JP3314064B2 - Twin arm working machine with protection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a revolving structure in which a revolving body is mounted on a traveling vehicle body via a revolving bearing so as to be revolvable about a longitudinal axis, and the revolving body comprises a boom and an arm at the tip thereof. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine for performing work such as civil engineering work and construction work in which a working arm is supported so as to be able to move up and down, and a protection device therefor.

[0002]

2. Description of the Related Art Conventionally, a working machine for construction work of a hydraulic excavator system such as a back hood is operated by an operator operating two operating levers to operate one boom or arm. Excavation and crushing were performed using a special attachment attached to the tip of the arm according to the work.

A hydraulic excavator for performing an excavation operation shown at 10 in FIG. 17 is mounted on a traveling vehicle body 13 so that a revolving body 14 can revolve around a vertical axis (in a direction indicated by r1 in FIG. 17) via a revolving bearing. And the boom 16 is positioned near the revolving axis of the revolving unit 14.
One work arm 8, which can be bent freely, comprising an arm 17 at the tip of the work arm 8 is supported so as to be able to move up and down.

[0004] At the tip of the arm 17, an attachment (holding and crushing device) indicated by 18 in the figure is attached according to the work. The swing body 14 seat seat or al operator 20 provided on the two operating levers 2
By operating 1, the work arm 8 is extended and contracted through a plurality of hydraulic cylinders 19 attached to the boom 16 and the arm 17 so that the work arm 8 can be freely bent in directions indicated by r2 and r4 in the drawing.

In general, one working arm 8 is operated by two operating levers as shown by 21a and 21b in FIG.
In the figure, either the vertical movement of the bucket or the vertical movement of the boom 16 is selected by the right operation lever 21a of the seat 22, while the left operation lever 21b is selected. , The vertical movement of the arm 17 or the left and right swing of the swing body 14 is selected. In this way, the work arm 8 is activated in accordance with the commands (directions indicated by r1, r2, r4, and r5 in FIG. 17 ) selected one by one by the two left and right operation levers 21.

[0006] Foot pedals indicated by reference numerals 23a and 23b in FIG. 18 actuate axles provided on the left and right sides of the traveling vehicle body 13 to perform forward / backward traveling or left / right turning traveling via a crawler indicated by 26 in FIG. And 2 in FIG.
The pedal indicated by 3a operates the right crawler 26a of the traveling vehicle body 13, and the pedal indicated by 23b operates the left crawler 26b of the traveling vehicle body 13.

[0007] Here, reference numeral 3 in FIG. 17 denotes a traveling frame of the traveling vehicle body 13 that supports the revolving superstructure 14.

On the other hand, a hydraulic shovel type working machine performs various tasks such as digging, crushing, dismantling, and lifting by replacing the attachment 18, and in recent years, another working arm has been arranged on the working machine. By switching to a work arm equipped with another attachment for each process and performing work,
A configuration has also been proposed that aims to improve work efficiency by eliminating the trouble of replacing attachments.

In the above-mentioned conventional technology, one worker operates one work arm to perform one work according to the attached attachment.

[0010]

In the construction of the conventional working machine such as a hydraulic excavator, various kinds of work such as excavation, crushing, dismantling, and lift are performed by exchanging attachments, but only one work is performed. It has a configuration and is not always efficient in terms of quickly processing work, and has many problems.

That is, for example, in the dismantling work of a hard side wall such as concrete, a spherical iron weight is lifted at the tip of an arm via a rope, and the amplitude is increased while gradually swinging the weight in a repetitive turning operation. It is known to disassemble by hitting the weight against the side wall when it becomes, but the work of shaking the weight involves danger to surrounding objects, and it is difficult to control the amount of energy at the time of collision,
In such an operation, there is a danger that the side wall itself may be collapsed by an impact and fall down, and there is a problem in that the operation can be performed by swinging the weight efficiently.

In addition, when the concrete piece is lifted and moved by the attachment for clamping the broken side wall, the steel frame material embedded in the concrete piece hinders the moving operation. Therefore, the worker moves the concrete piece after waiting for the cutting of the steel frame material. However, there is a problem that the worker must keep the lifted concrete piece until the manual cutting operation is completed. Further, in this case, when the concrete piece is pinched by one work arm, when the center of gravity of the object is different from the pinch point, the moment force acts on the pinch point, and the pinch point tends to slip. It is very dangerous if the object is heavy. For this reason, while the concrete piece must be sandwiched by a large force, the object is easily broken, and especially in the assembly work in which the construction member or the like must be supported to match a predetermined frame, the construction member is opposed to the moment force. Must be kept in the desired position,
In order to prevent slippage, it is necessary to pinch the construction member with strong force, and the construction member is easily crushed or damaged at the holding part,
In addition, there is a problem that when the strength of the construction member is held against the moment, the construction member is cracked around.

Further, in the lifting work, when lifting a heavy object with a rope or the like, if the work arm is extended forward to lift the heavy object, the machine body center of gravity of the working machine is shifted forward, and there is a danger of falling. Further, there is a problem that the work implement itself is easily shaken and fall down due to the swing of the lifted heavy object. Further, if the center of gravity of the aircraft shifts forward, there is a problem that the lift force is reduced and the swing of the lifted heavy object sometimes causes the heavy equipment to fall apart and fall.

