JP4998532B2 - Gripping device and work machine equipped with the same - Google Patents

Description

  The present invention is provided at the tip of a working arm of a construction machine such as a hydraulic excavator, and is used for gripping a processing object for the purpose of construction demolition work, industrial waste demolition separation work, and the like. The present invention relates to a working machine provided.

  Conventionally, as a gripping device provided at the tip of a work arm of a work machine, for example, a crushing device described in Patent Document 1 is known. The crushing device of Patent Document 1 includes a bracket that is attached to an arm tip portion of a work vehicle such as a hydraulic excavator, a frame that is turnable with respect to the bracket, and a pair of crushing that is provided on the frame so as to be opened and closed. A member and a hydraulic cylinder mounted between the upper portions of the crushing members and tilting the crushing members are provided. The crushing device includes a swivel shaft that protrudes downward from the frame, and a swivel rotor that is rotatably provided at a protruding portion of the swivel shaft. By the exchange, the hydraulic cylinder is expanded and contracted to open and close the pair of crushing members.

  In the swivel rotor according to Patent Document 1, the hydraulic oil discharged from the rod side of the hydraulic cylinder is returned to the oil passage that supplies the hydraulic oil to the head side of the hydraulic cylinder (so-called hydraulic oil regeneration is performed). ) Is incorporated.

  Further, unlike the crushing device of Patent Document 1 in which both the pair of crushing members are tilted by one hydraulic cylinder, a pair of hydraulic cylinders are provided for rotating each of the pair of gripping members (said crushing members). Gripping devices are also known.

JP 2004-49990 A

  Even in a gripping device having a pair of hydraulic cylinders, it is preferable to regenerate the return oil from each hydraulic cylinder. Here, in order to efficiently regenerate the return oil, it is required to reduce the pressure loss of the hydraulic oil in the oil passage connected to each hydraulic cylinder.

  However, in a gripping device having a pair of hydraulic cylinders, when a speed increasing valve is incorporated in a swivel rotor as in Patent Document 1, an oil passage connected to one speed increasing valve is shared for the pair of hydraulic cylinders. Therefore, there was a problem that the pressure loss was increased.

  Further, the speed increasing valve of Patent Document 1 does not take into consideration the arrangement of a plurality of hoses that connect the swivel rotor and the two hydraulic cylinders, so the pressure of the hydraulic oil accompanying the increase in the length of each hose is not considered. There is also a risk of loss.

  The present invention has been made in view of the above problems, and provides a gripping device capable of reducing the pressure loss of hydraulic oil to two hydraulic cylinders that rotate the gripping member, and a work machine including the gripping device. The purpose is to do.

  In order to solve the above-described problems, the present invention provides a gripping device that grips a processing object and is provided at the tip of a work machine having a work arm whose tip is displaceable. An attachment member attached to the tip, a turning member provided to be rotatable about a turning axis with respect to the attaching member, and a pair of opening and closing shafts orthogonal to the turning axis with respect to the turning member A pair of gripping members that are pivotably provided on each other and between the pivoting member and the pair of gripping members. A pair of hydraulic cylinders to be rotated, a first fixing portion fixed to the mounting member, and a second fixing portion fixed to the rotating member, and the first fixing portion and the second fixing portion Is pivotable about the pivot axis, and the first A swivel joint capable of exchanging hydraulic oil between the fixed portion and the second fixed portion, and a second fixed portion of the swivel joint so that the hydraulic oil can be exchanged between the swivel joint. An oil passage and a valve for regenerating the hydraulic oil that is fixed to the relay member and is derived from the hydraulic cylinder so that the hydraulic oil can be exchanged between the relay member fixed to the relay member And the relay member is fixed to the swivel joint so as to extend from the swivel joint along the rotation shaft, and each speed increase member is configured to rotate the rotation member. There is provided a gripping device for a work machine, which is fixed to both side surfaces of the relay member so as to sandwich the relay member in a direction orthogonal to an axis.

  According to the present invention, a pair of speed increasing members are provided corresponding to each of the pair of hydraulic cylinders, and each speed increasing member is fixed to both side surfaces of the relay member. The gripping device can be configured compactly while effectively reducing the pressure loss of oil.

  Specifically, in the present invention, since speed increasing members are provided corresponding to each of the pair of hydraulic cylinders, each hydraulic cylinder is different from the case where the pair of hydraulic cylinders share one speed increasing member. Since the corresponding oil passage of the speed increasing member can be used individually, the pressure loss of the working oil in the oil path of the speed increasing member can be reduced.

  In addition, in the present invention, the relay member is provided so as to extend along the rotation axis, and the speed increasing members are fixed to both side surfaces of the relay member so as to sandwich the relay member. The layout of each speed increasing member assigned corresponding to the second hydraulic cylinder can be made compact.

  Therefore, according to the present invention, it is possible to make the gripping device compact while effectively reducing the pressure loss.

  In addition, although the relay member in this invention needs to be fixed with the 2nd fixing | fixed part of a swivel joint, a relay member and a swivel joint are comprised as a separate member, and not only fixing these. The relay member can be integrated with the second fixed portion of the swivel joint in advance.

  The gripping device includes a plurality of hydraulic pipes that connect the speed increasing member and the hydraulic cylinder, and each speed increasing member is located between the relay member and each hydraulic cylinder at the relay member. Each of the speed increasing members is connected to the one hydraulic cylinder and the one hydraulic cylinder, and the hydraulic pipe is connected to the other hydraulic cylinder. It is preferable to connect the other hydraulic cylinder.

  According to this configuration, the speed increasing member is provided between the relay member and each hydraulic cylinder, and the speed increasing member and the hydraulic cylinder close thereto are connected by the hydraulic piping, that is, the relay member. Since each speed increasing member is distributed and arranged on the hydraulic cylinder side to be connected, the length of each hydraulic pipe connecting each of the speed increasing members and each hydraulic cylinder can be shortened. Thereby, the pressure loss of the hydraulic fluid in each said hydraulic piping can be reduced.

