JP2001173011A - Twin-arm work machine with travel device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine for construction work having a travel device with a coupling structure and two work arms, conducting two work individually and concurrently, movable according to a work point, and adaptable to wide-range work very efficiently. SOLUTION: This twin-arm work machine is provided with a first work machine 11 revolvably mounted with a revolving superstructure 14 on a travel vehicle body 13 and erectably supported with a work arm 8 constituted of a boom 16 and an arm 17 on the revolving superstructure 14, a second work machine 12 arranged adjacently to the first work machine 11 and having nearly the same structure, a coupling body 2 connecting the travel vehicle bodies 13 of the work machines 11, 12 together, and an operation section 7 having the operation levers 21a, 21b of the work machines 11, 12. A pair of reciprocatable travel pedals 23a, 23b are provided on the right and left of the operation section 7, and the right or left travel revolving speed of the first work machine travel vehicle body 13 and the right or left travel revolving speed of the second work machine travel vehicle body 13 are travel-controlled individually reversibly according to the openings of the travel pedals 23a, 23b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a revolving structure in which a revolving body is mounted on a traveling vehicle body via a revolving bearing so as to be revolvable about a longitudinal axis, and the revolving body comprises a boom and an arm at the tip thereof. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine for performing work such as civil engineering work or construction work in which a work arm is supported so as to be able to move up and down, and a traveling device thereof.

[0002]

2. Description of the Related Art Conventionally, a working machine for construction work of a hydraulic excavator system such as a back hood is operated by an operator operating two operating levers to operate one boom or arm. Excavation and crushing were performed using a special attachment attached to the tip of the arm according to the work.

A hydraulic excavator for performing an excavation operation indicated by 10 in FIG. 14 mounts a revolving body 14 on a traveling body 13 via a revolving bearing so as to be revolvable about a vertical axis (in a direction indicated by r1 in FIG. 14). And the boom 16 is positioned near the revolving axis of the revolving unit 14.
One work arm 8, which can be bent freely, comprising an arm 17 at the tip of the work arm 8 is supported so as to be able to move up and down.

[0004] Attachment (clamping and crushing device) shown at 18 in the figure is attached to the tip of the arm 17 according to the work. Then, the operator 20 operates two operation levers 21 from the seat 22 provided on the revolving unit 14, and expands and contracts through the plurality of hydraulic cylinders 19 attached to the boom 16 and the arm 17. The working arm 8 is operated so as to be freely refracted in the directions indicated by r2 and r4 in the drawing.

Generally, a command is issued to one work arm 8 by two operation levers as shown by 21a and 21b in FIG. 15, and in the figure, the bucket 24 is operated by the right operation lever 21a. Up and down or boom 16
Of the arm 17 is selected by the left operating lever 21b, or one of the left and right swings of the revolving unit 14 is selected. In this way, the work arm 8 is activated in accordance with the commands (directions indicated by r1, r2, r4, and r5 in the drawing) selected one by one by the two left and right operation levers 21.

Further, foot pedals indicated by reference numerals 23a and 23b in FIG. 15 actuate axles provided on the left and right sides of the traveling vehicle body 13 to perform forward / backward traveling or left / right turning traveling via a caterpillar indicated by 26 in FIG. In FIG. 15, 2
The pedal indicated by 3a operates the caterpillar 26a on the right side of the traveling vehicle body 13, and the pedal indicated by 23b operates the caterpillar 26b on the left side of the traveling vehicle body 13.

[0007] Here, reference numeral 3 in FIG. 14 denotes a traveling frame of the traveling vehicle body 13 that supports the revolving superstructure 14.

On the other hand, a hydraulic shovel type working machine performs various tasks such as digging, crushing, dismantling, and lifting by replacing the attachment 18, and in recent years, another working arm has been arranged on the working machine. By switching to a work arm equipped with another attachment for each process and performing work,
A configuration has also been proposed that aims to improve work efficiency by eliminating the trouble of replacing attachments.

In the above-mentioned conventional technology, one worker operates one work arm to perform one work according to the attached attachment.

[0010]

In the construction of the conventional working machine such as a hydraulic excavator, various kinds of work such as excavation, crushing, dismantling, and lift are performed by exchanging attachments, but only one work is performed. It has a configuration and is not always efficient in terms of quickly processing work, and has many problems.

That is, for example, in the dismantling work of a hard side wall such as concrete, a spherical iron weight is lifted at the tip of an arm via a rope, and the amplitude is increased while gradually swinging the weight in a repetitive turning operation. It is known to disassemble by hitting the weight against the side wall when it becomes, but the work of shaking the weight involves danger to surrounding objects, and it is difficult to control the amount of energy at the time of collision,
In such an operation, there is a danger that the side wall itself may be collapsed by an impact and fall down, and there is a problem in that the operation can be performed by swinging the weight efficiently.

In addition, when the concrete piece is lifted and moved by the attachment for clamping the broken side wall, the steel frame material embedded in the concrete piece hinders the moving operation. Therefore, the worker moves the concrete piece after waiting for the cutting of the steel frame material. However, there is a problem that the worker must keep the lifted concrete piece until the manual cutting operation is completed. Further, in this case, when the concrete piece is pinched by one work arm, when the center of gravity of the object is different from the pinch point, the moment force acts on the pinch point, and the pinch point tends to slip. It is very dangerous if the object is heavy. For this reason, while the concrete piece must be sandwiched by a large force, the object is easily broken, and especially in the assembly work in which the construction member or the like must be supported to match a predetermined frame, the construction member is opposed to the moment force. Must be kept in the desired position,
In order to prevent slippage, it is necessary to pinch the construction member with strong force, and the construction member is easily crushed or damaged at the holding part,
In addition, there is a problem that when the strength of the construction member is held against the moment, the construction member is cracked around.

Further, in the lifting work, when lifting a heavy object with a rope or the like, if the work arm is extended forward to lift the heavy object, the machine body center of gravity of the working machine is shifted forward, and there is a danger of falling. Further, there is a problem that the work implement itself is easily shaken and fall down due to the swing of the lifted heavy object. Further, if the center of gravity of the aircraft shifts forward, there is a problem that the lift force is reduced and the swing of the lifted heavy object sometimes causes the heavy equipment to fall apart and fall.

Further, in the dismantling work of a building, etc., the dismantling work using a crushing tool at the tip of the arm lifted to a high position includes:
Since there is a risk of falling crushed concrete debris, it is necessary to crush and treat the structure little by little patiently and patiently, but this is a time-consuming and inefficient operation. On the other hand, in order to tear the building material side wall at a desired position, it is difficult to tear the side wall unless the side wall is fixed at the desired position, and there is no other way but to gradually cut the work with a crusher or cutter. In addition, when the building material is not fixed at all, the crusher cannot be crushed unless the tip of the crusher is fitted along the crack, so that there is a problem that the work of holding the building material is not effective and the work is very inefficient.

[0015] As described above, in the conventional configuration, it can be seen in examples of shaking the weight, holding the object, preventing the swing of the lifted object and preventing the body from overturning, or the trouble of the crushing operation. In the dismantling work and the assembling work, the work by the conventional working machine is very inefficient and has many problems in that the work is processed quickly.

On the other hand, Japanese Patent Application Laid-Open No. H4-70452 discloses an apparatus in which one work arm is provided with two types of devices, a digging bucket and a lift device. By operating only one of them, it is intended to switch and use it. However, in such a configuration, for example, it is not possible to prevent the swing of the item lifted by the lift device by sandwiching the swing with the bucket device. This is a structure in which when the work arm is moved, both devices are moved at the same time, and as described above, it is a configuration that can cope with only one work, and does not solve the various problems described above.

