WO2005012653A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2005012653A1 WO2005012653A1 PCT/JP2004/010855 JP2004010855W WO2005012653A1 WO 2005012653 A1 WO2005012653 A1 WO 2005012653A1 JP 2004010855 W JP2004010855 W JP 2004010855W WO 2005012653 A1 WO2005012653 A1 WO 2005012653A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bell crank
- angle
- boom
- line segment
- pivot position
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- 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
- E02F3/34—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3405—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
- E02F3/3411—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism of the Z-type
-
- 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
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
-
- 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
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
- E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
Definitions
- the present invention relates to a working machine.
- a wheel loader is known as a working machine.
- an attachment such as a bucket is provided at the tip of a boom pivoted on the vehicle body, the boom is provided to be vertically movable by a boom cylinder, and the packet is driven through a so-called Z-bar link.
- the Z-bar link includes a bell crank 11 rotatably pivoted substantially at the center of the boom 10 and a tilt cylinder (see a chain line) connecting one end of the bell crank 11 and a vehicle body (not shown). And a connection link 13 that connects the other end of the bell crank 11 and the back of the packet 20.
- FIG. 35 illustration of a boom cylinder and a tilt cylinder is omitted to avoid complicating the drawing. Further, the pivot position (pivot position) Z of the tilt cylinder with respect to the vehicle body is a force drawn on the boom 10 in the drawing. The force actually exists on the vehicle body (not shown), and does not exist on the boom 10.
- FIG. 35 shows the state of the bucket 20 at the ground position, the middle position, and the uppermost top position.
- the bell crank 11 of the wheel loader is tilted with respect to a line L1 connecting the pivot position Y with the boom 10 and the pivot position X with the connecting link 13.
- the line L2 connecting the pivot position W with the pivot cylinder 12 and the pivot position Y has a shape inclined to the bucket 20 side.
- this wheel loader can be replaced with a bucket 20 force and a fork 30, and when replacing, the tilt cylinder (not shown) is slightly extended, and the fork 30 is attached in this state. ing. That is, the extension amount of the tilt cylinder corresponds to the offset angle of the bucket 20, as indicated by the two-dot chain line, and the fork 30 is attached to the connection link 13 at this position.
- the angle of attachment is maintained substantially constant from the ground position to the top position, so that the angle characteristics can be improved and work with the fork 30 is possible.
- FIG. 1 As another structure of the wheel loader, there is a parallel link type shown in FIG.
- the lower end of the tilt lever 19 (the lower end in the state shown in the figure) is pivoted on the boom 10, and the connecting link 13 is attached so as to connect the upper end of the tilt lever 19 and the back of the fork 30.
- the tilt cylinder 12 is attached so as to connect the middle part of the vehicle and the vehicle body (see the two-dot chain line), whereby the boom 10 and the connecting link 13 are arranged in parallel.
- Patent Document 1 Japanese Unexamined Patent Publication No. Hei 11-1343631
- Patent Document 2 U.S. Pat.No. 4,154,349
- Patent Document 3 JP-A-63-22499 Disclosure of the Invention Problems to be Solved by the Invention
- a first object of the present invention is to provide a working machine capable of improving the angle characteristics both when the tilt cylinder is operated so that the packet is horizontal at the ground position and when the packet is tilted. Is to do.
- Patent Document 3 discloses that the fork 30 is attached to the Z-bar link.
- the wheel loader using the Z-bar link is generally higher in the top than the wheel loader using the parallel link. Is inferior to the work of lifting and lowering the load because the tilting force characteristics of the motor are inferior (the tilting force characteristic refers to the tilting force by the tilt cylinder).
- FIG. 41 shows tilt force characteristics of the tilt cylinder 12 of the conventional wheel loader using the Z-bar link and the conventional wheel loader using the parallel link.
- the vertical axis is the lift height indicating the height of the bucket 20 and the fork 30, and the horizontal axis is their chinolet force.
- the wheel loader using the Z-bar link can obtain the maximum tilt force at the ground position where the lift height is small, and is suitable for the excavation work using the packet 20.
- the wheel loader using the parallel link is suitable for lifting and lowering the load with the fork 30 without the tilt force decreasing from the ground position to the top position.
- Patent Document 3 the technique of Patent Document 3 in which the fork 30 is simply attached to the Z-bar link has not improved the chinoletoka characteristics at all, and even if the user changes the packet 20 to the fork 30 and tries to lift and lower the load, etc. In fact, the tilt force is insufficient and it is actually difficult.
- a second object of the present invention is to provide a working machine capable of using a fork by improving tilt force characteristics even when a Z-bar link is used.
- FIG. 42 shows the angular characteristics of a conventional wheel loader using a Z-bar link (FIGS. 35 and 36) and a wheel loader using a parallel link (FIG. 40), respectively.
- the vertical axis is the lift height
- the horizontal axis is the attachment angle representing their deviation from the horizontal. Attachment angle is 0 degree at the position where it is mounted horizontally on the ground.
- a wheel loader combining a Z-bar link and a bucket 20 is used for excavation work, and a parallel link and a fork are used for unloading work. It is common to use a wheel loader with a combination of 30 types, and two types of wheel loaders were prepared and used depending on the task.
- the mounting position of the fork 30 and the connecting link 13 is offset from that of the bucket 20, so that only the angular characteristics when the fork 30 is mounted are improved.
- the angle characteristics when using 20 are sacrificed. That is, as shown in FIG. 39, when the bucket 20 is attached and the boom 10 is turned to the top position, There is a problem that the bucket 20 is greatly dumped as you go, and the angle characteristics are extremely bad.
- a third object of the present invention is that, in addition to the above-mentioned second object, excellent characteristics of a Z-bar link and a parallel link can be realized by one link mechanism. It is an object of the present invention to provide a working machine that can select and use an attachment, such as a tool.
- Patent Document 1 discloses that the angular characteristic of the packet 20 is improved by the pivotal position of the tilt cylinder 12, and Patent Document 2 discloses a bell crank that is inclined to the packet side. There is no description in Patent Literatures 1 and 2 regarding the contents of replacing the bucket 20 with the fork 30 and the characteristics of the tinoretka.
