CN105452975B - The operation device of Work machine - Google Patents
The operation device of Work machine Download PDFInfo
- Publication number
- CN105452975B CN105452975B CN201480044235.9A CN201480044235A CN105452975B CN 105452975 B CN105452975 B CN 105452975B CN 201480044235 A CN201480044235 A CN 201480044235A CN 105452975 B CN105452975 B CN 105452975B
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- CN
- China
- Prior art keywords
- operating portion
- working rig
- operation device
- work machine
- action bars
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/963—Arrangements on backhoes for alternate use of different tools
- E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/16—Cabins, platforms, or the like, for drivers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Mechanical Control Devices (AREA)
Abstract
A kind of operation device of Dual-arm hydraulic crawler excavator (1), with the left operation device (50) being arranged on the left of driver's seat (4), with the right operation device (51) for being arranged at right side, left operation device (50) includes left action bars (54), with the left Operation switch (56) for being arranged at left action bars (54), right operation device (51) includes right action bars (55), with the right Operation switch (57) for being arranged at right action bars (55), beeline between left action bars (54) and right action bars (55) is longer than the width of driver's seat (4), in the case of working rig (B) before operation is right, operated using left action bars (54) and right action bars (55), in the case where operating left front working rig (A), operated using left Operation switch (56) and right Operation switch (57).Thereby, it is possible to comparably operate with conventional art, and avoid, based on damaged caused by the contact with action bars, can with no obstacle taking a seat for driver.
Description
Technical field
There is pass more than 2 the present invention relates to what is used in the solution body construction or civil construction etc. of building and discarded object etc.
The Dual-arm Work machine of working rig before nodal pattern.
Background technology
As the Work machine used in building solution body construction, discarded object solution body construction, Construction of Civil Engineering etc.
Know following Work machine, it is rotatably provided with upper rotating body on the lower traveling body with driving body,
The preceding working rig of joint type is installed in the upper rotating body in the way of swinging up and down freely.It is used as this Work machine
One and with hydraulic crawler excavator.In the hydraulic crawler excavator, swing up and down and be linked with freely by swing arm with upper rotating body
And the preceding working rig that dipper is constituted, swung up and down in the front end of dipper and scraper bowl is installed freely to carry out digging, loading, smooth
Deng operation.In addition, can also replace scraper bowl and install lithotriptor, disintegrating machine, grab bucket etc. to carry out building solution body construction, discard
The operations such as thing solution body construction.
But, in these common hydraulic crawler excavators, working rig before 1 platform is only installed on 1 Work machine, thus
Following unfavorable condition can for example be produced.When in automobile disassembling operation using disintegration with annex to remove part when, if only pacifying
Equipped with working rig before 1 platform, then preceding working rig can be used as the annex of automobile component is removed certainly, thus can not fixed car
Main body, thus, when by disintegration with annex to remove part when car body can show unstable movement, workability is disliked
Change.
In addition, when using lithotriptor or disintegrating machine, Reiforcing bar cutter etc. destroying building in building disassembling operation
When, if being only provided with working rig before 1 platform, preceding working rig can be used as the annex of destruction building certainly, thus can not
Grip building.Thus, whenever by lithotriptor etc. to crush building, fragment is fallen, and is led because of the potential energy fallen
Cause fragment to be dispersed to surrounding, thus need to reclaim fragment and discard, inefficient.In addition, having in disintegration object preserve
Part in the case of, it is necessary to be sling to fall it beforehand through crane etc., it is also desirable to operating personnel is
This is operated.
As in order to eliminate as the technology of the unfavorable condition produced by these operations, and with disclosed in patent document 1
Technology.It is following Dual-arm Work machine as the technology disclosed in the patent document 1, it is in the anterior left and right of upper rotating body
Both sides, swing up and down and are provided with freely：With working rig before the joint type the 1st for rotating upwardly and downwardly the 1st power tool freely；
With with working rig before the joint type the 2nd for rotating upwardly and downwardly the 2nd power tool freely.
In as the Dual-arm Work machine disclosed in patent document 1, driver's seat of driver's cabin or so be respectively provided with 1,
Altogether provided with 2 operation devices for being used to operate working rig before working rig and the 2nd before the 1st.On the composition of these operation devices,
If by taking the operation device in left side as an example, its composition includes：Motion arm bracket installed in the left side of driver's seat；Swing certainly
Such as it is arranged on the motion arm bracket and to the motion arm that is indicated of swinging of working rig before the 1st；With with the operation
The mode that arm is integrally swung is installed on the handrail of the motion arm；With towards (driver's seat side) on the inside of horizontal direction with can be above and below
The front and rear mode rotated freely is arranged on the fore-end of motion arm and the action to the dipper front end of working rig before the 1st refers to
The action bars shown.
Citation
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2006-252224 publications
The content of the invention
But, constituted according to this, it is possible to because being contacted with the action bars towards setting on the inside of horizontal direction, and when driving
Person pays sticky feeling when being seated at driver's seat, or causes it damaged because paying excessive load to action bars.
The present invention makes in view of the above problems, for the purpose of providing a kind of operation device of Work machine, energy
It is enough comparably to be operated with conventional art, and avoid, based on damaged caused by the contact with action bars, for driver not having
Take a seat with having obstacle.