[0017] Japanese Patent Application Laid-Open No. H5-89543 and Japanese Unexamined Patent Application Publication No. H8-3
Japanese Patent Application Laid-Open No. 11919 is known, but in these publications, a work point is selectively operated by any one of work arms provided before and after, and intermittently. One of the work arms is selected to perform the work in the continuous process. In this configuration, when different identical processes occur continuously, it is possible to save the trouble of replacing the attachment.However, as for each work, the work efficiency is not different from that of the conventional hydraulic excavator. The working machine configuration can handle only one job, and does not solve the various problems described above.

Further, in Japanese Utility Model Laid-Open No. H5-89544, a second work arm having a different shape from one work arm is provided on the work point side. Actual opening H
It is not necessary for the operator to take a posture to a position inverted to a work point by a turning operation as in Japanese Patent Application Laid-Open No. 5-89543, but the above publication structure has a bucket and a breaker as attachments of a work arm. In the same manner as described above, one of the attachments is selectively selected and the hydraulic circuit is switched to perform the operation. Therefore, it cannot be said that the above-mentioned various problems are similarly solved.

That is, Japanese Utility Model Application Laid-Open No. H5-89543, Japanese Patent Application Laid-Open No.
In Japanese Patent Application Publication No. 9544, one working machine is provided with two working arms. However, in one working machine, the hydraulic pressure generated by one engine is limited, and two working arms are used. Cannot be operated simultaneously and efficiently, and only one working arm can be operated by switching the hydraulic circuit. Further, it can be said that it is difficult to arrange the two working arms at a suitable position for working at the same point, because the risk of falling increases due to the position of the center of gravity of the machine body. In addition, the one provided with the above-mentioned two working arms has a problem that the body is difficult to transport in a bulky manner.

[0020] Therefore, as a working machine for civil engineering work or construction work, even in an aging society where there is a concern that there is a shortage of workers, two people can work efficiently by one person.
It has been desired to have a configuration in which two operations can be performed individually and simultaneously at the same operation point.

According to the present invention, a traveling device having a connection structure and two work arms are provided to perform two works individually and simultaneously, and to move in accordance with a work point, thereby achieving an extremely efficient and wide range of work. An object of the present invention is to provide a working machine for construction work that is adapted.

[0022]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, a twin arm working machine with a traveling device according to the present invention is arranged such that a revolving body pivots on a traveling vehicle body around a longitudinal axis via a revolving bearing. A first work machine, which is mounted so as to be capable of being bent, and which is supported on a revolving structure by a revolving work arm comprising a boom and an arm at the tip of the boom, and a first work machine adjacent to the first work machine;
A second working machine having substantially the same structure as the first working machine;
A connecting body that connects the traveling body of the first working machine and the traveling body of the second working machine, an operating lever that operates the working arm of the first working machine, and a working arm of the second working machine. An operating unit having both an operating lever and a pair of front and rear movable traveling pedals provided on the left and right sides of the operating unit. The traveling speed is controlled such that the speed and the left and right traveling rotation speeds of the second work implement traveling vehicle body can be individually varied and can be individually rotated forward and backward.

In a working machine in which two working machines are connected in a horizontal row and the direction of the operating portion is provided in the running axis direction, both the left and right running pedals have the command opening indicating the same direction. At this time, the rotation speed of the traveling device outside the working machine located on the side with the larger opening is the largest, and the rotation speed of the traveling device of the working machine located on the side with the smaller opening, according to the left and right opening degrees The rotation speed of the traveling device is sequentially determined so as to become the smallest, and when the left and right traveling pedals both have the command opening indicating different directions, the side indicating the forward rotation opening in accordance with the left and right opening. The rotation speed of the traveling device on the outside of the working machine located in the forward direction is larger than the inner side, and the rotation speed of the traveling device of the working machine located on the side indicating the reverse rotation side is more reversed than the inner side. Traveling is preferred.

On the other hand, in a working machine in which two working machines are connected in a cascade and an operation section direction is provided on a side orthogonal to the running direction, only one of the left and right running pedals is selected. When all of the traveling devices rotate at the same speed in the direction of the pedals according to the command opening, and the left and right traveling pedals have different degrees of opening, the left and right Depending on the degree, the rotation directions of the traveling devices of the two left and right working machines located in front of the operation unit are opposite to the rotation directions of the traveling devices of the two left and right working machines located behind the operation unit. When the left and right traveling pedals both have the command opening indicating the same direction, the traveling unit rotates in accordance with the left and right traveling degrees. The rotation speeds of the traveling devices of the two work machines located on the front side are Is rotated at a rotational speed different from the speed of the traveling device of the two working machines located on the rear side of the work portion, it is preferable that each traveling device travels by rotating in the same direction.

[0025]

FIG. 1 shows an embodiment of the present invention.
This will be briefly described with reference to FIGS.

The twin arm working machine 1 with the traveling device of the present invention
A revolving unit 14 is mounted on a traveling body 13 so as to be revolvable about a vertical axis via a revolving bearing, and is used for construction work or the like.
7, a first work machine 11 (hydraulic shovel-based work machine), which is supported so as to be able to move freely, and has an attachment 18 at the tip of an arm 17;
A second working machine 12 (a second hydraulic shovel-based working machine) adjacent to the first working machine 11 and having substantially the same structure as the first working machine 11, and a traveling vehicle body of the first working machine 11; 13th and 2nd
A connecting body 2 for connecting the traveling vehicle body 13 of the working machine 12 with
An operating unit 7 having right and left operating levers 21a for hydraulically operating the working arm 5 of the working machine 11 located on the right side and a left operating lever 21b for operating the working arm 6 of the working machine 12 located on the left side, respectively. The operating unit 7 is disposed on the connecting body 2 which connects the working machines and is located at an intermediate position between the two working machines 11 and 12, and the operating unit 7 is moved right and left in the form of a seesaw. Is provided with a pair of hydraulic forward / reverse travel pedals 23 which are movable in accordance with the command opening of the front and rear pedals of the left and right travel pedals 23a, 23b. And the left and right traveling rotational speeds of the second working machine traveling vehicle bodies 13e and 13f are individually variable and individually reversible.

In the working machine 1 in which the two working machines 11 and 12 are connected in a row and the direction of the operating section 7 is provided in the running axis direction X, the left and right running pedals 23 are provided.
When both a and 23b are command opening degrees indicating the same direction, the side with the larger opening degree (for example, 23a side) according to the left and right opening degrees
The rotational speed of the traveling device 13c outside the working machine 11 located at the position
(13c>13d>13e> 13f), the traveling speed of the traveling device is determined in order so that the rotation speed of the traveling device 13f on the outside is the smallest, and the left and right traveling pedals 23a, 23b are in different directions. In accordance with the left and right opening degrees, the rotation speed of the traveling device outside the work machine 11 located on the side indicating the forward rotation side opening degree (for example, the 23a side) is greater than the inside rotation amount ( 13c> 13d) are both rotated in the forward direction, and the rotation speed of the traveling device of the work implement 12 located on the side indicating the reverse rotation side opening degree is higher than the inside (13f> 13e), so that the traveling device is driven to rotate in the reverse direction. .

