EP3048505B1 - Device for operating the double arm of a working machine - Google Patents

Device for operating the double arm of a working machine Download PDF

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Publication number
EP3048505B1
EP3048505B1 EP14845704.7A EP14845704A EP3048505B1 EP 3048505 B1 EP3048505 B1 EP 3048505B1 EP 14845704 A EP14845704 A EP 14845704A EP 3048505 B1 EP3048505 B1 EP 3048505B1
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EP
European Patent Office
Prior art keywords
work implement
operating unit
front work
operating
actuators
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.)
Not-in-force
Application number
EP14845704.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3048505A4 (en
EP3048505A1 (en
Inventor
Akinori Ishii
Kazuyoshi Hanakawa
Kunitsugu Tomita
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.)
Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication date
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Publication of EP3048505A1 publication Critical patent/EP3048505A1/en
Publication of EP3048505A4 publication Critical patent/EP3048505A4/en
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Publication of EP3048505B1 publication Critical patent/EP3048505B1/en
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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

Definitions

  • the present invention relates to a double arm type work machinery comprising two front work implements of the multijoint type and being used for demolition works of objects such as structures and wastes, civil engineering works, and so forth.
  • a work machinery as described in the preamble portion of patent claim 1 has been known from EP 2 022 899 A1 .
  • Work machineries comprising a lower track structure having a travel structure, an upper swing structure attached to the lower track structure to be freely swingable, and a front work implement of the multijoint type attached to the upper swing structure to be freely pivotable up and down are well known as those used for structure demolition works, waste demolition works, civil engineering construction works, and so forth. Hydraulic excavators are an example of such work machineries.
  • the hydraulic excavator in which the front work implement including a boom and an arm is linked to the upper swing structure to be freely pivotable up and down and a bucket is attached to the tip end of the arm to be freely pivotable up and down, is used to perform works such as excavation, loading and ground leveling.
  • the hydraulic excavator is configured so that other types of works such as structure demolition works and waste demolition works can also be performed by attaching a breaker, crusher, grapple or the like to the arm instead of the bucket.
  • a structure demolition work if there is only one front work implement attached to the work machinery when a structure has to be demolished by using a breaker, crusher, reinforcing bar cutter or the like, the front work implement is used naturally for the demolition of the structure and thus cannot hold the structure.
  • the front work implement is used naturally for the demolition of the structure and thus cannot hold the structure.
  • the structure is smashed by a breaker or the like, fragments drop from the structure and scatter around due to the momentum of the dropping.
  • the fragments have to be collected and disposed of and these tasks deteriorate the efficiency.
  • the object of the demolition includes a part that should be preserved, the part has to be previously suspended by using a machinery such as a crane in order to prevent the part from dropping. Workers and operations become necessary for such a preparation.
  • JP 2006-252224 A discloses a double arm type work machinery, in which a first front work implement of the multijoint type having a first work tool freely rotatable up and down and a second front work implement of the multijoint type having a second work tool freely rotatable up and down are attached respectively to the left and right sides of the front part of the upper swing structure to be freely pivotable up and down.
  • the operating device on the left side includes a control arm bracket which is provided on the left side of the cab seat, a control arm which is attached to the control arm bracket to be freely pivotable to the left and right for commanding the left/right pivoting of the first front work implement, an armrest which is attached to the control arm so as to pivot integrally with the control arm, and a control lever which is attached to a tip end part of the control arm to extend toward the inside (cab seat's side) in a horizontal direction and to be freely pivotable up and down and back and forth for commanding the operation of the tip end of the arm of the first front work implement.
