WO1989004894A1

WO1989004894A1 - Working machine for construction vehicles and method of operating same

Info

Publication number: WO1989004894A1
Application number: PCT/JP1988/001198
Authority: WO
Inventors: Noboru Kanayama; Hisashi Fukumoto; Kuniharu Fujii
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1987-11-26
Filing date: 1988-11-25
Publication date: 1989-06-01
Also published as: EP0399043A4; EP0399043B1; EP0399043A1; DE3854897T2; DE3854897D1

Abstract

A working machine for construction vehicles, which is capable of being folded compactly when it is at rest and being converted into operational condition easily when it is to be operated, without requiring any special apparatus; and a method of operating the same working machine. This working machine is provided with a boom divided into first and second boom members, an arm connected pivotably to the front end portion of the second boom member, a bucket connected pivotably to the front end portion of the arm, and aplurality of hydraulic cylinders for driving these elements. The first boom member (12) is supported pivotably on one side of the base end portion thereof on a predetermined portion (13) of a chassis (10), and at a front end portion (15) thereof on one side of the base end portion of the second boom member (14). The first boom member (12) is adapted to be turned vertically by a first boom cylinder (17) which is supported pivotably at its base end portion on another predetermined portion (18) of the chassis, and at its front end section on a predetermined portion (20) of the front end section of the first boom member, the posture of the second boom member with respect to the first boom member being maintained by a retainer means (A).

Description

Specification

Construction vehicle work machines and their operation methods

TECHNICAL FIELD OF THE INVENTION

The present invention relates to a work machine and its operation mounted on a construction vehicle such as a power shovel including a boom section, an arm section, and a bucket section. Regarding the method, it folds into a compact shape when not working, and does not require special equipment, especially when it is not working, and easily works when working. Work implements that can be changed and their operation methods.

BACKGROUND OF THE INVENTION

A conventional working machine of this type has the power shown in Japanese Patent Application Publication No. 56-150235.

As shown in FIGS. 1 and 2, this conventional working machine has a base end of a first boom cylinder 3 mounted on a vehicle body 1 via a bracket 2. The work is performed by pivoting on the pivoted Belk Rank 4 and driving the Velocrank 4 by the Belk Cylinder 5. The machine is designed to be folded into a compact shape. In other words, the base end of the first boom cylinder 3 is swung so that a mutation point (also referred to as a dead point) in the link mechanism does not occur. In addition, the valve includes a valve for controlling the Belk Cylinder 5 as well as the Belk Crank 4 and the Belk Cylinder 5. Hydraulic circuit means are required, thus increasing the number of parts and complicating the structure, as well as increasing the manufacturing cost. In addition, operation of the work equipment The complexity and Do Ri, that we suffer a failure even as raw Ji not easy clouds cormorant problems ₀

In the case of a working machine, the inflection point in the link mechanism described above is a point at which the first boom and the end of the first boom cylinder are mutually pivoted. The pivot point to the vehicle body at the base end of the vehicle and the pivot point to the vehicle body at the base end of the first cylinder are moved during the rotation of the first boom ring. This is a state in which the positional relationship is aligned on a straight line. In this state, the hydraulic pressure of the first bump cylinder does not work to the outside. In other words, the first Boom cylinder loses its function as a driver. All of the following words used in the present application have the meanings set forth above.

Summary of the Invention

The present invention has been made in view of the above circumstances, and a first object of the present invention is to provide a base for swinging a base end of a first bumper cylinder. Without the provision of a Leuklank, a Belkrank cylinder and a hydraulic circuit for controlling the Belk Cylinder, (1) It has a relatively simple configuration with a small number of parts that actively uses the mutation points in the link mechanism including the Boom cylinder, and Ο is to provide a low-cost, hard-to-break construction machine working machine ο

Another object of the present invention is to actively use the mutation point in the link mechanism including the first Boom cylinder. W

In addition, it is intended to provide a method of operating a work machine that is remarkably easy to operate.

