JP5394819B2 - Work machine gripping device and work machine equipped with the same - Google Patents

Work machine gripping device and work machine equipped with the same Download PDF

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JP5394819B2
JP5394819B2 JP2009118787A JP2009118787A JP5394819B2 JP 5394819 B2 JP5394819 B2 JP 5394819B2 JP 2009118787 A JP2009118787 A JP 2009118787A JP 2009118787 A JP2009118787 A JP 2009118787A JP 5394819 B2 JP5394819 B2 JP 5394819B2
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gripping
movable
main body
work machine
gripping member
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JP2010265686A (en
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宏明 河合
昭 筒井
恒次郎 田中
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Kobelco Construction Machinery Co Ltd
Kobe Steel Ltd
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Kobelco Construction Machinery Co Ltd
Kobe Steel Ltd
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Description

本発明は、油圧ショベル等の作業機械の作業腕の先端に設けられ、建築解体作業や産業廃棄物の解体分別作業等を目的として処理対象物を把持するのに用いられる把持装置、及びこれを備えた作業機械に関するものである。   The present invention is provided at the tip of a working arm of a working machine such as a hydraulic excavator, and is used for gripping a processing object for the purpose of building demolition work, industrial waste demolition separation work, and the like. The present invention relates to a working machine provided.

従来、作業機械の作業腕の先端に設けられる把持装置として、特許文献１に記載されたものが知られている。この把持装置は、前記作業腕の先端に装着されるフレームブラケットと、このフレームブラケットに開閉可能に設けられた一対のアームリンクと、これらアームリンクを開閉させるアームシリンダと、各アームリンクの先端にそれぞれ設けられた把持用リンクの連結体とを備えている。具体的に、把持用リンクの連結体は、複数の把持用リンクと、これらの把持用リンクの隣接するもの同士を連結するピンとを備え、最も先端の把持用リンクと前記回転式フレームとの間に設けられたワイヤ等の緊張性部材を緊張又は解放することにより、把持物の周囲に沿って折れ曲がるように構成されている。   Conventionally, what was described in patent document 1 is known as a holding | grip apparatus provided in the front-end | tip of the working arm of a working machine. The gripping device includes a frame bracket attached to the tip of the working arm, a pair of arm links provided on the frame bracket so as to be openable and closable, an arm cylinder that opens and closes the arm links, and a tip of each arm link. And a connecting body of grip links provided respectively. Specifically, the grip link connecting body includes a plurality of grip links and a pin for connecting adjacent ones of the grip links, between the grip link at the most distal end and the rotary frame. By tensioning or releasing a tension member such as a wire provided on the wire, the wire is bent along the periphery of the grasped object.

また、別の把持装置として、特許文献２に記載されたものが知られている。この把持装置は、前記作業腕の先端に装着される支持ブラケットと、この支持ブラケットに回動可能に取り付けられる一対の把持アームと、これらの把持アームを回動させるシリンダ装置とを備えている。このシリンダ装置は、両把持アームを互いに逆の向きに回動させることによって、これらの把持アームに把持動作を行わせる。   Another gripping device described in Patent Document 2 is known. The gripping device includes a support bracket attached to the tip of the working arm, a pair of gripping arms rotatably attached to the support bracket, and a cylinder device that rotates these gripping arms. The cylinder device causes the gripping arms to perform a gripping operation by rotating both gripping arms in opposite directions.

特許２６９１７９５号明細書Japanese Patent No. 2,691,795 実開昭５７−８０５５４号公報Japanese Utility Model Publication No. 57-80554

前記把持装置には、大きな把持力が要求されることがある。特に、頑強な作業対象物の破砕を目的とするものは、極めて大きな駆動力を要することから、前記シリンダ装置として大出力のものを具備する必要がある。   The gripping device may require a large gripping force. In particular, a device intended for crushing a robust work object requires an extremely large driving force, so that the cylinder device must have a large output.

また、上記のように強力な破砕等を目的とした大型の把持装置では、逆に、比較的小さな作業対象物を破壊せずに把持することは難しい。かかる強力な把持装置では、操縦者の僅かな操作によっても把持力が大きく変動するので、その操縦によって把持力を微妙に調整するのは困難である。   On the other hand, it is difficult to grip a relatively small work object without destroying it with a large gripping device for the purpose of powerful crushing as described above. In such a powerful gripping device, the gripping force fluctuates greatly even with a slight operation by the operator, so it is difficult to finely adjust the gripping force by the steering.

ここで、特許文献１の把持装置は、把持物の周囲に沿って折れ曲がった形態とされた一対の把持用リンクの連結体によって把持物を把持することができるので、把持物を破壊せずに把持することはできるものの、このように把持物の周囲に沿って折れ曲がった形態を採ることができる把持用リンクの連結体により把持物を把持することとしているため、この把持用リンクを開閉するアームシリンダとして大出力のものを採用しても、把持用リンクの連結体が変形することにより駆動力を把持物に十分に伝えることができない。   Here, the gripping device of Patent Document 1 can grip a gripped object by a connection body of a pair of gripping links that are bent along the periphery of the gripped object, so that the gripped object is not destroyed. An arm that opens and closes this gripping link because it can be gripped but the gripping object is gripped by a connecting body of gripping links that can be bent along the periphery of the gripping object. Even if a cylinder with a high output is used, the driving force cannot be sufficiently transmitted to the gripping object due to the deformation of the connecting body of the gripping link.

また、特許文献２には、前記把持アームの先端部に着脱可能に装着される補助把持体を備え、この補助把持体のうち処理対象物と接触する部位をゴム等の弾性体で構成し、比較的小型の処理対象物の把持にのみ当該補助把持体を装着することが開示されている。しかし、このような補助把持体を装着しても、シリンダ装置の駆動力はそのまま処理対象物に伝達されるため、その把持力の微細な調整を行うことは難しい。また、前記弾性体の厚みを増やすことには著しい限界があり、当該弾性体の弾性変形のみで把持力の急増を有効に吸収することは事実上不可能である。したがって、小型の処理対象物を把持する際に把持操作によって油圧シリンダ装置の出力が急激に増加した場合、これによる処理対象物の破損を回避することは難しい。   Further, Patent Document 2 includes an auxiliary grip body that is detachably attached to the distal end portion of the grip arm, and a portion of the auxiliary grip body that is in contact with the object to be processed is formed of an elastic body such as rubber. It is disclosed that the auxiliary gripping body is attached only to gripping a relatively small processing object. However, even if such an auxiliary gripping body is mounted, the driving force of the cylinder device is directly transmitted to the object to be processed, and it is difficult to finely adjust the gripping force. Further, there is a significant limit to increasing the thickness of the elastic body, and it is practically impossible to effectively absorb a sudden increase in gripping force only by elastic deformation of the elastic body. Therefore, when the output of the hydraulic cylinder device is rapidly increased by gripping operation when gripping a small processing target, it is difficult to avoid damage to the processing target due to this.

本発明は、このような事情に鑑み、大きな把持力による処理対象物の把持と、微細な把持力の調整との双方が可能な作業機械の把持装置及びこれを備えた作業機械を提供することを目的とする。   In view of such circumstances, the present invention provides a gripping device for a work machine capable of both gripping a processing object with a large gripping force and adjusting a fine gripping force, and a work machine including the gripping device. With the goal.

