WO1989004894A1 - Bras articule pour engins de construction et procede d'utilisation - Google Patents

Bras articule pour engins de construction et procede d'utilisation Download PDF

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Publication number
WO1989004894A1
WO1989004894A1 PCT/JP1988/001198 JP8801198W WO8904894A1 WO 1989004894 A1 WO1989004894 A1 WO 1989004894A1 JP 8801198 W JP8801198 W JP 8801198W WO 8904894 A1 WO8904894 A1 WO 8904894A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
cylinder
bucket
work
working machine
Prior art date
Application number
PCT/JP1988/001198
Other languages
English (en)
Japanese (ja)
Inventor
Noboru Kanayama
Hisashi Fukumoto
Kuniharu Fujii
Original Assignee
Kabushiki Kaisha Komatsu Seisakusho
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP29946687A external-priority patent/JPH0830347B2/ja
Priority claimed from JP29946587A external-priority patent/JPH0830346B2/ja
Priority claimed from JP1823188A external-priority patent/JPH028419A/ja
Application filed by Kabushiki Kaisha Komatsu Seisakusho filed Critical Kabushiki Kaisha Komatsu Seisakusho
Priority to EP88910129A priority Critical patent/EP0399043B1/fr
Priority to DE3854897T priority patent/DE3854897T2/de
Publication of WO1989004894A1 publication Critical patent/WO1989004894A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance

Definitions

  • 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.
  • a construction vehicle such as a power shovel including a boom section, an arm section, and a bucket section.
  • a power shovel including a boom section, an arm section, and a bucket section.
  • 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.
  • a conventional working machine of this type has the power shown in Japanese Patent Application Publication No. 56-150235.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • a first object of the present invention is to provide a base for swinging a base end of a first bumper cylinder.
  • 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 ⁇ is to provide a low-cost, hard-to-break construction machine working machine ⁇
  • Another object of the present invention is to actively use the mutation point in the link mechanism including the first Boom cylinder.
  • 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.
  • 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.
  • another base bracket is used to separate the vehicle body frame through another bracket.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the operation method for a work machine 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.
  • the first 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.
  • the first Boom cylinder is extended while the second Boom cylinder is contracted, and the first Boom cylinder becomes the mutation 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 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.
  • the operation method for a work machine wherein the first boom is erected near a mutation point of the first boom cylinder.
  • the second boom cylinder is floated and the first boom cylinder is extended, and the first boom cylinder is
  • 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.
  • the operating method of the work machine 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • FIGS. 13 to 14 are explanatory diagrams of the operation of the working machine shown in FIG.
  • 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 ⁇ .
  • 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.
  • 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.
  • 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 first boom cylinder 17 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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 .
  • 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.
  • 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.
  • FIGS. 10 to 11 The operating methods shown in FIGS. 10 to 11 are as follows.
  • 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 ⁇ ⁇ of cylinder 17
  • 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.
  • 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.
  • FIG. 1 A third specific example of the working machine of the present invention is shown in FIG.
  • 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 /
  • the first boom cylinder 17 is extended so that the first boom 12 stands up to the vicinity of the mutation point.
  • the tip of the bucket 33 is held by the bucket holder 43, and the first boom shell is held.
  • 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.
  • 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.
  • the first pump cylinder 17 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.
  • 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.

