JPH0236424B2 - ENKAKUSOJUKANONASHARYONIOKERUKINKYUTEISHISOCHI - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an emergency stop device for a remotely controllable vehicle.

Conventionally, in vehicles such as earthmoving vehicles, the operator not only rides directly on the vehicle itself but also operates the vehicle.
Remotely controllable vehicles have been put into practical use in which an operator operates a transmitter and can also perform maneuvers based on signals from the transmitter.

Such remotely controllable vehicles are generally provided with an emergency stop device including a braking device for preventing movement of the vehicle body. As a braking device for this emergency stop device, the parking brake device of the vehicle is generally used. When the emergency stop button on the device is pressed to enter the emergency stop state), or when an abnormality occurs in the remote control system such as the transmitter, the parking brake system is activated (
At these times, the vehicle's running system automatically enters a neutral state) and acts as a safety brake to prevent movement of the vehicle body. In addition, this parking braking device can be used when parking in an unmanned mode (for example, by operating the parking lever provided on the transmitter to park the vehicle) or in a manned mode (when the operator directly rides on the vehicle). It is also activated when parking (for example, by pulling up the parking button on the vehicle body to park the vehicle) and acts as a normal parking brake to prevent the vehicle from moving. It is configured as follows. The parking brake system can be released by pulling up the emergency stop button to release the brake when making an emergency stop in unattended mode, or by operating the parking lever to release the brake when parking in unattended mode. When parking in manned mode, press the parking button to release the parking button, and if any abnormality occurs in the remote control system in unmanned mode, the operation mode is switched from unmanned mode to manned mode, and then the parking It is configured to be performed by releasing the button.

However, in the above-mentioned known emergency stop device,
For example, if an abnormality occurs in the remote control system and the parking brake system is activated when the vehicle is plunged into slag at a slag processing site at a steelworks, an operator may enter the vehicle and park the vehicle in manned mode. It was difficult to release the braking system, and it took a considerable amount of time to move the vehicle.

The present invention has been made in view of this fact, and its object is to provide a remotely controllable vehicle that can release the operating state of the parking brake system with a simple operation, regardless of whether it is in manned or unmanned mode. It is to provide an emergency stop device.

According to the present invention, the pressure fluid supply source, the manual switching valve, the manual remote switching valve, the parking brake release switching valve, and the fluid pressure chamber of the fluid pressure cylinder mechanism of the parking brake device are connected by the fluid pressure flow path. The supply source and the manual remote switching valve are connected by a fluid pressure passage via a remote switching valve provided in parallel with the manual switching valve, and the supply source and the fluid pressure chamber are connected to the parking connected by a fluid pressure flow path via a brake release switching valve,
The hydraulic cylinder mechanism includes a piston connected to the brake part of the parking brake device, the piston being constantly biased toward the fluid pressure chamber by spring means, and the parking brake device transmits the pressure to the fluid pressure chamber. The parking brake release selector valve is configured to be deactivated when fluid is delivered and activated when the pressure fluid in the fluid pressure chamber is discharged, and the parking brake release switching valve is in a first position, which is a normal position, when the manual remote controller is activated. A fluid pressure passage between the switching valve and the fluid pressure chamber is connected, and a fluid pressure passage between the supply source and the fluid pressure chamber is connected at a second position to supply the pressure fluid to the fluid pressure chamber. and when the parking brake release switching valve is in the first position, the manual remote switching valve is configured to have a fluid pressure flow path connecting the fluid pressure chamber and the manual switching valve in its attended mode position. is configured such that the supply of pressurized fluid from the supply source to the fluid pressure chamber is controlled by the manual switching valve, and in the unattended mode position, the fluid pressure chamber and the remote switching valve are connected to each other. A remote control device characterized in that the remote control valve is configured to connect a fluid pressure passage connecting the supply source to the fluid pressure chamber so that the supply of pressure fluid from the supply source to the fluid pressure chamber is controlled by the remote switching valve. An emergency stop device in a vehicle is provided.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an emergency stop device for a remotely controllable vehicle constructed in accordance with the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 1, which shows a simplified configuration of the emergency stop device, the parking brake device indicated by number 2 is composed of a propulsion shaft braking spring brake, and is a brake for braking the hydraulic cylinder mechanism 4 and the propulsion shaft of the vehicle. 6. The fluid pressure cylinder mechanism 4 includes a cylinder body 8 and a piston 10 freely movable within the cylinder body 8, and an output shaft 12 of the piston 10 is connected to the brake portion 6. Further, within the cylinder body 8, spring means such as a spring member 14 for elastically expanding the output shaft 12 is disposed. Therefore,
In the parking brake device 2, the spring member 1
When the output shaft 12 is extended by the action of 4, the brake part 6 comes into contact (pressure contact) with the propulsion shaft (not shown), the parking brake device 2 is activated, and the fluid pressure of the fluid pressure cylinder mechanism is increased. When pressure fluid is supplied to the chamber 16 and the output shaft 12 is contracted against the force of the spring member 14, the contact state between the brake part 6 and the propulsion shaft is released, and the parking brake system is deactivated (operated). release) state.

