JP3314067B2 - Twin arm working machine with arm lever - 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. The present invention relates to a working machine for performing works such as civil engineering work and construction work in which a working arm is supported so as to be able to move up and down, and an operation lever configuration 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 excavating operation shown at 10 in FIG. 13 is mounted on a traveling vehicle body 13 such that a revolving body 14 can revolve around a vertical axis (in a direction indicated by r1 in FIG. 13) via a revolving bearing. 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 (directions indicated by r1, r2, r4, and r5 in FIG. 13 ) 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. 14 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. 14 in FIG.
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.

[0007] Reference numeral 3 in FIG. 13 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 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.

On the other hand, as a working machine provided with an arm lever for operating a multi-link working arm by the movement of an arm, Japanese Unexamined Utility Model Publication No. S60-172866 and Japanese Unexamined Patent Publication H3-140525 have been disclosed.
The publication discloses the structure. In any of these, regardless of the state of the link angle of the boom or arm, grasp the tip of the arm lever with a structure that matches the work arm by hand, and operate only the position and posture of the tip of the arm according to the work point. Although it was proposed from the viewpoint of improving work efficiency and preventing erroneous operation, for beginners, the operation method is easy and work efficiency is improved,
Even if only the operation lever is simplified, the skilled worker does not always have a configuration that improves the working efficiency, and does not solve, for example, the various problems described above.

Therefore, 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 workers can work efficiently with 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, two work arms and an arm lever are provided so that the two works can be performed individually and simultaneously in a continuous operation, and can exert a safe and relatively large force.
Moreover, it is an object of the present invention to provide a construction work machine that is extremely efficiently adapted to a wide range of work.

[0023]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, a twin arm working machine having an arm lever according to the present invention has a revolving body on a traveling vehicle body about a longitudinal 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 operation unit having both an operation lever for operating the arm and an operation lever for operating the work arm of the second work machine,
An operation lever for operating the work arm of the work machine located on the right side with respect to the direction of the operation unit is provided on the right side of the operation unit, and an operation lever for operating the work arm of the work machine located on the left side is provided on the left side of the operation unit. is disposed, the upper Symbol left operation levers one
The other is provided with an arm lever which is formed in a multi-link shape and is movable in conjunction with the arm, and operates the corresponding work arm according to the operation of the arm lever.
Also, a twin arm operation with the arm lever of the present invention
In order to solve the above-mentioned problems of the prior art,
The revolving unit can pivot around the vertical axis through the revolving bearing
The boom and the arm at the tip of the
The work arm, which can be bent freely, is supported
A first working machine and a first working machine adjacent to the first working machine;
A second working machine having substantially the same structure as the first working machine;
Connecting body for connecting the traveling vehicle body and the traveling vehicle body of the second work machine
An operation lever for operating a work arm of the first work machine;
The operation lever for operating the work arm of the second work machine is shared.
And an operation unit having
To operate the work arm of the work machine located on the right side
The bar is on the right side of the operation unit, and the work
Operating levers are provided on the left side of the operating unit.
And both the left and right operation levers are formed in a multi-link shape.
Arm lever that moves in conjunction with the arm
The corresponding work arm according to the operation of the lever
Characterized in that:

The length of the lever can be adjusted so that the operating lever comes in close contact with the arm along the arm from the armrest position of the worker in the form of multiple links in the direction of the fingertip. It is preferable that at least a portion from the elbow to the wrist of the arm lever corresponds to the boom of the working arm, and a portion from the wrist to the back of the hand corresponds to the arm of the working arm. .

Further, the working arm has an arm drive cylinder disposed on the boom and movable at an end provided at the boom tip, and an attachment provided at the arm and provided at the tip of the arm at the tip of the working arm. A movable attachment drive cylinder, and either the arm drive cylinder and the attachment drive cylinder are operated in conjunction with each other, or one of the arm drive cylinder and the attachment drive cylinder is selected and operated. It is preferable to operate with.

