WO2015041300A1 - 作業機械の操作装置 - Google Patents

作業機械の操作装置 Download PDF

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Publication number
WO2015041300A1
WO2015041300A1 PCT/JP2014/074726 JP2014074726W WO2015041300A1 WO 2015041300 A1 WO2015041300 A1 WO 2015041300A1 JP 2014074726 W JP2014074726 W JP 2014074726W WO 2015041300 A1 WO2015041300 A1 WO 2015041300A1
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WO
WIPO (PCT)
Prior art keywords
work
operation unit
work front
operating
right operation
Prior art date
Application number
PCT/JP2014/074726
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English (en)
French (fr)
Japanese (ja)
Inventor
啓範 石井
和吉 花川
邦嗣 冨田
Original Assignee
日立建機株式会社
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
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to EP14845704.7A priority Critical patent/EP3048505B1/en
Priority to CN201480044235.9A priority patent/CN105452975B/zh
Publication of WO2015041300A1 publication Critical patent/WO2015041300A1/ja

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    • 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
    • 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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
    • 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
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation

Definitions

  • the present invention relates to a double-armed work machine having two articulated work fronts used for dismantling work such as structures and wastes and civil engineering work.
  • an upper swinging body is pivotably attached to a lower traveling body equipped with a traveling body, and an articulated type is attached to the upper swinging body.
  • a hydraulic excavator as an example of such a working machine.
  • a work front composed of a boom and an arm is connected to the upper swing body so as to be able to swing up and down, and a bucket is attached to the tip of the arm so as to be able to swing up and down to perform operations such as excavation, loading and leveling .
  • breakers, crushers, grapples, and the like are attached instead of buckets so that work such as structure demolition work and waste demolition work can be performed.
  • Patent Document 1 There is a technique disclosed in Patent Document 1 as a technique for solving problems caused by these operations.
  • the technique disclosed in Patent Document 1 is a multi-joint type first work front having a first work tool that can be turned up and down on both the left and right sides of the front part of the upper swing body, and a second work tool that can be turned up and down. And a multi-joint type second working front equipped with a double-armed working machine.
  • two operation devices for operating the first work front and the second work front are provided, one on each side of the driver's seat in the cab.
  • the left side of the driver's seat has an operating arm bracket attached to the left side of the driver's seat, and the operating arm bracket can swing left and right.
  • An operation lever for instructing the operation of the arm tip of the first work front is provided, one on each side of the driver's seat in the cab.
  • the left side of the driver's seat has an operating arm bracket attached to the left side of the driver's seat, and the operating arm bracket can swing left and right.
  • the driver may feel uncomfortable when sitting on the driver's seat by contacting with the operating lever provided inward in the horizontal direction, or excessively with respect to the operating lever. There is a possibility of damage due to application of a load.
  • the present invention has been made in view of the above points, and is an operation device for a work machine that can be operated in the same manner as the prior art, and that can be prevented from being damaged by contact with an operation lever, so that a driver can sit without hindrance.
  • the purpose is to provide.
  • the present invention is provided in a work machine main body, a cab provided in the work machine main body or provided outside the work machine main body, and a front portion of the work machine main body.
  • a first work front and a second work front which are driven to swing up and down, a driver seat provided in the driver's cab, a left operating device provided on the left side of the driver seat, and the driver seat.
  • the left operating device includes a first left operating unit and a second left operating unit provided in the left operating unit.
  • the right operation device includes a first right operation unit and a second right operation unit provided in the first right operation unit, and the shortest distance between the first left operation unit and the first right operation unit is When operating the first work front longer than the width of the driver seat, When operating using the 1st left operation part and the 1st right operation part, and operating the 2nd work front, it operates using the 2nd left operation part and the 2nd right operation part.
  • the present invention by using the left operating device and the right operating device described above, it is possible to operate in the same manner as in the prior art, and further, it is possible to avoid damage to the operating lever, which has been difficult in the past, and the driver can sit without any trouble. can do. As a result, the present invention can improve the comfort for the driver and the life of the operation lever and the like.
  • FIG. 1 is a side view showing a double-armed hydraulic excavator that is an example of a construction machine including an operating device according to a first embodiment of the present invention. It is a top view of the double arm type hydraulic excavator shown in FIG. It is a side view which shows the operating device with which the double arm type hydraulic excavator shown in FIG. 1 was equipped. It is a front view which shows the operating device shown in FIG. It is a figure which shows the principal part and input-output relationship of the control apparatus of the double arm type hydraulic excavator in the 1st Embodiment of this invention.