Further, in the dismantling work of a building, etc., the dismantling work using a crushing tool at the tip of the arm lifted to a high position includes:
Since there is a risk of falling crushed concrete debris, it is necessary to crush and treat the structure little by little patiently and patiently, but this is a time-consuming and inefficient operation. On the other hand, in order to tear the building material side wall at a desired position, it is difficult to tear the side wall unless the side wall is fixed at the desired position, and there is no other way but to gradually cut the work with a crusher or cutter. In addition, when the building material is not fixed at all, the crusher cannot be crushed unless the tip of the crusher is fitted along the crack, so that there is a problem that the work of holding the building material is not effective and the work is very inefficient.

[0015] As described above, in the conventional configuration, it can be seen in examples of shaking the weight, holding the object, preventing the swing of the lifted object and preventing the body from overturning, or the trouble of the crushing operation. In the dismantling work and the assembling work, the work by the conventional working machine is very inefficient and has many problems in that the work is processed quickly.

[0016] On the other hand, JP-public H4-70452 (JP-S
Japanese Patent Application Laid-Open No. 63-7427) discloses that one work arm is provided with two types of devices, a digging bucket and a lift device. However, only one of the continuous processes is operated. Then, it is intended to switch and use. However, in such a configuration, for example, it is not possible to prevent the swing of the item lifted by the lift device by sandwiching the swing with the bucket device. This is a structure in which when the work arm is moved, both devices are moved at the same time, and as described above, it is a configuration that can cope with only one work, and does not solve the various problems described above.

[0017] Japanese Patent Application Laid-Open No. H5-89543 and Japanese Unexamined Patent Application Publication No. H8-3
Japanese Patent Application Laid-Open No. 11919 is known, but in these publications, a work point is selectively operated by any one of work arms provided before and after, and intermittently. One of the work arms is selected to perform the work in the continuous process. In this configuration, when different identical processes occur continuously, it is possible to save the trouble of replacing the attachment.However, as for each work, the work efficiency is not different from that of the conventional hydraulic excavator. The working machine configuration can handle only one job, and does not solve the various problems described above.

Further, in Japanese Utility Model Laid-Open No. H5-89544, a second work arm having a different shape from one work arm is provided on the work point side. Actual opening H
It is not necessary for the operator to take a posture to a position inverted to a work point by a turning operation as in Japanese Patent Application Laid-Open No. 5-89543, but the above publication structure has a bucket and a breaker as attachments of a work arm. In the same manner as described above, one of the attachments is selectively selected and the hydraulic circuit is switched to perform the operation. Therefore, it cannot be said that the above-mentioned various problems are similarly solved.

That is, Japanese Utility Model Application Laid-Open No. H5-89543, Japanese Patent Application Laid-Open No.
In Japanese Patent Application Publication No. 9544, one working machine is provided with two working arms. However, in one working machine, the hydraulic pressure generated by one engine is limited, and two working arms are used. Cannot be operated simultaneously and efficiently, and only one working arm can be operated by switching the hydraulic circuit. Moreover, the work by placement into a suitable position for working the two working arms at the same point that said to be a difficult construction since the risk of falling in view of the center of gravity of the aircraft is increased.

[0020] Therefore, as a working machine for civil engineering work or construction work, even in an aging society where there is a concern that there is a shortage of workers, two people can work efficiently by one person.
It has been desired to have a configuration in which two operations can be performed individually and simultaneously at the same operation point.

According to the present invention, two work arms are provided in a connecting structure, and two work can be performed individually and simultaneously. At the same time, interference conditions are detected to be safe, very efficient, and adapted to a wide range of work. It is intended to provide a working machine for construction work.

[0022]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, a twin-arm working machine with a protection device according to the present invention is configured such that a revolving body turns around a vertical axis via a revolving bearing on a running vehicle body. A first work machine, which is mounted so as to be capable of being bent, and which is supported on a revolving structure by a revolving work arm comprising a boom and an arm at the tip of the boom, and a first work machine adjacent to the first work machine;
A second working machine having substantially the same structure as the first working machine;
A connecting body that connects the traveling body of the first working machine and the traveling body of the second working machine, an operating lever that operates the working arm of the first working machine, and a working arm of the second working machine. and it includes an operation section having an operation lever together, each working machine
Detector that detects the turning angle of the
A detector for detecting the rotation angle is arranged, and 2
Avoid interference when detecting interference between work arms
To issue a command for

Further, the operating section is provided on a connecting body for connecting the two working machines, and the operating section is disposed at a position where both the first working machine revolving body and the second working machine revolving body are arranged. It is preferable to be located substantially at the center of the connected body that does not interfere with the turning track.

[0024] Then, the two working arms each, interference interferes the connecting member and the operating unit and the first working machine and a second working machine
Issue a command to avoid interference when a collision condition is detected
Or in the working area of the implement,
No entry area is set to prevent damage to equipment other than
The working arm's rotation angle,
Restrict rotation in the direction of the no-go area or either or both
It may comprise a person becomes to improve the safety of work.

