JPH08105075A - Hydraulic circuit unit of remote control type hydraulic excavator - Google Patents

Abstract

PURPOSE: To make a hydraulic excavator so as to be withdrawable in the case where a main communication apparatus has gone wrong and so forth. CONSTITUTION: In the case where a main communication apparatus has gone wrong and so forth, an emergency traveling hydraulic circuit B is operated by a received signal out of a sub communication apparatus 21, and two main circuits 80L and 80R of both symmetrical traveling hydraulic motors 1L and 1R are selected to respective emergency circuits 81L and 81R, while an emergency pump 20 is driven and a rotational switching operation on these symmetrical traveling hydraulic motors 1L and 1R is carried out, driving these motors 1L and 1R, and further an emergency hydraulic release circuit D is operated by the received signal of the sub communication apparatus 21, and thereby a hydraulic supply to a hydraulic actuator T is cut off, while internal pressure in this hydraulic actuator T is opened to a tank 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic circuit device for a remotely controlled hydraulic excavator, and more particularly to a hydraulic circuit device having an emergency stop system.

[0002]

2. Description of the Related Art If an accident occurs during operation of a remotely controlled hydraulic excavator in a hazardous area and it becomes inoperable, the hydraulic excavator must be temporarily withdrawn from the site for repair.

The remote-controlled hydraulic excavators used up to now have, as an emergency stop system, to stop the engine of the machine using a single communication device.

[0004]

However, in the case of the conventional remote-controlled hydraulic excavator described above, since the emergency stop system uses one communication device to stop the engine of the machine body, the communication device is abnormal. When it occurs, the aircraft cannot be stopped, and when the vehicle is withdrawn after stopping, it is necessary to start the engine once stopped by the same communication system (emergency stop system), which is uncertain. Furthermore, in the case of engine trouble, there was a problem that it was impossible to withdraw.

The present invention has been made in view of the above problems, and an object thereof is to move a hydraulic excavator after an emergency stop or at the time of engine trouble or other trouble. In addition, the operation of the hydraulic excavator can be stopped when an emergency stop is not possible with the main communication device, and further, the boom, arm and bucket are rotated by the expansion and contraction operation of the hydraulic actuator to dig down work. An object of the present invention is to provide a hydraulic circuit device for a remote-controlled hydraulic excavator, which can withdraw the hydraulic excavator when the engine stops during operation or when the main communication device fails.

[0006]

In order to achieve the above-mentioned object, the present invention receives a transmitted signal by a main communication device and remotely operates a main engine and a directional control valve of a traveling hydraulic circuit. , In the hydraulic circuit device of the remote-controlled hydraulic excavator that drives the left and right traveling hydraulic motors, operates the switching of the rotation direction of the left and right traveling hydraulic motors, and operates the hydraulic actuator, the reception of the sub communication device. The main circuit of the left and right traveling hydraulic motors is switched to the emergency circuit by a signal, the emergency pump is driven, and the left and right traveling hydraulic motors are switched in the rotational direction to drive the left and right traveling hydraulic motors. The emergency traveling hydraulic circuit and the signal received from the sub communication device shut off the hydraulic pressure supply to the hydraulic actuator and release the internal pressure of the hydraulic actuator to the tank. Characterized in that a pressure release circuit.

The emergency hydraulic pressure release circuit includes an emergency switching valve that shuts off the hydraulic pressure supply to the hydraulic actuator, an emergency directional switching valve that releases the internal pressure of the hydraulic actuator to the tank, and receives the transmitted signal. Then, the emergency switching valve and the sub-communication device for remotely controlling the emergency directional switching valve may be used.

Further, the emergency traveling hydraulic circuit is provided with left circuit switching means for switching the left emergency pump for driving the left traveling hydraulic motor and the main circuit of the left traveling hydraulic motor to the emergency circuit and the left circuit switching means. A left emergency traveling hydraulic circuit section having a left emergency directional switching valve for operating the switching of the rotation direction of the traveling hydraulic motor, a right emergency pump for driving the right traveling hydraulic motor, and a right traveling hydraulic circuit. A right emergency traveling hydraulic circuit unit having circuit switching means for switching the main circuit of the motor to an emergency circuit and a right emergency directional switching valve for operating switching of the rotational direction of the right traveling hydraulic motor, and the left and right. An emergency engine that drives the left and right emergency pumps of the emergency traveling hydraulic circuit,
Upon receiving the transmitted signal, the emergency engine and the left,
It may be configured by a sub-communication device that remotely operates the right circuit switching means and the left and right emergency directional switching valves.