  • FIG. 1 is a side view showing a double-arm hydraulic excavator as an example of a construction machine including an operating device according to a first embodiment of the present invention
  • FIG. 2 is a plan view of the double-arm hydraulic excavator shown in FIG. FIG.
  • the front of the driver's seat (upper left direction in the figure) is the front of the aircraft.
  • a double-armed hydraulic excavator 1 (working machine) shown in FIG. 1 has an upper swing body 3 attached to a lower traveling body 2 so that the upper swing body 3 can turn, and a cab 4 is provided in front of the upper swing body 3.
  • a left work front A (second work front) and a right work front B (first work front) are respectively provided on the front right side and front left side of the cab 4, and the engine is provided on the side and rear of the cab 4.
  • 40, a pump 41, and the like are provided.
  • the lower traveling body 2 includes left and right traveling motors 43a and 43b (the right traveling motor 43b is not illustrated) that are rotatably provided behind the left and right track frames 5a and 5b (the right track frame 5b is not illustrated), Left and right crawler tracks 44a and 44b (the right crawler track 44b is not shown) provided on the track frames 5a and 5b and the traveling motors 43a and 43b.
  • the left and right traveling motors 43a and 43b are rotationally driven by the supply of pressure oil from the pump 41, the left and right crawler tracks 44a and 44b rotate around the track frames 5a and 5b, and the double-armed hydraulic excavator 1 travels.
  • the upper turning body 3 has a turning motor 48 for turning itself, and the upper turning body 3 turns with respect to the lower traveling body 2 as the turning motor 48 rotates.
  • the left work front A includes a swing post 7a (member) attached to the front left side of the upper swing body 3 so as to be swingable in the left-right direction, and the swing post 7a in the vertical direction.
  • a boom 10a member that is swingably attached, an arm 12a (member) that is swingably attached to the boom 10a in the up-and-down direction, and a first arm that is rotatably attached to the arm 12a in the up-and-down direction. It has a grapple 14a (member) which is one work tool.
  • the left work front A is connected to the swing post 7a and the upper swing body 3, and is connected to the swing post cylinder 9a (actuator) that swings the swing post 7a left and right, and the swing post 7a and the boom 10a.
  • Boom cylinder 11a (actuator) that swings 10a up and down is connected to boom 10a and arm 12a, and is connected to arm cylinder 13a (actuator) that swings arm 12a up and down, arm 12a and work tool 14a.
  • a work tool cylinder 15a (actuator) for rotating the work tool 14a up and down.
  • the work tool 14a can be arbitrarily replaced with any one of a cutter, a breaker, a bucket, and other work tools in accordance with the work content.
  • the right work front B is provided on the right front side of the upper swing body 3.
  • the configuration of the right work front B is substantially symmetrical with the left work front A, and the subscript “a” of each member corresponding to the left work front A is indicated as “b”. Is omitted.
  • FIG. 3 is a side view showing the operating device provided in the double-armed hydraulic excavator shown in FIG. 1, and FIG. 4 is a front view showing the operating device shown in FIG.
  • a driver's seat 49 is installed in the driver's cab 4, and a left operating device 50 and a right operating device 51 are provided on the left and right sides of the driver's seat 49.
  • Pedals 59a and 59b are provided.
  • the left operating device 50 includes a left operating lever bracket 52 provided on the left side of the driver's seat 49, and a left operating lever 54 (first left operating portion) provided on the left operating lever bracket 52 so as to be swingable back and forth and left and right.
  • a left operation switch 56 (second left operation unit) is provided at the tip of the left operation lever 54 so as to be swingable back and forth and left and right.
  • the right operation device 51 includes a right operation lever bracket 53 provided on the right side of the driver's seat 49 and a right operation lever 55 (first right operation) provided on the right operation lever bracket 53 so as to be swingable back and forth and left and right. And a right operation switch 57 (second right operation unit) provided at the tip of the right operation lever 55 so as to be swingable back and forth and left and right.
  • the left operation lever 54 and the right operation lever 55 are arranged in parallel with the driver seat 49, and are included in the driver seat 49, and do not overlap the seat portion 491 having the longest width, for example, the left operation lever.
  • the shortest distance L1 between the lever 54 and the right operation lever 55 is longer than the width L2 of the driver seat 49.
  • the left operating device 50 includes a displacement detector 541 and a displacement detector 542 that detect the amount of displacement of the left operating lever 54 that is generated by tilting in the front-rear and left-right directions.
  • the displacement detector 541 detects the amount of displacement of the left operation lever 54 in the front-rear direction
  • the displacement detector 542 detects the amount of displacement of the left operation lever 54 in the left-right direction.
  • the tilting of the left operation lever 54 in the front-rear direction or the left-right direction indicates the driving direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed with respect to the actuator.
