JP5493137B2 - Operation device for double-arm work machine - Google Patents

Description

  The present invention relates to an operating device for a double-armed work machine.

  In general, industrial waste generated in the dismantling work of a structure needs to be further separated and disassembled for recycling or disposal.

  As such a working machine used for dismantling and sorting work, for example, a first front work machine that holds one part of the object to be disassembled and a second front work that can hold the other part of the object to be dismantled There is a double-armed working machine equipped with a machine (see, for example, Patent Document 1). This double-arm type work machine is provided with operation devices including a swing operation arm, an operation lever, an elbow support and the like on both the left and right sides of the driver's seat. As a result, the operator can simultaneously operate each of the first front work machine operating device and the second front work machine operating device. As a result, the first and second front work machines can be operated independently at the same time. And can be operated easily.

  On the other hand, there are two conventional hydraulic excavator operating lever devices each having one front work machine provided on both the left and right sides of the driver's seat (see, for example, FIG. 9 of Patent Document 2).

Japanese Patent Laid-Open No. 11-181815 Japanese Patent Laid-Open No. 11-158931

  An operating device for a double-armed work machine described in Patent Document 1 has an elbow support fixed to the side of a driver's seat, and is attached to the elbow support so as to be swingable to the left and right around a swing center axis. The swing operation arm for instructing the swing of the machine, and an operation lever attached to the front end portion of the swing operation arm so as to be swingable back and forth and right and left.

  In order to move the front work machine by operating the operating device, the operator sits in the driver's seat, places the elbow on the elbow rest, places the forearm on the swing operation arm, and holds the operation lever with the palm. When the front work machine is swung left and right, the operator swings the swing operation arm by swinging his / her forearm around the elbow joint. When moving the front work machine in the up / down / front / rear direction, the operator moves the swing operation arm by displacing the operation lever in the left / right / front / rear direction with his / her palm. Further, when rotating the work tool of the front work machine, the operator rotates the work tool by rotating the operation lever around the axis with his / her palm.

  On the other hand, in a normal hydraulic excavator operation device described in Patent Document 2, a right operation lever device that gives an operation command to the boom and bucket is attached to the right side of the driver seat with the operation lever facing upward. On the left side, a left operating lever device for giving an operation command to the arm and the swinging body is attached with the operating lever facing upward.

  When the boom is turned up and down, the operator turns the boom up and down by displacing the operation lever of the right operation lever device backward or forward. When rotating the bucket, the operator rotates the bucket by displacing the operation lever of the right operation lever device leftward or rightward. Further, when turning the turning body, the operator turns the turning body leftward or rightward by displacing the operation lever of the left operation lever device backward or forward. When the arm is rotated, the operator rotates the arm by displacing the operation lever of the left operation lever device leftward or rightward.

  As described above, the operating device of the double-arm type work machine includes a swing operating arm operated by the forearm portion, an operating lever that can rotate around the axis, and the like, which is not included in a conventional hydraulic excavator operating device. Need special operation. Therefore, there is a problem that it takes a long time for the operator to become familiar with the operation of the double-armed work machine.

  The present invention has been made on the basis of the above-mentioned matters, and the purpose thereof is a dual-arm that can be mastered for operation in a short time and can be operated without feeling uncomfortable even by an operator of a conventional general work machine. An operating device for a mold work machine is provided.

  In order to achieve the above object, a first invention includes a traveling body, a revolving body provided on the traveling body so as to be able to swivel, a cab provided in front of the revolving body, and a front side of the revolving body. And a second working arm provided on the opposite side across the operator's cab in front of the swivel body, and an operating device for a double-armed work machine. A right operating device provided on the right side of the driver's seat in the driver's cab and instructing the operation of the first working arm; and provided on the left side of the driver's seat in the driver's cab and the second working arm. A left operation device for instructing the movement of the revolving unit, and a turning operation device for instructing the operation of the revolving structure, wherein each of the left and right operation devices is tiltable between a front-rear and left-right operation position and a neutral position. The operation of instructing the raising and lowering operations of the first and second work arms by the tilting operation. A lever and a work tool operating means provided at a tip of each of the operation levers for instructing a rotation operation of each of the work tools, and the turning operation device is provided between a front and rear operation position and a neutral position. And a turning operation lever for instructing a turning operation direction of the turning body.