To achieve these goals, the present invention provides a kind of operation device of Work machine, and the Work machine has：Operation
Mechanical body；Driver's cabin, it is arranged in the Work machine main body, or is located at outside Work machine main body；Operation before 1st
Working rig before machine and the 2nd, it is arranged at the front portion of the Work machine main body, and swings up and down and driven freely；Set
In the driver's seat of the driver's cabin；It is arranged at the left operation device in the left side of the driver's seat；Be arranged at the driver's seat
The right operation device on right side, the operation device of the Work machine is characterised by that the left operation device includes the 1st left operation
Portion and the 2nd left operating portion for being arranged at the 1st left operating portion, the right operation device include the 1st right operating portion and set
Beeline between the 2nd right operating portion of the 1st right operating portion, the 1st left operating portion and the 1st right operating portion
Width than the driver's seat is long, before operation the described 1st in the case of working rig, uses the 1st left operating portion and described
1st right operating portion is operated, and before operation the described 2nd in the case of working rig, uses the 2nd left operating portion and the described 2nd
Right operating portion is operated.
Invention effect
According to the present invention, by using above-mentioned left operation device and right operation device, and can be same with conventional art
Etc. ground operation, and avoid the breakage of action bars perplexed in the past, can with no obstacle be taken a seat for driver.The result
For the present invention can improve the life-span for the comfortableness and action bars of driver etc..
Brief description of the drawings
Fig. 1 is to represent to include the Dual-arm of one as engineering machinery of the operation device of first embodiment of the present invention
The side view of hydraulic crawler excavator.
Fig. 2 is the top view of the Dual-arm hydraulic crawler excavator shown in Fig. 1.
Fig. 3 is the side view of operation device for representing to possess in the Dual-arm hydraulic crawler excavator shown in Fig. 1.
Fig. 4 is the front view for representing the operation device shown in Fig. 3.
Fig. 5 be the control device for representing the Dual-arm hydraulic crawler excavator in first embodiment of the present invention major part and
The figure of input/output relation.
Fig. 6 be represent the present invention the 1st embodiment in relative to by operation device export operation direction, both arms
The figure of the relation of the driving direction for the executing agency that type hydraulic crawler excavator has, Fig. 6 (a) is represented relative to operation device
The driving direction of the Dual-arm hydraulic crawler excavator in direction is operated, Fig. 6 (b) represents the operation direction of operation device.
Fig. 7 be the control device for representing the Dual-arm hydraulic crawler excavator in second embodiment of the present invention major part with
The figure of input/output relation.
Fig. 8 is operation instruction, the Dual-arm hydraulic pressure relative to operation device in the 2nd embodiment for represent the present invention
The figure of the relation of the driving direction for the executing agency that excavator has, Fig. 8 (a) represents the operation side relative to operation device
To Dual-arm hydraulic crawler excavator driving direction, Fig. 8 (b) represents the operation direction of operation device.
Fig. 9 be represent the present invention the 3rd embodiment in Dual-arm hydraulic crawler excavator control device major part
With the figure of input/output relation.
Figure 10 is the operation device that possesses in the Dual-arm hydraulic crawler excavator in the 4th embodiment for represent the present invention
Front view.
Figure 11 be represent the present invention the 4th embodiment in Dual-arm hydraulic crawler excavator control device major part
With the figure of input/output relation.
Figure 12 is operation instruction, the Dual-arm liquid relative to operation device in the 4th embodiment for represent the present invention
The figure of the relation of the driving direction for the executing agency that pressure excavator has, Figure 12 (a) represents the behaviour relative to operation device
Make the driving direction of the Dual-arm hydraulic crawler excavator in direction, Figure 12 (b) represents the operation direction of operation device.
Embodiment
Hereinafter, embodiments of the present invention are illustrated using accompanying drawing.
(the 1st embodiment)
Fig. 1 is to represent to include the Dual-arm of one as engineering machinery of the operation device of first embodiment of the present invention
The side view of hydraulic crawler excavator, Fig. 2 is the top view of the Dual-arm hydraulic crawler excavator shown in Fig. 1.In the following description, do not having
Have in the case that other are expressly recited, the front (for upper left in Fig. 1) with driver's seat is the front of body.
Dual-arm hydraulic crawler excavator 1 (Work machine) shown in Fig. 1 can be rotatably provided with lower traveling body 2
Portion's rotary body 3, has driver's cabin 4 in the front of the upper rotating body 3.In the right forward side and left forward side of driver's cabin 4 point
Not She You left front working rig A (working rig before the 2nd) and it is right before working rig B (working rig before the 1st), the side of driver's cabin 4 with
And rear portion is provided with engine 40 and pump 41 etc..
Lower traveling body 2 has：Rotatably it is located at left and right track frame 5a, 5b (right-hand track chiain frame 5b not shown) rear
Ridden in left or right direction motor 43a, 43b (right travel motor 43b not shown)；Be located at track frame 5a, 5b and driving motors 43a,
Left and right crawler belt 44a, 44b (right-hand track chiain 44b not shown) on 43b.Ridden in left or right direction motor 43a, 43b passes through the hydraulic pressure from pump 41
Oil supply and rotation driving, thus left and right crawler belt 44a, 44b make Dual-arm hydraulic pressure relative to track frame 5a, 5b spinning movement
Excavator 1 is travelled.
Upper rotating body 3 in order that its own spinning movement and with rotation motor 48, rotated by the rotation motor 48,
And upper rotating body 3 is rotated relative to lower traveling body 2.
As shown in Figure 1 and Figure 2, left front working rig A has：Upper rotating body is rotatably arranged in left-right direction
The gantry column 7a (part) in 3 left forward side；The swing arm 10a on gantry column 7a is rotatably arranged on along the vertical direction
(part)；The dipper 12a (part) on swing arm 10a is rotatably arranged on along the vertical direction；Rotate along the vertical direction
The grab bucket 14a (part) as the 1st power tool on dipper 12a is arranged on freely.
