JP2009108587A - Remote control work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work unit which can be placed on an elevator, etc., to be transported without narrowing a work range when folded into a compact form. <P>SOLUTION: The work unit 31 includes a swing post 32, a first boom 33 fitted to the swing post 32, a second boom 34 fitted to the first boom 33, an arm 35 fitted to the second boom 34, a bucket 36 fitted to the arm 35, and cylinders 37 to 41 that drive these components. A wider work range is thus obtained by extending the work unit 31. When folded, on the other hand, the work unit 31 can be reduced into a low, compact form to be placed on an elevator. In addition, with the first boom 33 bent forward, the work unit 31 is capable of executing work of scraping a wall in a high place, etc., at the front side ahead of an upper swiveling body 4, which prevents a fall of a broken piece onto the upper swiveling body 4. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a remotely operated work machine that operates a vehicle body and a work device from a place where an operator is away, for example.

  In general, a work machine using a hydraulic excavator as a base machine is a self-propelled lower traveling body, an upper revolving body that is turnable on the lower traveling body, and a work that is provided on the front side of the upper revolving body. Device. Moreover, this working machine is used not only for normal excavation work but also for dismantling work such as walls and ceilings in high places. At the time of this dismantling work, there is a possibility that the crushed concrete pieces and the like may fall directly on the operator who is operating. In view of this, there is a remote operation type work machine in which a dismantling work or the like can be performed by an operator operating a remote transmission device at a place away from the work site (see, for example, Patent Document 1). .

Japanese Patent Laid-Open No. 10-8498

  This remotely operated work machine is, for example, a motor for driving a hydraulic pump on a swing frame of an upper swing body, supplying pressure oil from the hydraulic pump to a hydraulic motor of a lower traveling body, a hydraulic cylinder of a work device, and the like. A control valve device for discharging, a remote operation controller for controlling the prime mover, the control valve device and the like based on a signal from the remote transmission device are provided.

  Further, the working device includes a turning device provided at a front portion of the turning frame, a boom whose base end portion is attached to the turning device so as to be able to be lifted and lowered, and a base end portion which can be raised and lowered to the distal end portion of the boom. And an attachment such as a bucket attached to the tip of the arm, and a hydraulic cylinder for driving them.

  In the work machine according to Patent Document 1, an operator operates a control lever of a remote transmission device to control a prime mover, a control valve device, and the like with a remote control controller that has received an operation signal, thereby causing a lower traveling body to travel. Or operating a working device to perform dismantling work or the like.

  However, since the working machine according to Patent Document 1 mainly works outdoors, there is no idea of putting the whole into a compact. For this reason, in the working machine of patent document 1, even if a working device is folded, the working device protrudes to the front side or the upper side, and is not suitable for work inside a building. In particular, since this working machine cannot be mounted on an elevator in a limited space, it cannot work on the upper floors above the second floor of the building.

  Therefore, there is a working machine that is downsized as a whole so as to be mounted on an elevator (see, for example, Patent Document 2). The working machine of Patent Document 2 is configured such that the base end portion of the boom is attached to the rear portion of the upper swing body so that the working device does not protrude forward. Further, the upper swing body has an operation lever at the rear portion, and by operating this operation lever, the lower travel body can be run or the working device can be moved up and down.

JP 2004-190330 A

  And the working machine of patent document 2 can be used for the partial demolition work etc. which cut down the inner wall etc. of a building by having reduced the whole. Moreover, it can be mounted on an elevator by shortening the length of the vehicle body, and can be transported to the upper floor of the building using this elevator and work on the upper floor.

  By the way, since the working machine of the above-mentioned patent document 2 is provided with the operating lever on the upper swing body, the operator must operate the operating lever along the working machine. There is a risk of falling down.

  In addition, the working device has the base end of the boom attached to the rear part of the upper swing body to reduce the projecting dimension to the front side, but the folded working device projects greatly upward, so the working device May interfere with the elevator. In this case, the work device must be disassembled, and much labor is required for moving the work machine.

  Furthermore, since the work device has the base end of the boom attached to the rear part of the upper swing body, the work range of the work device becomes narrower than when the boom is attached to the front part of the upper swing body. There is a problem that is bad.

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to fold an operating device in the front, rear, up, and down directions so that it can be used in an elevator or the like without narrowing the work range. The object is to provide a remotely operated working machine that can be mounted and transported.

