Work machine

A first operating mechanism 7 of a work machine 1 includes a first guide member 74 which tilts a fourth operating lever 5 in the right-left direction, and a first actuator 72 which generates a driving force for tilting a first direction guide member 74 on the basis of an operation command. The first actuator 72 is disposed at a position on the opposite side of the fourth operating lever 5 from a slave-side seat 3.

TECHNICAL FIELD

The present invention relates to a work machine which is operated on the basis of an operation command, and particularly, to a work machine which is remotely operated.

BACKGROUND ART

A conventionally-known operating mechanism remotely operates a work machine by indirectly operating, on the basis of an operation command transmitted from the outside of the work machine, an operating lever which can be directly operated by an operator sitting in a seat (e.g., refer to Patent Literature 1). An operating mechanism described in Patent Literature 1 includes, to tilt an operating lever, an actuator which operates on the basis of an operation command and a guide member which tilts the operating lever using a driving force of the actuator.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

As described in Patent Literature 1, in a typical work machine, a console box is disposed beside a seat in which an operator sits, and an operating lever is disposed on the upper face of the console box.

If an operating mechanism for remotely operating the operating lever is attached to such a work machine, the operating mechanism may occupy a space for an operator to sit in (that is, a space on the seat). In such a case, the operating mechanism may obstruct movement of the operator, which may make it difficult for the operator sitting in the seat to directly operate the operating lever.

The present invention has been made in view of the above problem, and an object thereof is to provide a work machine which can be remotely operated and can leave a sufficient space on a seat.

Solution to Problem

A work machine of the present invention is a work machine operated on the basis of an operation command, the work machine comprising:

a seat for an operator to sit in;

an operating lever for controlling an operating amount of the work machine according to a tilt angle and a tilt direction, the operating lever being disposed beside the seat; and

an operating mechanism configured to tilt the operating lever on the basis of the operation command, in which

the operating mechanism includes a first direction guide member configured to tilt the operating lever in a first direction, and a first direction actuator configured to generate a driving force for tilting the operating lever through the first direction guide member on the basis of the operation command, and

the first direction actuator is disposed at a position on the opposite side of the operating lever from the seat.

DESCRIPTION OF EMBODIMENT

Hereinbelow, a remote operation system S according to an embodiment will be described with reference to the drawings.

First, the configuration of the remote operation system S will be described with reference toFIGS.1to3.

As illustrated inFIG.1, the remote operation system S comprises a work machine1which is a hydraulic excavator and a remote operation apparatus2for remotely operating the work machine1. The work machine1can be directly operated by an operator on board or can be indirectly operated through the remote operation apparatus2with no operator on board.

Note that, in the present embodiment, the hydraulic excavator is used as the work machine. However, the work machine of the present invention is not limited to the hydraulic excavator. For example, the work machine may also be a crane truck or a dump truck.

The work machine1comprises work equipment including a boom10, an arm11, and an attachment12, a slewing structure13on which the work equipment is mounted, and an undercarriage14which slewably supports the slewing structure13.

A proximal end portion of the boom10is swingably attached to a front portion of the slewing structure13. The boom10includes a first hydraulic cylinder10ahaving an end attached to the boom10and an end attached to the slewing structure13. The boom10is swung relative to the slewing structure13through extension and contraction of the first hydraulic cylinder10a.

A proximal end portion of the arm11is swingably attached to a distal end portion of the boom10. The arm11includes a second hydraulic cylinder11ahaving an end attached to the arm11and an end attached to the boom10. The arm11is swung relative to the boom10through extension and contraction of the second hydraulic cylinder11a.

The attachment12is swingably attached to a distal end portion of the arm11. The attachment12includes a third hydraulic cylinder12ahaving an end attached to the attachment12and an end attached to the arm11. The attachment12is swung relative to the arm11through extension and contraction of the third hydraulic cylinder12a.

Note that, in the present embodiment, a bucket is used as the attachment12. However, the attachment12is not limited to the bucket and may be another kind of attachment (e.g., a crusher, a breaker, or a magnet).