[0025]

FIG. 1 shows an embodiment of the present invention.
This will be briefly described with reference to FIGS.

The twin arm working machine 1 with the protection device of the present invention
A revolving unit 14 is mounted on a traveling body 13 so as to be revolvable about a vertical axis via a revolving bearing, and is used for construction work or the like.
7, a first work machine 11 (hydraulic shovel-based work machine), which is supported so as to be able to move freely, and has an attachment 18 at the tip of an arm 17;
A second working machine 12 (a second hydraulic shovel-based working machine) adjacent to the first working machine 11 and having substantially the same structure as the first working machine 11, and a traveling vehicle body of the first working machine 11; 13th and 2nd
A connecting body 2 for connecting the traveling vehicle body 13 of the working machine 12 with
An operating unit 7 having right and left operating levers 21a for hydraulically operating the working arm 5 of the working machine 11 located on the right side and a left operating lever 21b for operating the working arm 6 of the working machine 12 located on the left side, respectively. Provided, each link portion of the two working machines 11 and 12 (two working arms 11 and 12).
The rotation angle detector LP for detecting the turning state and the bending state is disposed at each of the link portion and the link portion of the connection portion, and the work arm 5 of the first work machine 11 and the work of the second work machine 12 are provided. The interference condition of each of the arms 6 is roughly calculated, and the protection operation is performed in the interference condition area M.

The operating unit 7 has two working machines 11, 12
And the operating unit 7 is disposed on the first working machine revolving unit 14a and the second working machine revolving unit 1
4b is located substantially at the center of the connected body 2 which does not interfere with both turning orbits.

Therefore, the two working arms 5 and 6, respectively,
An interference condition that interferes with the first working machine 11, the second working machine 12, the connector 2, and the operation unit 7 on the connector 2 is detected, and self-destruction is prevented in the vehicle body interference condition area M1. As the protection operation, the operation of the working arm 8 during operation is controlled to be stopped, or the interference condition between the working arms 5, 6 that changes every moment depending on the operation state of the two working arms 5, 6, is detected. As a protection operation for preventing self-destruction in the arm interference condition area M2, the operation speed of the operating arm 8 during operation is limited, or the operation unit 7 set in advance according to the operation is set.
As a protection operation for detecting the interference condition of the working arm 8 into the turning area where the working arm 8 becomes a blind spot from the point of view and preventing the destruction of objects in the entry prohibited area M3, the entering of the working arm 8 during turning is prohibited. Regardless of whether the turning operation in the area direction is restricted, the protection operation is performed.

(Operation) With the above configuration, the present invention can perform the following operation. That is, the revolving unit 14 is mounted on the traveling body 13 so as to be revolvable, and the boom 16 and the arm 1 are mounted on the revolving unit 14.
Since the two working machines 11 and 12 supported by the working arm 8 comprising the working arm 7 and the working body 8 are connected to the connecting body 2, a working machine having the two working arms 5 and 6 is used. It can be realized at extremely low development cost, and the stability of the working machine having the connecting structure is secure because the center of gravity of each working machine is shifted toward the connecting body 2 and supported by each other. It will be much more stable. In this stable structure, the working arm 8 can be provided longer,
The work range of the work arm 8 with turning can be extended, and the long work arm 8 extends the work arm 8 beyond the obstacle to the target point further forward, even when there is an obstacle ahead in the traveling direction, Work can be performed on work points at a deeper part. In addition, since each work arm 5, 6 is individually provided on each revolving unit 14 , the work arms 5, 6 can be turned so as to act on the same work point, or each work arm can be acted on a different work point. Can be.

The operating lever 21a for operating the working arm 5 of the first working machine 11 and the operating lever 21b for operating the working arm 6 of the second working machine 12 are both provided on the operating section. By disposing them, one operator can easily operate the left and right operation levers 21a and 21b, respectively, and can operate both working arms 5 and 6 individually and simultaneously.

The reaction force accompanying the operation of the working arm 8 and
In a lift operation or a high-altitude operation in a state in which the work arm 8 is fully extended, there is a factor that causes an accident of the body to fall,
The stability of the center of gravity is important from the viewpoint of protection of the operation unit,
In the connection structure, it is a stable structure as described above,
The other working arm 8 supports a fixed object such as the ground to obtain a remarkable stability, so that the working arm 8 can play a role of a protection device for eliminating the above-mentioned danger factors. On the other hand, with respect to the danger of falling objects such as work at heights and flying objects in crushing work directly hitting the operation unit 7, the operation arm 7 may be sandwiched by another work arm 8 as described above. Can function as a protection device for protecting the device.

In the operation, a loop formed by the two working arms 8 and the connecting body 2 can cancel out the reaction force and exert a large working force, and the two working arms 8 connected by the connecting body 2 Can complement each other.

A rotation angle detector LP for detecting a turning state and a refraction state is provided at the link portions of the two working arms 5 and 6, respectively, so that the working arm 5 of the first working machine 11 and the Since the interference condition of each of the working arms 6 of the second working machine 12 is detected and the protection operation is performed in the interference condition area M, self-destruction by the two working arms 8 and peripheral destruction at blind spots are a concern. However, the protection device that performs the protection operation in the interference condition area M can prevent danger in the event of an operation error.