  A remotely operated work machine according to the present invention includes a self-propelled vehicle body and a work device provided on the front side of the vehicle body. The vehicle body is provided with a frame and a prime mover that is provided on the frame and drives a hydraulic pump. A control valve device that supplies and discharges pressure oil from the hydraulic pump to and from an actuator of the working device, and a remote operation controller that controls the prime mover and the control valve device based on a signal from a remote transmission device. ing.

  In order to solve the above-mentioned problem, the feature of the configuration adopted by the invention of claim 1 is that the work device is a swing provided in a substantially central position at the front of the vehicle body so as to be swingable in the left and right directions. A first boom whose base end is attached to the swing post so as to be able to be lifted up and down, and a base end which is attached to the tip of the first boom so as to be up and down; 2 booms, an arm whose base end is attached to the tip of the second boom so as to be able to be lifted and lowered, and a work tool attached to the tip of the arm, and the first boom is substantially vertical. In the state where it is in a vertical posture rising up, it is formed by bending toward the front side so that the tip end portion is located on the front side with respect to the base end portion.

  According to a second aspect of the present invention, the first boom is formed by bending an intermediate portion in the length direction into a substantially “<” shape or “L” shape, and the second boom is formed from the proximal end portion to the distal end portion. It is formed linearly over the part.

  According to a third aspect of the present invention, the working device tilts the first boom rearward and the second boom, the arm, and the work tool are folded, and the swing post is moved to one side in the left and right directions. By swinging, it is configured to be within the range of the width dimension and the length dimension of the vehicle body.

  According to a fourth aspect of the present invention, the vehicle body is provided with a cover member that covers devices including the prime mover and the control valve device, and the cover member has a height dimension of the front side portion lower than the rear side portion. A notch portion is provided, and the first boom of the working device can be tilted rearward to a position close to the notch portion of the cover member.

  According to the first aspect of the present invention, the working device is provided with a swing post that is swingable in the left and right directions substantially at the center of the front portion of the vehicle body, and the base end portion is forward and backward with respect to the swing post. A first boom attached to the front end of the first boom, a second boom attached to the front end of the first boom, and a base end raised to the front end of the second boom. The arm is configured to be movable, and a work tool is attached to the tip of the arm. Accordingly, when the first boom, the second boom, the arm, and the work tool are extended, a wide work range can be obtained.

  At this time, the first boom is formed in a state where it is in a vertical posture standing substantially vertically, and is bent toward the front side so that the distal end portion is located on the front side with respect to the base end portion. For example, the work of cutting or crushing concrete at a high place can be performed in front of the vehicle body, and the vehicle body can be separated from directly below the work site. As a result, the vehicle body can be protected from falling concrete pieces and the like. Also, the operator can be protected by remote control.

  On the other hand, since the boom is formed of the first boom and the second boom, the working device is provided at the front portion of the vehicle body when the second boom, the arm, and the work tool are folded with respect to the first boom. Nevertheless, the working device can be gathered low and small on the front side of the vehicle body. Thereby, the work machine can be easily placed in a small limited space such as an elevator, and can be transported to the upper floor of the building using the elevator.

  According to the second aspect of the present invention, the intermediate portion in the length direction of the first boom is bent into a substantially “<” shape or “L” shape, and the second boom is a straight line extending from the base end portion to the tip end portion. It is formed in a shape. Thereby, a wide working range can be obtained by extending the linear second boom with respect to the first boom. On the other hand, the second boom can be folded small relative to the first boom.

  According to the invention of claim 3, the first boom of the working device is tilted rearward, and the second boom, the arm, and the work tool are folded to the first boom side. In this state, the swing post is swung to one side in the left and right directions. Thereby, the working device can be accommodated in the range of the width dimension and the length dimension of the vehicle body. As a result, since the work device does not protrude from the vehicle body, it can be easily placed on a small elevator as long as the vehicle body can be accommodated.

  According to the invention of claim 4, the cover member of the vehicle body that covers the equipment including the prime mover and the control valve device is provided with a notch portion in which the height dimension of the front part is lower than the rear part. Accordingly, the first boom of the working device can be tilted rearward to a position close to the notch portion of the cover member. In this way, the tilting of the first boom to the rear side to the position close to the notch portion of the cover member makes it possible for the working device to keep the amount of protrusion to the front side small.