  In the gripping device, each of the hydraulic cylinders has a cylinder body and a rod that can be expanded and contracted with respect to the cylinder body, and a tip portion of the rod is rotatably supported by the rotating member. It is preferable that the tip of the cylinder body is rotatably supported by the gripping member.

  According to this configuration, since the rod of each hydraulic cylinder is fixed to the rotating member and the cylinder body is fixed to the gripping member, the gripping device can be configured compactly.

  Specifically, in a gripping device that grips an object to be processed by each gripping member, there is a tendency that the closer to the gripping member, the higher the possibility of contacting an external object during work. When the rod of the hydraulic cylinder is fixed, it is necessary to separately provide a protective member for protecting the rod from external objects, which requires a large gripping device. The protective member can be omitted by fixing the cylinder body of the hydraulic cylinder to the member. In particular, conventionally, a speed increasing valve or the like is directly provided on the rod of the hydraulic cylinder. In such a configuration, when the rod is fixed to the gripping member, not only the rod but also the speed increasing valve or the like is protected. However, according to the above configuration, since each speed increasing member is fixed to the relay member after fixing the rod to the rotating member, the rod and the speed increasing member are Further compactness can be achieved by omitting a member for protection.

  Therefore, according to the said structure, a holding | grip apparatus can be comprised compactly.

  In the gripping device, the hydraulic cylinder is provided on the rod, and a pair of guide oil passages communicating with the rod side chamber and the head side chamber in the cylinder body, respectively, and a tip of the rod disposed outside the cylinder body And a first connecting portion for connecting the hydraulic pipe to each guide oil passage, and the first connecting portion faces the speed increasing member to be connected. It is preferable that the speed increasing member is disposed toward the hydraulic cylinder to be connected and has a second connecting portion for connecting the hydraulic pipe.

  According to this configuration, the first connection portion is provided on the rod fixed to the rotating member as described above, and each hydraulic pipe is connected to the first connection portion, so that the gripping member is located as far as possible. Since each hydraulic pipe can be arranged, it is possible to suppress contact between an external object and each hydraulic pipe during work. Therefore, according to this configuration, the gripping device can be configured more compactly.

  Furthermore, in the said structure, since the 1st connection part of a hydraulic cylinder and the 2nd connection part of a speed increasing member are arrange | positioned facing each other, the hydraulic piping between these connection parts can be shortened more, Thereby, the pressure loss of the hydraulic oil in the said hydraulic piping can be reduced.

  In the gripping device, the relay member is connected to the first rod side oil passage connected to the rod side chamber of the hydraulic cylinder via the speed increasing member, and to the head side chamber of the oil path cylinder via the speed increasing member. The connected first head side oil passage, a first series of oil passages communicating with these oil passages, and provided in the first series of oil passages and normally closed and the first head side oil passage or It is preferable to provide a relief valve that opens when the pressure in the first rod side oil passage becomes equal to or higher than the set pressure.

  According to this configuration, when performing a heavy load operation such as crushing a processing object with each gripping member, if the pressure on the head side or the rod side of the hydraulic cylinder exceeds a set pressure, the relief valve is opened to Since the pressure can be reduced, the hydraulic circuit can be effectively protected.

  In the gripping device, each speed increasing member includes a second rod side oil passage connected to the rod side chamber of the hydraulic cylinder, a second head side oil passage connected to the head side chamber of the hydraulic cylinder, and these A second communication oil passage communicating with the oil passage, and a regenerating member that enables regeneration of the hydraulic oil via the second communication oil passage, and the relay member includes the second speed increasing member. It is preferable that a first rod-side oil passage communicating with the rod-side oil passages and a first head-side oil passage communicating with the second head-side oil passages of the speed increasing members are provided.

  According to this configuration, the second rod side oil passages and the second head side oil passages of each speed increasing member are communicated with each other by the relay member. Since the oil can be regenerated to the hydraulic cylinder, the working oil can be regenerated more effectively.

  In the gripping device, each of the hydraulic cylinders has a first connection part for connecting the hydraulic pipe, and is supported by the rotating member so as to be rotatable about an axis parallel to the opening / closing axis. And each speed increasing member is arranged side by side with the first connection portion in a direction orthogonal to the rotation axis, and has a second connection portion for connecting the hydraulic pipe, The hydraulic pipe extends from the second connection portion to the distal end side along the rotation axis, and from the distal end portion of the base portion to the opposite side of the hydraulic cylinder to be connected, and the distal end portion is It is preferable to have a direction changing portion that faces in the direction of returning to the speed increasing member side, and a flexible portion that connects the tip portion of the direction changing portion and the first connecting portion and has flexibility.

  According to this configuration, when the hydraulic cylinder rotates with respect to the rotation member according to the expansion and contraction, the load on the hydraulic piping driven by the hydraulic cylinder is suppressed while suppressing contact between the hydraulic cylinder and the hydraulic piping. Can be reduced. Specifically, in the above-described configuration, each hydraulic pipe extends from the speed increasing member to the distal end side by the base, the direction changing portion, and the flexible portion, and moves toward the opposite side to the hydraulic cylinder to be connected and on the speed increasing member side. Therefore, the hydraulic pipe can be arranged without projecting toward the hydraulic cylinder to be connected with the base as a reference, and contact between the hydraulic pipe and the hydraulic cylinder can be suppressed. Furthermore, since the said direction change part and the 1st connection part are connected by the flexible part, when following each hydraulic cylinder, a flexible part can be bent effectively.

  Therefore, it is possible to reduce a burden such as bending of the hydraulic piping while suppressing contact between the hydraulic cylinder and the hydraulic piping.

  In the gripping device, it is preferable that the hydraulic pipe has a shape in which the base portion and the flexible portion are not in contact with each other.

  According to this configuration, since the base portion and the flexible portion are not in contact with each other, when the hydraulic piping is driven according to the expansion and contraction of the hydraulic cylinder, the intersecting portions of the hydraulic piping are It is possible to suppress the hydraulic piping from being damaged by rubbing.