The slewing structure13is slewable around a yaw axis relative to the undercarriage14through a slewing hydraulic motor (not illustrated). A cab13afor an operator to get in is provided in a front portion of the slewing structure13, whereas a machine room13bis provided in a rear portion of the slewing structure13.

A slave-side operating device15(refer toFIG.2) for operating the work machine1is disposed in the cab13a. The slave-side operating device15includes, for example, an operating pedal, an operating switch, and a fourth operating lever5and a fifth operating lever6(refer toFIG.4), which will be described later.

Hydraulic devices (not illustrated) such as a hydraulic pump, a direction selector valve, and a hydraulic oil tank, and an engine (not illustrated) as a power source of the hydraulic pump and the like are stored in the machine room13b.

The undercarriage14is a crawler type undercarriage and driven by a traveling hydraulic motor (not illustrated). Note that the undercarriage of the work machine of the present invention is not limited to a crawler. For example, the undercarriage may move with wheels or legs. Further, in a case where the work machine is used on the water, the undercarriage may be, for example, a barge.

Note that the work machine1may further include an actuator (e.g., a hydraulic actuator for driving a dozer or a hydraulic actuator included in an attachment such as a crusher) in addition to the traveling hydraulic motor, the slewing hydraulic motor, the first hydraulic cylinder10a, the second hydraulic cylinder11a, and the third hydraulic cylinder12adescribed above. Further, some of the actuators of the work machine1(e.g., the slewing actuator) may be electric actuators.

In operating the work machine1, each of the actuators including the traveling hydraulic motor, the slewing hydraulic motor, the first hydraulic cylinder10a, the second hydraulic cylinder11a, and the third hydraulic cylinder12ais activated by operating the slave-side operating device15with the engine running. For example, the activation of each actuator in response to the operation of the slave-side operating device15can be performed in a manner similar to that of a known work machine.

As illustrated inFIG.2, the work machine1comprises, in the cab13a, an electric operation driving device16(e.g., a first operating mechanism7and a second operating mechanism8(refer toFIG.4), which will be described later) which drives the slave-side operating device15to enable remote operation.

The operation driving device16is connected to the slave-side operating device15. Note that the operation driving device16may be detachable from the work machine1.

The operation driving device16includes a plurality of electric motors (not illustrated). The operation driving device16drives each of the operating pedal, the operating switch, and the fourth operating lever5and the fifth operating lever6(refer toFIG.4), described later, which are included in the slave-side operating device15, using a driving force from the electric motors.

The work machine1further comprises an operating state detector17for detecting the operating state of the work machine1, an external sensor18which is, for example, a camera which detects a state around the work machine1, and a slave-side control device19capable of executing various control processes.

The operating state detector17is, for example, a detector which detects the rotation angle of the swing operation of each of the boom10, the arm11, and the attachment12or the stroke length of the first hydraulic cylinder10a, the second hydraulic cylinder11a, and the third hydraulic cylinder12a, a detector which detects the slewing angle of the slewing structure13, a detector which detects the driving speed of the undercarriage14, a detector which detects the tilt angle of the slewing structure13or the undercarriage14, or an inertial sensor which detects the angular velocity or acceleration of the slewing structure13.

The external sensor18includes, for example, a camera, a range sensor, or a radar. The cameras or the like constituting the external sensor18are installed at a plurality of locations on, for example, a peripheral portion of the slewing structure13so as to detect an object present around the slewing structure13.

The slave-side control device19includes, for example, one or more electronic circuit units including a microcomputer, a memory, an interface circuit, and the like. The slave-side control device19appropriately acquires a detection signal of the operating state detector17and a detection signal of the external sensor18.

The slave-side control device19has, as functions implemented by both or one of hardware configurations mounted thereon and a program (software configuration), a function as an operation control unit19a, a function as a peripheral object detection unit19b, and a function as a slave-side communication unit19c.