In addition, left front working rig A has：Link with gantry column 7a and upper rotating body 3 and gantry column 7a is swung
Gantry column hydraulic cylinder 9a (executing agency)；The swing arm liquid for linking with gantry column 7a and swing arm 10a and swinging up and down swing arm 10a
Cylinder pressure 11a (executing agency)；The dipper hydraulic cylinder 13a for linking with swing arm 10a and dipper 12a and swinging up and down dipper 12a (is held
Row mechanism)；With the power tool hydraulic cylinder for linking with dipper 12a and power tool 14a and rotating upwardly and downwardly power tool 14a
15a (executing agency).In addition, according to job content, in addition to the grab bucket shown in figure, power tool 14a can arbitrarily more
It is changed to any one in cutter, lithotriptor, scraper bowl or other power tools.
Working rig B is located at the right forward side of upper rotating body 3 before right.Working rig B composition is and left front operation before the right side
The substantially symmetrical relations of machine A, " b " is expressed as i.e. by the letter " a " of the reference of left front working rig A each part of correspondence
Can, in this description will be omitted.
Fig. 3 is the side view of operation device for representing to have in the Dual-arm hydraulic crawler excavator shown in Fig. 1, and Fig. 4 is table
The front view of operation device shown in diagram 3.
Driver's seat 49 is provided with driver's cabin 4, left operation device 50, right operation are provided with the left and right sides of driver's seat 49
Device 51, rotary pedal 58, ridden in left or right direction pedal 59a, 59b are provided with the forward lower part of driver's seat.
Left operation device 50 has：It is located at the left operation pole support 52 in the left side of driver's seat 49；All around swing freely
Ground is located at the left action bars 54 (the 1st left operating portion) on the left operation pole support 52；All around rotatably it is located at this
Left Operation switch 56 (the 2nd left operating portion) on the fore-end of left action bars 54.
Similarly, right operation device 51 has：It is located at the right operation pole support 53 on the right side of driver's seat 49；All around put
The dynamic right action bars 55 (the 1st right operating portion) being located at freely on the right operation pole support 53；All around rotatably
It is located at the right Operation switch 57 (the 2nd right operating portion) on the fore-end of the right action bars 55.
Here, left action bars 54 and right action bars 55 are abreast configured with driver's seat 49, with driver's seat 49 it is included and
Portion 491 of taking a seat for example with most long width becomes most short between left action bars 54 and right action bars 55 without overlapping
Apart from the L1 constructions longer than the width L2 of driver's seat 49.
Left operation device 50 has to be carried out to the displacement because of the left action bars 54 that left and right directions being toppled over and being produced forwards, backwards
The displacement detector 541 and displacement detector 542 of detection.Displacement detector 541 detects the position of the fore-and-aft direction of left action bars 54
Shifting amount, displacement detector 542 detects the displacement of the left and right directions of left action bars 54.Left action bars 54 inclining in front-rear direction
The driving direction for toppling over instruction executing agency or in the lateral direction, the telescopic direction of such as hydraulic cylinder, in addition, the position
Move speed of the amount instruction relative to executing agency.In right operation device 51 also have respectively with displacement detector 541,542 phases
When displacement detector 551,552.In addition, on the basis of left action bars 54, by right action bars 55, left Operation switch 56 and
The direction all around that right Operation switch 57 is toppled over is referred to as operating direction.
In addition, left operation device 50 has to because of the displacement of the left Operation switch 56 that left and right directions being toppled over and being produced forwards, backwards
Measure the displacement detector 561 and displacement detector 562 detected.Displacement detector 561 detects the front and rear of left Operation switch 56
The displacement in direction, displacement detector 562 detects the displacement of the left and right directions of left Operation switch 56.Left Operation switch 56 is forward
Rear to topple over or toppling in the lateral direction, i.e., aforesaid operations direction indicates the driving direction of executing agency, such as liquid
The telescopic direction of cylinder pressure, in addition, speed of the displacement amount instruction relative to executing agency.Also have in right operation device 51 and divide
Displacement detector 571,572 unsuitable with displacement detector 561,562.
Rotary pedal 58 has the displacement of detection rotary pedal 58 and sends the rotary pedal displacement detector of signal
581, ridden in left or right direction pedal 59a, 59b have the displacement of detection travel board 59a, 59b and send the travel board use of signal
Displacement detector 591a, 591b.
Fig. 5 be represent the present invention the 1st embodiment in Dual-arm hydraulic crawler excavator control device major part
With the figure of input/output relation.
Above-mentioned each displacement detecting that control device 161 is inputted in the left and right operation device 50,51 being located in driver's cabin 4
The displacement of the grade of device 541, and carry out regulation computing to generate drive signal based on the displacement from these input systems, and will
The drive signal generated is exported to each magnetic valve for acting each several part of working rig A, B before left and right.
Detector to the output shift quantity of control device 161 is as described above.In addition, the electricity exported from control device 161
Magnet valve is provided with gantry column driving with magnetic valve 218a, 218b, swing arm driving with magnetic valve 215a, 215b, dipper driving electromagnetism
Valve 216a, 216b, power tool driving magnetic valve 217a, 217b, rotation driving are used with magnetic valve 213 and traveling driving
Magnetic valve 214a, 214b.