  Hereinafter, a remote operation type work machine using a hydraulic excavator as a base machine will be described as an example of a remote operation type work machine according to an embodiment of the present invention, and will be described in detail with reference to FIGS. In the first embodiment, the hydraulic pump is driven by using an electric motor as a prime mover.

  In FIG. 1, reference numeral 1 denotes a remotely operated work machine according to the first embodiment, and the work machine 1 is configured based on a hydraulic excavator. The working machine 1 includes a self-propelled crawler-type lower traveling body 2, an upper revolving body 4 that is turnably mounted on the lower traveling body 2 via a revolving device 3, and the upper revolving body 4. It is mainly constituted by a work device 31 described later provided on the front side so as to be able to move up and down. The lower traveling body 2 and the upper turning body 4 constitute the vehicle body of the present invention.

  Here, the lower traveling body 2 includes a track frame 5 having left and right side frames 5A (only the left side is illustrated), idle wheels 6 provided on one of the side frames 5A of the track frame 5, The driving wheel 7 is provided on the other side of the side frame 5 </ b> A and is rotationally driven by a hydraulic motor 7 </ b> A, and the idler wheel 6 and a crawler belt 8 wound around the driving wheel 7. Further, a soil discharge plate 9 is provided on the front side of the track frame 5, and the soil discharge plate 9 can be rotated upward and downward by a hydraulic cylinder 9A (shown in FIG. 3). The hydraulic motor 7 </ b> A of the drive wheel 7 and the hydraulic cylinder 9 </ b> A of the earth discharging plate 9 constitute an actuator provided in the lower traveling body 2.

  On the other hand, as shown in FIG. 2, the upper swing body 4 includes a swing frame 10, an electric motor 11, a hydraulic pump 12, an electromagnetic directional control valve device 13, a hydraulic oil tank 14, a counterweight 16, a cover member 17, a remote operation, which will be described later. The controller 20 is generally configured. Further, as shown in FIG. 7, the upper swing body 4 is formed to fit within the width dimension W and the length dimension L of the lower traveling body 2 constituting the vehicle body.

  Reference numeral 10 denotes a revolving frame formed as a support structure, and the revolving frame 10 is attached to the lower traveling body 2 via a revolving device 3 so as to be revolving. Further, an attachment portion 10A for attaching the swing post 32 of the working device 31 is provided at the front portion of the revolving frame 10 so as to protrude to the front side.

  Reference numeral 11 denotes an electric motor as a prime mover mounted on the rear side of the revolving frame 10. The electric motor 11 is mounted in a horizontally placed state with the axis extending in the left and right directions. A hydraulic pump 12 that discharges pressure oil is connected to the right side of the electric motor 11.

  Reference numeral 13 denotes an electromagnetic directional control valve device mounted on the left front side of the swing frame 10, and this electromagnetic directional control valve device 13 is configured as a multiple valve device in which a plurality of control valves are connected. The electromagnetic directional control valve device 13 is connected to the hydraulic motor 7A of the drive wheel 7 provided in the lower traveling body 2, the hydraulic cylinder 9A of the earth discharging plate 9, and the upper part in response to an operation signal from a remote controller 20 described later. Pressure oil is supplied to and discharged from a swing motor 15 (described later) provided in the swing body 4, a swing cylinder 37, a first boom cylinder 38, a second boom cylinder 39, an arm cylinder 40, and a bucket cylinder 41 provided in the work device 31. Is.

  Reference numeral 14 denotes a hydraulic oil tank mounted on the right front side of the revolving frame 10. Reference numeral 15 denotes a turning motor attached to the center side of the turning frame 10, and the turning motor 15 constitutes a drive unit of the turning device 3. Reference numeral 16 denotes a counterweight attached to the rear portion of the revolving frame 10.

  Reference numeral 17 denotes a cover member provided on the revolving frame 10. The cover member 17 covers the electric motor 11, the hydraulic pump 12, the electromagnetic direction control valve device 13, the hydraulic oil tank 14, and the like. Further, the cover member 17 is provided with an inclined notch surface 17C as a notch portion by notching in an inclined shape so as to make the height dimension of the front side portion 17B lower than the rear side portion 17A.

  As shown in FIG. 5, the inclined notch surface 17 </ b> C is inclined straight at an angle that can avoid the first boom 33 when the first boom 33 of the working device 31 described later tilts rearward. Yes. Note that the inclination angle of the inclined notch surface 17 </ b> C may be an angle that can avoid the first boom 33, and can be changed depending on the device accommodated in the cover member 17.

