WO2021199965A1 - 深礎掘削機 - Google Patents
深礎掘削機 Download PDFInfo
- Publication number
- WO2021199965A1 WO2021199965A1 PCT/JP2021/009328 JP2021009328W WO2021199965A1 WO 2021199965 A1 WO2021199965 A1 WO 2021199965A1 JP 2021009328 W JP2021009328 W JP 2021009328W WO 2021199965 A1 WO2021199965 A1 WO 2021199965A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- opening
- closing
- elevating
- cylinder
- sheave
- Prior art date
Links
- 230000008602 contraction Effects 0.000 claims abstract description 43
- 230000003028 elevating effect Effects 0.000 claims description 339
- 239000003921 oil Substances 0.000 claims description 37
- 239000010720 hydraulic oil Substances 0.000 claims description 25
- 238000013459 approach Methods 0.000 claims description 12
- 230000001174 ascending effect Effects 0.000 claims description 10
- 239000004576 sand Substances 0.000 description 22
- 238000009412 basement excavation Methods 0.000 description 19
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 230000007935 neutral effect Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
-
- 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
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
-
- 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
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4135—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted directly on a 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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
- E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots
-
- 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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/58—Component parts
-
- 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
- E02F9/14—Booms only for booms with cable suspension arrangements; Cable suspensions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- This disclosure relates to a deep foundation excavator that is suitably used for excavating a shaft.
- a reverse construction method is used in which both above and below ground are constructed at the same time so that the construction period can be shortened and underground construction can be carried out stably even on soft ground.
- a deep foundation excavator for excavating a shaft is used at the site where this reverse driving method is performed.
- the deep foundation excavator has a self-propelled vehicle body and a work device provided on the vehicle body.
- This working device includes a boom provided on the vehicle body, an arm provided at the tip of the boom, a bucket lifting device provided on the arm, and a clamshell bucket.
- the clamshell bucket is provided so as to be able to move up and down with respect to the arm, and the shaft is excavated by the raising and lowering operation and the opening and closing operation by the bucket raising and lowering device.
- Patent Document 1 a device including a lifting cylinder for raising and lowering the clamshell bucket and an opening / closing cylinder for opening and closing the clamshell bucket has been proposed (Patent Document 1).
- the elevating cylinder raises and lowers the clamshell bucket by unwinding and winding the elevating rope by changing the distance between the movable sheave and the fixed sheave.
- the opening / closing cylinder opens and closes the clamshell bucket by unwinding and winding the opening / closing rope by changing the distance between the movable sheave and the fixed sheave.
- the bucket elevating device according to Patent Document 1 has a configuration that detects that the clamshell bucket has landed on the ground and stops the elevating cylinder from descending the bucket to prevent the elevating rope from loosening and separating from the sheave. There is.
- Patent Document 2 A device having a configuration that can be switched to the above three modes has been proposed (Patent Document 2).
- Patent Document 2 the lower end of the swing link is attached to an arm attached to the boom.
- An opening / closing rope connecting the drum and the clamshell bucket is wound around the sheave provided at the upper end of the swing link.
- This bucket elevating device is configured to open and close the clamshell bucket by expanding and contracting the cylinder connected to the swing link to swing the swing link.
- the bucket elevating device allows the clamshell bucket to be submerged in the ground by its own weight by making the drum a free-fall mode. Then, with the clamshell bucket submerged in the ground, the rocking link is swung to close the clamshell bucket. As a result, the bucket lifting device can scoop a large amount of earth and sand in one excavation operation, and the excavation efficiency can be improved.
- the bucket elevating device according to Patent Document 2 needs to swing the swing link mounted on the arm in order to open and close the clamshell bucket. For this reason, the height of the vehicle body including the range in which the swing link swings during excavation work becomes large, and there is a problem that it cannot be applied to a work site having height restrictions such as a site where a reverse striking method is performed. be.
- An object of the present invention is to provide a deep foundation excavator capable of increasing the excavation efficiency of earth and sand and suppressing the height of the vehicle body during excavation work.
- One embodiment of the present invention comprises a self-propelled vehicle body and a working device provided on the vehicle body, wherein the working device includes a boom provided on the vehicle body and an arm provided on the tip of the boom.
- a bucket elevating / opening / closing device provided on the arm, and a clamshell bucket provided so as to be able to elevate / retract the arm and excavating a shaft by the elevating / opening / closing operation of the bucket elevating / opening / closing device.
- the bucket elevating / opening / closing device includes an elevating cylinder provided on the arm, a first elevating sheave and a first opening / closing sheave attached to one end side of the elevating cylinder and moving in the expansion / contraction direction of the elevating cylinder, and the first opening / closing sheave.
- a second opening / closing sheave provided, an opening / closing cylinder provided on the arm for approaching and separating the second opening / closing sheave from the first opening / closing sheave, and one end in the length direction are attached to the arm.
- the other end is attached to the clam shell bucket, the middle part is attached to the elevating rope wound around the first elevating sheave and the second elevating sheave, and one end in the length direction is attached to the arm.
- the arm is provided in a deep foundation excavator in which the other end is attached to the clam shell bucket and the intermediate portion is provided with an opening / closing rope wound around the first opening / closing sheave and the second opening / closing sheave.
- a loosening adjustment cylinder that expands and contracts to adjust the looseness of the opening and closing rope, and an intermediate portion of the opening and closing rope that is attached to one end of the loosening adjustment cylinder are wound to respond to the expansion and contraction operation of the loosening adjustment cylinder. It is characterized in that a looseness adjusting sheave that moves in the direction of approaching and separating from the second opening / closing sheave is provided.
- the elevating rope and the opening / closing rope can be loosened by further operating the elevating cylinder after landing the clamshell bucket on the ground by operating the elevating cylinder.
- the clamshell bucket can be quickly closed by operating the opening / closing cylinder after operating the loosening adjusting cylinder to remove the looseness of the opening / closing rope.
- the elevating rope since the elevating rope is loose, the clamshell bucket can sneak into the ground by its own weight. Therefore, by closing the clamshell bucket, the clamshell bucket can scoop a large amount of earth and sand, so that the excavation efficiency can be improved.
- It is a block diagram which shows typically the bucket elevating / opening / closing device.
- It is a hydraulic circuit diagram of a bucket elevating / opening / closing device.
- It is operation explanatory diagram which shows typically the operation of the bucket elevating / opening / closing device when the clamshell bucket descends.
- It is an operation explanatory view which shows typically the operation of the bucket elevating / opening / closing device when a clamshell bucket lands on the ground.
- It is an operation explanatory view which shows typically the state in which the elevating rope and the opening / closing rope are loosened after the clamshell bucket has landed.
- FIGS. 1 to 9 show a first embodiment of the present invention.
- the deep foundation excavator 1 is manufactured based on, for example, a crawler type hydraulic excavator.
- the deep foundation excavator 1 includes a self-propelled crawler type lower traveling body 2, an upper turning body 3 mounted on the lower traveling body 2 so as to be able to turn, and a later-described upper turning body 3 provided on the upper turning body 3. It is composed of a working device 5.
- the lower traveling body 2 and the upper turning body 3 constitute the vehicle body of the deep foundation excavator 1.
- a cab 4 that defines the driver's cab is provided on the left front side of the upper swivel body 3. An operator is boarded in the cab 4 to operate the lower traveling body 2, the working device 5, and the like.
- a driver's seat (not shown) on which the operator sits is provided in the cab 4, and an elevating operation pedal 36, an opening / closing operation lever 39, a loosening operation pedal 42, and the like, which will be described later, are arranged around the driver's seat. ing.
- the work device 5 includes a boom 6 provided on the upper swing body 3 so as to be able to move up and down, an arm 7 rotatably provided at the tip of the boom 6, a bucket elevating / opening / closing device 11 described later, and a clam. It is configured to include a shell bucket 10.
- a boom cylinder 8 for raising and lowering the boom 6 with respect to the upper swing body 3 is provided between the upper swing body 3 and the boom 6.
- An arm cylinder 9 for rotating the arm 7 with respect to the boom 6 is provided between the boom 6 and the arm 7.
- the arm 7 is formed as, for example, a long square cylinder. As shown in FIG. 2, the arm 7 is equipped with a bucket elevating / opening / closing device 11. The tip of the arm 7 is provided with an elevating guide sheave 22 for guiding the elevating rope 24 described later downward and an opening / closing guide sheave 23 for guiding the opening / closing rope 25 described below downward.