  In the gripping device, the plurality of hydraulic pipes are supported by the rotating members only in the hydraulic cylinder and the speed increasing member, respectively, and the intervals between the plurality of hydraulic pipes connected to the same hydraulic cylinder are kept constant. As described above, it is preferable to further include a holding member that holds the plurality of hydraulic pipes at the direction changing portion or in the vicinity thereof.

  According to this configuration, since the interval between the plurality of hydraulic pipes connected to the same hydraulic cylinder by the holding member can be maintained constant, the plurality of hydraulic pipes rub against each other as the hydraulic cylinder rotates. It is possible to suppress damage. In particular, when each hydraulic piping is held only in the hydraulic cylinder and the speed increasing member as in the above-described configuration, the direction changing portion or its adjacent position is easily changed by the holding member where the displacement of each hydraulic piping is likely to occur in the direction changing portion. Since each hydraulic pipe is held in step 1, damage between the hydraulic pipes can be effectively suppressed.

  The present invention also includes a movable work machine main body and a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine. Provided is a work machine to which a gripping device is attached.

  ADVANTAGE OF THE INVENTION According to this invention, the holding | grip apparatus which can reduce the pressure loss of the hydraulic fluid with respect to the two hydraulic cylinders which rotate a holding member, and a working machine provided with this can be provided.

It is the figure which showed the holding | grip apparatus which concerns on embodiment of this invention, and a working machine provided with the same. It is a front view which expands and shows the holding | gripping apparatus of FIG. It is a front view which expands and shows a part of FIG. It is the IV-IV sectional view taken on the line of FIG. It is a front view which decomposes | disassembles and shows the relay member of FIG. It is a circuit diagram which shows a part of hydraulic circuit of the hydraulic shovel of FIG. It is a top view of the relay member of FIG. It is the VIII-VIII sectional view taken on the line of FIG. It is the IX-IX sectional view taken on the line of FIG. It is the schematic which shows the speed increasing member 40 of FIG. 5, (a) is a top view, (b) and (d) are side views, (c) is a front view.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a gripping device and a work machine including the gripping device according to an embodiment of the present invention. In this figure, a work machine using a hydraulic excavator is illustrated. However, the work machine according to the present invention is not limited to this, and the application of the present invention to various work machines having work arms whose tips can be displaced. Is possible.

  The hydraulic excavator 1 includes a lower traveling body 2 and an upper revolving body 3 that is rotatably mounted on the lower traveling body 2. The upper swing body 3 has a swing frame 4 on which a counterweight 5, a cabin 6, and a work arm 7 are mounted.

  The working arm 7 includes a boom 8 and an arm 9, and a boom cylinder 10 and an arm cylinder 11 for driving them. The boom 8 is mounted on the revolving frame 4 so as to be able to be raised and lowered (that is, rotatable about a left and right axis of the revolving frame 4), and is driven in the up and down direction by the expansion and contraction of the boom cylinder 10. The arm 9 is rotatably connected to the tip of the boom 8 and is driven in the rotation direction by the expansion and contraction of the arm cylinder 11. The tip of the arm 9 can be freely displaced by a combination of the pivoting operation of the boom 8 and the arm 9 and the pivoting operation of the swing frame 4.

  Note that the work machine according to the present invention is not limited to one that can turn. Further, the work arm may have one joint or a plurality of joints.

  An unillustrated bucket or gripping device 16 is attached to the tip of the arm 9 as a work attachment. FIG. 1 shows a work attachment to which a gripping device 16 is attached.

  The gripping device 16 is attached to the arm 9 so as to be rotatable about an axis J4, and is driven in a rotating direction according to the expansion and contraction of the work cylinder 14. Specifically, one end of an idler link 15a is rotatably attached to the arm 9 and the other end of the link 15a is connected to the work cylinder 14, and the gripping device 16 is connected to the other end of the idler link 15a. It is connected via. The idler link 15a and the work link 15b are rotated by the expansion and contraction of the work cylinder 14, and the gripping device 16 is rotated accordingly.

  Specifically, the gripping device 16 includes an attachment member 17 that is detachably attached to the distal end portion of the arm 9, and a rotation member 18 that is provided so as to be rotatable about the rotation axis J1 with respect to the attachment member 17. A pair of gripping members 19 and 20 provided so as to be rotatable about a pair of opening / closing axes J2 and J3 with respect to the rotating member 18, and a pair of hydraulic cylinders 21 for rotating the gripping members 19 and 20, respectively. , 22, a swivel joint 23 provided across the attachment member 17 and the rotation member 18, and exchange of hydraulic oil between the swivel joint 23 and the hydraulic cylinders 21 and 22. And a connecting member 12 (see FIG. 2) for connecting the swivel joint 23 (see FIG. 2) and the hydraulic cylinders 21 and 22 to each other.

  FIG. 2 is an enlarged front view showing the gripping device of FIG.

  Referring to FIGS. 1 and 2, the attachment member 17 includes a pair of attachment plates 25 that are rotatably attached to the distal ends of the arms 9, and a connecting plate 26 that connects the distal ends of the attachment plates 25. , And a support ring 27 protruding from the connecting plate 26 toward the distal end side. Each mounting plate 25 is detachably attached to the arm 9 so as to be rotatable about the axis J4, and the bucket link 15b is rotatable about the axis J5 (see FIG. 1). Removably attached to. The axes J4 and J5 are axes extending in a direction orthogonal to the rotation axis J1. The connecting plate 26 is a plate member having a hole 26a (see FIG. 4) penetrating in the thickness direction in order to insert a swivel joint 23 described later. The support ring 27 is a member having one end fixed to the connecting plate 26 and the other end opening toward the tip side. The support ring 27 receives a part of a rotating member, which will be described later, from the tip side, and holds the rotating member in a rotatable manner.