In order to achieve the above-mentioned first object, according to the first aspect of the present invention, the first and second booms are connected in accordance with the connection sequence to the vehicle body frame. A boom part which is sequentially divided into two parts, an arm part pivotally attached to the tip of the second boom, a base end of the arm part and a predetermined position of the second boom. An arm cylinder pivotally connected between them, a bucket portion pivotally attached to a tip of the arm portion, and a base end of the bucket portion and an arm portion. Of a construction vehicle having a bucket cylinder pivotally connected to a predetermined position of a vehicle unit and a bucket holder provided at a front end of the vehicle body. A work machine, and one side of the base end of the first boom passes through the bracket 10 so that the first boom can be raised and lowered. It is pivotally attached to one side of the base of the second boom so that it is pivotally supported at a predetermined position on the body frame and its tip is raised and lowered on the second boom. In order to raise and lower the connected first boom and the first boom, another base bracket is used to separate the vehicle body frame through another bracket. Between the first and second booms, the first and second boom cylinder devices being pivotally supported at a predetermined position, and having a distal end pivotally supported on the distal end side of the first boom. An improved working machine is provided which is connected and includes holding means for holding the second boom in an upright state with respect to the first boom.

According to the second aspect of the present invention, the protection according to the first aspect is provided. It is characterized in that the holding means is a second boom cylinder device pivotally connected between each other side of the base end of each of the first boom and the second boom. A working machine is provided.

According to a third aspect of the present invention, the holding means in the first aspect is pivotally connected between the other end of each of the base ends of the first boom and the second boom. The second boom cylinder device, and the first boom cylinder has a mutation point behind the position where the first boom cylinder assumes its working posture. When the Linder reaches the transition point, the center of gravity of the work equipment is located on the front side of the pivot point to the body frame on one side of the base end of the first boom. A work machine specializing in the configuration is provided.

According to a fourth aspect of the present invention, the holding means according to the first aspect includes a pin hole formed at the other end of the first boom and the other end of the base end of the second boom. Work that specializes in one or more pin members inserted into the holes when the bin holes formed on the side are overlapped According to the fifth aspect of the present invention, in order to achieve the second purpose as described above, the operation of the working machine according to the third aspect is provided. The method uses the hydraulic pressure of each cylinder and the gravitational and inertial forces acting on the work equipment to move the first Boom cylinder through the transition point. Thus, there is provided a method of operating a work machine, which is characterized in that

Further, in order to achieve the above-mentioned second object, the present invention According to the third aspect, the operating method of the working machine according to the third or fourth aspect, wherein the hydraulic pressure of each cylinder, gravity and inertia force acting on the working machine, Utilizing the reaction force generated in the baguette cage and the baggage cage, the first pump cylinder is made to move through the transition point. A method of operating a work machine characterized by this is provided.

According to a seventh aspect of the present invention, there is provided the operation method for a work machine according to the fifth aspect, wherein the second boom cylinder is set so that the second boom is erected. Contracting the first boom cylinder so that the first boom rises after the second boom rises, and the first boom cylinder extends the first boom cylinder so that the first boom rises after the second boom rises. When the boom cylinder reaches the vicinity of the mutation point, the first boom cylinder is floated and the first boom cylinder is contracted. In this way, the working machine is brought into its working posture by the rotating force by its own weight and the hydraulic pressure of the first boom cylinder, and the power, second, and After the work is completed, the first boom is moved to the vicinity of the mutation point of the first cylinder. In order to achieve this, the first Boom cylinder is extended while the second Boom cylinder is contracted, and the first Boom cylinder becomes the mutation point. When the vehicle reaches the vicinity, the first boom is passed through the transition point of the first boom cylinder by the gravity and inertia force acting on the work machine, and Side, and the work machine is held at a predetermined rear position of the vehicle body by the first bomber cylinder. The first boom is used to force or shrink the damper into a closed position, and to fold the first and second boom sections. The method of operating the work machine is characterized in that the second boom cylinder is extended while the second cylinder is contracted at the same time that the second cylinder is extended. Is provided.

