JP5941014B2 - Double arm working machine - Google Patents

Description

The present invention relates to a working front of the articulated structure to the upper rotating body into two groups attached composed double arm working machine.

A double-arm work machine in which an upper turning body is installed on a lower traveling body via a turning device and a multi-joint work front is attached to the upper turning body is used for various applications such as construction and dismantling. Such a double-arm work machine is provided with an angle sensor for detecting the angle of front components such as a boom and an arm for the purpose of confirming the operation posture. In the conventional working machine, as disclosed in Patent Document 1, for example, the angle sensor is attached to an end portion of a pin provided in the joint portion, that is, a side surface of the bearing portion of the front component member.

Japanese Utility Model Publication No. 7-8457

  For example, when performing work such as dismantling in a building or a narrow underground space, it is necessary to configure the work machine in a small size. However, in the conventional structure in which the angle sensor is attached to the side surface of the bearing portion of the front structural member that is the end of the pin, if the working machine is downsized, the mounting space for the angle sensor is reduced, and the mounting of the angle sensor It becomes difficult.

In view of the above problems, an object of the present invention is to provide a double-arm work machine in which an angle sensor can be easily attached.

The double-arm work machine according to claim 1, wherein the double-arm work machine includes two sets of multi-joint work fronts including a boom attached to the swing frame of the upper swing body so as to be raised and lowered .
A bracket having a front mounting portion is provided on the front mounting frame provided at the front portion of the swivel frame,
Left and right work fronts are attached to the left and right of the front mounting portion of the bracket so as to be swingable in the left and right directions, respectively.
On the upper part of the bracket, hydraulic cylinders that swing the left and right working fronts are mounted side by side and adjacent to the front and rear,
An angle sensor is provided on the back side of the base portion of the boom for each work front. The angle sensor detects a rotation angle of a component of each work front.

Dual arm working machine according to claim 2, in a double-arm working machine according to claim 1,
The working front has a structure in which an arm is rotatably attached to a boom,
A boom angle sensor and an arm angle sensor are provided as angle sensors attached to the back side of the boom.

Dual arm working machine according to claim 3, in a double-arm working machine according to claim 2,
A sensor mounting plate is provided on the back side of the base portion of the boom, and the boom angle sensor and the arm angle sensor are mounted on the sensor mounting plate.

Dual arm working machine as claimed in claim 4, in a double-arm working machine according to claim 2,
A relay link rotatably provided on the side of the boom between the detection lever of the arm angle sensor and the arm, and a rod for connecting the both ends of the relay link with the arm and the detection lever. link with mechanism, characterized in that is provided.

Dual arm working machine according to claim 5, in a double-arm working machine according to claim 1,
A swing bracket attached to the swivel frame so as to be swingable left and right;
The working front is attached to the swing bracket,
The swing bracket is provided with an angle sensor for detecting a swing angle of the work front.

In the invention of claim 1, the angle sensor for detecting the rotation angle of the double-arm working front structure member is formed on the back side of the base portion of the boom, the mounting of the angle sensors of the boom side bearing The angle sensor can be easily attached without being restricted by the width of the part. For this reason, it is not necessary to unnecessarily widen the bearing portion, and it is possible to realize a double-arm working machine capable of turning in a narrow working space.

In the invention of claim 2, since the boom angle sensor and the arm angle sensor are provided as the angle sensors to be attached to the rear side of the boom, it is easy to attach these angle sensors, and it is possible to contribute to the miniaturization of the double arm working machine. .

  In the invention of claim 3, a sensor mounting plate is provided on the back side of the base portion of the boom, and the boom angle sensor and the arm angle sensor are mounted on the sensor mounting plate. Can be packed compactly in a narrow space.

