WO2006080487A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2006080487A1 WO2006080487A1 PCT/JP2006/301427 JP2006301427W WO2006080487A1 WO 2006080487 A1 WO2006080487 A1 WO 2006080487A1 JP 2006301427 W JP2006301427 W JP 2006301427W WO 2006080487 A1 WO2006080487 A1 WO 2006080487A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angle
- packet
- bell crank
- boom
- tilt cylinder
- Prior art date
Links
Classifications
-
- 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
- E02F3/34—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
- 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 work machine.
- wheel loaders have been known as work machines.
- an attachment such as a packet is provided at the tip of a boom pivoted on the vehicle body, the boom is provided so as to be movable up and down by a boom cylinder, and the packet is driven via a so-called Z-bar link.
- the Z-bar link is a tilt cylinder (one-dot chain line) that connects the bell crank 11 pivoted to the approximate center of the boom 10 and the upper end of the bell crank 11 and the vehicle body not shown. And a connecting link 13 that connects the lower end side of the bell crank 11 and the back of the packet 20.
- FIG. 12 shows the state of the knot 20 at the ground position, the intermediate position, and the uppermost top position.
- the excavation work is performed with the packet 20 in the vicinity of the ground position, and the loading operation to the truck is performed by dumping the intermediate position or the top position force.
- mud soil and livestock excreta may be pumped up using a wheel loader. In this case, as shown in FIG. 12, the packet 20 is tilted at the ground position so that fluid mud is spilled and pumped up efficiently.
- the wheel loader can be exchanged from the packet 20 to the fork 30.
- a tilt cylinder (not shown) is slightly extended, and in this state, A fork 30 is attached. That is, the extension amount of the tilt cylinder corresponds to the offset angle a in the packet 20 as indicated by a two-dot chain line, and the fork 30 is attached to the connecting link 13 at this position.
- the attachment angle is maintained substantially constant from the ground position to the top position, improving the angle characteristics and enabling work with the fork 30.
- Patent Document 1 Japanese Patent Laid-Open No. 63-22499
- the wheel loader in which the fork is combined with the Z bar link described in Patent Document 1 described above is loaded with a packet instead of the fork and lifts the packet to the highest position.
- the descending angle of the front end portion of the lower surface becomes large. For this reason, even if we try to load earth and sand into the packet by excavation, etc., and try to load earth and sand on the loading platform such as a dump truck, the packet dumps unintentionally as the boom rises! Dump loading work at height is not possible.
- the main object of the present invention is that the normal packet and fork can be exchanged, and even when the packet is lifted to the highest position, it remains almost horizontal, and dump loading work from the intended height is possible. It is to provide a work machine.
- the work machine of the present invention includes:
- a boom attached at one end to the structure supporting the work implement
- a tilt cylinder having one end pivoted on the structure and the other end attached to one end of the bell crank;
- the angle oc formed by the second line segment and the line segment connecting the pivot position of the bell crank with the tilt cylinder and the pivot position of the tilt cylinder with respect to the structure is a ⁇ 72.3 (deg).
- the allowable lowering angle at the highest position affects the maximum static friction coefficient between the loaded sediment and the inner bottom surface of the packet, and the bucket when the work machine of the work machine is operated. It is determined based on the acceleration G.
- the angle ⁇ formed on the packet side of the first line segment and the second line segment of the bell crank is 176 (deg) or less, and the second line segment of the bell crank and the tilt cylinder
- the center line angle ⁇ is 72.3 (deg) or less
- the lowering angle ⁇ of the bottom end of the knot can be made 4.5 or less.
- it can be a work machine that can use both the packet and the fork, in which the loaded sediment does not fall out of the packet.
- FIG. 1 is a side view showing the structure of a work machine according to an embodiment of the present invention.
- FIG. 2 is a perspective view showing the structure of the work machine in the embodiment.
- FIG. 3 is a schematic diagram showing the state of the ground horizontal position and the highest position of the work machine packet in the embodiment.
- FIG. 4 shows the relationship between the packet fall angle and the maximum static friction coefficient in the embodiment.
- FIG. 5 is a graph showing the relationship between the angle ⁇ and the descending angle ⁇ at the highest position in the embodiment.
- FIG. 6 is a graph showing the relationship between angle ⁇ and angle ⁇ in the embodiment.