  Referring to FIGS. 1 and 2 again, the rotating member 18 includes a supported portion 28 inserted into the support ring 27, a base plate 29 to which the supported portion 28 is fixed, and the base plate 29. Between a pair of covering plates 30 (see FIG. 1; only one is shown in FIG. 1) and the respective covering plates 30 so that the covering plates 30 have a predetermined interval. Fixed clamped plates 31a, 31b and 31c are provided. The supported portion 28 is provided in the support ring 27 in a state in which the supported portion 28 can rotate about the rotation axis J <b> 1 with respect to the support ring 27 and is prevented from being detached from the support ring 27. The base plate 29 is a plate member in which the supported portion 28 is fixed to one surface and each covering plate 30 is fixed to an edge portion of the opposite surface. In addition, as shown in FIG. 4, a hole 29 a for inserting the swivel joint 23 is formed in the base plate 29. Each of the covering plates 30 is a plate member extending from the base plate 29 toward the distal end side, and has a cylinder mounting portion 30a (see FIG. 1) projecting laterally at the base end portion and a side portion at the distal end portion. And a gripping member mounting portion 30b (see FIG. 1) projecting to both sides. Each cylinder mounting portion 30a is provided with a shaft J6 and a shaft J7 so as to straddle each covering plate 30, and each holding member mounting portion 30b has the opening and closing shaft J2, J3 is provided. The axes J2, J3, J6, and J7 are substantially parallel axes, and extend in a direction orthogonal to the rotation axis J1.

  The grip members 19 and 20 are rotatable about the opening and closing axes J2 and J3 with respect to the rotation member 18 between the open position shown in FIG. 1 and the closed position shown in FIG. As shown in FIG. 2, the gripping members 19 and 20 are provided on the distal end side with respect to the breaking blades 19a and 20a provided on the proximal end side close to the opening and closing shafts J2 and J3, and the breaking blades 19a and 20a. Gripping blades 19b and 20b, and cylinder mounting portions 19c and 20c formed at positions outside the opening and closing shafts J2 and J3. The breaking blades 19a and 20a have shapes that intersect each other in a state of being displaced in the axial direction of the opening and closing axes J2 and J3 at the closed position in FIG. Further, the gripping portions 19b and 20b each have semicircular concave portions facing each other at the closed position in FIG. 2, and a processing object can be gripped between the concave portions. The cylinder mounting portions 19c and 20c have a shape protruding in a direction away from the open / close shafts J2 and J3, and the cylinder mounting portions 19c and 20c support the hydraulic cylinders 21 and 22, respectively. Axis J8 and J9 are provided. The axes J8 and J9 are orthogonal to the rotation axis J1 and are substantially parallel to the axes J2 to J7.

  As shown in FIG. 2, the hydraulic cylinders 21, 22 include a cylinder body 32 fixed to the gripping members 19, 20, a rod 33 provided to be extendable with respect to the cylinder body 32, and the rod 33, a rod-side guide oil passage 34 communicating with the rod-side chamber in the cylinder body 32, a head-side guide oil passage 35 provided in the rod 33 and communicating with the head-side chamber of the cylinder body 32, and the cylinder 1st connection part 24a, 24b (refer FIG. 4) provided in the front-end | tip part of the said rod 33 arrange | positioned on the outer side of the main body 32, and connecting the hydraulic piping to each said guide oil path 34,35 is provided. Yes.

  FIG. 3 is an enlarged front view showing a part of FIG. 4 is a cross-sectional view taken along line IV-IV in FIG.

  With reference to FIGS. 3 and 4, the swivel joint 23 includes a first fixing portion 36 fixed to the mounting member 17 and a second fixing portion 37 fixed to the rotating member 18. The swivel joint 23 allows the hydraulic oil to be transported between the first fixed portion 36 and the second fixed portion 37, while the first fixed portion 36 and the second fixed portion 37 are around the rotation axis J1. It is comprised so that rotation is possible. The first fixing portion 36 includes a main body portion 36a inserted through the hole 26a of the connecting plate 26 as shown in FIG. 4, and a rotary positioning plate 36b protruding sideways from the main body portion 36a as shown in FIG. The rotational positioning plate 36b is fastened to the connecting plate 26 by the bolt B1 so that the rotational position with respect to the connecting plate 26 is fixed. As shown in FIG. 4, the second fixing portion 37 includes a main body portion 37a inserted into the hole 29a of the base plate 29, and a flange portion 37b protruding outward in the circumferential direction of the main body portion 37a. The portion 37b is fastened to the base plate 29 by the bolt B2 so as to rotate integrally with the base plate 29.

  Hereinafter, the connecting member 12 will be described. FIG. 5 is an exploded front view of the relay member of FIG.

  3 to 5, the connecting member 12 (see FIG. 4) is fixed to the relay member 38 fixed to the second fixing portion 37 of the swivel joint 23, and fixed to both sides of the relay member 38. A pair of speed increasing members 39 and 40 and four hydraulic pipes 41 that connect the speed increasing members 39 and 40 and the hydraulic cylinders 21 and 22 are provided.

  The relay member 38 is fixed to the swivel joint 23 so as to extend from the swivel joint 23 along the rotation axis J1. Specifically, as shown in FIG. 5, the relay member 38 includes a main body portion 38 a having a substantially rectangular parallelepiped shape, and a disk-shaped fixing portion 38 b (see FIG. 5) that protrudes from the base end portion of the main body portion 38 a to both sides. 7), and a T-shaped member in a front view. As shown in FIG. 4, the relay member 38 is fixed to the second fixing portion 37 by the bolt B <b> 3 penetrating the fixing portion 38 b being screwed into the female screw portion of the second fixing portion 37. The relay member 38 is also fixed to the base plate 29 of the rotating member 18 by a bracket 42 (see FIG. 3) attached to the side surface.