According to an eighth aspect of the present invention, there is provided the operation method for a work machine according to the sixth aspect, wherein the first boom is erected near a mutation point of the first boom cylinder. In order to achieve this, the second boom cylinder is floated and the first boom cylinder is extended, and the first boom cylinder is When the bucket reaches the vicinity of the mutation point, the bucket cylinder is extended and retracted at the same time as the bucket cylinder is expanded and contracted in order to secure the holding of the bucket by the bucket cage. The cylinder and the second boom cause the arm cylinder to be stretched while the cylinder is in the floating state, and this occurs in the cage on the bucket. The reaction force, the bucket cylinder and arm cylinder oil pressure, and the gravitational and inertial forces acting on the implement The first Boom cylinder is passed through the transition point, is further raised, and the work machine is brought to its working posture. Bucket by extending and retracting the bucket cylinder to move the boom near the mutation point of the first boom cylinder At the same time as holding the second boom cylinder in the floating state while extending the first boom cylinder, To shrink the cylinder, Then, when the first boom passes through the transition point of the first boom cylinder due to gravity or inertia force acting on the work machine, the first boom and the second The first and second boom cylinders are gradually floated in order to fold the robot using its own weight. Or a task characterized in that it consists of the following steps: shrinking the 1st boom cylinder and extending the 2nd boom cylinder. A method of operating the machine is provided.

According to a ninth aspect of the present invention, there is provided the operating method of the work machine according to the sixth aspect, wherein the first boom is erected near a mutation point of the first boom cylinder. The first boom cylinder should be extended to allow it to move, and when the first boom cylinder reaches the vicinity of the mutation point, the bucket cylinder will be extended. The first boom cylinder is floated by extending and retracting the bucket to ensure that the bucket is held by the bucket retainer. At the same time, the arm cylinders are extended, the reaction force generated in the bucket retainer, the hydraulic pressure of each cylinder, and the working machine are affected. Using the gravity and inertia force, the first Boom cylinder is further raised up after passing through the transition point, and Of the first boom and the pin hole formed at the other end of the base end of the second boom. When the arm cylinder is extended and retracted for superposition, and when the pin holes are aligned, they are used to maintain the working posture of the implement. The Pi The bucket by inserting one or more fixed pins into the holes and operating all the cylinders after the work is completed. The first boom cylinder is slightly extended and retracted to hold it in the packet holder and to pull out the fixing pins after holding the packet. After removing the fixing pin, the arm cylinder is extended to move the first boom near the mutation point of the first cylinder. Thus, the first boom cylinder and the bucket cylinder can be extended while holding the bucket in the bucket holder, and the work machine can be extended. When the first boom passes through the transition point of the first boom cylinder due to gravity or inertia acting on the first boom, the first and second booms The first step is to gradually float the first boom cylinder in order to fold the robot using the weight of the work equipment. A method of operating a work machine that specializes in this is provided.

The above-mentioned condition of the cylinder floating means that the ports on the rod side and bottom side of the cylinder are connected to tanks, etc. This means that no hydraulic pressure acts on the cylinder. All of the terms described below in this application are used in this sense.

The above and other objects, aspects, and advantages of the present invention are described in the following description and appendixes in which preferred embodiments are shown as examples that are consistent with the principles of the present invention. It will be apparent to those skilled in the art, when described in connection with the drawings. Will be

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 and Fig. 2 show a conventional example, Fig. 1 is a schematic side view of a power shovel equipped with a conventional working machine, and Fig. 2 is a conventional one shown in Fig. 1. FIG. 3 is a schematic side view of a construction vehicle having a working machine as a first specific example of the present invention.

FIG. 4 is a hydraulic control circuit diagram for each hydraulic cylinder for driving the working machine of the present invention.

5 to 8 are explanatory views of the operation of the working machine shown in FIG. 3,

FIG. 9 is a partially omitted schematic diagram of a working machine as a second embodiment of the present invention.