Further, the left circuit switching means is provided with a left first switching valve for opening an emergency circuit of the left traveling hydraulic motor and a main circuit of the left traveling hydraulic motor in conjunction with the first switching valve. And a second second switching valve for switching and shutting off the right circuit, and the right circuit switching means is interlocked with the first switching valve and the first switching valve on the right for opening the emergency circuit of the hydraulic motor for traveling on the right. The right second switching valve for switching and shutting off the main circuit of the right traveling hydraulic motor may be used.

[0010]

With this structure, after an emergency stop, or when an engine trouble or other failure occurs, the emergency traveling hydraulic circuit is operated by the received signal of the sub-communication device to drive the emergency pump to drive the left and right traveling hydraulic motors. Is driven, and the rotation directions of the left and right traveling hydraulic motors are switched to move the hydraulic excavator.

When an emergency stop is not possible with the main communication device, a signal is transmitted to the sub communication device to activate the emergency traveling hydraulic circuit to operate the main circuits of the left and right traveling hydraulic motors in an emergency state. Switch to the operation circuit and stop the operation of the hydraulic excavator.

In addition, for example, when the boom, arm and bucket are rotated by the expansion and contraction operation of the hydraulic actuator to stop the engine during the digging work, or when the main communication device breaks down, the sub-operation is performed. A signal is sent to the communication device to cut off the hydraulic pressure supply to the hydraulic actuator, release the internal pressure of the hydraulic actuator to the tank, and drive the emergency engine of the emergency traveling hydraulic circuit to drive the emergency pump. By driving to drive the left and right traveling hydraulic motors, switching the rotation direction of the left and right traveling hydraulic motors, and retracting the hydraulic excavator,
The movement of the vehicle body of the hydraulic excavator is used as an external force to freely expand and contract each hydraulic actuator to retract the hydraulic excavator.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a remote-controlled hydraulic excavator provided with a hydraulic circuit device according to the present invention, and FIG. 2 is a configuration explanatory diagram of a traveling hydraulic circuit provided with an emergency traveling hydraulic circuit in the hydraulic circuit device according to the present invention. FIG. 3 is a configuration explanatory view of a hydraulic actuator operating circuit provided with an emergency hydraulic release circuit in the hydraulic circuit device according to the present invention.

The hydraulic excavator includes a vehicle body 71 having an underbody 70. A boom 72 is movably attached to the vehicle body 71. An arm 73 is attached to a tip of the boom 72 and a rotating shaft 74 is provided. A bucket 75 is attached to the tip of the arm 73 so that the bucket 75 can move up and down.
It is connected by 6 so that it can move up and down.

A boom cylinder 77 serving as a hydraulic actuator T for raising and lowering the boom 72 is provided on the vehicle body 71, and the boom 72 has the arm 73.
The arm cylinder 78 is provided as a hydraulic actuator T for performing the undulating operation of the bucket 73, and the arm 73 is provided with a bucket cylinder 79 as the hydraulic actuator T for performing the undulating operation of the bucket 75.

As shown in FIGS. 2 and 3, the hydraulic excavator comprises a traveling hydraulic circuit A and an emergency traveling hydraulic circuit B.
And a hydraulic actuator operation circuit C and an emergency hydraulic pressure release circuit D. The traveling hydraulic circuit A includes a left traveling hydraulic circuit portion A1 that drives the left traveling hydraulic motor 1L of the undercarriage 70 and a right traveling hydraulic circuit portion that drives the right traveling hydraulic motor 1R of the underbody 70. A2 and a main engine (engine) 3 are provided. The main engine 3 is remotely operated by a signal received by the main communication device 4 and amplified by the amplifier 5.

The left traveling hydraulic circuit section A1 has a main pump 6L which is a hydraulic pressure supply source.
Together with the main pump 6R of the right traveling hydraulic circuit section A2,
It is rotationally driven by the main engine 3.
The suction side of the main pump 6L communicates with the tank 7, and the discharge side of the main pump 6L is connected via a pipe 8 to a pump port p of an electromagnetic hydraulic pilot direction switching valve 9L which is a left direction switching valve. The tank port t of the electromagnetic hydraulic pilot valve 9L communicates with the tank 7 through the pipe line 10.