On the other hand, the two working machines 11 and 12 are connected in tandem, and the operating unit 7 is located on the side X orthogonal to the traveling direction Y.
In the working machine 1 provided with a direction, when only one of the left and right traveling pedals 23a and 23b is selected (for example, when only 23b is selected), the pedal is operated in accordance with the command opening. All traveling devices 13c in the direction Y,
When 13d, 13e, 13f rotate at the same speed and travel, and the left and right travel pedals 23a, 23b both have command opening degrees indicating different directions (for example, 23b is the forward side, 23a is the reverse side), the left and right In accordance with the opening, the traveling devices 13c, 1
By rotating the rotation direction of 3e in the Y direction and rotating the traveling directions of the traveling devices 13d and 13f of the two left and right working machines located on the rear side of the operation unit 7 in the opposite direction to Y, each traveling device 13
When the left and right traveling pedals 23a and 23b both have the command opening indicating the same direction while the traveling pedals a, 13b, 13c, and 13d are rotating at substantially the same speed, the left and right traveling pedals 23a and 23b are driven according to the left and right opening ( When 23b> 23a), the rotation speeds of the traveling devices 13c and 13e of the two working machines located on the front side of the operating unit 7 are changed to the traveling devices 13d of the two working machines located on the rear side of the operating unit 7. , 13f is rotated at a speed ((13c = 13e)> (13d = 13f)) different from the rotation speed of each of the traveling devices 13c, 13d, 13e, and 13f so as to travel by rotating in the same direction. ing.

(Operation) With the above configuration, the present invention can perform the following operation. That is, the traveling vehicle body 1
A revolving body 14 is mounted on the revolving body 3 so as to be revolvable, and two working machines 11 and 12 having a revolving body 14 and a working arm 8 composed of a boom 16 and an arm 17 are supported between the revolving body 14 and the connecting body 2. Therefore, a working machine having two working arms 5 and 6 can be realized at a very low development cost, and the stability of the working machine having the connecting structure is
The position of the center of gravity of each working machine is shifted toward the connecting body 2 side,
Supporting each other makes them much safer and much more stable. In this stable structure, the working arm 8 can be provided longer, the working range of the working arm 8 involving turning can be extended, and the long working arm 8 can be used even when there is an obstacle ahead in the traveling direction. By extending the work arm 8 beyond the obstacle to the target point further forward, the work can be performed on the work point at a deeper part. In addition, since each work arm 5, 6 is individually provided on each revolving unit 2, the two work arms 5, 6 can be turned to act on the same work point, or each work arm can be made to act on a different work point. Can be.

The operating lever 21a for operating the working arm 5 of the first working machine 11 and the operating lever 21b for operating the working arm 6 of the second working machine 12 are both provided on the operating section. By disposing them, one worker can easily operate the left and right operation levers 21a and 21b with both hands, respectively, and can operate both work arms 5 and 6 individually and simultaneously. Therefore, a loop formed by the two working arms 8 and the connecting body 2 at the time of work cancels the reaction force and can exert a large working force, and the body becomes unstable when the working arm is fully extended. The work can be complemented with each other, for example, by absorbing the object in a connected configuration and supporting it with another working arm.

Further, a pair of forward / backward traveling pedals 23 are provided on the left and right sides of the operating section 7, and the operating section 7 includes two working machines 1
1 and 12, which are disposed on the connecting body 2 and control the traveling in accordance with the front and rear pedal opening of the left and right traveling pedals 23a and 23b. The left and right traveling pedals 23 can be operated by both feet.

Therefore, when lifting and moving a heavy object such as the construction equipment 63, for example, the two work arms 5,
In the configuration with 6, the lifting position and the position on the diagonal line are supported by another work arm, thereby suppressing the swing of the lifted object and canceling the moment force of the heavy object. The heavy construction equipment 63 can be lifted with an extremely small holding force. Then, the lifted construction equipment 63 can be maintained in a desired posture convenient for assembly work, for example, by the two work arms 5 and 6. On the other hand, when the building equipment 63 is held in a fixed posture by the two working arms 8 as described above, the movable range of the two working arms 8 is extremely limited in order to maintain the assembled posture. However, by providing the traveling device 13 using the pedals 23, the device 63 is supported by the operation levers 21 of both hands, and the device 63 is suppressed to a desired position by the pedal levers 23 of both feet, and the mounting posture is reduced. Can be kept and moved.

On the other hand, if the traveling devices 13c, 13d, 13
e, 13f, even when one of the two working arms 8 cannot be escaped because it is stuck in a groove or the like, one of the two working arms 8 is pressed against the lower ground and the other is supported by an upper fixed object. By driving the traveling device while performing an operation of lifting the body with the, it is possible to easily escape from the groove alone. Similarly, even on a bad road, a step, a slope, or the like under poor conditions, it is possible to easily reach the destination by traveling by combining the two work arms 8 and the traveling device. Further, it is possible to enter the place under such poor conditions by itself, stay there, and perform the work with the other work arm 8 while maintaining the attitude of the body with one work arm 8.

That is, the two working arms 5 described above,
In the configuration provided with the work arm 6, two different works of "performing one work with the work arm 5 and performing another work with the work arm 6" simultaneously and at any work point, This makes it possible to realize a working machine that can perform a wide range of work while moving it extremely efficiently, which has not been realized with a single work arm conventionally.

In the working machine 1 in which the two working machines 11 and 12 are connected in a row and the direction of the operating section 7 is provided in the running axis direction X, the left and right running pedals 23 are provided.
When both a and 23b have the opening degree indicating the same direction, the rotation speed of the traveling device 13c outside the work implement 11 located on the side with the larger opening degree (for example, the 23a side) depends on the left and right opening degree. The rotation speeds of the traveling devices are sequentially determined (13c>13d>13e> 13f) such that the rotation speed of the traveling device 13f outside the work implement 12 located on the side of the largest and small opening degree becomes the smallest. While traveling, the left and right traveling pedals 2
When both 3a and 23b have the opening degrees indicating different directions, the side indicating the forward rotation side opening degree (for example, 23a) corresponds to the left and right opening degrees.
The rotation speed of the traveling device of the working machine 12 located on the side showing the opening on the reverse rotation side with the rotation speed of the traveling device outside the work machine 11 located on the side (13c> 13d) being larger than the inside (13c> 13d). Is larger than the inner side (13f> 13e) and is provided so as to run by reversing them together, and is connected in a row by the connecting body 2, so that the running directions of the running vehicle bodies 13 are aligned in parallel. Because it is provided in a shape, it is easy to change direction and move forward and backward, it is possible to obtain a configuration with excellent running stability and high mobility, and it has a structure suitable for applications that can move freely and respond to various tasks. Has been realized.

