WO2020003577A1

WO2020003577A1 - Work machine

Info

Publication number: WO2020003577A1
Application number: PCT/JP2019/003474
Authority: WO
Inventors: 馨安田; 英章荻原
Original assignee: 株式会社小松製作所
Priority date: 2018-06-27
Filing date: 2019-01-31
Publication date: 2020-01-02
Also published as: JP7110008B2; EP3712334A1; JP2020002606A; EP3712334A4

Abstract

A work machine according to the present invention has a vehicle body supported by wheels, a boom that can be driven relative to the vehicle body, an arm that can be driven relative to the boom, and an opening, and comprises a bucket that can be driven relative to the arm, such that the opening faces forward, a boom actuator that drives the boom, an arm actuator that drives the arm, and a bucket actuator that drives the bucket.

Description

Work machine

The present invention relates to a working machine.

ホイール A wheel loader is known as a kind of working machine. The wheel loader has a boom and a bucket. The wheel loader excavates an object to be excavated with a bucket, and loads the excavated object on a carrier of a transport vehicle.

JP 2007-186929 A

掘削 When digging an excavation target with a bucket, the wheel loader advances toward the excavation target with the bucket close to the ground, and inserts the bucket near the boundary between the ground and the excavation target. When loading the excavated product in the bucket onto the carrier of the transport vehicle, the wheel loader moves backward away from the excavation target and then raises the boom while advancing toward the transport vehicle. After disposing the bucket at a position higher than the loading platform due to the rise of the boom, the wheel loader causes the bucket to perform a dumping operation and discharges excavated products from the bucket to the loading platform. As described above, in the excavation work for excavating an excavation target, the bucket is positioned at a low position close to the ground, and in the loading operation for loading excavated materials on the bed, the bucket is positioned at a higher position than the bed. Therefore, the wheel loader needs to largely move the bucket vertically between the excavating operation and the loading operation. When the bucket needs to be largely moved in the vertical direction, a large power is required, so that the fuel consumption of the wheel loader may increase. Further, when the bucket needs to be largely moved in the vertical direction while moving the wheel loader forward or backward, the moving distance and the moving time of the bucket become longer, so that the working time of the wheel loader becomes longer.

態様 Aspects of the present invention aim to reduce fuel consumption and work time.

According to an aspect of the present invention, a vehicle body supported by wheels, a boom drivable with respect to the vehicle body, an arm drivable with respect to the boom, and an opening, wherein the opening faces forward. Thus, there is provided a work machine including a bucket drivable with respect to the arm, a boom actuator that drives the boom, an arm actuator that drives the arm, and a bucket actuator that drives the bucket.

According to the aspect of the present invention, the fuel consumption can be reduced and the working time can be reduced.

FIG. 1 is a side view schematically illustrating the working machine according to the embodiment. FIG. 2 is a plan view schematically illustrating the working machine according to the embodiment. FIG. 3 is a diagram schematically illustrating the working machine according to the embodiment. FIG. 4 is a diagram schematically illustrating a part of the working machine according to the embodiment. FIG. 5 is a diagram schematically illustrating a part of the working machine according to the embodiment. FIG. 6 is a diagram illustrating an operation of the work machine according to the embodiment. Drawing 7 is a mimetic diagram showing excavation work of the working machine concerning an embodiment. FIG. 8 is a schematic diagram illustrating a loading operation of the working machine according to the embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be appropriately combined. In some cases, some components are not used.

[Work machine]
FIG. 1 is a side view schematically showing a work machine 1 according to the present embodiment. FIG. 2 is a plan view schematically showing the work machine 1 according to the present embodiment. In the present embodiment, the work machine 1 is a wheel loader. The work machine 1 loads the excavated material collected by the bucket 13 on the carrier of the transport vehicle.

As shown in FIGS. 1 and 2, the work machine 1 includes a vehicle body 2 supported by wheels 4, a traveling device 3 that travels while supporting the vehicle body 2, and a work machine 10 supported by the vehicle body 2. .

