JP6012079B2 - Construction machine remote control system - Google Patents

Description

  The present invention relates to the technical field of a remote control system for construction machines such as hydraulic excavators.

Generally, in construction machines such as a hydraulic excavator, a work attachment that is detachably attached to the tip of the work arm, an actuator for moving the position of the tip of the work arm, and an operating tool for operating the actuator And a driver's cab in which is disposed. For example, in the case of a hydraulic excavator, a bucket is attached as a work attachment to the tip of a work arm consisting of a boom and an arm, and a swing motor, a boom cylinder, as a hydraulic actuator for moving the tip position of the work arm, An arm cylinder and a bucket cylinder are provided, and an operation lever for operating these hydraulic actuators is provided in the cab. In such a construction machine, when exchanging and maintaining the work attachment, the work attachment is attached and detached from the tip of the work arm. Operate the operating tool in the driver's cab to align the connection between the tip of the work arm and the work attachment, and the person who connects and disconnects the tip of the work arm and the work attachment outside the room. It was done by two people with a person who moves the position of the tip of the working arm.
On the other hand, a technology for remotely operating a construction machine such as a hydraulic excavator has been conventionally used. For example, a technique for stopping a feeder or emergency stop of a crusher from a driver's seat of a construction machine other than a crusher ( For example, see Patent Document 1), and a technique (see Patent Document 2, for example) in which an operator remotely operates a heavy machine while viewing a captured image of a camera installed in a facility or a vehicle-mounted camera.

JP 2000-225356 A JP 2010-53609 A

  In a construction machine such as a hydraulic excavator, when attaching / detaching the work attachment attached to the tip of the work arm, as described above, two workers, a worker outside the cab and a worker inside the cab, It was necessary. However, there are cases where it is difficult to secure two workers, and it is required that only one person can perform the work attachment / detachment work. Therefore, it is advocated that the worker who performs the detachment work outside the cab can also move the work arm by remote control.In this case, the worker attaches the tip of the work arm and the work attachment. There are cases where both hands are blocked with tools such as connecting pins and hammers to be connected, and fine operation is required to align the tip of the work arm with the work attachment. There is a problem peculiar to the work attachment / detachment work, such as the remote control of the work arm since the tip of the work arm moves nearby, and there is a problem to be solved by the present invention. .

The present invention was created in order to solve these problems in view of the above circumstances, and the invention of claim 1 includes a work attachment that is detachably attached to the distal end of a work arm. In a construction machine comprising an actuator for moving the position of the tip of the work arm and a driver's cab in which an operation tool for operating the actuator is disposed, the work is detached outside the driver's cab when the work attachment is detached. In order to provide a remote operation system for a worker who performs remote operation of the actuator wirelessly, the remote operation system includes a wireless remote controller that can be operated by a foot outside the operator's cab, and the wireless remote controller. And a control device that outputs a control signal for operating the actuator based on an operation signal transmitted from the control device. Is a construction machine of a remote control system, characterized in that the speed reduction control for reducing the operating speed of the actuator when operating the actuator based on the operation signal of work unit.
According to a second aspect of the present invention, in the construction machine according to the first aspect, the construction machine includes a control device to which the wireless communication module can be detachably attached, and the control device is wirelessly connected to the wireless remote controller via the attached wireless communication module. This is a remote control system for a construction machine characterized by communication.
According to a third aspect of the present invention, in the cab of the construction machine according to the second aspect, a monitor device for displaying the state of the airframe is disposed in the cab of the construction machine, and the wireless communication module is detachably attached to the monitor device. This is a remote control system for construction machines, characterized by being used as a control device.
A fourth aspect of the present invention is the construction machine according to any one of the first to third aspects, wherein the construction machine includes a plurality of actuators as actuators for moving the position of the distal end portion of the work arm, and the wireless remote controller includes these actuators. A selection operation means for selecting any one of a plurality of actuators to be operated is provided, and only one actuator selected by the selection operation means can be operated. This is a remote control system for construction machinery.
A fifth aspect of the present invention is the construction machine remote control system according to any one of the first to fourth aspects, wherein the wireless remote controller is provided with inching operation means for inching the actuator. It is.