上記課題を解決するために、本発明は、先端が変位可能な作業腕をもつ作業機械の当該作業腕の先端部に設けられ、処理対象物を把持する把持装置であって、第１の把持面を有する第１の把持部材と、前記第１の把持面との間で前記処理対象物を把持する第２の把持面を有する第２の把持部材と、前記第１の把持部材と前記第２の把持部材とが相対的に回動可能となるように、前記両把持部材を支持する把持装置本体と、前記両把持面を接離させるように、前記両把持部材を相対的に回動させる把持駆動手段とを備え、前記第１の把持部材及び前記第２の把持部材のうちの少なくとも一方の把持部材は、前記第１の把持面又は第２の把持面を有する可動把持部と、前記把持駆動手段の駆動により相手方の把持部材に対して相対的に回動可能となるように前記可動把持部を支持する把持部材本体と、前記可動把持部を前記把持部材本体から内向きに突出させるように、当該可動把持部を付勢するためのばね部材とを含み、前記可動把持部は、前記把持部材本体の回動により前記第１の把持面又は第２の把持面と接触する前記処理対象物から受ける反力によって前記把持部材本体に対しその回動の向きと逆の向きに相対的に所定量だけ後退変位することが可能となるように、前記把持部材本体に支持されており、前記ばね部材は、その弾性変形によって前記可動把持部の後退変位を許容し、かつ、その弾発力により、前記後退変位に伴って前記処理対象物に対する前記可動把持部の接触圧を増加させるように、前記把持部材本体と前記可動把持部との間に設けられていることを特徴とする作業機械の把持装置を提供する。
In order to solve the above-described problems, the present invention is a gripping device that grips a processing object and that is provided at the tip of a work arm of a work machine having a work arm whose tip is displaceable. A first gripping member having a surface, a second gripping member having a second gripping surface for gripping the object to be processed between the first gripping surface , the first gripping member, and the first gripping member The gripping device main body supporting the gripping members and the gripping surfaces are relatively rotated so that the gripping surfaces are brought into contact with and separated from each other so that the two gripping members are relatively rotatable. A gripping drive means, and at least one of the first gripping member and the second gripping member includes a movable gripping portion having the first gripping surface or the second gripping surface; It is possible to rotate relative to the counterpart gripping member by driving the gripping drive means. A gripping member main body for supporting the movable gripping portion, and a spring member for biasing the movable gripping portion so as to project the movable gripping portion inwardly from the gripping member main body, The movable gripping portion is opposite to the direction of rotation with respect to the gripping member main body by a reaction force received from the processing object that comes into contact with the first gripping surface or the second gripping surface by the rotation of the gripping member main body. Is supported by the gripping member main body so that it can be displaced backward by a predetermined amount relative to the direction of the spring, and the spring member allows backward displacement of the movable gripping part by its elastic deformation, In addition, it is provided between the gripping member main body and the movable gripping part so as to increase the contact pressure of the movable gripping part with respect to the object to be processed with the backward displacement due to the elastic force. Features Providing a gripping device of the working machine.

本発明によれば、第１の把持部材及び第２の把持部材のうちの少なくとも一方の把持部材に含まれる把持部材本体が相手方の把持部材に対して把持方向に回動するのに伴い、当該把持部材本体に取り付けられる可動把持部が処理対象物に接触し、かつ、この処理対象物から受ける反力によりばね部材の弾性変形を伴いながら所定量まで後退変位する。この可動把持部が後退変位する範囲では、把持駆動手段による駆動力にかかわらず、前記処理対象物に対する前記可動把持部の接触圧は、前記ばね部材の弾発力に相当する圧力となるため、当該接触圧の微細な調整を行うことが可能である。その一方、前記可動把持部の後退変位が所定量に達した時点からは、前記把持部材本体に加わる把持力がそのまま処理対象物に作用するため、大きな把持力で処理対象物を把持することが可能である。   According to the present invention, as the gripping member main body included in at least one gripping member of the first gripping member and the second gripping member rotates in the gripping direction with respect to the counterpart gripping member, The movable gripping part attached to the gripping member main body comes into contact with the object to be processed, and is retracted and displaced by a predetermined amount with elastic deformation of the spring member due to the reaction force received from the object to be processed. In the range in which the movable gripping part is displaced backward, the contact pressure of the movable gripping part on the object to be processed is a pressure corresponding to the elastic force of the spring member, regardless of the driving force by the gripping drive means. It is possible to finely adjust the contact pressure. On the other hand, since the gripping force applied to the gripping member main body acts on the processing object as it is after the backward displacement of the movable gripping part reaches a predetermined amount, it is possible to grip the processing target with a large gripping force. Is possible.

また、本発明では、第１の把持面又は第２の把持面を有し、相手方の把持部材との間で処理対象物を把持する可動把持部の全体を、当該可動把持部を回動可能に支持する把持部材本体に対して後退変位可能に構成している、換言すると、処理対象物の把持を可動把持部だけで行うように構成しているので、可動把持部及び把持部材本体によって処理対象物を把持する場合と異なり、可動把持部と把持部材本体とを連結する機構部分が処理対象物と接触する可能性を低くして、当該機構部分の破損を抑制することができる。   Further, according to the present invention, the movable gripper can be rotated about the entire movable gripper that has the first gripping surface or the second gripping surface and grips the object to be processed with the other gripping member. The gripping member main body supported by the gripper body can be moved backward, in other words, the object to be processed is gripped only by the movable gripping part. Unlike the case of gripping the object, the mechanism part that connects the movable gripping part and the gripping member main body can be made less likely to come into contact with the processing object, and damage to the mechanism part can be suppressed.

具体的に、前記把持部材本体を、その回動位置にかかわらず、前記両把持面の外側に位置する形状を有する構成とすることができる。   Specifically, the gripping member main body can be configured to have a shape that is located outside the gripping surfaces regardless of the rotation position.

前記作業機械の把持装置において、前記把持部材本体に対して前記可動把持部を回動可能に軸支する回動軸をさらに備え、前記回動軸は、前記把持装置本体に対して前記少なくとも一方の把持部材を軸支する軸としても兼用されていることが好ましい。
The gripping device of the work machine may further include a rotation shaft that pivotally supports the movable gripping portion with respect to the gripping member main body, and the rotation shaft is at least one of the at least one of the gripping device main body . It is also preferable that it is also used as a shaft for supporting the holding member.

この構成によれば、両把持面の接離の方向と、把持部材本体に対する可動把持部の退避の方向とを、同一の回動軸回りの方向で一致させることができるので、可動把持部の退避が完了する前後において、両把持部材から処理対象物に与える力の方向が変わるのを抑制することができる。したがって、この構成によれば、処理対象物に与える力の方向を回動軸を中心とする回動方向で一定にしつつ、その力の強弱を調整することができる。   According to this configuration, the direction of contact between the gripping surfaces and the direction of retraction of the movable gripper relative to the gripping member main body can be matched in the direction around the same rotation axis. It is possible to suppress the change in the direction of the force applied to the object to be processed from both gripping members before and after the retreat is completed. Therefore, according to this configuration, it is possible to adjust the strength of the force while keeping the direction of the force applied to the processing object constant in the rotation direction around the rotation axis.