FIGS. 10 to 11 are diagrams for explaining another operation of the working machine shown in FIG. 3.

FIG. 12 is a schematic side view of a construction vehicle provided with a working machine as a third embodiment of the present invention, and

FIGS. 13 to 14 are explanatory diagrams of the operation of the working machine shown in FIG.

Detailed description of preferred examples

Hereinafter, the present invention will be described in more detail with reference to FIGS. 3 to 14 of the accompanying drawings.

In FIG. 3 showing the first specific example of the present invention, reference numeral 10 indicates a vehicle body frame, and this vehicle body frame 10 has A mounting bracket 11 is provided, and the base end of the first boom 12 is attached to the mounting bracket 11 so that it can be raised and lowered by a pin member 13. is there . The base of the second boom 14 is attached to the tip of the first boom 12 such that it can be raised and lowered by pin members 15 ·. Further, brackets 16 which are located on the left and right sides of the first boom 12 are fixedly mounted on the vehicle body frame 10, and these brackets are provided. The base end of the first pump cylinder 17 is connected to the port 16 by a pin member 18. The piston rod of the first boom cylinder 17 Reference numeral 19 denotes a pin member 20 connected to an upper portion of the first boom 12.

A bracket 21 is provided on the rear side of the base of the first boom 12, and this bracket 21 is used as a holding means “A” for the second boom 14. The base end of the second bom cylinder 22 is connected by a pin member 23, and the piston rod 24 of the second bom cylinder 22 is connected to the second boot. The base member 14 is connected to a base end of the base member 14 by a pin member 25.

An arm 26 is attached to the tip of the boom 14 and a pin member 27 is provided below the base so that the arm 26 can be raised and lowered. A bracket 28 is provided at the base, and the bracket 28 is connected to the base end of the arm cylinder 29 by a pin member 30. The piston rod 31 of the arm cylinder 29 is provided at the base end of the arm 26. Are connected by the connecting members 32.

The tip of the arm 26 has a bucket 33 force (pin member). The bracket 3 is mounted so as to be able to swing, and one end of a link 36 is connected to the opening bracket 35 of the bucket 3. One end of a link 37 is connected to the tip of the arm 26. A bracket 38 is provided at the base of the arm 26 ′, and the bracket 38 has a base end of the bucket cylinder 39. The piston rods 41 of the bucket cylinder 39 are connected to each other by force pin members 40, and the pin members are connected to the other ends of the links 36, 37. It is connected by 4 2.

The bag holder for holding the bucket 33 when the work machine is folded is shown below the front of the vehicle by the reference numeral 43.

FIG. 4 shows a hydraulic control circuit for each hydraulic cylinder for driving the working machine of the present invention, which has been conventionally used for operating this type of working machine. Since they are the same as those used in the above, detailed descriptions are omitted.

Next, the operation of the work implement shown in FIG. 3 will be described with reference to FIG. 3 and the operation explanatory diagrams of FIG. 5 to FIG. The cylinder 17 is rotated below the pivot point 13 at the base end of the first boom 12 to the vehicle frame 1◦, and the second boom cylinder 22 is extended. Then, the arm cylinder 29 is contracted, and the second boom 14 and the arm 26 are operated so as to be substantially parallel to each other, and the bucket actuator is used to operate the second boom 14 and the arm 26. The side showing the state where the bucket 33 is folded into a compact with the bucket 33 held by the bucket holder 43 of the vehicle body 1 ◦ It is a plan view.

When the work machine is operated from the folded state to the working state as shown in FIG. 3, the second bumper cylinder 22 is contracted as shown in FIG. Then, start the respective components of the work machine at the front end side of the second boom 14.