On the other hand, the two working machines 11 and 12 are connected in tandem, and the operating unit 7 is located on the side X orthogonal to the running direction Y.
In the working machine 1 provided with the direction, when only one of the left and right traveling pedals 23a and 23b is selected (for example, when only 23b is selected), the pedals are operated according to the opening degree. All traveling devices 13c, 13 in direction Y
When d, 13e, and 13f rotate at the same speed and travel, and the left and right travel pedals 23a and 23b both have different degrees of opening (for example, 23b is the forward side and 23a is the reverse side), the left and right Depending on the degree, the rotation directions of the traveling devices 13c and 13e of the two left and right working machines located on the front side of the operation unit 7 in the Y direction, and the right and left 2
By rotating the rotation direction of the traveling devices 13d and 13f of the two work machines in a direction opposite to Y, the traveling devices 13a and 13f
When the left and right traveling pedals 23a and 23b have the same opening degree while the left and right traveling pedals 23a and 23b have the same opening degree, for example, 23b> 23a. ), The rotation speeds of the traveling devices 13c and 13e of the two work machines located on the front side of the operation unit 7,
Traveling device 1 for two working machines located on the rear side of operation unit 7
A speed different from the rotation speeds of 3d and 13f ((13c = 13
e)> (13d = 13f)), if the traveling devices 13c, 13d, 13e, 13f are provided so as to travel by rotating in the same direction, the connecting members are arranged in a straight line. Since the traveling directions of the traveling vehicle bodies 13 are arranged in series and provided in a plane length by being connected in tandem at 2, the width of the working machine is narrow and only occupies only one lane of the road. The construction is suitable for applications such as road side construction and river bank construction where work points are continuously present along a substantially straight line.

In the configuration of the horizontal connection or the vertical connection, the operating unit 7 provided on the connecting body 2
The operation unit 7 can be provided with a comfortable working space (operation unit cabin) by being reduced by the connecting body 2 without directly receiving vibration and noise of the traveling device 13 of the working machines 11 and 12. .

As described above, the twin-arm working machine 1 with a traveling device of the present invention is used as a working machine for civil engineering work or construction work.
Even in an aging society where there is a concern that there will be a shortage of workers, two work machines are connected to each other to operate independently and two traveling arms and their traveling devices are provided, allowing one person to operate efficiently from the operation unit. In addition, it is possible to realize a configuration in which two operations are performed individually and simultaneously while moving.

[0039]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 6 show an embodiment of the present invention. FIG. 1 shows an example in which the present invention is applied to a hydraulic excavator used in civil engineering work and construction work.
In the twin-arm working machine indicated by, a revolving body 14 is mounted on a traveling vehicle body 13 via a revolving bearing so as to be revolvable about a vertical axis, and a boom 16 and an arm 17 at the tip thereof are mounted on the revolving body 14.
A first working machine 11 (hydraulic shovel) having an attachment 18 at the end of an arm 17 and a first working machine 11 adjacent to the first working machine 11; A second working machine 12 (a second hydraulic shovel) having substantially the same structure as the first working machine 11;
And a right operating lever 21 for hydraulically operating the working arm 5 of the working machine 11 located on the right side. The connecting body 2 connects the running body 13 of the working machine 11 to the running body 13 of the second working machine 12.
a, and an operation unit 7 having both left and right operation levers 21b for hydraulically operating the work arm 6 of the work machine 12 located on the left side.

The operating unit 7 is provided with a pair of hydraulic forward / reverse travel pedals 23 movable back and forth in a seesaw manner on the left and right sides, and the right and left travel pedals 23 (right travel pedal 23a, left travel pedal 23) shown in FIG. 23b) according to the command opening of the pedal indicated by the arrow directions in the frontward direction and the rearward direction in the drawing.
Traveling vehicle bodies 13c and 13d of the first working machine 11 shown in FIG.
Right and left traveling rotational speeds and the traveling body 1 of the second work machine 12
The running control is performed so that the left and right running rotational speeds of 3e and 13f can be individually varied and can be individually rotated forward and backward.

Here, the bending direction of each link portion of the working arm 8 is pivotally supported so as to be movable only in one axial direction. Reference numeral 4 in FIG. 1 shows a connecting portion between the traveling frame 3 on the side of the first working machine 11 and the traveling frame 3 on the side of the second working machine 12, and the connecting portion 4 is slid by a connecting pin. Both working machines 11 can be dynamically displaced,
12 are detachably connected. In this connection, the two working machines 11 and 12 are arranged in a row, and are connected so as to be slidably fixed on the side surface of the traveling frame 3. Further, 26 shown in FIG. 1 is a caterpillar, 14a is a revolving body of the first working machine 11, 14b is a revolving body of the second working machine 12,
21 is an operation lever, 19 is a hydraulic cylinder, and 20 is an operator.

FIG. 2 shows an operation unit 7 provided in the cabin 15, which is provided on the connecting body 2. The cabin 15 is provided with connecting portions 4 at both left and right end positions so that the connecting portions 4 can be separated at two locations, slidable at two locations, and fixed in a sliding state.
FIG. 2 has substantially the same configuration as that of FIG. Here, 38 shown in FIG. 2 is an operation lever 21 provided in an arm shape.

In this movable connection structure in a row, even when the traveling frame 3 is connected, the revolving units 14a and 14b located above the traveling frame 3 can freely rotate, and can be turned in the front direction of the operation unit 7 (see FIG. (In the direction indicated by X), both of the two working arms 8 can be turned. In addition, since the body is slidably displaced in accordance with the ground, the stability is excellent, and since all the traveling devices 13 are in the same direction (the direction indicated by X in the drawing), the connection structure is highly mobile.

On the other hand, FIGS. 3 and 4 correspond to FIGS.
Is an example in which the row connection is changed to the column connection. Therefore, in FIGS. 3 and 4, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description is omitted.

Similarly, the twin arm working machine 1 shown in FIG. 3 has a connecting portion 4 between the traveling frame 3 on the side of the first working machine 11 and the traveling frame 3 on the side of the second working machine 12. The connecting portion 4 is slidably displaceable by a connecting pin, and both working machines 11 and 12 are connected to be detachable by inserting and removing the connecting pin. In this connection, the two working machines 11 and 12 are arranged in a vertical line and are connected on the front and rear surfaces of the traveling frame 3 in the traveling direction.

4 denotes an operation unit provided in the cabin 15 and is provided on the connecting body 2. The cabin 15 is provided with connecting portions 4 at both left and right end positions so that the connecting portions 4 can be separated at two locations, slidable at two locations, and fixed in a sliding state.

In this tandem movable connection structure, even when the traveling frame 3 is connected, the revolving bodies 14a and 14b located above the traveling frame 3 can freely rotate, and can be turned in the front direction of the operation unit 7 (see FIG. (In the direction indicated by X), both of the two working arms 8 can be turned. Moreover, since the body is slid and displaced in accordance with the ground, the stability is excellent, and all the traveling devices 13 are in the same direction (the direction indicated by Y in the drawing). This is a connection structure suitable for applications where a work point exists.

In the twin-arm working machine 1 shown in FIG. 5 (a), two working machines 11, 12 are connected in a row, and are mounted on the connecting body 2 in the traveling axis direction indicated by X in the figure. In the working machine 1 provided with the direction of the operation unit 7, when both the left and right traveling pedals 23a and 23b have the opening degrees indicating the same direction, the side with the larger opening degree (for example, 23)
The rotation speed of the traveling device 13c outside the working machine 11 located on the side with the larger opening is the highest, and the rotation of the traveling device 13f outside the working machine 12 located on the side with the smaller opening is the largest. (13c>13d> 13e) in order to minimize the speed
> 13f) By traveling with the rotational speed of the traveling device determined, the vehicle turns left in the direction indicated by X1 in the figure.

Further, when the left and right traveling pedals 23a and 23b have the opening degrees indicating different directions, the side indicating the forward (forward) side opening degree (for example, the 23a side is the front side) according to the left and right opening degrees. The rotation speed of the traveling device on the outside of the work machine 11 positioned at the opening position is larger than the rotation speed (13c> 13d), and both rotate forward (forward rotation) and are positioned on the side indicating the reverse (reverse rotation) side opening degree. The traveling speed of the traveling device of the work machine 12 is larger than the inside speed (13f> 13e), and the traveling device rotates in reverse (reverse rotation), thereby turning in the directions indicated by X2 and X2 in the drawing. become.