前記作業機械の把持装置において、前記把持部材本体は、前記可動把持部の一部を挟んで配置された一対の支持板を有し、これら支持板の間に設けられ、前記可動把持部の一部を当該各支持板に相対変位可能に支持する支持部を有する支持部材をさらに備えていることが好ましい。
In the gripping device of the work machine, the gripping member main body has a pair of support plates arranged with a part of the movable gripping part interposed therebetween, and is provided between the support plates, and a part of the movable gripping part is It is preferable to further include a support member having a support portion that is supported on each of the support plates so as to be relatively displaceable.

この構成によれば、可動把持部を支持するための支持部が各支持板同士の間に設けられているので、例えば、可動把持部を処理対象物に突き刺す場合等に、可動把持部を把持部材本体に支持する支持部が処理対象物に接触する可能性を低減して、当該支持部の破損を抑制することができる。   According to this configuration, since the support portion for supporting the movable grip portion is provided between the support plates, for example, when the movable grip portion is pierced into the processing object, the movable grip portion is gripped. The possibility that the support portion supported by the member main body contacts the object to be processed can be reduced, and the breakage of the support portion can be suppressed.

前記作業機械の把持装置において、前記ばね部材は、前記一対の支持板の間に設けられていることが好ましい。   In the gripping device for the work machine, it is preferable that the spring member is provided between the pair of support plates.

この構成によれば、ばね部材と処理対象物との接触を抑制して、ばね部材の破損も抑制することができる。   According to this configuration, contact between the spring member and the object to be processed can be suppressed, and damage to the spring member can also be suppressed.

前記作業機械の把持装置において、前記把持部材本体は、前記可動把持部が所定量だけ後退変位した時点で当該可動把持部と当接することにより当該所定量を超える後退変位を阻止する変位規制部を有することが好ましい。   In the gripping device of the work machine, the gripping member main body includes a displacement restricting portion that prevents a backward displacement exceeding the predetermined amount by contacting the movable gripping portion when the movable gripping portion is backwardly displaced by a predetermined amount. It is preferable to have.

この構成によれば、可動把持部が前記所定量だけ後退変位した時点から当該可動把持部と前記把持部材本体とが一体になって処理対象物を把持する状態となるため、従来の把持装置と同様に把持駆動手段の大きな駆動力をそのまま処理対象物に作用させて大きな把持力で把持することができる。   According to this configuration, since the movable gripping part and the gripping member main body are integrated to grip the processing object from the time when the movable gripping part is displaced backward by the predetermined amount, the conventional gripping device and Similarly, a large driving force of the gripping drive means can be applied to the processing object as it is to grip with a large gripping force.

前記作業機械の把持装置において、前記把持部材本体及び前記可動把持部の一方には、前記両把持部材の相対的な回動の中心軸と平行な方向に突出する軸部が設けられ、他方には、前記軸部が挿通可能でかつ前記可動把持部の後退変位を許容する形状を有する貫通溝が形成されていることが好ましい。   In the gripping device of the work machine, one of the gripping member main body and the movable gripping portion is provided with a shaft portion that protrudes in a direction parallel to a central axis of relative rotation of the gripping members. It is preferable that a through-groove having a shape that allows the shaft portion to be inserted and allows the movable gripping portion to move backward is formed.

この構成によれば、貫通溝により後退が許容された範囲内においては、ばね部材の弾発力に応じた力で処理対象物を把持することができるとともに、軸部が貫通溝の端面に当接した後においては、可動把持部と把持部材本体とが一体になって把持駆動手段による駆動力に応じた力で処理対象物を把持することが可能となる。   According to this configuration, within the range in which retraction is permitted by the through groove, the object to be processed can be gripped with a force corresponding to the elastic force of the spring member, and the shaft portion is in contact with the end surface of the through groove. After the contact, the movable gripping part and the gripping member main body can be integrated to grip the object to be processed with a force corresponding to the driving force by the gripping drive means.

前記作業機械の把持装置において、前記第１の把持部材および前記第２の把持部材の双方が、前記把持部材本体と、前記可動把持部と、前記ばね部材とを含むことが好ましい。   In the gripping device of the work machine, it is preferable that both the first gripping member and the second gripping member include the gripping member main body, the movable gripping portion, and the spring member.

この構成によれば、一方の把持部材のみが可動把持部等を含む構造に比べ、可動把持部の後退変位により把持力の調整が可能であるストローク範囲が倍増する。   According to this configuration, the stroke range in which the gripping force can be adjusted by the backward displacement of the movable gripping portion is doubled as compared with a structure in which only one gripping member includes the movable gripping portion and the like.

また、本発明は、移動可能な作業機械本体と、この作業機械本体に搭載され、当該作業機械に対して先端が変位するように動作可能な作業腕とを備え、この作業腕の先端に前記把持装置が取り付けられることを特徴とする作業機械を提供する。   The present invention also includes a movable work machine main body and a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine. Provided is a work machine to which a gripping device is attached.

本発明によれば、大きな把持力による処理対象物の把持と、微細な把持力の調整との双方を実現することができる。   According to the present invention, it is possible to realize both gripping of a processing object with a large gripping force and fine adjustment of the gripping force.

本発明の実施形態に係る把持装置及びこれを備えた作業機械を示した図である。It is the figure which showed the holding | grip apparatus which concerns on embodiment of this invention, and a working machine provided with the same. 図１の把持装置を拡大して示す正面図である。It is a front view which expands and shows the holding | gripping apparatus of FIG. 図２の把持部材の一方を分解して示す斜視図である。It is a perspective view which decomposes | disassembles and shows one of the holding members of FIG. 図２の把持部材による把持動作を説明するための図であり、処理対象物と可動把持部とが接触した状態を示すものである。It is a figure for demonstrating the holding | grip operation | movement by the holding member of FIG. 2, and shows the state which the process target object and the movable holding part contacted. 図２の把持部材による把持動作を説明するための図であり、把持部材本体に対して可動把持部が相対変位している状態を示すものである。It is a figure for demonstrating the holding | grip operation | movement by the holding member of FIG. 2, and shows the state which the movable holding part has displaced relative to the holding member main body. 図２の把持部材による把持動作を説明するための図であり、把持部材本体に対する可動把持部の変位量が所定の変位量に到達した状態を示すものである。FIG. 3 is a diagram for explaining a gripping operation by the gripping member in FIG. 2, and shows a state in which the amount of displacement of the movable gripper relative to the gripping member main body reaches a predetermined amount of displacement. 把持部材の変形例を示す正面図である。It is a front view which shows the modification of a holding member.

以下、本発明の好ましい実施形態について図面を参照して説明する。   Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の実施形態に係る把持装置及びこれを備えた作業機械を示した図である。この図では、作業機械として油圧ショベルを利用したものが例示されているが、本発明に係る作業機械はこれに限られず、先端が変位可能な作業腕をもつ様々の作業機械について本発明の適用が可能である。   FIG. 1 is a diagram illustrating a gripping device and a work machine including the gripping device according to an embodiment of the present invention. In this figure, a work machine using a hydraulic excavator is illustrated. However, the work machine according to the present invention is not limited to this, and the application of the present invention to various work machines having work arms whose tips can be displaced. Is possible.

油圧ショベル１は、下部走行体２と、その上に旋回可能に搭載される上部旋回体３とを備えている。上部旋回体３は、旋回フレーム４を有し、旋回フレーム４上に、カウンタウェイト５、キャビン６、及び作業腕７が搭載される。   The hydraulic excavator 1 includes a lower traveling body 2 and an upper revolving body 3 that is rotatably mounted on the lower traveling body 2. The upper swing body 3 has a swing frame 4 on which a counterweight 5, a cabin 6, and a work arm 7 are mounted.