The operation of the fluid pressure cylinder mechanism 4 of the parking brake device 2 described above is controlled by a fluid pressure control means 18. The fluid pressure control means 18 includes a main fluid pressure control system 20 for placing the parking brake device 2 in an operating state or a non-operating state, a auxiliary fluid pressure control system 22 for putting the parking brake device 2 in a non-operating state, and a parking brake. Release switching valve 2
It is equipped with 4.

The main pressure fluid pressure control system 20 includes a main pressure fluid reservoir 26 such as an accumulator that stores a pressure fluid such as compressed air, and supplies compressed air into the main pressure fluid reservoir 26 to maintain its pressure at a predetermined pressure. In addition to a supply source 28, such as a compressor, for maintenance, a manual switching valve 30, a remote switching valve 32, and a manual remote switching valve 34.
Equipped with: The manual switching valve 30 is composed of a manual switching valve that can be switched by operating a parking button 30A located in the driver's seat of the vehicle body. When the parking button 30A is pulled up to enter the parking state, the state shown in FIG. The parking brake device is positioned at the parking brake device activation position shown in FIG. The remote switching valve 32 is composed of an electromagnetic switching valve that is switched based on a signal from the transmitting device, and when the parking lever (not shown) of the transmitting device is operated to enter the parking state, the electromagnetic solenoid 32A is deactivated. Thus, the parking brake system is positioned at the parking brake operating position shown in FIG. 1, and when the parking lever is operated to release the parking brake, the electromagnetic solenoid 32A is energized and the parking brake system is positioned at the non-operating position. The remote switching valve 32 is also switched by an emergency stop button (not shown) on the transmitting device, and when the emergency stop button is pressed to enter the emergency stop state, the electromagnetic solenoid 32A is deactivated, as shown in FIG. When the parking brake system is activated (at this time, the vehicle's driving system automatically goes to the neutral state) and the emergency stop button is pulled up to release the emergency stop button, the electromagnetic solenoid 32A is energized and the parking brake is activated. The device is placed in the inactive position. This remote switching valve 32 is further positioned in the parking brake system operating position with the electromagnetic solenoid 32A deactivated even when some abnormality occurs in the remote control system such as the transmitting device in the unmanned mode.
Further, the manual remote switching valve 34 is composed of an electromagnetic switching valve that is switched based on a signal from a mode switching switch (not shown) provided on the vehicle body, and the mode switching valve is set to the unmanned mode. Then, the electromagnetic solenoid 34A is energized and positioned at a remote position, and when the mode changeover switch is set to the manned mode, the electromagnetic solenoid 34A is energized and positioned at a remote position.
A is inactive and positioned in the manual position shown in FIG.