[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 having the arm lever of the present invention is used for construction work and the like, and a revolving body 14 is mounted on a traveling body 13 via a revolving bearing so as to be revolvable about a vertical axis. A flexible working arm 8 composed of a boom 16 and an arm 17 at the distal end thereof is supported on the body 14 so as to be able to move up and down, and a first working machine 11 having an attachment 18 at the distal end of the arm 17.
(A hydraulic shovel-based working machine), 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; A connecting body 2 for connecting the traveling body 13 of the first working machine 11 and the traveling body 13 of the second working machine 12, an operation lever 21a for hydraulically operating the working arm 5 of the first working machine 11, and a second Lever 21b for hydraulically operating the work arm 6 of the work machine 12
An operating lever 21a for operating the working arm 5 of the working machine 11 located on the right side with respect to the direction of the operating unit 7 includes an operating unit 21 disposed on the connecting body 2 having both An operation lever 21b for operating the work arm 6 of the work machine 12 located on the left side is disposed on the left side of the operation unit 7 on the right side of the operation unit 7, and the left and right operation levers 21 do not necessarily resemble the dimensions of the operation arm 8. However, each of the left and right working arms 5, 6 corresponding to the link angle of the arm lever 38 is provided with an arm lever 38 which is formed so as to conform to the arm shape in the form of multiple links, and is movable in conjunction with the arm. The link angles operate individually and simultaneously.

The length of the operating lever 21 is slid so that it can be closely extended along the arm from the armrest position L1 of the worker in the form of a multi-link in the direction of the fingertip, and the expansion and contraction adjustment section 69 can adjust the expansion and contraction. The arm lever 38 is formed in a multi-link shape so as to be close to the arm so as to fit the size of the arm along the arm, and at least the elbow arm 66 from the elbow to the wrist of the arm lever 38 is connected to the boom 16 of the working arm 8. And the back part 67 of the arm lever 38 from the wrist to the finger base.
Correspond to the arm 17 of the working arm 8 and correspond to the operating angle of the arm (the link angles r1, r of the elbow arm 66 and the back part 67).
The link angles r1, r2, and r4 of the boom 16 and the arm 17 are provided so as to be determined respectively.

Further, an arm drive cylinder 19d which is disposed on the boom 16 and is provided at the end of the boom so as to be able to freely move the arm 17 is provided on the work arm 8;
An attachment drive cylinder 19e that is disposed on the arm 17 and that can freely move an attachment base 68 provided at the tip of the arm; a portion from the wrist to the back of the hand of the arm lever 38 corresponds to the arm 17 and the attachment base 68 of the working arm 8 Arm lever 3 on the back of the hand
In the movement of 8, both the arm driving cylinder 19d and the attachment driving cylinder 19e are operated in conjunction with each other, or one of the two is selected and operated.

(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 of the working arm 5 located on the right side of the operating section 7 is arranged on the right side of the operating section 7, and the operating lever 21b of the working arm 6 located on the left side is arranged on the left side of the operating section 7. With this arrangement, one worker can easily operate the left and right operation levers 21a and 21b individually with the left and right hands to operate both work 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.

Further, since one of the left and right operation levers 21 is provided with an arm lever 38 formed in a multi-link shape and movable in conjunction with the arm, an arm lever capable of simultaneously handling a plurality of link angles with one arm. The work arm 8 movable at 38 facilitates continuous operation. Therefore, it is possible to operate the link mechanism with one hand for the operation of swinging up, swinging down, or rolling in the work arm, and to continuously and dynamically operate the boom 16 angle and the arm 17 angle at desired timing.