  • EP 2022899 A1 discloses a work machinery comprising an operating device, the work machinery comprising a work machinery main body; a cab which is provided on the work machinery main body or outside the work machinery main body; a first front work implement and a second front work implement which are provided at the front of the work machinery main body to be driven and freely pivoted up and down; a cab seat which is provided in the cab; a left operating device which is provided on the left side of the cab seat; and a right operating device which is provided on the right side of the cab seat, wherein the left operating device includes a first left operating unit and a second left operating unit provided on the first left operating unit, the right operating device includes a first right operating unit and a second right operating unit provided on the first right operating unit, the shortest distance between the first left operating unit and the first right operating unit is greater than the width of the cab seat, the operation of the second front work implement is performed by using the first left operating unit and the first right operating unit, the operation of the first front work implement is performed by
  • GB 2412362 A1 is directed to an operating device for a work machinery that has front and rear work implements, a work implement switching unit that can switch the object of the operation by use of a first left operating unit and a first right operating unit from a first work implement to a second work implement, while the switching unit can switch the object of the operation by use of a second left operating unit and a second right operating unit from the second work implement to the first front implement.
  • control lever extending toward the inside in the horizontal direction can make contact with the operator when the operator sits down on the cab seat, by which a feeling of discomfort can be caused to the operator or the control lever can be broken due to an excessive load applied thereto.
  • the object of the present invention which has been made in consideration of the above-described situation, is to provide an operating device for a work machinery with which the operation of the work machinery can be performed in a manner similar to that in conventional technology and the operator can sit down on the cab seat without a hitch while avoiding the breakage caused by the contact with the control lever.
  • the operation of the work machinery can be performed in a manner similar to that in the conventional technology. Further, the avoidance of the breakage of a control lever, which has been difficult in the conventional technology, can be achieved and it becomes possible for the operator to sit down on the cab seat without a hitch. As a result, the present invention increases the comfortability of the operator and the operating life of components such as the control levers.
  • Fig. 1 is a side view showing a double arm type hydraulic excavator as an example of a construction machinery comprising an operating device according to a first embodiment of the present invention.
  • Fig. 2 is a plan view of the double arm type hydraulic excavator shown in Fig. 1 .
  • the forward direction viewed from the cab seat (upper left direction in the figure) is assumed to correspond to the forward direction (front) of the machinery unless otherwise noted.
  • an upper swing structure 3 is attached to a lower track structure 2 to be swingable, and a cab 4 is arranged at the front of the upper swing structure 3.
  • a left front work implement A (second front work implement) and a right front work implement B (first front work implement) are provided on the left front and the right front of the cab 4, respectively.
  • An engine 40, a pump 41 and some other components are arranged on the side and rear of the cab 4.
  • the lower track structure 2 includes left and right travel motors 43a and 43b (the right travel motor 43b is unshown) provided respectively at the rear of left and right track frames 5a and 5b (the right track frame 5b is unshown) to be freely rotatable, and left and right crawlers 44a and 44b (the right crawler 44b is unshown) provided for the track frames 5a and 5b and the travel motors 43a and 43b.
  • the left and right travel motors 43a and 43b are supplied with hydraulic fluid from the pump 41 and thereby performs rotary driving, by which the left and right crawlers 44a and 44b rotate with respect to the track frames 5a and 5b to let the double arm type hydraulic excavator 1 travel.
  • the upper swing structure 3 is equipped with a swing motor 48 for its swing operation. By the rotation of the swing motor 48, the upper swing structure 3 is swung (rotated) with respect to the lower track structure 2.
  • the left front work implement A includes a swing post 7a (member) which is attached to the left front of the upper swing structure 3 to be freely pivotable to the left and right, a boom 10a (member) which is attached to the swing post 7a to be freely pivotable up and down, an arm 12a (member) which is attached to the boom 10a to be freely pivotable up and down, and a grapple 14a (member) as a first work tool attached to the arm 12a to be freely rotatable up and down.
  • the left front work implement A further includes a swing post cylinder 9a (actuator) which is connected to the swing post 7a and the upper swing structure 3 to pivot the swing post 7a to the left and right, a boom cylinder 11a (actuator) which is connected to the swing post 7a and the boom 10a to pivot the boom 10a up and down, an arm cylinder 13a (actuator) which is connected to the boom 10a and the arm 12a to pivot the arm 12a up and down, and a work tool cylinder 15a (actuator) which is connected to the arm 12a and the work tool 14a to rotate the work tool 14a up and down.