On the other hand, in the twin arm working machine 1 shown in FIG. 5B, two working machines 11 and 12 are connected in a cascade, and a side orthogonal to the running direction Y is In the working machine 1 provided with the operation unit 7 direction on the side indicated by X), when only one of the left and right traveling pedals 23a and 23b is selected (for example, when only 23b is selected) According to the opening degree, all the traveling devices 13c, 13d, 13e, and 13f rotate at the same speed in the direction of the pedal and travel to travel straight in the direction indicated by Y in the drawing.

Further, when the left and right traveling pedals 23a and 23b are both open in different directions (for example, 23b is the forward side and 23a is the reverse side), the front side of the operation unit 7 is controlled in accordance with the left and right open degrees. Traveling device 13 for left and right working machines located at
By rotating the rotation directions of c and 13e in the Y direction and the rotation directions of the traveling devices 13d and 13f of the two left and right working machines located on the rear side of the operation unit 7 in the opposite direction to Y, each traveling device is rotated. 13a, 13b, 13c, and 13d run by rotating at substantially the same speed, so that the vehicle turns in the direction indicated by Y1 and Y1 in the drawing.

On the other hand, when the left and right traveling pedals 23a and 23b are both in the opening direction indicating the same direction, they are located in front of the operation unit 7 according to the left and right opening degrees (for example, when 23b> 23a). The rotation speeds of the traveling devices 13c and 13e of the two working machines are different from the rotation speeds of the traveling devices 13d and 13f of the two working machines located on the rear side of the operation unit 7 ((13
c = 13e)> (13d = 13f)), and the traveling devices 13c, 13d, 13e, and 13f rotate in the same direction, so that the traveling devices 13c, 13d, 13e, and 13f travel in the direction indicated by Y2 in the drawing. .

As described above, in the above-described embodiment, a pair of traveling devices 13 are used, and one worker operates a pair of traveling pedals 23 with both feet, so that traveling can be performed in a row connection or a column connection. Can be obtained.

In this embodiment, the first working machine 1
1 is a pair of caterpillar traveling devices 13c, 13 on the left and right.
d, the second working machine 12 also has a pair of caterpillar-type traveling devices 13e and 13f on the left and right. However, the present invention is not limited to the caterpillar-type traveling device. Hydraulic excavator type work machine 1
1, 12 may be used. Further, the arrangement position and the arrangement direction of the pair of traveling pedals do not need to be arranged in front of each other as shown in FIG. It does not matter how they are arranged. That is, the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

Next, an application example of the present invention having two working arms in the above-described connection configuration will be described with reference to FIGS.

A1 (first working machine 11), A2 (connecting body 2), A3 (second working machine 12) indicated by thick dotted line Z in FIG.
Shows a state in which the right working arm 5 is connected to and fixed to each other, and the right working arm 5 is installed on A1 and the left working arm 6 is installed on A3. The member 7 gripped by these two working arms
Reference numeral 5 indicates that when the working arms 5 and 6 move in the direction indicated by F1 in the drawing (the direction in which the member 75 is contracted), they receive a reaction (the direction indicated by f in the drawing). However, the substantially triangular loop B shown by the right working arm 5-A1-A2-A3-left working arm 6 has a fixed A1-A2-A3, so that the reaction force is not lost and the reaction force is not lost. Cancel the vector and increase the force F1
Can be applied to the member 75. Also in the direction indicated by F2 in the figure (direction in which the member 75 is extended), the reaction force is canceled by the substantially triangular loop B and a large force is applied by the two working arms, as in the case of the F1 direction. Can be. Therefore, for example, when compared with a configuration of two working machines that are not connected,
The mutual displacement of the aircraft occurs and the reaction force escapes,
Although a large force cannot be applied to the object, the working machines of the coupling structure can exert a large force without escaping the reaction force because their relative positions are fixed.

Further, when a force is applied by the working arms 5 and 6 in the direction indicated by F3 in the drawing (the direction in which the member 75 is bent),
The working arms 5 and 6 can be made to act on substantially the same working point. For example, one of the working arms fixes the member 75 and the other working arm performs the bending process, or both the working arms 5 and 6 In step 6, the bending operation can be performed by applying a bending force. In this way, when the member 75 is in a free state with one working arm, a member that cannot apply a bending force or the like well can be used.
With two working arms, the working force can be easily applied to the working point without escaping.

In a portion indicated by a thick dotted line Z in FIG. 8, a first working machine 11 and a second working machine 12 are fixed by a connecting body 2 shown by oblique lines in FIG. Indicates that each is installed. Here, the bucket 60 lifted by the work arm 5 in the figure is a tool 9 for scooping soil, sand, pebbles, and the like. On the other hand, when the earth and sand in the bucket 60 is heavy, or when the work arm 5 must be fully extended to perform the work, the position of the center of gravity of the body moves forward, and the danger of falling or the bucket 60 shakes. Or
Although there is a risk of spilling earth and sand by tilting, a structure that secures a stable center of gravity with a connection structure can lift a farther and heavier object, and furthermore, the connection shown in FIG. Bucket 6 with another working arm
By holding the bottom side surface of 0, etc., the lifting operation can be stably performed.

Further, the work arm 6 is provided on a fixed object such as the ground shown by G in the figure to form a fixed loop shown by Y in the figure, whereby the position of the center of gravity is fixed, and the object is applied with a large force without danger of falling. You can lift things. This is because, in the case of a normal working machine, a machine that floats when the work arm is extended and hardly obtains a lifting force is supported by a fixed loop indicated by Y in the figure, and a much larger lift is achieved. It produces power. Moreover, since the point indicated by G in the figure is the work arm, it can be provided at any position according to the situation at the work site.

The portion indicated by the bold dotted line Z in FIG. 9 is such that the first working machine 11 and the second working machine 12 are fixed by a connecting body shown by oblique lines in FIG. 6 indicates that each is installed. Here, one working arm 6 grips the concrete wall 54 which is the fixed object G, and the other working arm 5 has a hammer 5 serving as a breaking tool 9.
I'm grabbing 5. Here, reference numeral 74 in the figure denotes a rope for preventing the tool 9 from coming off. Therefore, by swinging the boom and the arm, even if the operation is slow, if the swinging operation is performed in a continuous operation as if the snap of the wrist is effective, the tip of the hammer 55 having the elongated handle can be obtained. Can obtain a large acceleration and generate a large destructive force in the direction indicated by the arrow in the figure. This is because the body is not swung in reverse by the reaction of the inertia of the tool 9 and is supported by a fixed loop shown by Z in the drawing because of the connection configuration.
5 is obtained because a large force can be applied to 5. Therefore, the concrete wall 54 hit by the hammer 55 is destroyed, but even if the entire wall is broken and collapses, it does not collapse at once if supported by the work arm 6. Safe work can be performed.

The portion indicated by the bold dotted line Z in FIG. 10 shows that the first working machine 11 and the second working machine 12 are fixed by a connecting body shown by oblique lines in FIG. Indicates that each is installed. Here, one working arm 6 grips a concrete piece 56 and the other working arm 5 grips a nipper 58 which is a cutting tool 9. Here, for example, in a building collapsed or dismantled site due to an earthquake disaster, in a work for dismantled material, a steel frame 57 is buried in a concrete piece shown by 56 in the figure, so the work arm 6 is Even if 56 can be lifted in the direction of the arrow in the figure, it is necessary to cut the steel members 57 manually to move them.
Concrete pieces 56 held without human assistance
The steel frame material 57 entangled in the
It can be cut with a nipper 58 using a lever.
Therefore, the work arm 6 can move the concrete piece 56 smoothly and efficiently without interrupting the work.