According to the first aspect of the present invention, an operator who performs the work of attaching / detaching the work attachment outside the cab can remotely operate the actuator by operating the wireless remote controller with his / her foot. Since one worker can detach and attach the work attachment, it is possible to reliably achieve the reduction of the detachment work. In addition, the speed reduction control performed by the control device makes it possible to easily perform fine operations such as alignment necessary for the detachment work even with the operation of the foot, and the actuator moves unexpectedly greatly. Can be avoided.
According to the second aspect of the present invention, even when the construction machine is not provided with a wireless receiver in advance, the wireless remote controller can be simply installed by attaching the wireless communication module to the control device when the work attachment is detached. Wireless communication is possible.
According to the invention of claim 3, it is possible to wirelessly communicate with the wireless remote controller using the monitor device effectively, and it is easy to attach and detach the wireless communication module to the monitor device disposed in the cab, Excellent convenience.
According to the invention of claim 4, the operation when the actuator is remotely controlled is simple, and the movement of the tip of the working arm can be reliably predicted by an operator without error.
According to the invention of claim 5, the actuator can be easily inched, so that the work attachment and the tip of the work arm can be easily aligned and the operation of the operator Can be reduced.

It is a figure of the hydraulic shovel at the time of bucket attachment / detachment work. It is a figure which shows a wireless remote controller. It is a drive circuit diagram of an actuator. It is a flowchart figure which shows the control procedure of a control apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the figure, reference numeral 1 denotes a hydraulic excavator which is an example of a construction machine. The hydraulic excavator 1 includes a crawler-type lower traveling body 2 and an upper revolving body 3 which is rotatably supported above the lower traveling body 2. The front working unit 4 includes a boom 5 whose base end is supported by the upper revolving unit 3 so as to be swingable up and down, and the boom. 5 includes an arm 6 that is supported at the front end portion of the arm 6 so as to be swingable back and forth, a bucket 7 that is detachably attached to the front end portion of the arm 6, and the like. And a hydraulic motor such as a boom cylinder 9, an arm cylinder 10 and a bucket cylinder 11 for swinging the boom 5, the arm 6 and the bucket 7 respectively. Reference numeral 12 denotes a cab provided in the upper swing body 3, and the cab 12 includes left and right operation levers 13 </ b> L for operating the swing motor 8, boom cylinder 9, arm cylinder 10, and bucket cylinder 11. 13R and a monitor device 14 which will be described later are disposed.

  Here, the bucket 7 is connected to the tip of the arm 6 via the first connecting pin 15 and is connected to the link 16 connected to the tip of the bucket cylinder 11 via the second connecting pin 17. ing. When the bucket 7 is detached from the tip of the arm 6, the first and second connection pins 15 and 17 are inserted and removed to connect and disconnect the bucket 7 and the arm 6, and the bucket 7 and the link 16. To do. The boom 5 and the arm 6 constitute a work arm of the present invention, and the bucket 7 constitutes a work attachment that is detachably attached to the tip of the work arm. However, the work attachment is limited to the bucket 7. It is possible to detachably attach various work attachments such as a breaker, a ripper, and a grapple to the tip of the work arm. Further, the swing motor 8, the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 constitute an actuator for moving the position of the tip of the working arm of the present invention, and the left and right operation levers 13L and 13R are Although the operation tool for operating the actuator of the present invention is configured, in the following description, the turning motor 8, the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 may be referred to as actuators.

  In addition, the monitor device 14 disposed in the cab 12 displays various information such as engine air temperature, hydraulic oil temperature, fuel remaining amount, accumulated operating time, various machine states, abnormality information, and failure information. A display screen 14a to be displayed and an operation unit 14b operated to switch the display screen 14a and perform various settings are provided, and a USB port is provided so that a personal computer used by a service person can be connected. Yes. By attaching a Bluetooth (registered trademark, hereinafter omitted) adapter 18 to the USB port, the monitor device 14 can wirelessly communicate with a wireless remote controller 19 described later. Furthermore, the monitor device 14 is connected to a control device (controller) 20 described later by CAN communication, and when the monitor device 14 receives an operation signal transmitted from the wireless remote controller 19, the received signal is received. The operation signal is set to be output to the control device 20. The Bluetooth adapter 18 corresponds to the wireless communication module of the present invention.

