JP3314066B2 - Twin working arm working machine - 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 work machine for performing work such as civil engineering work or construction work in which a work arm is supported so that it can be raised and lowered, and a work arm structure thereof.

[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 10 for excavation shown in FIG. 15 mounts a revolving body 14 on a traveling vehicle body 13 via a revolving bearing so as to be revolvable about a vertical axis (in a direction indicated by r1 in FIG. 15). 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. 15 ) 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. 16 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. 16 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.

Here, reference numeral 3 in FIG. 15 denotes a traveling frame of the traveling vehicle body 13 which 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 posture excellent in workability, two work can be performed individually and simultaneously, a safe and relatively large force can be exerted, and a very wide range of efficiency can be achieved. The purpose of the present invention is to provide a working machine for construction work adapted to various works.

[0022]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, a twin working arm working machine according to the present invention enables a revolving body to be pivotable about a vertical axis on a traveling vehicle body via a revolving bearing. A first working machine mounted on the revolving structure and supported by a revolving work body comprising a boom and an arm at the tip thereof so as to be able to move up and down; a first working machine adjacent to the first working machine; A second working machine having substantially the same structure as the first working machine, a connecting body for connecting the running body of the first working machine and the running body of the second working machine, and a work arm of the first working machine. An operating portion having both an operating lever and an operating lever for operating a working arm of the second working machine, wherein at least two
One of boom of the working machine is, that the connecting member has a tiltable pivot shaft to dissenting Direction boom is to be boom tilt angle while inclined obliquely is Ru fixed Features. Ma
Further, the twin working arm working machine of the present invention
In order to solve the problem, a revolving superstructure is mounted on the traveling body
To be able to turn around the vertical axis through
A flexible work arm consisting of a boom and an arm at its tip
A first working machine in which the arm is supported so as to be able to move up and down;
Adjacent to the first working machine and constructed in substantially the same structure as the first working machine.
A second work machine, a traveling body of the first work machine and a second work machine.
A connecting body for connecting the traveling vehicle body of the industrial machine;
Operation lever for operating the work arm and work of the second work machine
An operating unit having both an operating lever for operating the arm and
A state in which the arm at the end of the boom, which is provided to be able to be raised and lowered, has a torsion pivot shaft at the end of the boom so that it can be twisted in the direction of the connecting body, and the end of the boom is twisted together with a telescopic cylinder that can flexibly move the arm. in in what is fixed comprising
There is a feature.

Further, attachment arranged on the A over arm tip, is that you have provided a pivot shaft which is movable in rotation freely rotating cylinder is suitable.

[0024] If further those pivotal position of the disposed the above telescopic cylinder tip A over arm is provided changeable capacity, working arm is intended to obtain a movable range corresponding to the work.

[0025]

FIG. 1 shows an embodiment of the present invention.
This will be briefly described with reference to FIGS. In the twin working arm working machine 1 of the present invention, a revolving unit 14 is mounted on a traveling body 13 so as to be revolvable around a vertical axis via a revolving bearing and used for construction work or the like. A first working machine 11 (hydraulic shovel-based working machine) comprising a flexible work arm 8 comprising an attachment 17 at the tip of an arm 17, which is supported on a bendable work arm 8 comprising an arm 16 at its tip and an arm 17 at its tip. A second working machine 12 (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 body 13 of the first working machine 11; And the right operating lever 21a for hydraulically operating the working arm 5 of the working machine 11 located on the right side and the working machine 12 located on the left side. Left operating lever for hydraulically operating the work arm 6 And it includes an operation section 7 and a chromatography 21b respectively to the left and right,
A boom 16 that is supported by the revolving unit 14 so as to be able to move up and down,
It has a pivot shaft that can be tilted outwardly on the opposite side to the connecting body 2, and the boom tilt angle Q is fixed in a state where the base of the boom 16 is tilted outward of the fuselage, so that the boom 16 is vertically or tilted. By supporting the boom 16 at any two of the fixed positions P3 and P4, the refraction range K of the working arm is configured to be variable.

On the other hand, the arm 17 at the tip of the boom 16 which can be freely raised and lowered is twisted toward the tip of the boom so that the arm 17 at the tip of the boom 16 can be twisted toward the connecting body 2.
The boom tip twist angle W is fixed in a state in which the boom tip 16c is twisted together with the telescopic hydraulic cylinder 19d that allows the arm 17 to bend freely, so that the arm is either linear or twisted. Are fixed at the two fixed positions P5 and P6.

