JP3184973B2 - Twin arm working machine with gripping hand - Google Patents

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 work machine for performing work such as civil engineering work or construction work in which a work arm is supported so that the work arm can be raised and lowered, and an attachment 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 shown at 10 in FIG. 16 mounts a revolving body 14 on a traveling vehicle body 13 via a revolving bearing so as to be revolvable about a vertical axis (in a direction indicated by r1 in FIG. 16). 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] 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.

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 (the directions indicated by r1, r2, r4, and r5 in FIG. 16 ) selected one by one with the two left and right operation levers 21.

[0006] Foot pedals indicated by reference numerals 23a and 23b in FIG. 17 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. 17, 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.

Here, reference numeral 3 in FIG. 16 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.

[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.

[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 Laid-Open No. H5-89543, Japanese Unexamined Patent Application Publication No. H8-31919, and Japanese Utility Model No.
In Japanese Patent No. 89544, one work machine is provided with two work arms. However, in one work machine, the hydraulic pressure generated by one engine is limited, and two work arms are provided. 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.

[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.

The present invention comprises a hand for gripping a tool,
It is an object of the present invention to provide a construction work machine capable of performing two tasks individually and simultaneously with a work arm, being capable of exerting a relatively large force in a safe manner, and being extremely efficiently adapted to a wide range of tasks.

[0022]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, a twin arm working machine having a gripping hand according to the present invention has a revolving body on a running body which is pivoted about a vertical axis via a revolving bearing. A first work machine having a revolving work arm comprising a boom and an arm at the tip of the boom supported on the revolving body so as to be able to move up and down, 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 connecting the traveling body of the first working machine and the traveling body of the second working machine, and work of the first working machine An operating portion having both an operating lever for operating the arm and an operating lever for operating the working arm of the second working machine, wherein the tip of the working arm of the first working machine and the operating section of the second working machine are provided. Attachments for performing the work are provided at the end of the work arm and And one of the attachment also has a plurality of joints, each joint to be refracted
And a hand body for working by handling members and work tools. An attachment base provided with a pivot shaft for refracting the attachment disposed at the tip of the arm up and down, and a hand body is provided at the tip of the attachment base, wherein the attachment base can freely rotate the hand body. It is preferable to support it.

Therefore, one of the refracting hand bodies is
The gripping space is pivotally supported so as to be able to contract in a substantially curved cross-sectional shape, and further includes a work tool handle formed in substantially the same cross-sectional shape as the cross-sectional shape of the grip space of the hand body, and the hand body grips the work tool handle. What performs the work has a configuration that facilitates the gripping operation of the work tool.

[0024] On the other hand, work the fall prevention means to prevent the fall slip through the work tool from the tooth-end body tool or Ha
The safe operation is realized when the hand body grasps the work tool and performs the work in preparation for any of the hand bodies.

It is preferable that the hand body is in a state of grasping a member or a work tool, and the hand body is provided so as to be able to forcibly hold the state at a predetermined constant pressure.

[0026]

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

The twin-arm working machine 1 provided with the gripping hand according to the present invention is a traveling vehicle 1 used for construction work and the like.
A revolving body 14 is mounted on the revolving body 3 via a revolving bearing so as to be revolvable about a vertical axis. A revolving work arm 8 composed of a boom 16 and an arm 17 at the tip of the revolving body 14 is supported on the revolving body 14 so as to be able to move up and down. A first working machine 11 (a hydraulic shovel-based working machine), and a second working machine 12 (a second working machine 12) (adjacent to the first working machine 11 and having substantially the same structure as the first working machine 11).
Hydraulic excavator-based working machine), a connecting body 2 connecting the running body 13 of the first working machine 11 and the running body 13 of the second working machine 12, and a work 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 and the right. The tip of the work arm 5 and the second work machine 1
Attachments 18 for performing respective operations are provided at the tip of the second working arm 6 and the flat finger 71 provided with the attachment 18 in a wide shape and the rod finger 7 provided in a cylindrical shape.
It includes a hand member 25, each of the joint is to allow refraction individually become between two fingers 71 and 72 with 2, member 7
The work is performed by handling the work tool 5 and the work tool 9.

[0028] Then, has an attachment base 68 having a pivot shaft for refracting an attachment 18 arranged on the arm tip, there is the hand body 25 is provided at the distal end of the attachment base 68, A Attachment base 68 supports the hand body 25 rotatably.

Then, the flat finger body 7 of the resilient hand body 25 is bent.
Either one or the rod finger 72 is pivotally supported so that the gripping space can be contracted to have a substantially curved cross-sectional shape, and a power tool handle formed to have a substantially same cross-sectional shape as the cross-sectional shape of the gripping space of the hand body 25. 73, the hand body 25 is
Is working on it.