  The speed increasing members 39 and 40 are respectively fixed to both side surfaces of the relay member 38 so as to sandwich the relay member 38 in a direction orthogonal to the rotation axis J1. Specifically, the speed increasing members 39 and 40 are fixed to the main body portion 38a at a position closer to the tip than the fixing portion 38b. These speed increasing members 39 and 40, which will be described in detail later, are for connecting a hydraulic pipe 41 to two oil passages connected to the hydraulic pump 43 and the tank T (see FIG. 6) via the swivel joint 23. Second connection portions 45a and 45b (see FIG. 10B) are provided. The speed increasing members 39 and 40 are respectively attached to the relay member 38 so that the second connecting portions 45a and 45b face the first connecting portions 24a and 24b of the hydraulic cylinders 21 and 22 to be connected. . In the present embodiment, speed increasing members 39, 40 and axes J6, J7 (see FIG. 2) are arranged side by side in the left-right direction orthogonal to the rotation axis J1.

  As shown in FIGS. 2 and 4, two hydraulic pipes 41 are provided between the speed increasing member 39 and the hydraulic cylinder 21 and two between the speed increasing member 40 and the hydraulic cylinder 22, for a total of four. ing. That is, the four hydraulic pipes 41 are distributed by two to the hydraulic cylinder 21 side and the hydraulic cylinder 22 side via the relay member 38. Each hydraulic pipe 41 is supported only by each hydraulic cylinder 21, 22 and speed increasing members 39, 40. Specifically, each hydraulic pipe 41 includes a base portion 41a extending from the second connection portions 45a and 45b (see FIG. 4) of the speed increasing members 39 and 40 to the distal end side along the rotation axis J1, and the base portion 41a. A direction changing portion 41b that faces away from the hydraulic cylinders 21 and 22 to be connected from the tip portion, and that the tip portion returns to the speed increasing members 39 and 40, and a tip portion of the direction changing portion 41b And the first connecting portions 24a and 24b of the hydraulic cylinders 21 and 22 and a flexible portion 41c having flexibility. The base portion 41a and the flexible portion 41c are arranged so as to intersect as shown in FIG. 2, but the base portion 41a and the flexible portion 41c are not in contact with each other as shown in FIG. It is arranged to become. Furthermore, in this embodiment, the clamp member 46 (refer FIG. 4: holding member) for hold | maintaining each said hydraulic piping 41 for every connected hydraulic cylinders 21 and 22 is provided. Specifically, the clamp member 46 is configured to connect the two hydraulic pipes 41 in the vicinity of the direction changing portion 41b so as to maintain a constant interval between the two hydraulic pipes 41 connected to the same hydraulic cylinders 21 and 22. It is designed to hold in position. Further, each of the hydraulic pipes 41 is surrounded by the respective covering plates 30 (see FIG. 1) and the sandwiched plates 31a to 31c (see FIG. 2) provided therebetween. The possibility that foreign matter comes into contact with the hydraulic pipe 41 can be reduced.

  Hereinafter, a hydraulic circuit constituted by the above-described connecting members will be described with reference to FIG.

  In the hydraulic circuit of the hydraulic excavator 1, the hydraulic oil led out from the hydraulic pump 43 is guided to the hydraulic cylinders 21 and 22 through the control valve 48 and the swivel joint 23, and from the hydraulic cylinders 21 and 22. The derived hydraulic oil is guided to the tank T through the control valve 48 and the swivel joint 23.

  Specifically, the hydraulic circuit of the hydraulic excavator 1 includes a rod side oil passage 49 and a head side oil passage 50 connected to the swivel joint 23. The rod side oil passage 49 is connected to the rod side chamber of each hydraulic cylinder 21, 22, and the head side oil passage 50 is connected to the head side chamber of each hydraulic cylinder 21, 22.

  The rod side oil passage 49 is provided with a pair of counter balance valves 51 corresponding to the respective hydraulic cylinders 21 and 22. The counter balance valve 51 is normally closed, and is operated in the opening direction in response to the pressure in the head side oil passage 50 becoming higher than the pressure in the rod side oil passage 49. The flow from 22 to the tank T side is allowed. The rod-side oil passage 49 is provided with a bypass oil passage 52 that bypasses the counter balance valve 51 and a check valve 53 provided in the bypass oil passage 52. The check valve 53 allows the flow of hydraulic oil from the hydraulic pump 43 to the rod side chambers of the hydraulic cylinders 21 and 22 and restricts the reverse flow. Therefore, when hydraulic fluid is supplied from the hydraulic pump 43 to the hydraulic cylinders 21 and 22, the hydraulic fluid flows through the bypass oil passage 52.

  Between the hydraulic cylinder 21 and the bypass oil passage 52, and between the hydraulic cylinder 22 and the bypass oil passage 52, a regeneration oil passage 54 that connects the rod side oil passage 49 and the head side oil passage 50, respectively. Is provided. These regenerative oil passages 54 are provided with a pair of check valves 55 and 56 that permit the flow of hydraulic oil from the rod side oil passage 49 to the head side oil passage 50 while restricting the reverse flow. . Among these check valves 55 and 56, the check valve 56 is configured such that the release pressure thereof increases as the pressure in the rod-side oil passage 49 increases. Therefore, when the hydraulic oil is supplied from the hydraulic pump 43 to the rod side chambers of the hydraulic cylinders 21 and 22, the flow of the hydraulic oil through the regeneration oil passage 54 is restricted, while the hydraulic oil derived from the rod side chambers. Is guided to the head side chamber via the regenerated oil passage 54. Therefore, it is possible to increase the speed of the hydraulic cylinders 21 and 22 when the rods of the hydraulic cylinders 21 and 22 are extended (when the gripping members 19 and 20 are closed). In the present embodiment, the counter balance valve 51, the regeneration oil passage 54, and the check valves 55 and 56 constitute an example of a regeneration member.

  In addition, a first series oil passage 65 that communicates the rod side oil passage 49 and the head side oil passage 50 is provided, and a relief valve 57 is provided in the first series oil passage 65. The relief valve 57 is normally closed, and is opened when the pressure in the head side oil passage 50 becomes equal to or higher than a specified pressure, so that the head side oil passage 50 in the first series oil passage 65 is connected to the rod side. The flow of hydraulic oil to the oil passage 49 is allowed. Therefore, when the pressure in the head-side oil passage 50 becomes equal to or higher than the specified relief pressure during a high-load operation by the gripping members 19 and 20 (when the object to be processed is crushed), the head-side oil passage 50 is connected to the rod. The hydraulic system can be protected by opening to the side oil passage 49 side (tank T side).