前記作業腕７は、ブーム８及びアーム９と、これらをそれぞれ駆動するためのブームシリンダ１０及びアームシリンダ１１を備えている。ブーム８は、旋回フレーム４上に起伏可能に（すなわち旋回フレーム４の左右方向の軸回りに回動可能に）搭載され、ブームシリンダ１０の伸縮により当該起伏方向に駆動される。アーム９は、ブーム８の先端部に回動可能に連結され、アームシリンダ１１の伸縮により当該回動方向に駆動される。これらブーム８及びアーム９の回動動作と、旋回フレーム４の旋回動作との組み合わせにより、当該アーム８の先端部は、自在に変位することが可能である。   The working arm 7 includes a boom 8 and an arm 9, and a boom cylinder 10 and an arm cylinder 11 for driving them. The boom 8 is mounted on the revolving frame 4 so as to be able to be raised and lowered (that is, rotatable about a left and right axis of the revolving frame 4), and is driven in the up and down direction by the expansion and contraction of the boom cylinder 10. The arm 9 is rotatably connected to the tip of the boom 8 and is driven in the rotation direction by the expansion and contraction of the arm cylinder 11. By combining the pivoting operation of the boom 8 and the arm 9 and the pivoting operation of the swing frame 4, the distal end portion of the arm 8 can be freely displaced.

なお、本発明に係る作業機械は、旋回可能なものに限られない。また、作業腕は、一の関節を有するもの、あるいは多数の関節を有するものであってもよい。   Note that the work machine according to the present invention is not limited to one that can turn. Further, the work arm may have one joint or a plurality of joints.

前記アーム９の先端部には、通常、図略のバケットがバケットピン１２を介して回動可能に取付けられるとともに、バケットシリンダ１４によって当該回動方向に駆動される。具体的には、アーム９にアイドラリンク１５の一端が回動可能に取り付けられるとともに当該リンク１５の他端がバケットシリンダ１４に連結され、このアイドラリンク１５の他端に前記バケットがバケットリンクを介して連結される。そして、前記バケットシリンダ１４の伸縮によりアイドラリンク１５、バケットリンク及び図略のバケットが駆動される。そして、この実施の形態では、前記バケットに代えて作業アタッチメントとして把持装置１６が着脱可能に装着される。   An unillustrated bucket is normally attached to the tip of the arm 9 via a bucket pin 12 and is driven by the bucket cylinder 14 in the rotational direction. Specifically, one end of an idler link 15 is rotatably attached to the arm 9 and the other end of the link 15 is connected to a bucket cylinder 14, and the bucket is connected to the other end of the idler link 15 via a bucket link. Connected. The idler link 15, the bucket link and the bucket (not shown) are driven by the expansion and contraction of the bucket cylinder 14. In this embodiment, the gripping device 16 is detachably mounted as a work attachment instead of the bucket.

この把持装置１６は、図２にも示すように、把持装置本体１７と、互いに対をなす第１の把持部材１８Ａ及び第２の把持部材１８Ｂと、これらの把持部材１８Ａ、１８Ｂを駆動するための把持駆動シリンダ１９と、各把持部材１８Ａ、１８Ｂ同士を回動可能に連結する連結ピン２０とを備えている。把持装置本体１７の後部には、図１に示されるような取付部２１が設けられ、この取付部２１がアーム９及びアイドラリンク１５に着脱可能に連結される。   As shown in FIG. 2, the gripping device 16 drives the gripping device main body 17, the first gripping member 18A and the second gripping member 18B that are paired with each other, and the gripping members 18A and 18B. Gripping drive cylinder 19 and a connecting pin 20 that rotatably connects the gripping members 18A and 18B to each other. A mounting portion 21 as shown in FIG. 1 is provided at the rear portion of the gripping device main body 17, and the mounting portion 21 is detachably connected to the arm 9 and the idler link 15.

両把持部材１８Ａ、１８Ｂは、図２及び図３に示すように、処理対象物Ｐ（図４参照）を両側から把持するためのもので、それぞれ、把持部材本体２２と、可動把持部２３と、板ばね２４とをそれぞれ含む。   As shown in FIGS. 2 and 3, the two gripping members 18 </ b> A and 18 </ b> B are for gripping the processing object P (see FIG. 4) from both sides, and each of the gripping member main body 22, the movable gripping portion 23, and the like. And a leaf spring 24.

両把持部材本体２２は、把持駆動シリンダ１９により同時に回動駆動されるもので、把持駆動シリンダ１９が連結される基端部２２ｂと、この基端部から離間する側の先端部２２ａとを有し、これら先端部２２ａと基端部２２ｂとの間の適当な中間部位が、ピン２５を中心として回動可能となるように前記把持装置本体１７にそれぞれ連結されている。これら把持部材本体２２は、把持駆動シリンダ１９によって互いに逆向きに回動駆動されることにより、可動把持部２３同士が互いに密着した状態（図１参照）と、可動把持部２３同士が互いに離間した状態（図２参照）とに切り換えられる。   Both gripping member main bodies 22 are rotationally driven simultaneously by the gripping drive cylinder 19, and have a base end portion 22b to which the gripping drive cylinder 19 is connected and a tip end portion 22a on the side away from the base end portion. An appropriate intermediate portion between the distal end portion 22a and the proximal end portion 22b is connected to the gripping device main body 17 so as to be rotatable about the pin 25. The gripping member main bodies 22 are driven to rotate in opposite directions by the gripping drive cylinder 19 so that the movable gripping portions 23 are in close contact with each other (see FIG. 1) and the movable gripping portions 23 are separated from each other. It is switched to the state (see FIG. 2).

前記把持駆動シリンダ１９は、油圧シリンダからなり、前記両把持部材本体２２の基端部２２ｂ同士の間に介在する位置で前記把持装置本体１７に保持される。具体的に、この把持駆動シリンダ１９は、シリンダ本体１９ａと、このシリンダ本体１９ａ内に収容されるピストン１９ｂと、このピストン１９ｂからシリンダ軸方向に沿って一方の側に延びる第１ロッド１９ｃと、前記シリンダ本体１９ａから他方の側に延びる第２ロッド１９ｄとを有し、これらロッド１９ｃ、１９ｄの先端部が両把持部材１８Ａ、１８Ｂにおける基端部２２ｂに回動可能に連結される。したがって、この把持駆動シリンダ１９の伸縮により、前記両把持部材本体２２が開閉方向に駆動される。   The gripping drive cylinder 19 is a hydraulic cylinder and is held by the gripping device body 17 at a position interposed between the base end portions 22b of the gripping member bodies 22. Specifically, the grip drive cylinder 19 includes a cylinder body 19a, a piston 19b accommodated in the cylinder body 19a, a first rod 19c extending from the piston 19b to one side along the cylinder axial direction, A second rod 19d extending from the cylinder body 19a to the other side is provided, and the distal end portions of the rods 19c, 19d are rotatably connected to the base end portions 22b of both gripping members 18A, 18B. Accordingly, the gripping member main body 22 is driven in the opening / closing direction by the expansion / contraction of the gripping drive cylinder 19.