  • the grapple shown in Figs. 1 and 2 as the work tool 14a can be arbitrarily replaced with one of other work tools (cutter, breaker, bucket, etc.) depending on the contents of the work.
  • the right front work implement B is provided on the right front of the upper swing structure 3.
  • the configuration of the right front work implement B is substantially bilaterally symmetrical with that of the left front work implement A, and thus repeated explanation thereof is omitted here and components of the right front work implement B will be represented by reference characters obtained by replacing the suffix "a" with "b” in the reference characters of the corresponding components of the left front work implement A.
  • Fig. 3 is a side view showing an operating device which is provided on the double arm type hydraulic excavator shown in Fig. 1 .
  • Fig. 4 is a front view of the operating device shown in Fig. 3 .
  • a cab seat 49 is set in the cab 4, and left and right operating devices 50 and 51 are arranged respectively on the left and right sides of the cab seat 49.
  • a swing pedal 58 and left and right travel pedals 59a and 59b are arranged at lower positions in front of the cab seat.
  • the left operating device 50 includes a left control lever bracket 52 arranged on the left side of the cab seat 49, a left control lever 54 (first left operating unit) provided on the left control lever bracket 52 to be freely pivotable back and forth and left and right, and a left control switch 56 (second left operating unit) provided at the tip end of the left control lever 54 to be freely pivotable back and forth and left and right.
  • the right operating device 51 includes a right control lever bracket 53 arranged on the right side of the cab seat 49, a right control lever 55 (first right operating unit) provided on the right control lever bracket 53 to be freely pivotable back and forth and left and right, and a right control switch 57 (second right operating unit) provided at the tip end of the right control lever 55 to be freely pivotable back and forth and left and right.
  • the left control lever 54 and the right control lever 55 are arranged in parallel with the cab seat 49 so that the control levers 54 and 55 do not overlap with a seating part 491 included in the cab seat 49 and having the greatest width, for example, that is, so that the shortest distance L1 between the left control lever 54 and the right control lever 55 is greater than the width L2 of the cab seat 49.
  • the left operating device 50 is equipped with a displacement sensor 541 and a displacement sensor 542 for sensing displacements of the left control lever 54 caused by the tilting of the left control lever 54 in the longitudinal (forward/backward) direction and in the transverse (leftward/rightward) direction.
  • the displacement sensor 541 senses the displacement of the left control lever 54 in the longitudinal direction
  • the displacement sensor 542 senses the displacement of the left control lever 54 in the transverse direction.
  • the tilting of the left control lever 54 in the longitudinal (forward/backward) direction or in the transverse (leftward/rightward) direction commands the driving direction of an actuator (e.g., expansion/contraction direction of a cylinder), and the amount of the displacement of the left control lever 54 commands a speed for the actuator.
  • an actuator e.g., expansion/contraction direction of a cylinder
  • the right operating device 51 is also equipped with displacement sensors 551 and 552 corresponding to the displacement sensors 541 and 542, respectively.
  • the forward/backward/leftward/rightward directions in which the left control lever 54, the right control lever 55, the left control switch 56 and the right control switch 57 are tilted, will hereinafter be referred to as "operating directions”.
  • the left operating device 50 is further equipped with displacement sensors 561 and 562 for sensing displacements of the left control switch 56 caused by the tilting of the left control switch 56 in the longitudinal direction and in the transverse direction.
  • the displacement sensor 561 senses the displacement of the left control switch 56 in the longitudinal direction
  • the displacement sensor 562 senses the displacement of the left control switch 56 in the transverse direction.
  • the tilting of the left control switch 56 in the longitudinal direction or in the transverse direction commands the driving direction of an actuator (e.g., expansion/contraction direction of a cylinder), and the amount of the displacement of the left control switch 56 commands a speed for the actuator.
  • the right operating device 51 is also equipped with displacement sensors 571 and 572 corresponding to the displacement sensors 561 and 562, respectively.
  • the swing pedal 58 is equipped with a swing pedal displacement sensor 581 for sensing the displacement of the swing pedal 58 and transmitting a corresponding signal.