  And in this embodiment, it is the range from the ports P1 to P2 in the rod side oil passage 49 and the range from the ports P3 to P4 in the head side oil passage 50, that is, the range including the relief valve 57. Is constituted by the relay member 38.

  Further, the speed increasing member 39 constitutes the range from the ports P5 to P6 in the rod side oil passage 49 and the range from the ports P7 to P8 in the head side oil passage 50. Specifically, the speed increasing member 39 includes a counter balance valve 51 corresponding to the hydraulic cylinder 21, a bypass oil passage 52 for bypassing the counter balance valve 51, a rod side oil passage 49, and a head side oil passage 50. And a check valve 55, 56 provided in the regenerated oil path 54.

  Further, the speed increasing member 40 includes a range from the ports P9 to P10 in the rod side oil passage 49 and a range from the ports P11 to P12 in the head side oil passage 50. Specifically, the speed increasing member 40 includes a counter balance valve 51 corresponding to the hydraulic cylinder 22, a bypass oil passage 52 for bypassing the counter balance valve 51, a rod side oil passage 49, and a head side oil passage 50. And a check valve 55, 56 provided in the regenerated oil path 54.

  In FIG. 6, oil paths are shown between the ports P1 and P6, between the ports P3 and P8, between the ports P2 and P9, and between the ports P4 and P11. These oil passages are merely expressed for convenience, and in fact, the speed increasing members 39 and 40 are directly attached to the relay member 38 so that the respective ports are in direct communication with each other.

  Hereinafter, a specific configuration of the relay member 38 will be described with reference to FIGS. FIG. 7 is a plan view of the relay member 38 of FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 9 is a cross-sectional view taken along the line IX-IX in FIG.

  The relay member 38 includes a pair of vertical holes 58 and 59 formed at a predetermined depth from the end surface on the fixed portion 38b side, and a pair of horizontal holes 60 penetrating the main body portion 38a in a direction perpendicular to the vertical holes 58 and 59. 61, a communication hole 62 for communicating the horizontal hole 60 and the vertical hole 58, a communication hole 63 for communicating the horizontal hole 61 and the vertical hole 59, and a communication hole 64 for communicating the horizontal hole 61 and the vertical hole 59. Yes. The vertical hole 58 is formed deeper than the vertical hole 59, and the vertical holes 58 and 59 are used as an oil passage connected to the swivel joint 23. The horizontal holes 60 and 61 are provided at positions between the vertical holes 58 and 59. That is, the horizontal holes 60 and 61 and the vertical holes 58 and 59 are arranged so as not to communicate directly with each other. The communication hole 62 is a hole connected from the side surface of the main body portion 38 a to the horizontal hole 60 via the vertical hole 58. The communication hole 63 is a hole that is connected from the side surface of the main body portion 38 a opposite to the communication hole 62 to the horizontal hole 61 via the vertical hole 59. The communication hole 64 is a hole that is connected from the side surface of the main body 38 a on the same side as the communication hole 63 to the vertical hole 59 via the horizontal hole 61. And the opening part of each communicating hole 62-64 in the side surface of the said main-body part 38a is each closed. The relief valve 57 is provided in the communication hole 64. And as shown in FIG. 9, one opening part of the horizontal hole 61 is utilized as said port P1, and the other opening part is utilized as port P2. Also, one opening of the horizontal hole 60 is used as the port P3, and the other opening is used as the port P4.

  FIG. 10 is a schematic view showing the speed increasing member 40 of FIG. 5, in which (a) is a plan view, (b) and (d) are side views, and (c) is a front view.

  As shown in FIG. 6 and FIG. 10 (d), a port P 9 and a port P 11 are provided on the side surface of the speed increasing member 40 at positions corresponding to the ports P 2 and P 4 of the relay member 38. On the other hand, as shown in FIG. 10B, second connection portions 45a and 45b to which the respective hydraulic pipes 41 are connected are provided on the side surface of the speed increasing member 40 on the opposite side to the ports P9 and P11. ing. Although the speed increasing member 40 is illustrated in FIG. 10, the speed increasing member 39 has the same configuration except that it is symmetrical with the speed increasing member 40 with respect to the relay member 38.

  As described above, according to the embodiment, the pair of speed increasing members 39 and 40 are provided corresponding to the pair of hydraulic cylinders 21 and 22, respectively, and the speed increasing members 39 and 40 are relayed. Since it is being fixed to both sides of member 38, respectively, grasping device 16 can be constituted compactly, reducing pressure loss of hydraulic oil to each hydraulic cylinder 21 and 22 effectively.

  Specifically, in the present invention, the speed increasing members 39 and 40 are provided corresponding to the pair of hydraulic cylinders 21 and 22, respectively, so that the pair of hydraulic cylinders 21 and 22 share one speed increasing member. Unlike the case, the hydraulic cylinders 21 and 22 can individually use the corresponding oil passages of the speed increasing members 39 and 40, respectively, so that the hydraulic oil pressure loss in the oil passages of the speed increasing members 39 and 40 can be reduced. Can be reduced.

  In addition, in the present invention, the relay member 38 is provided so as to extend along the rotation axis J1, and both sides of the relay member 38 are sandwiched in a direction perpendicular to the rotation axis J1. Since the speed increasing members 39 and 40 are fixed to the surface, the layout of the speed increasing members 39 and 40 assigned to the two hydraulic cylinders 21 and 22 can be made compact.

  Therefore, according to the embodiment, the gripping device 16 can be configured compactly while effectively reducing the pressure loss.

  In addition, although the relay member 38 in the said embodiment needs to be fixed with the 2nd fixing | fixed part 37 of the swivel joint 23, the relay member 38 and the swivel joint 23 are comprised as a separate member, These are fixed. In addition, the relay member 38 can be integrated with the second fixing portion 37 of the swivel joint in advance.