なお、本発明に係る把持駆動手段は、油圧シリンダに限られず、例えば油圧モータや電動モータであってもよい。また、この把持駆動手段は、各把持部材について個別に設けれていてもよいし、一方の把持部材についてのみ設けられていてもよい。例えば、第２の把持部材１８Ｂが把持装置本体１７と一体化された固定把持部材であり、第１の把持部材１８Ａのみが把持方向に駆動される可動把持部材であってもよい。   The grip driving means according to the present invention is not limited to a hydraulic cylinder, and may be, for example, a hydraulic motor or an electric motor. Further, the grip driving means may be provided individually for each grip member, or may be provided for only one grip member. For example, the second gripping member 18B may be a fixed gripping member integrated with the gripping device body 17, and only the first gripping member 18A may be a movable gripping member that is driven in the gripping direction.

前記両把持部材本体２２は、前記可動把持部２３を支持するための一対の支持板２６及び支持板２７をそれぞれ備えている。各支持板２６、２７は、前記ピン２５の軸線方向に互いに相対向して配置されている。支持板２６は、前記ピン２５を挿通するための挿通孔２６ａと、この挿通孔２６ａの外側で前記ピン２５の中心軸と平行な方向に突出する一対の固定軸２６ｂと、前記連結ピン２０を挿入するための連結孔２６ｃとを備えている。一方、前記支持板２７は、前記ピン２５を挿通するための挿通孔２７ａと、支持板２７を貫通する貫通溝２７ｂと、前記連結ピン２０を挿入するための連結孔２７ｃとを備えている。前記貫通溝２７ｂは、後述する可動把持部２３の規制軸２３ｅに対応した幅寸法で前記ピン２５を中心とする円弧状に延びる溝である。   The gripping member main bodies 22 each include a pair of support plates 26 and support plates 27 for supporting the movable gripping portion 23. The support plates 26 and 27 are arranged to face each other in the axial direction of the pin 25. The support plate 26 includes an insertion hole 26a through which the pin 25 is inserted, a pair of fixed shafts 26b projecting in a direction parallel to the central axis of the pin 25 outside the insertion hole 26a, and the connecting pin 20 And a connecting hole 26c for insertion. On the other hand, the support plate 27 includes an insertion hole 27a for inserting the pin 25, a through groove 27b penetrating the support plate 27, and a connection hole 27c for inserting the connection pin 20. The through groove 27b is a groove extending in an arc shape centering on the pin 25 with a width dimension corresponding to a restriction shaft 23e of the movable gripping portion 23 described later.

前記両可動把持部２３は、前記各支持板２６、２７同士の間に挟まれた状態で支持される被支持部２３ａと、各支持板２６、２７の外側に配置された露出部２３ｂとをそれぞれ有し、両露出部２３ｂ同士の相対向する内側面が処理対象物Ｐを把持するための把持面２３ｃとされている。つまり、把持装置１６は、両可動把持部２３（両把持面２３ｃ）同士の間で処理対象物Ｐを把持可能となるように、両把持部材１８Ａ、１８Ｂの回動位置にかかわらず両把持面２３ｃの外側に位置する形状を前記両把持部材本体２２に持たせている。   The both movable gripping portions 23 include a supported portion 23a that is supported while being sandwiched between the support plates 26 and 27, and an exposed portion 23b that is disposed outside the support plates 26 and 27. Each of the exposed inner surfaces of the exposed portions 23b is a gripping surface 23c for gripping the processing object P. That is, the gripping device 16 can grip both of the gripping surfaces 18A and 18B regardless of the rotational positions of the gripping members 18A and 18B so that the processing object P can be gripped between the two movable gripping portions 23 (both gripping surfaces 23c). The two gripping member main bodies 22 have a shape located outside of 23c.

また、両可動把持部２３は、前記ピン２５を挿通するための挿通孔２３ｄと、前記貫通溝２７ｂ内に摺動可能に挿入される規制軸２３ｅとをそれぞれ備えている。この規制軸２３ｅが貫通溝２７ｂ内に挿入されていることにより、可動把持部２３のピン２５回りの回動範囲が、規制軸２３ｅが貫通溝２７ｂの内側端面２８に当接する位置（図４参照）と、外側端面２９に当接する位置（図６参照）との間で規定される。   Further, both the movable gripping portions 23 are each provided with an insertion hole 23d for inserting the pin 25 and a regulation shaft 23e slidably inserted into the through groove 27b. Since the restriction shaft 23e is inserted into the through groove 27b, the rotation range around the pin 25 of the movable gripping portion 23 is such that the restriction shaft 23e contacts the inner end face 28 of the through groove 27b (see FIG. 4). ) And a position (see FIG. 6) in contact with the outer end surface 29.

すなわち、貫通溝２７ｂの外側端面２９は、可動把持部２３が図４に示す突出位置から所定量だけ後退変位した時点で当該可動把持部２３と当接することにより、それ以上の後退変位（すなわち前記所定量を超える後退変位）を阻止する変位規制部を構成している。   That is, the outer end surface 29 of the through-groove 27b comes into contact with the movable gripping portion 23 when the movable gripping portion 23 is retracted by a predetermined amount from the protruding position shown in FIG. A displacement restricting portion is configured to prevent a backward displacement exceeding a predetermined amount.

前記板ばね２４は、前記可動把持部２３を内向きに付勢するように設けられる。具体的には、板ばね２４は、その基端部が可動把持部２３の外側面に所定の角度を持った姿勢で固定され、その先端部が前記把持部材本体２２の両固定軸２６ｂ同士の間で固定されている。したがって、把持部材本体２２に対して可動把持部２３が外側に回動する方向への外力が加わると、板ばね２４の厚み方向への弾性変形し、前記外力が除かれると、前記板ばね２４の弾性変形による弾発力により可動把持部２３が内側に回動（復帰）する。   The leaf spring 24 is provided so as to bias the movable gripping portion 23 inward. Specifically, the leaf spring 24 is fixed in a posture in which a base end portion thereof has a predetermined angle with an outer surface of the movable gripping portion 23, and a tip portion thereof is formed between the two fixed shafts 26 b of the gripping member main body 22. It is fixed between. Therefore, when an external force is applied to the gripping member main body 22 in the direction in which the movable gripping portion 23 rotates outward, the leaf spring 24 is elastically deformed in the thickness direction, and when the external force is removed, the leaf spring 24 is removed. The movable gripping portion 23 is rotated (returned) inward by the elastic force generated by the elastic deformation.

すなわち、この板ばね２４は、その弾性変形によって前記可動把持部２３の後退変位を許容するとともに、その弾発力により、前記後退変位に伴って前記処理対象物Ｐに対する前記可動把持部２３の接触圧を増加させるように、前記把持部材本体２２と可動把持部２３との間に設けられている。   That is, the leaf spring 24 allows the movable gripping portion 23 to move backward due to its elastic deformation, and due to its elastic force, the movable gripping portion 23 contacts the processing object P along with the backward displacement. It is provided between the gripping member main body 22 and the movable gripping part 23 so as to increase the pressure.

次に、この把持装置１６の作用を説明する。   Next, the operation of the gripping device 16 will be described.