On the other hand, in such a continuous operation, even if it is a gentle operation, a considerable acceleration is generated.
The effects of the reaction cannot be ignored. Therefore, for example, the position of the center of gravity of the
In the structure of the work machine, the work arm 8 receives the reaction force from the work arm 8 and causes the work arm 8 to extend forward. However, the structure having the above-described connection structure is a stable and safe structure that generates a large torque by increasing the distance from the boom 16 to the position of the center of gravity. At least one of the arm levers 38
When performing a continuous operation in accordance with the timing, even if the work cannot be performed with one working arm, the work arm corresponding to the other free arm cancels the moment. Work while pressing on the ground at the position or while supporting with a fixed object, further increase the distance from the center of gravity of the aircraft, and support the structure that does not receive a reaction force and generate a moment by the fixed object A large force can be applied to the target object by applying the acting force of the operating arm 8 which is generated between the three members of the side working arm and the connecting body and does not escape, without being released. The two working arms 8 constituted by the boom 16 and the arm 17 can apply the above-mentioned action point to a free space position within a movable range of the both working arms 5 and 6.

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 which can perform a wide range of work extremely efficiently, which has not been realized with a single work arm in the past, while supplementing the work.

If the operating lever 21 is formed so that the lever length can be adjusted to extend and contract from the armrest position L1 of the worker in the form of multiple links in the direction of the fingertip and along the arm, it extends from the armrest position. The arms are similar to the mounting angle of the boom, so that both can be easily handled. This is because, although a person naturally lowers his / her arm from his / her shoulder in a natural state, the boom 16 of the working machine is upwardly raised from below because the boom 16 is provided so as to be able to move up and down. Therefore, the working arm 8 starts from the position of the shoulder.
When the arm lever 38 corresponding to the boom 16 and the arm 17 is provided apart from the arm, the tip of the arm lever is grasped by hand, and the tip of the arm 17 is independent of the angle of the boom 16 or the arm 17. There is no other choice but to operate only the position and posture of the camera according to the work point. On the other hand, in the above structure, the working arm 8
The arm lever 38 and the work arm 8 can be provided so as to extend in substantially the same angle direction by configuring the arm lever 38 from the elbow starting from the elbow in order to operate the arm. The state where the elbow is supported from the elbow as a starting point is effective without imposing a burden on the worker even when working for a long time.

Further, if the lever length can be adjusted to extend and contract closely along the arm, the arm lever 38 can be adjusted so as to absorb the individual difference in the arm length and to closely contact the arm along the arm with the elbow as a base. Since it can be provided, by controlling the link angle of the working arms 8 in the same posture according to the instruction of the bending angle of the arm, a configuration suitable for a continuous operation in which the load can be freely manipulated is obtained.

The arm lever 38, which is formed in a multi-link shape so as to be in close contact with the arm so as to match the size of the arm along the arm, is at least a portion from the elbow to the wrist of the arm lever 38 (elbow arm 66). Corresponds to the boom 16 of the working arm 8 and the portion from the wrist to the back of the hand (back part 67) of the arm lever 38 corresponds to the arm 17 of the working arm 8, generally only the movement of the tip of the working arm 8 In the above configuration, the link angle of the boom 16 and the arm 17 is changed by bending the elbow arm and the back of the hand. Since each can be specified individually according to the angle,
It can be applied to applications such as continuous operation where link angle control is required at a timing according to the operation.

Further, the working arm 8 is provided with an arm driving cylinder 19d which is disposed on the boom 16 and is provided at the tip of the boom so that the arm 17 can be bent freely. An attachment drive cylinder 19e for removably moving the attachment base 68;
If both d and the attachment drive cylinder 19e are operated in conjunction with each other, for example, as an interlocking operation in which the arm and the attachment are bent in the same direction, and if both operate simultaneously and simultaneously, the same operation as described above is performed. For applications in which link angle control is required at a timing according to the conditions, only one link angle command can be used, and a sufficient angle change range can be obtained with both the arm angle and the attachment base angle. Even in the continuous operation of manipulating loads such as movement, it is possible to emulate the operation such as applying a snap of the wrist performed by a person without complicated operation, and the work arm can be dynamically adjusted at the timing according to the movement of the arm Can be moved.

If one of the arm driving cylinder 19d and the attachment driving cylinder 19e is selected and operated, for example, the arm driving cylinder 19d
Is temporarily fixed at a work point, and by selecting the attachment drive cylinder 19e side, it is possible to easily control a fine movement such as a work of refracting only the posture of the distal end attachment 18 according to the posture of the target object. At the same time, it is possible to switch and perform the same swinging operation as described above in a posture in which the attachment refraction angle is fixed.