  • the right operating device 51 also includes displacement detectors 551 and 552 corresponding to the displacement detectors 541 and 542, respectively.
  • the front / rear / left / right directions in which the right operation lever 55, the left operation switch 56, and the right operation switch 57 tilt are referred to as operation directions.
  • the left operation device 50 includes a displacement detector 561 and a displacement detector 562 for detecting the amount of displacement of the left operation switch 56 generated by tilting in the front-rear and left-right directions.
  • the displacement detector 561 detects the amount of displacement of the left operation switch 56 in the front-rear direction
  • the displacement detector 562 detects the amount of displacement of the left operation switch 56 in the left-right direction.
  • the left operation switch 56 tilts in the front-rear direction or in the left-right direction, that is, the operation direction described above indicates the drive direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed relative to the actuator. Instruct.
  • the right operating device 51 also includes displacement detectors 571 and 572 corresponding to the displacement detectors 561 and 562, respectively.
  • the turning pedal 58 includes a turning pedal displacement detector 581 that detects a displacement amount of the turning pedal 58 and transmits a signal, and the left and right traveling pedals 59a and 59b detect the displacement amounts of the traveling pedals 59a and 59b. Displacement detectors 591a and 591b for traveling pedal that transmit signals are provided.
  • FIG. 5 is a diagram showing the main parts and the input / output relationship of the control device for the double-armed hydraulic excavator in the first embodiment of the present invention.
  • the control device 161 inputs displacement amounts from the above-described displacement detectors 541 and the like provided in the left and right operation devices 50 and 51 in the cab 4, and performs a predetermined calculation based on the displacement amounts from these input systems. Then, a drive signal is generated, and the generated drive signal is output to each solenoid valve that operates each part of the left and right work fronts A and B.
  • the detector that outputs the displacement amount to the control device 161 is as described above.
  • the solenoid valves output from the control device 161 are swing post drive solenoid valves 218a and 218b, boom drive solenoid valves 215a and 215b, arm drive solenoid valves 216a and 216b, work implement drive solenoid valves 217a and 217b, A turning drive solenoid valve 213 and travel drive solenoid valves 214a and 214b are provided.
  • FIG. 6 is a diagram showing the relationship between the operating direction output from the operating device according to the first embodiment of the present invention and the driving direction of the actuator of the double-armed hydraulic excavator.
  • the front-rear direction displacement detector 541 of the left operation lever 54 is moved into the control device 161 as shown in FIG.
  • the detection signal is output to the drive signal generator 161A.
  • the drive signal generator 161A transmits the drive signal to the drive electromagnetic valve 216b of the right arm 12b.
  • the right arm cylinder 13b is contracted by this drive signal, and as shown in FIG. 6A, the right arm 12b is swung forward (LL1).
  • the swing speed of the right arm 12b is in a simple increase relationship, for example, a proportional relationship with the displacement amount of the longitudinal displacement detector 541, and the displacement amount detected by the longitudinal displacement detector 541 is the right arm 12b.
  • the speed of the swing of the is controlled.
  • the front-rear direction displacement detector 561 of the left operation switch 56 is controlled by the control device.
  • a detection signal is transmitted to the drive signal generator 161E in 161.
  • the drive signal generator 161E transmits a drive signal to the drive solenoid valve 216a of the left arm 12a.
  • the left arm cylinder 13a is reduced by this drive signal, and the left arm 12a is swung forward as shown in FIG. 6A (LS1).
  • the swing speed of the left arm 12a is simply increased, for example, proportional to the amount of displacement of the longitudinal displacement detector 561, and the displacement of the longitudinal displacement detector 561 causes the swing of the left arm 12a.
  • Speed control is simply increased, for example, proportional to the amount of displacement of the longitudinal displacement detector 561, and the displacement of the longitudinal displacement detector 561 causes the swing of the left arm 12a.
  • the actuators operated by the left operation lever 54, the right operation lever 55, the left operation switch 56, and the right operation switch 57 and the operation directions thereof are related to the drive generators 161A... It can be set freely by combining the valves 216a, 216b,... Therefore, it goes without saying that even in a double arm type hydraulic excavator, the actuators operated by the left operation lever 54 and the right operation lever 55 and the operation directions thereof can be made in the same manner as in the conventional hydraulic excavator.
  • the left operation lever 54 and the left operation switch 56 provided on the left operation lever 54 and the left operation lever 55 and the left operation lever 55 provided on the right operation lever 55 as in the prior art.
  • the left working front A and the right working front B can be operated simultaneously using the operation switch 57, and the shortest distance between the left operating lever 54 and the right operating lever 55 is included in the driver seat 49.
  • the seating portion 491 having the longest width it is unlikely that the driver will come in contact with the operating means when sitting, and comfort to the driver, the left operating lever 54, or the right operating lever 55 Etc. can be improved.