  According to the invention of claim 4, since the arm and the detection lever of the arm angle sensor are connected via the link mechanism having the relay link and the connecting rod provided on the side surface of the boom, the connecting rod is short. An angle can be detected that accurately reflects the rotation of the arm without causing deflection or the like in the rod. In addition, by selecting the ratio of the distance to the connection point between the central axis and each rod in the relay link, an angle signal can be obtained with detection accuracy preferable as an arm angle sensor.

  According to the fifth aspect of the present invention, since the angle sensor for detecting the left and right swing angle of the work front is also provided on the swing bracket for attaching the boom base, the angle sensor wiring is connected to the boom base. Thus, wiring can be simplified.

It is a side view of a double-arm working machine showing one embodiment of the present invention. It is a top view of the double arm working machine of FIG. It is a perspective view which shows the front attachment structure of this embodiment. It is a perspective view which shows the turning frame in this embodiment. It is a perspective view which shows the attachment structure of the work front mounting bracket and front rocking hydraulic cylinder in this embodiment. It is a partial cross section side view which shows the attachment structure and the attachment structure of an angle sensor with respect to the bracket of the front for work in this embodiment. It is a side view which shows the attachment structure of the angle sensor in this embodiment. It is a perspective view which shows the attachment structure of the angle sensor in this embodiment.

FIG. 1 is a side view of a double-arm working machine showing an embodiment of the present invention, and FIG. 2 is a plan view thereof. The double-arm working machine of this embodiment is shown as being controlled by wireless operation. 1 crawler type lower traveling body, 2 denotes an upper revolving structure which is installed through the rotation device 3 on the lower traveling body 1. The upper rotating body 2 is building 4 placed on the revolving frame 2a, the power unit 5 and control valve including an engine, a hydraulic pump or the like in the building 4 (not shown) or the like is formed are mounted. On the building 4 is mounted a controller 6 with a receiver that receives an operation signal from a transmitter (not shown) of the operator and performs running, turning, and front operation. Reference numeral 7 denotes an earth discharging plate attached to the frame of the lower traveling body 1 so as to be movable up and down.

9 is a front mounting frame provided on the revolving frame 2a integrally with the front portion of the revolving frame 2a. As shown in the perspective views of FIGS. 3 and 4, the front mounting frame 9 is formed by raising the front portions of the left and right vertical plates 2b, 2b included in the turning frame 2a upward.

Reference numeral 11 denotes a front mounting bracket attached to the front mounting frames 9 and 9. As shown in the perspective view of FIG. 5, the bracket 11 has two leg plates 11a, and the leg plates 11a have pin holes 11b and 11b on the upper and lower sides, respectively. As shown in FIG. 3, the two leg plates 11 a and 11 a of the bracket 11 are inserted between the front mounting frames 9 and 9, and the two upper and lower pins 12 and 12 are pin holes 9 a and 9 a of the front mounting frame 9. The bracket 11 is attached to the front mounting frames 9, 9 by being inserted into the pin holes 11b, 11b of the bracket 11.

As shown in FIG. 5, the bracket 11 has a front mounting portion 11c formed in a box shape on the left and right sides, and cylindrical bearings 13A and 13B are fixed to the left and right ends thereof. 14A, 14B is one set to the left and right, respectively, total two sets of working front 15A, 15B (see FIG. 3) is swinging brackets that swingably mounted at the left and right. These swinging brackets 14A, 14B, the vertical axis 16A attached thereto, 16B the bearing 13A, the Rukoto is fitted into pivotably 13B, mounted to be swingable right and left brackets 11.

  In FIG. 5, 18A and 18B are hydraulic cylinders that swing the left and right working fronts 15A and 15B, respectively. Reference numeral 19 denotes a cylinder mounting plate. The cylinder mounting plate 19 is fixed to the upper surface of the front mounting portion 11c of the bracket 11 with a space from the upper surface. One ends of the hydraulic cylinders 18A and 18B are connected to the bracket 11 by pins 20A and 20B attached between the front attachment portion 11c and the cylinder attachment plate 19. The other ends of the hydraulic cylinders 18A and 18B are connected by pins 22A and 22B to parallel plate-like connecting portions 21A and 21B fixed to the swing brackets 14A and 14B, respectively. Therefore, the swing brackets 14A and 14B swing left and right by the expansion and contraction of the hydraulic cylinders 18A and 18B.

