B. When displaced in the direction (ls1), the front-rear direction displacement detector 561 of the left operation switch 56 outputs a detection signal to the drive signal generation unit 161G in the control device 161 as shown in FIG. Receiving this detection signal, the drive signal generator 161G transmits a drive signal to the drive solenoid valve 215a of the left boom 11a. The left boom cylinder 11a is reduced by this drive signal, and as shown in FIG. 8A, the left boom 10a is swung downward (LS1), and the left operation switch 56 is displaced backward (ls2) to the left. When the boom 10a is swung upward (LS2), and the left operation switch 56 is displaced in the left direction (ls3), the left work tool 14a is swung forward (LS3), and the left operation switch 56 is moved rightward ( When displaced to ls4), the left work tool 14a is swung back (LS4).

Similarly, when the right operation switch 57 is displaced in the forward direction (rs1), the left arm 12a is swung upward (RS1), and when the right operation switch 57 is displaced in the rear direction (rs2), the left arm 12a is moved downward. When it is swung (RS2) and the right operation switch 57 is displaced leftward (rs3), the left swing post 7a is swung leftward (RS3), and further, the right operation switch 57 is displaced rightward (rs4). As a result, the left swing post 7a is swung to the right (RS4).

The following effects differ from the first embodiment by the present embodiment configured as described above. That is, the drive direction of the actuator of the right work front B indicated by the operation direction of the left operation lever 54 is the same as the drive direction of the actuator included in the left work front A indicated by the operation direction of the right operation switch 57, and The drive direction of the actuator of the right work front B indicated by the operation direction of the right operation lever 55 and the drive direction of the actuator included in the left work front A indicated by the operation direction of the left operation switch 56 are the same. The driver can easily move the left work front A and the right work front B simultaneously with respect to the left and right work fronts to be operated. Since the swing post, the arm, and the work tool have the same configuration, the work becomes easier when the left and right actuators are simultaneously operated.

(Third embodiment)
FIG. 9 is a diagram showing the main parts and input / output relationships of the control device for a double-armed hydraulic excavator in the third embodiment of the present invention.

In the present embodiment, the only difference from the first embodiment is that a work front switching unit or an operation allocation switching unit 161Z that is an operation actuator switching unit is provided in the control device 161. Are the same configuration.

As shown in FIG. 9, the operation allocation switching unit 161Z includes displacement detectors for the left operation lever 54, the right operation lever 55, the left operation switch 56, and the right operation switch 57, and the drive signal generation units. It is provided in between. The operation allocation switching unit 161Z has a function of switching to which of the drive signal generation units the detection signal obtained from each displacement detector is output.

A switch for switching three positions R, N, and C (not shown) in the cab 4 is provided, and is electrically connected to the operation assignment switching unit 161Z in the control device 161.

When the changeover switch is N, it means that the operation allocation switching unit 161Z is not switched.

When the changeover switch is R, the left operation switch 56 and the right operation switch 57 operate the right work front B operated by the left operation lever 54 and the right operation lever 55 with respect to the operation assignment switching unit 161Z. It has a switching instruction meaning that the left operation lever 54 and the right operation lever 55 operate the left work front A operated by the left operation switch 56 and the right operation switch 57.

When the changeover switch is C, the left operation switch 56 and the right operation switch 57 operate the operation assignment switching unit 161Z on the left work front A operated by the left operation lever 54 and the right operation lever 55. In addition, this means a switching instruction to operate the left operation lever 54 and the right operation lever 55 on the right work front B operated by the left operation switch 56 and the right operation switch 57.

When the instruction signal from the changeover switch is input to the operation allocation switching unit 161Z, the operation allocation switching unit 161Z changes the allocation to the electromagnetic valves 216a and 216b according to the instruction signal.

In the present embodiment, switching between the left work front A and the right work front B is illustrated, but the present invention is not limited to this, and switching between the actuators may be performed.

According to the present embodiment configured as described above, an effect equivalent to that of the first embodiment can be obtained, and the driver can select an actuator driven by each detection signal of the operation device. The user can select an operation assignment that is easier to operate, thereby improving workability.

(Fourth embodiment)
FIG. 10 is a front view showing an operating device provided in a double-armed hydraulic excavator according to the fourth embodiment of the present invention, and FIG. 11 shows a double-armed hydraulic excavator according to the fourth embodiment of the present invention. It is a figure which shows the principal part and input / output relationship of a control apparatus.

In the present embodiment, the difference from the first embodiment is that the left operation switch 60, the right operation switch 61, and the output signals from the left operation switch 60 and the right operation switch 61 have relatively inexpensive shapes. Processing is performed in the control device 161, and the rest of the configuration is the same.

