JP2001164592A - Working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enlarge the operation angle of a working arm device in a working machine and freely modify the direction of the working arm device to any direction. SOLUTION: A pedestal body 12 is forwardly inclinably provided on a vehicle 11, and forwardly inclined by a pedestal body forward inclination mechanism 13. A turning body 14 is turnably provided on the pedestal body 12, and the working arm device 15 is installed on the turning body 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine provided with a work arm device on a vehicle.

[0002]

2. Description of the Related Art A conventional working machine, for example, a general hydraulic excavator, is provided with an upper revolving structure rotatably on a lower traveling structure.
On the pedestal (bracket) fixed to this upper revolving unit,
A work arm device (front linkage) in which a boom, an arm, and a bucket are sequentially connected is attached.

Further, as disclosed in Japanese Patent Application Laid-Open No. 10-25763, a hydraulic shovel type working machine has a front linkage boom pivotally supported on a bracket fixed to an upper swing body so as to be swingable in the left-right direction. Are also shown.

[0004]

In a conventional working machine of this type, the base end of the working arm device, that is, the lower part of the boom is pivotally supported by a pedestal portion fixed to the upper swing body. The working angle of the device is limited by the pedestal and is not sufficient.

[0005] The work machine described in the publication can dig a hole in an oblique direction by tilting the front linkage in the left-right direction during the digging operation. The orientation of the working arm device can only be changed within a limited range.

SUMMARY OF THE INVENTION The present invention has been made in view of the foregoing points, and has an advantage in that the working angle of a working arm device in a working machine can be increased, and the direction of the working arm device can be freely changed in any direction. The purpose is to do so.

[0007]

According to the first aspect of the present invention, there is provided a vehicle, a pedestal body provided to be capable of tilting forward with respect to the vehicle, and a pedestal body tilting mechanism for tilting the pedestal body forward with respect to the vehicle. When,
A working machine comprising a working arm device provided on a pedestal body.

[0008] By tilting the pedestal body forward by the pedestal body forward tilting mechanism, the operating angle of the working arm device is expanded, and the working range is expanded.

According to a second aspect of the present invention, there is provided a vehicle, a pedestal body provided to be able to lean forward with respect to the vehicle, a pedestal body forward tilt mechanism for tilting the pedestal body forward with respect to the vehicle, and a pedestal body. A work machine including a revolving body provided rotatably and a working arm device provided on the revolving body.

[0010] By combining a pedestal body forward tilting mechanism for tilting the pedestal body forward and a revolving body pivotally provided with respect to the pedestal body, the direction of the working arm device can be freely changed in any direction, and work can be performed. Work with the arm device facing downward, sideways, upward or obliquely.

According to a third aspect of the present invention, there is provided a vehicle, a pedestal body provided to be able to tilt forward with respect to the vehicle, a pedestal body tilting mechanism for tilting the pedestal body forward with respect to the vehicle, and a pedestal body. A work machine including a rocking body provided to be swingable in a vehicle width direction and a work arm device provided on the rocking body.

Then, the work arm device is swung by the rocking body in a state where the work arm device is inserted below the vehicle ground level by tilting the pedestal body forward, thereby performing a wide range of work in an underground space or the like. .

According to a fourth aspect of the present invention, there is provided a vehicle, a pedestal body provided to be capable of tilting forward with respect to the vehicle, a pedestal body tilting mechanism for tilting the pedestal body forward with respect to the vehicle, and a pedestal body. A work machine includes a swing body provided to be swingable in the vehicle width direction, a swing body provided to be able to swing with respect to the swing body, and a work arm device provided to the swing body.

The rolling of the pedestal body forward, the swinging of the swinging body in the vehicle width direction, and the turning of the swinging body allow the swinging body to be moved without moving the internal mechanism of the vehicle and the working arm device itself. The provided work arm device can be freely moved, and the degree of freedom of the work arm device is further increased, and workability is also high.

According to a fifth aspect of the present invention, there is provided a vehicle according to the first or second aspect, wherein the vehicle includes a vehicle body, a traveling device disposed on both sides of the vehicle body for moving the vehicle body forward and backward, and a center in the longitudinal direction of the vehicle body. Power source device provided on the part,
The pedestal is a working machine provided on the front end of the vehicle body.

By tilting the pedestal positioned on the front end of the vehicle body forward, the pedestal is projected forward from the vehicle body to increase the downward rotation angle of the working arm device.

According to a sixth aspect of the present invention, the work machine according to the fifth aspect is remotely controlled from outside the vehicle.

When the operator gets on the vehicle and lowers the working arm device below the vehicle ground level, the working position at the tip of the working arm device becomes blind spot and is hardly visible. By performing remote control while monitoring these operations immediately before being located in an easily visible place such as the device, even when the working arm device is inserted deep into the ground, it is possible to work alone. In addition, since no equipment for operator boarding is required on the vehicle, the vehicle is small and inexpensive.

According to a seventh aspect of the present invention, the vehicle according to any one of the second to fourth aspects includes a lower traveling body and an upper revolving body provided so as to be able to turn horizontally with respect to the lower traveling body. The pedestal body is a working machine provided at the large turning part of the upper turning body.

Then, the pedestal body is brought close to the obstacle by the horizontal swing of the upper swing body, and the work arm device is rotated by the swing body to keep the work arm apparatus parallel to the obstacle, so that the work arm device is installed in the boom by the conventional hydraulic shovel. Work on an obstacle is performed in the same way as the offset mechanism that has been used. In particular, by tilting the pedestal body forward, the pedestal body provided at the turning large diameter portion of the upper revolving structure is projected from the upper revolving structure, and the working arm device is rotated sufficiently below the vehicle ground level and Work alongside obstacles, such as underground structures.

The invention described in claim 8 is a work machine in which the work arm device according to any one of claims 1 to 7 is used as a work machine for excavation.

By tilting the pedestal body forward by the pedestal body forward tilting mechanism, the operating angle of the excavating work machine is enlarged, and the excavation work range is expanded. Further, by the combination of the pedestal body forward tilting mechanism for tilting the pedestal body forward and a revolving body provided to be able to pivot with respect to the pedestal body, the work machine for excavation is turned downward, sideways, and upward in any direction. Drilling downward, sideways, and upward.

According to a ninth aspect of the present invention, there is provided a working machine in which the working arm device according to the second or fourth aspect is linearly formed in an extended state.