As described above, the twin-arm working machine 1 having the arm lever of the present invention can be used as a working machine for civil engineering and construction work even in an aging society where there is a concern that there will be a shortage of workers. , Two work arms that operate independently by connecting the two can be efficiently operated by one person from the operation unit, and the two works can be performed individually and simultaneously in a continuous operation.

[0041]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 5 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), which is supported so as to be able to move up and down freely and comprises an attachment 18 at the tip of an arm 17, and a first working machine 1
, A second working machine 12 (second hydraulic shovel) having substantially the same structure as the first working machine 11, a traveling body 13 of the first working machine 11, and a second working machine 12. And the operating lever 21 for hydraulically operating the working arm 5 of the first working machine 11 and the operating lever 21 for hydraulically operating the working arm 6 of the second working machine 12. The operation unit 7 (cabin 1) arranged on the connecting body 2
5). In FIG. 1, reference numeral 14a denotes a revolving body of the first working machine 11, 14b denotes a revolving body of the second working machine 12, and 26 denotes a crawler .

Then, the operation arm 5 of the work machine 11 located on the right side with respect to the direction of the operation section 7 is operated as shown in FIG.
The operation lever indicated by reference numeral 21a in FIG.
On the right side of 2), operation levers 21b for operating the work arm 6 of the work machine 12 located on the left side are respectively disposed on the left side of the operation unit 7, and the left and right operation levers 21 are each formed in a multi-link arm shape. The arm lever 38 is formed so as to match with the arm 40 and is movable in conjunction with the arm 40.
The link angles of the left and right working arms 5, 6 corresponding to the respective link angles are individually and simultaneously operated.

In the prior art, as shown in FIG. 14, one work arm 8 is conventionally operated by two operation levers 21. However, in the case of having two work arms 5 and 6, With four operating levers and two arms (alone)
Cannot operate smoothly. Therefore, an arm lever 38 is provided in which the left and right working arms 5, 6 are individually movable in conjunction with the two left and right arms described above. Here, the bending direction of each link portion of the working arm 8 and the arm lever 38 is pivotally supported so as to be movable only in one axial direction.

FIG. 1 shows 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 a connecting pin. Both working machines 11 can be slid and displaced,
12 are detachably connected. In this connection, the two working machines 11 and 12 are arranged in a row, and are connected on the side surface of the traveling frame 3, and the connecting portion 4 is provided so as to be fixed in a sliding state.

FIG. 7 shows an operation unit provided in the cabin 15 and is provided on the connecting body 2 in the direction indicated by X in the figure. The cabin 15 is provided with the connecting portions 4 at both left and right end positions, so that the cabin 15 can be disconnected at two locations and slidably connected at two locations. The operating section 7 is provided with two arm levers 38 and a pair of traveling pedals 23.

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.

FIG. 2 shows an example in which the row connection in FIG. 1 is changed to the column connection. Therefore, in FIG. 2, the same reference numerals are given to the same parts as those in FIG. 1, and the detailed description will be omitted.

Similarly, the twin arm working machine 1 shown in FIG. 2 has a connecting portion 4 between the running frame 3 on the side of the first working machine 11 and the running 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, both working machines 11 and 12 are arranged in tandem, and
Are connected on the front and rear surfaces in the traveling direction shown by the arrow, and the connecting portion 4 is provided so as to be fixed in a sliding state.

FIG. 7 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 cabin 15 can be disconnected at two locations and slidably connected at two locations. The operating section 7 is provided with two arm levers 38 and a pair of traveling pedals 23.

In this tandem movable connection structure, even when the traveling frame 3 is connected, the revolving units 14a and 14b located above the traveling frame 3 can be freely rotated, 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 seat 22 shown in FIG. 3A, the arm lever 38 is supported from the armrest position 37 of the operator in the direction of the fingertip in multiple links at two points with the fingertip based on the armrest position. , Are provided close to each other along the arm 40. Therefore, the arrow indicated by 69 in FIG. 5A is formed so that the lever length can be slid at the arrow position and expanded and contracted so as to match the arm length.

