JP5227939B2 - Work machine - Google Patents

Description

  The present invention relates to a work machine used for sorting industrial waste such as construction waste.

  In recent years, there has been an increasing demand for demolition of buildings that have been built during the high growth period and that are nearing the end of their useful lives, and buildings that no longer meet earthquake resistance standards. In the demolition work of such a concrete building, for example, concrete containing reinforcing bars is generated, but such construction-type industrial waste in which at least two members are combined is dismantled. Need to be separated and recycled or disposed of.

  As a work machine used for such a disassembly separation work that separates and separates one member from the dismantled object, a first work arm that can hold one member of the dismantled object and the other member of the dismantled object There is a double-armed working machine based on a hydraulic excavator provided with a grippable second working arm (see, for example, Non-Patent Document 1).

Takuya Gohisa and five others "Development of a double-armed work machine suitable for dismantling and scrap processing" The 26th Annual Conference of the Robotics Society of Japan September 2008

  The work machine described above is generally composed of a traveling body and an upper-part turning body placed on the traveling body, like a normal hydraulic excavator. The first work arm described above corresponds to an articulated work arm (arm) provided in a normal hydraulic excavator, and is installed as a main arm at a substantially central portion in front of the upper swing body. On the other hand, the second work arm needs to perform cooperative work with the first work arm as the sub arm, so that the left front of the upper swing body is positioned so that the left front of the cab is the center of swing of the sub arm. It is installed below the cab.

  In addition, in order to perform cooperative work between the main arm and the sub arm, it is necessary to provide a certain distance between the main arm and the sub arm, and the cab is good when the sub arm is not used. The second work arm is mounted so as to protrude outward from the left side surface of the upper-part turning body in front view for reasons such as ensuring a good field of view. For this reason, the full width of the work machine is larger than the full width of a normal hydraulic excavator.

  As a result, in order to transport this work machine, depending on the size of the machine, for example, a "Special Vehicle Permit (Authorization) Certificate" issued by the road administrator is required. There is a problem in that it requires labor, equipment and a large transport vehicle equivalent to the transportation of a hydraulic excavator that is one rank larger.

  The present invention has been made on the basis of the above-mentioned matters, and the purpose thereof is a work machine capable of keeping the full width within the vehicle width limit equivalent to that of a normal hydraulic excavator during transportation while maintaining the workability of the sub-arm. Is to provide.

  In order to achieve the above object, the first invention includes a traveling body, an upper revolving body that is turnable on the traveling body, a driver's cab that is provided on the front left side of the upper revolving body, and the upper part. A multi-joint type first working arm provided in front of the swivel body so as to be able to be lifted to the right side of the cab, and a base end thereof is mounted below the cab of the upper swivel body, A first swinging device that is swingable in the left-right direction of the upper swing body, and a base end portion is pivotally supported at the tip of the first swinging device, and the tip end portion can swing in the left-right direction. A second swing device provided in the first swing device, a pivot device provided at the tip of the second swing device so as to be pivotable about a longitudinal axis of the upper swing body, and a front side of the pivot device And an articulated second working arm having a proximal end mounted so as to be able to be raised and lowered, and the first oscillating device is configured to rotate the Characterized in that it can swing inward from the lateral direction of the total width of location and the traveling body the second working arm.

  Moreover, 2nd invention is 1st invention. WHEREIN: The said 1st rocking | fluctuation device is a link member, the cab mounting base provided in the said upper turning body side, the said cab mounting base, and the said link member. A pin shaft that rotatably connects the first oscillating cylinder provided between the cab mounting base and a base end portion of the link member, and the second oscillating device includes: A swing coupling bracket attached to a pivoting device, a pin shaft pivotably coupling the tip of the link member and the swing coupling bracket, and the swing coupling bracket and the link member; And a second swing cylinder provided between the base end and the base end.

  Further, according to a third aspect, in the first aspect, the first swing device includes a link member, a cab mounting frame provided on the upper swing body side, the cab mounting frame and the link member. And a switching link mechanism that pivotally supports a base end portion of the link member at a predetermined position on the cab mounting frame, and the second swinging device includes the rotating shaft. A swing coupling bracket attached to the moving device, a pin shaft for pivotally coupling the tip of the link member and the swing coupling bracket, and a base of the swing coupling bracket and the link member. And a second oscillating cylinder provided between the end portions.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the rotating device includes an inner cylinder fixed to the second swinging device side and a boom of the second working arm. An outer cylinder fixed to the base bracket side, a bearing provided between the outer cylinder and the inner cylinder, a bracket provided on the outer periphery of the outer cylinder, and provided between the bracket and the swinging device side And a rotating cylinder for rotating the outer cylinder with respect to the inner cylinder.