[0030] On the other hand, create a fall prevention means 74 to prevent the fall in work tool 9 is slipping from the tooth-end body 25
With either the work tool 9 or the hand body 25 provided, the hand body 25 performs the work by grasping the work tool 9.

The hand body 25 includes the member 75 and the work tool 9.
And the flat finger 71 and the rod finger 72 of the hand body 25 can forcibly bend and hold the bent state at a predetermined constant pressure, and the oil pressure is forcibly held at the relief valve pressure. Is controlled.

(Operation) With the above configuration, the present invention can perform the following operation. That is, the revolving unit 14 is mounted on the traveling body 13 so as to be revolvable, and the boom 16 and the arm 1 are mounted on the revolving unit 14.
Since the two working machines 11 and 12 supported by the working arm 8 comprising the working arm 7 and the working body 8 are connected to the connecting body 2, a working machine having the two working arms 5 and 6 is used. It can be realized at extremely low development cost, and the stability of the working machine having the connecting structure is secure because the center of gravity of each working machine is shifted toward the connecting body 2 and supported by each other. It will be much more stable. In this stable structure, the working arm 8 can be provided longer,
The work range of the work arm 8 with turning can be extended, and the long work arm 8 extends the work arm 8 beyond the obstacle to the target point further forward, even when there is an obstacle ahead in the traveling direction, Work can be performed on work points 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.

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 operator can easily operate the left and right operation levers 21a and 21b, respectively, and can operate both working arms 5 and 6 individually and simultaneously.

Therefore, the loop formed by the two working arms 8 and the connecting body 2 at the time of work can cancel out the reaction force and exert a large working force, and the two working arms 8 connected by the connecting body 2 Can complement each other.

The attachment 1 of the working arm 8
8 has a plurality of joints, each of which can be bent
By providing a hand body 25 formed by, that the openable e.g. two fingers body is refracted pivotally supported individually,
The hand body 25 can work by handling the member 75 and the work tool 9.

On the other hand, when the hand body 25 grips the work tool 9 such as a hammer, dynamic continuous operation of the boom 16 and the arm 17 is required to make full use of the hammer.
Even if the operation is gradual, a large acceleration is generated in the power tool 9 at the tip, and the effect of the reaction cannot be ignored. Therefore, for example, in the structure of a single working machine in which the center of gravity of the machine is located near the base of the boom, the machine arm that receives the reaction force from the working arm 8 and extends forward is easy to float down. At the end etc., the result is that the body is shaken conversely, and even with work using a working tool (hammer, mulberry, etc.) 9 in which a single working arm cannot produce enough force, the work with the above connection structure is not A structure that supports the ground so that it can be counteracted by the reaction force while holding the ground at a suitable position to cancel the moment with the other work arm that is free and further increasing the distance from the center of gravity of the aircraft Is generated between the fixed object, the holding-side working arm, and the connecting body 2, and is applied by a combined force without escaping the acting force of the operating working arm 8 to increase the gripping force of the hand body 25. In the kinetic energy of the power tool (hammer) 9 which is a heavy object regardless of, it can exert a large force to the object.

Further, in this case, the impact of the power tool (hammer) 9 is not directly received by the hand body 25 holding the handle 73 due to the hitting surface, and there is a risk that the hand body 25 as the attachment 18 may be damaged. Absent.

Furthermore, for work on an object to be worked at a high place or for lifting heavy work at a position where the work arm 8 is fully extended, one work machine has a work tool 25 which is a heavy work. If the work arm 8 is lifted upward or a heavy object at the front position is lifted, the center of gravity of the body becomes unstable, which is dangerous and hinders the work. The other work arm 8, which is free, supports the fixed object and the ground in the same manner as described above, and uses the distance from the center of gravity of the aircraft to support it so that it does not receive a reaction force and generate a moment. Is applied between the fixed object, the support-side working arm, and the connecting body, and is applied by a combined force without escaping the working force of the operating working arm 8 so that the object at a high place or in front can be stably maintained. To exert a great force on things Can.