Then, the effect of the 1st embodiment is illustrated.
Fig. 6 be represent the present invention the 1st embodiment in relative to by operation device export operation direction, both arms
The figure of the relation of the driving direction for the executing agency that type hydraulic crawler excavator has, Fig. 6 (a) is represented relative to operation device
Direction, Dual-arm hydraulic crawler excavator driving direction is operated, Fig. 6 (b) represents the operation direction of operation device.
As shown in Fig. 6 (b), when making the left forward direction of action bars 54 (ll1) displacement, as shown in figure 5, left action bars 54
Fore-and-aft direction with drive signal generating unit 161A from displacement detector 541 to control device 161 output detection signal.Receive
The drive signal generating unit 161A of the detection signal to the right dipper 12b driving with magnetic valve 216b send drive signal.According to
The drive signal and shorten right dipper hydraulic cylinder 13b, shown in such as Fig. 6 (a), right dipper 12b is swung (LL1) forwards.This
When, right dipper 12b swing speed is simple increased relation with the displacement of fore-and-aft direction displacement detector 541, for example
Proportional relationship, swing of the displacement detected by fore-and-aft direction displacement detector 541 to right dipper 12b carries out speed control
System.
Similarly, when making the left backward directions of action bars 54 (ll2) displacement, right dipper 12b rearward swings (LL2), when
Right gantry column 7b during the left left direction of action bars 54 (ll3) displacement is swung to the left (LL3), and when make left action bars 54 to
Right gantry column 7b is swung (LL4) to the right during right direction (ll4) displacement.
In addition, in the same manner as above-mentioned left action bars 54, the right swing arm when making the right forward direction of action bars 55 (rl1) displacement
10b swings downwards (RL1), and when making the right backward directions of action bars 55 (rl2) displacement, right swing arm 10b swings (RL2) upward,
When making the right left direction of action bars 55 (rl3) displacement, right power tool 14b is rearward swung (RL3), and ought make right operation
Right power tool 14b is swung (RL4) forwards during the right direction of bar 55 (rl4) displacement.
In addition, as shown in Fig. 6 (b), when making the left forward direction of Operation switch 56 (ls1) displacement, as shown in figure 5, left
The fore-and-aft direction of Operation switch 56 is sent with drive signal generating unit 161E of the displacement detector 561 into control device 161 and examined
Survey signal.Receive the drive signal generating unit 161E of detection signal dipper 12a driving to the left and sent with magnetic valve 216a and driven
Dynamic signal.Shorten left dipper hydraulic cylinder 13a according to the drive signal, shown in such as Fig. 6 (a), left dipper 12a is put forwards
Dynamic (LS1).Now, the displacement of left dipper 12a swing speed and fore-and-aft direction displacement detector 561 is simple increased pass
System, such as proportional relationship, the swing of the displacement of fore-and-aft direction displacement detector 561 to left dipper 12a carries out speed control.
Similarly, when making the left backward directions of Operation switch 56 (ls2) displacement, left dipper 12a rearward swings (LS2), when
Left gantry column 7a during the left left direction of Operation switch 56 (ls3) displacement is swung (LS3) to the left, when make left Operation switch 56 to
Left gantry column 7a is swung (LS4) to the right during right direction (ls4) displacement.
In addition, in the same manner as left Operation switch 56, the left swing arm when making the right forward direction of Operation switch 57 (rs1) displacement
10a swings downwards (RS1), and when making the right backward directions of Operation switch 57 (rs2) displacement, left swing arm 10a is swung downwards
(RS2), when making the right left direction of Operation switch 57 (rs3) displacement, left power tool 14a swings downwards (RS3), when making the right side
Left power tool 14a is swung (RS4) upward during the right direction of Operation switch 57 (rs4) displacement.
In addition, being grasped for left action bars 54 and right action bars 55 and left Operation switch 56 and right Operation switch 57
The executing agency of work and its operation direction, by changing the driving generating unit 161A in control device 161 and each electromagnetism
Valve 216a, 216b, combination, specifically change electric wiring and can freely set.Thus, certainly in Dual-arm
In hydraulic crawler excavator, it can also be set in the same manner as conventional hydraulic crawler excavator operated by left action bars 54 and right action bars 55
Executing agency and its operation direction.
By the present embodiment so constituted, in the same manner as conventional art, left action bars 54 can be used and a left side is located at
Left Operation switch 56 and right action bars 55 on action bars 54 and the right Operation switch 57 that is located on right action bars 55 are simultaneously
Working rig B before operating left front working rig A and being right, and make the beeline ratio between left action bars 54 and right action bars 55
Driver's seat 49 is included and for example the portion 491 of taking a seat with most long width is grown, therefore, it is possible to reduce when driver takes a seat with operating
The possibility of mechanism contacts, it is possible to increase the life-span of comfortableness and left action bars 54 or right action bars 55 etc. to driver.
In addition, in present embodiment, working rig B executing agency before the right side indicated by the operation direction of left action bars 54
Driving direction, the driving with executing agency included in the left front working rig A of the operation direction instruction of left Operation switch 56
Direction is identical, and the driving direction of working rig B executing agency before the right side indicated by the operation direction of right action bars 55, with by the right side
The driving direction of included executing agency is identical in the left front working rig A that the operation direction of Operation switch 57 is indicated, therefore drives
The person of sailing can be operated relative to working rig before the left and right as operation object with same operation direction, thus, it is possible to effective
Grasp operation in ground.