The vehicle body 2 has a front vehicle body 2F, a rear vehicle body 2R, and a joint mechanism 9 for connecting the front vehicle body 2F and the rear vehicle body 2R to bend. The cab 6 is provided on the rear body 2R. An operator seat 7 and an operating device 8 are provided in the operator cab 6. The operator of the work machine 1 operates the operation device 8 while sitting on the operation seat 7. In addition, one or both of the driving seat 7 and the operating device 8 may not be provided in the cab 6.

The traveling device 3 supports the vehicle body 2. The traveling device 3 includes a joint mechanism 9 and wheels 4. The joint mechanism 9 includes a steering cylinder. One end of the joint mechanism 9 is connected to the front vehicle body 2F, and the other end of the joint mechanism 9 is connected to the rear vehicle body 2R. The body 2 is bent by the expansion and contraction of the steering cylinder. When the vehicle body 2 bends, the work machine 1 turns. The wheels 4 are rotated by power generated by an engine (not shown) mounted on the vehicle body 2. Wheels 4 include two front wheels 4F that support front body 2F and two rear wheels 4R that support rear body 2R. The tire 5 is mounted on the wheel 4. The tire 5 includes a front tire 5F mounted on the front wheel 4F and a rear tire 5R mounted on the rear wheel 4R. The work machine 1 travels on the ground RS as the wheels 4 rotate.

位置 In the following description, the positional relationship of each part will be described using the terms vertical direction, front and rear direction, and vehicle width direction. The vertical direction refers to a direction perpendicular to the ground contact surface of the tire 5 that comes into contact with the ground RS. The front-back direction refers to a direction orthogonal to the rotation axis of the wheel 4 and the up-down direction. The vehicle width direction refers to a direction parallel to the rotation axis of the wheel 4. The vehicle width direction indicates the width direction of the vehicle body 2 and has the same meaning as the left-right direction.

Upward refers to the direction away from the ground contact surface of the tire 5 in the vertical direction, and lower refers to the direction opposite to the upper side in the vertical direction. The front refers to a direction from the wheels 4 toward the work implement 10, and the rear refers to a direction opposite to the front in the front-rear direction. The left side refers to a left side direction with respect to an operator sitting on the driving seat 7 facing forward, and the right side refers to a direction opposite to the left side in the left and right direction.

The operating device 8 includes an accelerator pedal, a brake pedal, a steering lever or a steering wheel, a forward / reverse changeover switch, and a work implement operating lever (not shown).

The operator can operate the accelerator pedal, the brake pedal, the steering lever, and the forward / reverse switch of the operating device 8 to perform driving, braking, turning, and forward / backward switching of the traveling device 3. When the accelerator pedal and the brake pedal of the operation device 8 are operated, the traveling device 3 performs driving, braking, and adjustment of the traveling speed. When the steering lever or the steering wheel of the operation device 8 is operated, the work machine 1 turns. By operating the forward / reverse switching lever, the work machine 1 switches between forward and reverse.

Work machine 10 is supported by vehicle body 2. The work machine 10 includes a boom 11 connected to the vehicle body 2, an arm 12 connected to the boom 11, an opening 13M, and a bucket 13 connected to the arm 12 such that the opening 13M faces forward. Having.

The boom 11 is rotatably connected to the front vehicle body 2F and is drivable with respect to the front vehicle body 2F. The boom 11 is rotatable around a boom rotation axis AXa. The boom rotation axis AXa extends in the vehicle width direction. The boom 11 has a proximal end and a distal end. The base end of the boom 11 is connected to the front vehicle body 2F. The arm 12 is connected to the tip of the boom 11.

The arm 12 is rotatably connected to the boom 11 and is drivable with respect to the boom 11. The arm 12 is rotatable about an arm rotation axis AXb. The arm rotation axis AXb is parallel to the boom rotation axis AXa. The arm 12 has a proximal end and a distal end. The proximal end of the arm 12 is connected to the distal end of the boom 11. The bucket 13 is connected to the tip of the arm 12.

