EP0399043A1 - Procede d'utilisation d'un bras articule pour engins de construction - Google Patents

Procede d'utilisation d'un bras articule pour engins de construction Download PDF

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Publication number
EP0399043A1
EP0399043A1 EP88910129A EP88910129A EP0399043A1 EP 0399043 A1 EP0399043 A1 EP 0399043A1 EP 88910129 A EP88910129 A EP 88910129A EP 88910129 A EP88910129 A EP 88910129A EP 0399043 A1 EP0399043 A1 EP 0399043A1
Authority
EP
European Patent Office
Prior art keywords
boom
cylinder
working machine
boom cylinder
bucket
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.)
Granted
Application number
EP88910129A
Other languages
German (de)
English (en)
Other versions
EP0399043A4 (en
EP0399043B1 (fr
Inventor
Noboru Kanayama
Hisashi Fukumoto
Kuniharu Fujii
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP29946687A external-priority patent/JPH0830347B2/ja
Priority claimed from JP29946587A external-priority patent/JPH0830346B2/ja
Priority claimed from JP1823188A external-priority patent/JPH028419A/ja
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0399043A1 publication Critical patent/EP0399043A1/fr
Publication of EP0399043A4 publication Critical patent/EP0399043A4/en
Application granted granted Critical
Publication of EP0399043B1 publication Critical patent/EP0399043B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • 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
    • E02F3/301—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 with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • 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
    • E02F3/32—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 working downwardly and towards the machine, e.g. with backhoes
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance

Definitions

  • the present invention relates to a working machine which comprises a boom, an arm and a bucket and which is mounted on a construction vehicle, for example, a power shovel, and to a method of operating the same. More particularly, the present invention relates to a working machine which is capable of being folded compactly when it is at rest and being changed into an operational position easily when it is to be operated, without required any special apparatus.
  • the conventional working machine is, as shown in Figs. 1 and 2, arranged such that the proximal end portion of a first boom cylinder 3 is pivotably supported on a bell crank 4 that is pivotably supported on a chassis 1 through a bracket 2, and the bell crank 4 is driven by a bell crank cylinder 5, thereby folding the working machine in a compact form.
  • a hydraulic circuit means including a valve and other elements, for controlling the bell crank cylinder 5. Accordingly, the number of parts increases and the structure becomes complicated, and the production cost also rises. In addition, the operation of the working machine also becomes complicated, and a failure is likely to occur.
  • the prior art involves various problems.
  • the above-mentioned dead point is a position of the link mechanism in which the pivot point at which the first boom member and the distal end portion of the first boom cylinder are connected pivotably to each other, the pivot point at which the proximal end portion of the first boom member is pivotably attached to the chassis and the pivot point at which the proximal end portion of the first boom cylinder is pivotably attached to the chassis align with each other in a straight line during a pivoting motion of the first boom cylinder.
  • no hydraulic pressure from the first boom cylinder acts to the outside.
  • the first boom cylinder cannot function as a driving member.
  • the term "dead point" is used in the sense of the above.
  • a first object of the present invention to provide a working machine for construction vehicles which has a relatively simple arrangement with a reduced number of parts r in which the dead point in the link mechanism including the first boom cylinder is positively utilized to pivot the proximal end portion of the first boom cylinder without providing a bell crank, a bell crank cylinder and a hydraulic circuit means for controlling the bell crank cylinder, thereby lowering the production cost and making the working machine unlikely to have a failure.
  • a working machine for construction vehicles having a boom that is divided into first and second boom members, which are connected to a chassis in the mentioned order, an arm that is pivotably connected to the distal end portion of the second boom member, one arm cylinder that is pivotably connected between the proximal end of the arm and a predetermined position of the second boom member, a bucket that is pivotably attached to the distal end of the arm, a bucket cylinder that is pivotably connected between the proximal end of the bucket and a predetermined position of the arm, and a bucket retainer that is provided on the forward end portion of the chassis, wherein the improvement comprises: the first boom member which is vertically pivotably supported at one side of the proximal end thereof on a predetermined position of the chassis through a bracket, the first boom member being pivotably connected at the distal end thereof to one side of the proximal end of the second boom member so that the second boom member is pivotable vertically; a first boom
  • a working machine according to the first mode, wherein the retainer means is a second boom cylinder which is pivotably connected between the respective other sides of the proximal end portions of the first and second boom members.
  • a working machine according to the first mode, wherein the retainer means is a second boom cyl.inder which is pivotably connected between the respective other sides of the proximal end portions of the first and second boom members, and the first boom cylinder has a dead point which is rearward of a position where the first boom cylinder assumes an operational position so that when the first boom cylinder reaches the dead point, the center of gravity of the working machine is at a position which is closer to the forward end of the chassis than the pivot point at which the first side of the proximal end portion of the first boom member is pivotably attached to the chassis.
  • a fourth mode of the present invention there is provided a working machine according to the first mode, wherein the retainer means is one or a plurality of pin members which are inserted into a pin bore that is formed in the other side of the distal end portion of the first boom member and a pin bore that is formed in the other side of the proximal end portion of the second boom member, when these two pin bores are aligned with each other.
  • the retainer means is one or a plurality of pin members which are inserted into a pin bore that is formed in the other side of the distal end portion of the first boom member and a pin bore that is formed in the other side of the proximal end portion of the second boom member, when these two pin bores are aligned with each other.
  • a fifth mode of the present invention there is provided a method of operating the working machine according to the third mode, wherein the first boom cylinder is caused to move beyond the dead point by making use of the hydraulic pressure from each of the cylinders, and gravitational force and inertia force, which act on the working machine.
  • a sixth mode of the present invention there is provided a method of operating the working machine according to the third or fourth mode, wherein the first boom cylinder is caused to move beyond the dead point by making use of the hydraulic pressure from each of the cylinders, gravitational force and inertia force, which act on the working machine, and counterforce from the bucket retainer.
  • a method of operating the working machine according to the fifth mode which comprises the steps of: contracting the second boom cylinder to raise the second boom member; expanding, after the second boom member has been raised, the first boom cylinder to raise the first boom member; bringing, after the first boom cylinder has reached the vicinity of the dead point, the first boom cylinder into a floating state and contracting the first boom cylinder, thus enabling the working machine to be brought to an operational position by pivoting force that is caused by gravity and hydraulic pressure from the first boom cylinder and maintained in the operational position by the operation of the second boom cylinder; expanding, after completion of work, the first boom cylinder and, at the same time, contracting the second boom cylinder to move the first boom member to near the dead point of the first boom cylinder; bringing, after the first boom cylinder has reached the vicinity of the dead point, the first boom cylinder into a floating state or contracting the same so that the first boom member is moved toward the rear end of the chassis beyond the dead point of the first boom
  • a method of operating the working machine which comprises the steps of: bringing the second boom cylinder into a floating state and expanding the first boom cylinder to raise the first boom member to near the dead point of the first boom cylinder; expanding and contracting, after the first boom cylinder has reached the vicinity of the dead point, the bucket cylinder to ensure the retaining of the bucket by the bucket retainer and, at the same time, expanding the arm cylinder with the first and second boom cylinders being brought into a floating state; further raising the first boom cylinder beyond the dead point by making use of the counterforce fron the bucket retainer, hydraulic pressures from the bucket cylinder and the arm cylinder, or gravitational force and inertia force, which act on the working machine, thereby bringing the working machine to an operational position; expanding and contracting, after completion of work, the bucket cylinder to retain the bucket on the bucket retainer, and expanding the first boom cylinder and contracting the arm cylinder, with the second boom cylinder being brought into
  • a method of operating the working machine which comprises the steps of expanding the first boom cylinder to raise the first boom member to near the dead point of the first boom cylinder; expanding and contracting, after the first boom cylinder has reached the vicinity of the dead point, the bucket cylinder to ensure the retaining of: the bucket by the bucket retainer, and bringing the first boom cylinder into a floating state and, at the same time, expanding the arm cylinder; further raising the first boom cylinder beyond.the dead point and tilting the first boom member toward the forward end of the chassis by making use of the counterforce from the bucket retainer, hydraulic pressures from the cylinders, or gravitational force and inertia force, which act on the working machine; expanding and contracting the arm cylinder to align a pin bore that is formed in the other side of the distal end portion of the first boom member and a pin bore that is formed in the other side of the proximal end portion of the second boom member; inserting, after the two pin