As shown in FIG. 10, the left operation switch 60 and the right operation switch 61 have four cross-shaped switches that can be displaced by pressing the switches, and each switch has a left operation switch 60. Are provided with front / rear / left / right displacement detectors 601 to 604, and the right operation switch 61 is provided with front / rear / left / right displacement detectors 611 to 614. The front-rear direction or the left-right direction in which the left operation switch 60 and the right operation switch 61 are pressed indicates the driving direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed with respect to the actuator. The front / rear and left / right directions of the operation switch 60 and the right operation switch 61 are referred to as operation directions.

As shown in FIG. 11, the drive signal of the control device 161 is calculated from the displacement amount output from either the front displacement detector 601 of the left operation switch 60 or the rear displacement detector 602 of the left operation switch 60. The driving signal generating unit 161E calculates the driving direction and speed of the left arm cylinder 13a, and outputs the driving direction to one of the solenoid valves. The same processing is also performed using the displacement amounts of the left operation switch 60 and the right operation switch 61 from the

other displacement detectors

603, 604, 611 to 614.

Next, the operation of the fourth embodiment will be described.

FIG. 12 is a diagram showing the relationship between the driving direction of the actuator of the double-armed hydraulic excavator and the operation direction of the operating device according to the operating instruction of the operating device in the fourth embodiment of the present invention. The driving direction of the double-armed hydraulic excavator, (b) shows the operating direction of the operating device.

As described above, the operation directions of the left operation lever 54 and the right operation lever 55 are the same as those in the first embodiment, and thus description thereof is omitted.

As shown in FIG. 12 (b), when the front part of the left operation switch 60 is pressed (ls1), the left operation switch front displacement detector 601 is driven in the control device 161 as shown in FIG. A detection signal is transmitted to the signal generator 161E. Upon receiving this detection signal, the drive signal generator 161E transmits a drive signal to the left arm drive solenoid valve 216a. As shown in FIG. 12A, the left arm cylinder 13a is reduced by this drive signal, and the left arm 12a is swung forward (LS1). At this time, the swinging speed of the left arm 12a is in a proportional increase relationship with the displacement amount of the left operation switch front displacement detector 601, for example, the displacement of the left operation switch front displacement detector 601 is The speed of the swinging of the left arm 12a is controlled. Conversely, when the rear part of the left operation switch 60 is depressed (Is2), the rear displacement detector 601 for the left operation switch transmits a detection signal to the drive signal generation unit 161E in the control device 161, and the left arm cylinder extends. Then, the left arm is swung back (LS2).

Similarly, when the left portion of the left operation switch 60 is pressed (ls3), the left swing post 7a is swung leftward (LS3), and when the right portion of the left operation switch 60 is pressed (ls4), the left swing post 7a Is swung rightward (LS4).

Further, when the front portion of the right operation switch 61 is pressed (rs1), the left boom 10a is swung forward (RS1), and when the rear portion of the right operation switch 61 is pressed (rs2), the left boom 10a is moved upward. When the left operation tool 57 is swung (RS2) and the left portion of the right operation switch 57 is pressed (rs3), the left work tool 14a is swung downward (RS3), and further, the right portion of the right operation switch 57 is pressed (rs4). ) And the left work tool 14a is swung upward (RS4).

According to the present embodiment configured as described above, an effect equivalent to that of the first embodiment can be obtained, and the left operation switch 60 and the right operation switch 61 have a simple structure and are inexpensive. It is effective in terms.

(Other)
In the first to fourth embodiments, the right working front B is described as having a swing post 7b, but the swing post 7b may be omitted. In this case, it is also possible to drive the turning motor 48 of the upper turning body 3 using the detection signal of the left / right direction displacement detector 542 of the left operation lever 54. Accordingly, when the left operation lever 54 is operated in the front-rear direction, the right arm 12b is driven, and when the left operation lever 54 is operated in the left-right direction, the turning motor 48 is driven. Further, when the right operation lever 55 is operated in the front-rear direction, the right boom 10b is driven, and when the right operation lever 55 is operated in the left-right direction, the right work tool 14b is driven.

In the first to fourth embodiments, by providing a displacement detector in the left operation switch 54 (60) and the right operation switch 55 (61), the value of the operation signal can be continuously changed. It is good also as a structure which acquires the value of an operation signal by ON / OFF by changing to a contact detector.

In the first to fourth embodiments, the driver's seat 4 is arranged on the double-armed hydraulic excavator 1. However, the driver's seat 4 has a dual-armed hydraulic system that can be remotely operated. It is good also as a structure which exists in the position which wants to leave | separate from the double-arm type hydraulic shovel 1 instead of on the shovel 1.

Finally, it goes without saying that the embodiments described above can be implemented in appropriate combination.