The bucket 13 is rotatably connected to the arm 12 and is drivable with respect to the arm 12. The bucket 13 is rotatable about a bucket rotation axis AXc. The bucket rotation axis AXc is parallel to the boom rotation axis AXa and the arm rotation axis AXb. The bucket 13 has an opening 13M and a tip 13B including a cutting edge. The bucket 13 scoops excavated objects. The work machine 1 discharges the excavated material collected by the bucket 13 to the carrier of the transport vehicle. The excavated material discharged from the bucket 13 is loaded on the carrier.

The bucket 13 is connected to the arm 12 such that the opening 13M faces forward. With the boom 11 and the arm 12 lowered and the bucket 13 in contact with the ground RS, the opening 13M of the bucket 13 faces forward. The excavated material enters the inside of the bucket 13 through the opening 13M and is held by the bucket 13. The excavated matter held in the bucket 13 is discharged from the bucket 13 through the opening 13M. The working machine 10 is a front-loading working machine.

よう As shown in FIG. 2, the boom 11 includes a first boom 11A disposed on the left side with respect to the center of the vehicle body 2 in the vehicle width direction, and a second boom 11B disposed on the right side. The arm 12 includes a first arm 12A disposed on the left side with respect to the center of the vehicle body 2 in the vehicle width direction, and a second arm 12B disposed on the right side. The first arm 12A is connected to the first boom 11A. The second arm 12B is connected to the second boom 11B. The first boom 11A and the second boom 11B are connected via a boom connecting member 14. The boom connecting member 14 connects the longitudinal central portion of the first boom 11A and the longitudinal central portion of the second boom 11B. The first arm 12A and the second arm 12B are connected via an arm connecting member 15. The arm connecting member 15 connects the central part of the first arm 12A in the longitudinal direction and the central part of the second arm 12B in the longitudinal direction.

Each of the first boom 11A and the second boom 11B is rotatable around a boom rotation axis AXa. Each of the first arm 12A and the second arm 12B is rotatable about an arm rotation axis AXb.

バケット In the vehicle width direction of the vehicle body 2, the size of the bucket 13 is larger than the size of the vehicle body 2. In the vehicle width direction, the center of the vehicle body 2 and the center of the bucket 13 coincide. In the vehicle width direction, the driver's seat 7 disposed in the driver's cab 6 is disposed between the first boom 11A and the second boom 11B and between the first arm 12A and the second arm 12B.

FIG. 3 is a diagram schematically showing the work machine 1 according to the present embodiment. As shown in FIG. 3, the work machine 1 includes a boom cylinder 21 that is a boom actuator that drives the boom 11, an arm cylinder 22 that is an arm actuator that drives the arm 12, and a bucket that is a bucket actuator that drives the bucket 13. And a cylinder 23. Each of the boom cylinder 21, the arm cylinder 22, and the bucket cylinder 23 is a hydraulic cylinder that generates power based on hydraulic oil supplied from a hydraulic pump mounted on the vehicle body 2. The hydraulic pump is driven by power generated by an engine mounted on the vehicle body 2. The engine is a diesel engine and is driven by being supplied with fuel. The drive source of the hydraulic pump need not be the engine, but may be an electric drive source including a power storage unit and a motor. As a drive source of the hydraulic pump, both an engine and an electric drive source may be used.

The boom cylinder 21 generates power for driving the boom 11. One end of the boom cylinder 21 is connected to the front vehicle body 2F. The other end of the boom cylinder 21 is connected to the boom 11. When the boom cylinder 21 expands and contracts, the boom 11 rotates around the boom rotation axis AXa. When the boom cylinder 21 extends, the boom 11 moves up, and when the boom cylinder 21 contracts, the boom 11 moves down.

The arm cylinder 22 generates power for driving the arm 12. One end of the arm cylinder 22 is connected to the boom 11. The other end of the arm cylinder 22 is connected to the arm 12. When the arm cylinder 22 expands and contracts, the arm 12 rotates around the arm rotation axis AXb. When the arm cylinder 22 extends, the arm 12 moves up, and when the arm cylinder 22 contracts, the arm 12 moves down.