That is, the two working arms 5 described above,
In the configuration provided with the work arm 6, two different works of "performing one work with the work arm 5 and performing another work with the work arm 6" simultaneously and at any work point, This makes it possible to realize a working machine that can perform a wide range of work extremely safely, which has not been realized with a single working arm in the past.

Further, the operating section 7 is provided on the connecting body 2 with the first
If the operating unit 7 on the coupled body 2 is disposed at a position that does not interfere with both the orbits of the working machine revolving unit 14a and the second working machine revolving unit 14b, It is a structure that is safe without being affected by turning interference, and is indirectly received via the connecting body 2 without directly receiving engine noise and vibration of the work machine or vibration from the traveling vehicle body 13 directly below. In addition, since the connecting body 2 can also reduce the impact from the attachment at the tip of the working arm 8, the connecting body 2 serves not only as a connection but also as a protective device for protecting the operation unit 7 from vibration, impact, noise, or the like. Can also run.

On the other hand, the two working arms 5 and 6 each detect an interference condition that interferes with the first working machine 11, the second working machine 12, the connector 2, and the operation unit 7 on the connector 2. If so, the operation of the working arm 8 during operation can be stopped and controlled as a protection operation for preventing self-destruction in the body interference condition area M1.

Alternatively, if an interference condition between the working arms 5 and 6 that changes every moment depending on the operating state of the two working arms 5 and 6 is detected, self-destruction occurs in the arm interference condition area M2. As a protective operation to prevent, the operating speed of the working arm 8 during operation can be limited.

Further, if an interference condition of the work arm 8 from the operation unit 7 set in advance according to the work to the turn-in prohibited area of the work arm 8 at the blind spot is detected, M3 in the access-inhibited area is detected. As a protective operation for preventing the destruction of objects, the turning operation of the working arm 8 during turning in the direction of the entry-prohibited area can be restricted.

That is, in any of the protective devices described above, the working arms 5, which individually and individually operate,
6, the protection operation can be performed in the M within the interference condition area that is known in advance.

As described above, the twin-arm working machine 1 with a protection device according to the present invention is used as a working machine for civil engineering work or construction work.
Even in an aging society where there is a concern about a shortage of workers, two work arms that connect two work machines and operate individually,
With a protection function for detecting the interference condition of the work arm, it is possible to realize a configuration that safely and efficiently operates two works individually and simultaneously without danger.

[0041]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 9 show an embodiment of the present invention. FIG. 1 shows an example in which the present invention is applied to a hydraulic excavator used in civil engineering work and construction work.
In the twin-arm working machine indicated by, a revolving body 14 is mounted on a traveling vehicle body 13 via a revolving bearing so as to be revolvable about a vertical axis, and a boom 16 and an arm 17 at the tip thereof are mounted on the revolving body 14.
A first working machine 11 (hydraulic shovel) having an attachment 18 at the end of an arm 17 and a first working machine 11 adjacent to the first working machine 11; A second working machine 12 (a second hydraulic shovel) having substantially the same structure as the first working machine 11;
And a right operating lever 21 for hydraulically operating the working arm 5 of the working machine 11 located on the right side. The connecting body 2 connects the running body 13 of the working machine 11 to the running body 13 of the second working machine 12.
a, and an operation unit 7 having both left and right operation levers 21b for hydraulically operating the work arm 6 of the work machine 12 located on the left side.

The link portions of the two working machines 11 and 12 (links indicated by L1, L2, L4, L5, L6, L7 and L8 in FIG. 8B of the two working arms 11 and 12). A rotation angle detector LP for detecting the turning state and the refraction state is disposed at the section Li and the connecting link section of the connecting body 2 shown by the arrows in FIGS. The interference condition of each of the work arm 5 of the machine 11 and the work arm 6 of the second work machine 12 is roughly calculated, and the protection operation is performed within the interference condition area. In addition, 1 shown in FIGS.
1 is a first working machine, and 12 is a second working machine.
Here, the bending direction of each link portion of the working arm 8 is pivotally supported so as to be movable only in one axial direction.

Further, r1, r2, r4, r in FIG.
Arrows indicated by 5, r6, r7, and r8 indicate the rotation angle detector L
This indicates the direction of movement of P, and each link portion Li is provided so as to be movable only in one direction. Further, FIG.
b, 19d, 19e, and 19f are hydraulic cylinders that move corresponding links.

Here, reference numeral 4 in FIG. 1 shows a connecting portion between the traveling frame 3 on the side of the first working machine 11 and the traveling frame 3 on the side of the second working machine 12. The two working machines 11 and 12 are connected so as to be slidable and displaceable by the connecting pins and to be detachable by inserting and removing the connecting pins. And
In this connection, both working machines 11 and 12 are arranged in a row, and are slidably connected to the side surface of the traveling frame 3 in a sliding state.