Attachment 18 is provided at the end of arm 17 and telescopic cylinder 19e at the end of arm 17 is provided.
The attachment 18 disposed at the tip of the arm 17 is provided with a rotating shaft that is rotatably movable by a rotary hydraulic cylinder at an attachment base 68, wherein the attachment 18 is disposed at the tip of the arm 17. The portion 68c is configured to freely rotate (in the r6 direction).

Further, an arm 17 provided at the tip of the boom 16 so as to be freely bent is provided with an arm 1 with respect to the boom 16.
7 can be refracted further up to about 45 degrees angle,
The pivotal position P1 of the distal end of the telescopic cylinder 19c disposed on the arm 17 is provided so as to be relocated to P2 in the distal direction of the arm 17, and the stopper position is similarly set to the positions P1, P
2, two fixed positions are provided, and the movable range of the arm 17 is changed.

(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.

Further, the boom 16 has a pivot shaft which can be tilted outwardly on the side opposite to the connecting body 2, and the boom tilt angle Q is fixed in a state where the base of the boom 16 is tilted outward from the body. Thus, for example, when the two working arms 5 and 6 pull or push the work object to each other, a force can be easily applied from the side by an amount corresponding to the inclination, so that the connecting body 2 and the two work A loop structure in which the reaction force is canceled as an internal force between the three arms 5 and 6 is formed. Particularly, in the case of the boom 16 inclined outward, the loop shape can be formed into a face shape. The two working arms 8 form a holding posture with a small loop loss, and a large force can be applied to the target object by applying the combined force without losing the acting force. The two working arms 8 constituted by the boom 16 and the arm 17 can apply the above-mentioned action point to a free space position within a movable range of the both working arms 5 and 6. Moreover, even when the work arm 8 is fully extended forward, even if the boom is inclined outward, the presence of the connecting body 2 prevents the fall to the outer side surface and the other work arm flaps. It is also possible to support the aircraft.

Therefore, when the undulating boom 16 is provided at a vertical position, a structure suitable for operating in the vertical direction at a place where there is sufficient height is obtained, and a vertical force is applied to the object. On the other hand, when the boom 16 is provided at a position inclined outward, a structure suitable for operating in a lateral direction in a place where there is sufficient space is obtained, and the object is placed on the side. This is effective when capturing from

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 efficiently, which has not been realized with a single work arm in the past.

Further, the arm 17 is twisted toward the end of the boom so that the arm 17 can be twisted in the direction of the connecting body 2.
0), if the boom tip twist angle W is fixed in a state where the boom tip 16c is twisted together with the telescopic hydraulic cylinder 19d that allows the arm 17 to bend freely, inward in the connecting body 2 direction. The twisted arm 17 has an elliptical shape with a small loss in which the reaction force is canceled as an internal force by the inwardly twisted working arm 8 and the coupling body, similarly to the action of the outwardly inclined boom 16 with a small loop loss. Thus, an effective force can be applied from the side.

On the other hand, the attachment 18 disposed at the tip of the arm 17 has a rotating shaft that is rotatably movable by a rotating cylinder at the attachment base 68, and the attachment tip 68c is freely rotated (in the direction of r6). If it does, the attachment tip 68c rotates to easily catch the target, contacts the target irrespective of the direction and hitting surface of the target, and tilts outward with less loop loss to the boom 1.
6 and the arm 17 that is twisted inward, the applied force around the contact point in contact with the object can be effectively applied.

Further, the arm 17 can be bent from P1 further upward to P2 with respect to the boom 16, and the tip pivoting position of the telescopic hydraulic cylinder 19d is provided so as to be relocated in the arm tip direction. By changing to, the arm 1 can be generally moved deeper in the direction of excavation.
The pivot position where P7 is fully turned downward is P1
In the configuration at the P2 position, the arm 17 is largely swung upward, and the arm 17 performs the same operation as, for example, moving a center of gravity of an object by snapping a wrist. Can be realized.

On the other hand, in the operation of swinging down the working arm 8, a large force can be exerted. In such a continuous operation, even if the operation is gentle,
Not a little, acceleration occurs in the object, and the effect of the recoil cannot be ignored. For example, in the structure of one working machine in which the position of the center of gravity of the machine is close to the base of the boom, the machine that the working arm 8 extends forward due to the reaction force from the working arm 8 easily floats. In the case of the above-mentioned connection structure, which may result in the body being shaken at the end of swinging down, etc., the distance from the boom 16 to the position of the center of gravity can be increased, and a large torque is generated. There is a safe structure. In addition, even if the work cannot be performed with one work arm, the work is free.
The work arm corresponding to the arm of the book holds the ground at a suitable position to cancel the moment, or works while supporting it with a fixed object, so that the distance from the center of gravity of the aircraft is further increased, the reaction force A structure is provided between the fixed object, the support-side working arm, and the connecting body to support the unit so that no moment is generated by receiving the force. A large force can be applied to the object.