この把持装置１６では、把持駆動シリンダ１９の伸縮により両把持部材１８Ａ、１８Ｂが開閉方向に駆動され、処理対象物Ｐの把持動作が行われる。まず、図２に示すように、両把持部材１８Ａ、１８Ｂが開いた状態で、当該把持部材１８Ａ、１８Ｂにおける可動把持部２３（把持面２３ｃ）が処理対象物Ｐの両外側に位置するように、作業腕７が操作される。そして、この位置で前記把持駆動シリンダ１９が伸張方向に作動することにより、両把持部材１８Ａ、１８Ｂが閉じて処理対象物Ｐの把持を実行する。   In this gripping device 16, both gripping members 18 </ b> A and 18 </ b> B are driven in the opening and closing direction by the expansion and contraction of the grip driving cylinder 19, and the gripping operation of the processing object P is performed. First, as shown in FIG. 2, the movable gripping portions 23 (grip surfaces 23 c) of the gripping members 18 </ b> A and 18 </ b> B are positioned on both outer sides of the processing target P with both the gripping members 18 </ b> A and 18 </ b> B open. The work arm 7 is operated. Then, when the grip driving cylinder 19 operates in the extending direction at this position, the gripping members 18A and 18B are closed and the processing object P is gripped.

前記把持部材本体２２は、両可動把持部２３の把持面２３ｃよりも外側に位置する形状を有するため、前記把持動作に伴い、前記処理対象物Ｐには把持面２３ｃが接触する（図４参照）。前記把持部材本体２２には、板ばね２４の弾発力により、把持部材本体２２から内向きに変位した位置（規制軸２３ｅと内側端面２８とが当接した位置）となるように、前記可動把持部２３が保持されているので、前記接触開始後に可動把持部２３が把持部材本体２２の回動の向きと逆向きに後退変位することが、把持力の繊細な調整と、大きな把持力での把持の双方を可能にする。   Since the gripping member main body 22 has a shape located outside the gripping surface 23c of both movable gripping parts 23, the gripping surface 23c comes into contact with the processing object P along with the gripping operation (see FIG. 4). ). The movable member 22 is movable so that the gripping member main body 22 is displaced inwardly from the gripping member main body 22 by the elastic force of the leaf spring 24 (position where the regulation shaft 23e and the inner end surface 28 are in contact). Since the gripping portion 23 is held, the movable gripping portion 23 is displaced backwardly in the direction opposite to the rotation direction of the gripping member main body 22 after the start of the contact because of delicate adjustment of the gripping force and a large gripping force. Allows both gripping.

具体的に、前記可動把持部２３の把持面２３ｃが処理対象物Ｐに接触してからしばらくは、両把持部材本体２２が閉じ方向に回動するのに伴い、前記可動把持部２３は、その把持面２３ｃが前記処理対象物Ｐから受ける反力により、板ばね２４の弾性変形を伴いながら把持部材本体２２に対して後退変位する（図５参照）。この後退変位が許容される範囲では、前記把持駆動シリンダ１９の駆動力にかかわらず、当該可動把持部２３と処理対象物Ｐとの接触圧は、前記板ばね２４の弾発力にほぼ相当する圧力となる。したがって、この範囲では、前記後退変位に伴う板ばね２４の弾発力の変化を利用して当該接触圧の微細な調整を行うことが可能であり、例えば小さな処理対象物Ｐを破壊せずに把持するといったことが可能となる。   Specifically, for a while after the gripping surface 23c of the movable gripping part 23 comes into contact with the processing object P, as the gripping member main bodies 22 rotate in the closing direction, the movable gripping part 23 Due to the reaction force that the gripping surface 23c receives from the processing object P, the gripping surface 23c is displaced backward with respect to the gripping member main body 22 with elastic deformation of the leaf spring 24 (see FIG. 5). In a range in which this backward displacement is allowed, the contact pressure between the movable gripping portion 23 and the processing object P substantially corresponds to the elastic force of the leaf spring 24 regardless of the driving force of the gripping drive cylinder 19. It becomes pressure. Therefore, in this range, it is possible to finely adjust the contact pressure by using the change in elastic force of the leaf spring 24 accompanying the backward displacement, for example, without destroying the small processing object P. It is possible to hold it.

また、上記後退変位が許容される範囲において、操縦者は、貫通溝２７ｂに対する規制軸２３ｅの位置を目視することにより、板ばね２４の変形量を把握することができる。したがって、操縦者は、処理対象物Ｐにはたらく把持力を確認しながら作業を行うことができる。   Further, in the range where the backward displacement is allowed, the operator can grasp the deformation amount of the leaf spring 24 by visually observing the position of the restriction shaft 23e with respect to the through groove 27b. Therefore, the operator can perform work while confirming the gripping force acting on the processing object P.

これに対し、前記可動把持部２３の後退変位が所定量に達すると、図６に示すように、規制軸２３ｅが貫通溝２７ｂの外側端面２９に当接することにより、当該可動把持部２３がそれ以上後退することが阻止される（すなわち、可動把持部２３と把持部材本体２２とが一体化される）ため、把持駆動シリンダ１９から各把持部材本体２２に加えられる駆動力がそのまま把持力として処理対象物Ｐに加えられる。したがって、この状態で処理対象物Ｐを大きな把持力で把持することが可能であり、例えば、当該処理対象物Ｐの破砕を目的とした把持も行うことができる。   On the other hand, when the displacement of the movable gripping portion 23 reaches a predetermined amount, as shown in FIG. 6, the regulating shaft 23e comes into contact with the outer end surface 29 of the through groove 27b, so that the movable gripping portion 23 Since the backward movement is prevented (that is, the movable gripping portion 23 and the gripping member main body 22 are integrated), the driving force applied from the gripping drive cylinder 19 to each gripping member main body 22 is directly processed as the gripping force. Added to the object P. Therefore, it is possible to grip the processing object P with a large gripping force in this state, and for example, it is possible to perform gripping for the purpose of crushing the processing object P.

特に、把持装置１６は、可動把持部２３の把持面２３ｃでのみ処理対象物Ｐを把持するように構成されているため、この処理対象物Ｐが可動把持部２３と把持部材本体２２とを連結する機構部分に接触する可能性を低くすることができ、当該機構部分の破損を抑制することができる。   In particular, since the gripping device 16 is configured to grip the processing target P only by the gripping surface 23c of the movable gripping part 23, the processing target P connects the movable gripping part 23 and the gripping member main body 22. The possibility of contacting the mechanism portion to be reduced can be reduced, and damage to the mechanism portion can be suppressed.

なお、前記実施形態では、ばね部材として板ばね２４を採用した例について説明しているが、図７に示すように、可動把持部２３の規制軸２３ｅと貫通溝２７ｂの外側端面２９との間に圧縮コイルばね３０を設けることによっても、上記実施形態と同様の効果を奏することができる。また、図示は省略するが、ばね部材として前記ピン２５の中心軸回りに配設されるねじりコイルばねを採用することもできる。   In addition, although the said embodiment demonstrated the example which employ | adopted the leaf | plate spring 24 as a spring member, as shown in FIG. 7, between the control shaft 23e of the movable holding part 23 and the outer side end surface 29 of the penetration groove 27b, it has shown. Even if the compression coil spring 30 is provided in the above, the same effect as the above embodiment can be obtained. Although not shown, a torsion coil spring disposed around the central axis of the pin 25 may be employed as the spring member.