  According to the present invention, the swinging motion of the sub-arm of the work machine is performed by the two-stage swing mechanism, so that the entire width of the work machine can be reduced during transportation. As a result, the entire width during transportation can be accommodated within the vehicle width limit equivalent to that of a normal hydraulic excavator, and a work machine that can be easily transported while maintaining the workability of the sub-arm can be provided. .

It is a perspective view which shows one Embodiment of the working machine of this invention. It is a perspective view which expands and shows the 2nd working arm which comprises one Embodiment of the working machine of this invention shown in FIG. It is a perspective view which expands and shows the 2nd working arm at the time of transportation in one embodiment of the working machine of the present invention. It is a top view which shows an example of the disassembly separation operation | work in one embodiment of the working machine of this invention. It is a top view which shows an example at the time of transport in one Embodiment of the working machine of this invention. It is a perspective view which expands and shows the 2nd working arm which comprises other embodiment of the working machine of this invention. It is a perspective view which expands and shows the 2nd working arm at the time of transportation in other embodiments of the working machine of the present invention.

Embodiments of a work machine according to the present invention will be described below with reference to the drawings.
1 and 2 show an embodiment of the working machine of the present invention, FIG. 1 is a perspective view showing an embodiment of the working machine of the present invention, and FIG. 2 shows FIG. It is a perspective view which expands and shows the 2nd working arm which comprises one Embodiment of the working machine of this invention.

  As shown in FIG. 1, the work machine according to the present invention is attached to a traveling body 1 including a traveling body frame 1a and an endless track crawler belt 1b provided on the traveling body frame 1a, and to be turnable on the traveling body 1. The upper revolving body 2 is provided. A driver's cab 3 is attached to the front left side of the upper swing body 2. A power source device 4 including an engine and a hydraulic pump and a counterweight 5 are provided behind the upper swing body 2. In the following description, as shown in FIGS. 1 and 2, the front and rear, right and left and up and down directions are defined, and description will be made based on these directions.

A first work arm 6 is installed in front of the upper swing body 2 on the right side of the cab 3, and a second work arm 7 is mounted on the left front side of the upper swing body 2.
First, the configuration of the first work arm 6 will be described with reference to FIG. 1. The first work arm 6 is mounted on the front right side of the upper swing body 2 so as to be able to move up and down (up and down) by a cylinder 61. An arm 64 provided at the tip of the boom 62 so as to be rotatable (up and down) by a cylinder 63; a swiveling device 66 provided at the tip of the arm 64 so as to be rotatable (up and down) by a cylinder 65; The swivel device 66 includes a first work tool 67 having an opening / closing claw provided so as to be capable of swiveling, and is a multi-joint work arm. As a result, the first work tool 67 at the tip of the first work arm 6 can move in the vertical direction and can turn about the longitudinal axis.
The first work arm 6 is used, for example, to grip and transport a waste, and to grip and fix one of the members in which the member is embedded at the time of separating the member.

  Next, the configuration of the second working arm 7 will be described with reference to FIGS. 1 and 2. The base of the second working arm 7 is provided on the left side in front of the upper swing body 2, in the left-right direction. An oscillating device 8 that oscillates, and a rotating device 9 that is provided on the front side of the oscillating device 8 and that rotates about the longitudinal axis are provided.

  As shown in FIG. 2, the swing device 8 includes a link member 81, a cab mounting base 10 of the upper swing body 2, a pin shaft A for rotatably mounting the cab mounting base and the link member 81, A first swinging device including a first swinging cylinder 82 that connects the distal end portion of the piston rod 82A to the proximal end side of the link member 81, a swing coupling bracket 83, and the distal end side of the link member 81 are swung. A pin shaft B for rotatably mounting the dynamic connection bracket 83, a second swing cylinder connection bracket 84 provided on the inner side surface of the swing connection bracket 83, and a piston rod provided on the link member 81. The swing device 8 of the two-stage swing mechanism is composed of a second swing device including a second swing cylinder 85 that connects the tip end portion of 84A to the bracket 84 for connecting the second swing cylinder. Yes.