  • the left and right travel pedals 59a and 59b are equipped with travel pedal displacement sensors 591a and 591b for sensing the displacements of the travel pedals 59a and 59b and transmitting corresponding signals.
  • Fig. 5 is a schematic diagram showing principal parts of a control system of the double arm type hydraulic excavator in the first embodiment of the present invention and the relationship between inputs and outputs of the control system.
  • the control system 161 receives inputs representing the displacements from the aforementioned displacement sensors 541 and others provided for the left and right operating devices 50 and 51 in the cab 4, generates drive signals by performing prescribed calculations based on the displacements from the input systems, and outputs the generated drive signals to solenoid valves that operate the aforementioned parts of the left and right front work implements A and B.
  • the sensors outputting the displacements to the control system 161 are as explained above.
  • the solenoid valves receiving the outputs from the control system 161 include swing post drive solenoid valves 218a and 218b, boom drive solenoid valves 215a and 215b, arm drive solenoid valves 216a and 216b, work tool drive solenoid valves 217a and 217b, a swing drive solenoid valve 213, and travel drive solenoid valves 214a and 214b.
  • Fig. 6 is a schematic diagram showing the relationship between the operating directions outputted from the operating device and the driving directions of the actuators of the double arm type hydraulic excavator in the first embodiment of the present invention.
  • Fig. 6(a) shows the driving directions of the double arm type hydraulic excavator corresponding to the operating directions of the operating device and
  • Fig. 6(b) shows the operating directions of the operating device.
  • the longitudinal direction displacement sensor 541 of the left control lever 54 When the left control lever 54 is shifted (i.e., displaced) forward (111) as shown in Fig. 6(b) , the longitudinal direction displacement sensor 541 of the left control lever 54 outputs a sensing signal to a drive signal generation unit 161A in the control system 161 as shown in Fig. 5 .
  • the drive signal generation unit 161A receiving the sensing signal transmits a drive signal to the solenoid valve 216b for driving a right arm 12b.
  • a right arm cylinder 13b is contracted and the right arm 12b is pivoted forward (LL1) as shown in Fig. 6(a) .
  • the pivoting speed of the right arm 12b is in a monotonically increasing relation (e.g., proportional relation) with the displacement inputted from the longitudinal direction displacement sensor 541, and thus the displacement sensed by the longitudinal direction displacement sensor 541 controls the speed of the pivoting of the right arm 12b.
  • the longitudinal direction displacement sensor 561 of the left control switch 56 transmits a sensing signal to a drive signal generation unit 161E in the control system 161 as shown in Fig. 5 .
  • the drive signal generation unit 161E receiving the sensing signal transmits a drive signal to the solenoid valve 216a for driving the left arm 12a.
  • the left arm cylinder 13a is contracted and the left arm 12a is pivoted forward (LS1) as shown in Fig. 6(a) .
  • the pivoting speed of the left arm 12a is in a monotonically increasing relation (e.g., proportional relation) with the displacement inputted from the longitudinal direction displacement sensor 561, and thus the displacement inputted from the longitudinal direction displacement sensor 561 controls the speed of the pivoting of the left arm 12a.
  • the left control switch 56 when the left control switch 56 is shifted backward (ls2), the left arm 12a is pivoted backward (LS2).
  • the left control switch 56 When the left control switch 56 is shifted leftward (ls3), the left swing post 7a is pivoted leftward (LS3).
  • the left control switch 56 is shifted rightward (ls4), the left swing post 7a is pivoted rightward (LS4).
  • the actuators operated (controlled) by the left control lever 54, the right control lever 55, the left control switch 56 and the right control switch 57 and the operating directions of the control levers/switches 54, 55, 56 and 57 can be set arbitrarily by changing the combination of the drive signal generation units 161A, and the solenoid valves 216a, 216b (specifically, by changing the electric wiring) in the control system 161.