The bucket cylinder 23 generates power for driving the bucket 13. One end of the bucket cylinder 23 is connected to the arm 12. The other end of the bucket cylinder 23 is connected to the bucket 13. As the bucket cylinder 23 expands and contracts, the bucket 13 rotates around the bucket rotation axis AXc. When the bucket cylinder 23 extends, the bucket 13 performs a dump operation, and when the bucket cylinder 23 contracts, the bucket 13 performs a tilt operation.

ダンプ The dumping operation of the bucket 13 refers to an operation of rotating the bucket 13 such that the opening 13M of the bucket 13 faces downward and the tip 13B approaches the ground. The tilt operation of the bucket 13 refers to an operation of rotating the bucket 13 such that the opening 13M faces upward and the tip 13B moves away from the ground. When the bucket 13 performs the dumping operation, the excavated matter held in the bucket 13 is discharged from the bucket 13. When the bucket 13 performs a tilt operation, the bucket 13 scoops the excavated material.

Note that one or both of the arm cylinder 22 and the bucket cylinder 23 may be drivable with respect to the vehicle body 2.

The operator can operate the boom cylinder 21, the arm cylinder 22, and the bucket cylinder 23 by operating the work implement operation lever of the operation device 8.

FIG. 4 is a diagram schematically showing a part of the working machine 10 according to the present embodiment. FIG. 4 shows a connection mechanism 30 that connects the arm 12, the bucket 13, and the bucket cylinder 23. The connection mechanism 30 includes a four-node link mechanism in which four rotation shafts (nodes) are formed in an annular shape. The coupling mechanism 30 includes a bucket pin 33A including a first rotation axis corresponding to four rotation axes, a first link pin 33B including a second rotation axis, and a second link pin 33C including a third rotation axis. And a bucket cylinder top pin 33D including a fourth rotation shaft. Each of the four rotation shafts of the connection mechanism 30 extends in the vehicle width direction. The arm 12, the bucket 13, and the bucket cylinder 23 are connected via a four-node link mechanism.

ブラケット The bracket 34 is fixed to the rear part of the bucket 13. The tip of the arm 12 and the bracket 34 are connected by a bucket pin 33A. Bucket pin 33A includes bucket rotation axis AXc.

The connection mechanism 30 has a link member 31 rotatably connected to the arm 12 via the first link pin 33B. The base end of the link member 31 is connected to the arm 12 via the first link pin 33B. The distal end of the link member 31 is connected to the bucket cylinder 23 via the second link pin 33C. The tip of the bucket cylinder 23 is connected to the bracket 34 via a bucket cylinder top pin 33D.

When the bucket cylinder 23 expands and contracts, the bracket 34 and the bucket 13 rotate around the bucket rotation axis AXc.

FIG. 5 is a view schematically showing a part of the working machine 10 according to the present embodiment, and shows another embodiment of the coupling mechanism 30. In the example shown in FIG. 5, the connection mechanism 30 includes a bucket pin 33E including a first rotation shaft, a first link pin 33F including a second rotation shaft, and a second link pin 33G including a third rotation shaft. And a third link pin 33H including a fourth rotation shaft.

The linking mechanism 30 is connected to a link member 31 rotatably connected to the arm 12 via a first link pin 33F, and is connected to a distal end of the link member 31 via a second link pin 33G. It has the link member 32 connected to the bracket 34 via the pin 33H. The tip of the bucket cylinder 23 is connected to the bucket pin 33E or the bucket 13 near the bucket pin 33E. An intermediate portion of the link member 31 is connected to the bucket cylinder 23 via a link pin 33I. Also in the example shown in FIG. 5, when the bucket cylinder 23 expands and contracts, the bracket 34 and the bucket 13 rotate about the bucket rotation axis AXc.

[motion]
Next, the operation of the work machine 1 according to the present embodiment will be described. The work machine 1 performs an excavation operation of excavating the excavation target DS with the bucket 13 and a loading operation of loading the excavated material scooped by the bucket 13 by the excavation operation onto the carrier BE of the transport vehicle LS. Ground is exemplified as the excavation target DS. Excavated material is exemplified by earth and sand. A dump truck is illustrated as the transport vehicle LS.