  On the other hand, the wireless remote controller 19 is an operation for an operator who performs the detaching operation of the bucket 7 outside the cab 12 to remotely operate the turning motor 8, the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 wirelessly. The wireless remote controller 19 has a Bluetooth communication function, and as an operation switch, a power switch 19a, first to fourth changeover switches 19b to 19e, first and second drive switches 19f, 19g, and an inching switch 19h are provided. All of these switches 19a to 19h are constituted by push-button type foot switches that can be operated by the operator's foot, and are used by the operator performing the detaching operation. Even if both hands are closed with the first and second connecting pins 15 and 17 and a tool (not shown) such as a hammer, the foot 19 Thereby making it possible to operate the ~19h.

  Here, the power switch 19a is a switch that is turned on when a remote device is operated by the wireless remote controller 19, and when the power switch 19a is OFF, the other switches 19b to 19h are operated. The operation signals of the other switches 19b to 19h are invalidated.

  The first to fourth changeover switches 19b to 19e are switches for selecting any one of the swing motor 8, the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 to be operated. When any one of the first to fourth change-over switches 19b to 19e corresponding to the actuator to be pressed is pressed and turned on, all other change-over switches 19b to 19e other than the operated switches are set to be turned off. In addition, it is configured to keep ON until the other change-over switches 19b to 19e are operated. Only one actuator selected by the first to fourth changeover switches 19b to 19e can be operated by operating the first and second drive switches 19f and 19g. A plurality of actuators cannot be operated simultaneously in conjunction with each other during remote operation. In this embodiment, the first changeover switch 19b selects the bouquet cylinder 9, the second changeover switch 19c selects the bucket cylinder 11, the third changeover switch 19d selects the arm cylinder 10, and the fourth changeover switch 19e selects the swing motor 8. Is set to be manipulated in case. The first to fourth changeover switches 19b to 19e constitute the selection operation means of the present invention.

  Further, the first and second drive switches 19f and 19g select an operation direction of one actuator selected by the first to fourth changeover switches 19b to 19e and drive the actuator in the operation direction. The first drive switch 19f is operated when the swing motor 8 is driven to one of the left turn side and the right turn side, and the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 The second drive switch 19g drives the turning motor 8 to the left turning side or the right turning side. And when the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 are driven to the other side of the cylinder extension side or the reduction side. Together are set to be created, these first and second driving switch 19f, 19 g is configured so that only ON while being pressed. In the present embodiment, the first drive switch 19f is operated when the turning motor 8 is driven to the left turning side and when the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 are driven to the cylinder extending side. The second drive switch 19g is set so as to be operated when the turning motor 8 is driven to the right turning side and when the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 are driven to the cylinder reducing side. Has been.

  The inching switch 19h is a switch that is pushed when the swing motor 8, the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 are inched. The inching switch 19h is pushed and operated. When turned on, the first and second drive switches 19f and 19g are turned on while the inching switch 19h is turned on while the ON is maintained until the next push operation and turned off. When the push operation is performed and the switch is turned ON, the operation start and operation of the swing motor 8, the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11 are repeated in small increments, and the swing motor 8, the boom cylinder 9, the arm cylinder 10 and the bucket cylinder are repeated. Inching operation to operate 11 in short steps can be performed It has become way. The inching switch 19h constitutes the inching operation means of the present invention.

Next, drive circuits for the swing motor 8, the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 will be described with reference to FIG.
In FIG. 3, 21 is an engine mounted on the hydraulic excavator 1, 22 is a variable displacement hydraulic pump driven by the engine 21 and serving as a hydraulic source for the boom cylinder 9, the arm cylinder 10 and the bucket cylinder 11, and 22a is a hydraulic pump. 22 is a variable capacity means, 23 is a pilot pump as a hydraulic pressure source of pilot pressure, 24 is an oil tank, 25 to 28 are control valves for boom, bucket, arm, and turning.

  The boom, bucket, arm, and swing control valves 25 to 28 are pilot-actuated directional control valves that respectively perform supply / discharge control for the boom cylinder 9, the bucket cylinder 11, the arm cylinder 10, and the swing motor 8. In the state where the pilot pressure is not supplied to the pilot ports 25a, 25b to 28a, 28b, the boom cylinder 9, the bucket cylinder 11, the arm cylinder 10 and the swing motor 8 are not supplied with the pressure oil, and are in the neutral position N. However, when pilot pressure is supplied to the pilot ports 25a, 25b to 28a, 28b, the discharge oil of the hydraulic pump 22 is supplied to the boom cylinder 9, the bucket cylinder 11, the arm cylinder 10, and the swing motor 8. Switch to position X or Y, It is the pressure oil supplied so that the said actuator is operated to Chueta.