The arm lever 38 shown in FIGS. 3A and 3B and formed in a multi-link shape along the arm 40 so as to be close to the arm 40 so as to match the size of the arm 40 is at least an arm lever 38. The elbow arm 66 from the elbow 41 to the wrist 42 corresponds to the boom 16 of the working arm 8, and the back 67 from the wrist 42 to the base of the finger of the arm lever 38 corresponds to the arm 17 of the working arm 8. Therefore, FIG.
The arm lever 38 shown in FIG.
(Angle of elbow arm part 66 and back part 67 shown in (b)) Depending on the angles r1, r2, and r4 of the link part, the link angle r1, boom 16 and arm 17 of the working arm 8 shown in FIG. r
2, r4 are provided so as to be determined.

4A and 4B, the turning direction r1 of the revolving unit 14 corresponds to the armrest L1, the bending direction r2 of the boom 16 by the hydraulic cylinder 19b corresponds to the elbow L2, and the hydraulic cylinder The bending direction r4 of the arm 17 by 19d corresponds to the wrist L4, and the bending direction r5 of the attachment base 68 by the hydraulic cylinder 19e corresponds to the wrist L5.

As described above, the working arm 8 shown in FIG. 4B is provided with an arm driving cylinder 19 which is disposed on the boom 16 and which can freely move the arm 17 provided at the end of the boom.
d, an attachment drive cylinder 1 that is disposed at the tip of the working arm and that is capable of freely moving (r5) the attachment base 68 (L5) disposed on the arm 17 and provided at the tip of the arm.
9e, the arm lever 38 shown in FIG.
The portion from the wrist 42 to the back of the hand corresponds to the arm 17 of the working arm 8 and the attachment base 68, and the movement of the arm lever 38 at the back of the hand causes both the arm drive cylinder 19d and the attachment drive cylinder 19e to interlock. The operation is performed either by operating or by selecting one of them.

That is, reference numeral 77 in FIG. 5A is an operation switch provided at a portion indicated by reference numeral 72 in the figure of the arm lever 38. The operation switch for operating both the arm driving cylinder 19d and the attachment driving cylinder 19e in conjunction with each other is selected by a switch indicated by reference numeral 77c in FIG. 5B. On the other hand, a switch for selectively operating one of the arm driving cylinder 19d and the attachment driving cylinder 19e is selectively operated at 77d and 77e in FIG. 5B.

The rod finger 72 shown in FIG. 5 is similar to that shown in FIG.
4 (a) and (b), and is movable in the r7 direction by the link L7 in FIGS. FIG.
Is operated by the fingertip 45 of FIG. 3A, and is movable in the r8 direction by a link L8 of FIGS. 4A and 4B. Further, the arm lever 38 shown in FIG.
4A and r6 of the link L6 shown in FIG. 4A are the rotary cylinders 19 of the link L6 in FIG.
This corresponds to the rotation direction r6 by f.

As described above, in the above-described embodiment, the lever length is adjusted based on the armrest position, and the two
By supporting both ends of the arm lever 38 at the points, each link angle can be operated in conjunction with the movement of the arm between the two points.

In this embodiment, the operation switch 7
Although 7 is provided on the tip bar finger 72 of the arm lever 38, it may be provided on the flat finger 71. Further, the expansion / contraction adjusting section 69 is not limited to one location, and may be provided in a plurality. The 69 is not limited to the position shown in FIG. Further, at least the operation unit 7 includes operation levers 21a, 21 of the left and right working machines.
As long as b is provided, both of the operation levers 21 need not be the arm levers 38, and only one of them may be used. 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.

[0060] indicated by a thick point line in FIG. 6 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.

In a portion indicated by a thick dotted line Z in FIG. 7, a first working machine and a second working machine are fixed by a connecting body shown by oblique lines in the figure, and the working arm 5 is attached to them. , 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.

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, so that 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.