  • the double arm type hydraulic excavator it is also possible in the double arm type hydraulic excavator to set the actuators operated by the left control lever 54 and the right control lever 55 and the operating directions of the control levers 54 and 55 in the same way as those of conventional hydraulic excavators.
  • the left front work implement A and the right front work implement B can be operated at the same time by using the left control lever 54, the left control switch 56 provided on the left control lever 54, the right control lever 55, and the right control switch 57 provided on the right control lever 55 similarly to the conventional technology.
  • the shortest distance between the left control lever 54 and the right control lever 55 is greater than the seating part 491 included in the cab seat 49 and having the greatest width, for example, the operator's possibility of contacting the operating means when sitting down on the cab seat is low.
  • the comfortability of the operator and the operating life of components such as the left control lever 54 and the right control lever 55 can be increased.
  • the driving direction of an actuator of the right front work implement B commanded by the operating direction of the left control lever 54 and the driving direction of an actuator included in the left front work implement A commanded by the operating direction of the left control switch 56 are the same as each other, and the driving direction of an actuator of the right front work implement B commanded by the operating direction of the right control lever 55 and the driving direction of an actuator included in the left front work implement A commanded by the operating direction of the right control switch 57 are the same as each other. Therefore, the operator can perform the operations of the left and right front work implements (objects of the operations) in similar operating directions, and thus can master the operations with high efficiency.
  • the actuators operated by the left control lever 54 and the right control lever 55 and the operating directions of the control levers 54 and 55 can be set in the same way as those of conventional hydraulic excavators.
  • operators operating conventional hydraulic excavators can easily master the operation of the double arm type hydraulic excavator 1 without the need of memorizing new operations.
  • Fig. 7 is a schematic diagram showing principal parts of a control system of a double arm type hydraulic excavator in a second embodiment of the present invention and the relationship between inputs and outputs of the control system.
  • Fig. 8 is a schematic diagram showing the relationship between operation commands from the operating device and driving directions of actuators of the double arm type hydraulic excavator in the second embodiment of the present invention.
  • Fig. 8(a) shows the driving directions of the double arm type hydraulic excavator corresponding to the operating directions of the operating device and
  • Fig. 8(b) shows the operating directions of the operating device.
  • This embodiment differs from the first embodiment only in that the operating directions of the left control switch 56 and the operating directions of the right control switch 57 have been interchanged with each other.
  • the rest of the configuration is equivalent to that in the first embodiment.
  • the operating directions of the left control lever 54 and the right control lever 55 are the same as those in the first embodiment as mentioned above.
  • the longitudinal direction displacement sensor 561 of the left control switch 56 outputs a sensing signal to a drive signal generation unit 161G in the control system 161 as shown in Fig. 7 .
  • the drive signal generation unit 161G receiving the sensing signal transmits a drive signal to the solenoid valve 215a for driving the left boom 11a.
  • the left boom cylinder 11a is contracted and the left boom 10a is pivoted downward (LS1) as shown in Fig. 8(a) .
  • Fig. 9 is a schematic diagram showing principal parts of a control system of a double arm type hydraulic excavator in a third embodiment of the present invention and the relationship between inputs and outputs of the control system.
  • This embodiment differs from the first embodiment only in that an operation assignment switching unit 161Z, as a front work implement switching unit or an operated actuator switching unit, is provided in the control system 161.
  • the rest of the configuration is equivalent to that in the first embodiment.
  • the operation assignment switching unit 161Z is provided between the displacement sensors of the left control lever 54, the right control lever 55, the left control switch 56 and the right control switch 57 and the drive signal generation units.
  • the operation assignment switching unit 161Z has a function of switching the signal destination (one of the drive signal generation units) to which the sensing signal obtained from each displacement sensor should be outputted.
  • An unshown selector switch that can be switched to three positions R, N and C is provided in the cab 4 and is electrically connected to the operation assignment switching unit 161Z in the control system 161.
  • the selector switch at the position N means that a command for no switching is issued to the operation assignment switching unit 161Z.