Further, one connection port c of the electromagnetic hydraulic pilot directional control valve 9L is connected to the port 1a of the left traveling hydraulic motor 1L via the conduit 11 and the other connection port of the electromagnetic hydraulic pilot directional control valve 9L. The connection port d is the conduit 12
To the port 1b of the left traveling hydraulic motor 1L. Then, the pipeline 8, the pipeline 11, the pipeline 1
2, the pipeline 10 is the main circuit 80 of the traveling hydraulic motor 1L on the left
Constitutes L. The left electro-hydraulic pilot direction switching valve 9L is remotely operated by a signal received by the main communication device 4 and amplified by the amplifier 5.

Further, the right traveling hydraulic circuit section A2 has a main pump 6R which is a hydraulic pressure supply source, the suction side of the main pump 6R communicates with the tank 7, and the discharge side of the main pump 6R is a pipe. It is connected to the pump port p of the electromagnetic hydraulic pilot directional control valve 9R, which is the right directional control valve, via the line 14, and the tank port t of this electromagnetic hydraulic pilot directional control valve 9R is connected to the tank 7 via the line 16. It leads to.

The electromagnetic hydraulic pilot direction switching valve 9R
One of the connection ports c is connected to the port 18a of the right traveling hydraulic motor 1R via the conduit 17, and the other connection port d of the electromagnetic hydraulic pilot direction switching valve 9R is connected to the right travel via the conduit 19. Each of them is connected to a port 18b of the hydraulic motor 1R for use. The pipeline 14, the pipeline 17, the pipeline 19, and the pipeline 16 are the main circuits 8 of the traveling hydraulic motor 1R on the right.
It constitutes 0R. The electromagnetic hydraulic pilot direction switching valve 9R on the right is remotely operated by a signal received by the main communication device 4 and amplified by the amplifier 5.

The emergency traveling hydraulic circuit B is a left emergency traveling hydraulic circuit section B1 for driving a left traveling hydraulic motor 1L.
And a right emergency traveling hydraulic circuit section B2 for driving the right traveling hydraulic motor 1R, and an emergency engine 20 for driving an emergency pump. The emergency engine 20 is remotely operated by a signal received by the sub communication device 21 and amplified by the amplifier 22. The sub communication device 21 and the amplifier 22 are powered by a battery (not shown).

The left emergency traveling hydraulic circuit section B1 has a left emergency pump 24L which is a hydraulic pressure supply source. The emergency pump 24L is provided on the right side of the right emergency traveling hydraulic circuit section B2. The emergency engine 20 together with the pump 24R
It is driven to rotate by.

The suction side of the left emergency pump 24 communicates with the tank 7, and the discharge side of the emergency pump 24L is connected via a line 25 to the left emergency directional control valve, which is an emergency electromagnetic hydraulic pressure. It is connected to the pump port p of the pilot direction switching valve 26L, and the tank port t of this emergency electromagnetic hydraulic pilot direction switching valve 26L communicates with the tank 7 via the pipe line 25a. Further, one connection port c of the left emergency electromagnetic hydraulic pilot directional control valve 26L is connected to the conduit 2
The first emergency solenoid valve 29, which is the first switching valve on the left through 8
Is connected to the connection port a of L, and the other connection port d of the left emergency electromagnetic hydraulic pilot directional control valve 26L is connected to the connection port b of the first emergency electromagnetic valve 29L on the left via the conduit 31. I am doing it.

The connection port c of the left first emergency solenoid valve 29L is connected to the left traveling hydraulic motor 1L via the conduit 32.
1a, and the connection port d of the left first emergency solenoid valve 29L is connected to the port 1b of the left traveling hydraulic motor 1L via the conduit 33. The pipeline 25, the pipeline 28, the pipeline 32, the pipeline 33, the pipeline 31, and the pipeline 25a are the emergency circuit 81 of the traveling hydraulic motor 1L on the left.
Constitutes L. The left emergency electromagnetic hydraulic pilot direction switching valve 26 and the left first emergency electromagnetic valve 29L are
The sub communication device 21 is remotely operated by a signal received and amplified by the amplifier 22.