動作 Operation modes of the work machine 1 include “V-shape”, “excavation without movement”, and “scooping excavation”.

“V-shape” means that the bucket 13 is moved up and down while the work machine 1 is moved forward or backward to perform excavation work and loading work. That is, “V shape” refers to performing excavation work and loading work while rotating the wheels 4.

“Excavation without movement” refers to performing excavation work and loading work by moving the bucket 13 up and down without moving the traveling device 3 of the work machine 1. That is, “movement excavation without movement” means performing excavation work and loading work without rotating the wheels 4.

"Scraping excavation" means that after inserting the bucket 13 into the excavation target DS with the tip 13B of the bucket 13 approaching the ground RS, the boom 11 and the arm 12 are raised to move the excavation target DS with the bucket 13. Refers to scraping.

FIG. 6 is a schematic diagram illustrating the operation of the work machine 1 according to the present embodiment, and is a diagram illustrating “V shape”. When excavating the excavation target DS in the “V shape” operation mode, the work machine 1 advances toward the excavation target DS as indicated by an arrow M1 in FIG. The work machine 1 excavates the excavation target DS with the bucket 13.

After the excavation target DS is excavated by the bucket 13 and the bucket 13 scoops up the excavation, the work machine 1 moves backward so as to move away from the excavation target DS as indicated by an arrow M2 in FIG.

When loading the excavated material in the bucket 13 into the transport vehicle, the work machine 1 advances toward the transport vehicle LS while turning as shown by an arrow M3 in FIG. The work machine 1 raises the bucket 13 while moving forward toward the transport vehicle LS. The work machine 1 raises at least one of the boom 11 and the arm 12 while moving forward toward the transport vehicle LS. Due to the raising operation of at least one of the boom 11 and the arm 12, the bucket 13 is arranged at a position higher than the bed BE of the transport vehicle LS.

After the bucket 13 is arranged at a position higher than the bed BE of the transport vehicle LS by the raising operation of at least one of the boom 11 and the arm 12, the work machine 1 causes the bucket 13 to perform a dumping operation and moves the excavated object from the bucket 13 to the bed BE. Discharge. Thereby, the excavated material is loaded on the bed BE.

(6) After discharging the excavated material from the bucket 13, the work machine 1 moves backward so as to move away from the transport vehicle LS as indicated by an arrow M4 in FIG. After moving backward, the work machine 1 advances toward the excavation target DS as indicated by an arrow M1 in FIG. The work machine 1 repeats the above operation until the bed BE is full of excavated objects. The above-described series of operations is called “V shape”.

FIG. 7 is a schematic diagram illustrating the excavation work of the work machine 1 according to the present embodiment, and is a diagram illustrating the excavation work in the “V shape”. When excavating the excavation target DS with the bucket 13 in the operation mode of the “V shape”, the work machine 1 advances toward the excavation target DS while appropriately including the bending operation of the vehicle body 2 by operating the steering cylinder. The work machine 1 can move toward the excavation target DS with the bucket 13 separated from the ground RS. In the example illustrated in FIG. 7, the work machine 1 advances toward the excavation target DS in a state where the bucket 13 is located at a position away from the ground RS by a distance Ha above. In the operation mode of the “V shape”, the work machine 1 raises at least one of the boom 11 and the arm 12 while moving forward toward the excavation target CS, and concurrently with the raising operation of at least one of the boom 11 and the arm 12. Then, the bucket 13 is tilted. The work machine 1 can insert the bucket 13 into a portion PH on the slope of the excavation target DS that is separated from the ground RS by a distance Ha upward. The distance Ha may be longer than the distance between the ground surface of the tire 5 and the rotation axis of the wheel 4, for example. The distance Ha may be longer than the diameter of the tire 5, for example.