- FIG. 7 is a graph showing the relationship between the angle ⁇ and the descending angle ⁇ at the highest position in the embodiment.
- FIG. 8 is a graph showing the relationship between the angle ⁇ and the geometry rotation angle ⁇ in the embodiment.
- FIG. 9 is a schematic diagram showing a state of a ground horizontal position, an intermediate position, and a highest position when another attachment is mounted on the work machine of the embodiment.
- FIG. 10A is a schematic diagram showing the state of the horizontal horizontal position and the highest position when the packet of the work machine according to type ⁇ in the embodiment is mounted.
- FIG. 10B is a schematic diagram showing the horizontal horizontal position, the intermediate position, and the highest ground level when the fork of the working machine according to type A in the embodiment is mounted.
- FIG. 11A is a schematic diagram showing the state of the horizontal horizontal position and the highest position when a work machine packet according to type B in the embodiment is mounted.
- FIG. 11B is a schematic diagram showing the horizontal horizontal position, the intermediate position, and the highest ground level when the fork of the working machine according to type B in the embodiment is mounted.
- FIG. 12 is a schematic diagram showing the structure of a conventional Z-bar link.
- FIG. 13 is a schematic diagram showing a structure in which a fork is attached to a conventional Z-bar link.
- FIG. 1 is a side view showing the entirety of a wheel loader (work machine) 1 according to the present embodiment
- FIG. 2 is an external perspective view showing a work machine 2 of the wheel loader 1.
- the work machine 2 refers to the part excluding the structure 16A from FIG.
- symbol is attached
- the wheel loader 1 has a vehicle body 16 that can be self-propelled by front and rear tires 14, 15, and a structure 16A that supports a work machine 2 including a packet 20 in front of the vehicle body 16 (left side in the figure).
- the boom 10 is pivotally driven by the boom cylinder 17 with the base end pivoted on the structure 16A, and the packet 20 is pivoted on the tip of the boom 10.
- the Z-bar link type link mechanism consists of a bell-shaped bell crank 11 pivoted in the middle of the boom 10 in the longitudinal direction, and the upper end side of the bell crank 11 (the upper end side when the packet 20 is at the ground position). ) And a connecting link 13 that connects the lower end side of the bell crank 11 and the packet 20, and the tilt cylinder 12 is attached so as to connect the bell crank 11 and the structure 16A. Yes.
- the base end side of the tilt cylinder 12 is pivoted by the structure 16A, and the pivot position Z of the tilt cylinder 12 with the structure 16A is the angle of the knot 20 when the boom 10 is raised.
- the tilt angle is set to a position that does not deviate between the ground position force top positions, and in this embodiment, is set slightly below the pivot position S of the boom 10 with respect to the structure 16A. This improves the angle characteristics of the packet 20 that is horizontal or tilted at the ground position.
- the bell crank 11 is connected to 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, and the pivot position between the tilt cylinder 12.
- the angle ⁇ formed by the second line segment L2 connecting W and the pivot position Y is set in the range of the following equation (1) on the packet 20 side.
- the mounting position PP1 of the packet 20 with the boom 10 and the mounting position PP2 of the connection link 13 of the packet 20 If the angle between the line segment L4 and the vertical line V passing through the mounting position PP1 is called the geometry rotation angle ⁇ , this geometry rotation angle ⁇ is set within the range of the following equation (3). Yes.
- angles 0, ⁇ , and ⁇ described above are determined as follows.
- the acceleration when the wheel loader 1 is retracted that is, the acceleration that occurs in the horizontal receding direction in the packet 20 is approximately 0.02G to 0.1G, but dumps earth and sand on the truck bed.
- Fig. 4 shows the relationship between the drop angle ⁇ and the maximum static friction coefficient ⁇ when the acceleration is 0.02G.
- the maximum coefficient of static friction between the earth and sand and the inner bottom surface 22 of the packet 20 can be adjusted by painting the inner bottom surface 22 or roughening the surface, but if used for many years, the inner bottom surface 22
- the maximum static friction coefficient ⁇ is taken close to the surface of the steel material that forms the packet 20 due to wear, and the normal maximum static friction coefficient is 0.1 in consideration of avoiding the risk of earth and sand sliding down. It is thought to take.