  • the drive direction of the actuator of the right work front B indicated by the operation direction of the right operation lever 55 and the drive direction of the actuator included in the left work front A indicated by the operation direction of the right operation switch 57 are the same. Since they are the same, the driver can operate the left and right work fronts to be operated in the same operation direction, so that the operation can be effectively learned.
  • the actuator operated by the left operation lever 54 and the right operation lever 55 and the operation direction thereof can be made the same as those of the conventional hydraulic excavator, so that the conventional hydraulic excavator is operated.
  • the driver does not need to learn a new operation, and can easily drive the double-arm double-arm hydraulic excavator 1.
  • FIG. 7 is a diagram showing a main part of the control device for a double-armed hydraulic excavator and the input / output relationship in the second embodiment of the present invention
  • FIG. 8 is an operating device in the second embodiment of the present invention. It is a figure which shows the relationship with the drive direction of the actuator which the double arm type hydraulic shovel has with respect to the operation instruction
  • the only difference from the first embodiment is that the operation directions of the left operation switch 56 and the right operation switch 57 are changed, and the other configuration is the same.
  • the operating directions of the left operating lever 54 and the right operating lever 55 are the same as those in the first embodiment, whereas the left operating switch 56 is moved forward as shown in FIG. 8B.
  • the front-rear direction displacement detector 561 of the left operation switch 56 When displaced in the direction (ls1), the front-rear direction displacement detector 561 of the left operation switch 56 outputs a detection signal to the drive signal generation unit 161G in the control device 161 as shown in FIG. Receiving this detection signal, the drive signal generator 161G transmits a drive signal to the drive solenoid valve 215a of the left boom 11a.
  • the left boom cylinder 11a is reduced by this drive signal, and as shown in FIG.
  • the left boom 10a is swung downward (LS1), and the left operation switch 56 is displaced backward (ls2) to the left.
  • LS1 When the boom 10a is swung upward (LS2), and the left operation switch 56 is displaced in the left direction (ls3), the left work tool 14a is swung forward (LS3), and the left operation switch 56 is moved rightward ( When displaced to ls4), the left work tool 14a is swung back (LS4).
  • the drive direction of the actuator of the right work front B indicated by the operation direction of the left operation lever 54 is the same as the drive direction of the actuator included in the left work front A indicated by the operation direction of the right operation switch 57
  • the drive direction of the actuator of the right work front B indicated by the operation direction of the right operation lever 55 and the drive direction of the actuator included in the left work front A indicated by the operation direction of the left operation switch 56 are the same.
  • the driver can easily move the left work front A and the right work front B simultaneously with respect to the left and right work fronts to be operated. Since the swing post, the arm, and the work tool have the same configuration, the work becomes easier when the left and right actuators are simultaneously operated.
  • FIG. 9 is a diagram showing the main parts and input / output relationships of the control device for a double-armed hydraulic excavator in the third embodiment of the present invention.
  • a work front switching unit or an operation allocation switching unit 161Z that is an operation actuator switching unit is provided in the control device 161.
  • a work front switching unit or an operation allocation switching unit 161Z that is an operation actuator switching unit is provided in the control device 161.
  • the operation allocation switching unit 161Z includes displacement detectors for the left operation lever 54, the right operation lever 55, the left operation switch 56, and the right operation switch 57, and the drive signal generation units. It is provided in between.
  • the operation allocation switching unit 161Z has a function of switching to which of the drive signal generation units the detection signal obtained from each displacement detector is output.
  • a switch for switching three positions R, N, and C (not shown) in the cab 4 is provided, and is electrically connected to the operation assignment switching unit 161Z in the control device 161.
  • the left operation switch 56 and the right operation switch 57 operate the right work front B operated by the left operation lever 54 and the right operation lever 55 with respect to the operation assignment switching unit 161Z. It has a switching instruction meaning that the left operation lever 54 and the right operation lever 55 operate the left work front A operated by the left operation switch 56 and the right operation switch 57.
  • the left operation switch 56 and the right operation switch 57 operate the operation assignment switching unit 161Z on the left work front A operated by the left operation lever 54 and the right operation lever 55.
  • the operation allocation switching unit 161Z changes the allocation to the electromagnetic valves 216a and 216b according to the instruction signal.
  • switching between the left work front A and the right work front B is illustrated, but the present invention is not limited to this, and switching between the actuators may be performed.
  • an effect equivalent to that of the first embodiment can be obtained, and the driver can select an actuator driven by each detection signal of the operation device.