The operation control unit19acontrols the operation of the work machine1by controlling the activation of the operation driving device16(in turn, controlling the operation of the slave-side operating device15) and controlling the operation of the engine in response to the operation of the slave-side operating device15or an operation command transmitted from the remote operation apparatus2.

The peripheral object detection unit19bdetects, on the basis of a detection signal of the external sensor18, an object such as a person or an installed object which may be present in a predetermined target space around the work machine1.

The slave-side communication unit19cappropriately performs wireless communication with the remote operation apparatus2via a master-side communication unit27b, which will be described later.

As illustrated inFIG.3, the remote operation apparatus2comprises, inside a remote operation room20, a master-side seat21in which an operator sits, a pair of right and left master-side console boxes22which are disposed on right and left sides of the master-side seat21, a master-side operating device23which is operated by the operator to remotely operate the work machine1, a speaker24serving as an output device for outputting acoustic information (auditory information), and a display25serving as an output device for outputting display information (visual information).

As illustrated inFIG.2, the remote operation apparatus2further comprises an operation state detector26for detecting the operation state of the master-side operating device23and a master-side control device27capable of executing various control processes. Note that the master-side control device27may be disposed either inside or outside the remote operation room20.

The master-side operating device23is, for example, configured to be the same as or similar to the slave-side operating device15of the work machine1.

Specifically, the master-side operating device23includes, for example, a first operating lever23bwith an operating pedal23awhich is installed at the front of the master-side seat21, and a second operating lever (not illustrated) and a third operating lever23cwhich are respectively mounted on the pair of right and left master-side console boxes22so that an operator sitting in the master-side seat21can operate the master-side operating device23.

However, the master-side operating device23may be configured to be different from the slave-side operating device15of the work machine1. For example, the master-side operating device23may be a portable operating device including, for example, a joystick or an operation button.

The operation state detector26is, for example, a potentiometer or a contact switch incorporated in the master-side operating device23. The operation state detector26is configured to output a detection signal indicating the operation state of each operating unit (e.g., the operating pedal23a, the first operating lever23b, the second operating lever, or the third operating lever23c) of the master-side operating device23.

The speakers24are, for example, disposed at a plurality of locations inside the remote operation room20, such as the front part, the rear part, and both the right and left sides of the remote operation room20.

The display25includes, for example, a liquid crystal display or a head-up display. The display25is disposed forward of the master-side seat21so that an operator sitting in the master-side seat21can visually recognize the display25.

The master-side control device27includes, for example, one or more electronic circuit units including a microcomputer, a memory, an interface circuit, and the like. The master-side control device27appropriately acquires a detection signal of the operation state detector26. The master-side control device27recognizes, on the basis of the detection signal, an operation command to the work machine1, the operation command being determined by the operation state of the master-side operating device23.

The master-side control device27has, as functions implemented by both or one of hardware configurations mounted thereon and a program (software configuration), a function as an output information control unit27aand a function as a master-side communication unit27b.

The output information control unit27acontrols the speaker24and the display25.

The master-side communication unit27bappropriately performs wireless communication with the work machine1via the slave-side communication unit19c. The master-side control device27transmits, to the slave-side control device19, an operation command to the work machine1and receives, from the slave-side control device19, various pieces of information of the work machine1(e.g., an image captured by the camera, detection information about an object around the work machine, and detection information about the operating state of the work machine1) through the wireless communication.

Next, the configuration of the first operating mechanism7and the second operating mechanism8which are part of the operation driving device16will be described with reference toFIGS.4to7.

As illustrated inFIG.4, the work machine1comprises, inside the cab13a, a slave-side seat3in which an operator sits and a pair of right and left slave-side console boxes4which are disposed on right and left sides of the slave-side seat3.

The work machine1further comprises the slave-side operating device15(refer toFIG.2). The slave-side operating device15includes, for example, the fourth operating lever5and the fifth operating lever6which are provided on the respective slave-side console boxes4, and an operating pedal.

The work machine1further comprises the operation driving device16(refer toFIG.2). The operation driving device16includes, for example, the first operating mechanism7(the operating mechanism for a work machine) for operating the fourth operating lever5and the second operating mechanism8(the operating mechanism for a work machine) for operating the fifth operating lever6.