Then, when the revolving body is turned, the working arm device is extended linearly, thereby turning the working arm device in a limited small space.

The invention described in claim 10 is the second invention.
A working machine provided with the working arm device according to any one of claims 1 to 9, the actuator including an actuator swinging the working arm device along the ground.

The work arm device performs a leveling operation or the like to level the ground evenly by swinging itself along the ground with its own actuator.

The invention described in claim 11 is the first invention.
0 is a work machine provided with a grounding device that is in contact with the ground to fix the vehicle during leveling work in which the work arm device is swung along the ground.

An uneven load, which may act on the vehicle from the work arm device during the leveling operation, is prevented by the grounding device fixed to the ground, so that the leveling operation accuracy is improved.

The invention described in claim 12 is the first invention.
A work machine provided with an earth removal plate provided on one side in the front-rear direction of the vehicle provided with the grounding device according to 1 and provided on the other side in the front-rear direction of the vehicle and movable below a ground level of the vehicle.

Then, the vehicle is relatively lifted by pressing the earth discharging plate against the ground, so that the load of the vehicle is applied to the grounding device, and the fixing action of the grounding device during leveling work is more strongly exerted. .

The invention described in claim 13 is the first invention.
A working machine comprising a leveling plate provided along the working arm device according to any one of 0 to 12.

Then, the leveling operation is performed over a wider range by swinging the leveling plate along the ground together with the working arm device.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A working machine according to the present invention will be described below with reference to various embodiments shown in the drawings.

First, the first embodiment will be described with reference to FIGS.
This will be described with reference to FIG.

As shown in FIG. 1, a pedestal body 12 is provided so as to be tiltable forward with respect to the vehicle 11, and a pedestal body between the vehicle 11 and the pedestal body 12 for tilting the pedestal body 12 forward with respect to the vehicle 11. Forward tilt mechanism
A revolving body 14 is provided so as to be revolvable with respect to the pedestal body 12, and a working arm device 15 is provided on the revolving body 14.

As shown in FIG. 2, the vehicle 11 has a vehicle body 16 on one side and the other side in the vehicle width direction of the vehicle body 16.
A crawler-type traveling device 17 for moving the vehicle forward and backward is disposed, a power source device 18 is provided on a central portion of the vehicle body 16 in the front-rear direction, and the pedestal body 12 is provided on a front end of the vehicle body 16. .

The vehicle body 16 is disposed so as to fit between the traveling devices 17 on both sides. The power source device 18 is a vehicle body.
It is formed larger than the width of 16, and both side ends protrude above the traveling device 17.

Inside the power source device 18, an engine as a prime mover, a radiator as cooling means for cooling the engine on one side of the engine, and a hydraulic pump driven by the engine on the other side of the engine Further, a valve unit (a number of electromagnetically operated valves) for controlling hydraulic oil discharged from the hydraulic pump and the like are arranged. The engine may also drive a generator to supply electric power to an electric motor described later.

As shown in FIG. 1, the pedestal body forward tilting mechanism 13 has a front end portion of the pedestal body 12 rotatably connected to a front end portion of the vehicle body 16 by a shaft supporting portion 21. Branch 22
Thereby, the cylinder head of the hydraulic cylinder 23 is rotatably connected, and the tip of the piston rod protruding from the hydraulic cylinder 23 is connected to the lower part of the pedestal body 12 by the shaft support 24.

The revolving unit 14 is formed by rotating bearings on the pedestal unit 12.
Is provided to be pivotable about the pivot shaft 14a with respect to the
By rotating a gear meshing with a gear fixed to the pedestal body 12 by the hydraulic motor 25 provided on the
It is driven to turn.

As a mechanism for driving the revolving unit 14 to pivot, an inexpensive mechanism for revolving the revolving unit 14 by a pinion meshing with a rack driven by a hydraulic cylinder (not shown) may be used.

A bracket 26 for mounting a working arm device is erected on the revolving unit 14, and the hydraulically operated working arm device 15 is detachably mounted on the bracket 26 by shafts 27 and 28.

The working arm device 15 is a working machine for excavation, and a base end of a boom 31 is connected to a bracket 26 of the revolving unit 14 by a shaft 27 so as to be vertically rotatable. A base end of an arm 33 is rotatably connected to the arm 33 by a shaft 32, and a bucket 35 is rotatably connected to a distal end of the arm 33 by a shaft 34.

The working arm device 15 is formed linearly in an extended state. That is, since the boom 31 is not curved unlike the boom in the front linkage of the conventional hydraulic shovel, the boom 31 and the arm 33 can be extended linearly.

A boom cylinder 36 as a hydraulic actuator for rotating the boom 31 in the vertical direction has a base end rotatably connected to the bracket 26 of the revolving unit 14 by the shaft 28, and has a piston rod tip end. Is rotatably connected by a shaft 37 to a bracket 38 below the boom middle section. Further, an arm cylinder 39 as a hydraulic actuator for rotating the arm 33 in the front-rear direction has a
Thus, the distal end of the piston rod is rotatably connected to the bracket 43 at the base end of the arm by a shaft 42. Further, a bucket cylinder 44 as a hydraulic actuator for rotating the bucket 35 is rotatably connected at a base end thereof to a bracket 43 at a base end of an arm by a shaft 45, and has a tip end of a piston rod rotated by a shaft 46 to rotate the bucket 35. Working linkage
47 and 48 are rotatably connected.

The work machine shown in FIG. 1 is remotely controlled from outside the vehicle 11. FIG.
A valve unit or an engine that controls a hydraulic actuator (a hydraulic motor or a hydraulic cylinder) such as the working arm device 15, the pedestal body leaning mechanism 13, the revolving unit 14, and the traveling device 17 is operated by an operator located outside the vehicle 11. The outline of a control system for remote control by wire or wireless is shown.

That is, the remote controller 51 operated by the operator includes a lever input section 52 for proportional operation.
And an on / off switch input unit 53 are connected to a transmission encoder 54, and the transmission encoder 54 is connected to a wired serial communication interface 55 and a wireless transmitter circuit 56, respectively. A transmission terminal 58 is provided with a cable connection terminal 57, and a transmission antenna 58 is provided in a transmitter circuit 56.

On the other hand, a serial communication interface 64 having a cable connection terminal 63 connected to a cable connection terminal 57 of the remote controller 51 and a communication cable 62 is provided in the control unit 61 on the vehicle side. A receiver circuit 66 for receiving the specific low-power radio signal transmitted from the transmission antenna 58 by the reception antenna 65
Are provided, and these serial communication interfaces 64
The receiver circuit 66 is connected to a main controller 68 via a reception decoder 67.