- the clamshell bucket 10 has a bucket support portion 10A, a pair of buckets 10B that can be opened and closed under the bucket support portion 10A, a connecting bracket 10C, and a pair of opening and closing arms 10D.
- a pair of buckets 10B are rotatably connected to the connecting bracket 10C.
- the pair of opening / closing arms 10D are connected between the bucket support portion 10A and the pair of buckets 10B.
- the bucket support portion 10A is provided with a plurality of upper sheaves 10E.
- the connecting bracket 10C is provided with a plurality of lower sheaves 10F facing the upper sheave 10E in the vertical direction.
- the other end 24B of the elevating rope 24 is attached to the bucket support portion 10A of the clamshell bucket 10. Further, an opening / closing rope 25 is alternately wound around the upper sheave 10E and the lower sheave 10F of the clamshell bucket 10. The other end 25B of the opening / closing rope 25 is attached to the bucket support portion 10A of the clamshell bucket 10 (see FIG. 4).
- the bucket elevating / opening / closing device 11 is provided on the arm 7.
- the bucket elevating / opening / closing device 11 performs various operations including an elevating operation and an opening / closing operation of the clamshell bucket 10.
- the bucket elevating / opening / closing device 11 includes an elevating cylinder 12, a first elevating sheave 14, a first elevating sheave 15, a second elevating sheave 17, an opening / closing cylinder 18, and a second opening / closing sheave. It includes a sheave 20, a lifting rope 24, an opening / closing rope 25, a loosening adjusting cylinder 26, and a loosening adjusting sheave 28.
- the elevating cylinder 12 is provided on the arm 7 along the longitudinal direction of the arm 7.
- the elevating cylinder 12 elevates or contracts the clamshell bucket 10 in response to a stepping operation of the elevating operation pedal 36 described later.
- the elevating cylinder 12 has a tube 12A whose base end is attached to the arm 7, a piston 12B inserted in the tube 12A, and a rod 12C.
- the base end of the rod 12C is attached to the piston 12B in the tube 12A, and the tip of the rod 12C protrudes from the tube 12A so as to be expandable and contractible.
- the first shaft member 13 is connected to the tip of the rod 12C of the elevating cylinder 12.
- the first shaft member 13 extends in the expansion / contraction direction of the elevating cylinder 12, that is, in the lateral direction (width direction) intersecting the longitudinal direction of the arm 7, and can rotate the first elevating sheave 14 and the first opening / closing sheave 15. Supports.
- the first elevating sheave 14 is attached to the tip of the rod 12C which is one end side of the elevating cylinder 12 via the first shaft member 13.
- a plurality of first elevating sheaves 14 are provided on the first shaft member 13 in a laterally overlapping state (three sheets are illustrated in FIG. 2), and move in the expansion / contraction direction of the elevating cylinder 12 (longitudinal direction of the arm 7). It is possible.
- the number of first elevating sheaves 14 is set according to the required vertical excavation depth.
- the first opening / closing sheave 15 is attached to the tip of the rod 12C on one end side of the elevating cylinder 12 via the first shaft member 13 together with the first elevating sheave 14.
- the first opening / closing sheave 15 is arranged on the side opposite to the first elevating sheave 14 with the elevating cylinder 12 interposed therebetween, for example.
- a plurality of first opening / closing sheaves 15 are provided on the first shaft member 13 in a laterally overlapping state (three sheets are illustrated in FIG. 2), and the first opening / closing sheave 15 can be moved in the expansion / contraction direction of the elevating cylinder 12. Therefore, the plurality of first opening / closing sheaves 15 and the plurality of first elevating sheaves 14 are integrally moved in the longitudinal direction of the arm 7 by the expansion / contraction operation of the elevating cylinder 12.
- the second shaft member 16 is attached to the tip end side of the arm 7 provided with the elevating guide sheave 22 and the opening / closing guide sheave 23.
- the second shaft member 16 extends in a direction (lateral direction) intersecting the expansion / contraction direction of the elevating cylinder 12, and rotatably supports a plurality of second elevating sheaves 17.
- the second elevating sheave 17 is rotatably supported by the second shaft member 16 in a state of being separated from a plurality of first elevating sheaves 14 in the expansion / contraction direction of the elevating cylinder 12.
- a plurality of second elevating sheaves 17 are provided on the second shaft member 16 in a laterally overlapping state (three sheets are illustrated in FIG. 2), and are fixed to the arm 7 in the expansion / contraction direction of the elevating cylinder 12. There is. Therefore, the first elevating sheave 14 approaches and separates from the second elevating sheave 17 according to the expansion / contraction operation of the elevating cylinder 12.
- the opening / closing cylinder 18 is provided so as to extend in the longitudinal direction of the arm 7 so as to be parallel (parallel) to the elevating cylinder 12.
- the opening / closing cylinder 18 opens and closes the clamshell bucket 10 by expanding or contracting according to the tilting operation of the opening / closing operation lever 39 described later.
- the opening / closing cylinder 18 has a tube 18A whose base end is attached to the arm 7, a piston 18B inserted into the tube 18A, and a rod 18C.
- the base end of the rod 18C is attached to the piston 18B in the tube 18A, and the tip of the rod 18C protrudes from the tube 18A so as to be expandable and contractible.
- the third shaft member 19 is connected to the tip of the rod 18C of the opening / closing cylinder 18.
- the third shaft member 19 extends in the expansion / contraction direction of the elevating cylinder 12, that is, in the lateral direction intersecting the longitudinal direction of the arm 7, and rotatably supports the second opening / closing sheave 20.
- the second opening / closing sheave 20 is rotatably supported by the third shaft member 19 in a state of being separated from the plurality of first opening / closing sheaves 15 in the expansion / contraction direction of the elevating cylinder 12.
- a plurality of second opening / closing sheaves 20 are provided on the third shaft member 19 in a laterally overlapping state (two sheets are illustrated in FIG. 2), and move in the expansion / contraction direction (longitudinal direction of the arm 7) of the opening / closing cylinder 18. It is possible.
- the opening / closing cylinder 18 moves the second opening / closing sheave 20 in the longitudinal direction of the arm 7 according to the expansion / contraction operation, so that the second opening / closing sheave 20 approaches and separates from the first opening / closing sheave 15.
- the fourth shaft member 21 is provided at the tip of the arm 7.
- the fourth shaft member 21 extends in the expansion / contraction direction of the elevating cylinder 12, that is, in the lateral direction intersecting the longitudinal direction of the arm 7, and rotatably supports the elevating guide sheave 22 and the opening / closing guide sheave 23.
- the elevating guide sheave 22 and the opening / closing guide sheave 23 are provided at the tip of the arm 7 via the fourth shaft member 21.
- the elevating guide sheave 22 and the opening / closing guide sheave 23 are rotatably supported by the fourth shaft member 21.
- the elevating guide sheave 22 guides the elevating rope 24 described later from the arm 7 (bucket elevating / opening / closing device 11) toward the clamshell bucket 10.
- the opening / closing guide sheave 23 guides the opening / closing rope 25 described later from the arm 7 toward the clamshell bucket 10.
- the elevating rope 24 is provided between the arm 7 and the clamshell bucket 10 and supports the clamshell bucket 10 so as to be able to elevate.
- the elevating rope 24 is made of a wire rope, and one end 24A in the length direction is attached to the arm 7.
- the other end 24B of the elevating rope 24 in the length direction extends downward from the elevating guide sheave 22 and is attached to the bucket support portion 10A of the clamshell bucket 10 (see FIG. 4).
- the intermediate portion 24C of the elevating rope 24 is alternately wound around a plurality of first elevating sheaves 14 and a plurality of second elevating sheaves 17.
- the opening / closing rope 25 is provided between the arm 7 and the clamshell bucket 10 to open / close the pair of buckets 10B of the clamshell bucket 10.
- the opening / closing rope 25 is made of a wire rope, and one end 25A in the length direction is attached to the arm 7.
- the other end 25B of the opening / closing rope 25 in the length direction extends downward from the opening / closing guide sheave 23 and is attached to the bucket support portion 10A of the clamshell bucket 10 (see FIG. 4).
- the intermediate portion 25C of the opening / closing rope 25 is alternately wound around a plurality of first opening / closing sheaves 15 and a plurality of second opening / closing sheaves 20.