以上説明したように、前記油圧ショベル１によれば、両把持部材１８Ａ、１８Ｂが相手方の把持部材１８Ａ、１８Ｂに対して把持方向に回動するのに伴い、把持部材本体２２に取り付けられる可動把持部２３が処理対象物Ｐに接触し、かつ、この処理対象物Ｐから受ける反力により板ばね２４の弾性変形を伴いながら所定量まで後退変位する。この可動把持部２３が後退変位する範囲では、把持駆動シリンダ１９による駆動力にかかわらず、処理対象物Ｐに対する可動把持部２３の接触圧は、板ばね２４の弾発力に相当する圧力となるため、当該接触圧の微細な調整を行うことが可能である。その一方、前記可動把持部２３の後退変位が所定量に達した時点からは、前記把持部材本体２２に加わる把持力がそのまま処理対処物Ｐに作用するため、大きな把持力で処理対象物Ｐを把持することが可能である。   As described above, according to the hydraulic excavator 1, the movable grip attached to the grip member main body 22 as the grip members 18A and 18B rotate in the grip direction with respect to the counterpart grip members 18A and 18B. The part 23 comes into contact with the processing object P, and the reaction force received from the processing object P is displaced backward by a predetermined amount with elastic deformation of the leaf spring 24. In the range in which the movable gripping portion 23 is displaced backward, the contact pressure of the movable gripping portion 23 with respect to the processing object P becomes a pressure corresponding to the elastic force of the leaf spring 24 regardless of the driving force by the gripping drive cylinder 19. Therefore, it is possible to finely adjust the contact pressure. On the other hand, since the gripping force applied to the gripping member main body 22 acts on the processing object P as it is after the backward displacement of the movable gripping part 23 reaches a predetermined amount, the processing object P is moved with a large gripping force. It is possible to grip.

さらに、前記油圧ショベル１では、両把持部材１８Ａ、１８Ｂの回動位置にかかわらず、保持部材本体２２が両把持面２３ｃの外側に位置する、つまり、処理対象物Ｐの把持を可動把持部２３だけで行うように構成したから、可動把持部２３及び把持部材本体２２によって処理対象物Ｐを把持する場合と異なり、可動把持部２３と保持部材本体２２とを連結する機構部分が処理対象物と接触する可能性を低くして、当該機構部分の破損を抑制することができる。   Further, in the hydraulic excavator 1, the holding member main body 22 is positioned outside both the gripping surfaces 23c regardless of the rotational positions of the gripping members 18A and 18B, that is, the movable gripping part 23 grips the processing object P. Unlike the case where the processing object P is gripped by the movable gripping part 23 and the gripping member main body 22, the mechanism part that connects the movable gripping part 23 and the holding member main body 22 is different from the processing target object. The possibility of contact can be reduced and damage to the mechanism portion can be suppressed.

前記実施形態のように、把持部材本体２２に対して可動把持部２３を回動可能に軸支するピン２５を、保持装置本体１７に対して把持部材１８Ａ、１８Ｂを軸支する軸としても兼用する構成とすれば、両把持面２３ｃの接離の方向と、把持部材本体２２に対する可動把持部２３の退避の方向とを、同一のピン２５回りの方向で一致させることができるので、可動把持部２３の退避が完了する前後において、両把持部材１８Ａ、１８Ｂから処理対象物Ｐに与える力の方向が変わるのを抑制することができる。したがって、この構成によれば、処理対象物Ｐに与える力の方向をピン２５を中心とする回動方向で一定にしつつ、その力の強弱を調整することができる。   As in the above-described embodiment, the pin 25 that pivotally supports the movable gripping portion 23 with respect to the gripping member main body 22 can also be used as a shaft that pivotally supports the gripping members 18A and 18B with respect to the holding device main body 17. With this configuration, the direction of contact between the gripping surfaces 23c and the direction of retraction of the movable gripping portion 23 relative to the gripping member main body 22 can be matched in the direction around the same pin 25. It is possible to suppress the change in the direction of the force applied to the processing object P from both the gripping members 18A and 18B before and after the retreat of the portion 23 is completed. Therefore, according to this configuration, it is possible to adjust the strength of the force while keeping the direction of the force applied to the processing object P constant in the rotation direction around the pin 25.

前記実施形態のように、可動支持部２３の一部を挟んで配置された一対の支持板２６、２７と、両支持板２６、２７同士の間に設けられ、可動支持部２３を軸支するピン２５とを備えた構成によれば、可動支持部２３を支持するためのピン２５が各支持板２６、２７同士の間に設けられているので、例えば、可動把持部２３を処理対象物Ｐに突き刺す場合等に、可動把持部２３を把持部材本体２２に支持するピン２５が処理対象物Ｐに接触する可能性を低減して、当該ピン２５の破損を抑制することができる。   Like the said embodiment, it is provided between a pair of support plates 26 and 27 arrange | positioned on both sides of the movable support part 23, and both support plates 26 and 27, and the movable support part 23 is pivotally supported. According to the configuration including the pin 25, the pin 25 for supporting the movable support portion 23 is provided between the support plates 26 and 27. For example, the movable grip portion 23 is disposed on the processing object P. When the pin 25 is pierced, etc., the possibility that the pin 25 supporting the movable gripping part 23 on the gripping member main body 22 contacts the processing object P can be reduced, and damage to the pin 25 can be suppressed.

前記実施形態のように、前記板ばね２４を両支持板２６、２７同士の間に設けた構成によれば、板ばね２４と処理対象物Ｐとの接触を抑制して、板ばね２４の破損も抑制することができる。   According to the configuration in which the leaf spring 24 is provided between the support plates 26 and 27 as in the embodiment, the contact between the leaf spring 24 and the processing object P is suppressed, and the leaf spring 24 is damaged. Can also be suppressed.

前記実施形態のように、可動把持部２３の規制軸２３ｅと支持板２７の貫通溝２７ｂとによって支持部材本体２２に対する可動把持部２３の後退変位の範囲を規制する構成によれば、可動把持部２３が所定量だけ後退変位した時点から規制軸２３ｅと貫通溝２７ｂの外側端面２９とが当接することにより、可動把持部２３と把持部材本体２２とが一体になって処理対象物Ｐを把持する状態となるため、把持駆動シリンダ１９の大きな駆動力をそのまま処理対象物Ｐに作用させて大きな把持力で把持することができる。   According to the configuration in which the range of the backward displacement of the movable gripper 23 relative to the support member main body 22 is regulated by the restriction shaft 23e of the movable gripper 23 and the through groove 27b of the support plate 27 as in the above-described embodiment, the movable gripper Since the regulating shaft 23e and the outer end surface 29 of the through groove 27b come into contact with each other from the time when the 23 is retracted by a predetermined amount, the movable gripping portion 23 and the gripping member main body 22 are integrated to grip the processing object P. Therefore, the gripping drive cylinder 19 can be gripped with a large gripping force by directly applying the large drive force of the gripping drive cylinder 19 to the processing object P.