  In the embodiment, speed increasing members 39 and 40 are provided between the relay member 38 and the hydraulic cylinders 21 and 22, respectively, and the speed increasing members 39 and 40 and the hydraulic cylinders 21 and 22 close thereto are provided. The speed increasing members 39, 40 are arranged on the side of the hydraulic cylinders 21, 22 to be connected with respect to the relay member 38, so that the speed increasing members 39 are connected. , 40 and the hydraulic cylinders 21 and 22 can be shortened in length, whereby the hydraulic oil pressure loss in each hydraulic pipe 41 can be reduced.

  According to the configuration in which the rod 33 of each hydraulic cylinder 21, 22 is fixed to the rotating member 18 and the cylinder body 32 is fixed to each gripping member 19, 20 as in the above embodiment, the gripping device 16 can be made compact. Can be configured.

  Specifically, in the gripping device 16 that grips the object to be processed by the gripping members 19 and 20, the closer the gripping members 19 and 20 are, the higher the possibility that they will come into contact with external objects during work. Therefore, when the rod of the hydraulic cylinder is fixed to each of the gripping members 19 and 20, it is necessary to separately provide a protective member for protecting the rod from an external object, and the gripping device becomes large. On the other hand, the said protection member can be abbreviate | omitted by fixing the cylinder main body 32 of the hydraulic cylinders 21 and 22 with respect to each holding member 19 and 20 like the said structure. In particular, conventionally, a speed increasing valve or the like is directly provided on the rod 33 of the hydraulic cylinders 21 and 22, but in such a configuration, when the rod 33 is fixed to the gripping members 19 and 20, only the rod 33 is provided. However, according to the above embodiment, the rod 33 is fixed to the rotating member 18 and the speed increasing members 39 and 40 are relayed. Since it fixes to the member 38, the member for protecting the rod 33 and the speed-increasing members 39 and 40 can be omitted, and further downsizing can be achieved.

  Therefore, according to the said structure, the holding | grip apparatus 16 can be comprised compactly.

  As in the above-described configuration, the first connecting portions 24a and 24b (see FIG. 4) are provided on the rods 33 of the hydraulic cylinders 21 and 22 fixed to the rotating member 18, and the hydraulic pipes are provided on the first connecting portions 24a and 24b. By connecting 41, each hydraulic pipe 41 can be arranged as far as possible from each gripping member 19, 20, so that contact between an external object and each hydraulic pipe 41 during operation is suppressed. be able to. Therefore, according to this configuration, the gripping device 16 can be configured more compactly.

  Furthermore, in the said structure, since the 1st connection parts 24a and 24b of the hydraulic cylinders 21 and 22 and the 2nd connection parts 45a and 45b of each speed increasing member 39 and 40 are arrange | positioned facing each other, these connection parts The hydraulic piping 41 between 24a, 24b, 45a, 45b can be further shortened, thereby reducing the pressure loss of the hydraulic oil in the hydraulic piping 41.

  According to the configuration in which the relay member 38 is provided with the relief valve 57 as in the above-described configuration, the hydraulic cylinders 21 and 22 can be used when performing a high load operation such as crushing the object to be processed by the gripping members 19 and 20. When the pressure on the head side or the rod side becomes equal to or higher than the set pressure, the relief valve 57 can be opened and the pressure can be lowered, so that the hydraulic circuit can be effectively protected.

  As in the above-described configuration, the oil passages in the speed increasing members 39 and 40 connected to the rod side chamber and the head side chamber of the hydraulic cylinders 21 and 22 are communicated with each other by the relay member 38. Since the hydraulic oil derived from one of the two can be regenerated to the other, the hydraulic oil can be regenerated more effectively.

  According to the configuration in which each hydraulic pipe 41 includes the base portion 41c, the direction changing portion 41b, and the flexible portion 41c as in the above-described embodiment, the hydraulic cylinders 21 and 22 move relative to the rotating member 18 according to the expansion and contraction thereof. Thus, the load on the hydraulic piping 41 driven by the hydraulic cylinders 21 and 22 can be reduced while suppressing the contact between the hydraulic cylinders 21 and 22 and the hydraulic piping 41. Specifically, in the embodiment, the hydraulic pipes 41 extend from the speed increasing members 39 and 40 to the distal end side by the base 41a, the direction changing part 41b, and the flexible part 41c, and the hydraulic cylinders 21 to be connected are connected. The hydraulic piping 41 is arranged without projecting toward the hydraulic cylinders 21 and 22 to be connected, with the base 41a as a reference, because the shape is directed to the opposite side to the speed increasing member 39 and returns to the speed increasing members 39 and 40. can do. Further, since the direction changing portion 41b and the first connecting portions 24a and 24b are connected by the flexible portion 41c, the flexible portion 41c is effectively bent when driven by the hydraulic cylinders 21 and 22. Can do.

  Therefore, it is possible to reduce a burden such as bending of the hydraulic pipe 41 while suppressing contact between the hydraulic cylinders 21 and 22 and the hydraulic pipe 41.

  According to the configuration in which the base portion 41a and the flexible portion 41c are not in contact with each other as in the embodiment, when the hydraulic piping 41 is driven according to the expansion and contraction of the hydraulic cylinders 21 and 22, the hydraulic piping 41 It is possible to prevent the hydraulic piping 41 from being damaged by rubbing between the intersecting portions (the base portion 41a and the flexible portion 41c).

  According to the configuration including the clamp member 46 as in the above embodiment, the interval between the two hydraulic pipes 41 connected to the same hydraulic cylinders 21 and 22 can be kept constant by the clamp member 46. According to the rotation of the hydraulic cylinders 21 and 22, it is possible to suppress the two hydraulic pipes 41 from rubbing and being damaged. Particularly, when each hydraulic pipe 41 is held only in the hydraulic cylinders 21 and 22 and the speed increasing members 39 and 40 as in the above-described embodiment, the displacement of each hydraulic pipe 41 is likely to occur in the direction changing portion 41c. Since the hydraulic pipes 41 are held in the vicinity of the direction changing portion 41c by the clamp member 46, damage between the hydraulic pipes 41 can be effectively suppressed.