  • the user can select an operation assignment that is easier to operate, thereby improving workability.
  • FIG. 10 is a front view showing an operating device provided in a double-armed hydraulic excavator according to the fourth embodiment of the present invention
  • FIG. 11 shows a double-armed hydraulic excavator according to the fourth embodiment of the present invention. It is a figure which shows the principal part and input / output relationship of a control apparatus.
  • the difference from the first embodiment is that the left operation switch 60, the right operation switch 61, and the output signals from the left operation switch 60 and the right operation switch 61 have relatively inexpensive shapes. Processing is performed in the control device 161, and the rest of the configuration is the same.
  • the left operation switch 60 and the right operation switch 61 have four cross-shaped switches that can be displaced by pressing the switches, and each switch has a left operation switch 60.
  • the right operation switch 61 is provided with front / rear / left / right displacement detectors 611 to 614.
  • the front-rear direction or the left-right direction in which the left operation switch 60 and the right operation switch 61 are pressed indicates the driving direction of the actuator, for example, the expansion / contraction direction of the cylinder, and the amount of displacement indicates the speed with respect to the actuator.
  • the front / rear and left / right directions of the operation switch 60 and the right operation switch 61 are referred to as operation directions.
  • the drive signal of the control device 161 is calculated from the displacement amount output from either the front displacement detector 601 of the left operation switch 60 or the rear displacement detector 602 of the left operation switch 60.
  • the driving signal generating unit 161E calculates the driving direction and speed of the left arm cylinder 13a, and outputs the driving direction to one of the solenoid valves.
  • the same processing is also performed using the displacement amounts of the left operation switch 60 and the right operation switch 61 from the other displacement detectors 603, 604, 611 to 614.
  • FIG. 12 is a diagram showing the relationship between the driving direction of the actuator of the double-armed hydraulic excavator and the operation direction of the operating device according to the operating instruction of the operating device in the fourth embodiment of the present invention.
  • the driving direction of the double-armed hydraulic excavator, (b) shows the operating direction of the operating device.
  • the operation directions of the left operation lever 54 and the right operation lever 55 are the same as those in the first embodiment, and thus description thereof is omitted.
  • the left operation switch front displacement detector 601 is driven in the control device 161 as shown in FIG. A detection signal is transmitted to the signal generator 161E.
  • the drive signal generator 161E transmits a drive signal to the left arm drive solenoid valve 216a.
  • the left arm cylinder 13a is reduced by this drive signal, and the left arm 12a is swung forward (LS1).
  • the swinging speed of the left arm 12a is in a proportional increase relationship with the displacement amount of the left operation switch front displacement detector 601, for example, the displacement of the left operation switch front displacement detector 601 is The speed of the swinging of the left arm 12a is controlled.
  • the rear displacement detector 601 for the left operation switch transmits a detection signal to the drive signal generation unit 161E in the control device 161, and the left arm cylinder extends. Then, the left arm is swung back (LS2).
  • the left swing post 7a is swung leftward (LS3)
  • the right portion of the left operation switch 60 is pressed (ls4)
  • the left swing post 7a Is swung rightward (LS4).
  • the left boom 10a is swung forward (RS1), and when the rear portion of the right operation switch 61 is pressed (rs2), the left boom 10a is moved upward.
  • the left operation tool 57 is swung (RS2) and the left portion of the right operation switch 57 is pressed (rs3), the left work tool 14a is swung downward (RS3), and further, the right portion of the right operation switch 57 is pressed (rs4).
  • the left work tool 14a is swung upward (RS4).
  • the left operation switch 60 and the right operation switch 61 have a simple structure and are inexpensive. It is effective in terms.
  • the right working front B is described as having a swing post 7b, but the swing post 7b may be omitted.
  • the value of the operation signal can be continuously changed. It is good also as a structure which acquires the value of an operation signal by ON / OFF by changing to a contact detector.
  • the driver's seat 4 is arranged on the double-armed hydraulic excavator 1.
  • the driver's seat 4 has a dual-armed hydraulic system that can be remotely operated. It is good also as a structure which exists in the position which wants to leave
  • a Left working front B Right working front 1 Double-arm hydraulic excavator 2 Lower traveling body 3 Upper turning body 3a Turning center line 3c Front-rear direction center line 4
  • Driver's cab 5a, 5b Track frames 7a, 7b Swing posts 9a, 9b Swing post cylinders 10a, 10b Boom 11a, 11b Boom cylinder 12a, 12b Arm 13a, 13b Arm cylinder 14a, 14b Work tool 15a, 15b Work tool cylinder 20a, 20b Grapple 21a, 21b Cutter 22a, 22b Breaker 23a, 23b Bucket 30a, 30b Swing Shaft center 31a, 31b Bottom side pin (swing cylinder) 32a, 32b Rod side pin (oscillation cylinder) 33a, 33b Bracket (Upper revolving body outside) 34a, 34b Bracket (swing post) 40 Engine 41 Pumps 42a, 42b Traveling devices 43a, 43b Traveling motors 44a, 44b Crawler belt 48 Turning