- the other end 25B side of the opening / closing rope 25 is alternately wound around a plurality of upper sheaves 10E and a plurality of lower sheaves 10F constituting the clamshell bucket 10.
- the clamshell bucket 10 descends when the elevating cylinder 12 shrinks and the first elevating sheave 14 approaches the second elevating sheave 17. Further, the clamshell bucket 10 is raised by extending the elevating cylinder 12 and separating the first elevating sheave 14 from the second elevating sheave 17. In this case, the lowering distance (maximum depth) of the clamshell bucket 10 can be freely set by increasing the number of the first elevating sheave 14 and the second elevating sheave 17 or changing the stroke of the elevating cylinder 12. can.
- the clamshell bucket 10 opens when the opening / closing cylinder 18 shrinks and the second opening / closing sheave 20 approaches the first opening / closing sheave 15. Further, the clamshell bucket 10 is closed when the opening / closing cylinder 18 is extended and the second opening / closing sheave 20 is separated from the first opening / closing sheave 15. In this case, by changing the stroke of the opening / closing cylinder 18, it becomes possible to correspond to the opening / closing stroke of the clamshell bucket 10.
- the force (pulling force) acting on the opening / closing rope 25 from the opening / closing cylinder 18 when the clamshell bucket 10 is closed is set to be smaller than the weight of the clamshell bucket 10.
- the twisting direction of the elevating rope 24 and the twisting direction of the opening / closing rope 25 are set to be opposite to each other while holding the clamshell bucket 10.
- the clamshell bucket 10 is prevented from rotating and swinging when ascending and descending, and the clamshell bucket 10 can be smoothly ascended and lowered by the elevating rope 24 and the opening and closing rope 25.
- the loosening adjustment cylinder 26 is provided so as to extend in the longitudinal direction of the arm 7 so as to be parallel to the elevating cylinder 12.
- the loosening adjustment cylinder 26 adjusts the tension of the opening / closing rope 25 according to the excavation work state of the shaft by expanding or contracting according to the stepping operation of the loosening operation pedal 42 described later.
- the loosening adjusting cylinder 26 has a tube 26A whose base end is attached to the arm 7, a piston 26B inserted into the tube 26A, and a rod 26C.
- the base end of the rod 26C is attached to the piston 26B in the tube 26A, and the tip of the rod 26C protrudes from the tube 26A so as to be expandable and contractible.
- the fifth shaft member 27 is connected to the tip of the rod 26C of the loosening adjustment cylinder 26.
- the fifth shaft member 27 extends in the expansion / contraction direction of the elevating cylinder 12, that is, in the lateral direction intersecting the longitudinal direction of the arm 7, and rotatably supports the looseness adjusting sheave 28 described later.
- the looseness adjusting sheave 28 is rotatably supported by the fifth shaft member 27 in a state of being separated from the second opening / closing sheave 20 in the expansion / contraction direction of the elevating cylinder 12.
- the looseness adjusting sheave 28 is wound around one end 25A side of the opening / closing rope 25 so that it can move in the expansion / contraction direction (longitudinal direction of the arm 7) of the loosening adjustment cylinder 26. Therefore, the looseness adjusting sheave 28 approaches and separates from the second opening / closing sheave 20 according to the expansion / contraction operation of the loosening adjustment cylinder 26. Then, the loosening adjustment cylinder 26 is extended while the clamshell bucket 10 has landed on the ground during the excavation work of the shaft. As a result, the looseness adjusting sheave 28 is separated from the second opening / closing sheave 20 so that the opening / closing rope 25 can be loosened (removed).
- the hydraulic pump 29 constitutes a hydraulic source together with the tank 30.
- the hydraulic pump 29 is driven by a prime mover mounted on the deep foundation excavator 1.
- a pilot pump 31 is connected to the hydraulic pump 29, and the pilot pump 31 is driven by a prime mover together with the hydraulic pump 29.
- the pressure oil discharged from the hydraulic pump 29 is selectively supplied to the elevating cylinder 12, the opening / closing cylinder 18, and the loosening adjusting cylinder 26 through the center bypass type main pipeline 32.
- An elevating switching valve 33 is provided between the hydraulic pump 29 and the elevating cylinder 12 in the main pipeline 32. Further, an on-off switching valve 34 is provided between the hydraulic pump 29 and the on-off cylinder 18 in the main pipeline 32.
- the elevating switching valve 33 and the opening / closing switching valve 34 are composed of, for example, a hydraulic pilot type directional control valve at 6 ports and 3 positions.
- the elevating switching valve 33 is switched from the neutral position to the switching position (a) to supply the pressure oil from the hydraulic pump 29 to the rod side oil chamber of the elevating cylinder 12 and reduce the elevating cylinder 12.
- the elevating switching valve 33 is switched from the neutral position to the switching position (b) to supply the pressure oil from the hydraulic pump 29 to the bottom side oil chamber of the elevating cylinder 12 and extend the elevating cylinder 12.
- the on-off switching valve 34 is switched from the neutral position to the switching position (c) to supply the pressure oil from the hydraulic pump 29 to the rod-side oil chamber of the on-off cylinder 18 and reduce the on-off cylinder 18.
- the on-off switching valve 34 is switched from the neutral position to the switching position (d) to supply the pressure oil from the hydraulic pump 29 to the bottom side oil chamber of the on-off cylinder 18 and extend the on-off cylinder 18.
- a slack adjustment switching valve 35 is provided between the hydraulic pump 29 and the slack adjustment cylinder 26 in the main pipeline 32.
- the loosening adjustment switching valve 35 is composed of, for example, a hydraulic pilot type directional control valve at 6 ports and 3 positions.
- the loosening adjustment switching valve 35 supplies the pressure oil from the hydraulic pump 29 to the rod-side oil chamber of the loosening adjustment cylinder 26, and reduces the loosening adjustment cylinder 26.
- the loosening adjustment switching valve 35 is switched from the neutral position to the switching position (f) to supply the pressure oil from the hydraulic pump 29 to the oil chamber on the bottom side of the loosening adjustment cylinder 26 and extend the loosening adjustment cylinder 26.
- the elevating operation pedal 36, the opening / closing operation lever 39, and the loosening operation pedal 42 are provided in the cab 4 of the deep foundation excavator 1.
- the elevating operation pedal 36 is attached to a pressure reducing valve type pilot operating valve 37 having a pair of pressure reducing valve portions 37A and 37B, and is stepped on to the reduction side or the extension side.
- the pilot pressure from the pilot pump 31 is supplied to the elevating switching valve 33 through the pilot pipeline 38A.
- the elevating switching valve 33 is switched to the switching position (a), and the elevating cylinder 12 is reduced.
- the opening / closing operation lever 39 is attached to a pressure reducing valve type pilot operating valve 40 having a pair of pressure reducing valve portions 40A and 40B.
- the opening / closing operation lever 39 is tilted to the reduction side or the extension side by the operator.
- the pilot pressure is supplied to the opening / closing switching valve 34 through the pilot line 41A.
- the on-off switching valve 34 is switched to the switching position (c), and the on-off cylinder 18 is reduced.
- the opening / closing operation lever 39 is tilted to the extension side, the pilot pressure is supplied to the opening / closing switching valve 34 through the pilot line 41B.
- the on-off switching valve 34 is switched to the switching position (d), and the on-off cylinder 18 extends.
- the loosening operation pedal 42 is attached to a pressure reducing valve type pilot operating valve 43 having a pair of pressure reducing valve portions 43A and 43B.
- the loosening operation pedal 42 is stepped on by the operator to the reduction side or the extension side.
- the pilot pressure is supplied to the loosening adjustment switching valve 35 through the pilot line 44A.
- the loosening adjustment switching valve 35 is switched to the switching position (e), and the loosening adjustment cylinder 26 is reduced.
- the loosening operation pedal 42 is stepped on the extension side, the pilot pressure is supplied to the loosening adjustment switching valve 35 through the pilot line 44B.
- the loosening adjustment switching valve 35 is switched to the switching position (f), and the loosening adjustment cylinder 26 extends.
- the elevating cylinder 12, the opening / closing cylinder 18, and the loosening adjusting cylinder 26 are individually and independently operated by the elevating operation pedal 36, the opening / closing operation lever 39, and the loosening operation pedal 42.
- the deep foundation excavator 1 has the above-described configuration, and the work of excavating a shaft using the deep foundation excavator 1 will be described below.