Then, when the first boom cylinder 17 is extended, the first boom 12 stands up so as to rotate upward, and the center of gravity G of the working machine is also forward. However, the ratio of the turning force of the first boom 12 to the force of the first boom cylinder 17 becomes smaller, so that the first boom cylinder 1 When the hydraulic pressure of the second boom rises and reaches the relief pressure, the rotation of the first boom 12 is stopped, but the second boom cylinder 22 is expanded and contracted to extend the work equipment. The center of gravity G of the first boom 12 is operated so as to move forward from the pivot point 13 to the vehicle body frame 10 at the base end of the first boom 12.

If the center of gravity G of the working machine has moved forward from the pivot point 13 before the hydraulic pressure relief pressure of the first boom cylinder 17 has been reached, the second No operation is required to extend or retract the boom cylinder 22.

In addition, while the turning power of the first boom 12 with respect to the thrust of the first boom cylinder 17 is sufficiently large, the inertia force of the working machine is used to utilize the center of gravity of the working machine. G may be moved forward from pivot point 13.

If the first boom cylinder 17 is brought into the floating state in the above state, the work machine is moved by gravity as shown in FIG. As it rotates further forward, the first boom cylinder 17 passes through the pivot point 13 and thereafter the working posture and position shown in FIG. Therefore, the operation can be performed by the same operation as before.

Next, a case where the working machine is folded from the working state will be described. When the first boom cylinder 17 is extended from the work state shown in FIG. 7 and the second boom cylinder 22 is contracted, the second The work machine ahead of the boom 14 stands up, the first boom 12 pivots backward, and the center of gravity G of the work machine moves rearward, as shown in FIG. When the first boom cylinder 17 approaches the fulcrum 13, the first boom cylinder 17 exerts a thrust on the thrust of the first boom cylinder 17. Since the ratio of the rotating power of the engine becomes small, the hydraulic pressure of the first boom cylinder 17 rapidly rises, reaches the relief pressure set pressure, and the first boom 12 becomes Stop the rotation, but operate so that the second boom cylinder 22 contracts and the center of gravity G of the work equipment moves rearward from the pivot point 13 as shown in FIG. It is done.

If the center of gravity G of the working machine has moved backward from the pivot point 13 before the hydraulic pressure of the first boom cylinder 17 reaches the release set pressure, the second The operation of contracting the boom cylinder 22 is unnecessary.

Also, while the rotational force of the first boom 14 against the thrust of the first boom cylinder 17 is sufficiently large, the inertia force of the work Move the center of gravity G behind the pivot point A. You may let them do it.

If the first boom cylinder 17 is set in the closed state in the above state, the work machine rotates backward due to gravity, so that the first boom cylinder 17 Has passed through pivot point 13 and is in the condition shown in FIG.

After that, the folded state shown in FIG. 3 can be obtained by the operation described at the beginning of this specific example.

FIG. 9 shows a second specific example of the present invention. In this embodiment, the pivot point 2 ◦ of the piston rod 19 of the first boom cylinder 17 to the first boom 12 is located at the first boom. It is on a pin member 15 connecting the arm 12 and the second boom 14, and other configurations and operations are the same as those of the first embodiment of the present invention described above. Since the operation method is the same, detailed description is omitted.

FIG. 10 to FIG. 11 are operation explanatory diagrams for explaining another operation method of the first specific example described above.

This second method of operation is performed in such a manner that when the working machine is changed from the folded state to the working state or vice versa, the bucket is held by the bucket holder 43 while maintaining the bucket. This is an operation method that uses not only the hydraulic force of the cylinder and the inertia force due to the weight of the working machine, but also the reaction force from the bucket cage 43.

As described above, the first Boom cylinder 17 of the present invention has the "mutation point in the link mechanism" described below. That is, the first boom 12 and the first boom cylinder W

17 and a pivot point 13 to the vehicle frame 10 on one side of the base end of the first boom 12 and a first boom mechanism. The pivot point 18 of the base end of the cylinder 17 to the vehicle frame 10 is positioned so that it is aligned with the straight line C while the first boom cylinder 17 is rotating. Become . At this time, the position B on the straight line C of the tip pivot point 20 of the first Boom cylinder 17 is referred to as a mutation point of the first Boom cylinder 17.