The main controller 68 generates an electric circuit based on a command signal input from the reception decoder 67 and a feedback signal detected from various sensors 69 such as a position sensor, a pressure sensor or a temperature sensor provided on the vehicle side. By directly controlling the relay 70 and the motor 71 inside, and controlling the valve unit (electromagnetic valve) 73 for direction control, flow rate control or pressure control in the hydraulic circuit via the valve controller 72, The operation of hydraulic actuators such as various hydraulic motors or hydraulic actuators is controlled.

The operator operates the remote controller 51 while monitoring these operations at a position easily visible, such as the working arm device 15, the revolving unit 14, and the traveling device 17, and remotely controls the working machine. I do.

Therefore, it is not necessary to provide an operator's boarding equipment such as a driver's seat on the vehicle main body 16.
A sufficient mounting space for the pedestal body 12 and the revolving body 14 can be ensured, and the size and cost of the vehicle 11 can be reduced. In addition, when the operator gets on the vehicle 11, work can be performed alone at a blind spot.

Although the work arm device 15 has a bucket 35 for excavation work, another work attachment may be attached in place of the bucket 35. For example, a gripping device such as a grapple, a crushing device such as a breaker, or the like may be attached to the tip of the arm 33 instead of the bucket 35.

Next, the operation and effect of the embodiment shown in FIGS. 1 to 4 will be described.

As shown in FIG. 4, the pedestal body forward tilt mechanism 13
The hydraulic cylinder 23 causes the pedestal body 12 located on the front end of the vehicle body 16 to tilt forward or forward with the pivot 21 as a fulcrum, so that the pedestal body 12 projects forward from the vehicle body 16, The downward rotation angle of the work arm device 15 is increased.

As described above, the pedestal body 12 is tilted forward or forward by the pedestal body forward tilting mechanism 13, so that the working angle of the excavating work machine is enlarged, and the excavation work range is expanded. When the revolving body 14 is driven to rotate with respect to the pedestal body 12 in the forward leaning or forward reversing posture of 12, the work arm device 15 can be turned to the lateral posture shown in FIG. By turning, the work arm device 15 can be placed in an upward posture, and upward excavation can be performed.

In short, the combination of the pedestal body forward tilting mechanism 13 for tilting the pedestal body 12 forward and the revolving body 14 pivotally provided with respect to the pedestal body 12 allows the working arm device 15 to be oriented at 360 °.
The boom 31 and the arm 33, which have conventionally only been moved up and down or back and forth, can be operated at any angle including horizontal movement.

For example, in an underground work with a narrow and low ceiling, when excavating in the lateral direction with a bucket 35, or
If the grapple is used to hold the reinforcing bar and the formwork in order to install the reinforcing bar and the formwork when placing concrete, any angle and insertion direction can be selected for mounting the reinforcing bars and the formwork.

In particular, even when the scaffold of the vehicle 11 is not horizontal but inclined, it is possible to install the reinforcing steel bar and the formwork by a grapple, for example, as designed, without being affected by the inclination.

When the revolving unit 14 is to be turned, the working arm unit 15 is extended linearly, and the working arm unit 15 is positioned on the center axis of the revolving unit 14 so that the working arm unit 15 is turned. Can turn in a limited small space.

When the operator gets on the vehicle, lowering the working arm device 15 below the vehicle ground level as shown by a two-dot chain line in FIG. Is a blind spot and is almost invisible, but the operator is located in an easy-to-see place such as the working arm device 15, and by remotely controlling these operations while monitoring it at hand, the working arm device 15 is inserted deep into the ground Sometimes, it is possible to work alone. In addition, the vehicle 11 does not require equipment for boarding the operator, so that the vehicle 11 is small and inexpensive.

Further, there has been an attempt to attach a revolving body to the arm of a hydraulic excavator. However, in such a case, the cost increases and the center of gravity of the working arm device moves to the distal end side, so that the front portion becomes heavy. There is a problem that heavy objects cannot be held at the tip of the working arm device, but the pedestal body 12 and the revolving
Such a problem does not occur in the combination of the work arm device 15 and the work arm device 15.

That is, when a turning mechanism is provided inside or on the way of the working arm device, the load resistance of the working arm device is deteriorated by the weight of the turning mechanism, which is disadvantageous when handling heavy objects. Although there is a possibility that the work center axis is deviated due to the turning in the middle part and the workability is hindered, the pedestal body 12 and the revolving body 14 are interposed between the vehicle body 16 and the work arm device 15 as in this embodiment. Since the weight of the work arm device 15 is not increased, the weight of the work arm device 15 can be received firmly on the vehicle side, and the work arm device 15 is rotated by the revolving unit 14 as a whole. It is also possible to prevent the possibility that the work center axis of the work arm device 15 is shifted halfway and impairs the workability.

Next, a second embodiment will be described with reference to FIG. 5. A vehicle 11, a pedestal 12 provided to be able to tilt forward with respect to the vehicle 11, a pedestal 12 Pedestal body forward tilting mechanism 13 for tilting forward, a revolving body 14 provided to be pivotable with respect to the pedestal body 12, and a working arm device installed on the revolving body 14.
15 is the same as in the first embodiment.

The vehicle 11 includes a vehicle body 16 and a vehicle body.
A traveling device arranged on both sides of the vehicle 16 to move the vehicle body 16 forward and backward
17 and a power source device 18 provided on the front-rear central portion of the vehicle body 16, and the pedestal body 12 is provided on the front end of the vehicle body 16 according to the first embodiment. Is the same as

Further, this work machine is remotely controlled from outside the vehicle 11, the work arm device 15 is used as a work machine for excavation, and the work arm device 15 is formed linearly in an extended state. The points are the same as in the first embodiment.

The second embodiment differs from the first embodiment in that a pedestal body forward tilting mechanism 13 for tilting a pedestal body 12 forward with respect to a vehicle 11 is a rotary type.

That is, the rotary pedestal body forward tilting mechanism 13
A bearing 81 is installed on the front end of the vehicle body 16, and the rotation supporting shaft 82 in the vehicle width direction is rotatably held by the bearing 81, and the rotation supporting shaft 82 protrudes from the pedestal body 12. Rotary actuator (hydraulic motor or electric motor) that integrally connects the bracket 83 and is installed on the bearing body 81
The rotation support shaft 82 is rotated by 84. The rotation support shaft 82 and the rotation support shaft (not shown) of the revolving unit 14 are rotation shafts orthogonal to each other.