  The second invention is characterized in that, in the first invention, the turning operation lever is provided outside the operation lever of the left operation device.

Further, according to a third invention, in the first or second invention, the first work arm is formed in an articulated form, and includes an arm provided so as to be able to be raised and a work tool provided at a tip of the arm. The second working arm includes a swinging portion provided swingably by a swinging cylinder, an articulated arm attached to the swinging portion so as to be able to be raised and lowered, and a work tool provided at a tip of the arm. And a swing operation means for instructing the swing operation direction of the swing portion is further provided at the tip of the operation lever of the left operating device.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the work tool operating means includes a seesaw type switch that can be swung on the top surface of the tip of the operation lever. .

Furthermore, a fifth invention is characterized in that, in the third invention, the swing operation means is composed of two push button switches arranged on the upper surface of the tip of the left operation lever.

  ADVANTAGE OF THE INVENTION According to this invention, in the operating device of a double arm type work machine, the operator of the conventional general work machine can master operation in a short time, and can operate without feeling uncomfortable. As a result, the burden on the operator is reduced and the operability is improved.

1 is a perspective view showing a working machine to which an embodiment of an operating device for a double-armed working machine of the present invention is applied. 1 is a side view showing a working machine to which an embodiment of an operating device for a double-armed working machine of the present invention is applied. It is a front view which shows one Embodiment of the operating device of the double arm type work machine of this invention. It is a back perspective view showing one embodiment of the operating device of the double arm type work machine of the present invention. It is a conceptual diagram for demonstrating the operation | work allocated to the operation lever etc. of the operating device of the double arm type work machine of this invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an operating device for a double-armed work machine according to the present invention will be described below with reference to the drawings.
FIG. 1 is a perspective view showing a working machine to which an embodiment of an operating device for a double-armed work machine according to the present invention is applied. FIG. 2 shows an embodiment of an operating device for a double-armed working machine according to the present invention. It is a side view which shows the working machine applied. As shown in FIGS. 1 and 2, the double-arm type work machine includes a traveling body 1 including a traveling body frame 1a and an endless track crawler belt 1b provided on each side of the traveling body frame 1a. A revolving unit 2 is mounted on the revolving unit 2 so as to be capable of revolving. A driver's cab 3 is attached to the front left side of the swivel body 2. A power source device 4 including an engine and a hydraulic pump and a counterweight 5 are provided behind the revolving unit 2.

A first work arm 6 is installed at the front center portion of the swing body 2, and a second work arm 7 is mounted at the front left side of the swing body 2.
The first work arm 6 is mounted on the front right side of the revolving structure 2 so as to be able to move up and down (up and down) by the boom cylinder 61, and is pivoted to the tip of the first boom 62 by the arm cylinder 63 ( A first arm 64 provided so as to be movable up and down, and a first work tool 66 which is a splitter provided so as to be able to be rotated (moved up and down) by a work tool cylinder 65 at the tip of the arm 64, and is an articulated type Has become a working arm. Thereby, the first work tool 66 at the tip of the first work arm 6 is movable in the vertical direction.
The first work arm 6 grips and fixes one member (waste) in which the member is embedded, for example, when gripping and transferring the waste, or when separating (stripping) the member in the waste. Used to hold or break apart demolished concrete walls.

  Next, at the base portion of the second working arm 7, a swinging device 8 is provided on the front left side of the swing body 2 and swings in the left-right direction.

  The second work arm 7 is provided on the front side of the swinging device 8 so as to be rotatable by a boom cylinder 71, and is provided at the tip of the second boom 72 so as to be rotatable by an arm cylinder 73. A second arm 74 and a second work tool 76 provided at the tip of the second arm 74 so as to be rotatable (up and down) by a work tool cylinder 75 are provided, and an articulated work arm is provided.

Accordingly, the second boom 72, the second arm 74, and the second work tool 76 in the second work arm 7 can be swung around the vertical axis by the swing device 8.
The second work arm 7 is used, for example, to separate a member embedded in the waste from the waste or to hold the concrete wall in a standing state when the member is pulled off. It is done.