In the main circuit 80L of the left traveling hydraulic motor 1L, the main circuit 80L is opened when the main circuit 80L of the traveling hydraulic motor 1L is located on the left side of the left electromagnetic hydraulic pilot directional switching valve 9 side. A second emergency solenoid valve 34L, which is the second switching valve on the left for shutting off the opening, is provided.
The emergency solenoid valve 34L is interlocked with the first emergency solenoid valve 29L on the left side, and the first and second emergency solenoid valves 29L, 3L
4L constitutes left circuit switching means.

The right emergency traveling hydraulic circuit section B2 has an emergency pump 24R which is a hydraulic pressure supply source. The suction side of the emergency pump 24R communicates with the tank 7 and the discharge of the emergency pump 24R. The electromagnetic solenoid pilot directional switching valve for emergency 2 which is the emergency switching valve on the right side is provided on the right side through a pipe 35.
The tank port t of the emergency electromagnetic hydraulic pilot directional control valve 26R is connected to the pump port p of the 6R and communicates with the tank 7 through the pipe line 35a. Further, one connection port c of the emergency electromagnetic hydraulic pilot direction switching valve 26R is connected to the connection port a of the first emergency electromagnetic valve 29R, which is the first switching valve on the right side, through the conduit 37, and The other connection port d of the for-use electromagnetic hydraulic pilot direction switching valve 26R is connected to the connection port b of the first emergency electromagnetic valve 29R on the right side through the conduit 39.

Further, the connection port c of the right first emergency solenoid valve 29R is connected to the right traveling hydraulic motor 1R via the pipe 40.
To the port 18a of the first emergency solenoid valve 29R on the right
The connection ports d are connected to the ports 18b of the right traveling hydraulic motor 1R via the conduits 41, respectively. Then, the conduit 35, the conduit 37, the conduit 40, the conduit 41, and the conduit 3
9. The conduit 35a constitutes the emergency circuit 81R of the right traveling hydraulic motor 1R. Further, the right emergency electromagnetic hydraulic pilot direction switching valve 26R and the right first emergency electromagnetic valve 29
R is remotely operated by a signal received by the sub communication device 21 and amplified by the amplifier 22.

Further, in the main circuit 80R of the right traveling hydraulic motor 1R, the main circuit 80R is opened and the main circuit 80R is opened by being located on the right traveling hydraulic motor 1R side of the right electromagnetic hydraulic pilot direction switching valve 9R. A second emergency solenoid valve 34R, which is a right second switching valve for shutting off the opening, is provided, and the second emergency solenoid valve 34R is linked to the right first emergency solenoid valve 29R, The first and second emergency solenoid valves 29R,
34R constitutes the right circuit switching means.

The hydraulic actuator operating circuit C includes an actuator operating main pump 41 as shown in FIG.
The suction side of the actuator operating main pump 41 communicates with the tank 7, and the discharge side of the actuator operating main pump 41 is connected to the pump port p of the electromagnetic hydraulic pilot directional switching valve 43 via the pipe line 42. Connected to the electromagnetic hydraulic pilot directional control valve 43
The tank port t of is connected to the tank 7. Further, one connection port c of the electromagnetic hydraulic pilot directional control valve 43 is connected to the connection port a of the left pilot check valve 46L via the conduit 45, and the other connection port d of the electromagnetic hydraulic pilot directional control valve 43 is connected to the pipeline. They are connected via 48 to the connection ports a of the right pilot check valve 46R.

The connection port b of the left pilot check valve 46L is connected via the line 50 to the solenoid valve 5 which is an emergency switching valve.
The connection port b of the right pilot check valve 46R is connected to the connection port b of the solenoid valve 51 via the conduit 52. The pilot line 60 branched from the line 48 is connected to the pressure receiving port c of the left pilot check valve 46L, and the line 45
The pilot line 61 branched from is connected to the pressure receiving port c of the right pilot check valve 46R.

Further, the connection port c of the solenoid valve 51 is the conduit 5
3 is connected to the connection port a of the directional switching solenoid valve 54L, which is the left emergency directional switching valve, and the connection port d of the solenoid valve 51 is the right emergency directional switching valve via the line 55. It is connected to a connection port a of a certain direction switching solenoid valve 54R, and the pump ports t of the left and right direction switching solenoid valves 54L and 54R communicate with the tank 7.