The portion indicated by the bold dotted line Z in FIG. 11 is such that the first working machine 11 and the second working machine 12 are fixed by a connecting body shown by oblique lines in FIG. Indicates that each is installed. Here, one work arm 6 grasps the block 59, and the other work arm 5 assists in assembling the block stack. That is, the work arm 5 has a role of pressing the block 59 assembled in the direction shown by the arrow in the drawing, and prevents the block assembly state from being collapsed, while the work arm 6 supplies the block 59 one after another. Is in charge of Each of them performs two different tasks independently and simultaneously, and the connected working arms move according to the progress of the work and move the work point,
Since the relative positional relationship between the working arms is constant,
The working positional relationship can be easily grasped.

The portion indicated by the bold dotted line Z in FIG. 12 shows that the first working machine 11 and the second working machine 12 are fixed by a connecting body shown by oblique lines in FIG. Indicates that each is installed. Here, one of the working arms 6 grasps the dust remover 62 which is the defense tool 9, and the other work arm 5 grasps the nail remover 61 which is the crushing tool 9 to perform work at a high place. Two different tools 9 can be provided on both working arms 5 and 6, and different works can be performed at the same working point. Therefore, the concrete wall 54 located at a high place is dismantled by the nail puller 61 using one of the working arms 5 and dismantled.
The other work arm 6 receives the debris 56 generated by dismantling by the dust collector 62 so as not to fall. Although the treatment of the falling object is an important point related to human life, due to the connection structure, when the work points move one after another to move the dust collector 62 for processing the falling object along the work point, a relative positional relationship is required. Regardless of the traveling movement (in the X direction in the figure), the two working arms 5 and 6 can easily grasp the positional relationship, and can safely and smoothly perform work such as dropping object processing.

The portion indicated by the thick dotted line Z in FIG. 13 is that the first working machine 11 and the second working machine 12 are fixed by a connecting body shown by oblique lines in FIG. Indicates that each is installed. Here, one work arm 5 grasps the product equipment 63 for building assembling,
The other work arm 6 carries out a lift work while holding the equipment 63 therebetween. If the equipment 63 is to be gripped by only one working arm 5, a rotational moment is generated in the direction indicated by Ri in the figure due to the position of the center of gravity, which makes the equipment 63 slippery. Therefore, it is necessary to pinch the object with a strong force. However, when the product (equipment 63) is likely to be crushed or damaged and the equipment 63 is provided in the Rj direction so as to match the assembling posture, a dotted arrow in FIG. Products shown (Equipment 6
Distortion occurs around the holding position 3), which causes cracks and the like. On the other hand, when supporting the lower side of the equipment 63 with the other work arm 6, the factor of Ri or Ri or the dotted arrow is canceled, and the work arm 63 is preferred with almost no need for the clamping force of the work arm 5. It is possible to maintain the posture. The equipment 63 maintained in the assembling posture maintains the posture until the assembling position (the direction indicated by X in the drawing) because the relative positional relationship between the two working arms 5 and 6 is kept constant in the connection configuration. You can travel and carry.

As described above, in the above-mentioned application example, traveling corresponding to the connection while maintaining the positional relationship between the working arms,
Work can be performed while moving according to the work point.

[0066]

According to the present invention, a traveling device having a connection structure and two working arms are provided so that two operations can be performed individually and simultaneously, and at the same time, can be moved in accordance with a working point, so that it is extremely efficient. It is possible to provide a construction work machine adapted to a wide range of work.

Further, it is possible to easily realize traveling corresponding to the horizontal or vertical connection.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing row connection.

FIG. 3 is a perspective view showing another embodiment.

FIG. 4 is a perspective view showing tandem connection.

FIGS. 5A and 5B are explanatory diagrams showing the traveling principle.

FIG. 6 is a perspective view showing the traveling pedal.

FIG. 7 is a principle view showing an application example.

FIG. 8 is a principle view showing an application example.

FIG. 9 is a principle view showing an application example.

FIG. 10 is a principle view showing an application example.

FIG. 11 is a principle view showing an application example.

FIG. 12 is a principle view showing an application example.

FIG. 13 is a principle view showing an application example.

FIG. 14 is a perspective view showing a conventional example.

FIG. 15 is a perspective view showing the operation unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Twin arm working machine 2 Connecting body 3 Traveling frame 4 Connecting body 5 First working arm (located on the right side) 6 Second working arm (located on the left side) 7 Operating section 8 Working arm 10 Hydraulic excavator (or backhoe) 11 1st work machine (hydraulic shovel) 12 2nd work machine (hydraulic shovel) 13 traveling vehicle body 13c, 13d, 13e, 13f traveling device 14, 14a, 14b revolving unit 15 cabin 16 boom 17 arm 18 attachment 21 operating lever 21a Right traveling lever 21b Left traveling lever 23 Pedal lever 23a Right pedal 23b Left pedal 26 Caterpillar

[Procedure amendment]

[Submission date] March 14, 2001 (2001.3.1.
4)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 6

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

[0004] At the tip of the arm 17, an attachment (holding and crushing device) indicated by 18 in the figure is attached according to the work. The swing body 14 seat seat or al operator 20 provided on the two operating levers 2
By operating 1, the work arm 8 is extended and contracted through a plurality of hydraulic cylinders 19 attached to the boom 16 and the arm 17 so that the work arm 8 can be freely bent in directions indicated by r2 and r4 in the drawing.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

In general, one working arm 8 is operated by two operating levers as shown by 21a and 21b in FIG.
In the figure, either the vertical movement of the bucket or the vertical movement of the boom 16 is selected by the right operation lever 21a of the seat 22, while the left operation lever 21b is selected. , The vertical movement of the arm 17 or the left and right swing of the swing body 14 is selected. In this way, the work arm 8 is activated in accordance with the commands (directions indicated by r1, r2, r4, and r5 in FIG. 14 ) selected one by one by the two left and right operation levers 21.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

[0006] Foot pedals indicated by reference numerals 23a and 23b in FIG. 15 actuate axles provided on the left and right sides of the traveling vehicle body 13 to perform forward / backward traveling or left / right turning traveling via a crawler indicated by 26 in FIG. In FIG. 15, 2
The pedal indicated by 3a operates the right crawler 26a of the traveling vehicle body 13, and the pedal indicated by 23b operates the left crawler 26b of the traveling vehicle body 13.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction contents]

[0016] On the other hand, JP-public H4-70452 (JP-S
Japanese Patent Application Laid-Open No. 63-7427) discloses that one work arm is provided with two types of devices, a digging bucket and a lift device. However, only one of the continuous processes is operated. Then, it is intended to switch and use. However, in such a configuration, for example, it is not possible to prevent the swing of the item lifted by the lift device by sandwiching the swing with the bucket device. This is a structure in which when the work arm is moved, both devices are moved at the same time, and as described above, it is a configuration that can cope with only one work, and does not solve the various problems described above.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction contents]