  FIG. 3 is a front view showing an embodiment of an operating device for a double-armed work machine according to the present invention, and FIG. 4 is a rear perspective view showing an embodiment of an operating device for a double-armed working machine according to the present invention. . 3 and 4, reference numeral 10 denotes a driver's seat on which an operator is seated. On the right side of the operator seated in the driver's seat 10, for example, a boom cylinder 61 (FIG. 1) that drives a first boom 61 (FIG. 1) of the first work arm 6 and a first of the first work arm 6. A right operating device for operating the arm cylinder 63 (FIG. 1) for driving the arm 64 (FIG. 1) and the work tool cylinder 65 (FIG. 1) for driving the first work tool 66 (FIG. 1), that is, the front side thereof. A right console 11R having a right operation lever 20R and the like disposed on the left side of the operator is disposed on the left side of the operator, for example, a boom cylinder 71 (FIG. 1) for driving the second boom 72 (FIG. 1) of the second work arm 7. 1), an arm cylinder 73 (FIG. 1) for driving the second arm 74 (FIG. 1) of the second work arm 6, and a work tool cylinder 75 (FIG. 1) for driving the second work tool 76 (FIG. 1). ) And a swing cylinder (not shown) for driving the swing device 8 ) Left operation device for operating the, i.e., are arranged on the left console 11L with the left operating lever 20L or the like arranged on a front-side. A turning operation lever 30 for operating a turning hydraulic motor (not shown) for driving the turning body 2 (FIG. 1) is provided outside the left console 11L.

  The right operation lever 20R and the left operation lever 20L are attached to both sides of the driver's seat 10 so as to be able to tilt between the front / rear / left / right operation position and the neutral position, and a hydraulic pilot pressure or an electric signal corresponding to the tilt angle is applied. Is output. Further, as shown in FIG. 4, a right seesaw type switch 21R and a left seesaw type switch 21L that can be swung (pushed in) in the front-rear direction are provided on the top surfaces of the distal ends of the right operating lever 20R and the left operating lever 20L. A button-type front operation switch 22 and a rear operation switch 23 are further provided on the upper surface of the front end portion of the left operation lever 20L on the left and front sides of the left seesaw-type switch 21L.

  The right operation lever 20R, the left operation lever 20L, the right seesaw type switch 21R, the left seesaw type switch 21L, and the operation switches 22 and 23 are the depressing operation of the first and second work arms 6 and 7 of the double arm type work machine. The operation described below is assigned to each operation position.

  On the other hand, the turning operation lever 30 is attached so as to be tiltable between the front and rear operation positions and the neutral position, and a hydraulic pilot pressure or an electric signal corresponding to the inclination angle is output. Then, with this hydraulic pilot pressure or electrical signal, for example, a hydraulic motor (not shown) is driven via a control valve to control the turning speed and turning direction of the swing body 2.

FIG. 5 is a conceptual diagram for explaining the work assigned to the operating lever and the like of the operating device of the dual arm type working machine of the present invention.
As shown in FIG. 5, the right operation lever 20 </ b> R drives the boom cylinder 61 at the previous operation position to instruct to raise and lower the first boom 62 of the first work arm 6. That is, by tilting the right operation lever 20R forward, a control valve (not shown) is operated to extend the boom cylinder 61 so as to lower the first boom 62, and by tilting the right operation lever 20R backward, The boom cylinder 61 contracts to raise one boom 62.

  Further, at the left and right operation positions of the right operation lever 20R, the arm cylinder 63 is driven to instruct to push and pull the first arm 64 of the first work arm 6. That is, by tilting the right operation lever 20R to the right side, a control valve (not shown) is operated to contract the arm cylinder 63 so as to move the first arm 64 in the pushing direction, and tilt the right operation lever 20R to the left side. As a result, a control valve (not shown) is operated to extend the arm cylinder 63 so as to move the first arm 64 in the pulling direction.

  Further, the right seesaw type switch 21R attached to the upper surface of the front end of the right operation lever 20R drives the work tool cylinder 65 at the front and rear operation positions to raise and lower the first work tool 66 of the first work arm 6. Give instructions. That is, by swinging (pushing) the right seesaw type switch 21R forward, a control valve (not shown) is operated to contract the work tool cylinder 65 so as to raise the first work tool 66, and the right seesaw type switch 21R is moved. By swinging (pushing in) backward, the work tool cylinder 65 extends so as to lower the first work tool 66.

