Work machine

Abstract

A work machine is provided that is capable of causing an action object of the work machine to act in a manner intended by an operator. A work machine includes a traveling body 11 (base body), a grasping mechanism 14 (working unit) which is displaceable with respect to the traveling body 11 and performs a processing action on a vehicle OB (work target object), an operation accepting unit 23 a , a controller 23 which controls displacement and the processing action of the grasping mechanism 14 in accordance with an operation accepted by the operation accepting unit 23 a and an operation amount of the operation, and a distance acquisition unit 23 f which acquires a distance between the grasping mechanism 14 and one region defined based on a position of the vehicle OB. The controller 23 adjusts a displacement amount or an action amount of the processing action of the grasping mechanism 14 with respect to the operation amount in accordance with the distance.

1 . A work machine for processing a work target object, the work machine comprising:
 a base body;   a working unit which is displaceable with respect to the base body and performs a processing action on the work target object;   an operation accepting unit which accepts an operation for the working unit;   a controller which controls displacement and the processing action of the working unit in accordance with an operation accepted by the operation accepting unit and an operation amount of the operation; and   a distance acquisition unit which acquires a distance between the working unit and one region defined based on a position of the work target object, wherein   the controller adjusts a displacement amount or an action amount of the processing action of the working unit with respect to the operation amount in accordance with the distance.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the one region is a work region, which is a region in which work is performed by an action of the working unit.   
     
     
         3 . The work machine according to  claim 2 , further comprising
 an attribute information acquisition unit which acquires attribute information indicating an attribute of a process to be performed in the one region, wherein   the controller adjusts the displacement amount or an action amount of the working unit with respect to the operation amount in accordance with the attribute information of the one region.   
     
     
         4 . The work machine according to  claim 1 , further comprising:
 a swivel body which is swivelable with respect to the base body; and   a working arm which has a first arm portion whose one end is rotatably coupled with the swivel body and a second arm portion whose one end is coupled with another end of the first arm portion rotatably with respect to the first arm portion and whose other end is coupled with a grasping mechanism, wherein   the operation accepting unit accepts a first operation about a swiveling action of the swivel body, a second operation about a rotating action of the first arm portion of the working arm, a third operation about a rotating action of the second arm portion of the working arm, or a fourth operation about an action of the working unit, and   the controller   causes the swivel body to perform the swiveling action by a swiveling amount corresponding to an operation amount of the first operation accepted by the operation accepting unit, causes the first arm portion of the working arm to perform the rotating action by a first rotation amount corresponding to an operation amount of the second operation, causes the second arm portion of the working arm to perform the rotating action by a second rotation amount corresponding to an operation amount of the third operation, causes the working unit to perform the action by an action amount corresponding to an operation amount of the fourth operation, and   adjusts the swiveling amount with respect to the operation amount of the first operation, the first rotation amount with respect to the operation amount of the second operation, the second rotation amount with respect to the operation amount of the third operation, or the action amount with respect to the operation amount of the fourth operation in accordance with the distance to the one region.   
     
     
         5 . The work machine according to  claim 4 , wherein
 the working unit has a base portion connected with the second arm portion and a pair of gripping members which are pivotally supported by the base portion and are capable of pinching and retaining an object by an opening-closing action, and   the controller causes the working unit to act in plural work action modes among which an opening-closing action amount of the pair of gripping members with respect to the operation amount of the fourth operation is different.   
     
     
         6 . The work machine according to  claim 4 , wherein
 the controller causes the swivel body to swivel in plural work action modes among which the swiveling amount of the swivel body with respect to the operation amount of the first operation is mutually different.   
     
     
         7 . The work machine according to  claim 5 , wherein
 the controller causes the swivel body to swivel in plural work action modes among which the swiveling amount of the swivel body with respect to the operation amount of the first operation is mutually different.