In the first operation method of the first specific example described above, the center of gravity G of the working machine is set at the pivot point 13 between the base end of the first boom 12 and the body frame 10. Needless to say, a boundary line that is located in front of the vehicle body beyond this point corresponds to this variation point B.

The operating methods shown in FIGS. 10 to 11 are as follows.

(1) From the folded state to the vicinity of the mutation point Β:

The second boom cylinder 22 is floated, the first boom cylinder 17 is extended, and the first boom 12 is turned into the first boom. Stand up to near the mutation point 変異 of cylinder 17

(2) From the point of change 点 to the working posture:

The tip of the bucket 33 is held by the bucket holder 43 by extending and retracting the bucket cylinder 39, and the first boot is held. Floating the cylinder 17 and the second boom cylinder 22 at the same time as the arm cylinder 29 Is extended to give the first boom the motion of passing through the mutation point and further erecting. As a result, the working machine assumes the working posture.

(3) From the working posture to the vicinity of the mutation point B:

The bucket cylinder 39 is extended and retracted so that the tip of the bucket 33 is held by the bucket holder 43 and the second boom. While the cylinder 22 is in the floating state, the first boom cylinder 17 is expanded, and at the same time, the arm cylinder 29 is contracted to thereby make the first boot. System 12 surrenders to near the mutation point.

(4) From the vicinity of the mutation point B to the folded state:

Once the first boom 12 has surrendered to the vicinity of the mutation point B, either all the cylinders are gradually floated or the second boom cylinder When the first boom cylinder 17 is contracted while the float 22 is in the floating state, the work machine is driven by gravity or the first boom cylinder with the gravity. The folded state is restored by the hydraulic pressure of the cylinder 17.

A third specific example of the working machine of the present invention is shown in FIG. In this third specific example, as in the first and second specific examples, the second boom cylinder 22 is used as the posture holding means A of the second boom 14. Pin holes 25a drilled at the other end of the first boom 12a and pin holes 44 drilled at the other end of the base end of the second boom 14a When one and the other overlap, one or more fixing pins inserted into both of these holes 4 5 W /

Are used as the posture holding means A of the second boom 14.

The method of operation of the third embodiment is described below in connection with FIGS. 12 to 14.

(1) From the folded state to the vicinity of mutation B:

The first boom cylinder 17 is extended so that the first boom 12 stands up to the vicinity of the mutation point.

(2) From mutation point B to working posture:

By operating the bucket cylinder 39 to extend and retract, the tip of the bucket 33 is held by the bucket holder 43, and the first boom shell is held. At the same time, when the cylinder 17 is put into the floating state, the arm cylinder 29 is extended, and after passing the mutation point B to the first boom 12. Give the person the ability to stand up.

(3) Maintain the posture of the second boom 14:

A pin hole 25a formed on the other end of the first boom 12 and a pin hole 4-1 formed on the other end of the second boom 14 are connected to the first boom. The cylinders 17 are superimposed by fine operation, and the fixing pins 45 are inserted into both pin holes by manual operation. As a result, the posture of the second boom 14 is held by the first boom 12 held by the first boom cylinder 17.

(4) Release the posture hold of the second boom 14:

By holding the tip of the bucket 33 in the bucket holder 43 by extending and retracting the all-hydraulic cylinder, the first pump cylinder 17 The fixed pin 45 is floated by finely controlling the pin, and the fixed pin 45 is manually pulled out. Take. As a result, the first boom 17 and the second boom 14 can rotate relative to each other.

(5) From the working posture to the vicinity of the mutation point B:

The first boom cylinder 17 and the bucket cylinder 39 are each extended, and the arm cylinder 29 is extended to form the bucket 3 The first boom 12 is rotated to the vicinity of the transition point B while holding the end of No. 3 in the packet holder 43.

(6) From the vicinity of the mutation point B to the folded state:

When the first boom 12 rotates (yields) to the vicinity of the mutation point B, all the cylinders are gradually floated, or the first boom is turned on. By contracting the cylinder 17, the work machine returns to the folded state due to gravity or the hydraulic pressure of the first Boom cylinder and the gravity.