- the working machine according to claim 1 of the present invention includes:
- a boom one end of which is attached to a structure that supports the work machine
- connection link that connects the lower end side of the bell crank and the packets, the tilt cylinder connects the bell crank and the structure
- an angle formed by a second line segment connecting the pivot position with the boom and the pivot position with the tilt cylinder is:
- the angle is set to 0 to 180 degrees on the packet type side.
- the working machine according to claim 2 of the present invention includes:
- a boom one end of which is attached to a structure that supports the work machine
- a bell crank attached in the middle of the boom in the longitudinal direction, When the forks are at a horizontal position on the ground,
- an angle formed by a second line segment connecting the pivot position with the boom and the pivot position with the tilt cylinder is:
- the angle is set to 0 to 180 degrees on the forks side.
- the working machine according to claim 3 of the present invention includes:
- a boom one end of which is attached to a structure that supports the work machine
- connection link connecting the lower end side of the bell crank and the forks; the tilt cylinder connects the bell crank and the structure;
- an angle formed by a second line segment connecting the pivot position with the boom and the pivot position with the tilt cylinder is:
- the angle is set to 0 to 180 degrees on the forks side.
- the working machine according to claim 4 of the present invention is:
- a boom one end of which is attached to a structure that supports the work machine
- connection link that connects the lower end of the bell crank and the attachment, A first line segment connecting the pivot position with the boom and the pivot position with the connection link in the bell crank;
- an angle formed by a second line segment connecting the pivot position with the boom and the pivot position with the tilt cylinder is:
- This attachment can be selectively used from among a plurality of types.Attachments of different types are different from each other in the pivotal position with the connecting link based on the pivotal position with the boom.
- the working machine according to claim 5 of the present invention includes:
- a boom one end of which is attached to a structure that supports the work machine
- an angle formed by a second line segment connecting the pivot position with the boom and the pivot position with the tilt cylinder is:
- This attachment can be selectively used from among a plurality of types.Attachments of different types are different from each other in the pivotal position with the connecting link based on the pivotal position with the boom.
- the working machine according to claim 6 of the present invention includes:
- a pivot position of the tilt cylinder with respect to the structure is lower than a pivot position of the boom with respect to the structure.
- the angle between the first line segment and the second line segment is not less than the angle at which the absolute value of the attachment angle of the attachment is substantially equal at any two positions between the ground position and the force top position of the attachment. Is set to.
- the angle between the first line segment and the second line segment is 0 to 170 degrees.
- the angle between the first line segment and the second line segment is 170 degrees to 180 degrees.
- the other end of the tilt cylinder having one end attached to the bell crank is attached to a structure supporting the work machine, which is not attached to the boom. Since the angle between the first and second line segments of the bell crank is set to 0 to 180 degrees on the bucket side, the structure using the conventional Z-bar link (see Fig. 35 and 36) and Patent Documents 1 and 2 (Figs. 37 and 38), the horizontal position and the tilt position of the packets at the ground position and the top position from the ground position The deviation of the attachment angle up to the directional force is reduced, and the angle characteristics are improved.
- the angle characteristics can be improved both when the tilt cylinder is operated so that the packets are level at the ground position and when the tilt cylinder is tilted, and the first object of the present invention can be achieved.
- the angle between the first line segment and the second line segment of the force bell crank having a structure employing a so-called Z-bar link is 0 to 180 degrees on the fork side.
- the ratio of the effective length of the upper part of the bell crank between the ground position and the top position increases, so that the packet is converted into a fork using a bell crank inclined to the vehicle body side.
- the tilt force characteristics are improved particularly when the tilt force at the top position is increased, and the tilt force characteristics suitable for use of a fork can be obtained.
- the tilt cylinder is arranged so as to connect the bell crank to the structure, so that the deviation of the attachment angle of the forks is further reduced. Setting is possible, and the angle characteristics are also improved, and angle characteristics more suitable for forks are obtained.
- the improvement of the tilt force can be expected by setting the angle between the first line segment and the second line segment of the bell crank to be 0 to 180 degrees on the attachment side. You. For this reason, for example, even when the forks are mounted at offset positions instead of the buckets, a larger tilting characteristic at the top position side can be obtained as compared with the technique of Patent Document 3, and the Z bar link can be obtained. While adopting this method, the characteristics of tilt and tilt can be obtained that are comparable to those of the conventional parallel link, and the work of lifting and lowering the load can be carried out reliably.
- the angle between the first line segment and the second line segment of the bell crank is set to 0 to 180 degrees on the attachment side, for example, forks are mounted at the ground position at the offset position. As described in claim 1, this is the same as mounting the packets in a tilted state. Even if the buckets are mounted at the ground position without offset (tilt), the top position is higher than the ground position. Difference of each angle characteristic up to the force to the position Becomes smaller.
- the excellent characteristics of the Z-bar link and the parallel link can be realized by the Z-bar link, whereby the attachments such as buckets and forks can be selected and used as necessary,
- the third object of the present invention can be achieved.
- the tilt cylinder is arranged so as to connect the bell crank and the structure, so that the forks and the like from the ground position to the top position are arranged. Can be set to minimize the deviation of the attachment angle, and the angular characteristics are further improved.
- the work machine according to claim 1, 3, or 5 wherein the pivot position of the tilt cylinder relative to the structure is lower than the pivot position of the boom relative to the structure.
- the angle between the first line segment and the second line segment of the bell crank is equal to or smaller than the angle, for example, the deviation amount between the intermediate position and the top position becomes gradually smaller, and Since the displacement to the structure at the top position is small, mud and the like are less likely to spill at least to the operator side at the position where the displacement amount is equal, and it is possible to sufficiently cope with the pumping work and the like.
- the arbitrary two positions are not limited to the intermediate position and the top position. [0037] According to the working machine of claim 8, by adding a configuration in which the angle formed by the first line segment and the second line segment of the bell crank is 0 to 170 degrees on the attachment side, the angle is increased. Characteristics and tilt force characteristics can be secured with a sufficient margin.
- the connecting link of forks is added.
- FIG. 1 is a side view showing a working machine according to a first embodiment of the present invention.
- FIG. 2 is a perspective view of a main part showing the working machine according to the first embodiment.
- FIG. 3 is a view for explaining the operation of the first embodiment.