  Next, a configuration for remotely operating the work machine 1 will be described with reference to the circuit diagram of FIG.

  Reference numeral 18 denotes a remote transmission device arranged at the operator's hand. The remote transmission device 18 includes a plurality of operation levers 18A, various switches (not shown) and the like, and transmits operation signals corresponding to these operations to the remote reception device 19 on the work machine 1 side by wireless communication. To do.

  On the other hand, 19 is a remote receiving device provided on the upper swing body 4, and the remote receiving device 19 receives an operation signal transmitted from the remote transmitting device 18 by an antenna 19A (see FIG. 1). It is. The received operation signal is transmitted to the remote operation controller 20 described later.

  Reference numeral 20 denotes a remote control controller provided in the upper swing body 4. The remote operation controller 20 outputs a control signal to a motor control device 21 to be described later based on an operation signal from the remote transmission device 18 transmitted via the remote reception device 19. The remote operation controller 20 outputs an electromagnetic valve drive signal to the electromagnetic direction control valve device 13 based on an operation signal from the remote transmission device 18.

  Reference numeral 21 denotes a motor control device, and the motor control device 21 is composed of, for example, an inverter type control circuit. Further, the motor control device 21 is connected to an external power source 23 described later via a power cable 22. Then, the motor control device 21 controls the power, frequency, and the like supplied from the external power source 23 to the electric motor 11 based on the control signal from the remote operation controller 20, and the electric motor 11 is started, stopped, and the number of rotations is controlled. Make adjustments.

  Reference numeral 23 denotes an external power supply. As the external power supply 23, for example, a three-phase 200V commercial power supply is used. The external power source 23 is not limited to a commercial power source, and an engine-driven generator or the like may be used.

  Reference numeral 24 denotes a voltage converter provided between the remote control controller 20 and the external power source 23. The voltage conversion device 24 has an input side connected to an external power source 23 via a power cable 22 and an output side connected to the remote operation controller 20. The voltage converter 24 is a voltage suitable for the electromagnetic valve drive signal transmitted from the remote operation controller 20 to the electromagnetic directional control valve device 13, the remote operation controller 20, and the motor control device. The voltage is converted into a voltage suitable for the control signal 21, for example, DC 5V, 24V, etc.

  Next, the working device 31 provided on the front side of the remotely operated working machine 1 so as to be swingable and capable of being raised and lowered will be described.

  Reference numeral 31 denotes a working device according to the present embodiment. This working device 31 is provided at the front part of the upper swing body 4 constituting the vehicle body. The working device 31 includes a swing post 32, a first boom 33, a second boom 34, an arm 35, a bucket 36, a swing cylinder 37, a first boom cylinder 38, a second boom cylinder 39, an arm cylinder 40, and a bucket, which will be described later. The cylinder 41 is configured. The working device 31 performs excavation work, sediment loading / unloading work, wall surface shaving work, wall surface / ceiling crushing work, and the like.

  Reference numeral 32 denotes a swing post, and the swing post 32 is located approximately in the center of the front portion of the revolving frame 10 and is attached so as to protrude forward. As shown in FIG. 2, the swing post 32 is attached to the attachment portion 10A of the turning frame 10 so as to be swingable in the left and right directions around the support pin 32A. A boom mounting portion 32B to which the base end portion 33A of the first boom 33 is attached is provided near the upper rear side of the swing post 32, and a first boom cylinder 38 to be described later is provided on the front side of the boom mounting portion 32B. A link portion 32C to be attached is provided. Further, on the right side of the swing post 32, a cylinder bracket 32D to which a later-described swing cylinder 37 is attached is provided so as to protrude to the right side.

  Reference numeral 33 denotes a first boom according to the present embodiment, which is attached to the swing post 32 so as to be able to move up and down in the forward and backward directions. The first boom 33 is pin-coupled so that its base end portion 33A can be lifted and lowered to the boom mounting portion 32B. On the other hand, a proximal end portion 34 </ b> A of the second boom 34 is attached to the distal end portion 33 </ b> B of the first boom 33. Further, a cylinder bracket 33D is provided at a portion that is close to the distal end portion 33B of the intermediate portion 33C of the first boom 33 and that is on the lower side when the first boom 33 is swung.