- the operator on board the cab 4 places the clamshell bucket 10 in a closed state above the ground on which the shaft should be excavated. In this state, the operator steps on the elevating operation pedal 36 to the reduction side. As a result, the pilot pressure is supplied to the elevating switching valve 33 through the pilot pipeline 38A, and the elevating switching valve 33 is switched to the switching position (a). As a result, the elevating cylinder 12 is reduced, the first elevating sheave 14 approaches the second elevating sheave 17, and the first opening / closing sheave 15 approaches the second opening / closing sheave 20. As a result, the elevating rope 24 and the opening / closing rope 25 are sent out from the arm 7, and the clamshell bucket 10 descends.
- the operator stops the stepping operation of the elevating operation pedal 36 to temporarily stop the descending operation of the clamshell bucket 10. .. Further, the operator tilts the opening / closing operation lever 39 toward the reduction side.
- the pilot pressure is supplied to the on-off switching valve 34 through the pilot pipeline 41A, and the on-off switching valve 34 is switched to the switching position (c). Therefore, the opening / closing cylinder 18 is reduced, and the second opening / closing sheave 20 approaches the first opening / closing sheave 15.
- the opening / closing rope 25 is sent out from the arm 7, and as shown in FIG. 4, the pair of buckets 10B of the clamshell bucket 10 are fully opened.
- the operator continues to step on the elevating operation pedal 36 to the reduced side.
- the elevating rope 24 and the opening / closing rope 25 are further sent out while maintaining the landing position of the clamshell bucket 10. Therefore, as shown in FIG. 6, the elevating rope 24 and the opening / closing rope 25 are loosened.
- the clamshell bucket 10 scoops a large amount of earth and sand by sneaking into the ground from the ground due to its own weight. Therefore, after the lower end of the clamshell bucket 10 has landed on the ground, the elevating rope 24 and the opening / closing rope 25 are loosened, so that the clamshell bucket 10 can be submerged in the ground according to the looseness.
- the operator steps on the loosening operation pedal 42 to the extension side before closing the clamshell bucket 10.
- the pilot pressure is supplied to the loosening adjustment switching valve 35 through the pilot pipeline 44B, and the loosening adjustment switching valve 35 is switched to the switching position (f). Therefore, as shown in FIG. 7, the loosening adjustment cylinder 26 extends and the loosening adjusting sheave 28 is separated from the second opening / closing sheave 20.
- the elevating rope 24 remains loose, and only the opening / closing rope 25 is loosened.
- the operator tilts the opening / closing operation lever 39 to the extension side.
- the pilot pressure is supplied to the on-off switching valve 34 through the pilot pipeline 41B, and the on-off switching valve 34 is switched to the switching position (d). Therefore, as shown in FIG. 8, the opening / closing rope 25 is pulled up by extending the opening / closing cylinder 18 and separating the second opening / closing sheave 20 from the first opening / closing sheave 15.
- the clamshell bucket 10 can be closed while sneaking into the ground due to its own weight, and can scoop a large amount of earth and sand.
- the opening / closing rope 25 is loosened while the elevating rope 24 is loose.
- the clamshell bucket 10 can be closed at the same time as the opening / closing cylinder 18 is extended, and the earth and sand can be excavated quickly.
- the force (pulling force) acting on the opening / closing rope 25 from the opening / closing cylinder 18 when the clamshell bucket 10 is closed is set to be smaller than the weight of the clamshell bucket 10.
- the elevating rope 24 is loosened in advance so that the clamshell bucket 10 can sufficiently submerge in the ground, some looseness remains in the state where the clamshell bucket 10 is closed in the ground. There is.
- the operator steps on the elevating operation pedal 36 to the extension side and the loosening operation pedal 42 to the reduction side.
- pilot pressure is supplied to the elevating switching valve 33 through the pilot pipeline 38B, and the elevating switching valve 33 is switched to the switching position (b).
- a pilot pressure is supplied to the loosening adjustment switching valve 35 through the pilot pipe line 44A, and the loosening adjustment switching valve 35 is switched to the switching position (e).
- the loosening adjustment cylinder 26 contracts and returns to the initial position, the loosening adjusting sheave 28 approaches the second opening / closing sheave 20, and the opening / closing rope 25 loosens.
- the elevating cylinder 12 is extended, the first elevating sheave 14 is separated from the second elevating sheave 17, and the elevating rope 24 is pulled up, and the first opening / closing sheave 15 is separated from the second opening / closing sheave 20.
- the opening / closing rope 25 is pulled up.
- the elevating rope 24 and the opening / closing rope 25 are pulled up to the arm 7, and the clamshell bucket 10 is lifted and raised by the elevating rope 24 and the opening / closing rope 25 while holding the earth and sand.
- the opening / closing rope 25 may be stretched without looseness, and the elevating rope 24 may remain loose.
- the tension acting on the opening / closing rope 25 and the tension acting on the elevating rope 24 become non-uniform.
- the posture of the lifted clamshell bucket 10 becomes unstable, and there is a risk that the load may spill from the clamshell bucket 10.
- the loosening adjusting cylinder 26 is reduced with a slight delay.
- the clamshell bucket 10 can be lifted without causing spillage while maintaining the tension of the opening / closing rope 25. Therefore, the tension acting on the elevating rope 24 and the opening / closing rope 25 when the clamshell bucket 10 is lifted can be made uniform. As a result, the clamshell bucket 10 can be lifted while maintaining a stable posture, and the life of the elevating rope 24 and the opening / closing rope 25 can be extended.
- the clamshell bucket 10 is raised to the outside of the shaft.
- the upper swivel body 3 is swiveled to move the clamshell bucket 10 above the loading platform of the dump truck (not shown).
- the operator tilts the opening / closing operation lever 39 toward the reduction side.
- the pilot pressure is supplied to the on-off switching valve 34 through the pilot pipeline 41A, and the on-off switching valve 34 is switched to the switching position (c). Therefore, the opening / closing cylinder 18 is reduced, the second opening / closing sheave 20 approaches the first opening / closing sheave 15, and the opening / closing rope 25 is pulled out.
- the clamshell bucket 10 opens, and the excavated earth and sand can be discharged to the loading platform of the dump truck.
- the upper swivel body 3 is swiveled to move the clamshell bucket 10 above the shaft, and the shaft is excavated by repeating the above-mentioned work (operation). be able to.
- the bucket elevating / opening / closing device 11 of the deep foundation excavator 1 is attached to the elevating cylinder 12 provided on the arm 7 and one end side of the elevating cylinder 12 in the expansion / contraction direction of the elevating cylinder 12.
- the deep foundation excavator 1 is provided between the arm 7 and the loosening adjusting cylinder 26 which expands and contracts to adjust the looseness of the opening / closing rope 25, and the intermediate portion of the opening / closing rope 25 attached to one end of the loosening adjusting cylinder 26.
- the clamshell bucket 10 held by the elevating rope 24 and the opening / closing rope 25 is lowered, and after the lower end of the clamshell bucket 10 lands on the ground, the elevating rope 24 and the opening / closing rope 25 are loosened.
- the clamshell bucket 10 can be put into a state where it can go underground by its own weight.
- the opening / closing rope 25 is loosened by the loosening adjusting cylinder 26, and the clamshell bucket 10 is closed by the opening / closing cylinder 18. Therefore, by closing the clamshell bucket 10 while sneaking into the ground, a large amount of earth and sand can be scooped by one excavation operation, and the excavation efficiency of the earth and sand can be improved.
- the opening / closing rope 25 may not be loose and the elevating rope 24 may remain loose.
- the loosening adjusting cylinder 26 is reduced with a slight delay.
- the clamshell bucket 10 can be lifted without causing spillage while maintaining the tension of the opening / closing rope 25. Therefore, the tension acting on the elevating rope 24 and the opening / closing rope 25 when the clamshell bucket 10 is lifted can be made uniform. As a result, the clamshell bucket 10 can be lifted while maintaining a stable posture.
- the excavated earth and sand can be safely discharged to a loading platform such as a dump truck.
- a loading platform such as a dump truck.
- the life of the elevating rope 24 and the opening / closing rope 25 can be extended.
- the deep foundation excavator 1 does not need to attach a swing link like the bucket lifting device of Patent Document 2 to the arm. Therefore, the height of the vehicle body of the deep foundation excavator 1 at the time of excavation work can be suppressed to a small size, and it can be applied to a work site having a height limitation such as a site where a reverse driving method is performed.