- FIG. 4 is another diagram for explaining the operation of the first embodiment.
- FIG. 5 is a view showing angle characteristics of a conventional working machine and a working machine of the present invention.
- FIG. 6 is a view for explaining another operation of the first embodiment.
- FIG. 7 is a view for explaining the maximum tilt angle of the bell crank in the first embodiment.
- FIG. 8 is another view for explaining the maximum tilt angle of the bell crank in the first embodiment.
- FIG. 9 is a view for explaining effects of the first embodiment.
- FIG. 10 is a side view showing a working machine according to a second embodiment of the present invention.
- FIG. 11 is a view for explaining the operation of the second embodiment.
- FIG. 12 is a view for explaining the operation of the second embodiment.
- FIG. 13 is a side view showing a working machine according to a third embodiment of the present invention.
- FIG. 14 is a view for explaining movement of a work machine according to a third embodiment of the present invention.
- FIG. 15 is a view for explaining the operation of the third embodiment by changing the specifications.
- FIG. 16 is an enlarged view of a main part of the third embodiment.
- FIG. 17 is a view for explaining the operation of the third embodiment.
- FIG. 18 is a view for explaining the operation of the third embodiment.
- FIG. 19 is a view for explaining the effect of the tilt force characteristic of the third embodiment.
- FIG. 20 is an angle characteristic diagram of the third embodiment.
- FIG. 21 is an angle characteristic diagram of the third embodiment.
- FIG. 22 is a dump speed diagram of a third embodiment.
- FIG. 23 is a view for explaining the movement of the working machine according to the fourth embodiment of the present invention.
- FIG. 24 is a view for explaining the movement of the working machine according to the fourth embodiment.
- FIG. 25 is an angle characteristic diagram of the fourth embodiment.
- FIG. 26 is a tilt force characteristic diagram of the fourth embodiment.
- FIG. 27 is a view for explaining the movement of the working machine according to the fifth embodiment of the present invention.
- FIG. 28 is a view for explaining the movement of the working machine according to the fifth embodiment.
- FIG. 29 is an angle characteristic diagram of the fifth embodiment.
- FIG. 30 is a tilt force characteristic diagram of the fifth embodiment.
- FIG. 31 is a view showing a first modification of the present invention.
- FIG. 32 is a view showing a second modification of the present invention.
- FIG. 33 is a view showing a third modification of the present invention.
- FIG. 34 is a view showing a fourth modification of the present invention.
- FIG. 35 is a diagram for explaining the movement of a conventional general Z-bar link.
- FIG. 36 is another figure for explaining the movement of a conventional general Z-bar link.
- FIG. 37 is a view for explaining the movement of another conventional working machine.
- FIG. 38 is another view for explaining the movement of the other working machine.
- FIG. 39 is a view for explaining the movement of another conventional working machine.
- FIG. 40 is a view for explaining the movement of a conventional general parallel link.
- FIG. 41 is a diagram showing the tilt force characteristics of the working machine.
- FIG. 42 is a diagram showing the angular characteristics of the working machine.
- FIG. 1 is a side view showing the entire wheel loader (working machine) 1 according to the present embodiment
- FIG. 2 is an external perspective view showing a working machine part of the wheel loader 1
- FIG. 4 is a diagram showing movement of a main part of FIG. In each drawing, the same reference numerals are given to the components described in the background art.
- the wheel loader 1 has a vehicle body 16 capable of self-running with front and rear tires 14 and 15, and a structure 16A supporting a working machine including a packet 20 in front of the vehicle body 16 (left side in the figure). And a boom 10 for driving a bucket 20 and a link mechanism of a Z-bar link type.
- the boom 10 has a base end pivotally driven by a structure 16A and is driven by a boom cylinder 17, and the bucket (bucket) 20 is pivoted at the tip of the boom 10.
- the Z-bar link type link mechanism consists of a “U” -shaped bell crank 11 pivoted in the middle of the boom 10 in the longitudinal direction, and the upper end of the Benole crank 11 (the upper end when the packet 20 is at the ground position). ), And a connection link 13 that connects the lower end of the bell crank 11 and the bucket 20.
- the tilt cylinder 12 is attached so as to connect the bell crank 11 and the structure 16A.
- the base end side of the tilt cylinder 12 is pivoted to the structure 16A, and the pivotal position Z of the tilt cylinder 12 with respect to the structure 16A is such that when the boom 10 is raised, the bucket 20
- the angle is set to a position that does not deviate from the ground position to the top position.
- the angle is set slightly below the pivot position S of the boom 10 with the structure 16A. This improves the angular characteristics of the packet 20 that is horizontal or tilted at the ground position.
- the bell crank 11 is connected between the tilt cylinder 12 and the first line segment L 1 connecting the pivot position Y with the boom 10 and the pivot position X with the connecting link 13.
- the angle between the axis position W and the second line segment L2 connecting the axis position Y is set to 0 to 180 degrees on the packet 20 side. This allows bucket 20 to be level at ground level. And when the packet 20 is tilted at the ground position (Fig. 4), the deviation of the attachment angle of the packet 20 from the ground position to the top position becomes smaller, and this also improves the angle characteristics. Let me.
- the bell crank upper rotation angle decreases to the point T3
- the bell crank lower rotation angle also decreases to the point T4.
- the angle of attachment of the bucket 20 to the GL is still 0 degree, as represented by the point T5, which is the same as the position on the ground, and it can be said that the angle characteristic in which the attachment angle is offset is good. .
- the “rotation angle of the line segment PQ” connects the pivot position P of the bucket 20 with the boom 10 (FIG. 16) and the pivot position Q of the bucket 20 with the connecting link 13 (FIG. 16). This is the rotation angle of the line segment. If the line segment PQ when the boom 10 is at the top position and the bucket 20 is closest to the dump side is 0 degrees, this line segment PQ is centered on the pivot position P. The relative angle when rotating.
- the above-mentioned upper and lower rotation angles of the bell crank also indicate the relative angle when the rotation is made around the pivot position Y when the position in the same posture is set to 0 degree. The same interpretation occurs when a fork 30 is used instead of the packet 20.
- the relationship between the rotation angle on the bell crank and the length of the tilt cylinder when the bucket 20 is tilted at the ground position is represented by a point NO.