  The base of the second working arm 7 is mounted on the rotating device 9, and a first boom 72 that is rotatably provided by a cylinder 71 on the front side of the rotating device 9, and the first boom. A second boom 74 provided at the tip of 72 by a cylinder 73, an arm 76 provided at the tip of the second boom 74 by a cylinder 75, and a cylinder 77 at the tip of the arm 76. And a second working tool 79 that is pivotably provided on the swivel device 78, and is a multi-joint work arm.

Thereby, the first boom 72, the second boom 74, the arm 76, and the second work tool 79 in the second work arm 7 are swingable about the vertical axis by the swing device 8, and The rotating device 9 can turn around an axis in the front-rear direction. Further, the second work tool 79 can be swung at the tip of the arm 76 by a swivel device 78.
The second working arm 7 is used, for example, to separate one member embedded in the member from the other member at the time of separating the member.

  Next, the configuration of the swinging device 8 and the turning device 9 provided on the second working arm 7 will be described with reference to FIGS. FIG. 3 is an enlarged perspective view showing the second working arm during transportation in one embodiment of the working machine of the present invention. In FIG. 3, the same reference numerals as those in FIGS. 1 and 2 are the same parts, and detailed description thereof is omitted.

  First, the structure of the front left side of the upper swing body 2 on which the second work arm 7 is mounted will be described. As shown in FIGS. 2 and 3, a frame shape is formed below the portion where the cab 3 is attached. A cab mounting base 10 is provided. The cab mounting base 10 is provided with a link mounting member 101 for mounting a link member, which will be described later, in a form protruding forward from above.

  Next, the detailed configuration of the swinging device 8 will be described. The link member 81 having a bent lever shape when viewed from the top is connected to the link mounting member 101 so that the bent portion is pivotally connected to the pin shaft A in the vertical direction. . At the distal end portion on the short side of the bent lever-shaped link member 81, the distal end of the piston rod 82 </ b> A of the first oscillating cylinder 82 with the base end portion 82 </ b> B attached to the cab mounting frame 10, and a second oscillating member described later. A base end portion 85B of the cylinder 85 is connected. With this configuration, the first swing device including the link member 81, the cab mounting base 10, the pin shaft A, and the first swing cylinder 82 has the tip of the link member 81 in the left-right direction of the upper swing body 2. Can be swung.

  Further, a swinging connection bracket 83 that is connected to the rotation device 9 by a vertical pin shaft B is rotatably connected to the distal end portion on the long side of the bending lever-shaped link member 81. A bracket 84 for connecting a second swing cylinder is provided on the inner side surface of the swing connection bracket 83, and the tip of the piston rod 85A of the second swing cylinder 85 for swing is connected to the bracket 84. ing. With this configuration, the second oscillating device including the oscillating coupling bracket 83, the pin shaft B, the second oscillating cylinder coupling bracket 84, and the second oscillating cylinder 85 is the oscillating coupling bracket. 83 can be swung in the left-right direction. As a result, for example, the direction in which the second work arm 7 faces can be swung left and right.

  FIG. 2 shows a state in which the link member 81 of the swinging device 8 is swung to the left, and when performing a cooperative work with the first work arm 6 or when the second work arm 7 is not used. The state in the case of ensuring the favorable visual field of the cab 3 is shown. FIG. 3 shows a state in which the link member 81 of the swinging device 8 is swung forward, and the swinging device 9 and the second work arm 7 are swung inward from the full width of the traveling body 1 in the left-right direction. The state when moving the work machine by moving is shown.

  Next, a detailed configuration of the rotation device 9 will be described. A cylindrical inner cylinder 91 having a longitudinal axis fixed to the front surface of the swing coupling bracket 83 of the second swing device, A cylindrical outer tube 92 fixed to the base bracket 72A of the first boom 72 in the working arm 7 and having an axial line in the front-rear direction, and between the inner peripheral surface of the outer tube 92 and the outer peripheral surface of the inner tube 91 And a rotating cylinder 94 for rotating the outer cylinder 92 with respect to the inner cylinder 91. The cylinder 94 is swingably connected to a bracket 95 provided on the upper surface of the swing connection bracket 83 of the swing device 8, and the tip of a piston rod (not shown) is connected to the first boom 72 in the second work arm 7. The base 96 is connected to a bracket 96 provided on the base bracket 72A. An outer cylinder 92 is fixed to the bracket 96. As a result, the expansion and contraction of the piston rod in the cylinder 94 allows the first boom 72, the second boom 74, the arm 76, and the second work tool 79 of the second work arm 7 to turn about the longitudinal axis. Become.