- the falling angle ⁇ of packet 20 is assumed to be 0.1 (maximum static friction coefficient). It can be seen that there is a high possibility that the earth and sand loaded in will slide down.
- FIG. 10A and 10B respectively, and the states of packet 20 and fork 30 at point P2 are shown in FIG. This is shown in Figure 1 1B.
- Figure 1 1B At points other than the points Pl and P2 on the graph, the position of Z is also moved to make the angle change the same when the fork 30 is mounted even if ⁇ changes.
- ⁇ ′ in FIG. 10B and FIG. 11B indicates the rising angle of the front end portion of the lower surface of the fork 30.
- the drop angle ⁇ of bucket 20 is 4.5 (deg) because angle a is 74.6 (deg) for type A and angle a for type B. It can be seen that it is 72.3 (deg).
- the drop angle ⁇ of the packet 20 is approximately 4.5 (deg).
- the angle string is 74.6 (deg). for information on the apparent force type B, so that ⁇ sandwich 4.5 a (deg), the angle ⁇ is 72. 24 (deg) ⁇ is 4. 38 (deg) next to the case of, angle thermal power 72.78 In the case of (deg), ⁇ is 4.60.
- the lowering angle of the packet 20 at the highest position ⁇ ⁇ ⁇ ⁇ in FIG. Since ⁇ can be set to 4.5 (deg) or less, it is not necessary to adjust the expansion / contraction amount of the tilt cylinder 12 as in the case of the angle ⁇ and the angle a.
- the packet 20 can be lifted to the highest position T without incident.
- the wheel loader 1 with the lowering angle ⁇ of 4.5 (deg) or less can be more reliably obtained.
- the angle ⁇ force 5.4 (deg) of the type A wheel loader 1 the geometry rotation angle ⁇ is 7.0 (deg), and the lowering angle ⁇ is 3.0 (deg)
- the attachment was changed to a fork 30 and the fork 30 was tilted from the horizontal position E to the middle position M and the highest position T as shown in FIG.
- the rising angle ⁇ , of the tip of the fork 30 with respect to the horizontal plane is 0 (deg) at the ground horizontal position ⁇ , 1.6 (deg) at the intermediate position M, and 7.8 ( If the wheel loader 1 satisfies the above conditions, the load loaded on the fork 30 does not fall off from the tip of the fork 30 even at the highest position T. Either the bucket 20 or the fork 30 is attached to the attachment. It was confirmed that unloading, dumping, etc. could be performed reliably even at the highest position T where the loaded earth and sand and the loaded luggage would not fall out of the attachment.
- the force applied to the present invention for the wheel loader 1 is not limited to this, and the present invention can be applied to any work machine provided with a so-called Z-bar link.
- angles 0 and ⁇ and the geometry rotation angle ⁇ in the present invention are not limited to those shown in the above embodiment, and in short, the lower force S angle of the packet 20 at the highest position is 4.5 (deg). As long as the following conditions are satisfied, various combinations can be made within the range that satisfies the above conditions. Can be adopted.
- the specific structure and shape of the present invention may be other structures as long as the object of the present invention can be achieved.