- the rotation angle on the bell crank increases and the length of the tilt cylinder increases by the amount of the tilt, so that the point NO is shifted to the upper right as compared with the point T0.
- the relationship between the rotation angle below the bell crank and the rotation angle of the line segment PQ is represented by a point N1 above the point NO, and further, the angle relative to the GL attachment angle when the vehicle is on the ground. Is represented by point N2, which is a shift of point N1 to the left, at +25 degrees. This means that packet 20 was tilted upward 25 degrees at the ground position.
- the bell crank upper rotation angle decreases to the point N3
- the bell crank lower rotation angle also decreases to the point N4.
- the angle of the GL attachment to the bucket 20 is still +25 degrees, as indicated by the point N5, as is the ground position, and the tilt angle is maintained as it is, so that the angle characteristics are good. You can say that.
- the horizontal axis represents the angle of inclination of the bell crank 11 toward the bucket 20, and the vertical axis represents the attachment angle of the packet 20.
- the minus indicates the inclination toward the vehicle body 16 and the plus indicates the inclination toward the bucket 20.
- the attachment angle for example, values at the intermediate position and the top position are shown.
- the attachment angle is an angle with respect to the ground level, and a minus indicates a shift in a dumping direction and a plus indicates a shift in a tilt direction. From this figure, it is possible to know a practically applicable inclination angle when the packet 20 is tilted.
- the tilt posture of the first embodiment in FIG. 9 is a case where the inclination angle in FIG. 6 is 10 degrees (the angle formed by the line segments L1 and L2 is 170 degrees).
- the angle of inclination of the second line segment L2 on the bell crank 11 is set to 10 degrees or more, depending on the content of the work. Les ,. This means that the angle between the first line segment L1 and the second line segment L2 is set to 170 degrees or less.
- the amount of shift to the minus side at the intermediate position of the bucket 20 is equal to the amount of shift to the plus side at the top position (about ⁇ 6 degrees in the present embodiment). Since the absolute value of the attachment angle with respect to the body becomes equal, it is suitable for pumping fluids such as mud that does not significantly shift in the direction of dumping or greatly shift to the body 16 side (See Figure 9, rightmost column).
- the amount of deviation from the intermediate position to the top position gradually decreases, and the deviation in the tilt direction at the top position decreases. Therefore, mud and the like are further spilled at least on the vehicle body 16 side, that is, on the operator side, and it is possible to sufficiently cope with the pumping work and the like.
- the force at which the attachment angle becomes 0 degrees at the top position is deviated in the direction of dumping when the force exceeds 35 degrees. It is preferable to use at 35 degrees or less.
- the upper limit inclination angle also differs depending on how to set each of the pivotal positions X, ⁇ , and Z, the length of the Benole crank 11, and the like.
- the angle in a side view formed by the line L3 connecting the pivot positions W and Z and the line L2 connecting the pivot positions W and Y can be secured at about 15 degrees or more. It is preferable to set within the range. If the angle formed by the lines L2 and L3 is less than 15 degrees, the lines L2 and L3 approach each other in the direction in which they overlap in a side view, so that the tilt cylinder 12 does not function, and the bucket 20 cannot be maintained horizontally on the ground. It may not be possible to recover the bucket 20 from the tilt state.
- the maximum tilt angle within the range where the packet 20 can be kept horizontal is shown in FIG. 7, for example.
- the case is about 99 (99.3) degrees.
- the maximum inclination angle in the range in which the tilt state of the packet 20 can be recovered is about 87 (87.2) degrees in the case shown in FIG. 8, and the tilt angle with respect to the ground at this time is 42 degrees.
- the inclination angle is desirably set within a range in which the angle characteristics and the tilt force characteristics can be secured with a sufficient margin, and is approximately 80 (79.5) degrees.
- FIG. 9 shows a specific comparison.
- reference numerals for the respective constituent members are omitted.
- the structure of the present embodiment is a conventional general structure, Patent Document 1, and Compared to Patent Document 2, it is clear that the angular characteristics from the structure ground position to the top position are the most excellent.
- Patent Literature 1 the angle characteristics are excellent when not tilted on the ground.
- the force also causes a problem in that the attachment angle when tilted is greatly shifted particularly at the top position.
- Patent Literature 2 since the pivot position Z is provided on the boom 10, the angular characteristics are poor regardless of whether or not chining is performed.
- the tilt cylinder 12 is That the pivot position Z is located below the pivot position S of the boom 10 with respect to the structure 16A, and that the second line L2 of the bell crank is aligned with the first line L1 with respect to the first line L1.
- FIG. 10 shows, as a second embodiment of the present invention, a wheel loader 2 to which forks (forks) 30 are attached instead of the packets 20 in the first embodiment.
- Other configurations are substantially the same as those of the first embodiment.
- the fork 30 is mounted at substantially the same position as the mounting position of the bucket 20 in the first embodiment, and therefore, the attachment angle of the fork 30 horizontally mounted at the ground position is As in the case of the packet 20 in the first embodiment, the angle characteristic that does not shift until reaching the top position is favorably maintained.
- the top position is smaller than the wheel loader disclosed in Patent Document 3. And the tilt force characteristics are improved.
- FIG. 11 shows that the angle formed by the line segment L1 and the line segment L2 of the bell crank 11 is a conventional angle (assuming Patent Document 3).
- the fork 30 is tilted toward the fork 30 at 45 and 90 degrees (see the two-dot chain line).
- Al, A2, and A3 represent the conventional angles at the ground position
- the effective length of the upper part of the bell crank 11 at 45 degrees and 90 degrees
- Bl, B2, and B3 represent the effective lengths at the top position. Is represented.
- Figure 12 shows the relationship between the angle (horizontal axis) between the line segments L1 and L2 of the bell crank 11 and the effective lengths A and B (left vertical axis), and the line segment L1 of the bell crank 11
- the relationship between the angle (horizontal axis) between the angle and the line segment L2 and the effective length ratio B / A (right vertical axis) is shown.
- the effective length ratio BZA represents (the rotational force of the bell crank 11 at the top position Z the rotational force of the bell crank 11 at the top position), and the larger the value, the greater the tilt force at the top position. It represents that.