Moreover, in the present embodiment, can make left action bars 54 and executing agency operated by right action bars 55 and
It operates direction identical with conventional hydraulic crawler excavator, therefore the driver of the conventional hydraulic crawler excavator of operation need not remember newly
Operation, can easily drive Dual-arm hydraulic crawler excavator 1.
(the 2nd embodiment)
Fig. 7 be represent the present invention the 2nd embodiment in Dual-arm hydraulic crawler excavator control device major part
With the figure of input/output relation, Fig. 8 is the operation instruction relative to operation device in the 2nd embodiment for represent the present invention
, the figure of the relation of the driving direction of the executing agency that Dual-arm hydraulic crawler excavator has, Fig. 8 (a) represented relative to behaviour
Make the operation direction of device, the driving direction of Dual-arm hydraulic crawler excavator, Fig. 8 (b) represents the operation direction of operation device.
In the present embodiment, left Operation switch 56 and right behaviour be have exchanged with only difference is that for the 1st embodiment
Make the operation direction of switch 57, in addition constituted to be identical.
Operation direction and the 1st embodiment identical as discussed previously with respect to left action bars 54 and right action bars 55
Direction this case is operated, and when making the left forward direction of Operation switch 56 (ls1) displacement shown in such as Fig. 8 (b), such as Fig. 7
It is shown, the drive signal generating unit 161G of the fore-and-aft direction of left Operation switch 56 with displacement detector 561 into control device 161
Output detection signal.Receive the drive signal generating unit 161G of detection signal swing arm 11a to the left driving magnetic valve 215a
Send drive signal.Shorten left boom cylinder 11a according to the drive signal, shown in such as Fig. 8 (a), left swing arm 10a to
Lower section swings (LS1), and when making the left backward directions of Operation switch 56 (ls2) displacement, left swing arm 10a swings (LS2) upward, when
Left power tool 14a during the left left direction of Operation switch 56 (ls3) displacement is swung forwards (LS3), and left operation ought be made
Left power tool 14a is rearward swung (LS4) when switching 56 right directions (ls4) displacement.
Similarly, when making the right forward direction of Operation switch 57 (rs1) displacement, left dipper 12a swings (RS1) upward, when
Left dipper 12a during the right backward directions of Operation switch 57 (rs2) displacement is swung (RS2) downwards, when make right Operation switch 57 to
Left gantry column 7a is swung (RS3) to the left during left direction (rs3) displacement, and ought make the right right direction of Operation switch 57 (rs4)
Left gantry column 7a is swung (RS4) to the right during displacement.
According to the present embodiment so constituted, following effect is different from the 1st embodiment.That is, by left operation
The driving direction of working rig B executing agency before the right side that the operation direction of bar 54 is indicated, with by the operation side of right Operation switch 57
Into the left front working rig A of instruction, the driving direction of included executing agency is identical, and by the operation direction of right action bars 55
The driving direction of working rig B executing agency, the left front work with being indicated by the operation direction of left Operation switch 56 before the right side of instruction
The driving direction of included executing agency is identical in industry machine A, therefore driver makees relative to before the left and right as operation object
Industry machine, easily makes left front working rig A, right preceding working rig B act simultaneously.Gantry column, dipper, power tool are also same structure
Into, therefore operation becomes easy when operating left and right identical executing agency simultaneously.
(the 3rd embodiment)
Fig. 9 be represent the present invention the 3rd embodiment in Dual-arm hydraulic crawler excavator control device major part
With the figure of input/output relation.
In the present embodiment, it only difference is that with the 1st embodiment, preceding operation be provided with control device 161
Machine switching part operates the operation of switching part to distribute switching part 161Z as executing agency, is constituted in addition to be identical.
As shown in figure 9, operation distribution switching part 161Z is located at left action bars 54 and right action bars 55 and left Operation switch
56 and right Operation switch 57 each displacement detector and each drive signal generating unit between.For operation distribution switching part
161Z, the function of which drive signal generating unit exporting the detection signal obtained from each displacement detector to switching.
There is control device 161 switching (not shown) that can switch to R, N, C 3 positions in driver's cabin 4 to switch,
It is electrically connected with the operation distribution switching part 161Z in control device 161.
In the case that switching switch is N, the finger without switching is meaned relative to operation distribution switching part 161Z
Show.
In the case where switching switch is R, means following switching relative to operation distribution switching part 161Z and indicate：
The left left action bars 54 of 57 pairs of Operation switch 56 and right Operation switch and right action bars 55 it is operated left and right before working rig B
Operated, the left left Operation switch 56 of 55 pairs of action bars 54 and right action bars and right Operation switch 57 it is operated it is left front
Working rig A is operated.
In addition, in the case where switching switch is C, following switching is meaned relative to operation distribution switching part 161Z
Indicate：The left left action bars 54 of 57 pairs of Operation switch 56 and right Operation switch and right action bars 55 it is operated left front operation
Machine A is operated, in addition, operated by left action bars 54 and the left Operation switch 56 of 55 pairs of right action bars and right Operation switch 57
Working rig B is operated before the right side.
When the indication signal for carrying out adaptive switched switch is inputted to operation distribution switching part 161Z, operation distribution switching part 161Z
Distribution to each magnetic valve 216a, 216b is changed according to the indication signal.
In addition, in the present embodiment, although working rig B switching before listing left front working rig A and being right, but not
It is limited to this, mutual switching of each executing agency etc. can also be carried out.
According to the present embodiment so constituted, the effect equal with the 1st embodiment, and driver's energy can be obtained
Enough selections by operation device each detection signal drives executing agency, therefore driver can select the operation that is physically easier to perform
Distribution, improves workability.