Next, the function and effect of the embodiment shown in FIG. 5 will be described. The rotary support shaft 82 is rotated by the rotary actuator 84 of the pedestal body forward tilting mechanism 13 to move the pedestal body 12 forward. By tilting, the pedestal 12 protrudes forward from the vehicle body 16 to increase the downward rotation angle of the working arm device 15 and increase the operating angle of the digging work machine, thereby increasing the digging work range. To enlarge.

Further, the pedestal body 12 is connected to a rotary actuator.
With the combination of the pedestal body forward tilting mechanism 13 for tilting forward by 84 and the revolving body 14 provided to be able to pivot with respect to the pedestal body 12, the work arm device 15 for excavation can be turned downward, sideways, or upward in any direction. Turning, drilling downward, sideways, and upward.

In the second embodiment, the same functions and effects as in the first embodiment will not be described.

Next, a third embodiment will be described with reference to FIG. 6. A vehicle 11 includes a vehicle body 16 and a vehicle body 16.
A traveling device arranged on both sides of the vehicle 16 to move the vehicle body 16 forward and backward
17 and a power source device 18 provided on a central portion in the front-rear direction of the vehicle body 16, and a pedestal body 12 is provided on a front end of the vehicle body 16.
The pedestal body is provided so as to be tiltable forward, and a rotary pedestal body forward tilt mechanism 13 for tilting the pedestal body 12 forward with respect to the vehicle body 16 is provided.
12 is similar to the embodiment shown in FIGS. 1 and 2 in that a working arm device 15 is installed via a revolving body 14, but the boom 31a of the working arm device 15 is bent at the center. The work arm device 15 is formed in a bent shape even in the extended state.

The point that the working machine is remotely controlled from the outside of the vehicle 11 and the point that the working arm device 15 is a working machine for excavation are different from those of the embodiment shown in FIGS. The same is true.

Next, the operation and effect of the embodiment shown in FIG. 6 will be described. The pedestal body 12 located on the front end of the vehicle body 16 is tilted forward by the pedestal body tilting mechanism 13, and the pedestal body
When the revolving unit 14 is swiveled in this state, the bucket 35 of the working arm device 15 is turned downward, obliquely,
By turning in any desired lateral direction, not only normal downward excavation but also lateral excavation or oblique excavation shown in FIG. 6 can be freely selected.

At this time, the bucket 35 is moved by the bent boom 31a of the working arm device 15, as shown in FIG.
11 can be easily moved from the front to the side, and it is possible to excavate areas that were not possible before.

Next, a fourth embodiment will be described with reference to FIG. 7. A vehicle 11 includes a vehicle body 16 and a vehicle body 16.
A traveling device arranged on both sides of the vehicle 16 to move the vehicle body 16 forward and backward
17 and a power source device 18 provided on a central portion in the front-rear direction of the vehicle body 16, and a pedestal body 12 is provided on a front end of the vehicle body 16.
Is provided so as to be able to tilt forward, and a pivot type pedestal body forward tilting mechanism 13 for tilting the pedestal body 12 forward with respect to the vehicle body 16 is provided.
5 is similar to the embodiment shown in FIG.
The difference is that the working arm device 15 is directly installed without the intermediary of the revolving unit.

The point that the working machine is remotely controlled from the outside of the vehicle 11, the point that the working arm device 15 is a working machine for excavation, and that the working arm device 15 is linearly formed in an extended state. This is the same as the embodiment shown in FIG.

Then, the embodiment shown in FIG.
By tilting the pedestal body 12 located on the front end of the vehicle body 16 forward by the pedestal body forward tilting mechanism 13, the pedestal body 12 is projected forward from the vehicle body 16, and the pedestal body 12 is moved downward under the working arm device 15. The turning angle is increased, the working angle of the working arm device 15 is increased,
Increase the working range.

Next, the fifth embodiment will be described with reference to FIGS.
0, the vehicle 11 includes a lower traveling body 85 provided with crawlers, and a horizontal turning unit 86 with respect to the lower traveling body 85.
An upper revolving body 87 is provided so as to be capable of horizontal revolving through the vehicle. A driver's seat 88 and a power source device 89 such as an engine are installed on the upper revolving body 87.

The tip of the stay 90 that projects forward and forms a part of the upper swing body 87 of the vehicle 11 is a turning large diameter portion, and the tip of the stay 90 is shown in FIG. As described above, the lower bracket 92 of the pedestal body 12 is connected to the vehicle body 11 so that the lower bracket 92 can be tilted forward, and the pedestal body tilting mechanism 13 for tilting the pedestal body 12 forward with respect to the vehicle 11 includes a mounting bracket (Not shown) and a rear bracket 93 of the pedestal body 12, a cylinder head portion of a hydraulic cylinder 94 as a forward rotation actuator and a tip end portion of a piston rod are supported by a shaft support portion 95.
Further, a rocking body 97 is provided on the pedestal body 12 such that the rocking body 97 can be rocked in the vehicle width direction (left and right directions when viewed from the operator of the driver's seat 88) with the rocking support shaft 96 as a fulcrum. The working arm device 15 is directly installed on the bracket 98 of the moving body 97.

Since the working arm device 15 is a working machine for excavation and is formed linearly in an extended state as in the first embodiment, a detailed description thereof will be omitted. .

Further, as shown in FIG.
A bracket 101 protrudes obliquely rearward from one side surface, and a bracket 102 protrudes from one side surface of a rocking body 97. A hydraulic cylinder as a rocking actuator is provided between the distal ends of the brackets 101, 102. The cylinder head and piston rod tip of 103
5 are connected rotatably.

Next, the operation and effect of the embodiment shown in FIGS. 8 and 9 will be described with reference to FIG. 10. When the boom cylinder 36 is driven in the extension direction, the boom 31 is once rotated upward. Then, by driving the hydraulic cylinder 94 for forward rotation in the extension direction, the pedestal body 12 is tilted forward with the pivot 91 as a fulcrum as shown in FIG.

In this state, the oscillating hydraulic cylinder 103 is driven in the extending direction or the contracting direction, whereby the pedestal body is moved.
The rocking body 97 and the working arm device 15 are swung left and right with respect to the pivot shaft 96 in the front-rear direction as viewed from the operator of the driver's seat 88, and the bucket 35 of the working arm device 15 is turned sideways from below or Change posture diagonally downward.