- the pivot position Z on the proximal end side of the tilt cylinder 12 is provided on the structure 16 A which is not connected to the boom 10, the pivot position Z is set to a position where the deviation of the attachment angle of the fork 30 is further reduced.
- the position Z can be reliably set, the angle characteristics can be improved, and the angle characteristics more suitable for the fork 30 can be obtained.
- FIG. 13 shows a wheel loader 3 according to a third embodiment of the present invention.
- FIG. 14 shows a diagram using a bucket (attachment) 20 of the two types of attachments prepared
- FIG. 15 shows a diagram using a fork (attachment) 30. Either of the bucket 20 and the fork 30 may be attached to perform a dedicated operation, or may be selectively used according to the operation.
- the pivot position Q of the bucket 20 with the connection link 13 and the pivot position Q of the fork 30 with the connection link 13 are different from each other. It is set at a different position based on the pivot position P with the boom 10.
- the pivot position Q of the fork 30 is set to be offset from a position where the tilt cylinder 12 is slightly advanced as compared with the case of the bucket 20. By doing so, the tilt force when the fork 30 is used is further improved compared to the second embodiment.
- FIG. 16 shows a state in which the pivot position Q of the fork 30 with the connecting link 13 is offset by 20 degrees and 40 degrees as compared with the case of the bucket 20 (Q1, Q2, Q3). However, since this offset angle is the same as the position where the bucket 20 is tilted at 20 degrees and 40 degrees, respectively, in FIG. 16, the tilt state of the packet 20 is also indicated by a two-dot chain line.
- RU RU
- CG1—CG3, DG1—DG3, and EG1—EG3 are the effective length of the upper part of the bell crank 11 and the effective length of the lower part of the bell crank 11 at each pivotal position Q 1 -Q 3 at the ground position, respectively. Now, it indicates the effective length of the distance from the pivot position P to the boom 10 to the pivot positions Q1 to Q3 (FIG. 16).
- CT1-CT3, DTI-DT3, ET1-ET3 represent each effective length at the top position.
- FIG. 18 shows the relationship between the offset angle (horizontal axis) and the effective lengths CG, DG, EG, CT, DT, ET (left vertical axis), and the ratio between the offset angle (horizontal axis) and the tilt force.
- the relationship with (CT * ETZDT) / (CG * EG / DG) (right vertical axis) is shown.
- the effective length ratio (CT * ET / DT) / (CG * EG / DG) represents (tilt force at the top position Z tilt force at the ground position). Indicates that the tilt force is large.
- the angle characteristics when the packet 20 is attached are basically the same as the angle characteristics in the first embodiment, that is, the characteristics indicated by the point TO-T5 in FIG.
- mounting the fork 30 at the offset position is the same as tilting the packet 20 on the ground in the first embodiment
- the angular characteristics are basically the same as those in FIG. Represented by point M0 M5 plotted on point NO N5.
- the difference in the angle characteristics between the ground position and the top position is smaller between the use of the bucket 20 and the use of the fork 30, which means that the angle characteristics are good. .
- the bell crank 11 is rotated in the tilt direction to offset, and the bucket 20 is mounted without offset because the fork 30 is mounted in this state.
- the tilting force at the top position can be greatly improved as compared with the case of mounting, and the tilting force characteristic more suitable for the fork 30 can be obtained.
- the tilt force can also be improved by inclining the second line segment L2 on the bell crank 11 toward the fork 30 as described in the second embodiment.
- the tilt force characteristic of the fork 30 is similar to that of a wheel loader with a conventional parallel link, which is not inferior to that of the conventional parallel link used exclusively for the fork 30. Work can be performed reliably.
- the packet 20 when the packet 20 is used, the same configuration as in the first embodiment, that is, the chinoleto cylinder 12 is pivoted by the structure 16A of the vehicle body 16, and the pivot position Z is The arrangement that the boom 10 is disposed below the pivot position S with respect to the structure 16A and that the second line segment L2 of the bell crank is inclined toward the attachment 20 with respect to the first line segment L1. As a result, the angle characteristics are excellent, and the angle characteristics can be improved in each step as shown in FIG. 20 as compared with the case of the conventional general Z-bar link.
- the angle characteristics can be improved favorably when the bucket 20 is used and when the fork 30 is used.
- the angle characteristic is large at the top position. Dumping can be effectively prevented.
- the rotation angle above the bell crank decreases from the point VO, U0 to the point V3, U3, and at the same time, The rotation angle below the bell crank also decreases to points V4 and U4.
- the angle of the fork 30 to the GL attachment at this time is one point as shown by the point V5 in the fork 30 and as shown by the point U5 in the force bucket 20, which is 0 degree as it is on the ground, as indicated by the point V5. It shifts by about 40 degrees and tilts greatly in the direction of dumping. That is, the state shown in FIG. 39 results, and the angle characteristics are poor.
- the angle characteristics can be improved by using the packet 20 (point TO T5 in FIG. 5) and by using the fork 30 (points M0-M5 in FIG. 5). Therefore, it is possible to effectively prevent the bucket 20 from largely dumping at the top position.
- the pivot position Z on the bottom side (body side) of the tilt cylinder 12 is provided on the structure 16A which is not the boom 10, so that the bucket 20 and the fork 30
- the pivot position Z can be reliably set to a position where the deviation of the attachment angle is smaller, the angle characteristics can be improved, and the angle characteristics suitable for both the packet 20 and the fork 30 can be obtained.
- the degree of freedom in setting the axis position Z is high, the best angle characteristic according to the required work can be obtained by setting the axis position Z.
- the pivot position Z is set so as to have the angular characteristics shown in FIG. 20.
- the pivot position Z can be easily set at a position where the characteristics can be obtained, and as shown in FIG. 21, an angle characteristic close to a parallel link can be easily obtained.
- the Z-bar link has a mechanism that allows quick dumping and quick loading in a large angle range when dumping at the top position. Since the relative angle between the first line segment L1 and the connecting link 13 opens to an angle close to 180 degrees, the dump speed is reduced, and the effect of reducing the shock at the stroke end of the tilt cylinder 12 without operating the cylinder is effective. are doing. This effect is called the soft dump characteristic.