- the elevating cylinder 12, the opening / closing cylinder 18, and the loosening adjusting cylinder 26 are arranged along the longitudinal direction of the arm 7, respectively. According to this configuration, the elevating cylinder 12, the opening / closing cylinder 18, and the loosening adjusting cylinder 26 can be compactly housed in the arm 7, and the working device 5 of the deep foundation excavator 1 can be miniaturized as much as possible. Can be done.
- FIG. 10 shows a second embodiment of the present invention.
- the feature of this embodiment is that two elevating ropes and two opening / closing ropes for the bucket elevating / opening / closing device are provided.
- the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.
- a plurality of additional first elevating sheaves 14'constituting the bucket elevating / opening / closing device 11 are rotatably supported by the first shaft member 13 together with the first elevating sheave 14.
- a plurality of additional first opening / closing sheaves 15' are rotatably supported by the first shaft member 13 together with the first opening / closing sheave 15.
- a plurality of additional second elevating sheaves 17' can rotate to the second shaft member 16 together with the second elevating sheave 17 in a state of being separated from the additional first elevating sheave 14'in the expansion / contraction direction of the elevating cylinder 12. Is supported by.
- a plurality of additional second opening / closing sheaves 20' can rotate to the third shaft member 19 together with the second opening / closing sheave 20 in a state of being separated from the additional first opening / closing sheave 15'in the expansion / contraction direction of the elevating cylinder 12. Is supported by.
- the additional elevating guide sheave 22'and the additional opening / closing guide sheave 23' are rotatably attached to the tip of the arm 7, respectively.
- the additional lifting rope 24' is the second lifting rope paired with the lifting rope 24.
- One end 24A'of the additional elevating rope 24' is attached to the arm 7.
- the other end (not shown) of the additional elevating rope 24' extends downward from the additional elevating guide sheave 22'and is attached to the bucket support portion 10A of the clamshell bucket 10.
- the intermediate portion 24B'of the additional elevating rope 24' is alternately wound around the additional first elevating sheave 14'and the additional second elevating sheave 17'.
- the additional opening / closing rope 25' is the second opening / closing rope paired with the opening / closing rope 25.
- One end 25A'of the additional opening / closing rope 25' is attached to the arm 7.
- the other end (not shown) of the additional opening / closing rope 25' extends downward from the additional opening / closing guide sheave 23'and is attached to the bucket support portion 10A of the clamshell bucket 10.
- the intermediate portion 25B'of the additional opening / closing rope 25' is alternately wound around the additional first opening / closing sheave 15'and the additional second opening / closing sheave 20'.
- the clamshell bucket 10 is composed of two elevating ropes including the elevating rope 24 and the additional elevating rope 24', and two elevating ropes including the opening / closing rope 25 and the additional opening / closing rope 25'. It is supported by the opening and closing rope. Then, these four ropes 24, 24', 25, 25'move in synchronization with the expansion / contraction operation of the elevating cylinder 12 to raise and lower the clamshell bucket 10.
- the additional looseness adjusting sheave 28' is rotatably supported by the fifth shaft member 27 together with the looseness adjusting sheave 28 in a state of being separated from the additional second opening / closing sheave 20'in the expansion / contraction direction of the elevating cylinder 12. ..
- One end 25A'side of the additional opening / closing rope 25' is wound around the additional looseness adjusting sheave 28'. Therefore, the looseness adjusting sheave 28 and the additional loosening adjustment sheave 28'move in synchronization with the expansion / contraction operation of the loosening adjustment cylinder 26 to simultaneously adjust the looseness of the opening / closing rope 25 and the looseness of the additional opening / closing rope 25'. do.
- the clam shell bucket 10 is composed of two elevating ropes including an elevating rope 24 and an additional elevating rope 24', and an opening / closing rope 25 and an additional opening / closing rope 25'2. It is supported by the opening and closing rope of the book, and its basic operation is not particularly different from that of the first embodiment.
- the clamshell bucket 10 can be supported by a total of four ropes 24, 24', 25, 25' to improve the stability of the clamshell bucket 10 when ascending and descending. can.
- the bucket elevating / opening / closing device 11 is configured to meet the purpose of extending the life of each rope 24, 24', 25, 25'or making the ropes 24, 24', 25, 25'thinner to improve maintainability. It becomes possible to do.
- FIGS. 11 and 12 show a third embodiment of the present invention.
- the feature of this embodiment is that the elevating cylinder of the bucket elevating / opening / closing device is composed of two cylinders.
- the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.
- the two elevating cylinders 45 and 46 constituting the bucket elevating / opening / closing device 11 are provided on the arm 7 along the longitudinal direction of the arm 7, respectively.
- the outer diameters of these two elevating cylinders 45 and 46 are set smaller than those of the elevating cylinder 12 used in the first embodiment.
- the first shaft member 13 is attached to the rod 45A of one elevating cylinder 45 and the rod 46A of the other elevating cylinder 46.
- the two elevating cylinders 45 and 46 are connected in parallel to the hydraulic pump 29 via the main pipeline 32. Therefore, when the elevating operation pedal 36 is stepped on the extension side, the pilot pressure is supplied to the elevating switching valve 33 through the pilot pipeline 38B, and the elevating switching valve 33 switches to the switching position (b). As a result, pressure oil is simultaneously supplied to the oil chambers on the bottom side of the elevating cylinders 45 and 46, and the elevating cylinders 45 and 46 extend synchronously. Further, when the elevating operation pedal 36 is stepped on the reduction side, the pilot pressure is supplied to the elevating switching valve 33 through the pilot pipeline 38A, and the elevating switching valve 33 switches to the switching position (a). As a result, pressure oil is simultaneously supplied to the rod-side oil chambers of the elevating cylinders 45 and 46, and the elevating cylinders 45 and 46 shrink in synchronization.
- the deep foundation excavator according to the third embodiment is provided with two elevating cylinders 45 and 46, and its basic operation is not particularly different from that of the first embodiment.
- the elevating cylinder By using the two elevating cylinders 45 and 46 having an outer diameter smaller than that of 12, the layout in the arm 7 can be made possible.
- the first embodiment illustrates a case where the elevating cylinder 12 is operated by depressing the elevating operation pedal 36.
- the present invention is not limited to this, and the elevating cylinder 12 may be operated by tilting the elevating operation lever.
- the opening / closing cylinder 18 may be operated by the opening / closing operation pedal instead of the opening / closing operation lever 39, or the loosening adjustment cylinder 26 may be operated by the loosening operation lever instead of the loosening operation pedal 42.
- the present invention is not limited to this, and for example, three hydraulic pumps (triple pumps) that are simultaneously driven by a prime mover are used, and pressure oil from these three hydraulic pumps is applied to an elevating cylinder, an opening / closing cylinder, and a loosening adjustment cylinder. It may be configured to be supplied individually.
- FIGS. 13 and 14 show a fourth embodiment of the present invention.
- the feature of this embodiment is that when it is detected that the tension acting on the opening / closing rope is equal to or less than a predetermined value, the operation target of the opening / closing operating tool is switched from the opening / closing cylinder to the loosening adjustment cylinder.
- the same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.
- the loosening operation pedal 42 is operated to remove the loosening of the opening / closing rope 25.
- the bucket elevating / opening / closing device 51 has the elevating cylinder 12, the first elevating sheave 14, and the first elevating / closing device 11, similarly to the bucket elevating / opening / closing device 11 according to the first embodiment. It includes an opening / closing sheave 15, a second elevating sheave 17, an opening / closing cylinder 18, a second opening / closing sheave 20, an elevating rope 24, an opening / closing rope 25, a loosening adjusting cylinder 26, and a loosening adjusting sheave 28.
- the bucket elevating / opening / closing device 51 according to the present embodiment is different from the first embodiment in that a detection device 52 for detecting looseness of the opening / closing rope 25 is provided.
- the detection device 52 is provided between the arm 7 and one end 25A of the opening / closing rope 25.
- the detection device 52 includes a spring member 53 and a detector 54.
- the spring member 53 is formed as a compression spring sandwiched between the arm 7 and one end 25A of the opening / closing rope 25.
- the load characteristic of the spring member 53 is set so that the spring member 53 is compressed while the clamshell bucket 10 is suspended from the arm 7. That is, the spring member 53 contracts under the weight of the clamshell bucket 10.