That is, Japanese Utility Model Application Laid-Open No. H5-89543, Japanese Patent Application Laid-Open No.
In Japanese Patent Application Publication No. 9544, one working machine is provided with two working arms. However, in one working machine, the hydraulic pressure generated by one engine is limited, and two working arms are used. Cannot be operated simultaneously and efficiently, and only one working arm can be operated by switching the hydraulic circuit. Moreover, the work by placement into a suitable position for working the two working arms at the same point that said to be a difficult construction since the risk of falling in view of the center of gravity of the aircraft is increased.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0029

[Correction method] Change

[Correction contents]

(Operation) The present invention has the following structure
The following actions can be performed. That is, the revolving unit 14 is mounted on the traveling vehicle body 13 so as to be revolvable, and the revolving unit 1
Since two work machines 11 and 12 each having a work arm 8 composed of a boom 16 and an arm 17 supported on the connection body 4, the two work arms 5 and 6 are connected. It is possible to realize a working machine having a configuration with very low development costs, and furthermore, the stability of the working machine having the connection structure is such that the positions of the centers of gravity of the working machines are shifted toward the connecting body 2 side and supported by each other. Fitting makes it safer and much more stable. In this stable structure, the working arm 8 can be provided longer, the working range of the working arm 8 involving turning can be extended, and the long working arm 8 can be used even when there is an obstacle ahead in the traveling direction. By extending the work arm 8 beyond the obstacle to the target point further forward, the work can be performed on the work point at a deeper part. In addition, since each work arm 5, 6 is individually provided on each revolving unit 14 , the work arms 5, 6 can be turned so as to act on the same work point, or each work arm can be acted on a different work point. Can be.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0041

[Correction method] Change

[Correction contents]

Here, the bending direction of each link portion of the working arm 8 is pivotally supported so as to be movable only in one axial direction. Reference numeral 4 in FIG. 1 shows a connecting portion between the traveling frame 3 on the side of the first working machine 11 and the traveling frame 3 on the side of the second working machine 12, and the connecting portion 4 is slid by a connecting pin. Both working machines 11 can be dynamically displaced,
12 are detachably connected. In this connection, the two working machines 11 and 12 are arranged in a row, and are connected so as to be slidably fixed on the side surface of the traveling frame 3. Further, 26 shown in FIG. 1 is a crawler , 14a is a revolving body of the first working machine 11, 14b is a revolving body of the second working machine 12,
1 is an operation lever, 19 is a hydraulic cylinder, and 20 is an operator.

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0054

[Correction method] Change

[Correction contents]

In the present embodiment, the first working machine 11 has a pair of crawler- type traveling devices 13 c and 13 on the left and right.
comprising a d, the second working machine 12 also travel device 13e of the pair of crawler type right and left, an example comprising 13f, Black
Over not limited to La type traveling device, for example, the traveling device the working machine 11 of the hydraulic excavator based wheel loader type,
It may be 12. Further, the arrangement position and the arrangement direction of the pair of traveling pedals do not need to be arranged in front of each other as shown in FIG. It does not matter how they are arranged. That is, the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0056

[Correction method] Change

[Correction contents]

[0056] indicated by a thick point line in FIG. 7 A1 (first work
) , A2 (connecting body) , and A3 (second working machine) are connected and fixed to each other, and the right working arm 5 is installed on A1 and the left working arm 6 is installed on A3. ing. When the work arms 5 and 6 move in the direction indicated by F1 in the figure (the direction in which the member 75 is contracted), the member 75 gripped by the two work arms changes its reaction (the direction indicated by f in the figure). Will receive it. However, the substantially triangular loop B shown by the right working arm 5-A1-A2-A3-left working arm 6 is fixed between A1-A2-A3, so that the reaction force is not lost and the reaction force is not lost. The combined vector is canceled and a large acting force F1 is applied to the member 75.
Is a structure that can be applied to The direction indicated by F2 in the figure (the direction in which the member 75 is extended) is also changed to the above F1.
As in the case of the direction, the reaction force is canceled by the substantially triangular loop B, and a large force can be applied by the two working arms. Thus, for example, no connection 2
Compared to the configuration with a single work machine, the mutual displacement of the body occurs and the reaction force escapes, so that a large force can not be applied to the object, but the relative positions of the work machines of the connection structure are fixed Therefore, a large force can be exerted without losing the reaction force.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0058

[Correction method] Change

[Correction contents]

In a portion indicated by a thick dotted line Z in FIG. 8, a first working machine and a second working machine are fixed by a connection body shown by oblique lines in the figure, and a work arm 5 is attached thereto. , 6 are installed. Here, the bucket 60 lifted by the work arm 5 in the figure is a tool 9 for scooping soil, sand, pebbles, and the like. On the other hand, when the earth and sand in the bucket 60 is heavy, or when the work arm 5 must be fully extended to perform the work, the position of the center of gravity of the body moves forward, and the danger of falling or the bucket 60 shakes. Although there is a risk of spilling earth and sand by tilting, if the structure of the connection structure secures a stable center of gravity, a farther and heavier object can be lifted, and the connection shown in FIG. By holding the bottom side surface of the bucket 60 with the other work arm thus obtained, the lifting operation can be stably performed.

[Procedure amendment 12]

[Document name to be amended] Statement

[Correction target item name] 0060

[Correction method] Change

[Correction contents]

In a portion indicated by a thick dotted line Z in FIG. 9, the first working machine and the second working machine are fixed by a connection body shown by oblique lines in the figure, and the working arms 5 and 6 are attached thereto. It shows that each is installed. Here, one working arm 6 grasps a concrete wall 54 which is a fixed object G, and the other working arm 5 grasps a hammer 55 serving as a breaking tool 9. Here, reference numeral 74 in the figure denotes a rope for preventing the tool 9 from coming off. Therefore, by swinging the boom and the arm, even if the operation is slow, if the swinging operation is performed in a continuous operation as if the snap of the wrist is effective, the tip of the hammer 55 having the elongated handle can be obtained. Can obtain a large acceleration and generate a large destructive force in the direction indicated by the arrow in the figure. This is the shadow of the reaction from tool 9.
This is obtained because the body is not swung in the opposite direction due to the sound, and can be supported by the fixed loop indicated by Y in the drawing and a large force can be applied to the hammer 55 because of the connection configuration. The concrete wall 54 hit with a hammer 55
However, even if the entire wall is broken and collapses, if it is supported by the work arm 6, it is possible to perform a safe operation that does not collapse at once.

[Procedure amendment 13]

[Document name to be amended] Statement

[Correction target item name] 0061

[Correction method] Change

[Correction contents]

In the part shown by the thick dotted line Z in FIG. 10, the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one working arm 6 grips a concrete piece 56 and the other working arm 5 grips a nipper 58 which is a cutting tool 9.
Here, for example, in a building collapsed or dismantled site due to an earthquake disaster, in a work for dismantled material, a steel frame 57 is buried in a concrete piece shown by 56 in the figure, so the work arm 6 is Even if 56 can be lifted in the direction of the arrow in the figure, the steel members 57 must be cut by hand to move them, but the steel members entangled with the held concrete pieces 56 without human assistance 57 can be cut by another working arm 5 with a nipper 58 using a lever. Therefore, the work arm 6 can move the concrete piece 56 smoothly and efficiently without interrupting the work.