Further, inside the cab13a, a getting-in/out passage9is formed forward of the slave-side seat3and the fifth operating lever6. An operator passes through the getting-in/out passage9when sitting in the slave-side seat3.

The fourth operating lever5and the fifth operating lever6are disposed in the front end portions of the respective slave-side console boxes4. Further, the first operating mechanism7and the second operating mechanism8are attached to the front end portions of the respective slave-side console boxes4so as to respectively surround a base end portion of the fourth operating lever5and a base end portion of the fifth operating lever6.

Of the right and left slave-side console boxes4, the slave-side console box4located on the right side of the sitting operator (the left side inFIG.4) includes a control panel4awhich is provided at a position rearward of the fourth operating lever5. An operating switch is disposed on the control panel4a.

The fourth operating lever5and the fifth operating lever6transmit signals to the slave-side control device19(refer toFIG.2) according to a tilt angle and a tilt direction. The slave-side control device19controls the operating amount of the work machine1(e.g., the swing angle of the boom10and the arm11in the present embodiment) on the basis of the signals.

The first operating mechanism7and the second operating mechanism8respectively tilt the fourth operating lever5and the fifth operating lever6on the basis of an operation command from the remote operation apparatus2. Specifically, the first operating mechanism7tilts the fourth operating lever5according to a tilt of the second operating lever (not illustrated) of the remote operation apparatus2. On the other hand, the second operating mechanism8tilts the fifth operating lever6according to a tilt of the third operating lever23c(refer toFIG.3) of the remote operation apparatus2.

Hereinbelow, the first operating mechanism7and the second operating mechanism8serving as the operating mechanism for a work machine will be described in detail.

As illustrated in the perspective view ofFIG.5and the plan view ofFIG.6, the first operating mechanism7comprises a plate70which is fixed to the slave-side console box4and a support member71which tiltably supports the fourth operating lever5about an axis in a central portion on the upper face side of the plate70.

The plate70is a rectangular flat-shaped member. The plate70installed in the slave-side console box4is parallel to a reference plane p (refer toFIG.7), which will be described later.

The support member71tiltably supports a base end portion5aof the fourth operating lever5about an axis in the right-left direction as a first direction and the front-rear direction (the up-down direction inFIG.6) as a second direction perpendicular to the first direction.

The first operating mechanism7further comprises a first actuator72(first direction actuator) which is disposed on the upper face side of the plate70(the front side inFIGS.5and6) and a second actuator73(second direction actuator) which is disposed on the lower face side of the plate70(the back side inFIGS.5and6).

The first actuator72and the second actuator73are electric actuators. The first actuator72generates a driving force turning around an axis extending in the up-down direction from a rotation axis (not illustrated) set on the lower end thereof. The second actuator73generates a driving force turning around an axis extending in the right-left direction from a rotation axis (not illustrated) set on the left end thereof.

The first operating mechanism7further comprises a first guide member74(first direction guide member) extending in the front-rear direction on the upper face side of the plate70and a second guide member75(second direction guide member) extending in the right-left direction on the upper face side of the plate70and below the first guide member74.

The first guide member74includes a pair of front and rear first turning portions74aand a pair of right and left first guide portions74bwhich are arch-shaped members. The pair of first guide portions74bextend in the front-rear direction with the base end portion5aof the fourth operating lever5interposed therebetween. Ends of each of the first guide portions74bare attached to the respective first turning portions74a.

The first turning portions74aare turnable around a second axis a2extending in the second direction. When the first turning portions74aturn, the first guide portions74balso turn integrally with the first turning portions74a. As a result, the first guide portions74bpress the base end portion5aof the fourth operating lever5to tilt the fourth operating lever5in the right-left direction (first direction) along a first axis a1.

The second guide member75includes a pair of right and left second turning portions75aand a pair of front and rear second guide portions75bwhich are bar-shaped members. The pair of second guide portions75bextend in the right-left direction with the base end portion5aof the fourth operating lever5interposed therebetween. Ends of each of the second guide portions75bare attached to the respective second turning portions75a.