  • floating state of a cylinder is a state wherein no hydraulic pressure acts on the cylinder, which occurs when each of the ports at the rod and bottom sides of the cylinder is communicated with a tank, for example.
  • this term is used in the sense of the above in the following description.
  • reference numeral 10 denotes a chassis, which is provided with a mounting bracket 11.
  • the proximal end portion of a first boom member 12 is vertically pivotably attached to the mounting bracket 11 throuth a pin member 13.
  • the proximal portion of a second boom member 14 is attached vertically pivotably to the distal end portion. of the first boom member 12 through a pin member 15.
  • brackets 16 which are located at the left and right sides, respectively, of the first boom member 12.
  • the proximal end-portion of a first boom cylinder 17 is connected to these brackets 16 through a pin member 18, and a piston rod 19 of the first boom cylinder 17 is connected to the upper portion of the first boom member 12 through a pin member 20.
  • a bracket 21 is provided at the rear side of the proximal portion of the first boom member 12.
  • the proximal end portion of a second boom cylinder 22, which serves as a retainer means "A" for the second boom member 14, is connected to the bracket 21 through a pin member 23, and a piston rod 24 of the second boom cylinder 22 is connected to the proximal end portion of the second boom member 14 through a pin member 25.
  • An arm 26 is vertically pivotably attached at the lower side of its proximal portion to the distal-end portion of the second boom member 14 through a pin member 27.
  • a bracket 28 is provided on the proximal portion of the second boom member 14.
  • the proximal end portion of an arm cylinder 29 is connected to the bracket 28 through a pin member 30, and a piston rod 31 of the arm cylinder 29 is connected to the proximal end portion of the arm 26 through a pin member 32.
  • a bucket 33 is pivotably attached to the distal end portion of the arm 26 through a pin member 34.
  • One end portion of a link 36 is connected to a rear bracket 35 of the bucket 33, and one end portion of a link 37 is connected to the distal end portion of the arm 26.
  • a bracket 38 is provided on the proximal portion of the arm 26.
  • the proximal end portion of a bucket cylinder 39 is connected to the bracket 38 through a pin member 40, and a piston rod 41 of the bucket cylinder 39 is connected to the joint of the other end portions of the links 36 and 37 through a pin member 42.
  • an element which is denoted by reference numeral 43 at the lower side of the forward end portion of the chassis is a bucket retainer for retaining the bucket 33 when the working machine is folded.
  • Fig. 4 shows a hydraulic control circuit which relates to the hydraulic cylinders for driving the working machine of the present invention. Since this hydraulic control circuit is the same as the one which has heretofore generally been employed to operate this type of working machine, detailed description thereof is omitted.
  • FIG. 3 An operation of the working machine that is shown in Fig. 3 will next be explained in conjunction with Fig. 3 and Figs. 5 to 8, which illustrate in combination an operation of the working machine.
  • Fig. 3 is a side view of the working machine that is folded compactly in such a condition that the first boom cylinder 17 is pivoted to a position below the pivot point 13 at which the proximal end portion of the first boom member 12 is pivotably attached to the chassis 10, and with the second boom cylinder 22 being expanded and the arm cylinder 29 being contracted so that the second boom member 14 and the arm 26 are substantially parallel to each other, the bucket 33 is retained by the bucket retainer 43 on the chassis 10 by the operation of a bucket actuating apparatus.
  • the second boom cylinder 22 is contracted to raise each of the elements of the working machine which are closer to the distal end of the machine than the second boom member 14, as shown. in Fig. 5.
  • the first boom cylinder 17 is expanded.
  • the first boom member 12 rises in such a manner as to pivot upwardly, and the center of gravity G of the working machine also moves forwardly.
  • the hydraulic pressure in the first boom cylinder 12 rises to reach a set relief pressure, so that the pivoting of the first boom member 12 is suspended.
  • the second boom cylinder 22 is actuated so that the center of gravity G of the working machine moves to a position which is forward of the pivot point 13 at which the proximal end portion of the first boom member 12 is pivotably attached to the chassis 10.
  • the working machine If, in the above-described state, the first boom cylinder 17 is brought into a floating state, the working machine further pivots forwardly by gravity, as shown in Fig. 6, and consequently the first boom cylinder 17 passes the pivot point 13. Thereafter, the working machine assumes an operational position, as shown in Fig. 7, so that it is possible to perform work by an operation which is similar to that in the prior art.
  • the working machine pivots rearwardly by gravity and consequently the first boom cylinder 17 passes the pivot point 13, resulting in the working machine assuming a position such as that shown in Fig. 5.
  • the working machine can be brought into the folded position-that is shown in Fig. 3 by the operation that has been described at the beginning of this embodiment.
  • Fig. 9 shows a second embodiment of the present invention.
  • the point 20 at which the piston rod 19 of the first boom cylinder 17 is pivotably attached to the first boom member 12 is on the pin member 15 that connects together the first boom member 12 and the second boom member 14.
  • the other arrangements and operation of this embodiment are the same as those of the first embodiment of the present invention, and the method of operating the second embodiment is also the same as that for the first embodiment. Detailed description thereof is therefore omitted.
  • Figs. 10 and 11 are views which are employed to explain another method of operating the above-described first embodiment.
  • counterforce from the bucket retainer 43 is also utilized in addition to the hydraulic pressure from each cylinder and the inertia force resulting from the gravity that acts on the working machine, while ensuring the retailing of the bucket by the bucket retainer 43.
  • the first boom cylinder 17 in the present invention has "dead point in, the link mechanism", which will be explained below. That is, the pivot point 20 at which the first boom member 12. and the distal end portion of the first boom cylinder 17 are connected.pivotably to each other, the pivot point 13 at which one side of the proximal end portion of the first boom member 12. is pivotably attached to the chassis 10 and the pivot point 18 at which the proximal end portion of the first boom cylinder 17 is pivotably attached to the chassis 10 align with each other in a straight line C during a pivoting motion of the first boom cylinder 17.
  • the position B on the straight line C of the pivot point 20 at which the distal end portion of the first boom cylinder 17 is pivotally attached is called the dead point of the first boom cylinder 17.
  • the border line beyond which the center of gravity G of the working machine moves forwardly of the chassis 10 to a position which is forward of the pivot point 13, at which the proximal end portion of the first boom member 12 is pivotally attached to the chassis 10, in the above-described first operating method of the first embodiment is, needless to say, equivalent to the dead point B.
  • the first boom cylinder 17 is expanded to raise the first boom member 12 to near the dead point B of the first boom cylinder 17.
  • the distal end portion of the bucket 33 is retained on the bucket retainer 43 by expanding and contracting the bucket cylinder 39, and at the same time as the first and second boom cylinders 17 and 22 are brought into a floating state, the arm cylinder 29 is expanded to cause the first boom member to further rise beyond the dead point.
  • the working machine assumes an operational position.
  • the distal end portion of the bucket 33 is retained on the bucket retainer 43 by expanding and contracting the bucket cylinder 39, and with the second boom cylinder 22 being brought into a floating state, the first boom cylinder 17 is expanded and, at the same time, the arm cylinder 29 is contracted to lower the first boom member 12 to near the dead point.
  • FIG. 12 A third embodiment of the working machine according to the present invention is shown in Fig. 12. Unlike the first. and second embodiments in which the second boom cylinder 22. is employed as a position retaining means A for the second boom member 14, the third embodiment employs as a position retaining means A for the second boom member 14 one or a plurality of fixing pins 45 which are inserted into a pin bore 25a that is bored in the other side of the distal end portion of the first boom member 12 and a pin bore 44 that is bored in the other side of the proximal end portion of the second boom member 14a, when these pin bores 25a and 44 align with each other.