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 connecting body shown by oblique lines in the figure, and working arms 5 and 6 are attached to them. 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.

In the part shown by the thick dotted line Z in FIG. 9, 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.

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 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 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 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.

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 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-mentioned application example, two different operations can be efficiently performed by one person using the arm lever that operates the two operation arms.

[0070]

According to the present invention, two work arms and an arm lever are provided so that the two works can be performed individually and simultaneously in a continuous operation, and a relatively large force can be exerted with safety. It is possible to provide a work machine for construction work that is well adapted to a wide range of work.

Further, it is possible to easily realize an arm lever supported at two points on both ends along the arm and in which each link angle operates in conjunction with the movement of the arm.

[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 another embodiment.

3A is a top view showing an arm lever structure, FIG.
(B) Side view.

4A and 4B are a side view and a perspective view, respectively, showing a link portion.

FIG. 5A is a top view showing the lever switch, and FIG.
FIG.

FIG. 6 is a principle view showing an application example.

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 perspective view showing a conventional example.

FIG. 14 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 (located on the right side) 6 Second working arm (located on the left side) 7 Operating part 8 Working arm 10 Hydraulic shovel (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 23 Pedal Lever 38 Arm lever 39 Link section

────────────────────────────────────────────────── (5) References JP-A-2001-173022 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) E02F 9/00 B25J 3/00 E02F 9/16 G06G 13/00

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, and an operation lever for operating the work arm of the work machine located on the right side with respect to the direction of the operation unit. the operating lever for operating the working arm of the working machine on the left side is respectively arranged on the left side of the operation portion, the upper Symbol left operation levers one
The arm provided with an arm lever which is formed in a multi-link shape and is movable in conjunction with the arm, and which operates the corresponding work arm according to the operation of the arm lever. Arm working machine. 2. A revolving structure is provided on a traveling vehicle body via a revolving bearing.
To be pivotable around the vertical axis, and the revolving
A flexible working arm consisting of the tip arm
A first working machine supported so as to be freely laid down; Adjacent to the first working machine, the structure is almost the same as the first working machine.
A second working machine comprising: The traveling body of the first working machine and the traveling body of the second working machine
A connected body to be connected; An operation lever for operating a work arm of the first work machine;
Operating lever for operating the work arm of
Operation unit to perform Work of the work machine located on the right side with respect to the direction of the operation unit
The operating lever for operating the arm is on the right side of the
The operation lever that operates the work arm of the
The left and right operation levers are located on the left side of the
Is an arm that is formed in a multi-link
With a lever Operate the corresponding work arm according to the operation of the arm lever
Equipped with an arm lever that is characterized by
Twin arm working machine. Wherein the operating lever from the armrest position of the worker to the fingertip direction multilink shape, claim lever length so closely along the arm with the arm lever comprising the telescopic adjustable form 1 or 2 A twin arm working machine equipped with the arm lever described. 4. An arm lever which is formed so as to be in close contact along an arm in a multi-link shape, wherein at least a portion from the elbow to the wrist of the arm lever corresponds to the boom of the working arm, and the arm lever has a wrist to the back of the hand. moiety twin arm working machine having an arm lever according to claim 1 or 2 or 3, wherein comprising in correspondence with the arm of the working arm. 5. An arm drive cylinder which is disposed on the boom and which is movable at an end provided at the end of the boom so as to be able to move freely, and an attachment which is arranged at the end of the work arm and which is provided at the end of the arm. Twin arm working machine having a movable for attachment drive cylinder, the arm lever of claim 1 or 2 or 3 or 4 is operated in conjunction with both the arm driving cylinder and the attachment drive cylinder. 6. An arm drive cylinder disposed on the boom and movable at an end provided at the end of the boom so as to be movable, and an attachment disposed at the end of the work arm and provided at the end of the arm is freely bent. a movable for attachment drive cylinder to claim 1 or 2 or 3 also operates to select one of the arm drive cylinder and the attachment drive cylinder
Is a twin arm working machine provided with the arm lever according to 4 or 5 .