A main manual fluid pressure passage 36a is provided between the main pressure fluid reservoir 26 and the manual switching valve 30, and a main remote fluid pressure passage 36b is provided between the main pressure fluid reservoir 26 and the remote switching valve 32. It is arranged. Further, a manual fluid pressure passage 38a is provided between the manual switching valve 30 and the manual remote switching valve 34, and a manual fluid pressure passage 38a is provided between the manual switching valve 30 and the manual remote switching valve 34.
A remote fluid pressure passage 38b is disposed between the remote control valve 34 and the manual remote switching valve 34.

The number 40 indicates the load of the vehicle's fluid pressure system (vehicle service brake, horn, etc.), and the pressure fluid in the main pressure fluid reservoir 26 is the load 40.
will be sent to

The auxiliary fluid pressure control system 22 also includes a auxiliary pressure fluid reservoir 44, such as an accumulator, equipped with a check valve 42 and containing a pressure fluid such as compressed air. Pressure fluid is supplied from the above-mentioned supply source 28 into this sub-pressure fluid reservoir 44, and its pressure is maintained at a predetermined pressure.

Furthermore, the parking brake release switching valve 24 is composed of a manual switching valve that can be switched by operating a parking brake release button 24A provided on the rear (or side) of the vehicle body. When button 24A is pulled up, the first
When the parking brake release button 24A is pressed again, the parking brake is positioned at the second position.

A fluid pressure passage 46 is disposed between this parking brake release switching valve 24 and the manual remote switching valve 34,
Parking brake release switching valve 24 and the auxiliary pressure fluid reservoir 44
A sub-fluid pressure passage 48 is provided between the two.
Further, a fluid pressure passage 50 is provided between the parking brake release switching valve 24 and the fluid pressure cylinder mechanism 4 of the parking brake device 2.

Next, the effects of the emergency stop device having the above-described configuration will be explained.

In a normal case, the parking brake release switching valve 24 is positioned at the first position shown in FIG. System 20 is parking brake system 2
(connected to the hydraulic cylinder mechanism 4). In addition, in the case of manned mode, the manual remote switching valve 34
is positioned in the manual position shown in FIG. On the other hand, in the unattended mode, the manual remote switching valve 34 is positioned at a remote position and the remote fluid pressure flow path 38b and the fluid pressure flow path 46 are in communication (i.e., the manual remote switching valve The remote switching valve 32 and the parking brake release switching valve 24 are in communication via the valve 34).

Therefore, in order to operate the parking brake system 2 in the manned mode (the manual remote switching valve 34 is positioned at the manual position), the parking button 30A can be pulled up to enter the parking state. This moves the manual remote switching valve 30 to the braking position shown in FIG. When positioned in this way, the communication state between the main manual fluid pressure channel 36a and the manual fluid pressure channel 38a is released, and one end of the manual fluid pressure channel 38a is opened to the atmosphere, and the fluid pressure chamber of the fluid pressure cylinder mechanism 4 is opened. The pressure fluid in 16 is discharged to the atmosphere through fluid pressure channel 50, fluid pressure channel 46, and manual fluid pressure channel 38a. Thus,
The output shaft 12 is expanded by the action of the spring member 14, and the brake part 6 is brought into contact with a propulsion shaft (not shown), so that the parking brake system 2 is put into operation.

Next, in order to release the operating state of the parking brake device 2, the parking button 30A may be pressed to release the parking brake device 2. As a result, the manual switching valve 30 is moved to the parking brake deactivation position and is further held in the parking brake deactivation position by the pressure fluid from the main pressure fluid reservoir 26.
When positioned in this way, the main manual fluid pressure flow path 36a and the manual fluid pressure flow path 38a are in communication, and the pressure fluid in the main pressure fluid reservoir 26 is transferred to the main manual fluid pressure flow path 36a, the manual fluid pressure flow path 38a, and the fluid pressure flow path. It is supplied into the fluid pressure chamber 16 of the fluid pressure cylinder mechanism 4 through the passage 46 and the fluid pressure passage 50 . Thus, the output shaft 12 resists the force of the spring member 14.
is contracted, the contact state between the brake part 6 and the propulsion shaft is released, and the parking brake device 2 becomes inactive.