Connection port c of the left direction switching solenoid valve 54L
Is connected to the head side chamber 58a of the hydraulic actuator T via a pipe 57, and the connection port c of the right direction switching solenoid valve 54R is connected to the rod side chamber 58b of the hydraulic actuator T via a pipe 59. The left and right direction switching solenoid valves 54L and 54R are remotely operated by a signal received by the sub communication device 21 and amplified by the amplifier 22.

Next, the operation of the hydraulic circuit device of the remote-controlled hydraulic excavator constructed as described above will be described. With the signal received by the main communication device 4, the main engine 3 is driven and the left and right main pumps 6L and 6R are rotationally driven. In the pilot direction switching valve 9L, the position (a) is switched to the port side, and in the right electromagnetic hydraulic pilot direction switching valve 9R, the position (a) is switched to the port side.

Therefore, in the left traveling hydraulic circuit section A1, the pressure oil discharged from the left main pump 6L is supplied to the pipe line 8, the position (a) of the left electromagnetic hydraulic pilot direction switching valve 9L, and the pipe line 11 ( The left traveling hydraulic motor 1L via the position (a) of the left second emergency solenoid valve 34L
Of the traveling hydraulic motor 1L, the return oil is returned to the conduit 12 (the second emergency solenoid valve 34 on the left side).
It recirculates to the tank 7 via the position (a) of L and the position (a) of the left electromagnetic hydraulic pilot direction switching valve 9L.

In the right traveling hydraulic circuit section A2,
Pressure oil discharged from the right main pump 6R is
4, to the port 18a of the right traveling hydraulic motor 1R via the position (a) of the right electromagnetic hydraulic pilot direction switching valve 9R and the conduit 17 (the position (a) of the right second emergency electromagnetic valve 34R). Then, the traveling hydraulic motor 1R is rotated in the normal direction, and the return oil is returned to the conduit 19 (the second emergency solenoid valve 34 on the right).
It flows back to the tank 7 via the R position (a)) and the position (a) of the right electromagnetic hydraulic pilot direction switching valve 9R.

Therefore, the left and right traveling hydraulic motors 1
The forward rotation of L and 1R causes the left and right footwear of the undercarriage 70 to normally rotate, and the hydraulic excavator advances.

The position (b) of the left electromagnetic hydraulic pilot direction switching valve 9L is switched to the port side by the switching signal received by the main communication device 4, and the position (b) of the right electromagnetic hydraulic pilot direction switching valve 9R is switched to the port ( By switching (2) to the port side, the left and right footwear of the undercarriage 70 is reversely rotated by the reverse rotation of the left and right traveling hydraulic motors 1L and 1R to move the hydraulic excavator backward.

In order to turn the hydraulic excavator to the left, the position (b) of the right electromagnetic hydraulic pilot direction switching valve 9R is switched to the port side, and the neutral position of the left electromagnetic hydraulic pilot direction switching valve 9L is set. Switch (C) to the port side (in case of turning to the ground),
In the left electro-hydraulic pilot direction switching valve 9L, the position (b) is switched to the port side (in the case of super-spinning).

In order to turn the hydraulic excavator to the right, the position (a) of the left electromagnetic hydraulic pilot directional control valve 9L is switched to the port side, and the neutral position of the right electromagnetic hydraulic pilot directional control valve 9R is adjusted. Switch (C) to the port side (in case of turning to the ground),
Whether the position (b) is switched to the port side in the electromagnetic hydraulic pilot directional control valve 9R on the right side (in the case of super turning).

In the hydraulic actuator operating circuit C, the position (a) is switched to the port side in the actuator operating electromagnetic hydraulic pilot direction switching valve 43, so that the pressure oil discharged from the actuator operating main pump 41 is transferred. Position of the electromagnetic hydraulic pilot direction switching valve 43 for operating the actuator (a),
Pipe line 45, left pilot check valve 46L, pipe line 5
0, the position (a) of the solenoid valve 51, the pipe 53, the position (a) of the left direction switching solenoid valve 54L and the pipe 57 to the head side chamber 58a of the hydraulic actuator T. The return oil from the head side chamber 58b is supplied to the conduit 59, the position of the left directional switching solenoid valve 54R (a), the conduit 55, the position of the solenoid valve 51 (a), and the right pilot check valve 46R (this pilot check valve 46R is opened by receiving the pilot pressure from the side of the pipe 45), the line 48, and the position (a) of the electromagnetic hydraulic pilot direction switching valve 43 for operating the actuator, and then flows into the tank 7 to cause the hydraulic actuator. T operates to expand.