In FIG. 1, 23 is a pair of traveling pedals, 26 is a crawler , 14a is a revolving body of the first working machine 11, 14b is a revolving body of the second working machine 12, 21 is an operation lever, 19 Is a hydraulic cylinder, and 20 is an operator.

FIG. 2 shows an operation unit 7 provided in the cabin 15, which is provided on the connecting body 2. The cabin 15 is provided with connecting portions 4 at both left and right end positions so that the connecting portions 4 can be separated at two locations, slidable at two locations, and fixed in a sliding state.
Note that FIG. 2 has substantially the same configuration as FIG. 1, and the same reference numerals are given to common portions, and detailed description is omitted. Here, in FIG. 2, reference numeral 38 denotes an operation lever 21 provided in an arm shape.

In this horizontal movable connection structure, even when the traveling frame 3 is connected, the revolving bodies 14a and 14b located above the traveling frame 3 can freely rotate, and can be turned in the front direction of the operation unit 7 (see FIG. (In the direction indicated by X), both of the two working arms 8 can be turned. In addition, since the body is slidably displaced in accordance with the ground, the stability is excellent, and since all the traveling devices 13 are in the same direction (the direction indicated by X in the drawing), the connection structure is highly mobile.

On the other hand, FIGS. 3 and 4 correspond to FIGS.
Is an example in which the row connection is changed to the column connection. Therefore, in FIGS. 3 and 4, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description is omitted.

Similarly, the twin-arm working machine 1 shown in FIG. 3 also has the same structure as that shown in FIG. A connecting portion is shown, in which the connecting portion 4 is slidably displaceable by a connecting pin, and the two working machines 11, 12 are detachably connected by inserting and removing the connecting pin. In this connection, the two working machines 11 and 12 are arranged in a vertical line and are connected on the front and rear surfaces of the traveling frame 3 in the traveling direction.

Reference numeral 7 in FIG. 4 denotes an operation section provided in the cabin 15, which is provided on the connecting body 2. And the connecting part 4 is provided at the left and right end positions of the cabin 15,
It is connected so that it can be cut off at two places, slidably at two places, and fixed in a sliding state.

In this movable connection structure in a tandem configuration, even when the traveling frame 3 is connected, the revolving bodies 14a and 14b located above the traveling frame 3 can freely rotate, and can be rotated in the front direction of the operation unit 7 (see FIG. (In the direction indicated by X), both of the two working arms 8 can be turned. Moreover, since the body is slid and displaced in accordance with the ground, the stability is excellent, and all the traveling devices 13 are in the same direction (the direction indicated by Y in the drawing). This is a connection structure suitable for applications where a work point exists.

Since the operating section 7 shown in FIGS. 1 and 3 is provided on the revolving body 14b of the second work machine 12, the operating section 7 does not interfere with the machine body in the turning operation. 2, the operation unit 7 shown in FIG. 4 is disposed on the connecting body 2 that connects the two working machines 11 and 12, and the operation unit 7 is disposed at the first working machine revolving unit 14a and the second working machine It is located substantially at the center of the coupling body 2 which does not interfere with both the revolving orbits with the work implement revolving body 14b.

On the other hand, the operation lever indicated by 38 in FIGS. 2 and 4 is the same as the arm lever 38 shown in FIG.
Arrow directions r1, r2, r4, r5, r6, r in (a)
7, r8 and their link parts L1, L2, L4, L5, L
Reference numerals 6, L7, and L8 denote operation lever devices each of which corresponds to each of the booms 16 and the arms 17 of the working arm 8 shown in FIG. In addition, 14 shown in FIG.8 (b) is a revolving body, 68 is an attachment base.

First, in the twin-arm working machine 1 shown in FIG. 5 which is connected in a row, two working arms 5, 6 are connected to the first working machine 11, the second working machine 12, As a protection operation for detecting an interference condition indicated by a hatched portion M1 in the drawing that interferes with the operation unit 7 on the coupling body 2 and preventing self-destruction in the vehicle body interference condition region M1, a working arm in operation The control of the operation 8 is stopped. Further, an interference condition between the working arms 5 and 6 that changes every moment depending on the operation state of the two working arms 5 and 6 is detected, and self-destruction occurs within the arm interference condition area of M2 indicated by dots in FIG. As a protective operation to prevent, the operation speed of the working arm 8 during operation is limited.

An operation unit 7 set in advance according to the operation
As a protection operation for detecting the interference condition of the work arm 8 to the turn-in prohibited area of the work arm 8 which becomes a blind spot, and preventing the destruction of objects in the M3, M3 entry-inhibited area indicated by the substantially fan-shaped solid line in FIG. This restricts the turning operation of the working arm 8 during turning in the direction of the entry prohibition region. As described above, when the work arms 5 and 6 are turned to perform the work in the X direction in the drawing, the protection operation is performed in any of M1, M2, and M3.

Similarly, in the twin-arm working machine 1 shown in FIG. 6 connected in tandem, each of the two working arms 5 and 6 is connected to the first working machine 11 and the second working machine 12. Body 2
The interference condition indicated by the hatched portion M1 in the figure that interferes with the operation unit 7 on the connecting body 2 is detected, and the
As a protection operation for preventing self-destruction, the operation of the working arm 8 during operation is stopped and controlled.