As described above, the swivel unit 86 is moved with respect to the undercarriage 85.
The bucket 35 of the work arm device 15 can be easily adjusted to an oblique posture with the upper revolving body 87 that can freely rotate through the shaft, so that shaping of a slope such as a slope or excavation of a vertical groove on the slope is performed. Easy.

For example, when the lower traveling body 85 is installed at the lower part of the slope as a slope in parallel with the direction in which the slope continues, and the slope is shaped efficiently, the turning operation of the upper swing body 87 and the work arm Along with the vertical movement and bending movement of the device 15, the bucket
When the work arm device 15 is adjusted to rotate obliquely about the swing support shaft 96 by the hydraulic cylinder 103 so as to incline the 35 according to the slope of the slope, the conventional hydraulic shovel is limited to only skilled personnel. Advanced slope shaping work can be done relatively easily.

If a turning mechanism is provided inside or on the way of the working arm device, the load resistance of the working arm device is deteriorated by the weight of the turning mechanism, which is disadvantageous when handling heavy objects. There is a possibility that the work center axis is displaced due to the rotation in the middle part, which may hinder the workability. However, as in this embodiment, the pedestal body 12 is disposed between the vehicle body 16 and the work arm device 15.
And the provision of the rocking member 97, the weight of the working arm device 15 can be firmly received by the vehicle without increasing the weight of the working arm device 15, and the working arm device 15 can be entirely supported by the rocking member 97. Due to the rotation, the possibility that the work center axis of the work arm device 15 is deviated halfway and impairs the workability can also be prevented.

Next, a sixth embodiment will be described with reference to FIGS. 11 and 12. As shown in FIG. 11, the vehicle 11 has a lower running body 85 and a horizontal running body with respect to the lower running body 85. An upper revolving body 87 provided so as to be horizontally rotatable via a revolving unit 86, and a pivot support 91
The pedestal body 12 is provided to be tiltable forward through the pedestal body, and the pedestal body forward tilt mechanism 13 for tilting the pedestal body 12 forward with respect to the upper revolving body 87 of the vehicle 11
Is provided in the same manner as in the fifth embodiment, except that the pedestal body 12 is rotated by a hydraulic motor 25 or the like.
A different point is that a revolving body 14 that is driven to revolve around a is provided, and a working arm device 15 is installed on a bracket 26 of the revolving body 14.

The work arm device 15 is a work machine for excavation,
The point formed linearly in the extended state is the same as in the first embodiment.

Then, as shown in FIG. 12, by driving the hydraulic cylinder 94 for forward rotation in the extension direction, the hydraulic cylinder 94 is lowered together with the pedestal body 12 to the front of the revolving shaft 14a of the revolving body 14.

In this state, the turning hydraulic motor 25 is driven to rotate the turntable 14 and the work arm device 15 around the pedestal body 12 about the turning shaft 14a in the front-rear direction by 360 °. The posture of the 15 buckets 35 is changed to an arbitrary direction of downward, upward, sideways or oblique direction.

As described above, the upper revolving body 87 that can freely pivot with respect to the lower traveling body 85 via the horizontal revolving unit 86 allows the working arm device to be used.
Since the fifteen buckets 35 can be easily adjusted to the obliquely downward attitude, similarly to the fifth embodiment, shaping of a slope such as a slope and excavation of a vertical groove on the slope can be easily performed.

Next, a seventh embodiment will be described with reference to FIG. 13. The vehicle 11 includes a lower traveling body 85 provided with crawlers, and a horizontal turning section 86 with respect to the lower traveling body 85. An upper revolving body 87 is provided so as to be capable of horizontal revolving. A driver's seat 88 and a power source device 89 such as an engine are installed on the upper revolving body 87.

The lower bracket 92 of the pedestal body 12 is connected to the large-diameter portion of the stay 90 projecting from the upper revolving body 87 of the vehicle 11 by a shaft support 91 so as to be tiltable forward. The pedestal body forward tilt mechanism 13 that tilts forward 12 is a hydraulic cylinder
94, and a pivot shaft 96 with respect to the pedestal body 12.
The rocking body 97 can be rocked in the vehicle width direction (left and right directions as viewed from the operator of the driver's seat 88) by the rocking hydraulic cylinder 103 provided between the side surfaces of the pedestal body 12 and the rocking body 97. Further, a swing base 97a is provided integrally with the swing body 97, and the swing body 14 is provided so as to be swingable about the swing shaft 14a with respect to the swing base 97a of the swing body 97. body
The working arm device 15 is installed on the 14 brackets 26.

The working arm device 15 is a working machine for excavation,
It is similar to the first embodiment in that it is formed linearly in the extended state.

Next, the operation and effect of the embodiment shown in FIG. 13 will be described. The pedestal body 12 is brought closer to an obstacle or the like located on the side of the lower traveling body 85 by the horizontal swing of the upper swing body 87. At the same time, by swinging the rocking body 97 right and left around the rocking support shaft 96 by the hydraulic cylinder 103,
While the work arm device 15 is kept parallel to the obstacle, excavation work near the obstacle can be performed similarly to the offset mechanism installed in the boom by the conventional hydraulic shovel.

At this time, the revolving body 14 is pivoted about the revolving shaft 14a by the hydraulic motor 25 so that the working arm device 15 installed on the revolving body 14 can be freely turned upward, downward, sideways and obliquely. The work arm device 15 can be moved, and the degree of freedom of the work arm device 15 is further increased, and workability is also improved.

For example, when excavating a gutter for a gutter while moving a working machine along a side edge of a road surface, the road surface has a downward slope from the center to the side edge. Although the vehicle 11 on the road surface is also slightly inclined, the bucket 35 is relatively inclined in the opposite direction by the revolving operation of the revolving unit 14 about the revolving shaft 14a with respect to the diagonal vehicle 11, so that the vehicle 11 is inclined to the ground. On the other hand, the bucket 35 can be easily corrected to the vertical position facing directly below, and the work of excavating the groove for the side gutter in the vertical direction along the road surface can also be easily performed.

Further, the pedestal body 12 is tilted by the pedestal body forward tilting mechanism 13.
By tilting forward, the pedestal body 12 provided at the large-diameter turning portion of the upper swing body 87 can be protruded from the upper swing body 87, and the working arm device 15 can be sufficiently rotated below the vehicle ground level. Also, excavation work along obstacles such as structures deep underground can be facilitated.