(the 4th embodiment)
Figure 10 is the master of operation device that the Dual-arm hydraulic crawler excavator in the 4th embodiment for represent the present invention possesses
View, Figure 11 be represent the present invention the 4th embodiment in Dual-arm hydraulic crawler excavator control device major part and
The figure of input/output relation.
In the present embodiment, the difference from the 1st embodiment is, from the left side with less expensive shape
Operation switch 60, right Operation switch 61, left Operation switch 60, enter in the control device 161 of the output signal of right Operation switch 61
Row processing, is in addition constituted to be identical.
As shown in Figure 10, left Operation switch 60, right Operation switch 61 have 4 switches of cross shape, by pressing respectively
These lower switches and can displacement, for each switch, in left Operation switch 60 provided with all around use displacement detector 601~
604, provided with all around with displacement detector 611~614 in right Operation switch 61.By bottom left Operation switch 60 and right behaviour
The fore-and-aft direction of work switch 61 or the driving direction of left and right directions instruction executing agency, the telescopic direction of such as hydraulic cylinder, separately
Outside, speed of the displacement amount instruction relative to executing agency.In addition, by a front and rear left side for Operation switch 60 and right Operation switch 61
Right direction is referred to as operating direction.
As shown in figure 11, the anterior displacement detector 601 from left Operation switch 60 or the rear of left Operation switch 60
The displacement of some output moved in detector 602 is inputted to the drive signal generating unit 161E of control device 161, is being driven
Left dipper hydraulic cylinder 13a driving direction and speed is calculated in dynamic signal generation portion 161E by the displacement, and it is electric to some
Magnet valve is exported.In addition, using other displacement detectors 603,604,611 from left Operation switch 60 and right Operation switch 61
~614 displacement can also carry out same processing.
Then, the effect of the 4th embodiment is illustrated.
Figure 12 is operation instruction, the Dual-arm liquid relative to operation device in the 4th embodiment for represent the present invention
The figure of the relation of the driving direction for the executing agency that pressure excavator has, Figure 12 (a) represents the behaviour relative to operation device
Make direction, Dual-arm hydraulic crawler excavator driving direction, Figure 12 (b) represents the operation direction of operation device.
As described above, the operation direction of left action bars 54 and right action bars 55 is identical with the 1st embodiment, therefore omit
Explanation.
As shown in Figure 12 (b), as front portion (ls1) by bottom left Operation switch 60, the front portion displacement of left Operation switch
The drive signal generating unit 161E of detector 601 as illustrated in fig. 11 into control device 161 sends detection signal.Receive the inspection
The drive signal generating unit 161E dipper drivings to the left for surveying signal send drive signal with magnetic valve 216a.Such as Figure 12 (a) institute
Show, shorten left dipper hydraulic cylinder 13a according to the drive signal, left dipper 12a is swung (LS1) forwards.Now, left dipper
The displacement of 12a swing speed and the anterior displacement detector 601 of left Operation switch is simple increased relation, such as direct ratio
Example relation, swing of the left Operation switch with the displacement of anterior displacement detector 601 to left dipper 12a carries out speed control.Conversely
Ground, as rear portion (ls2) by bottom left Operation switch 60, left Operation switch is with rear portion displacement detector 601 to control device 161
Interior drive signal generating unit 161E sends detection signal, and left dipper hydraulic cylinder elongation, left dipper is rearward swung (LS2).
Similarly, as left part (ls3) by bottom left Operation switch 60, left gantry column 7a left directions swing (LS3), when
By bottom left Operation switch 60 right part (ls4) when left gantry column 7a right directions swing (LS4).
In addition, left swing arm 10a forward directions swing (RS1) as front portion (rs1) by bottom right Operation switch 61, when pressing
Left swing arm 10a upward directions swing (RS2) during rear portion (rs2) of right Operation switch 61, when the left part by bottom right Operation switch 57
(rs3) left power tool 14a in downward direction swings (RS3) when, moreover, left as right part (rs4) by bottom right Operation switch 57
Power tool 14a upward directions swing (RS4).
By the present embodiment so constituted, the effect equal with the 1st embodiment can be obtained, and left operation is opened
It is succinct construction and cheap to close 60, right Operation switch 61, therefore effectively save cost.
(other)
In the 1st~the 4th embodiment, describing working rig B before the right side has gantry column 7b composition, but can also not have
There is gantry column 7b.In this case, the detection signal of the left and right directions displacement detector 542 of left action bars 54 can be used to drive
The rotation motor 48 of dynamic upper rotating body 3.Therefore it is configured to, the right dipper 12b when left action bars 54 is operated along the longitudinal direction
Driven, when left action bars 54 is operated in left-right direction, rotation motor 48 is driven.In addition, when by right action bars 55 along preceding
Right swing arm 10b is driven during direction operation afterwards, and when right action bars 55 is operated in left-right direction, right power tool 14b is driven
It is dynamic.
In the 1st~the 4th embodiment, by being set on left Operation switch 54 (60) and right Operation switch 55 (61)
Displacement detector, and can continuously change the value of operation signal, but can also be configured to, by being changed to contact detector and
The value of operation signal is obtained by ON/OFF.
In the 1st~the 4th embodiment, driver's seat 4 is configured in Dual-arm hydraulic crawler excavator 1, but can also be constituted
For can remote-operated system, driver's seat 4 is not located on Dual-arm hydraulic crawler excavator 1, positioned at from Dual-arm hydraulic crawler excavator 1
The position of separation.