If the lever of the power tool 9 is used, the gripping hand body 25 does not require a large gripping force. When grasping, if the position of the center of gravity of the building equipment 63 cannot be grasped, if one work arm 8 is grasped at a position deviated from the center of gravity, the relation with the position of the center of gravity is obtained.
A rotational moment is generated by the engagement and applied to the hand body 25,
It is necessary to pinch with strong force because of the danger of slipping and falling, but when the building equipment 63 is damaged, the holding force is applied to the vicinity of the holding position of the building equipment 63 when holding it at one point, and the building equipment cracks. In the case of the two working arms 5 and 6, the two working arms 5 and 6 support the position gripped by the hand body 25 and the position on the diagonal line from below with another working arm, so that a very small clamping is achieved. The heavy construction equipment 63 can be lifted by force. In addition, the lifted construction equipment 63 can be maintained in a preferred posture convenient for assembly work by the two work arms 5 and 6.

As described above, the boom 16 and the arm 17
The two working arms 8 constituted by
6 can be moved to an arbitrary space position within the movable range, and the position of the hand body 25 at the tip of the arm can be freely moved.

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, Thus, it is possible to realize a working machine capable of performing a wide range of work extremely efficiently, which has conventionally been realized with only one work arm, while performing a function of performing a large work with a small force while supplementing the work.

An attachment base 68 having a pivot shaft for bending the attachment 18 disposed at the tip of the arm is provided, and the hand body 25 is provided at the tip of the attachment base 68.
Since the hand body 25 can perform a bending operation and a rotating operation if the hand body 8 rotatably supports the hand body 25, the hand body 25 is in a posture of picking up the work tool 9 and a posture of swinging the work tool 9 down. In addition, it is possible to efficiently work by obtaining a free posture such as a posture in which the member 75 or the equipment 63 is grasped or attached.

Therefore, the hand body 2 provided so as to be able to bend.
5 is a work tool (such as a hammer, etc.) in which the gripping space is pivotally supported so as to be contractible into an approximately elliptical shape with a cross-sectional curve and bent so as to have the same cross-sectional shape as the cross-sectional shape of the gripping space of the hand body 25. If the handle 73 of the hand tool 9 is provided, the gripping space can be contracted into a substantially elliptical shape with a curved cross section.
Is capable of exactly grasping an elliptical one having a substantially elliptical cross-section without depending on the size of the work tool 9 and the handle 73, and is formed to have substantially the same cross-sectional shape as the cross-sectional shape of the gripping space of the hand body 25. The handle 73 of the work tool (hand tool such as a hammer) 9 can be gripped tightly with a small force without loosening as described above. In any case, since the handle cross-section matches the hand body cross-section, it is possible to prevent dangers such as dropping, falling, or slipping caused by loosening when gripping the work tool 9.

In the case where the work is conventionally performed while replacing the expensive hydraulic attachment 18 with the work tool 9 or the hand body 25, there is no need to replace the hand body 25. It is possible to continuously and efficiently perform a wide range of work one after another while holding various kinds of work tools 9 such as inexpensive hand tools.

[0045] On the other hand, create a fall prevention means 74 to prevent the fall in work tool 9 is slipping from the tooth-end body 25
If the tool is provided on either the work tool 9 or the hand body 25 , the fall prevention means 74 is provided on one of the tool side and the hand side, such as a grip end, a pin, a hole, a rope, or the like that connects each other. By doing so, it is possible to carry out the work safely without danger.

Further, when the hand body 25 is in a state of gripping the member 75 and the work tool 9, the hand body 25 is provided so as to be able to forcibly hold the state at a predetermined constant pressure, and As long as the hand body 25 can be forcibly gripped, the hand body 25 that is always held at a constant pressure during the forced operation can be used even when the hand is released from the lever for opening and closing the hand body 25. Since the gripping operation is continuously forcibly continued, the operation of holding the work tool 9 or the member 75 at a predetermined constant pressing force according to the operation can be easily performed without dropping the work tool 9 or the member 75 due to an operation error. Can do it.

As described above, the twin-arm working machine 1 provided with the gripping hand of the present invention can be 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. By using the two working arms provided, it is possible to realize a configuration in which various tasks can be efficiently performed by one person, and the two tasks can be performed individually and simultaneously.

[0048]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 8 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) in which a resilient working arm 8 is supported to be able to move up and down, and a construction adjacent to the first working machine 11 and having substantially the same structure as the first working machine 11. A second work machine 12 (a second hydraulic excavator) comprising:
A connecting body 2 for connecting the traveling body 13 of the first working machine 11 to the traveling body 13 of the second working machine 12, a right operating lever 21a for hydraulically operating the working arm 5 of the working machine 11 located on the right side; A left operating lever 21b for hydraulically operating the working arm 6 of the working machine 12 located on the left side, and an operating unit 7 having both left and right sides.