The second turning portions75aare turnable around the first axis a1extending in the first direction which is perpendicular to the second direction. When the second turning portions75aturn, the second guide portions75balso turn integrally with the second turning portions75a. As a result, the second guide portions75bpress the base end portion5aof the fourth operating lever5to tilt the fourth operating lever5in the up-down direction (second direction) along the second axis a2.

The second guide portions75bof the second guide member75are located below the first guide portions74b(the back side inFIGS.5and6). However, the first guide portions74bof the first guide member74are formed in an arch shape extending along the second axis, the arch shape being centered on the first axis a1. Thus, even when the second guide member75turns, the second guide portions75bdo not come into contact with the first guide portions74b.

Note that, in the first operating mechanism7, the first direction corresponds to the right-left direction, and the second direction corresponds to the front-rear direction. That is, the first direction and the second direction are perpendicular to each other. However, the first direction and the second direction of the present invention are not limited to directions perpendicular to each other and may be any directions intersecting each other. Thus, the first direction and the second direction may be appropriately determined according to a direction in which the operating mechanism tilts the operating lever.

Further, in the remote operation system S, the first guide member74and the second guide member75configured in this manner tilt the fourth operating lever5. However, the guide member of the present invention is not limited to one comprising the first guide member74and the second guide member75.

For example, in a case where the operating lever tilts in a reciprocating manner only in one direction, only one guide member may be provided. Further, the guide member may not be turned to press the operating lever, but extended and contracted to press the operating lever.

The first operating mechanism7further comprises a first link mechanism76which is disposed on the upper face side of the plate70and below the first actuator72and the first guide member74, and a second link mechanism77which is disposed on the lower face side of the plate70and the opposite side of the second actuator73from the first actuator72(the right side inFIG.6).

The first link mechanism76transmits the driving force from the first actuator72, the driving force being generated on the basis of the operation command, to the first guide member74. The second link mechanism77transmits the driving force from the second actuator73, the driving force being generated on the basis of the operation command, to the second guide member75.

As illustrated inFIG.4, the second operating mechanism8basically has a configuration similar to that of the first operating mechanism7.

However, the second operating mechanism8differs from the first operating mechanism7in that a third actuator80(first direction actuator) corresponding to the first actuator72of the first operating mechanism7is disposed on the right side, and a fourth actuator81(third direction actuator) corresponding to the second actuator73of the first operating mechanism7is disposed on the rear side.

Driving forces generated by the third actuator80and the fourth actuator81are transmitted to a third guide member82(first direction guide member) and a fourth guide member83(third direction guide member). The second operating mechanism8tilts the fifth operating lever6in the front-rear direction (the up-down direction inFIG.6) and the right-left direction (the third direction) on the basis of an operation command using the driving forces as with the fourth operating lever5.

In this manner, in the work machine1, the first actuator72of the first operating mechanism7is disposed at the position on the opposite side of the fourth operating lever5, which is operated by the first operating mechanism7, from the slave-side seat3. Further, the third actuator80of the second operating mechanism8is disposed at the position on the opposite side of the fifth operating lever6, which is operated by the second operating mechanism8, from the slave-side seat3.

In other words, in the work machine1, the first actuator72is disposed at the position more distant from the slave-side seat3than the fourth operating lever5is. Further, the third actuator80is disposed at the position more distant from the slave-side seat3than the fifth operating lever6is.

Thus, in the work machine1, the first actuator72and the third actuator80do not project toward the slave-side seat3even in a state where the first operating mechanism7and the second operating mechanism8are respectively attached to the fourth operating lever5and the fifth operating lever6, thereby making it possible to leave a sufficient space on the slave-side seat3for an operator to sit in.

Further, as described above, in the work machine1, the second actuator73of the first operating mechanism7is disposed at the position on the opposite side of the fourth operating lever5from the control panel4a(the rear side inFIG.4, the upper side inFIG.6).