  The hydraulic cylinders 18A and 18B are attached sideways while being slightly inclined with respect to the left and right width directions, and the hydraulic cylinders 18A and 18B are attached adjacent to each other in the front-rear direction.

  As shown in FIGS. 1 to 3, the left and right working fronts 15A and 15B have a multi-joint structure having booms 24A and 24B and arms 26A and 26B. The booms 24A and 24B are attached to the swing brackets 14A and 14B by pins 23A and 23B, respectively, so that they can be raised and lowered. The arms 26A and 26B are rotatably connected to the booms 24A and 24B by pins 25A and 25B, respectively. Hydraulic cylinders 27A. For raising and lowering the booms 24A and 24B, respectively. 27B is attached with one end connected to the swing brackets 14A and 14B via pins 28A and 28B, and the other end connected to the booms 24A and 24B via pins 29A and 29B, respectively. 30A and 30B are hydraulic cylinders that rotate the arms 26A and 26B with respect to the booms 24A and 24B.

Reference numerals 31A and 31B denote work tool mounting brackets which are rotatably mounted on the tips of the arms 26A and 26B by hydraulic cylinders 33A and 33B around the pins 32A and 32B, respectively. In this example, in order to disassemble, as shown in FIG. 1, a cutter 35 is attached to one bracket 31A via a turning device 34, and a gripping tool (not shown) such as a hawk is attached to the other. . When performing dismantling, sometimes fast rotating cutter instead of the cutter 35 is Ru mounted. In addition, work tools according to the work purpose are attached to the work tool mounting brackets 31A and 31B.

36A and 36B are hydraulic actuators for the left and right working fronts 15A and 15B (hydraulic cylinders 27A, 27B, 30A, 30B, 33A and 33B, and hydraulic actuators (not shown for operating the swiveling device 34 and the work implement, respectively)). It is a flexible cylindrical cover that accommodates a hydraulic hose that supplies hydraulic oil. Reference numeral 37 denotes a rotary joint attached to the front portion of the swivel frame 2a, to which a base end portion of a hydraulic hose in the covers 36A and 36B is connected. These covers 36A, 36B, i.e. a working front 15A, hydraulic hoses for supplying hydraulic fluid to 15B hydraulic actuator, the working front 15A, is attached to the inner or mutually facing surfaces of 15B.

The reason why the cover 36A, the hydraulic hose is housed in 36B that is attached to the inside of the working front 15A, 15B is to prevent damage during the hydraulic hose work. That is, when the upper swing body 2 is turned by the operation of the turning device 3, or when the work fronts 15A and 15B are swung to the left or right or moved upward, the hydraulic pressure attached to the work fronts 15A and 15B. This is to prevent the hose from colliding with an obstacle and being damaged. In addition, by connecting the hydraulic hose attached to the work front 15A, 15B using the rotary joint 37, it is possible to prevent excessive force from acting on the hydraulic hose due to twisting, etc., and to prevent damage to the hydraulic hose. ing.

FIG. 6 is a side view showing an attachment structure of the attachment portion and the angle sensor to the bracket 11 of the work front 15A. In FIG. 6, reference numeral 39 denotes an angle sensor for detecting the left and right swing angles of the work front 15A. The swing angle sensor 39 is placed on the cylindrical body 46 provided on the swing bracket 14A. Is attached concentrically with the longitudinal axis 16A. Reference numeral 40 denotes a boom angle sensor that detects the undulation angle of the boom 24A of the work front 15A. Reference numeral 41 denotes an arm angle sensor that detects the angle of the arm 26A relative to the boom 24A. 47 is a mounting plate for an angle sensor mounting attached by bolts 48 (see FIG. 8) to the back of the base portion of the boom 24A. These boom angle sensor 40 and the arm angle sensor 41, Ru attached by respective bolts 49 and 50 to the mounting plate 47.