Next, an eighth embodiment will be described with reference to FIGS. The eighth embodiment is based on the embodiments shown in FIGS.

As shown in FIGS. 14 and 15, a pedestal body 12 is provided so as to be tiltable forward with respect to the vehicle 11, and the pedestal body 12 is tilted forward with respect to the vehicle 11 between the vehicle 11 and the pedestal body 12. A pedestal body forward tilting mechanism 13 is provided, and an oscillating body 97 is provided on the pedestal body 12 by an oscillating support shaft 96 so as to be able to oscillate in the vehicle width direction. Have been.

The working arm device 15 is provided with a flat plate 99. The lower edge 100 of the leveling plate 99 is formed obliquely in accordance with the forward inclination of the vehicle 11, and the side plate 35a on one side of the bucket 35 is formed.
Is formed so as to be continuous.

The state shown in FIG. 14 is different from the standard state shown in FIG. 15 in that the pedestal body 12 is tilted forward by 90 ° by the pedestal body forward tilting mechanism 13 and the swing support shaft 96 is pivoted. The moving body 97 is rotated 90 ° to the side, and the working arm device 15 is in a 90 ° twisting posture in which the upper surface during excavation is parallel to the ground G and the upper surface at the time of excavation is opposed to the front.

As shown in FIG. 16, this work arm device
Reference numeral 15 denotes a work machine for excavation, and a bracket 98 of the oscillator 97 is provided.
The base end of the boom 31 is rotatably connected to the
A base end of an arm 33 is rotatably connected to a distal end of the boom 31 by a shaft 32, and a bucket 35 is rotatably connected to a distal end of the arm 33 by a shaft 34. The flat plate
99 is fixed to the linear portion of the arm 33.

The working arm device 15 is formed linearly in an extended state. That is, since the boom 31 is not curved unlike the boom in the front linkage of the conventional hydraulic shovel, the boom 31 and the arm 33 can be extended linearly.

The base end of a boom cylinder 36 as a hydraulic actuator for rotating the boom 31 is rotatably connected to the bracket 98 of the rocking body 97 by the shaft 28.
The tip of the piston rod is rotatably connected to a bracket 38 on the boom tip side by a shaft 37. Further, an arm cylinder 39 as a hydraulic actuator for rotating the arm 33 has a base end rotatably connected to a bracket 41 on the boom base end side by a shaft 40, and has a piston rod tip end formed by an arm 42 by a shaft 42. It is rotatably connected to a base bracket 43. Further, a bucket cylinder 44 as a hydraulic actuator for rotating the bucket 35 is rotatably connected at a base end thereof to a bracket 43 at a base end of an arm by a shaft 45, and has a tip end of a piston rod rotated by a shaft 46 to rotate the bucket 35. The movable linkages 47 and 48 are rotatably connected to each other.

Boom cylinder 36 or arm cylinder 39
Is an actuator that swings the work arm device 15 along the ground.

The vehicle 11 includes a lower traveling body 85 provided with a crawler, and an upper revolving body 87 provided to be capable of horizontal revolving with respect to the lower traveling body 85 via a horizontal revolving portion 86. Power source device such as driver's seat 88 and engine on body 87
89 are installed.

The lower bracket 92 of the pedestal body 12 is connected to the large-diameter portion of the stay 90 protruding from the upper revolving body 87 of the vehicle 11 by a pivot support 91 so as to be able to tilt forward. The pedestal body forward tilt mechanism 13 that tilts forward 12 is a hydraulic cylinder
94 and so on.

Further, as shown in FIG.
A bracket 101 protrudes obliquely rearward from one side of the bracket 12, and a bracket 102 protrudes from one side of the rocking body 97. A hydraulic actuator as a rocking actuator is provided between the front ends of the brackets 101 and 102. The cylinder head of the cylinder 103 and the tip of the piston rod are
05 are connected rotatably.

As shown in FIG. 17, the lower surface of the tip of the stay 90 is contacted with the ground during the leveling operation in which the work arm device 15 is rocked along the ground, and the ground is fixed. An apparatus 111 is provided.

In this grounding device 111, the cylinder body of the hydraulic cylinder 112 is vertically fixed to the lower surface of the stay 90,
A disc-shaped ground plate 114 is attached to the lower end of the piston rod 113 of the hydraulic cylinder 112, and a claw body 115 projects from the lower surface of the ground plate 114 as shown in FIG.

When the grounding plate 114 of the grounding device 111 is pressed against the ground not only by the hydraulic cylinder 112 but also by a spring (not shown), a stable pressing force can be obtained.

As shown in FIGS. 18 to 19, the other side of the vehicle 11 in the front-rear direction is provided with a lower contact level than the vehicle 11 in which the grounding device 111 is provided. An earth discharging plate 121 that can move downward is provided.

As shown in FIG. 15, the earth discharging plate 121 is vertically movably attached to a relatively low position of the lower traveling frame 123 by a pair of arms 122. The piston rod distal end 125 of the hydraulic cylinder 124 connected to the target position is connected to the center of the earth discharging plate 121, and the expansion and contraction of the hydraulic cylinder 124 causes the earth discharging plate 121 to move up and down.

Next, the operation of the embodiment shown in FIGS. 14 to 20 will be described.

First, as shown in FIG. 14, the pedestal body 12 is rotated by the hydraulic cylinder 94 of the pedestal body forward tilt mechanism 13, and
The pedestal body 12 is tilted forward with the pivot 91 as a fulcrum until the pivot 96 is parallel to the ground, and the pivot 97 is rotated 90 ° laterally about the pivot 96 by the hydraulic cylinder 103. As a result, the working arm device 15 that has been first turned in the upright direction by the extension action of the boom cylinder 36 is moved parallel to the ground G as shown in FIG. 14 and FIG. The upper surface has a 90 ° twisting posture facing the front.

With the posture of the working arm device 15 as described above, FIG.
As shown in FIG. 19, the grounding plate 114 of the grounding device 111 is pressed down to come into contact with the ground G, the claw body 115 is cut into the ground, and as shown in FIG. By pressing down on the ground G by pressing down with the cylinder 124, the rear part of the vehicle 11 is tilted so as to be relatively lifted,
As a result, the load of the vehicle 11 is applied to the grounding device 111 so that the fixing action of the grounding device 111 during leveling work is more strongly exerted, and the lower end edge 100 of the leveling plate 99 is brought into close contact with the ground G.