Ｐ 処理対象物
１ 油圧ショベル（作業機械）
２ 下部走行体
３ 上部旋回体
７ 作業腕
１６ 把持装置
１７ 把持装置本体
１８Ａ、１８Ｂ 把持部材
１９ 把持駆動シリンダ
２１ 取付部
２２ 把持部材本体
２３ 可動把持部
２３ｃ 把持面
２３ｅ 規制軸
２４ 板ばね（ばね部材）
２５ ピン（回動軸）
２６、２７ 支持板
２７ｂ 貫通溝
２９ 外側端面
３０ 圧縮コイルばね（ばね部材） P Processing target 1 Hydraulic excavator (work machine)
DESCRIPTION OF SYMBOLS 2 Lower traveling body 3 Upper revolving body 7 Working arm 16 Gripping device 17 Gripping device main body 18A, 18B Gripping member 19 Gripping drive cylinder 21 Mounting part 22 Gripping member main body 23 Movable gripping part 23c Gripping surface 23e Restriction shaft 24 Leaf spring (spring member )
25 pins (rotating shaft)
26, 27 Support plate 27b Through groove 29 Outer end face 30 Compression coil spring (spring member)

Claims (9)

先端が変位可能な作業腕をもつ作業機械の当該作業腕の先端部に設けられ、処理対象物を把持する把持装置であって、
第１の把持面を有する第１の把持部材と、
前記第１の把持面との間で前記処理対象物を把持する第２の把持面を有する第２の把持部材と、
前記第１の把持部材と前記第２の把持部材とが相対的に回動可能となるように、前記両把持部材を支持する把持装置本体と、
前記両把持面を接離させるように、前記両把持部材を相対的に回動させる把持駆動手段とを備え、
前記第１の把持部材及び前記第２の把持部材のうちの少なくとも一方の把持部材は、
前記第１の把持面又は第２の把持面を有する可動把持部と、
前記把持駆動手段の駆動により相手方の把持部材に対して相対的に回動可能となるように前記可動把持部を支持する把持部材本体と、
前記可動把持部を前記把持部材本体から内向きに突出させるように、当該可動把持部を付勢するためのばね部材とを含み、
前記可動把持部は、前記把持部材本体の回動により前記第１の把持面又は第２の把持面と接触する前記処理対象物から受ける反力によって前記把持部材本体に対しその回動の向きと逆の向きに相対的に所定量だけ後退変位することが可能となるように、前記把持部材本体に支持されており、
前記ばね部材は、その弾性変形によって前記可動把持部の後退変位を許容し、かつ、その弾発力により、前記後退変位に伴って前記処理対象物に対する前記可動把持部の接触圧を増加させるように、前記把持部材本体と前記可動把持部との間に設けられていることを特徴とする作業機械の把持装置。 A gripping device for gripping a processing object, provided at the tip of the work arm of a work machine having a work arm whose tip is displaceable,
A first gripping member having a first gripping surface;
A second gripping member having a second gripping surface for gripping the object to be processed with the first gripping surface ;
As with the first gripping member and the second gripping member is relatively rotatable, and the gripping device main body for supporting the two gripping members,
Gripping drive means for relatively rotating the gripping members so as to bring the gripping surfaces into and out of contact with each other,
At least one gripping member of the first gripping member and the second gripping member is
A movable gripping portion having the first gripping surface or the second gripping surface;
A gripping member body that supports the movable gripping portion so as to be rotatable relative to the gripping member of the other party by driving the gripping drive means;
A spring member for biasing the movable gripping portion so as to project the movable gripping portion inwardly from the gripping member main body,
The movable gripping portion has a rotation direction with respect to the gripping member main body due to a reaction force received from the processing object in contact with the first gripping surface or the second gripping surface by the rotation of the gripping member main body. The gripping member body is supported so that it can be displaced backward by a predetermined amount in the opposite direction,
The spring member allows the movable gripping portion to move backward due to its elastic deformation, and increases the contact pressure of the movable gripping portion with respect to the object to be processed along with the backward displacement due to the elastic force. Further, the gripping device for a working machine is provided between the gripping member main body and the movable gripping portion. 前記把持部材本体は、その回動位置にかかわらず、前記両把持面の外側に位置する形状を有することを特徴とする請求項１に記載の作業機械の把持装置。   2. The gripping device for a work machine according to claim 1, wherein the gripping member main body has a shape positioned outside the both gripping surfaces regardless of the rotation position thereof. 前記把持部材本体に対して前記可動把持部を回動可能に軸支する回動軸をさらに備え、
前記回動軸は、前記把持装置本体に対して前記少なくとも一方の把持部材を軸支する軸としても兼用されていることを特徴とする請求項１又は２に記載の作業機械の把持装置。 A rotating shaft that pivotally supports the movable gripping part with respect to the gripping member body;
The gripping device for a work machine according to claim 1, wherein the rotation shaft is also used as a shaft for pivotally supporting the at least one gripping member with respect to the gripping device main body . 前記把持部材本体は、前記可動把持部の一部を挟んで配置された一対の支持板を有し、
これら支持板の間に設けられ、前記可動把持部の一部を当該各支持板に相対変位可能に支持する支持部を有する支持部材をさらに備えていることを特徴とする請求項１〜３の何れか１項に記載の作業機械の把持装置。 The gripping member main body has a pair of support plates arranged with a part of the movable gripping part interposed therebetween,
4. A support member having a support portion provided between the support plates and supporting a part of the movable gripping portion on each of the support plates so as to be relatively displaceable. 2. A work machine gripping device according to item 1. 前記ばね部材は、前記一対の支持板の間に設けられていることを特徴とする請求項４に記載の作業機械の把持装置。 The gripping device for a working machine according to claim 4 , wherein the spring member is provided between the pair of support plates. 前記把持部材本体は、前記可動把持部が所定量だけ後退変位した時点で当該可動把持部と当接することにより当該所定量を超える後退変位を阻止する変位規制部を有することを特徴とする請求項１〜５の何れか１項に記載の作業機械の把持装置。   The gripping member main body includes a displacement restricting portion that prevents a backward displacement exceeding the predetermined amount by contacting the movable gripping portion when the movable gripping portion is retracted by a predetermined amount. The gripping device for a work machine according to any one of 1 to 5. 前記把持部材本体及び前記可動把持部の一方には、前記両把持部材の相対的な回動の中心軸と平行な方向に突出する軸部が設けられ、他方には、前記軸部が挿通可能でかつ前記可動把持部の後退変位を許容する形状を有する貫通溝が形成されていることを特徴とする請求項１〜６の何れか１項に記載の作業機械の把持装置。   One of the gripping member main body and the movable gripping portion is provided with a shaft portion that protrudes in a direction parallel to the central axis of relative rotation of the gripping members, and the other can be inserted with the shaft portion. And a through-groove having a shape that allows a backward displacement of the movable gripping portion is formed. The gripping device for a work machine according to any one of claims 1 to 6, 前記第１の把持部材および前記第２の把持部材の双方が、前記把持部材本体と、前記可動把持部と、前記ばね部材とを含むことを特徴とする請求項１〜７の何れか１項に記載の作業機械の把持装置。   Both the first gripping member and the second gripping member include the gripping member body, the movable gripping portion, and the spring member. A gripping device for a work machine as described in 1. 移動可能な作業機械本体と、この作業機械本体に搭載され、当該作業機械に対して先端が変位するように動作可能な作業腕とを備え、この作業腕の先端に請求項１〜８の何れか１項に記載の把持装置が取り付けられることを特徴とする作業機械。   A movable work machine main body, and a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine, the work arm according to any one of claims 1 to 8. A work machine to which the gripping device according to claim 1 is attached.
JP2009118787A 2009-05-15 2009-05-15 Work machine gripping device and work machine equipped with the same Expired - Fee Related JP5394819B2 (en)

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