When the hydraulic actuator T is reduced, the position (b) of the actuator operating electromagnetic hydraulic pilot direction switching valve 43 is switched to the port side so that the pressure oil discharged from the actuator operating main pump 41 is discharged. Is the position of the electromagnetic hydraulic pilot direction switching valve 41 for actuator operation (b),
Pipe line 48, right pilot check valve 46R, pipe line 5
2, the position (a) of the solenoid valve 51, the pipe 55, the position (a) of the right direction switching solenoid valve 54R and the pipe 59 are supplied to the rod side chamber 58b of the hydraulic actuator T, and the hydraulic actuator T The return oil from the head side chamber 58a is supplied to the pipe 57, the position (a) of the left direction switching solenoid valve 54L, the position of the solenoid valve 51 (a), the pipe 53, and the left pilot check valve 46L (this pilot check valve 46L is opened by receiving the pilot pressure from the side of the conduit 48), the conduit 45, and the position (B) of the electromagnetic hydraulic pilot direction switching valve 43 for operating the actuator to allow the gas to flow into the tank 7.

After an emergency stop or in the event of engine trouble or other failure, a signal is transmitted to the sub-communication device 21 to drive the emergency engine 20 of the emergency traveling hydraulic circuit B to drive the left and right emergency pumps. The second emergency solenoid valve 3 is driven by driving the 24L and 24R and switching the position (a) to the port side in the first emergency solenoid valves 29L and 29R.
In 4L and 34R, the position (b) is switched to the port side to open the emergency circuits 81L and 81R of the left and right traveling hydraulic motors 1L and 1R, and the main circuits 80L and 8R.
Shut off 0R.

In this state, a signal is transmitted to the sub-communication device 21 so that the left and right emergency direction switching solenoid valves 26L and 26R can be operated.
In the above, by switching the position (a) to the port side, the left and right traveling hydraulic motors 1L, 1R are rotated forward to rotate the left and right footwear of the undercarriage 70 forward to advance the hydraulic excavator. In addition, the left and right emergency direction switching solenoid valves 26
In L and 26R, the left and right traveling hydraulic motors 1L and 1R are switched by switching the position (B) to the port side.
To reversely rotate the left and right footwear of the undercarriage 70 to move the hydraulic excavator backward.

That is, in the left emergency traveling hydraulic circuit section B1, the pressure oil discharged from the left emergency pump 24L is supplied to the conduit 25, the position (a) of the left emergency direction switching electromagnetic valve 26L, and the pipe. It reaches the port 1a of the left traveling hydraulic motor 1L via the passage 32, and the traveling hydraulic motor 1L is rotated forward, and the return oil is returned to the pipeline 33, the position of the left emergency direction switching electromagnetic valve 26L (a). To the tank 7 via.

Further, in the right emergency traveling hydraulic circuit section B2, the pressure oil discharged from the right emergency pump 24R is
The right hydraulic motor 1R for traveling via the pipe 35, the position (a) of the right emergency direction switching electromagnetic valve 26R, and the pipe 40.
Of the traveling hydraulic motor 1R, the return oil is returned to the tank 7 via the conduit 41 and the position (a) of the right emergency direction switching electromagnetic valve 26R.

Therefore, the left and right traveling hydraulic motors 1
The forward rotation of L and 1R causes the left and right footwear of the undercarriage 70 to normally rotate, and the hydraulic excavator advances.

The position (b) of the left emergency direction switching solenoid valve 26L is switched to the port side by the switching signal received by the sub-communication device 21 and the position (b) of the right emergency direction switching solenoid valve 26R is switched to the port ( By switching (2) to the port side, the left and right footwear of the undercarriage 70 is reversely rotated by the reverse rotation of the left and right traveling hydraulic motors 1L and 1R to move the hydraulic excavator backward.