- FIG. 1 when the clamshell bucket 10 lands and the opening / closing rope 25 loosens, the spring member 53 extends.
- the detector 54 detects the looseness of the opening / closing rope 25, that is, the free state of the spring member 53.
- the detector 54 is formed as a contact-type sensor (switch) that switches between ON and OFF by tilting the lever 54A.
- a non-contact type sensor that is switched between ON and OFF by a change in magnetic force or a light source may be used as a detector.
- the detector 54 is turned off when the spring member 53 is compressed, one end 25A of the opening / closing rope 25 moves away from the lever 54A, and the lever 54A returns to the initial position.
- the detector 54 when the opening / closing rope 25 is loosened and one end 25A of the opening / closing rope 25 pushes the lever 54A by the spring member 53, the lever 54A is tilted and switched to ON. Then, since the detector 54 is switched to ON at the timing when the tension acting on the on-off rope 25 becomes equal to or less than a predetermined value, power is supplied to the electromagnetic pilot unit 63A of the cylinder switching valve 63, which will be described later, based on the detection signal at this time. do.
- the upper swing body 3 has a main pump 55, a pilot pump 56, and a hydraulic oil tank 57. Further, the cab 4 is provided with an elevating operation tool 58 and an opening / closing operation tool 59 including an operation lever, an operation pedal and the like.
- the elevating operation tool 58 is connected to the elevating switching valve 60 through the first pilot line 58A and the second pilot line 58B.
- the elevating switching valve 60 has three positions: a valve closing position for stopping the expansion / contraction operation of the elevating cylinder 12, an extension position for extending the rod 12C of the elevating cylinder 12, and a reduction position for reducing the rod 12C of the elevating cylinder 12. Have. The three positions of the elevating switching valve 60 are switched by the elevating operating tool 58.
- the elevating switching valve 60 is connected to the bottom side oil chamber 12D of the elevating cylinder 12 via the bottom side pipeline 60A, and is connected to the rod side oil chamber 12E via the rod side pipeline 60B.
- an additional pilot line 64E for supplying pilot pressure to the pilot operation check valve 64B, which will be described later, is connected to the first pilot line 58A for switching the elevating switching valve 60 to the extension position.
- the opening / closing operating tool 59 is connected to the opening / closing switching valve 61 through the first pilot line 59A and the second pilot line 59B. Similar to the elevating switching valve 60, the on-off switching valve 61 reduces the valve closing position for stopping the expansion / contraction operation of the on-off cylinder 18, the extension position for extending the rod 18C of the on-off cylinder 18, and the rod 18C of the on-off cylinder 18. It has three positions, one is a reduced position and the other is a reduced position. The three positions of the opening / closing switching valve 61 are switched by the opening / closing operating tool 59.
- the on-off switching valve 61 is connected to the bottom-side oil chamber 18D of the on-off cylinder 18 via the bottom-side pipeline 61A, and is connected to the rod-side oil chamber 18E via the rod-side conduit 61B.
- a cylinder switching valve 63 which will be described later, is connected to the second pilot pipeline 59B for switching the on-off switching valve 61 to the extension side of the rod 18C of the on-off cylinder 18.
- the loosening switching valve 62 has two positions, a valve closing position for stopping the expansion / contraction operation of the loosening adjustment cylinder 26 and an extension position for extending the rod 26C of the loosening adjustment cylinder 26.
- the two positions of the loosening switching valve 62 are switched by an opening / closing operating tool 59 or the like.
- the loosening release switching valve 62 is connected to the bottom side oil chamber 26D of the loosening adjustment cylinder 26 via the bottom side pipeline 62A, and is connected to the rod side oil chamber 26E via the rod side pipeline 62B.
- the loosening switching valve 62 is provided with a pilot pipeline 62C for switching to the extension position.
- the pilot pipeline 62C of the loosening release switching valve 62 is connected to the hydraulic oil tank 57 or the opening / closing operating tool 59 via the cylinder switching valve 63.
- the cylinder switching valve 63 is provided in the middle of the second pilot line 59B of the opening / closing operating tool 59 and the pilot line 62C of the loosening switching valve 62.
- the detector 54 of the detection device 52 detects that the tension acting on the opening / closing rope 25 is equal to or less than a predetermined value
- the cylinder switching valve 63 adjusts the operation target of the opening / closing operating tool 59 to loosen from the opening / closing cylinder 18. Switch to cylinder 26.
- the cylinder switching valve 63 loosens and switches between the switching position (g) at which the pilot pressure (hydraulic oil) from the opening / closing operating tool 59 can be supplied to the opening / closing switching valve 61 and the pilot pressure from the opening / closing operating tool 59. It has two positions, a switching position (h) that can be supplied to the valve 62. Further, in the cylinder switching valve 63, the electromagnetic pilot unit 63A is connected to the detector 54 of the detection device 52. As a result, the cylinder switching valve 63 is switched to the switching position (h) by supplying power to the electromagnetic pilot unit 63A when the detector 54 is turned on.
- the cylinder reducing means 64 reduces the rod 26C of the loosening adjusting cylinder 26 when the elevating operating tool 58 is operated to the ascending side for raising the clamshell bucket 10. More specifically, in the cylinder reducing means 64, after the operation target of the opening / closing operating tool 59 is switched to the loosening adjusting cylinder 26 and the rod 26C is extended, the elevating operating tool 58 raises the clamshell bucket 10. When operated, the rod 26C of the loosening adjustment cylinder 26 is reduced.
- the cylinder reducing means 64 includes a drainage pipe line 64A connecting the bottom side oil chamber 26D of the loosening adjustment cylinder 26 and the hydraulic oil tank 57, and a pilot operation check valve 64B and a throttle provided in the drainage pipe line 64A.
- An additional pilot line 64E that connects the 64C, the check valve 64D provided in the bottom side line 62A of the loosening switching valve 62, the first pilot line 58A of the lifting operation tool 58, and the pilot operation check valve 64B. It is composed of and.
- the pilot operation check valve 64B is normally closed to shut off the drainage pipe line 64A.
- the pilot operation check valve 64B opens when the pilot pressure is supplied from the additional pilot line 64E, and the hydraulic oil is circulated in the drainage line 64A.
- the throttle 64C limits the speed at which the rod 26C of the loosening adjustment cylinder 26 contracts by reducing the flow rate of the hydraulic oil.
- the check valve 64D prevents the hydraulic oil in the bottom oil chamber 26D from loosening and flowing back to the switching valve 62 side.
- the additional pilot line 64E supplies the pilot pressure toward the pilot operation check valve 64B when the elevating operation tool 58 is operated to the ascending side for raising the clamshell bucket 10.
- the hydraulic oil in the oil chamber 26D on the bottom side of the loosening adjustment cylinder 26 is discharged to the hydraulic oil tank 57 through the drainage pipe line 64A or the like. That is, if the rod 26C of the loosening adjustment cylinder 26 is extended when the elevating operation tool 58 is operated to the ascending side for raising the clamshell bucket 10, the rod 26C is gradually reduced to the maximum. It will be in a reduced state.
- the operator boarding the cab 4 places the clamshell bucket 10 in a closed state above the excavation position.
- the spring member 53 is compressed by receiving the weight of the clamshell bucket 10, so that the detector 54 of the detection device 52 is turned off.
- the elevating operation tool 58 is operated to the descending side.
- the elevating switching valve 60 is switched to the reduced position by the pilot pressure from the second pilot line 58B, and the elevating cylinder 12 is reduced.
- each first elevating sheave 14 moves to each second elevating sheave 17 side
- each first opening / closing sheave 15 moves to each second opening / closing sheave 20 side.
- the elevating rope 24 and the opening / closing rope 25 are sent out from the arm 7, and the clamshell bucket 10 descends.
- the operator When the lowering motion of the clamshell bucket 10 progresses and the clamshell bucket 10 reaches a position several meters (for example, 2 to 3 meters) from the ground, the operator operates the opening / closing operating tool 59 to the open side to operate the clamshell bucket 10. Fully open each of the 10 buckets 10B. After the clamshell bucket 10 is fully opened, the elevating operating tool 58 is operated to the lowering side again to lower the clamshell bucket 10.
- the opening / closing operating tool 59 is operated to the closing side.
- the detector 54 of the detection device 52 detects the looseness of the spring member 53 and supplies power to the electromagnetic pilot portion 63A of the cylinder switching valve 63. do.