In particular, a structure in which the refraction range in which the arm 17 is largely swung upward is changed is effective for work on an object at a high place, and an action point is provided on a side surface of a high place as in the above-described swinging-down operation. It becomes easier. In this case as well, in the case of one work machine, if the work arm 8 is lifted upward at a height work, the center of gravity of the body becomes unstable, which is dangerous and hinders the work. 5,6
In the structure provided with, the fixed work or the ground is supported by another free working arm 8 and the distance from the position of the center of gravity of the aircraft is increased so that a moment is not generated due to the reaction force. The structure is generated between the fixed object, the support-side working arm, and the connecting body, and the acting force of the operating working arm 8 is applied with a combined force without escaping. A large force can be applied.

As described above, the twin working arm working machine 1 of the present invention can be used as a working machine for civil engineering work or construction work by connecting two working machines even in an aging society where there is a concern that there is a shortage of workers. With two working arms that work independently,
By changing the refraction range of the work arm and obtaining a posture effective for the work, it is possible to realize a configuration in which the work can be efficiently performed by one person from the operation unit and the two works can be performed individually and simultaneously.

[0040]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 7 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.
The first working machine 11 (hydraulic shovel), which is provided with an attachment 18 at the tip of the arm 17, is supported by the bending work arm 8 composed of A second working machine 12 (second hydraulic excavator) having substantially the same structure as the first working machine 11, a traveling body 13 of the first working machine 11, and a traveling body 13 of the second working machine 12 A right operating lever 21 for hydraulically operating the connecting body 2 to be connected and the working arm 5 of the working machine 11 located on the right side
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.

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.

The boom 16 supported by the revolving body 14 so as to be able to move up and down together with the hydraulic cylinder 19b shown in FIG.
Has a pivot shaft that can be tilted outward by about 30 degrees toward the opposite side, and the boom tilt angle Q is shaded in the figure with the base of the boom 16 shown in FIG. It is provided so as to be fixable by members shown by. Thus, the boom 16 is supported at the two fixed positions P3 or P4 of the vertical shape P3 shown in FIG. 5B or the inclined shape P4 shown in FIG. 5C. Therefore, FIG.
When the boom 16 is tilted in the direction of the arrow Q in the figure, the work arm shown in (1) is configured so that its refraction range can be changed as shown by the dotted line in the figure, and can be fixed at that tilt position.

On the other hand, 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 slidably displaceable by pins and to be detachable by inserting and removing connection pins. In this connection, both working machines 11 and 12 are arranged in a row, and are connected on the side surface of the traveling frame 3. The connection is slidably displaceable and provided so as to be fixed in a sliding state. In addition, 23 shown in FIG.
6 is a crawler , 14a is a revolving superstructure of the first work machine 11, 1
4b is a revolving superstructure of the second work 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 connecting portions 4 are provided at both left and right end positions of the cabin 15 so that the cabin 15 can be cut off at two places and slidable at two places.
Moreover, they are connected so as to be 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. Reference numeral 38 in FIG. 2 denotes the arm-shaped operation lever 21.

In this movable connection structure in a row, 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 pivoted toward the front 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 has a connecting portion 4 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 connecting portion 4 is slidably displaceable by a connecting pin, and both working machines 11 and 12 are connected to be detachable by inserting and removing the connecting pin. In this connection, both working machines 11 and 12 are arranged in tandem, and
Are connected on the front and rear surfaces in the traveling direction shown by.

In FIG. 4, reference numeral 7 denotes an operation unit 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.

In this tandem 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. 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.

On the other hand, the arm 17 at the tip of the boom 16 which can be freely raised and lowered is twisted toward the tip of the boom shown in FIG. ) And the telescopic hydraulic cylinder 19d that allows the arm 17 to bend freely.
When the torsion angle W of the boom tip is fixed in a state where the arm 17 is twisted at 5 degrees, the arm 17 is fixed at a fixed position of two places P5 and P6 of the linear P5 or the twisted P6. .

Attachment 18 (hand body 25) is provided at the tip of arm 17 shown in FIG. 6B, and telescopic cylinder 19e shown in FIG. Movable, and
Attachment 18 arranged at the tip of the arm 17
The attachment base 68 is provided with a rotating shaft that is rotatable about 360 degrees by a rotary hydraulic cylinder so that the attachment tip 68c can freely rotate (in the direction indicated by r6 in FIG. 6C). Have been. FIG. 6 (c)
Reference numerals 71 and 72 denote components of the attachment front end portion 68c and form a hand shape.