  In FIG. 3, 29 is a pilot valve for a boom and a bucket, 30 is a pilot valve for an arm and a swing, and these pilot valves 29 and 30 are arranged on the left and right sides arranged in the cab 12. Based on the operation of the operation levers 13L, 13R, the pilot pressure is output to the pilot ports 25a, 25b-28a, 28b of the boom, bucket, arm, and turning control valves 25-28. .

  Further, in FIG. 3, 31A, 31B to 34A, 34B are electromagnetic proportional valves for boom, bucket, arm, and swing, and these electromagnetic proportional valves 31A, 31B-34A, 34B are the control device 20. The pilot pressure is output to the pilot ports 25a, 25b to 28a, and 28b of the boom, bucket, arm, and turning control valves 25 to 28 on the basis of the control signal that is output from the engine.

  Further, in FIG. 3, 35A, 35B to 38A, 38B are shuttle valves for booms, buckets, arms, and swivels, and these shuttle valves 35A, 35B-38A, 38B are for the booms and buckets. The pilot pressure output from the pilot valves 29 and 30 for the arm and the swing and the pilot pressure output from the proportional solenoid valves 31A, 31B to 34A and 34B for the boom, the bucket, the arm and the swing The high pressure side is selected, and the selected pilot pressure is guided to the pilot ports 25a, 25b to 28a, 28b of the control valves 25-28 for boom, bucket, arm, and turning. .

  Thus, when the pilot pressure is output from the pilot valves 29 and 30 by operating the left and right control levers 13L and 13R, the pilot pressure is selected by the shuttle valves 35A, 35B to 38A and 38B and is controlled. Thus, the actuator can be operated based on the operation of the left and right control levers 13L and 13R, while the electromagnetic proportional valves 31A and 31B to 34A are based on the control signal output from the control device 20. , 34B, the pilot pressure is selected by the shuttle valves 35A, 35B-38A, 38B and input to the control valves 25-28, whereby the control signal output from the control device 20 is output. Configured to be able to operate the actuator based on There.

  Here, as described above, the control device 20 is connected to the monitor device 14 by CAN communication. When the monitor device 14 receives an operation signal from the wireless remote controller 19, the operation signal is transmitted to the monitor device 14. The control device 20 is configured to input an electromagnetic proportional valve 31A for the boom, bucket, arm, and swivel based on the input operation signal. 31B to 34A, 34B, the capacity variable means 22a of the hydraulic pump 22, and the engine controller 39 that controls the engine 21 are configured to output control signals.

  The control procedure performed by the control device 20 will be described with reference to the flowchart of FIG. 4. When the system is started and initial settings are made, the control device 20 first receives a radio signal input via the monitor device 14. A signal from the remote controller 19 is read (step S1).

  Subsequently, based on the read signal, it is determined whether or not the power switch 19a of the wireless remote controller 19 is ON (step S2). If “YES” in the determination in step S2, that is, if the power switch 19a is ON, the control device 20 operates the actuators (the boom cylinder 9, the bucket cylinder 11, the arm cylinder 10, and the swing motor 8) during remote operation. Speed reduction control for reducing the speed is executed (step S3).

  When executing the speed reduction control, the control device 20 outputs a control signal to the engine controller 39 so as to reduce the engine speed to a preset speed for reduction control. A control signal is output to the capacity variable means 22a so as to reduce the pump capacity to a preset reduction control capacity. As a result, the output of the hydraulic pump 22 decreases, the pressure oil supply flow rate to the actuator decreases, and the operating speed of the actuator during remote operation can be reduced.

  Subsequently, the control device 20 determines whether any one of the first and second drive switches 19f and 19g is pressed (ON) (step S4). If “YES” in the determination in step 4, that is, if any of the first and second drive switches 19f and 19g is ON, it is subsequently determined whether or not the inching switch 19h is OFF (step S5). .