- the cylinder switching valve 63 is switched to the switching position (h) at which the pilot pressure from the opening / closing operating tool 59 can be loosened and supplied to the switching valve 62.
- the pilot pressure from the opening / closing operating tool 59 switches the loosening switching valve 62 to the extended position, so that the loosening adjusting cylinder 26 can extend the rod 26C to automatically take the loosening of the opening / closing rope 25. can.
- a tension equal to or higher than a predetermined value acts on the opening / closing rope 25, so that the cylinder switching valve 63 is automatically returned to the switching position (g).
- the operator can close the clamshell bucket 10 with the opening / closing operating tool 59.
- the opening / closing rope 25 can be automatically loosened without being aware of it.
- the lifting operation tool 58 is operated to the ascending side to raise the clamshell bucket 10.
- the opening / closing rope 25 is in a stretched state after being loosened by the loosening adjusting cylinder 26. Therefore, if the clamshell bucket 10 is raised in this state, the clamshell bucket 10 is only used by the opening / closing rope 25. Will be lifted.
- the elevating operation tool 58 when the elevating operation tool 58 is operated to the ascending side, a part of the pilot pressure supplied to the elevating switching valve 60 through the first pilot line 58A is reduced to the cylinder through the additional pilot line 64E. It is supplied to the pilot operation check valve 64B of the means 64. Therefore, in the cylinder reducing means 64, the pilot operation check valve 64B is opened and the hydraulic oil in the bottom side oil chamber 26D of the loosening adjustment cylinder 26 is discharged to the hydraulic oil tank 57 side. As a result, the loosening adjustment cylinder 26 reduces its rod 26C. At this time, the throttle 64C can gradually reduce the rod 26C of the loosening adjustment cylinder 26 by reducing the flow rate of the hydraulic oil flowing out from the bottom side oil chamber 26D.
- the cylinder reducing means 64 reduces the rod 26C of the loosening adjustment cylinder 26 together with the raising operation, so that the tension of the two ropes of the elevating rope 24 and the opening / closing rope 25 is increased.
- the clamshell bucket 10 can be raised in a stable state while matching the above.
- the cylinder reducing means 64 gradually reduces the rod 26C of the loosening adjusting cylinder 26 so that the tension of the opening / closing rope 25 does not become smaller than the tension of the elevating rope 24, this also causes the clamshell.
- the bucket 10 can be raised in a stable state.
- the elevating operation tool 58 After cutting the clamshell bucket 10 to the ground, continue to operate the elevating operation tool 58 to extend the elevating cylinder 12 and raise the clamshell bucket 10. Then, when the clamshell bucket 10 is pulled up to the ground, for example, it is moved above a dump truck (not shown) or the like, and the opening / closing operating tool 59 is operated to the opening side to loosen the opening / closing rope 25, thereby loosening the clamshell bucket. Open 10 and release it to the loading platform of the dump truck. Since the loosening adjusting cylinder 26 is in the fully contracted state at the time of this soil release, the clamshell bucket 10 can be held by the elevating rope 24 even if the opening / closing rope 25 is loosened.
- the clamshell bucket 10 is returned above the shaft, and the shaft can be excavated by the deep foundation excavator 1 by repeating the above-mentioned work (operation).
- the bucket elevating / opening / closing device 51 has a lifting / lowering operation tool 58 for operating the elevating / lowering cylinder 12, an opening / closing operating tool 59 for operating the opening / closing cylinder 18, and a tension acting on the opening / closing rope 25.
- the detector 54 of the detection device 52 that detects whether or not the value is equal to or less than the predetermined value and the detector 54 detects that the tension acting on the opening / closing rope 25 is equal to or less than the predetermined value, the opening / closing operation tool. It has a cylinder switching valve 63 for switching the operation target of 59 from the on-off cylinder 18 to the loosening adjusting cylinder 26, and a cylinder reducing means 64 for reducing the loosening adjusting cylinder 26.
- the tension acting on the elevating rope 24 and the opening / closing rope 25 can be automatically adjusted according to the operation situation. It can be done stably. As a result, the excavation work by the clamshell bucket 10 can be easily and accurately operated regardless of the skill level.
- each of the ropes 24 and 25 can be improved by applying tension evenly to the elevating rope 24 and the opening / closing rope 25.
- the stroke of the elevating cylinder 12 can be shortened, and the bucket elevating / opening / closing device 51 can be miniaturized.
- workability in a narrow work site can be improved.
- the elevating cylinder 12, the opening / closing cylinder 18, and the loosening adjusting cylinder 26 are arranged side by side (parallel) in the lateral direction of the arm 7, the bucket elevating / opening / closing device 51 can be downsized in this respect as well. can.
- FIG. 15 shows a fifth embodiment of the present invention.
- the feature of this embodiment is that the throttle of the cylinder reducing means is provided with an adjusting unit for adjusting the flow rate of the hydraulic oil.
- the same components as those in the fourth embodiment described above are designated by the same reference numerals, and the description thereof will be omitted.
- the cylinder reducing means 71 according to the fifth embodiment includes the drainage pipe line 71A, the pilot operation check valve 71B, the throttle 71C, the check valve 71D, and the addition, similarly to the cylinder reducing means 64 according to the fourth embodiment. It is equipped with a pilot line 71E.
- the cylinder reducing means 71 according to the fifth embodiment is different from the cylinder reducing means 64 according to the fourth embodiment in that the adjusting portion 71C1 is provided on the throttle 71C.
- the adjusting unit 71C1 of the throttle 71C adjusts the flow rate of the flowing hydraulic oil by, for example, adjusting the opening area.
- the adjusting unit 71C1 can adjust the time until the rod 26C of the loosening adjusting cylinder 26 is fully reduced. As a result, it is possible to match the hardness of the earth and sand to be excavated and the preference of the operator, and it is possible to improve the work efficiency.
- FIG. 16 shows a sixth embodiment of the present invention.
- the feature of this embodiment is that the cylinder reducing means is loosened so that hydraulic oil is supplied to the rod side oil chamber of the loosening cylinder when the lifting operation tool is operated to the raising side for raising the clamshell bucket. It is provided with a forced switching pilot pipeline for switching the switching valve.
- the same components as those in the fourth embodiment described above are designated by the same reference numerals, and the description thereof will be omitted.
- the cylinder reducing means 81 includes a throttle 81A with an adjusting portion 81A1 provided in the rod side pipeline 82B of the loosening switching valve 82 and a bypass pipeline 81B bypassing the throttle 81A.
- the check valve 81C provided and the forced switching pilot line 81D connecting the first pilot line 58A of the lifting operation tool 58 and the loosening switching valve 82 are provided.
- the loosening switching valve 82 has a bottom side pipeline 82A and a pilot pipeline 82C.
- the throttle 81A limits the speed at which the rod 26C of the loosening adjustment cylinder 26 contracts by reducing the flow rate of the hydraulic oil. Further, the adjusting unit 81A1 can adjust the time until the rod 26C of the loosening adjusting cylinder 26 is fully reduced.
- the check valve 81C allows the hydraulic oil in the rod side oil chamber 26E to flow to the loosening switching valve 82 side, and prevents the reverse flow. That is, when the rod 26C of the loosening adjustment cylinder 26 is reduced, the flow rate of the hydraulic oil is reduced by the throttle 81A, so that the rod 26C is gradually reduced.
- hydraulic oil is supplied to the rod side oil chamber 26E of the loosening adjustment cylinder 26 when the elevating operation tool 58 is operated to the ascending side for raising the clamshell bucket 10.
- the loosening switching valve 82 is switched to.
- the forced switching pilot line 81D switches up and down through the first pilot line 58A in the cylinder reducing means 81 configured in this way.
- a part of the pilot pressure supplied to the valve 60 is used to switch the loosening switching valve 82 to the reduced position.
- the loosening switching valve 82 supplies hydraulic oil to the rod-side oil chamber 26E of the loosening adjustment cylinder 26 through the rod-side pipeline 82B.
- the throttle 81A can limit the speed at which the rod 26C of the loosening adjustment cylinder 26 contracts by reducing the flow rate of the hydraulic oil.
- the adjusting unit 81A11 can adjust the time until the rod 26C of the loosening adjusting cylinder 26 is fully reduced.
- FIG. 1 shows a state in which the shaft excavation work is performed while the arm 7 is held in a horizontal posture.