FIG. 8 is a schematic diagram illustrating a loading operation of the work machine 1 according to the present embodiment, and is a diagram illustrating a loading operation in the “V shape”. When loading the excavated material collected by the bucket 13 on the carrier BE of the transport vehicle LS in the “V shape” operation mode, the work machine 1 raises at least one of the boom 11 and the arm 12 while moving forward toward the transport vehicle LS. Let it work. After arranging the bucket 13 at a position higher than the bed BE by raising at least one of the boom 11 and the arm 12, the work machine 1 causes the bucket 13 to perform a dumping operation and discharges excavation from the bucket 13 to the bed BE. In the example illustrated in FIG. 8, the work machine 1 can position the bucket 13 above the vessel BE by raising the bucket 13 to a position away from the ground RS by the sum of the distance Ha and the distance Hb. .

As described above, in the excavation work for excavating the excavation target DS, the bucket 13 is positioned at a position away from the ground RS by the distance Ha, and in the loading operation for loading the excavated material on the bed BE, the bucket 13 is moved from the bed BE. Is also positioned higher. In the present embodiment, the work machine 1 may move the bucket 13 in the vertical direction by the distance Hb between the excavation operation and the loading operation. Since the bucket 13 does not need to be largely moved in the vertical direction, the engine and the hydraulic pump mounted on the work machine 1 do not need to output excessive power. Therefore, the fuel consumption of the engine of the work machine 1 is reduced. Further, since it is not necessary to move the bucket 13 largely in the vertical direction, the moving distance and the moving time of the bucket 13 in the vertical direction are shortened. For this reason, the working time of the working machine 1 is suppressed from becoming longer. Further, as indicated by arrows M1, M2, M3, and M4 in FIG. 6, the moving distance when the work machine 1 moves on the ground RS in the excavation work and the loading work is reduced. The work machine 1 can perform the excavation work and the loading work while repeating forward and backward movements in a small area of the ground RS.

The excavation work and the loading work in the “V shape” have been described with reference to FIGS. 7 and 8. In the excavation work of “excavation without movement”, the work machine 1 positions the bucket 13 at a distance Ha from the ground RS without rotating the wheels 4. In the loading operation of “excavation without movement”, the work machine 1 positions the bucket 13 at a position higher than the bed BE without rotating the wheels 4. As a result, also in “excavation without movement”, the fuel consumption of the engine of the work machine 1 is reduced, and the moving distance and the moving time of the bucket 13 in the vertical direction are shortened.

In the above-mentioned “scooping excavation”, as shown by the dotted line in FIG. 7, the work machine 1 lowers the boom 11 and the arm 12 so that the tip 13B of the bucket 13 approaches the ground RS. Is inserted into the excavation target DS, the boom 11 and the arm 12 are raised, and the bucket 13 is raised above the work machine 1. As a result, the excavation target DS is scraped up by the bucket 13.

[effect]
As described above, according to the present embodiment, since the work machine 10 includes the boom 11, the arm 12, and the bucket 13, the work machine 1 excavates the work machine 1 in a state where the bucket 13 is separated from the ground RS in the excavation work. The target DS can be excavated. Thus, in the loading operation, the work machine 1 may raise the bucket 13 by the distance Hb. Since the work machine 1 does not need to largely move the bucket 13 vertically between the excavation work and the loading work, the fuel consumption of the work machine 1 is reduced, and the work time of the work machine 1 is shortened. You.

Since the existing wheel loader does not have an arm, when excavating an excavation target with the bucket, the wheel loader advances toward the excavation target DS with the bucket close to the ground RS, and excavates the bucket 13 with the ground RS. It must be inserted near the boundary PL with the target DS (see FIG. 7). In this case, when loading the excavated product in the bucket onto the carrier BE of the transport vehicle LS, the wheel loader needs to raise the boom by the sum of the distance Ha and the distance Hb. That is, the existing wheel loader needs to largely move the bucket vertically between the excavating operation and the loading operation. When the bucket needs to be largely moved in the vertical direction, a large power is required, so that the fuel consumption of the wheel loader may increase. In addition, when the bucket needs to be largely moved in the vertical direction, the operation time of the wheel loader may be long because the movement time of the bucket is long.

According to the present embodiment, since the work machine 1 includes the arm 12, the bucket 13 can be positioned at a position above the ground RS by a distance Ha in the excavation work. Accordingly, in the loading operation, since the work machine 1 only needs to raise the bucket 13 by the distance Hb, it is not necessary to largely move the bucket 13 in the vertical direction. Therefore, the fuel consumption of the working machine 1 can be reduced, and the working time can be shortened.