  If “YES” in the determination in step S5, that is, if the inching switch 19h is OFF, the control device 20 selects the first and second actuators selected by the first to fourth changeover switches 19b to 19e. A pilot pressure output control signal is output to the corresponding proportional solenoid valves 31A, 31B to 34A, 34B for booms, buckets, arms, and swings in order to drive in the direction selected by the drive switches 19f, 19g. (Step S6). For example, when the first changeover switch 19b is ON and the first drive switch 19f is ON, the pilot pressure is output to the boom electromagnetic proportional valve 31A that outputs the pilot pressure for driving the boom cylinder 9 to the extension side. When the first changeover switch 19b is ON and the second drive switch 19f is ON, the boom electromagnetic proportional valve 31B that outputs the pilot pressure for driving the boom cylinder 9 to the reduction side is output. On the other hand, a pilot pressure output control signal is output. As a result, the actuator selected by the first to fourth changeover switches 19b to 19e operates in the direction selected by the first and second drive switches 19f and 19g.

  On the other hand, if “NO” in the determination in step S5, that is, if the inching switch 19h is ON, the control device 20 changes the actuator selected by the first to fourth changeover switches 19b to 19e to the first, Pilot pressure output and output for the corresponding proportional solenoid valves 31A, 31B to 34A, 34B for boom, bucket, arm, and swivel in order to perform inching operation in the direction selected by the second drive switches 19f, 19g A control signal is output so that the stop is repeated in a short time (step S7). Thus, the actuator selected by the first to fourth changeover switches 19b to 19e performs an inching operation in the direction selected by the first and second drive switches 19f and 19g.

  If the determination in step S4 is “NO”, that is, if both the first and second drive switches 19f and 19g are OFF, the control device 20 uses the boom, bucket, arm, and swivel. A pilot pressure output stop control signal is output to the electromagnetic proportional valves 31A, 31B to 34A, 34B (step S8). Thereby, if the actuator is stopped, the stop is maintained, and if the actuator is in operation (including inching operation), the operation is stopped.

  Thus, when the power switch 19a of the wireless remote controller 19 is ON, speed reduction control for reducing the operating speed of the actuator is executed and an operation signal transmitted from the wireless remote controller 19 is received. Based on this, a remote operation for operating the actuators (boom cylinder 9, bucket cylinder 11, arm cylinder 10, swing motor 8) can be performed.

  On the other hand, when the power switch 19a of the wireless remote controller 19 is OFF, that is, when the determination in step S2 is “NO”, the control device 20 uses the boom, the bucket, the arm, and the swivel. The pilot pressure output stop control signal is output to the electromagnetic proportional valves 31A, 31B to 34A, 34B (step S9), and the above-described speed reduction is applied to the engine controller 39 and the capacity variable means 22a of the hydraulic pump 22. If control is being executed, a control signal is output so as to cancel the speed reduction control (step S10). That is, when the power switch 19a of the wireless remote controller 19 is OFF, the actuator cannot be remotely operated and the speed reduction control is not executed.

  In this embodiment configured as described, the excavator 1 has a bucket 7 detachably attached as a work attachment to the tip of a work arm composed of a boom 5 and an arm 6 and the position of the tip of the work arm. A swing motor 8, a boom cylinder 9, an arm cylinder 10, and a bucket cylinder 11 are provided as actuators for movement, and left and right operation levers 13L and 13R are operated as operating tools for operating these actuators. It is arranged. And when performing the removal | desorption operation | work of the bucket 7, it is operating the said actuator and separating the front-end | tip part of a working part from the bucket 7, or aligning the bucket 7 and the front-end | tip part of a work arm. In this case, however, a remote operation system is provided for an operator who performs the detachment work outside the cab 12 to remotely operate the actuator by radio, and the remote control system is provided outside the cab 12. A wireless remote controller 19 that can be operated by a worker's foot, and a control device 20 that outputs a control signal for operating the actuator based on an operation signal transmitted from the wireless remote controller 19 are provided. The control device 20 is a speed for reducing the operating speed of the actuator when operating the actuator based on the operation signal of the wireless remote controller 19. Thereby performing reduction control.

  As a result, a worker who removes and attaches the bucket 7 outside the cab 12 connects tools such as a connection pin (first and second connection pins 15 and 17) and a hammer that connect the tip of the work arm and the bucket 7. Even if both hands are closed, it is possible to remotely operate the actuator by operating the wireless remote controller 19 with the feet, thus eliminating the need for a worker to operate the actuator in the cab 12. Thus, one worker outside the cab 12 can perform the detaching work of the bucket 7, and it is possible to reliably reduce the number of detaching work personnel. In addition, when the actuator is operated remotely, the operating speed of the actuator is reduced by the speed reduction control performed by the control device 20, so that even if it is a foot operation, fine operations such as alignment necessary for the detachment work are performed. This can be easily performed, and it can be avoided that the actuator moves unexpectedly.