- the dump speed is slow overall. However, near the end of the cylinder stroke, the dump speed suddenly increases, causing a large shock.Therefore, it was necessary to prevent the operator from operating the cylinder speed to apply load to the tilt cylinder and other parts.
- the Z-bar link since the Z-bar link has the basic structure, it has the soft dump characteristic as it is, and does not burden the operator.
- the excavating power on the ground, the loading speed at the top, and the soft dumping characteristics are all superior to the conventional method of attaching the bucket to the parallel link, so that the present embodiment has superior performance. is there.
- the wheel loader 2 employs a structure employing a Z-bar link, and urges the cylinder rod 18 in the pushing direction by flowing hydraulic oil or the like into the bottom side (the vehicle body 16 side) of the tilt cylinder 12.
- the pressure receiving area is set without considering the cross-sectional area of the cylinder rod 18 in order to secure a sufficient tilt force as compared with the conventional parallel link (Fig. 40). it can. Therefore, as the tilt cylinder 12, the parallel link The diameter is smaller than that of the case.
- FIGS. 23 and 24 show a working machine part of the wheel loader 4 according to the fourth embodiment of the present invention
- FIG. 23 shows a state where the packet 20 is mounted as an attachment
- FIG. Shows the state where the fork 30 is attached as an attachment.
- the wheel loader 4 includes a first line segment 1 connecting the pivot position Y with the boom 10 and the pivot position X with the connection link 13 in the bell crank 11, the pivot position Y with the boom 10, and the tilt cylinder. (Not shown) and the second line segment L2 connecting the pivotal position W with respect to the angle power, that is, the inclination angle is set to 0 degrees.
- FIG. 25 shows the lift height of the wheel loader 4 and the attitude (indicated as an angle) of the bucket 20 and the fork 30 with respect to the horizontal plane at each height.
- the lift heights in FIGS. 23 and 24 are the lift heights of A, B and C in FIG. 25 in order from the bottom.
- the tilt force characteristics at this time are as shown in FIG. 26, and even in the case where the bucket 20 and the fork 30 are out of alignment, the maximum lifting height of 3500 mm is obtained.
- a tilt force of 4,000 kg or more the loading and unloading operation of the load using the fork 30 can be reliably performed, and the work efficiency in the excavation operation using the packet 20 at the low power position is not reduced.
- Such a shape of the bell crank 11 is suitable when the pivot position Q of the fork 30 is set to a large offset angle of 37 degrees or more compared to the pivot position Q of the bucket 20.
- FIGS. 27 and 28 show a working machine portion of the wheel loader 5 according to the fifth embodiment of the present invention.
- FIG. 27 shows a state where the packet 20 is attached as an attachment.
- the fork 30 being attached as an attachment.
- the wheel loader 5 includes a first line segment L1 connecting the pivot position Y with the boom 10 and the pivot position X with the connection link in the bell crank 11, a pivot position Y with the boom 10, and a tilt cylinder (shown in FIG. (Omitted) and the second line segment connecting the pivot position W
- the feature is that the inclination angle is set to 5 degrees, that is, 5 degrees.
- FIG. 29 shows the lift height of the wheel loader 5 and the attitude (indicated as an angle) of the bucket 20 and the fork 30 with respect to the horizontal plane at each height.
- the lift heights in FIGS. 27 and 28 are the lift heights of A, B and C in FIG. 29 in order from the bottom.
- the posture of the packet 20 and the fork 30 does not change significantly depending on the lift height.Furthermore, compared with the case of the wheel loader 4 according to the fourth embodiment.
- the posture at the C position when the fork 30 was used was 10 degrees in the case of the wheel loader 4, whereas the posture in the wheel loader 5 was 9 degrees, which indicates that the posture was further improved.
- the tilt force characteristics of the wheel loader 5 are almost the same as those of the wheel loader 4 according to the fourth embodiment, and the loading / unloading operation of the load using the fork 30 can be performed reliably. And the efficiency of excavation work by the packet 20 in the low position does not decrease.
- Such a shape of the bell crank 11 is suitable when the pivot position Q of the fork 30 is set to a large offset angle of 37 degrees or more compared to the pivot position Q of the bucket 20.
- the bell crank 11 in each of the above embodiments is mainly in the shape of a "ku".
- the strength can be increased and the inclination angle can be set to be larger than in the case of the “K” shape.
- the shape of the bell crank 11 may be arbitrarily determined in consideration of an inclination angle, strength, and the like.
- FIG. 32 shows a log ramper grappling hole 40.
- Log Ramberg Lap Nole 40 is laid flat on the ground
- a fork part 41 and a grapple 42 pivotally mounted on the upper end of the vertical part of the fork part 41 are provided.
- the grapple 42 is driven to rotate by a hydraulic grapple cylinder 43.
- Such a log rumble buckle 40 is suitable for transporting while holding wood 44 such as a log.
- the packets used in claim 1 of the present invention are not limited to the packet 20 described in the first embodiment, and the forks used in claims 2 and 3 are not limited to the packets 20 in the second embodiment.
- the present invention is not limited to the fork 30 described above, and may be the above-described skeleton bucket or log-lambble wrapper 40.
- the bell crank 11 is inclined toward the fork 30, and the tilt cylinder 12 is pivoted on the boom 10.
- the pivotal position Q of the fork 30 with respect to the bucket 20 is further attached to the connecting link 13 in an offset state from the pivotal position Q when the bucket 20 is pivoted in the horizontal state.
- the angle characteristics are good, but the tilt force characteristics can be sufficiently improved by using the bell crank 11 inclined toward the fork 30 or offsetting the fork 30.
- a force in which two booms 10 are pivoted with respect to the structure 16A and the bell crank 11 is disposed between the booms 10 is not limited thereto. Absent. That is, the present invention may be applied to a wheel loader in which one box-shaped boom is pivoted with respect to the structure supporting the working machine, and a bell crank is pivoted at an intermediate position on the outer surface. At this time, the bell cranks may be pivoted on both sides of the outer surface instead of having only one bell crank, and the tilt cylinders for driving the bell cranks are provided according to the number of bell cranks. It may be something.