Then, as shown in FIG. 16, the working arm device 15 expands and contracts the boom cylinder 36 or the arm cylinder 39 as its own actuator.
By swinging itself along the ground, the ground G is cut by the side plate 35a of the bucket 35 and the lower edge 100 of the leveling plate 99, and the leveling operation of leveling the ground G is performed. At this time, not only the bucket 35 but also the leveling plate 99 attached along the working arm device 15 is swung along the ground G to perform the leveling operation over a wider range.

At the time of this leveling work, the work arm device 15
The uneven load which may act on the ground 11 is prevented by the grounding device 111 fixed to the ground G, and the construction accuracy of the leveling work is improved.

That is, the grounding device 111 is
So that it becomes a fixed fulcrum when moving the
By making the horizontal movement of the leveling plate 99 stable and accurate, high-precision leveling work is realized.

FIG. 21 shows another example of the tip of the grounding device 111, in which a plurality of claws 115 are provided on the lower surface of the ground plate 114. Strong grip.

FIG. 22 shows still another example of the tip of the grounding device 111. Depending on the state of the ground, a claw may not be provided on the lower surface of the grounding plate 114.

In the embodiments shown in FIGS. 14 to 19, the rocking body 97 is provided so as to be able to rock in the vehicle width direction with respect to the pedestal body 12, but FIGS. 11 to 1
As shown in FIG. 3, the revolving body 14 is provided so as to be revolvable with respect to the pedestal body 12, and the present invention can also be applied to an embodiment in which the revolving body 14 is provided with a working arm device 15.

Next, an embodiment not shown in the figure will be described.

In each of the above embodiments, the track-type traveling device 17 or the lower traveling device 85 using footwear, that is, a crawler as the traveling system has been exemplified. The undercarriage may be used.

Further, in each of the above embodiments, the working arm device 15 is provided with the bucket 35 for excavation work. However, instead of the bucket 35, another work attachment may be attached. For example, a gripper called a grapple or a crushing device called a breaker
By attaching to the tip of the arm 33 instead of 35, the direction can be changed freely, and high workability can be obtained.

Further, an embodiment may be used in which a telescopic boom, ie, a telescopic boom, is used for the working arm device 15, or the working arm device 15 is a crane.

[0128]

According to the first aspect of the present invention, the pedestal body is tilted forward by the pedestal body tilting mechanism, so that the operating angle of the working arm device can be increased, and the working range can be expanded.

According to the second aspect of the present invention, the combination of the pedestal body forward tilting mechanism for tilting the pedestal body forward and the revolving body pivotally provided with respect to the pedestal body allows the working arm device to be oriented in any direction. You can freely change the orientation, work arm device downward,
Work can be performed in any of the horizontal, upward, and oblique postures. Further, even at a work site where the scaffold of the vehicle is inclined, the work arm device can be turned to set a desired direction. Furthermore, when a turning mechanism is provided inside or on the way of the working arm device, the load resistance of the working arm device is deteriorated by the weight of the turning mechanism, which is disadvantageous when handling heavy objects. Although the work center axis may be deviated due to the turning of the work, the workability may be affected, but as in the present invention, the pedestal body and the revolving body are provided between the vehicle and the work arm device. Without increasing
The weight of the work arm device can be received firmly on the vehicle side, and the work arm device is rotated entirely by the revolving structure, preventing the work center axis of the work arm device from shifting halfway and impairing workability. it can.

According to the third aspect of the present invention, the work arm device is swung by the rocking body while the work arm device is inserted below the vehicle ground level by tilting the pedestal body forward. Can perform a wide range of work on space. Also, the orientation of the working arm device can be variably adjusted by a combination of a pedestal body forward tilting mechanism for tilting the pedestal body forward and a rocking body provided to be able to rock in the vehicle width direction with respect to the pedestal body. Furthermore, when a turning mechanism is provided inside or on the way of the working arm device,
The load-bearing capacity of the working arm device is deteriorated by the weight of the turning mechanism, which is disadvantageous when handling heavy objects, and the work center axis may be displaced due to turning in the middle part, which may hinder workability. However, since the pedestal body and the oscillating body are provided between the vehicle and the work arm device as in the present invention, the weight of the work arm device can be securely received by the vehicle without increasing the weight of the work arm device. In addition, since the work arm device is entirely rotated by the rocking body, it is possible to prevent a possibility that the work center axis of the work arm device is shifted halfway and impairs the workability.

According to the fourth aspect of the invention, the internal mechanism of the vehicle and the working arm device itself is achieved by the forward rolling of the pedestal body, the swinging movement of the swinging body in the vehicle width direction, and the turning of the swinging body. Without moving the arm, the working arm device installed on the revolving body can be freely moved, the degree of freedom of the working arm device can be increased, and the workability can be improved.

According to the fifth aspect of the present invention, the pedestal positioned on the front end of the vehicle body is tilted forward, so that the pedestal projects forward from the vehicle main body, and is moved downward of the working arm device. Can be enlarged.

According to the sixth aspect of the present invention, when the operator gets on the vehicle and lowers the working arm device below the vehicle ground level, the working position of the tip of the working arm device becomes almost blind spot. Although it is not visible, the operator is located in an easy-to-see place such as the work arm device, and by remotely controlling these operations while monitoring them immediately,
Even when the working arm device is inserted deep underground, it can work alone. In addition, the vehicle can be downsized and inexpensive, because no equipment for operator boarding is required on the vehicle.

According to the seventh aspect of the present invention, the pedestal body is brought closer to the obstacle by the horizontal rotation of the upper rotating body,
When the work arm device is rotated by the rocking body to keep it parallel to the obstacle, work on the obstacle can be performed in the same manner as the offset mechanism installed in the boom by the conventional hydraulic shovel. In particular,
By tilting the pedestal body forward, the pedestal body provided at the turning large-diameter portion of the upper revolving structure can be protruded from the upper revolving structure, and the working arm device can be rotated sufficiently below the vehicle ground level, and the underground Can work alongside obstacles such as structures. In addition, the work arm device can be easily adjusted to an oblique posture by a combination of a pedestal body and a swing body or a combination of a swing body that is inclined forward with respect to the vehicle with an upper swing body that can freely swing horizontally with respect to the lower traveling body. Therefore, shaping of a slope such as a slope and excavation of a vertical groove on the slope can be facilitated.