Further, an interference condition between the working arms 5 and 6 that changes every moment according to the operating state of the two working arms 5 and 6 is detected, and within the M2 arm interference condition area shown by dots in FIG. As a protection operation for preventing self-destruction, the operation speed of the working arm 8 during operation is limited.

An operation unit 7 set in advance according to the work
As a protection operation for detecting the interference condition of the work arm 8 to the turn-in prohibited area of the work arm 8, which becomes a blind spot, and preventing the destruction of objects in the M3, M3 entry-inhibited area indicated by the substantially fan-shaped solid line in FIG. This restricts the turning operation of the working arm 8 during turning in the direction of the entry prohibition region.

That is, in the case of the vertical connection, similarly to the case of the horizontal connection, when the work arms 5 and 6 are turned to perform the work in the X direction in the drawing, the M1, M2 and M3 are used.
In any case, the protection operation is performed.

Here, with reference to FIG. 7, the principle of determination in the arm interference condition area M2 by the two working arms 5 and 6 that freely move will be briefly described. A work arm 6 is provided on the work machine side shown in FIG. 12 and indicates that each link portion Lj is bent at an angle of Qj. Consider an arbitrary link portion Lb. (In FIG. 7, the link Lb is the tip of the working arm 6, but the same applies to any link.) The composite vector of the working arm 6 has a size indicated by a dotted line B and an angle indicated by Qb.
Similarly, a work arm 5 is provided on the work machine side shown in FIG. 11 and indicates that each link portion Li is bent at an angle of Qi. Consider an arbitrary link portion La. (In FIG. 7, the link La is the tip of the working arm 5, but the same applies to any link.) The composite vector of the working arm 5 has a size indicated by a dotted line A in the figure and an angle indicated by Qa.

Here, when the connecting portion 2 is slidingly displaced (inclined with each other), the vector A is set in the coordinate system of the vector B.
It is necessary to perform a coordinate transformation to match the coordinate system of. Therefore, a vector obtained by converting the vector A into the same coordinate system as the vector B is represented as WA. Here, W is a conversion vector calculated from the rotation angle detector LP provided in the connection unit 2.
Further, a vector shown by C in the figure can be obtained from the rotation angle detector LP for detecting the sliding displacement state and data that is known in advance from the structural factors of the body.

The vector (B,
WA, C) are vectors in the same coordinate system as the work arm 6. Here, the relational expression of vector B + vector D = vector C + vector A holds for the vector to be obtained, which is indicated by D in the figure. Therefore, vector D = vector C + vector A−vector B> r. (However, r is a constant (area indicated by a sphere of radius r))

Therefore, the magnitude of this vector D is
If it is smaller than the predetermined interference risk range r, the working arms 5 and 6 can know that there is a risk of interference with each other.

By calculating as described above, for example, a vector operation is performed using the distance r from the center coordinate of the operating unit 7 (one of the working arms in the above example is fixed), and the operating unit 7 and the working arm 8 are connected. Interference and the like can be obtained in the same manner as described above.

As described above, in the above-described embodiment, the interference area is calculated, so that even in a working machine in which the two working arms 5 and 6 can move freely, even if an operation error occurs, the machine body is damaged. Can be performed beforehand.

In this embodiment, the determination of the vector operation expression is obtained by comparison with a sphere having a radius r, but the determination area does not need to be a sphere. Also, the element of the operation direction of the work arm, the element of the operation speed of the work arm, or the vector
The determination area may be set by taking in the element of the angle of. Further, r, 2
Stages such as r and 3r may be set, and each stage may be subjected to a corresponding stage protection operation at each stage. That is, the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

Next, an application example of the present invention having two working arms in the above-described connection configuration will be described with reference to FIGS.

[0068] indicated by a thick point line in FIG. 10 A1 (first work
) , A2 (connecting body) , and A3 (second working machine) are connected and fixed to each other, and the right working arm 5 is installed on A1 and the left working arm 6 is installed on A3. ing. When the work arms 5 and 6 move in the direction indicated by F1 in the figure (the direction in which the member 75 is contracted), the member 75 gripped by the two work arms changes its reaction (the direction indicated by f in the figure). Will receive it. However, the substantially triangular loop B shown by the right working arm 5-A1-A2-A3-left working arm 6 is fixed between A1-A2-A3, so that the reaction force is not lost and the reaction force is not lost. The combined vector is canceled and a large acting force F1 is applied to the member 75.
Is a structure that can be applied to The direction indicated by F2 in the figure (the direction in which the member 75 is extended) is also changed to the above F1.
As in the case of the direction, the reaction force is canceled by the substantially triangular loop B, and a large force can be applied by the two working arms. Thus, for example, no connection 2
Compared to the configuration with a single work machine, the mutual displacement of the body occurs and the reaction force escapes, so that a large force can not be applied to the object, but the relative positions of the work machines of the connection structure are fixed Therefore, a large force can be exerted without losing the reaction force.