  • the selector switch at the position R means that a switching command for having the right front work implement B (which has been operated by the left control lever 54 and the right control lever 55) operated by the left control switch 56 and the right control switch 57 and having the left front work implement A (which has been operated by the left control switch 56 and the right control switch 57) operated by the left control lever 54 and the right control lever 55 is issued to the operation assignment switching unit 161Z.
  • the selector switch at the position C means that a switching command for having the left front work implement A (which has been operated by the left control lever 54 and the right control lever 55) operated by the left control switch 56 and the right control switch 57 and having the right front work implement B (which has been operated by the left control switch 56 and the right control switch 57) operated by the left control lever 54 and the right control lever 55 is issued to the operation assignment switching unit 161Z.
  • the operation assignment switching unit 161Z Upon the input of a command signal from the selector switch, the operation assignment switching unit 161Z changes the assignment to the solenoid valves 216a and 216b according to the command signal.
  • Fig. 10 is a front view showing an operating device which is provided on a double arm type hydraulic excavator in a fourth embodiment of the present invention.
  • Fig. 11 is a schematic diagram showing principal parts of a control system of the double arm type hydraulic excavator in the fourth embodiment of the present invention and the relationship between inputs and outputs of the control system.
  • This embodiment differs from the first embodiment in a left control switch 60 and a right control switch 61 having relatively low-priced configurations and in the processing of output signals from the left control switch 60 and the right control switch 61 in the control system 161.
  • the rest of the configuration is equivalent to that in the first embodiment.
  • each of the left and right control switches 60 and 61 includes four switches arranged in a cross-hair pattern so that a displacement can be implemented (commanded) by pressing each of the switches.
  • the switches of the left control switch 60 are respectively equipped with forward/backward/leftward/rightward displacement sensors 601 - 604, while the switches of the right control switch 61 are respectively equipped with forward/backward/leftward/rightward displacement sensors 611 - 614.
  • the longitudinal (forward/backward) direction or the transverse (leftward/rightward) direction in regard to the pressing of the left control switch 60 or the right control switch 61 commands the driving direction of an actuator (e.g., expansion/contraction direction of a cylinder), and the amount of displacement of the pressing commands a speed for the actuator.
  • an actuator e.g., expansion/contraction direction of a cylinder
  • the forward/backward/leftward/rightward directions of the left control switch 60 and the right control switch 61 will be referred to as "operating directions”.
  • a displacement outputted from a front part displacement sensor 601 or a rear part displacement sensor 602 of the left control switch 60 is inputted to the drive signal generation unit 161E of the control system 161.
  • the drive signal generation unit 161E calculates the driving direction and the speed of the left arm cylinder 13a and outputs the calculation result to a pertinent solenoid valve. Similar processes are conducted also by using displacements outputted from the other displacement sensors 603, 604, 611 - 614 of the left and right control switches 60 and 61.
  • Fig. 12 is a schematic diagram showing the relationship between operation commands from the operating device and driving directions of actuators of the double arm type hydraulic excavator in the fourth embodiment of the present invention.
  • Fig. 12(a) shows the driving directions of the double arm type hydraulic excavator corresponding to the operating directions of the operating device and
  • Fig. 12(b) shows the operating directions of the operating device.
  • the left control switch front part displacement sensor 601 transmits a sensing signal to the drive signal generation unit 161E in the control system 161 as shown in Fig. 11 .
  • the drive signal generation unit 161E receiving the sensing signal transmits a drive signal to the left arm drive solenoid valve 216a.
  • the left arm cylinder 13a is contracted and the left arm 12a is pivoted forward (LS1) as shown in Fig. 12(a) .
  • the pivoting speed of the left arm 12a is in a monotonically increasing relation (e.g., proportional relation) with the displacement inputted from the left control switch front part displacement sensor 601, and thus the displacement inputted from the left control switch front part displacement sensor 601 controls the speed of the pivoting of the left arm 12a.
  • the left control switch rear part displacement sensor 601 transmits a sensing signal to the drive signal generation unit 161E in the control system 161. Accordingly, the left arm cylinder is expanded and the left arm is pivoted backward (LS2).