In order to turn the hydraulic excavator to the left, the position (a) of the right emergency direction switching solenoid valve 26R is switched to the port side, and the neutral position of the left emergency direction switching solenoid valve 26L is set to the neutral position. Either (c) is switched to the port side (in the case of a super turning) or the position (b) of the left emergency direction switching solenoid valve 26L is switched to the port side (in the case of a super turning).

In order to turn the hydraulic excavator to the right, the position (a) of the left emergency direction switching solenoid valve 26L is switched to the port side, and the neutral position of the right emergency direction switching solenoid valve 26R is changed to the neutral position. Either (c) is switched to the port side (in the case of a super turning) or the position (b) of the right emergency direction switching solenoid valve 26R is switched to the port side (in the case of a super turning).

When the main communication unit 4 cannot make an emergency stop, a signal is sent to the sub communication unit 21 to cause the first emergency solenoid valves 29L, 29L on the left and right of the emergency traveling hydraulic circuit B to be transmitted.
In R, switch position (a) to port side
Position (b) in emergency solenoid valves 34L and 34R
To the port side to switch the left and right hydraulic motors for running 1L, 1
The R main circuits 80L and 80R are shut off to stop the operation of the hydraulic excavator. In this case, the main pumps 6L, 6L
The pressure oil discharged from R is the second emergency solenoid valves 34L, 34
It flows back to the tank 7 through the R position (B).

The boom 72, the arm 73, and the bucket 7 are moved by the expansion and contraction of the hydraulic actuator T.
When the engine is stopped during this excavation work, or when the main communication device 4 fails, the sub-communication device is operated by rotating 5 to perform the digging work as shown in (1) of FIG. 21 to switch the solenoid valve 51 and the left and right direction switching solenoid valves 54L and 54R. That is,
The solenoid valve 51 switches the position (b) to the port side to shut off the main circuit 82 of the hydraulic actuator T, and the left direction switching solenoid valve 54L switches the position (b) to the port side to the head of the hydraulic actuator T. The internal pressure of the side chamber 58a is released to the tank 7,
By switching the position (b) to the port side in the right direction switching solenoid valve 54R, the internal pressure of the rod side chamber 58b of the hydraulic actuator T is released to the tank 7.

On the traveling hydraulic circuit A side,
In the left emergency direction switching electromagnetic valve 26L, the position (b) is switched to the port side by the switching signal received by the sub communication device 21, and the right emergency direction switching electromagnetic valve 26R is switched.
In (1), by switching the position (b) to the port side, the left and right underwear of the undercarriage 70 are reversely rotated by the reverse rotation of the left and right traveling hydraulic motors 1L, 1R, and the hydraulic excavator is moved backward.

By retracting the hydraulic excavator in this manner, as shown in (2) and (3) of FIG.
Using the movement of 1 as an external force, each hydraulic actuator T is freely expanded and contracted to withdraw the hydraulic excavator.

[0054]

As described above, in the invention according to claim 1, the emergency traveling hydraulic circuit is activated by the received signal of the sub-communication device after an emergency stop or when an engine trouble or other failure occurs. Then, the emergency pump is driven to drive the left and right traveling hydraulic motors, and the rotational directions of the left and right traveling hydraulic motors are switched to move the hydraulic excavator.

When an emergency stop is not possible with the main communication device, a signal is transmitted to the sub communication device to activate the emergency traveling hydraulic circuit to operate the main circuits of the left and right traveling hydraulic motors in an emergency state. The operation of the hydraulic excavator can be stopped by switching to the circuit for use.

Further, for example, when the boom, arm and bucket are rotated by the expansion and contraction operation of the hydraulic actuator to stop the engine during the digging work, or when the main communication device breaks down, the sub A signal is sent to the communication device to cut off the hydraulic pressure supply to the hydraulic actuator, release the internal pressure of the hydraulic actuator to the tank, and drive the emergency engine of the emergency traveling hydraulic circuit to drive the emergency pump. By driving to drive the left and right traveling hydraulic motors, switching the rotation direction of the left and right traveling hydraulic motors, and retracting the hydraulic excavator,
By using the movement of the vehicle body of the hydraulic excavator as an external force, each hydraulic actuator can be freely expanded and contracted to withdraw the hydraulic excavator.