Further, when a force is applied by the working arms 5 and 6 in the direction indicated by F3 in the drawing (the direction in which the member 75 is bent),
The working arms 5 and 6 can be made to act on substantially the same working point. For example, one of the working arms fixes the member 75 and the other working arm performs the bending process, or both the working arms 5 and 6 In step 6, the bending operation can be performed by applying a bending force. In this way, when the member 75 is in a free state with one working arm, a member that cannot apply a bending force or the like well can be used.
With two working arms, the working force can be easily applied to the working point without escaping.

The portion indicated by the thick dotted line Z in FIG.
And the second working machine are fixed by a connecting body indicated by hatching in the figure, and the working arms 5 and 6 are respectively installed on them. Here, the work arm 5 shown in FIG.
The bucket 60 is a tool 9 for scooping soil, sand, pebbles and the like. On the other hand, when the earth and sand in the bucket 60 is heavy, or when the work arm 5 must be fully extended to perform the work, the position of the center of gravity of the body moves forward, and the danger of falling or the bucket 60 shakes. Although there is a risk of spilling earth and sand by tilting, if the structure of the connection structure secures a stable center of gravity, a farther and heavier object can be lifted, and the connection shown in FIG. By holding the bottom side surface of the bucket 60 with the other work arm thus obtained, the lifting operation can be stably performed.

Further, the work arm 6 is provided on a fixed object such as the ground shown by G in the figure, and a fixed loop shown by Y in the figure is formed, whereby the position of the center of gravity is fixed, and the object is applied with a large force without danger of falling. You can lift things. This is because, in the case of a normal working machine, a machine that floats when the work arm is extended and hardly obtains a lifting force is supported by a fixed loop indicated by Y in the figure, and a much larger lift is achieved. It produces power. Moreover, since the point indicated by G in the figure is the work arm, it can be provided at any position according to the situation at the work site.

A portion indicated by a thick dotted line Z in FIG.
This indicates that the working machine and the second working machine are fixed by a connecting body indicated by hatched portions in the figure, and that the working arms 5 and 6 are respectively installed on them. Here, one working arm 6 grasps the concrete wall 54 which is the fixed object G,
The other working arm 5 holds a hammer 55 serving as the destruction tool 9. Here, reference numeral 74 in the figure denotes a rope for preventing the tool 9 from coming off. Therefore, by swinging the boom and the arm, even if the operation is slow, if the swinging operation is performed in a continuous operation as if the snap of the wrist is effective, the tip of the hammer 55 having the elongated handle can be obtained. Can obtain a large acceleration and generate a large destructive force in the direction indicated by the arrow in the figure. This is, of reaction from the tool 9
This is obtained because the body is not swung in the reverse direction due to the influence, and is supported by the fixed loop indicated by Y in FIG. The concrete wall 54 hit with a hammer 55
However, even if the entire wall is broken and collapses, if it is supported by the work arm 6, it is possible to perform a safe operation that does not collapse at once.

In the portion indicated by the thick dotted line Z in FIG. 13, the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one working arm 6 grips a concrete piece 56 and the other working arm 5 grips a nipper 58 which is a cutting tool 9.
Here, for example, in a building collapsed or dismantled site due to an earthquake disaster, in a work for dismantled material, a steel frame 57 is buried in a concrete piece shown by 56 in the figure, so the work arm 6 is Even if 56 can be lifted in the direction of the arrow in the figure, the steel members 57 must be cut by hand to move them, but the steel members entangled with the held concrete pieces 56 without human assistance 57 can be cut by another working arm 5 with a nipper 58 using a lever. Therefore, the work arm 6 can move the concrete piece 56 smoothly and efficiently without interrupting the work.

The portion indicated by the bold dotted line Z in FIG. 14 is such that the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached thereto. It indicates that it is installed. Here, one working arm 6 grasps the block 59 and the other working arm 5
Provides assistance in assembling blocks. That is, the work arm 5 plays a role of pressing the block 59 assembled in the direction indicated by the arrow in the figure, and prevents the assembled state of the block from collapsing.
Is in charge of supplying the blocks 59 one after another.
Each of them performs two different tasks independently and at the same time, and the relative positions of the working arms are constant even when the connected working arms travel and move the working point according to the work progress. Therefore, the working positional relationship can be easily grasped.

In the portion shown by the thick dotted line Z in FIG. 15, the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one of the working arms 6 grasps the dust remover 62 which is the defense tool 9, and the other work arm 5 grasps the nail remover 61 which is the crushing tool 9 to perform work at a high place. Two different tools 9 can be provided on both working arms 5 and 6, and different works can be performed at the same working point. Therefore, the concrete wall 54 located at a high place is broken by one nail 61 and dismantled by one working arm 5, and the debris 56 generated by the dismantling is received by a dust collector 62 so as not to drop by the other working arm 6. I have. The treatment of this falling object is an important point related to human life, but because of the connection structure,
When the work points move one after another and the dust collector 62 for processing the falling object is moved along the work point, the two work arms 5 and 6 in a relative positional relationship are moved regardless of the traveling movement (the X direction in the drawing). It is easy to grasp the positional relationship, and it is possible to safely and smoothly perform operations such as handling of falling objects.