The above description is merely illustrative of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. Many variations and modifications of the present invention will readily occur to those skilled in the art without departing from the scope of the invention.

Claims

1 f 89/04894 11 PCT / JP88 / 01198 Scope of request

1. A boom section divided into a first boom and a second boom in accordance with the connection sequence to the vehicle body frame, and a pivotal connection is made at the leading end of the second boom. An arm section connected between the base end of the arm section and a predetermined position of the .2 boom; A bucket portion pivotally attached to the tip of the arm portion, and a bucket cylinder pivotally connected between a base end of the bucket portion and a predetermined position of the arm portion. A work machine of a construction vehicle having a damper and a bucket retainer provided at a front end of the vehicle body, and the first boom is raised and lowered there. One side of the base end of the first boom is pivotally supported at a predetermined position on the vehicle body frame via a bracket so that the front end of the first boom is connected to the second end of the second boom. Boo The first boom pivotally connected to one side of the base end of the second boom, and the first boom is raised and lowered so that the first boom is raised and lowered. The first force is pivotally supported to another predetermined position of the vehicle body frame via another bracket, and the distal end is pivotally supported by the distal end of the first boom. A boom cylinder device is coupled between the first boom and the second boom to hold the second boom upright with respect to the first boom. An improved working machine characterized in that it includes a holding means.

2. The work machine according to claim 1, wherein the holding means is provided between the other end of each of the proximal ends of the first boom and the second boom. Second boom cylinder device connected to Work that is characterized in that

3. The work machine according to claim 1, wherein the holding means is pivotally provided between the other end of each of the base ends of the first boom and the second boom. The 2nd boom cylinder device to be connected, and the 1st boom cylinder has a mutation point behind the position where it takes its working posture. (1) When the bomber cylinder reaches the transition point, the center of gravity of the work equipment moves forward from the fulcrum to the vehicle frame on one side of the base end of the first boom. Work characterized by being configured to be

4. The working machine according to claim 1, wherein the holding means includes a pin hole formed on the other end of the first boom, and a pin hole formed on the other end of the second boom. When the pin holes formed on the side are overlapped with each other, one or more pin members are inserted into the holes. Machine

5. The working machine according to claim 1, wherein a tip of the first boom cylinder device is a tip of the eleventh boom and a base of the second boom. A work characterized by being pivotally connected to the connection part with one side

6. The operating method for the working machine described in claim 3 is based on the hydraulic pressure of each cylinder and the gravitational and inertial forces acting on the working machine. A method of operating a work machine, characterized in that a bomber cylinder is given a movement to pass through the point of change.

7.The operation method for the working machine described in claim 3 Then, the first boost is obtained by using the hydraulic pressure of each cylinder, the gravity and inertia acting on the working machine, and the reaction force generated in the bucket holder. A method of operating a work machine, characterized in that a movement is provided to the mu cylinder so as to pass through the mutation point.

8. The operating method for the working machine described in claim 4, wherein the hydraulic pressure of each cylinder, the gravitational force and inertia acting on the working machine, and the bucket (1) Using the reaction force generated in the cage, the first Boom cylinder is given the movement to pass through the transition point. Work machine operation method

9. The method of operating a work implement according to claim 6, wherein the second boom cylinder is retracted so that the second boom is erected. The first boom cylinder is extended so that the first boom is raised after the second boom is raised, and the first boom cylinder is positioned near the mutation point. Upon reaching, the first boom cylinder is set in the floating state, the first boom cylinder is contracted, and the working machine is automatically turned on. The working posture is set by the rotating power due to the load and the hydraulic pressure of the first boom cylinder, and the state is set by the operation of the second boom cylinder. In order to move the first boom to the vicinity of the mutation point of the first boom cylinder after the work is completed, the first Shi When re down Da Ru is extended and this simultaneous to Ru contract the second boom Shi Li down Da and first boom Shi Li down da mutations When the vehicle is near the point, the first boom is passed through the transition point of the first boom cylinder by the gravity and inertia force acting on the work implement, and Side and the work equipment

(1) Float the first boom cylinder so that it is held at a predetermined rear position of the vehicle body by the boom cylinder, and To fold the first and second boom cylinders together with the first and second boom cylinders in order to fold the second and second booms. A method of operating a work machine, characterized in that it consists of a lifting force.