In addition, in order to operate the parking brake system 2 in the unmanned mode (the manual remote switching valve 34 is located at a remote position), operate the parking lever (not shown) of the transmitting device to enter the parking state. Alternatively, an emergency stop button (not shown) may be pressed to enter the emergency stop state. As a result, the electromagnetic solenoid 32A becomes inactive and the remote switching valve 32 is positioned in the parking brake system operating position shown in FIG. When positioned in this way, the communication state between the main remote fluid pressure flow path 36b and the remote fluid pressure flow path 38b is released, and the remote fluid pressure flow path 38b
One end of the fluid pressure cylinder mechanism 4 is open to the atmosphere.
The pressure fluid in the fluid pressure chamber 16 of the fluid pressure passage 50,
It is exhausted to the atmosphere through fluid pressure channel 46 and remote fluid pressure channel 38b. Thus, as described above, the output shaft 12 is extended and the parking brake system 2 is activated.

Next, in order to release the operating state of the parking brake device 2, the parking brake device 2 may be released by operating the parking lever or by pulling up the emergency stop button. Thus, electromagnetic solenoid 3
2A is energized, and the remote switching valve 32 is positioned in the parking brake system non-operating position. When positioned in this way, the main remote fluid pressure flow path 36b and the remote fluid pressure flow path 38b are in communication, and the pressure fluid within the main fluid pressure control system 26 is transferred to the main remote fluid pressure flow path 36b,
It is supplied into the fluid pressure chamber 16 of the fluid pressure cylinder mechanism 4 through the remote fluid pressure channel 38b, the fluid pressure channel 46, and the fluid pressure channel 50. Thus, as described above, the output shaft 12 is retracted and the parking brake system 2 is brought into a non-operating state.

In such an emergency stop device, even if some abnormality occurs in a remote control system such as a transmitting device in an unmanned mode, the parking brake device 2 is activated and movement of the vehicle body is prevented. As explained below, when some abnormality occurs in the remote control system, the remote switching valve 32 is automatically positioned at the parking brake system operating position shown in FIG. When positioned in this way, the pressure fluid in the fluid pressure chamber 16 of the fluid pressure cylinder mechanism 4 is discharged to the atmosphere in substantially the same way as when the parking lever is in the parking state or the emergency stop button is in the emergency stop state in the unmanned mode. In this way, the output shaft 12 is extended and the parking brake device 2 is put into operation.

Next, in order to move the vehicle body (for example, move it by towing) to investigate the cause and repair the parking brake device 2, a mode changeover switch (not shown) is switched. Enter the manned mode and press the parking button 30A.
All you have to do is set it to the released state. Thus, the manual switching valve 30 is positioned in the parking brake deactivation position, the manual remote switching valve 24 is positioned in the manual position shown in FIG.
6a and the manual fluid pressure channel 38a are communicated, and the manual fluid pressure channel 38a and the fluid pressure channel 46 are also communicated, so that the pressure fluid in the main pressure fluid reservoir 26 is supplied into the fluid pressure chamber 16. In this way, the output shaft 12 is retracted and the parking brake device 2 becomes inactive,
It becomes possible to move the vehicle body.