Finally, each embodiment described above appropriately combined can be implemented certainly.
Description of reference numerals
The left front working rigs of A
Working rig before B is right
1 Dual-arm hydraulic crawler excavator
2 lower traveling bodies
3 upper rotating bodies
3a rotation centerlines
3c fore-and-aft direction center lines
4 driver's cabins
5a, 5b track frame
7a, 7b gantry column
9a, 9b gantry column hydraulic cylinder
10a, 10b swing arm
11a, 11b boom cylinder
12a, 12b dipper
13a, 13b dipper hydraulic cylinder
14a, 14b power tool
15a, 15b power tool hydraulic cylinder
20a, 20b grab bucket
21a, 21b cutter
22a, 22b lithotriptor
23a, 23b scraper bowl
30a, 30b swinging center
Sell (swing hydraulic cylinder) in 31a, 31b cylinder bottom side
32a, 32b piston rod side pin (swing hydraulic cylinder)
33a, 33b bracket (on the outside of upper rotating body)
34a, 34b bracket (gantry column)
40 engines
41 pumps
42a, 42b mobile devices
43a, 43b driving motors
44a, 44b crawler belt
48 rotation motors
49 driver's seats
491 take a seat portion
50 left operation devices
51 right operation devices
52 left operation pole supports
53 right operation pole supports
54 left action bars
541 left action bars fore-and-aft direction displacement detectors
542 left action bars left and right directions displacement detectors
55 right action bars
551 right action bars fore-and-aft direction displacement detectors
552 right action bars left and right directions displacement detectors
56 left Operation switches
561 left Operation switch fore-and-aft direction displacement detectors
562 left Operation switch left and right directions displacement detectors
57 right Operation switches
571 right Operation switch fore-and-aft direction displacement detectors
572 right Operation switch left and right directions displacement detectors
58 rotary pedals
581 rotary pedal displacement detectors
59a, 59b travel board
591a, 591b travel board displacement detector
60 left Operation switches
601 left Operation switches front portion displacement detector
602 left Operation switch rear portion displacement detectors
603 left Operation switch left part displacement detectors
604 left Operation switch right part displacement detectors
61 right Operation switches
611 right Operation switches front portion displacement detector
612 right Operation switch rear portion displacement detectors
613 right Operation switch left part displacement detectors
614 right Operation switch right part displacement detectors
161 control devices
161A drive signal generating units (right dipper)
161B drive signal generating units (right gantry column)
161C drive signal generating units (right swing arm)
161D drive signal generating units (right power tool)
161E drive signal generating units (left dipper)
161F drive signal generating units (left gantry column)
161G drive signal generating units (left swing arm)
161H drive signal generating units (left power tool)
161I drive signal generating units (rotation)
161J drive signal generating units (left lateral is sailed)
161K drive signal generating units (right travel)
161Z operation distribution switching parts
213 rotation driving magnetic valves
214a, 214b travel driving magnetic valve
215a, 215b swing arm driving magnetic valve
216a, 216b dipper driving magnetic valve
217a, 217b power tool driving magnetic valve
218a, 218b gantry column driving magnetic valve
Claims (5)
1. a kind of operation device of Work machine, the Work machine has：
Work machine main body；
Driver's cabin, it is arranged in the Work machine main body, or is located at outside Work machine main body；
Working rig before working rig and the 2nd before 1st, it is arranged at the front portion of the Work machine main body, and swings up and down freely
Ground is driven；
It is arranged at the driver's seat of the driver's cabin；
It is arranged at the left operation device in the left side of the driver's seat；With
The right operation device on the right side of the driver's seat is arranged at, the operation device of the Work machine is characterised by,
The left operation device includes the 1st left operating portion and is arranged at the 2nd left operating portion of the 1st left operating portion,
The right operation device includes the 1st right operating portion and is arranged at the 2nd right operating portion of the 1st right operating portion,
The 2nd left operating portion and the 2nd right operating portion are set in the mode orthogonal with the width of the driver's seat, and
And the beeline between the 1st left operating portion and the 1st right operating portion is longer than the width of the driver's seat,
Before operation the described 1st in the case of working rig, operated using the 1st left operating portion and the 1st right operating portion,
Before operation the described 2nd in the case of working rig, operated using the 2nd left operating portion and the 2nd right operating portion.
2. the operation device of Work machine according to claim 1, it is characterised in that
Working rig is the connecting rod construction for having linked multiple parts before described 1st, and including having to drive the connecting rod construction
The multiple executing agencies having,
Working rig is the connecting rod construction for having linked multiple parts before described 2nd, and including having to drive the connecting rod construction
The multiple executing agencies having,
The 1st left operating portion of the left operation device and the 2nd left operating portion and the right operation device it is described
1st right operating portion and the 2nd right operating portion indicate the driving direction of each executing agency,
The 1st left operating portion relative to the described 1st before the executing agency included in working rig indicate driving direction,
With the 2nd left operating portion relative to the described 2nd before the driving direction that indicates of the executing agency included in working rig be
Equidirectional, and the 1st right operating portion relative to the described 1st before other executing agencies included in working rig refer to
The driving direction that shows, with the 2nd right operating portion relative to the described 2nd before other execution machines included in working rig
The driving direction that structure is indicated is equidirectional.