- the present invention is not limited to this, and for example, the shaft 7 may be excavated in another posture such as a vertical posture or an inclined posture. This configuration can be applied to other embodiments as well.
- the clamshell bucket 10 is configured to be lowered when the rod 12C of the elevating cylinder 12 is reduced, and the clamshell bucket 10 is raised when the rod 12C of the elevating cylinder 12 is extended.
- the present invention is not limited to this, and the clamshell bucket 10 may be configured to rise when the rod 12C of the elevating cylinder 12 is reduced, and to be lowered when the rod 12C of the elevating cylinder 12 is extended.
- the expansion / contraction operation of the opening / closing cylinder 18 and the opening / closing operation of the clamshell bucket 10 may be reversed.
- the expansion / contraction operation of the slack adjustment cylinder 26 and the slack removal operation by the slack adjustment sheave 28 may be reversed.
- the arm 7 is formed as a long square cylinder and the bucket elevating / opening / closing device 11 is mounted on the outer periphery thereof is illustrated.
- the present invention is not limited to this, and for example, the arm 7 may be formed as a long square cylinder, and the bucket elevating / opening / closing device 11 may be provided inside the arm 7. This configuration can be applied to other embodiments as well.
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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)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
2 下部走行体(車体)
3 上部旋回体(車体)
5 作業装置
6 ブーム
7 アーム
10 クラムシェルバケット
11,51 バケット昇降・開閉装置
12,45,46 昇降シリンダ
14 第1昇降用シーブ
14′ 追加第1昇降用シーブ
15 第1開閉用シーブ
15′ 追加第1開閉用シーブ
17 第2昇降用シーブ
17′ 追加第2昇降用シーブ
18 開閉シリンダ
20 第2開閉用シーブ
20′ 追加第2開閉用シーブ
24 昇降ロープ
24′ 追加昇降ロープ
24A,25A,24A′ 一端
24B,25B 他端
24C,25C,24B′ 中間部
25 開閉ロープ
26 緩み調整シリンダ
28 緩み調整用シーブ
28′ 追加緩み調整用シーブ
54 検出器
58 昇降用操作具
59 開閉用操作具
60 昇降切換弁
61 開閉切換弁
62,82 緩み取り切換弁
63 シリンダ切換弁
64,71,81 シリンダ縮小手段
64A,71A 排液管路
64B,71B パイロット操作チェック弁
64C,71C,81C 絞り
81D 強制切換パイロット管路
Claims (6)
- 自走可能な車体と、前記車体に設けられた作業装置とからなり、
前記作業装置は、前記車体に設けられたブームと、前記ブームの先端に設けられたアームと、前記アームに設けられたバケット昇降・開閉装置と、前記アームに対して昇降可能に設けられ前記バケット昇降・開閉装置による昇降動作と開閉動作によって立坑を掘削するクラムシェルバケットとを備え、
前記バケット昇降・開閉装置は、
前記アームに設けられた昇降シリンダと、
前記昇降シリンダの一端側に取付けられ前記昇降シリンダの伸縮方向に移動する第1昇降用シーブおよび第1開閉用シーブと、
前記第1昇降用シーブに対し前記昇降シリンダの伸縮方向に離間して前記アームに設けられた第2昇降用シーブと、
前記第1開閉用シーブに対し前記昇降シリンダの伸縮方向に離間して前記アームに設けられた第2開閉用シーブと、
前記アームに設けられ前記第1開閉用シーブに対して前記第2開閉用シーブを接近、離間させる開閉シリンダと、
長さ方向の一端が前記アームに取付けられると共に他端が前記クラムシェルバケットに取付けられ、中間部が前記第1昇降用シーブと前記第2昇降用シーブとに巻回された昇降ロープと、
長さ方向の一端が前記アームに取付けられると共に他端が前記クラムシェルバケットに取付けられ、中間部が前記第1開閉用シーブと前記第2開閉用シーブとに巻回された開閉ロープとを備えてなる深礎掘削機において、
前記アームに設けられ前記開閉ロープの緩みを調整するために伸縮する緩み調整シリンダと、
前記緩み調整シリンダの一端に取付けられた状態で前記開閉ロープの中間部が巻回され、前記緩み調整シリンダの伸縮動作に応じて前記第2開閉用シーブに対して接近、離間する方向に移動する緩み調整用シーブとが設けられていることを特徴とする深礎掘削機。 - 前記バケット昇降・開閉装置は、
前記開閉シリンダを操作する開閉用操作具と、
前記昇降シリンダを操作する昇降用操作具と、
前記開閉ロープに作用する張力が所定値以下になったか否かを検出する検出器と、
前記検出器が前記開閉ロープに作用する張力が所定値以下になったことを検出したときに前記開閉用操作具の操作対象を前記開閉シリンダから前記緩み調整シリンダに切換えるシリンダ切換弁と、
前記昇降用操作具が前記クラムシェルバケットを上昇させる上昇側に操作されたときに前記緩み調整シリンダを縮小させるシリンダ縮小手段と、を有していることを特徴とする請求項1に記載の深礎掘削機。 - 前記シリンダ縮小手段は、前記緩み調整シリンダの縮小速度を制限する絞りを有していることを特徴とする請求項2に記載の深礎掘削機。
- 前記シリンダ縮小手段は、
前記緩み調整シリンダのボトム側油室と作動油タンクとを接続している排液管路と、
前記排液管路に設けられ、前記昇降用操作具が前記クラムシェルバケットを上昇させる上昇側に操作されたときに前記ボトム側油室の作動油が前記作動油タンクに向けて流通するのを許すパイロット操作チェック弁と、を備えていることを特徴とする請求項2に記載の深礎掘削機。 - 前記シリンダ縮小手段は、前記昇降用操作具が前記クラムシェルバケットを上昇させる上昇側に操作されたときに、前記緩み調整シリンダのロッド側油室に作動油が供給されるように緩み取り切換弁を切換える強制切換パイロット管路を備えていることを特徴とする請求項2に記載の深礎掘削機。
- 前記昇降シリンダ、前記開閉シリンダ、および前記緩み調整シリンダは、それぞれ前記アームの長手方向に沿って配置されていることを特徴とする請求項1に記載の深礎掘削機。
Priority Applications (5)
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CN202180004920.9A CN114222842B (zh) | 2020-03-31 | 2021-03-09 | 深基坑挖掘机 |
JP2022511731A JP7166487B2 (ja) | 2020-03-31 | 2021-03-09 | 深礎掘削機 |
KR1020227004039A KR102560265B1 (ko) | 2020-03-31 | 2021-03-09 | 심초 굴착기 |
EP21781835.0A EP4130392A4 (en) | 2020-03-31 | 2021-03-09 | DEEP FOUNDATION EXCAVATOR |
US17/633,979 US20220267984A1 (en) | 2020-03-31 | 2021-03-09 | Deep foundation excavator |
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JP2020063331 | 2020-03-31 | ||
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JP2020-063331 | 2020-03-31 | ||
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US (1) | US20220267984A1 (ja) |
EP (1) | EP4130392A4 (ja) |
JP (1) | JP7166487B2 (ja) |
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WO2023145819A1 (ja) * | 2022-01-27 | 2023-08-03 | 日立建機株式会社 | 深礎掘削機 |
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JP7467732B1 (ja) | 2023-05-30 | 2024-04-15 | 大成建設株式会社 | 搬送装置 |
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2021
- 2021-03-09 EP EP21781835.0A patent/EP4130392A4/en active Pending
- 2021-03-09 KR KR1020227004039A patent/KR102560265B1/ko active IP Right Grant
- 2021-03-09 CN CN202180004920.9A patent/CN114222842B/zh active Active
- 2021-03-09 US US17/633,979 patent/US20220267984A1/en active Pending
- 2021-03-09 WO PCT/JP2021/009328 patent/WO2021199965A1/ja unknown
- 2021-03-09 JP JP2022511731A patent/JP7166487B2/ja active Active
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CN114222842B (zh) | 2023-05-09 |
US20220267984A1 (en) | 2022-08-25 |
KR102560265B1 (ko) | 2023-07-28 |
KR20220028122A (ko) | 2022-03-08 |
JPWO2021199965A1 (ja) | 2021-10-07 |
CN114222842A (zh) | 2022-03-22 |
EP4130392A1 (en) | 2023-02-08 |
JP7166487B2 (ja) | 2022-11-07 |
EP4130392A4 (en) | 2024-04-17 |
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