In the above-mentioned emergency stop device, when the parking brake device 2 is in the operating state, the auxiliary fluid pressure control system 2
The operating state of the parking brake device 2 can also be released by connecting the parking brake device 2 to the fluid pressure cylinder mechanism 4. In this case, the parking brake release button 24A
Just press . As a result, the parking brake release switching valve 24 is moved to the second position and is held at the second position by the action of the pressure fluid from the auxiliary pressure fluid reservoir 44. When positioned in this way, the auxiliary fluid pressure passage 48 and the fluid pressure passage 50 are communicated with each other, and the pressure fluid in the auxiliary pressure fluid reservoir 44 flows through the fluid pressure passage 48 and the fluid pressure passage 50 to the fluid pressure cylinder mechanism 4. It is supplied into the fluid pressure chamber 16. Thus, as described above, the output shaft 12 is retracted and the parking brake system 2 is brought into a non-operating state.

Therefore, in such an emergency stop device, when the parking brake device 2 is in the operating state, the parking brake release switching valve 2 is activated without operating the main body pressure control system 20.
The operating state of the parking brake device 2 can also be canceled by switching the parking brake device 4. Therefore, even if some kind of abnormality occurs in the remote control system and the parking brake system 2 becomes activated when the vehicle enters slag at a slag processing site in a steelworks, the operator will not have to board the vehicle. , the operating state can be easily released and the vehicle body can be moved.

In the specific example, the main fluid control system 20 is connected to the fluid pressure cylinder mechanism 4 and the main fluid pressure reservoir 26
When the pressure of the pressurized fluid supplied to the fluid pressure passage 46 from the
Even if it is positioned at
will be returned to.

Although preferred specific examples of the emergency stop device for a remotely controllable vehicle constructed in accordance with the present invention have been described above, the present invention is not limited to such specific examples, and there may be no deviation from the scope of the present invention. Various modifications and modifications are possible.

For example, in the specific example, the manual remote switching valve is composed of an electromagnetic switching valve that is switched based on a signal from a mode switching switch, but it can also be composed of a manual switching valve that is switched by, for example, an operating lever. It is.

[Brief explanation of drawings]

FIG. 1 is a simplified diagram illustrating a simplified block diagram of an emergency stop system for a remotely controllable vehicle constructed in accordance with the present invention. 2... Parking brake device, 4... Fluid pressure cylinder mechanism, 6... Braking section, 18... Fluid pressure control means, 2
0... Main fluid pressure control system, 22... Sub fluid pressure control system, 24... Brake release switching valve.

Claims (1)

[Claims] 1 A pressure fluid supply source, a manual switching valve, a manual remote switching valve, a parking brake release switching valve, and a fluid pressure chamber of a fluid pressure cylinder mechanism of a parking brake device are connected by a fluid pressure channel, and the supply source and the manual remote switching valve are connected by a fluid pressure flow path via a remote switching valve provided in parallel to the manual switching valve, and the supply source and the fluid pressure chamber are connected to the parking brake release switching valve. The hydraulic cylinder mechanism includes a piston connected to the brake part of the parking brake device, and the piston is constantly urged toward the fluid pressure chamber by a spring means to apply the parking brake. The device is
The parking brake release switching valve is configured to be inactive when the pressure fluid is supplied to the fluid pressure chamber and to be activated when the pressure fluid in the fluid pressure chamber is discharged, and the parking brake release switching valve is in the normal position. A fluid pressure passage between the manual remote switching valve and the fluid pressure chamber is connected at a first position, and a fluid pressure passage between the supply source and the fluid pressure chamber is connected at a second position to the fluid pressure chamber. When the parking brake release switching valve is configured to be supplied with pressure fluid and the parking brake release switching valve is in the first position, the manual remote switching valve is configured to connect the fluid pressure chamber and the manual switching valve in its attended mode position. and a fluid pressure flow path connecting the fluid pressure chamber, and is configured such that the supply of pressure fluid from the supply source to the fluid pressure chamber is controlled by the manual switching valve, and in the unattended mode position, the fluid pressure chamber and the remote switching valve are connected to each other, so that the supply of pressure fluid from the supply source to the fluid pressure chamber is controlled by the remote switching valve. Emergency stop device for remotely controllable vehicles.