3. the operation device of Work machine according to claim 1, it is characterised in that
Working rig is the connecting rod construction for having linked multiple parts before described 1st, and including having to drive the connecting rod construction
The multiple executing agencies having,
Working rig is the connecting rod construction for having linked multiple parts before described 2nd, and including having to drive the connecting rod construction
The multiple executing agencies having,
The 1st left operating portion of the left operation device and the 2nd left operating portion and the right operation device it is described
1st right operating portion and the 2nd right operating portion indicate the driving direction of each executing agency,
The 1st left operating portion relative to the described 1st before the executing agency included in working rig indicate driving direction,
With the 2nd right operating portion relative to the described 2nd before the driving direction that indicates of the executing agency included in working rig be
Equidirectional, and the 1st right operating portion relative to the described 1st before other executing agencies included in working rig refer to
The driving direction that shows, with the 2nd left operating portion relative to the described 2nd before other execution machines included in working rig
The driving direction that structure is indicated is equidirectional.
4. the operation device of Work machine according to claim 1, it is characterised in that
The Work machine has preceding working rig switching part, and the preceding working rig switching part will use the 1st left operating portion and institute
The operation object for stating the 1st right operating portion to operate from working rig before the described 1st switch to the 2nd before working rig, and will use described
2nd left operating portion and the 2nd right operating portion come the operation object that operates from working rig before the described 2nd switch to the 1st before operation
Machine.
5. the operation device of Work machine according to claim 1, it is characterised in that
Working rig is the connecting rod construction for having linked multiple parts before described 1st, and including having to drive the connecting rod construction
The multiple executing agencies having,
Working rig is the connecting rod construction for having linked multiple parts before described 2nd, and including having to drive the connecting rod construction
The multiple executing agencies having,
There is the Work machine executing agency to operate switching part, and executing agency operation switching part will use the described 1st left behaviour
The operation object for making portion and the 1st right operating portion to operate each execution machine included from working rig before the described 1st
Structure switches to each executing agency included in working rig before the 2nd, and will use the 2nd left operating portion and the described 2nd
Before right operating portion switches to the 1st the operation object that operates each executing agency included from working rig before the described 2nd
Included each executing agency in working rig.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013193500A JP5969444B2 (en) | 2013-09-18 | 2013-09-18 | Operation equipment for work machines |
| JP2013-193500 | 2013-09-18 | ||
| PCT/JP2014/074726 WO2015041300A1 (en) | 2013-09-18 | 2014-09-18 | Device for operating working machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105452975A CN105452975A (en) | 2016-03-30 |
| CN105452975B true CN105452975B (en) | 2017-09-01 |
Family
ID=52688947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480044235.9A Expired - Fee Related CN105452975B (en) | 2013-09-18 | 2014-09-18 | The operation device of Work machine |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3048505B1 (en) |
| JP (1) | JP5969444B2 (en) |
| CN (1) | CN105452975B (en) |
| WO (1) | WO2015041300A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1300334A (en) * | 1999-04-19 | 2001-06-20 | 日立建机株式会社 | Cab for construction machinery |
| CN101970765A (en) * | 2008-03-14 | 2011-02-09 | 克拉克设备公司 | Swing-out joystick |
| US7918303B2 (en) * | 2006-09-14 | 2011-04-05 | Deere & Company | Machine control interlocks for an electrohydraulically controlled vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3207771B2 (en) * | 1996-07-26 | 2001-09-10 | 株式会社エフエフシー | Hydraulic working machine |
| JPH11181815A (en) * | 1997-12-19 | 1999-07-06 | Hitachi Constr Mach Co Ltd | Working machine |
| JP3314067B2 (en) * | 1999-12-17 | 2002-08-12 | 株式会社タカハシワークス | Twin arm working machine with arm lever |
| GB2412362A (en) * | 2002-08-22 | 2005-09-28 | Caterpillar Inc | Method for a work machine having more than one function |
| JP4587848B2 (en) * | 2005-03-11 | 2010-11-24 | 日立建機株式会社 | Operation equipment for work machines |
| JP4562583B2 (en) * | 2005-04-26 | 2010-10-13 | 日立建機株式会社 | Work machine |
| JP4823767B2 (en) * | 2006-05-31 | 2011-11-24 | 日立建機株式会社 | Double-arm work machine |
| JP5493137B2 (en) * | 2011-06-23 | 2014-05-14 | 日立建機株式会社 | Operation device for double-arm work machine |
-
2013
- 2013-09-18 JP JP2013193500A patent/JP5969444B2/en not_active Expired - Fee Related
-
2014
- 2014-09-18 EP EP14845704.7A patent/EP3048505B1/en not_active Not-in-force
- 2014-09-18 CN CN201480044235.9A patent/CN105452975B/en not_active Expired - Fee Related
- 2014-09-18 WO PCT/JP2014/074726 patent/WO2015041300A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1300334A (en) * | 1999-04-19 | 2001-06-20 | 日立建机株式会社 | Cab for construction machinery |
| US7918303B2 (en) * | 2006-09-14 | 2011-04-05 | Deere & Company | Machine control interlocks for an electrohydraulically controlled vehicle |
| CN101970765A (en) * | 2008-03-14 | 2011-02-09 | 克拉克设备公司 | Swing-out joystick |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015041300A1 (en) | 2015-03-26 |
| EP3048505B1 (en) | 2019-01-30 |
| CN105452975A (en) | 2016-03-30 |
| EP3048505A1 (en) | 2016-07-27 |
| JP5969444B2 (en) | 2016-08-17 |
| JP2015060403A (en) | 2015-03-30 |
| EP3048505A4 (en) | 2017-05-10 |
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