  Here, the characteristic part of the 1st boom 33 is demonstrated. As shown in FIG. 1, the first boom 33 has a vertical posture in which the first boom 33 rises substantially vertically. Specifically, the first boom 33 has a base end portion in a state where a straight portion from the base end portion 33A to the intermediate portion 33C is substantially vertical. The tip 33B is bent toward the front side so as to be positioned on the front side relative to 33A. That is, the first boom 33 is formed in a “B” shape or a “L” shape bent at the position of the intermediate portion 33C between the base end portion 33A and the distal end portion 33B.

  As a result, as shown in FIG. 4, the first boom 33 has its distal end portion 33 </ b> B protruding forward from the proximal end portion 33 </ b> A, and therefore, for example, the bucket 36 is used to scrape or crush concrete at a high place. The work can be performed on the front side of the upper swing body 4, and the upper swing body 4 and the like can be separated from directly below the work site. When such a positional relationship is taken, the upper swing body 4 and the like can be protected from falling concrete pieces and the like.

  Moreover, as shown in FIG. 5, the first boom 33 can be tilted rearward to a position close to the inclined notch surface 17 </ b> C of the cover member 17 that covers the upper swing body 4. Thereby, the 1st boom 33 can suppress small that the arm 35, the bucket 36, etc. protrude to the front side, when the working device 31 is folded.

  Reference numeral 34 denotes a second boom provided on the first boom 33 so as to be able to be lifted and lowered. The second boom 34 is linearly formed over the entire length from the base end portion 34A to the tip end portion 34B. Further, the second boom 34 is pin-coupled so that the base end portion 34A can be moved up and down to the tip end portion 33B of the first boom 33, and the base end portion 35A of the arm 35 is attached to the tip end portion 34B. Further, a cylinder bracket 34C protrudes upward on the proximal end side of the second boom 34, and a cylinder bracket 34D protrudes downward on the distal end side.

  As described above, the boom of the working device 31 includes the bent first boom 33 and the linear second boom 34 that is pin-coupled to the first boom 33. The space between the boom 34 can be greatly extended, or the space can be bent slightly. Therefore, as shown in FIG. 4, when the second boom 34 is greatly extended with respect to the first boom 33, a wide working range can be obtained. On the other hand, as shown in FIG. 5, when the second boom 34 is folded with respect to the first boom 33, the work device 31 is attached to the front of the upper swing body 4, even though the work device 31 is provided on the front of the vehicle body. The front side is low and can be bundled small.

  Reference numeral 35 denotes an arm provided on the second boom 34 so as to be able to move up and down. The arm 35 is linearly formed over the entire length from the base end portion 35A to the tip end portion 35B. Further, the base end portion 35A of the arm 35 is pin-coupled to the tip end portion 34B of the second boom 34 so as to be able to move up and down. On the other hand, a bucket 36 or the like is attached to the tip 35B of the arm 35. Further, a cylinder bracket 35 </ b> C protrudes upward from the base end side of the arm 35.

  Reference numeral 36 denotes a bucket as a working tool that is rotatably attached to the distal end portion 35 </ b> B of the arm 35. The bucket 36 is used not only for general excavation work and earth and sand loading and unloading work but also for wall surface shaving work, wall surface and ceiling crushing work, and the like.

  Reference numeral 37 denotes a swing cylinder provided on the right side of the mounting portion 10 </ b> A of the turning frame 10. The swing cylinder 37 swings the swing post 32 to the left (left and right sides shown in FIGS. 6 and 7) and the right side in the right direction, and between the swing frame 10 and the cylinder bracket 32D of the swing post 32. Is provided.

  Reference numeral 38 denotes a first boom cylinder provided between the link portion 32 </ b> C of the swing post 32 and the cylinder bracket 33 </ b> D of the first boom 33. Reference numeral 39 denotes a second boom cylinder provided between the cylinder bracket 33D of the first boom 33 and the cylinder bracket 34D of the second boom 34. Reference numeral 40 denotes an arm cylinder provided between the cylinder bracket 34C of the second boom 34 and the cylinder bracket 35C of the arm 35. Further, reference numeral 41 denotes a bucket cylinder provided via a bucket link 42 between the cylinder bracket 35C of the arm 35 and the bucket 36.

  The swing cylinder 37, the first boom cylinder 38, the second boom cylinder 39, the arm cylinder 40, and the bucket cylinder 41 constitute an actuator of the working device 31, and as shown in FIG. It is connected to the device 13.