According to the eighth aspect of the present invention, by tilting the pedestal body forward by the pedestal body forward tilting mechanism, the operating angle of the excavating work machine can be increased, and the excavation work range can be expanded. Further, by the combination of the pedestal body forward tilting mechanism for tilting the pedestal body forward and a revolving body provided to be able to pivot with respect to the pedestal body, the work machine for excavation is turned downward, sideways, and upward in any direction. Down, sideways, and upward excavations.

According to the ninth aspect of the present invention, when the revolving body is swung, the working arm device can be swung in a limited small space by linearly extending the working arm device.

According to the tenth aspect of the present invention, the work arm device swings along the ground with its own actuator, thereby performing a leveling operation for leveling the ground.

According to the eleventh aspect of the present invention, the grounding device is brought into contact with the ground during the leveling work to fix the vehicle. Therefore, the uneven load which may be applied to the vehicle by the working arm device during the leveling work is reduced. Can be prevented by grounding equipment fixed to the ground,
Construction accuracy of leveling work can be improved.

[0139] According to the twelfth aspect of the present invention, the earth-displacement plate which can be moved below the ground contact level of the vehicle is provided on the other longitudinal side of the vehicle with respect to one longitudinal side of the vehicle provided with the grounding device. Since the vehicle is installed and the vehicle is relatively lifted by pressing the earth discharging plate against the ground, the load of the vehicle is applied to the grounding device, and the fixing action of the grounding device during leveling work can be further enhanced.

According to the thirteenth aspect of the present invention, the flat plate is swung along the ground together with the working arm device,
A wider range of leveling work is possible.

[Brief description of the drawings]

FIG. 1 is a front view showing a first embodiment of a work machine according to the present invention.

FIG. 2 is a plan view of the working machine in a laterally excavated state.

FIG. 3 is a block diagram showing a remote control system of the work machine.

FIG. 4 is a front view showing an excavation operation of the working machine.

FIG. 5 is a front view showing a working machine according to a second embodiment of the present invention.

FIG. 6 is a plan view showing a working machine according to a third embodiment of the present invention.

FIG. 7 is a front view showing a fourth embodiment of the working machine according to the present invention.

FIG. 8 is a front view showing a fifth embodiment of the work machine according to the present invention.

FIG. 9 is a plan view of the working machine.

FIG. 10 is a front view showing the operation of the pedestal body forward tilting mechanism of the work machine.

FIG. 11 is a front view showing a working machine according to a sixth embodiment of the present invention.

FIG. 12 is a front view showing an operation of a pedestal body forward tilting mechanism of the work machine.

FIG. 13 is a front view showing a working machine according to a seventh embodiment of the present invention.

FIG. 14 is a front view showing an eighth embodiment of the working machine according to the present invention.

FIG. 15 is a plan view of the working machine.

FIG. 16 is a plan view showing a working arm device of the working machine and its operation.

FIG. 17 is a front view showing a grounding device of the work machine.

FIG. 18 is a front view of the work machine illustrating an operation of the grounding device.

FIG. 19 is a front view of the work machine showing the operation of the grounding device and the earth discharging plate.

FIG. 20 is a perspective view showing a tip portion of the grounding device.

FIG. 21 is a perspective view showing another example of the distal end portion of the grounding device.

FIG. 22 is a perspective view showing still another example of the tip of the grounding device.

[Explanation of symbols]

 11 Vehicle 12 Pedestal body 13 Pedestal body forward tilt mechanism 14 Revolving body 15 Work arm device 16 Vehicle body 17 Traveling device 18 Power source device 36 Boom cylinder as actuator 39 Arm cylinder as actuator 85 Lower traveling body 87 Upper revolving body 97 rocking Moving body 99 Flat plate 111 Grounding device 121 Earth removal plate

Claims (13)

[Claims] 1. A vehicle, a pedestal body provided to be tiltable forward with respect to the vehicle, a pedestal body tilting mechanism for tilting the pedestal body forward with respect to the vehicle, and a working arm device provided on the pedestal body. A working machine characterized by the following. 2. A vehicle, a pedestal body provided to be tiltable forward with respect to the vehicle, a pedestal body tilting mechanism for tilting the pedestal body forward with respect to the vehicle, and a revolving body provided to be pivotable with respect to the pedestal body. And a work arm device provided on the revolving superstructure. 3. A vehicle, a pedestal body provided to be capable of leaning forward with respect to the vehicle, a pedestal body forward tilting mechanism for tilting the pedestal body forward with respect to the vehicle, and swingable in a vehicle width direction with respect to the pedestal body. A work machine comprising: a swing body provided; and a work arm device provided on the swing body. 4. A vehicle, a pedestal body provided to be able to lean forward with respect to the vehicle, a pedestal body forward-tilt mechanism for tilting the pedestal body forward with respect to the vehicle, and a swingable body width direction with respect to the pedestal body. A work machine comprising: a swing body provided; a swing body provided to be able to swing with respect to the swing body; and a work arm device provided to the swing body. 5. A vehicle comprising: a vehicle body; a traveling device disposed on both sides of the vehicle body for moving the vehicle body back and forth; and a power source device provided on a central portion of the vehicle body in the front-rear direction. The working machine according to claim 1, wherein the body is provided on a front end of the vehicle body. 6. The work machine according to claim 5, wherein the work machine is remotely controlled from outside the vehicle. 7. A vehicle, comprising: a lower traveling body; and an upper revolving body provided so as to be capable of horizontally rotating with respect to the lower traveling body, wherein the pedestal body is provided at a turning large diameter portion of the upper revolving body. The work machine according to any one of claims 2 to 4, wherein: 8. The work machine according to claim 1, wherein the work arm device is a work machine for excavation. 9. The work machine according to claim 2, wherein the work arm device is formed linearly in an extended state. 10. The work machine according to claim 2, further comprising an actuator provided on the work arm device for swinging the work arm device along the ground. 11. The work machine according to claim 10, further comprising a grounding device that is in contact with the ground to fix the vehicle during a leveling operation in which the work arm device swings along the ground. 12. A vehicle equipped with a grounding device, further comprising a discharge plate provided on one side in the front-rear direction of the vehicle and provided on the other side in the front-rear direction of the vehicle and movable below a grounding level of the vehicle. The work machine according to claim 11, wherein 13. The work machine according to claim 10, further comprising a leveling plate provided along the work arm device.