In the part shown by the thick dotted line Z in FIG. 16, the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one work arm 5 holds the product equipment 63 for building assembling, and the other work arm 6 carries out the lift work while holding the equipment 63. If the equipment 63 is to be gripped by only one working arm 5, a rotational moment is generated in the direction indicated by Ri in the figure due to the position of the center of gravity, which makes the equipment 63 slippery. Therefore, it is necessary to pinch the object with a strong force. However, when the product (equipment 63) is likely to be crushed or damaged and the equipment 63 is provided in the Rj direction so as to match the assembling posture, a dotted arrow in FIG. Distortion occurs around the pinching position of the indicated product (equipment 63), causing cracks and the like. On the other hand, when supporting the lower side of the equipment 63 with the other work arm 6, the factor of Ri or Ri or the dotted arrow is canceled, and the work arm 63 is preferred with almost no need for the clamping force of the work arm 5. It is possible to maintain the posture. The equipment 63 maintained in the assembling posture maintains the posture until the assembling position (the direction indicated by X in the drawing) because the relative positional relationship between the two working arms 5 and 6 is kept constant in the connection configuration. You can travel and carry.

As described above, in the above-mentioned application example, various work can be performed safely and speedily by operating the two working arms while performing the protection operation.

[0078]

According to the present invention, two work arms are provided in a connecting structure to perform two works individually and simultaneously, and it is possible to detect interference conditions safely, extremely efficiently, and over a wide range. It is possible to provide a work machine for construction work adapted to work.

Further, a protection operation for preventing damage to the body can be easily realized from the calculation of the interference area.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing a row connection.

FIG. 3 is a perspective view showing another embodiment.

FIG. 4 is a perspective view showing tandem connection.

FIG. 5 is an explanatory diagram showing an interference region in a row connection.

FIG. 6 is an explanatory diagram showing an interference region of tandem connection.

FIG. 7 is a vector diagram showing interference conditions of a working arm.

8A is a side view and FIG. 8B is a perspective view showing a link portion.

FIGS. 9A and 9B are conceptual diagrams showing a connecting portion movable direction.

FIG. 10 is a principle view showing an application example.

FIG. 11 is a principle view showing an application example.

FIG. 12 is a principle view showing an application example.

FIG. 13 is a principle view showing an application example.

FIG. 14 is a principle view showing an application example.

FIG. 15 is a principle view showing an application example.

FIG. 16 is a principle view showing an application example.

FIG. 17 is a perspective view showing a conventional example.

FIG. 18 is a perspective view showing the operation unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Twin arm working machine 2 Connecting body 3 Traveling frame 4 Connecting part 5 First working arm (located on the right side) 6 Second working arm (located on the left side) 7 Operating part 8 Working arm 10 Hydraulic shovel (or backhoe) 11 First working machine (hydraulic shovel) 12 Second working machine (hydraulic shovel) 13 Traveling vehicle body 14, 14a, 14b Revolving unit 15 Cabin 16 Boom 17 Arm 18 Attachment 21 Operating lever 21a Right operating lever 21b Left operating lever 23 Pedal Lever M1, M2, M3 Interference condition area

────────────────────────────────────────────────── ⁷ Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI E04G 23/08 E04G 23/08 A (56) References JP-A-2001-173022 (JP, A) (58) Fields investigated (Int. .Cl. ⁷ , DB name) E02F 9/24 B25J 13/00 E02F 3/36 E02F 3/43 E02F 9/00 E04G 23/08

Claims (4)

(57) [Claims] A revolving body is mounted on a traveling vehicle body via a revolving bearing so as to be revolvable about a vertical axis, and a revolving work arm comprising a boom and an arm at the tip of the revolving body is raised and lowered on the revolving body. A first working machine that is supported, a second working machine that is adjacent to the first working machine and that has substantially the same structure as the first working machine, a traveling body of the first working machine, and a second working machine. A connecting body for connecting a traveling vehicle body of the first working machine; an operating lever for operating a working arm of the first working machine;
An operating unit having both an operating lever for operating a working arm of the working machine, a detector for detecting a turning angle of each working machine, and a
A detector that detects the rotation angle of the
When detecting the interference between two working arms from the force,
A twin-arm working machine with a protection device, which issues a command to avoid the problem . 2. The operating unit according to claim 1, wherein the operating unit is disposed on a connecting body that connects the two working machines, and the operating unit is disposed on both the first working machine revolving unit and the second working machine revolving unit. The twin-arm working machine with a protection device according to claim 1, wherein the twin-arm working machine with the protection device is located substantially at the center of the connected body that does not interfere with the turning track. 3. An interference state in which each of the two working arms interferes with the first working machine, the second working machine, the connected body, and the operation unit.
The twin-arm working machine with a protection device according to claim 1 or 2, wherein a command for avoiding the interference is issued when detecting . 4. A work machine and a work machine in a work area of the work machine.
Prohibited area to prevent damage to equipment other than the
Set the range, detect the rotation angle of the work arm, and
The twin-arm working machine with a protection device according to claim 1 , wherein rotation of the system in the direction of the no-go area is restricted.