Then, a hand body (attachment) indicated by 25 in FIG. 5A for performing operations on the tip of the working arm 5 of the first working machine 11 and the tip of the working arm 6 of the second working machine 12, respectively. 18) is provided, and the hand body 25 has a wide flat finger body 71 and a cylindrically provided rod finger body 72 shown in FIG. 5B , which are individually provided in the r7 and r8 directions in the figure. joints are gills <br/> supported at the position shown by L7, L8 of the refractive capable figure. The hand body 25 is used for handling members and work tools to perform work.

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 1 can be displaced dynamically, and
1, 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, 23 shown in FIG. 1 is a pair of traveling pedals, and 26 is a clutch.
Roller , 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, 20 is a worker, and 18 is an attachment provided at the tip of an arm. It is.

FIG. 2 shows an operation section 7 provided in the cabin 15, which is provided on the connecting body 2.
The connecting portions 4 are provided at both left and right end positions of the cabin 15 so that the connecting portions 4 can be separated from each other and slidable at two positions.
Moreover, they are connected so as to be fixed in a sliding state. FIG. 2 has substantially the same configuration as that of FIG. Here, reference numeral 38 in FIG. 2 indicates the operation lever 21 provided in an arm shape.

In this horizontal movable connection structure,
Even when the traveling frame 3 is connected, the revolving units 14a and 14b located above the traveling frame 3 can freely pivot, and the operation unit 7
Both of the two working arms 8 can be turned in the front direction (the direction indicated by X in FIG. 2 ). 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 work 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 shows an operation unit 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.

In this movable connection structure in a cascade, 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.

Then, FIG. 5 arranged at the tip of the arm 17
The base 68 of the attachment 18 shown in (b) is rotatably supported by the L6 link of the hand body 25 in the direction indicated by r6 in the figure.

Therefore, the flat finger 71 and the stick finger 72 of the resilient hand body 25 are provided at the tip of the attachment 68c shown in FIG.
The work shown in FIG. 7A in which the gripping space is pivotally supported in the r7 and r8 directions so as to be contractible into a substantially curved cross-sectional shape, and is formed to have substantially the same cross-sectional shape as the gripping space 73 of the hand body 25. With the tool handle 73 provided, the hand body 25 performs the work by grasping the work tool handle 73.

Meanwhile, 74 of FIG. 7 (a), c command body 2
7 shows a return portion for preventing the work tool from slipping through and dropping from the tool body 5. The return portion (fall prevention means 74) indicated by 74a and 74b in FIG. Perform the work by grasping the work tool 9.

The hand body 25 includes the member 75 and the work tool 9.
And the flat finger 71 and the rod finger 72 of the hand body 25 can forcibly bend and hold the bent state at a predetermined constant pressure, and the oil pressure is forcibly held at the relief valve pressure. Is controlled. This makes it possible to forcibly perform a grasping operation at an arbitrary pressure regardless of the operation of the operation lever 21 when grasping a soft object or continuing to grasp the object. This is because the proportional directional control valve indicated by reference numeral 48 in FIG. 8 receives the signal indicated by Sa in FIG.
When an oil passage is generated, the hydraulic cylinder 19 is pushed in the direction of the arrow in the figure by the hydraulic pressure determined by the pressure reducing valve 48a. At this time, if the cylinder pressure exceeds the predetermined oil pressure, the oil pressure is released to the drain indicated by reference numeral 49 in the drawing, and the cylinder pressure is constantly reduced to a constant pressure. As a result, under the load of the hydraulic cylinder 19, the flat finger 71 is pressed at a constant pressure in the direction indicated by the arrow in the figure, and grips the handle 73 of the tool provided in the hatched shape in the figure. On the other hand, when the signal indicated by Sb in the figure is input, the proportional direction switching valve 48 selects the oil path direction shown on the right side of the figure,
The hydraulic cylinder 19 moves in a direction opposite to the direction of the arrow in the figure.
At this time, regardless of the set pressure, the check valve indicated by 48b in the figure opens to operate normally. FIG.
M in the figure indicates the engine motor 50. Reference numeral 51 denotes a pump; 52, a filter; and 53, a relief valve for determining a maximum hydraulic pressure.

FIGS. 5A and 5B, FIGS. 6 and 7
In (a) and (b), the same reference numerals are given to common portions, and detailed description is omitted.

As described above, in the above-described embodiment, the hand body 25 reliably grasps the tool 9, so that a variety of operations can be performed by selecting the tool 9 or the member according to the operation.