Abstract

Bras articulé pour engins de construction, pouvant être replié entièrement lorsqu'il est au repos et converti aisément dans un état de fonctionnement lorsqu'on veut l'utiliser, sans qu'il soit nécessaire d'utiliser un outillage spécial; on décrit de même un procédé d'utilisation de l'engin de construction. Ce dernier est pourvu d'une flèche divisée en un premier élément et un deuxième élément de flèche, d'un bras relié de manière pivotante à l'extrémité avant du deuxième élément de flèche, d'un godet relié de manière pivotante à l'extrémité avant du bras, et d'une pluralité de cylindres hydrauliques qui commandent ces éléments. Le premier élément de flèche (12) est supporté de manière pivotante sur un côté de la partie d'extrémité de base sur une partie déterminée (13) du châssis (10), et au niveau d'une extrémité avant (15) sur un côté de la partie d'extrémité de base du deuxième élément de flèche (14). Le premier élément de flèche (12) peut être tourné verticalement par un premier cylindre de flèche (17) qui est supporté de manière pivotante au niveau de sa partie d'extrémité de base sur une autre partie déterminée (18) du châssis, et au niveau de sa partie d'extrémité avant sur une partie déterminée (20) de la partie d'extrémité avant du premier élément de flèche, la position du deuxième élément de flèche par rapport au premier élément de flèche étant maintenue par un organe de retenue (A).
EP88910129A 1987-11-26 1988-11-25 Procede d'utilisation d'un bras articule pour engins de construction Expired - Lifetime EP0399043B1 (fr)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP29946687A JPH0830347B2 (ja) 1987-11-26 1987-11-26 油圧式掘削機の作業機姿勢変更装置及び方法
JP299466/87 1987-11-26
JP29946587A JPH0830346B2 (ja) 1987-11-26 1987-11-26 油圧式掘削機の作業機姿勢変更装置及び方法
JP299465/87 1987-11-26
JP18231/88 1988-01-28
JP1823188A JPH028419A (ja) 1988-01-28 1988-01-28 油圧掘削機の作業機収納方法
PCT/JP1988/001198 WO1989004894A1 (fr) 1987-11-26 1988-11-25 Bras articule pour engins de construction et procede d'utilisation