  Next, an example of the dismantling and sorting work according to the embodiment of the working machine of the present invention described above will be described with reference to FIGS. FIG. 4 is a plan view showing an example of dismantling and sorting work in an embodiment of the work machine of the present invention, and FIG. 5 is a plan view showing an example of transportation in the embodiment of the work machine of the present invention. 4 and 5, the same reference numerals as those in FIGS. 1 to 3 are the same parts, and thus detailed description thereof is omitted.

FIG.1 and FIG.4 has shown the example which performs the operation | work which cut | disconnects the reinforcing bar R in the concrete piece C from the concrete piece C by one Embodiment of the working machine of this invention.
First, the second work arm 7 is changed from the transport mode shown in FIG. 5 to the embodiment of the cooperative work with the first work arm 6 shown in FIG. Specifically, the link rod 81 of the swing device 8 shown in FIG. 3 is swung forward, and the piston rod 82A of the first swing cylinder 82 is extended to link around the pin axis A. The member 81 is swung in the left direction to change the second working arm 7 to the state shown in FIG.

  Next, the work machine of the present invention is positioned so as to face the concrete piece C cut to an appropriate length. Thereafter, the first work arm 6 is operated, and the concrete piece C is gripped by the first work tool 67. Thereby, the concrete piece C in which the reinforcing bar R is incorporated is in a fixed state.

  Next, after driving the swinging device 8, the turning device 9, and the second work arm 7, the tip of the second work tool 79 is opposed to the end of the cut portion of the concrete piece C at a substantially right angle. Further, the gripping claw 791 of the second work tool 79 is opened, the second work arm 7 is driven to close the gripping claw 791 of the second work tool 79, and the rebar incorporated in the concrete piece C Grasp the end of the cut section of R.

  In this state, the piston rod 85A of the second oscillating cylinder 85 of the oscillating device 8 shown in FIG. 4 is extended to oscillate the oscillating connecting bracket 83 about the pin shaft B in the left direction. As a result, the second work rod 7 moves to the left, and a tensile force for separating the reinforcing bar R from the concrete piece C acts on the reinforcing bar R. Therefore, the reinforcing bar R incorporated in the concrete piece C is moved to the concrete. It can be cut off from the piece C, and the concrete piece C and the reinforcing bar R can be separated as recycled materials.

  When the work machine is transported after completion of the dismantling and separation work, the second work arm 7 is changed from the cooperative work embodiment with the first work arm 6 shown in FIG. 4 to the transport mode shown in FIG. To do. Specifically, the piston rod 82A of the first swing cylinder 82 is contracted from the state where the link member 81 of the swing device 8 shown in FIG. The link member 81 is swung forward and the second work arm 7 is changed to the state shown in FIG. As a result, the overall width of the work machine can be the width of the traveling body 1 as shown in FIG.

  According to the embodiment of the work machine of the present invention described above, the swing operation of the second work arm 7 of the work machine is performed by the two-stage swing mechanism. It can be in a narrowed state. As a result, it is possible to fit the full width within the vehicle width limit equivalent to that of a normal hydraulic excavator during transportation, and to provide a work machine that can be easily transported while maintaining the workability of the second work arm 7. Can do.

  Further, according to the embodiment of the work machine of the present invention, the second work arm 7 can work on the work object not only in the vertical direction but also in the oblique direction or the lateral direction (for example, The operation | work which applies a tensile force etc. can be performed. As a result, the second work tool 79 at the tip of the second work arm 7 can be positioned and operated in a direction in which it is easy to work, so various dismantling process workability can be improved.

  Next, another embodiment of the work machine of the present invention will be described with reference to FIGS. FIG. 6 is an enlarged perspective view showing a second working arm constituting another embodiment of the working machine of the present invention, and FIG. 7 shows a second state during transportation in another embodiment of the working machine of the present invention. It is a perspective view which expands and shows the working arm. 6 and 7, the same reference numerals as those shown in FIGS. 1 to 5 are the same or corresponding parts, and the description thereof is omitted.

  In the present embodiment, the first oscillating cylinder 82 of the oscillating device 8 of one embodiment is generally omitted, and a switching link mechanism 86 that switches the oscillating position of the link member 81 is provided. That is, the first swing device includes a link member 81, a cab mounting base 10, a pin shaft A that rotatably connects the cab mounting base 10 and the link member 81, and a switching link mechanism 86.