  On the other hand, the left operation lever 20L drives the boom cylinder 71 at the previous operation position to give an instruction to raise or lower the second boom 72 of the second work arm 7. That is, by tilting the left operating lever 20L forward, a control valve (not shown) is operated to extend the boom cylinder 71 so as to lower the second boom 72, and by tilting the left operating lever 20L backward, 2 The boom cylinder 71 contracts to raise the boom 72.

  Further, at the left and right operation positions of the left operation lever 20L, the arm cylinder 73 is driven to instruct to push and pull the second arm 74 of the second work arm 7. That is, by tilting the left operation lever 20L to the right, a control valve (not shown) is operated to contract the arm cylinder 73 so as to move the second arm 74 in the pushing direction, and tilt the left operation lever 20L to the left. As a result, a control valve (not shown) is operated to extend the arm cylinder 73 so as to move the second arm 74 in the pulling direction.

  Further, the left seesaw type switch 21L attached to the upper surface of the distal end portion of the left operation lever 20L drives the work tool cylinder 75 to raise and lower the second work tool 76 of the second work arm 7 at the front and rear operation positions. Give instructions. That is, by swinging (pushing) the left seesaw type switch 21L forward, a control valve (not shown) is operated and the work tool cylinder 75 contracts to raise the second work tool 76, and the left seesaw type switch 21L is moved. By swinging (pushing in) backward, the work tool cylinder 75 extends to lower the second work tool 76.

  Further, the button-type front operation switch 22 and the rear operation switch 23 attached to the upper surface of the front end of the left operation lever 20L drive a swing cylinder (not shown) in their on positions to perform the second operation. A left / right swing instruction of the swing device 8 of the arm 7 is given. That is, by pushing the front operation switch 22, a control valve (not shown) is operated to operate a swing cylinder (not shown) so as to swing the swing device 8 to the left, and by pushing the rear operation switch 23, A control valve (not shown) is operated to operate a swing cylinder (not shown) so as to swing the swing device 8 to the right.

  In addition, the turning operation lever 30 drives a hydraulic motor (not shown) at the previous operation position to instruct the turning body 2 to turn left and right. That is, by tilting the turning operation lever 30 forward, a control valve (not shown) is operated to rotate a hydraulic motor (not shown) so as to turn the turning body 2 to the right, and the turning operation lever 30 is tilted backward. As a result, a control valve (not shown) is operated to rotate a hydraulic motor (not shown) so as to turn the swivel body 2 to the left.

Next, the operation of the embodiment of the operation device for the double-armed work machine of the present invention described above will be roughly described.
In order to move the first work arm 6, the operator sits on the driver's seat 10, holds the right operation lever 20R with the right hand and puts the thumb on the right seesaw type switch 21R, for example. Similarly, to move the second work arm 7, for example, the left operation lever 20 </ b> L is grasped with the left hand and a thumb is put on any of the left seesaw type switch 21 </ b> L, the front operation switch 22, and the rear operation switch 23. In such a state, the operator can perform a cooperative operation using the first work arm 6 and the second work arm 7 by operating these operation devices with both hands.

  On the other hand, for example, when the combined operation of the working machine and the turning operation used in a normal hydraulic excavator or the like is performed in the present embodiment, the operator sits on the driver's seat 10 and, for example, the right operation lever 20R. Is held with the right hand, the thumb is put on the right seesaw type switch 21R, and the turning operation lever 30 is held with the left hand. By operating these operating devices with both hands in such a state, for example, after holding and lifting predetermined waste with the first work arm 6, the swivel body 2 is swung to be predetermined. It is possible to appropriately carry out normal operations such as transferring to the upper part of the storage area and opening it.

  According to one embodiment of the operation device for a double-armed work machine of the present invention described above, in the operation device for a double-armed work machine, an operator of a conventional general work machine can master the operation in a short time, It can be operated without feeling uncomfortable. As a result, the burden on the operator is reduced and the operability is improved.