  • the left boom 10a When a front part of the right control switch 61 is depressed (rs1), the left boom 10a is pivoted forward (RS1). When a rear part of the right control switch 61 is depressed (rs2), the left boom 10a is pivoted upward (RS2). When a left part of the right control switch 61 is depressed (rs3), the left work tool 14a is pivoted downward (RS3). Further, when a right part of the right control switch 61 is depressed (rs4), the left work tool 14a is pivoted upward (RS4) .
  • This embodiment configured as above achieves effects similar to those of the first embodiment, while also being effective in terms of costs since the left control switch 60 and the right control switch 61 are simple in structure and low-priced.
  • the right front work implement B has been described to include the swing post 7b in the first through fourth embodiments, a configuration with no swing post 7b is also possible.
  • the right arm 12b is driven when the left control lever 54 is operated in the longitudinal (forward/backward) direction
  • the swing motor 48 is driven when the left control lever 54 is operated in the transverse (leftward/rightward) direction.
  • the right boom 10b is driven when the right control lever 55 is operated in the longitudinal (forward/backward) direction
  • the right work tool 14b is driven when the right control lever 55 is operated in the transverse (leftward/rightward) direction.
  • first through fourth embodiments have been configured so that the value of each operating signal can change continuously by equipping the left control switch 54 (60) and the right control switch 55 (61) with displacement sensors
  • the first through fourth embodiments may also be configured to obtain the value of each operating signal as an ON/OFF value by replacing the displacement sensors with contact sensors.
  • cab seat 4 is provided on the double arm type hydraulic excavator 1 in the first through fourth embodiments, it is also possible to employ a system configuration enabling remote control and provide the cab seat 4 not on the double arm type hydraulic excavator 1 but at a position remote or separate from the double arm type hydraulic excavator 1.

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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)
EP14845704.7A 2013-09-18 2014-09-18 Device for operating the double arm of a working machine Not-in-force EP3048505B1 (en)

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JP2013193500A JP5969444B2 (ja) 2013-09-18 2013-09-18 作業機械の操作装置
PCT/JP2014/074726 WO2015041300A1 (ja) 2013-09-18 2014-09-18 作業機械の操作装置

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JP7615723B2 (ja) * 2021-02-08 2025-01-17 コベルコ建機株式会社 遠隔操作支援システム、遠隔操作支援方法および遠隔操作支援複合システム

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JP3207771B2 (ja) * 1996-07-26 2001-09-10 株式会社エフエフシー 油圧作業機
JPH11181815A (ja) * 1997-12-19 1999-07-06 Hitachi Constr Mach Co Ltd 作業機械
JP3798572B2 (ja) * 1999-04-19 2006-07-19 日立建機株式会社 建設機械用キャブ
JP3314067B2 (ja) * 1999-12-17 2002-08-12 株式会社タカハシワークス アームレバーを備えたツインアーム作業機
GB2412362A (en) * 2002-08-22 2005-09-28 Caterpillar Inc Method for a work machine having more than one function
JP4587848B2 (ja) * 2005-03-11 2010-11-24 日立建機株式会社 作業機械の操作装置
JP4562583B2 (ja) * 2005-04-26 2010-10-13 日立建機株式会社 作業機械
JP4823767B2 (ja) * 2006-05-31 2011-11-24 日立建機株式会社 双腕作業機械
US7784581B1 (en) * 2006-09-14 2010-08-31 Deere & Company Machine control interlocks for an electrohydraulically controlled vehicle
US7878288B2 (en) * 2008-03-14 2011-02-01 Clark Equipment Company Swing-out joystick
JP5493137B2 (ja) * 2011-06-23 2014-05-14 日立建機株式会社 双腕型作業機械の操作装置

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CN105452975A (zh) 2016-03-30
JP5969444B2 (ja) 2016-08-17
JP2015060403A (ja) 2015-03-30
WO2015041300A1 (ja) 2015-03-26
EP3048505A4 (en) 2017-05-10
EP3048505A1 (en) 2016-07-27
CN105452975B (zh) 2017-09-01

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