  As shown in FIGS. 6 and 7, the switching link mechanism 86 is provided above the pin support member 81A provided at the distal end of the short side of the bending lever-shaped link member 81 and the cab 10 and the link. The link mounting member 102 provided with a pin hole 102b that switches to the left as well as the pin hole 102a that switches the swing position of the member 81 forward, and either the pin hole 102a or 102b and the pin support member 81A vertically And a pin shaft 87 that is pivotally supported.

  With this configuration, the first swing device including the link member 81, the cab mounting base 10, the pin shaft A, and the switching link mechanism 86 swings the tip of the link member 81 in the left-right direction of the upper swing body 2. Can be moved. FIG. 6 shows a state in which the link member 81 of the swinging device 8 is swung fully to the left, and when performing cooperative work with the first work arm 6 or when the second work arm 7 is not used. The state in the case of ensuring the favorable visual field of the cab 3 is shown. FIG. 7 shows a state in which the link member 81 of the swinging device 8 is swung forward, and the swinging device 9 and the second work arm 7 are swung inward from the full width of the traveling body 1 in the left-right direction. The state when moving the work machine by moving is shown.

  According to another embodiment of the work machine of the present invention, the same effect as that of the above-described embodiment can be obtained.

  Further, in the present embodiment, since the first swing cylinder 82 provided inside the cab base 3 is omitted, the manufacturing cost can be reduced and the configuration of the peripheral part of the cab base 3 is simplified. Therefore, productivity and maintainability are improved.

DESCRIPTION OF SYMBOLS 1 Traveling body 2 Upper revolving body 3 Driver's cab 6 1st work arm 7 2nd work arm 8 Swing apparatus 81 Link member 82 1st swing cylinder 83 Swing connection bracket 84 For 2nd swing cylinder connection Bracket 85 Second swing cylinder 86 Switching link mechanism 9 Rotating device 10 Driver's cab mounting base 101 Link mounting member

Claims (4)

A traveling body,
An upper swing body provided on the traveling body so as to be capable of swinging;
A cab provided on the front left side of the upper swing body,
A multi-joint type first working arm provided in front of the upper swing body so as to be able to be raised to the right side of the cab;
A first swinging device having a base end attached to the lower side of the operator cab of the upper swinging body and having a distal end swingable in the left-right direction of the upper swinging body;
A second oscillating device having a base end pivotally supported at the distal end of the first oscillating device, the distal end being provided so as to be oscillatable in the left-right direction;
A rotation device provided at the tip of the second swing device so as to be rotatable around a longitudinal axis of the upper swing body;
A multi-joint type second working arm with a proximal end mounted on the front side of the rotating device so as to be able to rise and fall;
The working machine characterized in that the first swinging device is capable of swinging the turning device and the second work arm inward of the full width in the left-right direction of the traveling body during transportation. The work machine according to claim 1,
The first swing device includes a link member, a cab mounting base provided on the upper swing body side, a pin shaft that rotatably connects the cab mounting base and the link member, and the cab A first swing cylinder provided between the mounting base and the base end of the link member;
The second swing device includes a swing connection bracket attached to the rotation device, a pin shaft that rotatably connects a tip end portion of the link member and the swing connection bracket, A work machine comprising: a swing coupling bracket; and a second swing cylinder provided between the base end portion of the link member. The work machine according to claim 1,
The first swing device includes a link member, a cab mounting base provided on the upper swing body side, a pin shaft that rotatably connects the cab mounting base and the link member, and the link member A switching link mechanism that pivotally supports the base end of the cab at the predetermined position on the cab mounting frame,
The second swing device includes a swing connection bracket attached to the rotation device, a pin shaft that rotatably connects a tip end portion of the link member and the swing connection bracket, A work machine comprising: a swing coupling bracket; and a second swing cylinder provided between the base end portion of the link member. The work machine according to any one of claims 1 to 3,
The rotating device includes an inner cylinder fixed to the second swinging device side, an outer cylinder fixed to the base bracket side of the boom of the second working arm, and between the outer cylinder and the inner cylinder. A bearing provided on the outer cylinder, a bracket provided on the outer periphery of the outer cylinder, a rotation cylinder provided between the bracket and the swinging device side, and for rotating the outer cylinder relative to the inner cylinder; A working machine characterized by comprising:

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