Abstract

Bras articulé pour engins de construction, pouvant être replié entièrement lorsqu'il est au repos et converti aisément dans un état de fonctionnement lorsqu'on veut l'utiliser, sans qu'il soit nécessaire d'utiliser un outillage spécial; on décrit de même un procédé d'utilisation de l'engin de construction. Ce dernier est pourvu d'une flèche divisée en un premier élément et un deuxième élément de flèche, d'un bras relié de manière pivotante à l'extrémité avant du deuxième élément de flèche, d'un godet relié de manière pivotante à l'extrémité avant du bras, et d'une pluralité de cylindres hydrauliques qui commandent ces éléments. Le premier élément de flèche (12) est supporté de manière pivotante sur un côté de la partie d'extrémité de base sur une partie déterminée (13) du châssis (10), et au niveau d'une extrémité avant (15) sur un côté de la partie d'extrémité de base du deuxième élément de flèche (14). Le premier élément de flèche (12) peut être tourné verticalement par un premier cylindre de flèche (17) qui est supporté de manière pivotante au niveau de sa partie d'extrémité de base sur une autre partie déterminée (18) du châssis, et au niveau de sa partie d'extrémité avant sur une partie déterminée (20) de la partie d'extrémité avant du premier élément de flèche, la position du deuxième élément de flèche par rapport au premier élément de flèche étant maintenue par un organe de retenue (A).
PCT/JP1988/001198 1987-11-26 1988-11-25 Bras articule pour engins de construction et procede d'utilisation WO1989004894A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP88910129A EP0399043B1 (fr) 1987-11-26 1988-11-25 Procede d'utilisation d'un bras articule pour engins de construction
DE3854897T DE3854897T2 (de) 1987-11-26 1988-11-25 Verfahren zur verwendung eines gegliederten armes für baufahrzeuge

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP29946687A JPH0830347B2 (ja) 1987-11-26 1987-11-26 油圧式掘削機の作業機姿勢変更装置及び方法
JP29946587A JPH0830346B2 (ja) 1987-11-26 1987-11-26 油圧式掘削機の作業機姿勢変更装置及び方法
JP62/299466 1987-11-26
JP62/299465 1987-11-26
JP63/18231 1988-01-28
JP1823188A JPH028419A (ja) 1988-01-28 1988-01-28 油圧掘削機の作業機収納方法

Publications (1)

Publication Number Publication Date
WO1989004894A1 true WO1989004894A1 (fr) 1989-06-01

Family

ID=27282137

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1988/001198 WO1989004894A1 (fr) 1987-11-26 1988-11-25 Bras articule pour engins de construction et procede d'utilisation

Country Status (3)

Country Link
EP (1) EP0399043B1 (fr)
DE (1) DE3854897T2 (fr)
WO (1) WO1989004894A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3313784B2 (ja) * 1992-09-30 2002-08-12 株式会社小松製作所 建設機械の作業機装置
US5423655A (en) * 1993-01-14 1995-06-13 Kabushiki Kaisha Komatsu Seisakusho Working machine for hydraulic excavator
FR2718769B1 (fr) * 1994-04-13 1996-05-31 Gibert Pierre Jean Marie Ensemble compact de deux bras articulés, dont l'extrémité libre est équipée d'un porte équipement, destiné à des véhicules de manutention, et terrassement.
JP3446847B2 (ja) * 1994-11-08 2003-09-16 株式会社小松製作所 作業車両

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS47947B1 (fr) * 1966-11-18 1972-01-11
JPS4879101U (fr) * 1971-12-28 1973-09-28
JPS5920443Y2 (ja) * 1979-07-27 1984-06-14 株式会社豊田自動織機製作所 スキツドステアシヨベルにおけるリフトア−ム
JPS6042123Y2 (ja) * 1980-04-17 1985-12-23 株式会社小松製作所 油圧式掘削機
JPS62103860U (fr) * 1985-12-20 1987-07-02

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1185523B (de) * 1961-04-29 1965-01-14 Liebherr Hans Abbaugeraet fuer Ton
DE2459489A1 (de) * 1974-07-18 1976-01-29 Krone Bernhard Gmbh Maschf Planiergeraet

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS47947B1 (fr) * 1966-11-18 1972-01-11
JPS4879101U (fr) * 1971-12-28 1973-09-28
JPS5920443Y2 (ja) * 1979-07-27 1984-06-14 株式会社豊田自動織機製作所 スキツドステアシヨベルにおけるリフトア−ム
JPS6042123Y2 (ja) * 1980-04-17 1985-12-23 株式会社小松製作所 油圧式掘削機
JPS62103860U (fr) * 1985-12-20 1987-07-02

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0399043A4 *

Also Published As

Publication number Publication date
EP0399043A1 (fr) 1990-11-28
EP0399043A4 (en) 1991-09-25
DE3854897T2 (de) 1996-08-14
EP0399043B1 (fr) 1996-01-10
DE3854897D1 (de) 1996-02-22

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