  The working device 31 according to the present embodiment is configured as described above. Next, a change in the form of the working device 31 according to the work situation will be described.

  First, when the work machine 1 is transported to the upper floor of the second floor or higher of the building, the work machine 1 needs to be placed on a narrow elevator. In this case, as shown in FIG. 5, the first boom cylinder 38 is extended, and the first boom 33 is tilted rearward to a position close to the inclined notch surface 17 </ b> C of the cover member 17. Further, the second boom cylinder 39 is reduced and the arm cylinder 40 and the bucket cylinder 41 are extended, whereby the second boom 34, the arm 35, and the bucket 36 are folded with respect to the first boom 33. Thereby, the working device 31 can suppress the arm 35, the bucket 36, and the like from protruding forward. However, the arm 35 and the bucket 36 protrude to the front side of the earth discharging plate 9 located at the front end portion of the lower traveling body 2.

  Therefore, as shown in FIGS. 6 and 7, for example, the swing cylinder 37 is extended, and the swing post 32 is swung to the left. At this time, the working device 31 can fit the arm 35 and the bucket 36 within the length dimension L of the lower traveling body 2 without protruding from the width dimension W of the lower traveling body 2. In addition, in the configuration including the first boom 33 and the second boom 34, the boom itself can be bent, so that the height dimension H of the work device 31 can be kept low.

  As a result, the work machine 1 can be placed on an elevator in a limited space without disassembling the work device 31, and is transported to an upper floor work site located on the second floor or higher of the building using the elevator. be able to.

  In the above description, the swing cylinder 37 is extended and the swing post 32 is swung to the left. However, the swinging cylinder 37 is contracted and the swing post 32 is swung to the right so that the work device 31 travels downward. You may make it fit in the width dimension W and the length dimension L of the body 2. FIG.

  Next, for example, a case where a wall cutting operation, a crushing operation, or the like is performed will be described. In this case, as shown in FIG. 4, the first boom 33 is set in a vertical posture, and the second boom 34 and the arm 35 are extended straight. Thereby, since the bucket 36 can be arrange | positioned in a high position, a part of wall can be scraped off by rotating the bucket 36 with the bucket cylinder 41 grade | etc.,.

  At this time, the first boom 33 is bent in a “<” shape or an “L” shape toward the front side so that the distal end portion 33B is positioned on the front side with respect to the base end portion 33A in a vertical posture. Therefore, for example, the work of cutting a concrete wall at a high place using the bucket 36 can be performed in front of the upper swing body 4, and the upper swing body 4 and the like can be separated from directly below the work site. Accordingly, it is possible to protect the upper swing body 4 and the like from falling concrete pieces and the like.

  Next, a case where the remotely operated work machine 1 is operated by the remote transmission device 18 will be described.

  The operator operates the operation lever 18A and switches of the remote transmission device 18 at a safe place away from the work machine 1 to drive the electromagnetic directional control valve device 13 by the remote operation controller 20, The traveling body 2 can be made to travel, and the working device 31 can be moved up and down.

  Thus, according to the present embodiment, the work device 31 is attached to the front part of the upper swing body 4 so as to be swingable leftward and rightward, and attached to the swingpost 32 so as to be able to move up and down. A first boom 33; a second boom 34 attached to the first boom 33 so as to be able to move up and down; an arm 35 attached to the second boom 34 so as to be able to move up and down; and a bucket attached to the arm 35. 36 and cylinders 37, 38, 39, 40, and 41 for driving them. Therefore, when the first boom 33, the second boom 34, the arm 35, and the bucket 36 are extended, the working device 31 can obtain a wide working range.

  Moreover, as shown in FIG. 4, the first boom 33 is in a vertical posture in which the first boom 33 rises substantially vertically, and is directed toward the front side so that the distal end portion 33 </ b> B is positioned on the front side with respect to the base end portion 33 </ b> A. Bent and formed. Thereby, in a state where the working device 31 is extended, for example, the work of cutting or crushing concrete at a high place can be performed in front of the upper swing body 4, and the upper swing body 4 or the like can be moved from directly below the work site. Can be separated.