In this embodiment, the flat finger 71
Showed hand 25 grasping in Boyubitai 72, a plurality of joints
There is a possible refraction, it may be a finger of the other shapes as long as handling member and the tool. Further, the gripping space of the hand body 25 is provided in an elliptical shape, but the cross-sectional shape is not limited to the elliptical shape. Further, the fall prevention means 74 is formed as return portions 74a and 74b on the tool 9 side, but may be formed on the hand body 25 side or may be provided on the tool 9 and the hand body 25. Absent. 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.

[0065] indicated by a thick point line in FIG. 9 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.

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.

A portion indicated by a thick dotted line Z in FIG.
And the second working machine are fixed by a connecting body indicated by hatching in the figure, and the working arms 5 and 6 are respectively installed on them. Here, the work arm 5 shown in FIG.
The bucket 60 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.

Further, the work arm 6 is provided on a fixed object such as the ground shown by G in the figure and a fixed loop shown by Y in the figure is formed, whereby 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.

A portion indicated by a thick dotted line Z in FIG.
This indicates that the working machine and the second working machine are fixed by a connecting body indicated by hatched portions in the figure, and that the working arms 5 and 6 are respectively installed on them. Here, one working arm 6 grasps the concrete wall 54 which is the fixed object G,
The other working arm 5 holds a hammer 55 serving as the destruction 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, of reaction from the tool 9
This is obtained because the body is not swung in the reverse direction due to the influence, and is supported by the fixed loop indicated by Y in FIG. 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.

The portion indicated by the bold dotted line Z in FIG. 12 is such that 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 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.

In the part shown by the thick dotted line Z in FIG. 13, 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.

In the portion shown by the thick dotted line Z in FIG. 14, 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 thereto. 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.

In the portion indicated by the thick dotted line Z in FIG. 15, 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 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.

As described above, in the above-described application example, various operations can be efficiently performed by the hand body selecting a tool according to the operation.

[0075]

According to the present invention, a hand for gripping a tool is provided, and two operations can be performed individually and simultaneously by two operation arms, and a relatively large force can be exhibited safely and extremely efficiently. It is possible to provide a construction work machine adapted to a wide range of work.

Further, since the hand body performs the work of grasping the tool that matches the grasping operation, it is possible to easily realize a working machine suitable for various works.

[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 a row connection.

FIG. 3 is a perspective view showing tandem connection.

FIG. 4 is a perspective view showing another tandem connection.

5A and 5B are perspective views each showing a gripping hand.

FIG. 6 is a sectional view showing the structure.

7A is a side view and FIG. 7B is a perspective view showing a fall prevention unit.

FIG. 8 is a hydraulic circuit diagram showing the principle.

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 principle view showing an application example.

FIG. 15 is a principle view showing an application example.

FIG. 16 is a perspective view showing a conventional example.

FIG. 17 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 part 5 First working arm 6 (located on the right side) Second working arm 7 (located on the left side) 7 Operating part 8 Working arm 9 Tool 10 Hydraulic excavator (or backhoe) 11) first working machine (hydraulic shovel) 12 second working machine (hydraulic shovel) 13 traveling vehicle body 14, 14a, 14b revolving unit 15 cabin 16 boom 17 arm 18 attachment 21 operating lever 21a right operating lever 21b left operating lever 22 seat seat 2 5 hand body 7 4 fall prevention unit 75 member

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) E02F 9/00 E02F 3/36 E02F 3/96

Claims (6)

(57) [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 of the first embodiment and a work end of the work arm of the first work machine and a work arm of the second work machine. Attachments are provided, and at least one of the attachments has a plurality of joints, each of which can be bent.
Is Yes, the twin arm working machine having a gripping hand, characterized in that it comprises a hand member to work with handling member and working tool. 2. An attachment base having a pivot shaft for refracting an attachment disposed at a tip of an arm in a vertical direction, wherein a hand body is provided at a tip of the attachment base. A twin-arm working machine provided with the gripping hand according to claim 1, which is rotatably supported. 3. A twin-arm working machine with a gripping hand according to claim 1, wherein one of the bending hand bodies is pivotally supported so that the gripping space can contract in a substantially curved cross section. 4. A comprises a tool handle which is formed in the cross-sectional shape substantially the same cross-sectional shape of the gripping space of the hand body, gripping of claim 1 or 2, wherein the hand member is performing work grasp the tool handle Twin arm working machine with hand. 5. A or tool fall prevention means for preventing the tool from c-end body falling slipping through the hand body
The twin-arm working machine provided with the gripping hand according to claim 4, wherein the hand body grips the work tool to perform the work. 6. A hand body is in the state grasping members and work tools, hand body are thus provided so as to be held at a constant pressure that is forcibly preset the state claim 1 or 2 also
Is a twin arm working machine provided with the gripping hand according to 3 or 4 or 5.