10. The method for operating a work implement according to claim 7, wherein the first boom is raised up to a position near a mutation point of the first boom cylinder. (2) When the first cylinder is extended and the first cylinder is extended, the first cylinder is located near the mutation point. When the bucket reaches the position, the bucket cylinder is extended and retracted at the same time as the bucket cylinder is extended to secure the bucket holding by the bucket retainer. When the arm cylinder is extended while the cylinder and the second boom cylinder are in the floating state, the reaction force generated in the bucket cage is increased. And the hydraulic pressure of the cylinder and arm cylinder, and the gravity and inertia acting on the implement. The first boom The cylinder is passed through the transition point, is further raised, the working machine is brought to its working posture, and then after the work is completed, the first boom is removed from the first boom. To move the cylinder near the mutation point of one cylinder, move the bucket cylinder The bucket is held by the bucket retainer by expanding and contracting, and the second boom cylinder is brought into a floating state by applying force to the bucket. 1 Due to the contraction of the arm cylinder at the same time as the extension of the boom cylinder, and due to the gravitational or inertial forces acting on the implement. Once the first boom has passed the transition point of the first boom cylinder, the first and second booms must be folded using the weight of the work implement. It is characterized in that the first and second boom cylinders are gradually floated and consist of the steps of Operating method of the work equipment.

11. The method for operating a work implement according to claim 8, wherein the first boom is raised up to a position near a mutation point of the first boom cylinder. 1 Extend the Boom cylinder and extend and retract the cylinder when the first Boom cylinder reaches the mutation point. As a result, the bucket is held by the bucket retainer, and at the same time when the first bulk cylinder is floated, the Elongating the cylinder, the reaction force generated in the bucket cage, the hydraulic pressure of the bucket cylinder and the bulk cylinder, and Using the gravity and inertia force acting on the work machine, the first Boom cylinder is passed through the transition point and further raised. The first boom is tilted forward and the pin hole formed on the other side of the tip of the first boom and the pin formed on the other side of the base end of the second boom. In order to overlap the hole with the When the arm cylinder is extended and retracted, and when the two pin holes match, one pin is inserted into each of the pin holes to maintain the working posture of the implement. Alternatively, the bucket can be inserted into the bucket holder by inserting a plurality of fixed pins and then operating all the cylinders after the work is completed. To hold the bucket and pull out the fixing pin after holding the bucket, slightly extend and retract the 1st boom cylinder and pull out the fixing pin. After taking the bucket, extend the arm cylinder to move the first boom near the mutation point of the first cylinder. Extending the first boom cylinder and the bucket cylinder with the force not held by the bucket holder, and performing work When the first boom has passed the transition point of the first boom cylinder due to gravity or inertial force acting on the cylinder, the first boom and the second boom are In order to fold using its own weight, the first boom cylinder is gradually floated, and it consists of the following steps: Operating method of the implement.

12. The method for operating a work machine according to claim 10, wherein the first boom is a point of change of the first boom cylinder due to gravity acting on the work machine. After passing through, the second boom cylinder is floated to fold the first and second booms using the gravity acting on the work equipment. Operating the working machine, characterized in that the first boom cylinder is shrunk together with the first boom cylinder.

13. The operating method for a working machine according to claim 11, wherein the first boom is changed into a first boom cylinder by gravity acting on the working machine. After passing through the point, the first boom cylinder is contracted in order to fold the first and second booms using the gravity acting on the work equipment. A method of operating a work machine characterized by and.