The side view of FIG. 7 shows the rotation angle detection mechanism of the arm angle sensor 41. In FIG. 7, reference numeral 43 denotes a relay link attached to the side surface of the boom 24A so as to be rotatable about a shaft 42. A detection lever 41a of the one end and the arm angle sensor 41 for the relay link 43 is connected by a rod 44, the other end of the relay link 43, Ru is coupled to the coupling member 51 attached to the arm 26A by the rod 45. The connecting portions at both ends of the rods 44 and 45 are constituted by ball joints 44a and 45a, so that even if a force in the bending direction of the rods 44 and 45 acts, an unreasonable force is not generated at the connecting portions. . Moreover, these rods 44 and 45 are comprised so that length adjustment is possible by the length adjustment parts 44b and 45b.

  In FIG. 7, when the arm 26 </ b> A is rotated with respect to the boom 24 </ b> A, the relay link 43 is rotated around the shaft 42 via the rod 45, and accordingly, the arm angle sensor 41 is connected via the rod 44. Since the detection lever 41a is rotated with respect to the main body of the arm angle sensor 41, the rotation angle of the arm 26A relative to the boom 24A can be detected.

FIG. 8 is an enlarged perspective view showing the angle sensors 39 to 41. 52 is a connecting member attached to the swinging brackets 14A, between the detection lever 40a of the connecting member 52 and the boom angle sensor 40 is Ru is connected by a rod 53.

  Similar to the rods 44 and 45, the rod 53 also includes a ball joint 53a and a length adjusting portion 53b at both ends. In this boom angle sensor 40, since the detection lever 40a rotates with respect to the main body of the boom angle sensor 40 as the boom 24A is raised and lowered, the raising and lowering angle of the boom 24A can be detected.

As shown in FIG. 8, the swing angle sensor 39, the swing bracket 14A, Ru mounted by bolts 54 on the cylinder 46. A connecting member 55 is fixed to the front mounting portion 11c of the bracket 11 for detecting the swing angle. Between the detection lever 39a of the connecting member 55 and the swing angle sensor 39 Ru is connected by a rod 56. As with the rods 44, 45, 53, the rod 56 includes a ball joint 56a and a length adjusting portion 56b at both ends. Swing angle sensor 39 of the same configuration for the right working front 15B, boom angle sensor 40 and the arm angle sensor 41 is Ru mounted.

As described above, in this embodiment, the angle sensors 40 and 41 for detecting the rotation angles of the booms 24A and 24B and the arms 26A and 26B, which are constituent members of the work fronts 15A and 15B, are used as the roots of the booms 24A and 24B. provided on the back parts, swinging brackets 14A, the angle sensor 39 is cylindrical bearing 13A for detecting the swing angle of 14B, since provided on 13B, the attachment of the angle sensor 39, 40 and 41 work Without being restricted by the width (space) of the swing brackets 14A and 14B that serve as the bearing portions of the front 15A and 15B and the side surfaces of the bearing portions that pin-couple the booms 24A and 24B and the arms 26A and 26B. The sensors 39, 40 and 41 can be easily attached. Further, since the sensor and the bracket for mounting the sensor do not protrude greatly to the side of the booms 24A and 24B and the arms 26A and 26B, the sensor is not exposed to earth and sand or a dismantling object during work. Sensor damage can be prevented. Furthermore, since a plurality of sensors are collectively arranged in one place at the base ends of the booms 24A and 24B, the mounting portion does not increase in size and can be turned in a narrow work space in a building or underground space. This contributes to the realization of an efficient and compact working machine, and also improves workability because multiple sensors can be mounted and maintained in one place and at a relatively low height. it can

Further, in this embodiment, a boom 24A, the sensor mounting plate 47 is provided on the back side of the base portion of the 24B, on the sensor mounting plate 47, and the boom angle sensor 40 and the arm angle sensor 41 is attached than can be attached to the compact in a narrow space together with these angle sensors 40 and 41.