Thus, the second actuator73does not project to a region where the control panel4ais disposed. This enables the work machine1to prevent the second actuator73from obstructing an operation through the control panel4a.

Further, as described above, in the work machine1, the fourth actuator81is disposed rearward of the fifth operating lever6.

Thus, the fourth actuator81does not project toward the getting-in/out passage9. This enables the work machine1to prevent the fourth actuator81from obstructing an operator getting in and out.

As illustrated inFIG.7, in the first operating mechanism7, a tilt pivot point c is a pivot point of the tilt of the fourth operating lever5. Further, a third axis a3(reference axis) is a line which is perpendicular to a straight line, the straight line connecting the tip of the fourth operating lever5(the tip of a tip portion5b) tilted to the maximum extent to one side in the first direction and the tip of the fourth operating lever5tilted to the maximum extent to the other side in the first direction, and passes through the tilt pivot point c. Furthermore, the reference plane p is a plane which is perpendicular to the third axis a3and passes through the tilt pivot point c.

The first actuator72is disposed above the reference plane p (that is, on the same side of the fourth operating lever5as the reference plane p, the front side) when viewed in the direction of the second axis a2(refer toFIG.6). On the other hand, the second actuator73is disposed below the reference plane p (that is, on the opposite side of the reference plane p from the fourth operating lever5, the rear side).

In addition, as illustrated inFIG.6, an end portion on the lower side of the first actuator72and a lower end portion of the second actuator73overlap each other when viewed in the direction of the third axis a3. Thus, the size of the first operating mechanism7on the reference plane p is smaller than that of a conventional operating mechanism.

Also in the second operating mechanism8, the third actuator80and the fourth actuator81are disposed at least partially overlapping each other when viewed in the reference axis direction in the second operating mechanism8.

Thus, the first operating mechanism7and the second operating mechanism8are smaller than a conventional operating mechanism.

This prevents the first actuator72, the second actuator73, the third actuator80, and the fourth actuator81from projecting to regions such as the space on the slave-side seat3for an operator of the work machine1to sit in and the getting-in/out passage9even in a state where the first operating mechanism7and the second operating mechanism8are attached, which enables a sufficient space to be left in these regions.

Further, it is possible to improve flexibility in the layout of components of the work machine1including the first operating mechanism7and the second operating mechanism8.

Furthermore, as illustrated inFIG.7, the fourth operating lever5is tilted to operate the work machine1. Thus, when viewed in the direction of the third axis a3, a space between the fourth operating lever5tilted to the maximum extent and the reference plane p (in a strict sense, the surface of the plate70) is a dead space ds.

Thus, in the first operating mechanism7, the first actuator72is disposed in the dead space ds to utilize the dead space ds. Specifically, the first actuator72and the tip portion5bof the fourth operating lever5at least partially overlap each other when viewed in the direction of the third axis a3with the fourth operating lever5tilted to the maximum extent. This further downsizes the first operating mechanism7.

Note that, also in the second operating mechanism8, the third actuator80corresponding to the first actuator72of the first operating mechanism7is disposed in a dead space of the fifth operating lever6.

In the present embodiment, the first actuator72is disposed on the same side of the reference plane p as the fourth operating lever5, whereas the second actuator73is disposed on the opposite side of the reference plane p from the fourth operating lever5.

However, the first direction actuator and the second direction actuator of the present invention do not necessarily need to be disposed in this manner relative to the reference plane. For example, the first direction actuator and the second direction actuator may be disposed on one side of the reference plane.

Further, in the present embodiment, the first actuator72is disposed in the dead space ds. However, the first direction actuator of the present invention does not necessarily need to be disposed in the dead space. For example, the first direction actuator may be disposed outside the tip of the operating lever tilted to the maximum extent.

Although the illustrated embodiment has been described above, the present invention is not limited to such an embodiment.

For example, in the above embodiment, the control panel4ais provided on the upper face of the slave-side console box4at the position rearward of the fourth operating lever5. Along with this, in the first operating mechanism7attached to the slave-side console box4, the second actuator73serving as the second direction actuator is disposed on the front side (the lower side inFIG.6).