J1 Rotating shaft J2, J3 Open / close shaft 1 Hydraulic excavator (work machine)
7 Working Arm 16 Gripping Device 17 Mounting Member 18 Rotating Member 19, 20 Gripping Member 21, 22 Hydraulic Cylinder 23 Swivel Joint 24a, 24b First Connection Portion 32 Cylinder Body 33 Rod 34 Rod Side Guide Oil Path 35 Head Side Guide Oil Path 36 First fixing portion 37 Second fixing portion 38 Relay member 39, 40 Speed increasing member 41 Hydraulic piping 41a Loop portion 45a, 45b Second connecting portion 46 Clamp member 51 Counter balance valve 54 Reclaimed oil passage 55, 56 Check valve 57 Relief valve

Claims (10)

A gripping device for gripping a processing object, provided at the tip of the work arm of a work machine having a work arm whose tip is displaceable,
An attachment member attached to the tip of the working arm;
A rotation member provided to be rotatable about a rotation axis with respect to the attachment member;
A pair of gripping members provided to be rotatable about a pair of opening and closing shafts orthogonal to the rotation shaft with respect to the rotation member;
A pair of hydraulic cylinders provided between the pivoting member and the pair of gripping members, respectively, each pivoting the gripping member about the opening / closing axis with respect to the pivoting member;
The first fixing portion fixed to the mounting member and the second fixing portion fixed to the rotating member, and the first fixing portion and the second fixing portion are rotatable about the rotation axis. And a swivel joint capable of exchanging hydraulic oil between the first fixed part and the second fixed part,
A relay member fixed to the second fixing portion of the swivel joint so that the hydraulic oil can be exchanged with the swivel joint;
A pair of speed increasing members having an oil passage and a valve fixed to the relay member so that the hydraulic oil can be exchanged with the relay member, and for regenerating the hydraulic oil derived from the hydraulic cylinder; With
The relay member is fixed to the swivel joint so as to extend from the swivel joint along the rotation shaft, and each speed increasing member sandwiches the relay member in a direction orthogonal to the rotation shaft. In this way, the work machine gripping device is fixed to both side surfaces of the relay member. A plurality of hydraulic pipes connecting the speed increasing member and the hydraulic cylinder;
Each speed increasing member is fixed to a side surface of the relay member at a position between the relay member and each hydraulic cylinder, and the hydraulic pipe is one hydraulic pressure among the speed increasing members. 2. The gripping device for a work machine according to claim 1, wherein the one close to the cylinder is connected to the one hydraulic cylinder, and the one close to the other hydraulic cylinder is connected to the other hydraulic cylinder.   Each of the hydraulic cylinders has a cylinder body and a rod that can be expanded and contracted with respect to the cylinder body, and a tip end portion of the rod is rotatably supported by the rotating member. The gripping device according to claim 1 or 2, wherein a tip portion is rotatably supported by the gripping member. The hydraulic cylinder is provided at the rod, and is provided at a pair of guide oil passages respectively communicating with a rod side chamber and a head side chamber in the cylinder body, and at a tip end portion of the rod disposed outside the cylinder body, A first connecting portion for connecting the hydraulic pipe to each of the guide oil passages, and the rotating member so that the first connecting portion faces the speed increasing member to be connected. Attached to the
The gripping device according to claim 3, wherein the speed increasing member is disposed toward a hydraulic cylinder to be connected, and has a second connecting portion for connecting the hydraulic pipe.   The relay member includes a first rod side oil passage connected to the rod side chamber of the hydraulic cylinder via the speed increasing member and a first rod connected to the head side chamber of the oil path cylinder via the speed increasing member. A head-side oil passage, a first series of oil passages communicating with these oil passages, and the first head-side oil passage or the first rod-side oil provided in the first series of oil passages and normally closed. The gripping device according to any one of claims 1 to 4, further comprising a relief valve that opens when the pressure in the passage becomes equal to or higher than a set pressure. Each speed increasing member communicates the second rod side oil passage connected to the rod side chamber of the hydraulic cylinder, the second head side oil passage connected to the head side chamber of the hydraulic cylinder, and these oil passages. A second communication oil passage and a regenerating member that enables regeneration of the hydraulic oil through the second communication oil passage,
The relay member includes a first rod side oil passage communicating the second rod side oil passages of the speed increasing members and a first head communicating the second head side oil passages of the speed increasing members. The gripping device according to claim 1, further comprising a side oil passage. Each of the hydraulic cylinders has a first connection part for connecting the hydraulic pipe, and is supported by the rotating member so as to be rotatable around an axis parallel to the opening / closing axis,
Each speed increasing member is arranged side by side with the first connection portion in a direction orthogonal to the rotation axis, and has a second connection portion for connecting the hydraulic pipe,
The hydraulic pipe extends from the second connection portion to the distal end side along the rotation axis, and from the distal end portion of the base portion to the opposite side of the hydraulic cylinder to be connected, and the distal end portion is It has a direction change part which turns to the direction which returns to the speed-increasing member side, and the flexible part which has a flexibility while connecting the front-end | tip part and said 1st connection part of the said direction change part. Item 7. The gripping device according to any one of Items 1 to 6.   The gripping device according to claim 7, wherein the hydraulic pipe has a shape in which the base portion and the flexible portion are not in contact with each other. The plurality of hydraulic pipes are supported by the rotating member only in the hydraulic cylinder and the speed increasing member,
A holding member for holding the plurality of hydraulic pipes at the direction changing portion or in the vicinity thereof so as to maintain a constant interval between the plurality of hydraulic pipes connected to the same hydraulic cylinder; The gripping device according to claim 7 or 8, characterized in that   A movable work machine main body, and a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine, wherein the work arm has a tip at any one of claims 1 to 9. A work machine to which the gripping device according to claim 1 is attached.

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