In this embodiment, the arms 26A, 26B and the detection lever 41a of the arm angle sensor 41 are connected via a link mechanism having a relay link 43 and connecting rods 44, 45 provided on the side surfaces of the booms 24A, 24B. because while it is connected, it is possible to use a short as connecting rods 44 and 45, without the occurrence of such deflection to the rod 44, the arm 26A, accurately reflect the angle detecting rotation of 26B Can be done. In addition, an angle signal can be obtained with a preferable detection accuracy as the arm angle sensor 41 by selecting a ratio of distances to the connection points between the central shaft 42 and the rods 44 and 45 in the relay link 43.

In this embodiment, the angle sensors 39 for detecting the left and right swing angles of the work fronts 15A and 15B are also provided on the swing brackets 14A and 14B for attaching the root portions of the booms 24A and 24B. The wiring of the angle sensors 39 to 41 can be collected at the base of the boom, and the wiring can be simplified.

The present invention can also be applied when the power source is an electric motor and the driven rotor is a hydraulic pump. Further, the present invention can be applied not only to a remotely operated work machine such as a wirelessly operated machine, but also to a work machine having a driver's seat. In addition, the present invention is not limited to the above embodiment, and various changes and additions can be made without departing from the scope of the present invention.

1: crawler type lower traveling body, 2: upper turning body, 2a: turning frame, 3: turning device, 4: building, 5: power unit, 11: front mounting bracket, 14A, 14B: swing bracket, 15A, 15B : Working front, 18A, 18B: Swing hydraulic cylinder, 23A, 23B: Pin, 24A, 24B: Boom, 25A, 25B: Pin, 26A, 26B: Arm, 27A, 27B: Hydraulic cylinder, 30A, 30B: Hydraulic pressure Cylinder, 39: Swing angle sensor, 40: Boom angle sensor, 41: Arm angle sensor, 43: Relay link, 44, 45, 53, 56: Rod

Claims (5)

In a double-arm work machine comprising two sets of work fronts having an articulated structure including a boom attached to a swing frame of an upper swing body in a undulating manner,
A bracket having a front mounting portion is provided on the front mounting frame provided at the front portion of the swivel frame,
Left and right work fronts are attached to the left and right of the front mounting portion of the bracket so as to be swingable in the left and right directions, respectively.
On the upper part of the bracket, hydraulic cylinders that swing the left and right working fronts are mounted side by side and adjacent to the front and rear,
A double-arm work machine , wherein an angle sensor for detecting a rotation angle of a component of each work front is provided on a back side of a base portion of each work front boom. In the double arm working machine according to claim 1,
The working front has a structure in which an arm is rotatably attached to a boom,
A dual-arm working machine comprising a boom angle sensor and an arm angle sensor as angle sensors attached to the rear side of the boom. In the double arm working machine according to claim 2,
A dual-arm working machine , wherein a sensor mounting plate is provided on the back side of the base portion of the boom, and the boom angle sensor and the arm angle sensor are mounted on the sensor mounting plate. In the double arm working machine according to claim 2,
A relay link rotatably provided on the side of the boom between the detection lever of the arm angle sensor and the arm, and a rod for connecting the both ends of the relay link with the arm and the detection lever. A double-arm working machine characterized in that a link mechanism having the same is provided. In the double arm working machine according to claim 1,
A swing bracket attached to the swivel frame so as to be swingable left and right;
The working front is attached to the swing bracket,
The double-arm working machine , wherein the swing bracket is provided with an angle sensor for detecting a swing angle of the work front.

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