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)
PCT/JP2014/074726 2013-09-18 2014-09-18 作業機械の操作装置 WO2015041300A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP14845704.7A EP3048505B1 (en) 2013-09-18 2014-09-18 Device for operating the double arm of a working machine
CN201480044235.9A CN105452975B (zh) 2013-09-18 2014-09-18 作业机械的操作装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013193500A JP5969444B2 (ja) 2013-09-18 2013-09-18 作業機械の操作装置
JP2013-193500 2013-09-18

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WO2015041300A1 true WO2015041300A1 (ja) 2015-03-26

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PCT/JP2014/074726 WO2015041300A1 (ja) 2013-09-18 2014-09-18 作業機械の操作装置

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EP (1) EP3048505B1 (enrdf_load_stackoverflow)
JP (1) JP5969444B2 (enrdf_load_stackoverflow)
CN (1) CN105452975B (enrdf_load_stackoverflow)
WO (1) WO2015041300A1 (enrdf_load_stackoverflow)

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JP7615723B2 (ja) * 2021-02-08 2025-01-17 コベルコ建機株式会社 遠隔操作支援システム、遠隔操作支援方法および遠隔操作支援複合システム

Citations (6)

* Cited by examiner, † Cited by third party
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CN105452975A (zh) 2016-03-30
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EP3048505A4 (en) 2017-05-10
EP3048505A1 (en) 2016-07-27
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