  As a result, the remote-operated working machine 1 can protect the upper turning body 4 and the like that form the vehicle body from the concrete pieces that fall by cutting or crushing the concrete at a high place, and improve the reliability and life. be able to. Further, since the operator only operates the operation lever 18A and the like of the remote transmission device 18 at a remote place, the operator can be protected from concrete pieces and the safety can be improved.

  On the other hand, the boom of the working device 31 is composed of a first boom 33 and a second boom 34. The first boom 33 bends its intermediate portion 33C in the length direction, and the second boom 34 has a base end portion 34A. To the tip 34B. Thereby, a wide working range can be obtained by extending the linear second boom 34 with respect to the first boom 33. Further, in a state where the second boom 34, the arm 35, and the bucket 36 are folded with respect to the first boom 33, the work device 31 is placed at the upper portion even though the work device 31 is provided at the front portion of the upper swing body 4. It can be gathered low and small on the front side of the revolving body 4. Thereby, the work machine 1 can easily enter a small limited space such as an elevator, and can move to the upper floor of the building to work indoors.

  Further, as shown in FIGS. 6 and 7, the working device 31 tilts the first boom 33 rearward, folds the second boom 34, the arm 35, and the bucket 36 toward the first boom 33, and in this state, The swing post 32 swings leftward and leftward about the support pin 32A. Thereby, the working device 31 can be accommodated in the range of the width dimension W and the length dimension L of the lower traveling body 2. As a result, since the working device 31 does not protrude from the lower traveling body 2 forming the vehicle body, it can be easily placed on a small elevator as long as the lower traveling body 2 can be accommodated, and can easily be placed on the upper floor of the building. Can be transported to work.

  Further, the upper swing body 4 is provided with a cover member 17 that covers the electric motor 11, the electromagnetic directional control valve device 13, and the like, and the height dimension of the front side portion 17B is lower than the rear side portion 17A. An inclined notch surface 17C is provided. Accordingly, the first boom 33 of the work device 31 can be tilted rearward to a position close to the inclined notch surface 17C of the cover member 17, so that the work device 31 can suppress the forward protrusion amount to be small. it can.

  In the embodiment, the case where the operation signal is transmitted by wireless communication from the remote transmission device 18 operated by the operator to the remote reception device 19 on the work machine 1 side is described as an example. However, the present invention is not limited to this, and an operation signal is transmitted from the remote transmission device 51 operated by the operator to the remote reception device 52 on the work machine 1 side, for example, as in the first modification shown in FIG. A configuration may be adopted in which the information is transmitted via a wired communication via 53. In this case, the remote receiving device 52 can be omitted and the communication cable 53 can be directly connected to the remote control controller 20.

  Moreover, in embodiment, the case where the electric motor 11 was mounted in the back side of the turning frame 10 as a motor | power_engine, and the case where it was set as the structure controlled by the motor control apparatus 21 which consists of an inverter type control circuit etc. was illustrated. . However, the present invention is not limited to this. For example, an engine 61 as a prime mover is mounted on the rear side of the turning frame 10 as in the second modification shown in FIG. It is good also as a structure controlled by (not shown).

  On the other hand, in the embodiment, an inclined notch surface 17C is provided as a notch by inclining the height of the front portion 17B to be lower than the rear portion 17A of the cover member 17, and this inclined notch The case where the surface 17C is configured to extend straight at a predetermined angle has been described as an example. However, the present invention is not limited to this. For example, as in the third modified example shown in FIG. 10, the stepped step is set so that the height of the front part 71B is lower than the rear part 71A of the cover member 71. It is good also as a structure which provides the level | step difference notch surface 71C as a notch part by giving.

  Further, as in a fourth modification example shown in FIG. 11, for example, a curved notch as a notch is formed by bending so that the height of the front part 81B is lower than the rear part 81A of the cover member 81. It is good also as a structure which provides the surface 81C.

  Moreover, in embodiment, the case where it was set as the structure which supplies electric power from the external power supply 23 via the power cable 22 with respect to the working machine 1 was illustrated. However, the present invention is not limited to this. For example, a battery may be mounted on the work machine and power may be supplied from the battery to the electric motor.

  In the embodiment, the case where the bucket 36 is provided as a work tool at the distal end portion 35B of the arm 35 has been described as an example. However, the present invention is not limited to this. For example, various working tools such as a grapple, a crusher, and a vibration exciter may be provided at the tip 35B of the arm 35, for example.