- the working machine of the present invention can be used not only for a wheel loader, but also for any construction machine and civil engineering machine which is not limited to a self-propelled type or a stationary type.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005512516A JP4248545B2 (ja) | 2003-07-30 | 2004-07-29 | 作業機械 |
EP04748066.0A EP1650357B1 (en) | 2003-07-30 | 2004-07-29 | Working machine |
CN2004800208767A CN1826448B (zh) | 2003-07-30 | 2004-07-29 | 作业机械 |
US10/566,484 US7993091B2 (en) | 2003-07-30 | 2004-07-29 | Working machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-282974 | 2003-07-30 | ||
JP2003282974 | 2003-07-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005012653A1 true WO2005012653A1 (ja) | 2005-02-10 |
Family
ID=34113789
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/010855 WO2005012653A1 (ja) | 2003-07-30 | 2004-07-29 | 作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7993091B2 (ja) |
EP (1) | EP1650357B1 (ja) |
JP (1) | JP4248545B2 (ja) |
CN (1) | CN1826448B (ja) |
WO (1) | WO2005012653A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006080487A1 (ja) * | 2005-01-31 | 2006-08-03 | Komatsu Ltd. | 作業機械 |
WO2007080668A1 (ja) * | 2006-01-13 | 2007-07-19 | Komatsu Ltd. | 作業機械 |
WO2010131654A1 (ja) | 2009-05-13 | 2010-11-18 | 株式会社小松製作所 | 作業車両 |
JP2012229606A (ja) * | 2012-07-03 | 2012-11-22 | Komatsu Ltd | ホイールローダ |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4888739B2 (ja) * | 2006-11-24 | 2012-02-29 | 株式会社小松製作所 | ホイールローダ |
DE102009018070A1 (de) * | 2009-04-20 | 2010-10-21 | Robert Bosch Gmbh | Mobile Arbeitsmaschine mit einer Positionsregeleinrichtung eines Arbeitsarms und Verfahren zur Positionregelung eines Arbeitsarms einer mobilen Arbeitsmaschine |
CN102030287A (zh) * | 2009-09-24 | 2011-04-27 | 周超 | 用于搬运袋装物堆垛的设备 |
US8662816B2 (en) | 2010-11-18 | 2014-03-04 | Caterpillar Inc. | Z-bar linkage for wheel loader machines |
US8770908B2 (en) * | 2011-03-10 | 2014-07-08 | Caterpillar Inc. | Tilt cylinder support structure |
KR101778308B1 (ko) | 2011-12-27 | 2017-09-27 | 두산인프라코어 주식회사 | 건설중장비용 병렬 링키지 타입 작업장치 |
KR101650061B1 (ko) * | 2012-01-02 | 2016-08-22 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계용 덤프 구동 제어방법 |
US9303383B2 (en) | 2012-07-06 | 2016-04-05 | Caterpillar Inc. | Lift arm cross member |
JP5228132B1 (ja) * | 2012-09-12 | 2013-07-03 | 株式会社小松製作所 | ホイールローダ |
US20140306426A1 (en) * | 2013-04-12 | 2014-10-16 | Caterpillar Inc. | Steering linkage arrangement for articulated mobile machine |
US9969283B2 (en) | 2013-09-10 | 2018-05-15 | General Electric Company | Battery changing system and method |
US9728016B2 (en) | 2014-01-06 | 2017-08-08 | General Electric Company | Wheel monitoring system and method |
JP5856685B1 (ja) | 2014-06-02 | 2016-02-10 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
CN106795705B (zh) * | 2014-10-13 | 2019-05-28 | 山特维克矿山工程机械有限公司 | 用于控制工作机械的布置 |
US9388027B2 (en) * | 2014-10-23 | 2016-07-12 | Caterpillar Inc. | Guard for machine linkage system with two pads |
EP4043643A1 (en) * | 2015-03-27 | 2022-08-17 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
CN109154150B (zh) * | 2016-08-12 | 2021-09-28 | 株式会社小松制作所 | 建筑机械的控制系统、建筑机械及建筑机械的控制方法 |
JP6271771B2 (ja) * | 2016-11-29 | 2018-01-31 | 株式会社小松製作所 | 建設機械の制御装置及び建設機械の制御方法 |
DE102019100075B3 (de) * | 2019-01-03 | 2020-03-19 | Mecalac Baumaschinen GmbH | Radlader |
JP7315333B2 (ja) * | 2019-01-31 | 2023-07-26 | 株式会社小松製作所 | 建設機械の制御システム、及び建設機械の制御方法 |
JP7245099B2 (ja) * | 2019-03-29 | 2023-03-23 | 株式会社小松製作所 | 作業機械の校正方法、作業機械のコントローラ、および作業機械 |
CN114775705A (zh) * | 2022-05-25 | 2022-07-22 | 成工重工(遂宁)机械有限公司 | 双曲臂重型装载机 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01295922A (ja) * | 1988-05-25 | 1989-11-29 | Komatsu Ltd | 作業機リンク機構 |
JP2838251B2 (ja) * | 1993-04-08 | 1998-12-16 | 東洋運搬機株式会社 | ブーム装置 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2926799A (en) * | 1956-11-19 | 1960-03-01 | Hough Co Frank | Counterweight arrangement for tractor loader |
US2876921A (en) * | 1958-03-05 | 1959-03-10 | Hough Co Frank | Electrical bucket positioner for tractor loaders |
US2959306A (en) * | 1958-08-18 | 1960-11-08 | Hough Co Frank | Tractor loaders |
US3274710A (en) * | 1965-01-05 | 1966-09-27 | Wright John Frederick | Fork structures for pivotal attachment to vehicle mounted booms |
DK116563A (ja) * | 1965-05-06 | |||
US3411647A (en) * | 1967-02-23 | 1968-11-19 | Int Harvester Co | Boom assembly for tractor loader |
FR1523548A (fr) | 1967-04-20 | 1968-05-03 | Maschf Augsburg Nuernberg Ag | Pelle mécanique mobile pouvant être utilisée en marche ou à poste fixe |
US4154349A (en) * | 1977-11-03 | 1979-05-15 | International Harvester Company | Excavating implement stabilizer |