[Procedure amendment 14]

[Document name to be amended] Statement

[Correction target item name] 0062

[Correction method] Change

[Correction contents]

In the part shown by the thick dotted line Z in FIG. 11, the first working machine and the second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one working arm 6 grasps the block 59 and the other working arm 5
Provides assistance in assembling blocks. That is, the work arm 5 plays a role of pressing the block 59 assembled in the direction indicated by the arrow in the figure, and prevents the assembled state of the block from collapsing.
Is in charge of supplying the blocks 59 one after another.
Each of them performs two different tasks independently and at the same time, and the relative positions of the working arms are constant even when the connected working arms travel and move the working point according to the work progress. Therefore, the working positional relationship can be easily grasped.

[Procedure amendment 15]

[Document name to be amended] Statement

[Correction target item name] 0063

[Correction method] Change

[Correction contents]

In the part shown by the thick dotted line Z in FIG. 12, the first working machine and the second working machine are fixed by a connecting body shown by hatching in the figure, and the working arms 5 and 6 are respectively attached to them. It indicates that it is installed. Here, one of the working arms 6 grasps the dust remover 62 which is the defense tool 9, and the other work arm 5 grasps the nail remover 61 which is the crushing tool 9 to perform work at a high place. Two different tools 9 can be provided on both working arms 5 and 6, and different works can be performed at the same working point. Therefore, the concrete wall 54 located at a high place is broken by one nail 61 and dismantled by one working arm 5, and the debris 56 generated by the dismantling is received by a dust collector 62 so as not to drop by the other working arm 6. I have. The treatment of this falling object is an important point related to human life, but because of the connection structure,
When the work points move one after another and the dust collector 62 for processing the falling object is moved along the work point, the two work arms 5 and 6 in a relative positional relationship are moved regardless of the traveling movement (the X direction in the drawing). It is easy to grasp the positional relationship, and it is possible to safely and smoothly perform operations such as handling of falling objects.

[Procedure amendment 16]

[Document name to be amended] Statement

[Correction target item name] 0064

[Correction method] Change

[Correction contents]

In the portion indicated by the thick dotted line Z in FIG. 13, the first working machine and the second working machine are fixed by a connection body shown by oblique lines in the figure, and the working arms 5 and 6 are respectively attached thereto. It indicates that it is installed. Here, one work arm 5 holds the product equipment 63 for building assembling, and the other work arm 6 carries out the lift work while holding the equipment 63. If the equipment 63 is to be gripped by only one working arm 5, a rotational moment is generated in the direction indicated by Ri in the figure due to the position of the center of gravity, which makes the equipment 63 slippery. Therefore, it is necessary to pinch the object with a strong force. However, when the product (equipment 63) is likely to be crushed or damaged and the equipment 63 is provided in the Rj direction so as to match the assembling posture, a dotted arrow in FIG. Distortion occurs around the pinching position of the indicated product (equipment 63), causing cracks and the like. On the other hand, when supporting the lower side of the equipment 63 with the other work arm 6, the factor of Ri or Ri or the dotted arrow is canceled, and the work arm 63 is preferred with almost no need for the clamping force of the work arm 5. It is possible to maintain the posture. The equipment 63 maintained in the assembling posture maintains the posture until the assembling position (the direction indicated by X in the drawing) because the relative positional relationship between the two working arms 5 and 6 is kept constant in the connection configuration. You can travel and carry.

[Procedure amendment 17]

[Document name to be amended] Statement

[Correction target item name] Explanation of sign

[Correction method] Change

[Correction contents]

[Description of Signs] 1 Twin arm working machine 2 Connected body 3 Traveling frame 4 Connecting section 5 First working arm (located on the right) 6 Second working arm (located on the left) 7 Operating section 8 Working arm 10 Hydraulic excavator (Or backhoe) 11 1st work machine (hydraulic shovel) 12 2nd work machine (hydraulic shovel) 13 traveling vehicle body 13c, 13d, 13e, 13f traveling device 14, 14a, 14b revolving unit 15 cabin 16 boom 17 arm 18 Attachment 21 Operation lever 21a Right operation lever 21b Left operation lever 23 Pedal lever 23a Right pedal 23b Left pedal 26 Crawler

[Procedure amendment 18]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Toshihiko Shimizu 1-115-16-305 Egawa, Shimamoto-cho, Mishima-gun, Osaka F-term (reference) 2D003 AA01 AB01 AB03 AB04 BA07 CA02 EA00 2D012 FA00 2E176 DD01 DD07

Claims (6)

[Claims] A revolving body is mounted on a traveling vehicle body via a revolving bearing so as to be revolvable about a vertical axis, and a revolving work arm comprising a boom and an arm at the tip of the revolving body is raised and lowered on the revolving body. A first working machine that is supported, a second working machine that is adjacent to the first working machine and that has substantially the same structure as the first working machine, a traveling body of the first working machine, and a second working machine. A connecting body for connecting a traveling vehicle body of the first working machine; an operating lever for operating a working arm of the first working machine;
An operation unit having both an operation lever for operating a work arm of the work machine, a pair of front and rear movable travel pedals provided on the left and right sides of the operation unit, and a first The traveling control is performed so that the left and right traveling rotational speeds of the work implement traveling vehicle body and the left and right traveling rotational speeds of the second work implement traveling vehicle body can be individually varied and individually reversibly rotated. Characteristic twin arm working machine with traveling device. 2. In a working machine in which two working machines are connected in a horizontal row and the direction of the operating portion is provided in the running axis direction, both the left and right running pedals have a command opening indicating the same direction. At the time, according to the left and right opening, the rotation speed of the traveling device outside the work machine located on the side with the larger opening is the largest,
The twin-arm working machine with a traveling device according to claim 1, wherein the traveling device travels with the rotation speed of the traveling device being determined such that the rotation speed of the traveling device of the work device located on the side with the smaller opening degree becomes the smallest. 3. In a working machine in which two working machines are connected in a horizontal row, and the direction of the operation section is provided in the running axis direction, the left and right running pedals have command opening degrees indicating different directions. At this time, the rotation speed of the traveling device outside the work machine located on the side indicating the forward rotation side opening degree is larger than the rotation speed of the traveling device located on the side indicating the forward rotation side opening degree, and is located on the side indicating the reverse rotation side opening degree. 3. The twin arm working machine with a traveling device according to claim 1, wherein the traveling device travels when the rotational speed of the traveling device of the traveling device is larger than the inside rotation speed. 4. In a working machine in which two working machines are connected in tandem and an operation section direction is provided on a side orthogonal to a running direction, only one of the left and right running pedals is selected. 2. The twin-arm working machine with a traveling device according to claim 1, wherein all traveling devices rotate and travel at the same speed in the direction of the pedal according to the command opening when the instruction is made. 5. A command opening in which left and right traveling pedals indicate different directions in a working machine in which two working machines are connected in a cascade and an operation section direction is provided on a side orthogonal to a running direction. , The rotation directions of the traveling devices of the two left and right working machines located on the front side of the operation unit according to the left and right opening degrees, and the traveling of the two left and right working machines located on the rear side of the operation unit. 5. The vehicle according to claim 1, wherein each of the traveling devices rotates at substantially the same speed by rotating in a direction opposite to the rotation direction of the device.
The twin-arm working machine with the traveling device described in the above. 6. A command opening in which left and right traveling pedals both indicate the same direction in a working machine in which two working machines are connected in a cascade and an operation section direction is provided on a side orthogonal to a running direction. , The rotation speeds of the traveling devices of the two working machines located on the front side of the operating unit are changed according to the left and right opening degrees. The twin-arm working machine with a traveling device according to claim 1, wherein the traveling device rotates at a speed different from the rotation speed and travels by rotating the traveling devices in the same direction.