  Further, in the embodiment, as a remotely operated work machine, a swing type work machine having a base machine as a hydraulic excavator in which a work device 31 is attached to the upper swing body 4 that is turnably provided on the lower traveling body 2. 1 has been described as an example. However, the present invention is not limited to this, and can be widely applied to, for example, a work machine in which a work device is attached to a self-propelled vehicle body that does not have a turning function.

It is a front view which shows the remote control type working machine by embodiment of this invention. It is a top view which expands and shows the upper revolving body in FIG. 1, and a part of working apparatus in the state which abbreviate | omitted the cover member. It is a circuit diagram which shows the control system of this Embodiment. It is a front view of the working machine which shows the state which extended the 2nd boom, the arm, and the bucket upwards with the 1st boom as the perpendicular attitude. It is a front view of the working machine which shows the state which inclined the 1st boom to the rear side and folded the 2nd boom, the arm, and the bucket. It is a front view of the working machine which shows the state which rock | fluctuated the folded working apparatus to the left side with the swing post. It is a top view of the working machine which shows the state which rock | fluctuated the folded working apparatus to the left side with the swing post. It is a circuit diagram which shows the control system by the 1st modification of this invention. It is a top view of the upper revolving structure carrying the engine by the 2nd modification of the present invention. It is a front view which shows the working machine provided with the cover member by the 3rd modification of this invention. It is a front view which shows the working machine provided with the cover member by the 4th modification of this invention.

Explanation of symbols

1 Remotely-operated work machine 2 Lower traveling body (car body)
3 Turning device 4 Upper turning body (car body)
7 Drive wheel 7A Hydraulic motor (actuator)
9 Earth discharge plate 9A Hydraulic cylinder (actuator)
10 Rotating frame 11 Electric motor (motor)
12 Hydraulic pump 13 Electromagnetic direction control valve device 15 Swing motor (actuator)
17, 71, 81 Cover member 17A, 71A, 81A Rear side part 17B, 71B, 81B Front side part 17C Inclined notch surface (notch part)
18, 51 Remote transmission device 20 Remote operation controller 31 Working device 32 Swing post 33 First boom 33A, 34A, 35A Base end portion 33B, 34B, 35B Tip portion 34 Second boom 35 Arm 36 Bucket (working tool)
37 Swing cylinder (actuator)
38 First boom cylinder (actuator)
39 Second boom cylinder (actuator)
40 Arm cylinder (actuator)
41 Bucket cylinder (actuator)
61 engine (motor)
71C Step notch surface (notch)
81C Curved notch surface (notch)
W Width dimension of lower traveling body L Length dimension of lower traveling body H Height dimension of work equipment

Claims (4)

The vehicle body includes a self-propelled vehicle body and a work device provided on the front side of the vehicle body. The vehicle body includes a frame, a prime mover provided on the frame and driving a hydraulic pump, and pressure oil from the hydraulic pump. In a remotely operated work machine comprising a control valve device that feeds and discharges an actuator of the work device, and a remote operation controller that controls the prime mover and the control valve device based on a signal from a remote transmission device,
The working device is attached to a swing post provided to be swingable left and right in a substantially central portion of a front portion of the vehicle body, and a base end portion is attached to the swing post so as to be able to move up and down with respect to the swing post. A first boom, a second boom whose base end is attached to the tip of the first boom so that it can be raised and lowered, and an arm whose base end is attached to the tip of the second boom so that it can be raised and lowered And a working tool attached to the tip of the arm,
The first boom is formed by being bent toward the front side so that the tip end portion is positioned on the front side with respect to the base end portion in a state where the first boom stands in a vertical posture. Operational work machine. The first boom is formed by bending an intermediate portion in a length direction thereof into a substantially "<" shape or an "L" shape,
The remote-operated working machine according to claim 1, wherein the second boom is formed linearly from the base end portion to the tip end portion.   The working device tilts the first boom rearward, and swings the swing post to one side in the left and right directions while the second boom, the arm and the work tool are folded. The remote control type work machine according to claim 1 or 2, wherein the remote control type work machine is configured to fit within a range of a width dimension and a length dimension of the vehicle body. The vehicle body is provided with a cover member that covers equipment including the prime mover and the control valve device,
The cover member is provided with a notch portion such that the height dimension of the front part is lower than the rear part,
4. The remotely operated work machine according to claim 1, wherein the first boom of the work device can be tilted rearward to a position close to a notch portion of the cover member. 5.

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