However, the operating mechanism of the present invention is not limited to such a configuration, and the second direction actuator may be provided at the position on the opposite side of the operating lever from the control panel. For example, in a case where the control panel is disposed forward of the operating lever in the console box, the second direction actuator may be disposed rearward of the operating lever.

A work machine of the present invention is a work machine operated on the basis of an operation command, the work machine comprising:

a seat for an operator to sit in;

an operating lever for controlling an operating amount of the work machine according to a tilt angle and a tilt direction, the operating lever being disposed beside the seat; and

an operating mechanism configured to tilt the operating lever on the basis of the operation command, in which

the operating mechanism includes a first direction guide member configured to tilt the operating lever in a first direction, and a first direction actuator configured to generate a driving force for tilting the operating lever through the first direction guide member on the basis of the operation command, and

the first direction actuator is disposed at a position on the opposite side of the operating lever from the seat.

In this manner, in the work machine of the present invention, the first direction actuator is disposed at the position more distant from the seat than the operating lever is. Thus, according to the work machine of the present invention, the first direction actuator of the operating mechanism does not project toward the seat even in a state where the operating mechanism is attached to the operating lever, which makes it possible to leave a sufficient space on the seat for an operator to sit in.

Preferably, the work machine of the present invention further comprises a control panel disposed forward or rearward of the operating lever, in which

the operating mechanism includes a second direction guide member configured to tilt the operating lever in a second direction intersecting the first direction, and a second direction actuator configured to generate a driving force for titling the operating lever through the second direction guide member on the basis of the operation command, and

the second direction actuator is disposed at a position on the opposite side of the operating lever from the control panel.

To tilt the operating lever in a plurality of directions using the operating mechanism, a plurality of guide members which guide the operating lever in different directions and a plurality of actuators corresponding, one to one, to the guide members may be provided. In such a case, each of the actuators may be disposed at a position corresponding to the corresponding guide member at an orientation corresponding to a direction in which the corresponding guide member guides (tilts) the operating lever.

Thus, if the first direction actuator is disposed at the position on the opposite side of the operating lever from the seat, and the second direction actuator is disposed at an orientation corresponding to the second direction which intersects the first direction corresponding to the first direction actuator, the second direction actuator may project to a region where the control panel is disposed and obstruct an operation through the control panel.

Thus, when the second direction actuator is disposed at the position on the opposite side of the operating lever from the control panel as described above, the second direction actuator does not project to the region where the control panel is disposed. This makes it possible to prevent the second direction actuator of the operating mechanism from obstructing an operation through the control panel.

Preferably, the work machine of the present invention further comprises a getting-in/out passage extending at a front of the seat and the operating lever, in which

the operating mechanism includes a third direction guide member configured to tilt the operating lever in a third direction intersecting the first direction, and a third direction actuator configured to generate a driving force for titling the operating lever through the third direction guide member on the basis of the operation command, and

the third direction actuator is disposed rearward of the operating lever.

To tilt the operating lever in a plurality of directions using the operating mechanism, a plurality of guide members which guide the operating lever in different directions and a plurality of actuators corresponding, one to one, to the guide members may be provided. In such a case, each of the actuators may be disposed at a position corresponding to the corresponding guide member at an orientation corresponding to a direction in which the corresponding guide member guides (tilts) the operating lever.

Thus, if the first direction actuator is disposed at the position on the opposite side of the operating lever from the seat, and the third direction actuator is disposed at an orientation corresponding to the third direction which intersects the first direction corresponding to the first direction actuator, the third direction actuator may project toward the getting-in/out passage through which an operator passes when sitting in the seat (project forward) and obstruct the operator getting in and out of the seat.

Thus, when the third direction actuator is disposed rearward of the operating lever as described above, the third direction actuator does not project toward the getting-in/out passage. This makes it possible to prevent the third direction actuator of the operating mechanism from obstructing the operator getting in and out.

REFERENCE SIGNS LIST