A Left working front B Right working front 1 Double-arm hydraulic excavator 2 Lower traveling body 3 Upper turning body 3a Turning center line 3c Front-rear direction center line 4 Driver's

cab

5a,

5b Track frames

7a,

7b Swing posts

9a, 9b

Swing post cylinders

10a,

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 21a, 21b Cutter 22a, 22b Breaker 23a, 23b Bucket 30a, 30b Swing Shaft center 31a, 31b Bottom side pin (swing cylinder)
32a, 32b Rod side pin (oscillation cylinder)
33a, 33b Bracket (Upper revolving body outside)
34a, 34b Bracket (swing post)
40 Engine 41 Pumps 42a,

42b Traveling devices

43a, 43b Traveling motors 44a, 44b Crawler belt 48 Turning motor 49 Driver's seat 491 Seating part 50 Left operating device 51 Right operating device 52 Left operating lever bracket 53 Right operating lever bracket 54 Left operating lever 541 Left / right direction displacement detector 542 for left operation lever Left / right direction displacement detector 55 for left operation lever Right operation lever 551 Right / left direction displacement detector 552 for right operation lever Left / right direction displacement detector 56 Left operation switch 561 Left operation Front / rear direction displacement detector 562 for left operation switch Left / right direction displacement detector 57 for right operation switch Right operation switch 571 Front / rear direction displacement detector 572 for right operation switch Left / right direction displacement detector 58 for right operation switch Swing pedal 581 Displacement detection for

swivel pedal

59a,

59b travel pedal

591a, 591b Travel pedal displacement detector 60 Left operation switch 601 Left operation switch front displacement detector 602 Left operation switch rear displacement detector 603 Left operation switch left displacement detector 604 Left operation switch right portion Displacement detector 61 Right operation switch 611 Right operation switch front displacement detector 612 Right operation switch rear displacement detector 613 Right operation switch left displacement detector 614 Right operation switch right displacement detector 161 Controller 161A Drive signal generator (right arm)
161B Drive signal generator (right swing)
161C Drive signal generator (right boom)
161D Drive signal generator (right work tool)
161E Drive signal generator (left arm)
161F Drive signal generator (left swing)
161G Drive signal generator (left boom)
161H Drive signal generator (left work tool)
161I Drive signal generator (turning)
161J Drive signal generator (running left)
161K drive signal generator (running right)
161Z Operation allocation switching unit 213 Swing drive solenoid valves 214a, 214b Travel drive solenoid valves 215a, 215b Boom drive solenoid valves 216a, 216b Arm drive solenoid valves 217a, 217b Work tool drive solenoid valves 218a, 218b Swing post drive Solenoid valve

Claims

A work machine body;
A cab provided in the work machine main body or provided outside the work machine main body,
A first work front and a second work front, which are provided at the front portion of the work machine body and are driven to swing up and down;
A driver seat provided in the driver's cab;
A left operating device provided on the left side of the driver seat;
In an operating device for a work machine provided with a right operating device provided on the right side of the driver's seat,
The left operating device includes a first left operating unit and a second left operating unit provided in the first left operating unit,
The right operation device includes a first right operation unit and a second right operation unit provided in the first right operation unit,
The shortest distance between the first left operation unit and the first right operation unit is longer than the width of the driver seat,
When operating the first work front, operate using the first left operation unit and the first right operation unit,
When operating a 2nd work front, it operates using the said 2nd left operation part and the said 2nd right operation part, The operating device of the working machine characterized by the above-mentioned.
In the operating device of the working machine according to claim 1,
The first work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
The second work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
The first left operation unit and the second left operation unit of the left operation device, and the first right operation unit and the second right operation unit of the right operation device indicate a driving direction of each actuator,
Driving direction instructed by the first left operation unit to the actuator included in the first work front, and driving direction instructed by the second left operation unit to the actuator included in the second work front Are in the same direction, and the first right operation section instructs the other actuator included in the first work front, and the second right operation section serves as the second work front. An operating device for a work machine, characterized in that a driving direction instructed to another actuator included in the operating direction is the same direction.
In the operating device of the working machine according to claim 1,
The first work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
The second work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
The first left operation unit and the second left operation unit of the left operation device, and the first right operation unit and the second right operation unit of the right operation device indicate a driving direction of each actuator,
The drive direction instructed by the first left operation unit to the actuator included in the first work front, and the drive direction instructed by the second right operation unit to the actuator included in the second work front Are in the same direction, and the first right operation unit instructs another actuator included in the first work front, and the second left operation unit is the second work front. An operating device for a work machine, characterized in that a driving direction instructed to another actuator included in the operating direction is the same direction.
In the operating device of the working machine according to claim 1,
The work machine switches an operation target to be operated using the first left operation unit and the first right operation unit from the first work front to a second work front, and the second left operation unit. And a work front switching unit that switches an operation target to be operated using the second work operation unit from the second work front to the first work front.
In the operating device of the working machine according to claim 1,
The first work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
The second work front has a link structure connecting a plurality of members, and includes a plurality of actuators provided to drive the link structure;
In the work machine, an operation target to be operated using the first left operation unit and the first right operation unit is included in the second work front from each actuator included in the first work front. An operation target to be switched to each actuator and operated using the second left operation unit and the second right operation unit is included in the first work front from each actuator included in the second work front. An operating device for a working machine, comprising: an operating actuator switching section for switching to each of the actuators.