  Further, according to the embodiment of the operating device for the double arm type work machine of the present invention, the right operating lever 20R and the left operating lever 20L are instructed to move the first and second work arms 6, 7 up and down. It is possible by hand operation. Further, a right seesaw type switch 21R is arranged on the top surface of the tip of the right operation lever 20R, and a left seesaw type switch 21L, a front operation switch 22 and a rear operation switch 23 are arranged on the top surface of the tip of the left operation lever 20L. Therefore, it is also possible to give an instruction for rotating the work tool of the first and second work arms 6 and 7 and an instruction for swinging the second work arm 7 by hand operation. As a result, a double-arm type operation can be performed without performing a special operation such as an operation on the forearm of an operator or a rotation operation around the axis of an operation lever, which has been required for an operation device of a conventional double-arm type work machine. The work machine can be operated. As a result, an operator of a conventional general work machine can master the operation in a short time, and can operate without feeling uncomfortable.

  Furthermore, according to the embodiment of the operating device for the double-armed work machine of the present invention, the operation of the swing electric motor for driving the swing body 2 is performed outside the left console 11L where the left operation lever 20L is disposed. Since the turning operation lever 30 to be instructed is provided, the operator can operate the right operation lever 20R and the right seesaw type switch 21R with the right hand, and can operate the turning operation lever 30 with the left hand. As a result, the operator can turn the revolving body 2 to a required position while performing a required work with the first work arm 6 like an operation with a normal hydraulic excavator. As a result, an operator of a conventional general work machine can master the operation in a short time, and can operate without feeling uncomfortable.

  In the present embodiment, a button-type front operation switch 22 and a rear operation switch 23 attached to the upper surface of the front end of the left operation lever 20L are used to instruct the left / right swing of the swing device 8 of the second work arm 7. However, the present invention is not limited to this. For example, a pedal device provided on the floor surface of the driver's seat 10 may be used.

  In the present embodiment, the case where the swing body 2 of the double-armed work machine is driven by a hydraulic motor has been described as an example, but the present invention is not limited to this. Moreover, although the case where the present invention is applied to a double-arm type work machine having a work arm having a boom and an arm has been described as an example, a double-arm type work having a work arm having other degrees of joint freedom It can also be applied to machines.

DESCRIPTION OF SYMBOLS 1 Traveling body 2 Revolving body 3 Driver's cab 5 Counterweight 6 1st work arm 7 2nd work arm 8 Oscillator 10 Driver's seat 11R Right console 11L Left console 20R Right operation lever 20L Left operation lever 21R Right seesaw type switch 21L Left seesaw type switch 22 Front operation switch 23 Rear operation switch 30 Swing operation lever

Claims (5)

A traveling body, a revolving body provided on the traveling body so as to be able to turn, a driver's cab provided in front of the revolving body, and a first working arm provided on the right side of the driver's cab in front of the revolving body. And a second working arm provided on the opposite side across the operator's cab in front of the swivel body,
A right operating device provided on the right side of the driver's seat in the driver's cab and instructing the operation of the first working arm, and provided on the left side of the driver's seat in the driver's cab and instructing the operation of the second working arm. A left operation device, and a turning operation device for instructing the operation of the turning body,
Each of the left and right operating devices can tilt between the front and rear, left and right operating positions and the neutral position, and each of the operating levers instructs the raising and lowering operations of the first and second work arms by the tilting operation, A work tool operating means provided at a tip portion of each operation lever, each for instructing a rotation operation of each work tool;
The turning operation device includes a turning operation lever that can tilt between a front and rear operation position and a neutral position and that indicates a turning operation direction of the turning body. Operating device. In the operating device of the double-arm type work machine according to claim 1,
The swivel operation lever is provided outside the operation lever of the left operation device. In the operating device of the double-arm type work machine according to claim 1 or 2,
The first working arm is formed in an articulated form, and includes an arm provided so as to be able to be lifted and a working tool provided at a tip of the arm,
The second working arm includes a swinging portion provided swingably by a swinging cylinder, a multi-joint type arm mounted on the swinging portion so as to be able to be raised and lowered, and a working tool provided at a tip of the arm. Become
An operating device for a double-armed work machine, further comprising a swing operation means for instructing a swing operation direction of the swing portion at a distal end portion of an operation lever of the left operating device. In the operating device of the double-arm type work machine according to any one of claims 1 to 3,
The operating device for a double-armed work machine, wherein the work tool operating means comprises a seesaw type switch that can be swung on the top surface of the tip of the operating lever. In the operating device of the double arm type work machine according to claim 3 ,
The swinging operation means comprises two push button switches arranged on the top surface of the tip of the left operating lever.

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