- the present invention can be used not only for a wheel loader but also for any construction machine or civil engineering machine that is not limited to a self-propelled type or a stationary type.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Shovels (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006000299.6T DE112006000299B4 (de) | 2005-01-31 | 2006-01-30 | Arbeitsmaschine |
JP2007500620A JP4669874B2 (ja) | 2005-01-31 | 2006-01-30 | ホイルローダ |
US11/814,903 US7967547B2 (en) | 2005-01-31 | 2006-01-30 | Work machine |
SE0701801A SE532563C2 (sv) | 2005-01-31 | 2006-01-30 | Arbetsmaskin där arbetsverktyget är bytbart mellan en skopa och en gaffel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005024559 | 2005-01-31 | ||
JP2005-024559 | 2005-01-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006080487A1 true WO2006080487A1 (ja) | 2006-08-03 |
Family
ID=36740504
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/301427 WO2006080487A1 (ja) | 2005-01-31 | 2006-01-30 | 作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7967547B2 (ja) |
JP (1) | JP4669874B2 (ja) |
DE (1) | DE112006000299B4 (ja) |
SE (1) | SE532563C2 (ja) |
WO (1) | WO2006080487A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106049575A (zh) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | 一种多单元直线驱动三活动度电液机构式装载机器人 |
CN106120889A (zh) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | 一种多单元直线驱动十五杆三活动度电液混合装载机构 |
CN106120890A (zh) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | 一种平面三活动度电液可控正铲装载机器人 |
JP2017122349A (ja) * | 2016-01-07 | 2017-07-13 | 株式会社Kcm | 作業車両の作業装置 |
CN108975223A (zh) * | 2017-06-05 | 2018-12-11 | 迪尔公司 | 用于操作员标定作业手位置显示的系统和方法 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5037561B2 (ja) * | 2009-05-13 | 2012-09-26 | 株式会社小松製作所 | 作業車両 |
US8662816B2 (en) * | 2010-11-18 | 2014-03-04 | Caterpillar Inc. | Z-bar linkage for wheel loader machines |
AU2012202213B2 (en) | 2011-04-14 | 2014-11-27 | Joy Global Surface Mining Inc | Swing automation for rope shovel |
KR101778308B1 (ko) | 2011-12-27 | 2017-09-27 | 두산인프라코어 주식회사 | 건설중장비용 병렬 링키지 타입 작업장치 |
EP3276088B1 (en) * | 2015-03-27 | 2022-05-11 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
DE112017002603T5 (de) * | 2016-08-12 | 2019-04-25 | Komatsu Ltd. | Steuerungssystem einer baumaschine, baumaschine und steuerverfahren einer baumaschine |
CN107119734A (zh) * | 2017-05-25 | 2017-09-01 | 榕江荣百腾环保能源制造有限公司 | 一种多功能生物质燃料抓草机 |
CA3138680A1 (en) | 2019-04-30 | 2020-11-05 | Quickthree Technology, Llc | Multi-actuator rotator assembly |
Citations (1)
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WO2005012653A1 (ja) * | 2003-07-30 | 2005-02-10 | Komatsu Ltd. | 作業機械 |
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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 |
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US3411647A (en) * | 1967-02-23 | 1968-11-19 | Int Harvester Co | Boom assembly for tractor loader |
US4154349A (en) * | 1977-11-03 | 1979-05-15 | International Harvester Company | Excavating implement stabilizer |
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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 |
JP2838251B2 (ja) * | 1993-04-08 | 1998-12-16 | 東洋運搬機株式会社 | ブーム装置 |
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JP4956008B2 (ja) * | 2006-01-13 | 2012-06-20 | 株式会社小松製作所 | 作業機械 |
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2006
- 2006-01-30 DE DE112006000299.6T patent/DE112006000299B4/de active Active
- 2006-01-30 JP JP2007500620A patent/JP4669874B2/ja active Active
- 2006-01-30 US US11/814,903 patent/US7967547B2/en active Active
- 2006-01-30 WO PCT/JP2006/301427 patent/WO2006080487A1/ja not_active Application Discontinuation
- 2006-01-30 SE SE0701801A patent/SE532563C2/sv unknown
Patent Citations (1)
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WO2005012653A1 (ja) * | 2003-07-30 | 2005-02-10 | Komatsu Ltd. | 作業機械 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017122349A (ja) * | 2016-01-07 | 2017-07-13 | 株式会社Kcm | 作業車両の作業装置 |
CN106049575A (zh) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | 一种多单元直线驱动三活动度电液机构式装载机器人 |
CN106120889A (zh) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | 一种多单元直线驱动十五杆三活动度电液混合装载机构 |
CN106120890A (zh) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | 一种平面三活动度电液可控正铲装载机器人 |
CN108975223A (zh) * | 2017-06-05 | 2018-12-11 | 迪尔公司 | 用于操作员标定作业手位置显示的系统和方法 |
Also Published As
Publication number | Publication date |
---|---|
JP4669874B2 (ja) | 2011-04-13 |
SE532563C2 (sv) | 2010-02-23 |
US20090053028A1 (en) | 2009-02-26 |
DE112006000299B4 (de) | 2016-03-10 |
JPWO2006080487A1 (ja) | 2008-08-07 |
DE112006000299T5 (de) | 2012-07-12 |
US7967547B2 (en) | 2011-06-28 |
SE0701801L (sv) | 2007-09-28 |
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