  Further, in this device, the wireless remote controller 19 has a Bluetooth communication function, while the excavator 1 is provided with a monitor device 14 as a control device to which the Bluetooth adapter 18 can be detachably attached. Wireless communication with the wireless remote controller 19 can be performed via the attached Bluetooth adapter 18. As a result, even if the excavator 1 is not provided with a wireless receiving device in advance, it is possible to wirelessly communicate with the wireless remote controller 19 simply by attaching the Bluetooth adapter 18 to the monitor device 14 when the bucket 7 is attached or detached. Become. In addition, the monitor device 14 is generally disposed in the cab 12 for displaying the state of the fuselage, and can effectively communicate with the wireless remote controller 19 by effectively using the monitor device 14. At the same time, it is easy to attach and detach the Bluetooth adapter 18 to and from the monitor device 14 disposed in the cab 12, which is excellent in convenience.

  The excavator 1 includes a plurality of actuators including a swing motor 8, a boom cylinder 9, an arm cylinder 10, and a bucket cylinder 11 as actuators for moving the tip position of the work arm. Are provided with first to fourth change-over switches 19b to 19e for selecting any one of the plurality of actuators to be operated, which are selected by the first to fourth change-over switches 19b to 19e. Since only one actuator can be operated, it is easy to operate the actuator remotely, and the operator can reliably predict the movement of the tip of the work arm without error. become.

  Further, since the wireless remote controller 19 is provided with an inching switch 19h for inching the actuator, the actuator can be easily inched. Positioning with the tip of the arm can be easily performed, and the burden on the operator's operation can be reduced.

  Of course, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, Bluetooth is used as the wireless communication unit, but a wireless LAN can also be used. In this case, a wireless LAN adapter is used as the wireless communication module. Furthermore, in the above embodiment, the monitor device is used as a control device that can be detachably mounted with the wireless communication module. However, the present invention is not limited to this, and other control devices provided in the construction machine can be used. You can also. In addition, the control device itself that outputs a control signal for operating the actuator can also be used as a control device to which the wireless communication module can be detachably attached. Furthermore, the present invention is not limited to a hydraulic excavator, and can be implemented in various construction machines to which a work attachment is detachably attached.

  INDUSTRIAL APPLICABILITY The present invention can be used for a remote operation system when performing work attachment / detachment work on a construction machine such as a hydraulic excavator.

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 5 Boom 6 Arm 7 Bucket 8 Rotating motor 9 Boom cylinder 10 Arm cylinder 11 Bucket cylinder 12 Operator's cab 13 Left and right operation lever 14 Monitor device 18 Bluetooth adapter 19 Wireless remote controller 19b-19e First to fourth changeover switch 19h Inching switch 20 Controller 21 Engine 22 Hydraulic pump

Claims (5)

  A work attachment that is detachably attached to the tip of the work arm, an actuator for moving the position of the tip of the work arm, and a driver's cab in which an operation tool for operating the actuator is disposed. In this construction machine, when a worker who performs detachment work outside the cab when detaching the work attachment is provided with a remote control system for remotely operating the actuator by radio, the remote control system is operated by a worker outside the cab. And a control device that outputs a control signal for operating the actuator based on an operation signal transmitted from the wireless remote controller, the control device comprising: Speed reduction to reduce the operating speed of the actuator when operating the actuator based on the operation signal Construction machine of a remote control system and carrying out the control.   2. The construction machine according to claim 1, wherein the construction machine includes a control device to which the wireless communication module can be detachably attached, and the control device wirelessly communicates with the wireless remote controller via the attached wireless communication module. Construction machine remote control system.   In Claim 2, the cab of the construction machine is provided with a monitor device for displaying the state of the airframe, and the monitor device is used as a control device to which the wireless communication module is detachably attached. A remote control system for construction machinery.   4. The construction machine according to claim 1, wherein the construction machine includes a plurality of actuators as actuators for moving the position of the tip of the work arm, and causes the wireless remote controller to operate among the plurality of actuators. A remote control system for a construction machine, characterized in that a selection operation means for selecting any one of the actuators is provided, and only one actuator selected by the selection operation means can be operated. .   5. The construction machine remote control system according to claim 1, wherein the wireless remote controller is provided with inching operation means for inching the actuator.