Publications (3)

Publication Number Publication Date
EP0399043A1 true EP0399043A1 (fr) 1990-11-28
EP0399043A4 EP0399043A4 (en) 1991-09-25
EP0399043B1 EP0399043B1 (fr) 1996-01-10

Family

ID=27282137

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88910129A Expired - Lifetime EP0399043B1 (fr) 1987-11-26 1988-11-25 Procede d'utilisation d'un bras articule pour engins de construction

Country Status (3)

Country Link
EP (1) EP0399043B1 (fr)
DE (1) DE3854897T2 (fr)
WO (1) WO1989004894A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0607483A1 (fr) * 1993-01-14 1994-07-27 Kabushiki Kaisha Komatsu Seisakusho Bras articulé pour pelle hydraulique
FR2718769A1 (fr) * 1994-04-13 1995-10-20 Gibert Pierre Jean Marie Ensemble compact de deux bras articulés, dont l'extrémité libre est équipée d'un porte équipement, destiné à des véhicules de manutention, et terrassement.
GB2285796B (en) * 1992-09-30 1996-10-02 Komatsu Mfg Co Ltd Construction Machine
EP0791693A1 (fr) * 1994-11-08 1997-08-27 Komatsu Ltd. Engin de chantier

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1185523B (de) * 1961-04-29 1965-01-14 Liebherr Hans Abbaugeraet fuer Ton
JPS47947B1 (fr) * 1966-11-18 1972-01-11
DE2459489A1 (de) * 1974-07-18 1976-01-29 Krone Bernhard Gmbh Maschf Planiergeraet

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4879101U (fr) * 1971-12-28 1973-09-28
JPS5920443Y2 (ja) * 1979-07-27 1984-06-14 株式会社豊田自動織機製作所 スキツドステアシヨベルにおけるリフトア−ム
JPS6042123Y2 (ja) * 1980-04-17 1985-12-23 株式会社小松製作所 油圧式掘削機
JPS62103860U (fr) * 1985-12-20 1987-07-02

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1185523B (de) * 1961-04-29 1965-01-14 Liebherr Hans Abbaugeraet fuer Ton
JPS47947B1 (fr) * 1966-11-18 1972-01-11
DE2459489A1 (de) * 1974-07-18 1976-01-29 Krone Bernhard Gmbh Maschf Planiergeraet

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO8904894A1 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2285796B (en) * 1992-09-30 1996-10-02 Komatsu Mfg Co Ltd Construction Machine
US5584643A (en) * 1992-09-30 1996-12-17 Kabushiki Kaisha Komatsu Seisakusho Working tool unit of construction machine
EP0607483A1 (fr) * 1993-01-14 1994-07-27 Kabushiki Kaisha Komatsu Seisakusho Bras articulé pour pelle hydraulique
US5423655A (en) * 1993-01-14 1995-06-13 Kabushiki Kaisha Komatsu Seisakusho Working machine for hydraulic excavator
FR2718769A1 (fr) * 1994-04-13 1995-10-20 Gibert Pierre Jean Marie Ensemble compact de deux bras articulés, dont l'extrémité libre est équipée d'un porte équipement, destiné à des véhicules de manutention, et terrassement.
EP0791693A1 (fr) * 1994-11-08 1997-08-27 Komatsu Ltd. Engin de chantier
EP0791693A4 (fr) * 1994-11-08 1998-01-28 Komatsu Mfg Co Ltd Engin de chantier

Also Published As

Publication number Publication date
EP0399043A4 (en) 1991-09-25
DE3854897T2 (de) 1996-08-14
EP0399043B1 (fr) 1996-01-10
WO1989004894A1 (fr) 1989-06-01
DE3854897D1 (de) 1996-02-22

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