DE2948480C2 (de) | 1979-12-01 | 1983-12-22 | Hanomag GmbH, 3000 Hannover | Auslegergestänge für einen Schaufellader |
JPS6322499A (ja) | 1986-07-15 | 1988-01-29 | 株式会社クボタ | シヨベルロ−ダへのフオ−ク取付方法 |
US5201235A (en) * | 1992-04-20 | 1993-04-13 | Caterpillar Inc. | Linkage for loader bucket or other material handling device |
JPH0610287U (ja) | 1992-07-14 | 1994-02-08 | 新キャタピラー三菱株式会社 | 建設機械のトップクランプ付きフォーク |
US5501570A (en) * | 1994-01-21 | 1996-03-26 | Case Corporation | Anti-rollback mechanism for a loader mechanism of an off-highway implement |
FR2727998A1 (fr) | 1994-12-07 | 1996-06-14 | Mecalac | Engin de travaux publics de type chargeur, dont la cabine de pilotage ainsi que l'equipement de travail sont montes sur une tourelle |
CN1192987A (zh) * | 1997-03-06 | 1998-09-16 | 胡彦群 | 装载车 |
JPH11343631A (ja) | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | ホイールローダ用平行リンク装置 |
US6309171B1 (en) * | 1998-09-04 | 2001-10-30 | O&K Orenstein & Koppel Aktiengesellschaft | Mobile loading machine with front-end loading equipment |
CN2436486Y (zh) * | 2000-08-22 | 2001-06-27 | 赵大力 | 一种简易装载机 |
CN2507918Y (zh) * | 2001-09-12 | 2002-08-28 | 王良聘 | 轮式装载挖掘机 |
JP4956008B2 (ja) * | 2006-01-13 | 2012-06-20 | 株式会社小松製作所 | 作業機械 |
-
2004
- 2004-07-29 CN CN2004800208767A patent/CN1826448B/zh not_active Expired - Fee Related
- 2004-07-29 US US10/566,484 patent/US7993091B2/en active Active
- 2004-07-29 JP JP2005512516A patent/JP4248545B2/ja active Active
- 2004-07-29 WO PCT/JP2004/010855 patent/WO2005012653A1/ja active Application Filing
- 2004-07-29 EP EP04748066.0A patent/EP1650357B1/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01295922A (ja) * | 1988-05-25 | 1989-11-29 | Komatsu Ltd | 作業機リンク機構 |
JP2838251B2 (ja) * | 1993-04-08 | 1998-12-16 | 東洋運搬機株式会社 | ブーム装置 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006080487A1 (ja) * | 2005-01-31 | 2006-08-03 | Komatsu Ltd. | 作業機械 |
US7967547B2 (en) | 2005-01-31 | 2011-06-28 | Komatsu Ltd. | Work machine |
DE112006000299B4 (de) * | 2005-01-31 | 2016-03-10 | Komatsu Ltd. | Arbeitsmaschine |
WO2007080668A1 (ja) * | 2006-01-13 | 2007-07-19 | Komatsu Ltd. | 作業機械 |
JP2007186929A (ja) * | 2006-01-13 | 2007-07-26 | Komatsu Ltd | 作業機械 |
DE112006003657T5 (de) | 2006-01-13 | 2008-11-20 | Komatsu Ltd. | Arbeitsmaschine |
US8226344B2 (en) | 2006-01-13 | 2012-07-24 | Komatsu Ltd. | Working machine |
DE112006003657B4 (de) | 2006-01-13 | 2021-08-26 | Komatsu Ltd. | Arbeitsmaschine |
WO2010131654A1 (ja) | 2009-05-13 | 2010-11-18 | 株式会社小松製作所 | 作業車両 |
US8974171B2 (en) | 2009-05-13 | 2015-03-10 | Komatsu Ltd. | Work vehicle |
JP2012229606A (ja) * | 2012-07-03 | 2012-11-22 | Komatsu Ltd | ホイールローダ |
Also Published As
Publication number | Publication date |
---|---|
EP1650357A1 (en) | 2006-04-26 |
CN1826448B (zh) | 2010-04-28 |
CN1826448A (zh) | 2006-08-30 |
EP1650357A4 (en) | 2011-04-13 |
US7993091B2 (en) | 2011-08-09 |
EP1650357B1 (en) | 2016-11-16 |
JPWO2005012653A1 (ja) | 2006-09-21 |
JP4248545B2 (ja) | 2009-04-02 |
US20060291987A1 (en) | 2006-12-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2005012653A1 (ja) | 作業機械 | |
JP4669874B2 (ja) | ホイルローダ | |
JP4956008B2 (ja) | 作業機械 | |
JP4314368B2 (ja) | 積込み装置 | |
US7891933B2 (en) | Working machine | |
KR20160052390A (ko) | 작업용 기계 | |
US7445053B2 (en) | Ripping device for an earthmoving machine | |
US5595471A (en) | Linkage arrangement | |
JP5890041B2 (ja) | 建設重機用パラレルリンケージタイプの作業装置 | |
WO1996014476A1 (fr) | Engin de chantier | |
JP3313784B2 (ja) | 建設機械の作業機装置 | |
KR102060855B1 (ko) | 수평 인양 특성이 향상된 휠 로더의 버킷 작동 기구 | |
US4411584A (en) | Optimized earthworking tool operating linkage | |
US8807909B2 (en) | Tilting system for loader machine | |
JP6502271B2 (ja) | 作業車両の作業装置 | |
CN217419775U (zh) | 隧道挖掘机工作装置和挖掘机 | |
JP5153553B2 (ja) | 建設機械 | |
JPS6261738B2 (ja) | ||
JPS6237182B2 (ja) | ||
JPS6237181B2 (ja) | ||
KR0184969B1 (ko) | 다기능 복합 건설중장비 | |
JP2003034945A (ja) | オフセットブーム式建設機械 | |
JPS6027165Y2 (ja) | 油圧式掘削機 | |
JPH0841926A (ja) | バックホウのブーム構造 | |
JP2003286732A (ja) | 超小旋回作業機 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200480020876.7 Country of ref document: CN |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005512516 Country of ref document: JP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2006291987 Country of ref document: US Ref document number: 10566484 Country of ref document: US |
|
REEP | Request for entry into the european phase |
Ref document number: 2004748066 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2004748066 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2004748066 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 10566484 Country of ref document: US |