Further, the arm 17 provided at the tip of the boom 16 so as to be able to freely bend is provided so that the movable range K of the arm 17 can be further refracted upward by about 45 degrees with respect to the boom 16 shown in FIG. 17 are provided such that the movable range becomes k in the figure. This is because the pivot position P1 of the distal end of the telescopic cylinder 19d provided on the arm 17 is
In the same manner, the movable range is changed by providing the stopper position Ps so that it can be relocated to P2 in the direction of the front end and by providing two fixed positions in the direction of the arrow in the drawing. That is, the movable range of the arm 17 of the working arm 8 is changed to any one of P1 and P2 and fixed.

As described above, in the above-described embodiment, the movable range of the work arm 8 that matches the work can be obtained by providing the work arm 8 in a changeable position.

In this embodiment, the boom inclination P4
Is set to 30 degrees, the torsion angle of the boom is set to 15 degrees, and the angle of change of the movable range of the arm is set to 45 degrees, but any angle may be used. In addition, FIGS. 1 and 3 show an example in which the operation lever 21 is an arm lever shown in FIG. 2 and FIG. 4 as an arm lever shown in FIG. It does not matter if it is any. 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.

[0056] indicated by a thick point line in FIG. 8 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.

In a portion indicated by a thick dotted line Z in FIG. 9, a first working machine and a second working machine are fixed by a connection body shown by oblique lines in the drawing, and the working arm 5 is attached to them. , 6 are installed. Here, the bucket 60 lifted by the work arm 5 in the figure 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 to form a fixed loop shown by Y in the figure, 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.

The portion indicated by the 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 a portion indicated by a thick dotted line Z in FIG. 11, a first working machine and a second working machine are fixed by a connecting body shown by oblique lines in the figure, and working arms 5 and 6 are respectively attached thereto. 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.

In the portion indicated by the thick dotted line Z in FIG. 12, 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.

The portion indicated by the bold dotted line Z in FIG. 13 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 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. 14, 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 application example described above, a powerful arm can be efficiently performed by the work arm provided in a posture corresponding to the work.

[0066]

According to the present invention, two work arms are provided in a posture excellent in workability, and two work can be performed individually and simultaneously, and a relatively large force can be exerted safely. efficiently, we can and provide child a working machine adapted to a wide range of work construction.

Further, by setting the movable direction of the work arm to a direction corresponding to the work, an operation suitable for the work can be realized.

[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 tandem connection.

FIG. 4 is a perspective view showing another tandem connection.

5A is a perspective view, FIG. 5B is a front view, and FIG.

FIGS. 6A and 6B show a working arm structure.
(C) is a perspective view.

FIG. 7 is a conceptual diagram showing an arm movable range.

FIG. 8 is a principle view showing an application example.

FIG. 9 is a principle view showing an application example.

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 perspective view showing a conventional example.

FIG. 16 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

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2001-173022 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) E02F 9/00 E02F 3/30 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;
Of comprising an operation section having both an operating lever for operating the working arm of the working machine, one of the boom of the at least two working machine, tiltably to the connecting member into opposition Direction has a pivot shaft, twin working arm working machine, characterized in that the boom is to be boom tilt angle while inclined <br/> swash is Ru fixed. 2. A revolving structure is provided on a traveling vehicle body via a revolving bearing.
To be pivotable around the vertical axis, and the revolving
A flexible working arm consisting of the tip arm
A first working machine supported so as to be freely laid down, and a first working machine adjacent to the first working machine and having substantially the same structure as the first working machine.
A second working machine, a traveling body of the first working machine, and a traveling body of the second working machine.
A connecting body to be connected, an operating lever for operating a working arm of the first working machine, and a second operating lever
Operating lever for operating the work arm of
An arm at the end of the boom, which is provided so as to be able to move up and down, has a torsion pivot shaft at the end of the boom so that the arm can be twisted in the direction of the connecting body, and the boom end together with a telescopic cylinder that can move the arm freely. That the part is fixed in a twisted state
Features a twin work arm working machine. Wherein attachment arranged on the A over arm tip is provided with a pivot shaft which is movable in rotation freely rotating cylinder
And has請 Motomeko 1 or 2 twin working arm working machine according. 4. A pivot position of the disposed the above telescopic cylinder tip A over arm is made provided changeable capacity according to claim 1 or 2 or 3 twin working arm working machine according.