In this embodiment, the work machine 1 is an articulated work machine in which a front vehicle body 2F and a rear vehicle body 2R are connected via a joint mechanism 9. Therefore, as shown in FIG. 6, the excavation work and the loading work can be performed while repeatedly moving forward and backward in the small area of the ground RS.

In this embodiment, the boom 11 includes a first boom 11A and a second boom 11B, and the arm 12 includes a first arm 12A and a second arm 12B. Thereby, a space is formed between the first boom 11A and the second boom 11B and between the first arm 12A and the second arm 12B. Therefore, the operator sitting on the driving seat 7 can visually recognize the bucket 13 and the digging target DS and the transport vehicle LS via the space. Therefore, the operator can smoothly perform the excavation work and the loading work.

In the embodiment, the size of the bucket 13 is larger than the size of the vehicle body 2 in the vehicle width direction. Therefore, the bucket 13 can scoop a large amount of excavated matter in one excavation operation. Therefore, the working efficiency of the working machine 1 is improved.

[Other embodiments]
In the above-described embodiment, the working machine 1 is operated by the operator operating the operation device 8. The operator does not have to board the work machine 1. The work machine 1 may be operated remotely, or may operate autonomously by a control device.

In the above-described embodiment, each of the boom actuator, the arm actuator, and the bucket actuator is a boom cylinder 21, an arm cylinder 22, and a bucket cylinder 23 that are hydraulic cylinders. At least one of the boom actuator, the arm actuator, and the bucket actuator may not be a hydraulic cylinder, and may include a motor and a gear.

DESCRIPTION OF SYMBOLS 1 ... Work machine, 2 ... body, 2F ... front body, 2R ... rear body, 3 ... running device, 4 ... wheel, 4F ... front wheel, 4R ... rear wheel, 5 ... tire, 5F ... front tire, 5R ... rear Tire, 6 ... cab, 7 ... operating seat, 8 ... operating device, 9 ... joint mechanism, 10 ... working machine, 11 ... boom, 11A ... first boom, 11B ... second boom, 12 ... arm, 12A ... 1 arm, 12B ... second arm, 13 ... bucket, 13B ... tip, 13M ... opening, 14 ... boom connecting member, 15 ... arm connecting member, 21 ... boom cylinder, 22 ... arm cylinder, 23 ... bucket cylinder, Reference numeral 30: connecting mechanism, 31: link member, 32: link member, 33A: bucket pin, 33B: first link pin, 33C: second link pin, 33D: bucket cylinder top pin, 33E: bucket pin 33F: first link pin, 33G: second link pin, 33H: third link pin, 33I: link pin, 34: bracket, AXa: boom rotation axis, AXb: arm rotation axis, AXc: bucket rotation axis, BE ... Loading bed, DS: Excavation target, LS: Transportation vehicle, PH: Site, PL: Boundary, RS: Ground.

Claims

A body supported by wheels,
A boom drivable with respect to the vehicle body,
An arm drivable with respect to the boom,
A bucket having an opening, the bucket being drivable with respect to the arm such that the opening faces forward;
A boom actuator for driving the boom,
An arm actuator for driving the arm;
A bucket actuator for driving the bucket;
A working machine equipped with.
The wheels include a rear wheel and a front wheel,
The vehicle body includes a rear vehicle body supported by the rear wheels, and a front vehicle body connected to the rear vehicle body via a joint mechanism and supported by the front wheels.
The work machine according to claim 1.
In the vehicle width direction of the vehicle body, the size of the bucket is larger than the size of the vehicle body.
The work machine according to claim 1.
The boom includes a first boom disposed on one side with respect to a center in the vehicle width direction of the vehicle body, and a second boom disposed on the other side,
The arm includes a first arm connected to the first boom, and a second arm connected to the second boom.
The working machine according to claim 3.
The arm, the bucket, and the bucket actuator are connected via a four-bar linkage.
The work machine according to any one of claims 1 to 4.