Further, in the invention according to claim 2,
The hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 1, wherein the emergency hydraulic release circuit opens an internal pressure of the emergency switching valve that shuts off hydraulic pressure supply to the hydraulic actuator to a tank. Since the emergency directional control valve and the sub-communication device that receives the transmitted signal to remotely operate the emergency directional control valve and the emergency directional control valve are used, for example, by expanding and contracting the hydraulic actuator, the boom If the engine stops during the digging work by rotating the arm and bucket, or if the main communication device fails, a signal is sent to the sub communication device to turn on the emergency switching valve. When the hydraulic actuator is actuated to cut off the hydraulic pressure supply to the hydraulic actuator, the emergency directional control valve is actuated to release the internal pressure of the hydraulic actuator to the tank. The hydraulic excavator is driven by driving the emergency engine of the emergency traveling hydraulic circuit to drive the emergency pump to drive the left and right traveling hydraulic motors, and switching the rotation direction of the left and right traveling hydraulic motors. By retracting the hydraulic excavator, the hydraulic excavator can be retracted by freely expanding and contracting each hydraulic actuator by using the movement of the vehicle body of the hydraulic excavator as an external force.

Further, in the invention according to claim 3,
The hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 1, wherein the emergency traveling hydraulic circuit includes a main circuit of a left emergency pump for driving a left traveling hydraulic motor and a main circuit of the left traveling hydraulic motor. For driving the left emergency traveling hydraulic circuit section having left circuit switching means for switching to the working circuit and a left emergency directional switching valve for operating the switching of the rotational direction of the left traveling hydraulic motor, and the right traveling hydraulic motor. A right emergency pump having a right emergency pump and a circuit switching means for switching the main circuit of the right traveling hydraulic motor to the emergency circuit, and a right emergency direction switching valve for operating the switching of the rotation direction of the right traveling hydraulic motor. Travel hydraulic circuit section, an emergency engine that drives the left and right emergency pumps of the left and right emergency travel hydraulic circuit sections, and the emergency engine and the left and right receiving a transmitted signal. Circuit switching means and the left, Since the emergency directional control valve and the sub-communication device that is operated remotely are used, the emergency engine can be driven by the received signal from the sub-communication device after an emergency stop or when an engine trouble or other failure occurs. Drive the pump and operate the left and right circuit switching means to switch the main circuit of the left and right traveling hydraulic motors to the emergency circuit, and operate the left and right emergency direction switching valves to operate the left and right traveling hydraulic motors. The hydraulic excavator can be moved by driving and switching the rotation directions of the left and right traveling hydraulic motors.

When an emergency stop is not possible with the main communication device, a signal is sent to the sub communication device to activate the left and right circuit switching means to operate the main circuits of the left and right hydraulic motors for emergency operation. The operation of the hydraulic excavator can be stopped by switching to the circuit for use.

Further, for example, when the boom, the arm and the bucket are rotated by the expansion and contraction operation of the hydraulic actuator to stop the engine during the digging work, or when the main communication device breaks down, etc. Send a signal to the communication device to cut off the hydraulic pressure supply to the hydraulic actuator, release the internal pressure of the hydraulic actuator to the tank, drive the emergency engine to drive the emergency pump, and the left and right circuits. The main circuit of the left and right traveling hydraulic motors is switched to the emergency circuit by operating the switching means, and the left and right emergency directional switching valves are operated to drive the left and right traveling hydraulic motors. By switching the rotation direction of the hydraulic motor and retracting the hydraulic excavator, the movement of the vehicle body of the hydraulic excavator is used as an external force to expand and contract each hydraulic actuator to create a hydraulic pressure. It is possible to withdraw the Yoberu.

According to the invention of claim 4,
4. The hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 3, wherein the left circuit switching means is interlocked with the left first switching valve that opens the emergency circuit of the left traveling hydraulic motor and the first switching valve. And a second switching valve on the left for switching and shutting off the main circuit of the left traveling hydraulic motor, and the right circuit switching means opens the emergency circuit of the right traveling hydraulic motor on the right first side. The main circuit of the traveling hydraulic motor is switched to the emergency circuit because it is composed of the switching valve and the second switching valve of the right which switches and cuts off the main circuit of the traveling hydraulic motor on the right in conjunction with the first switching valve. The hydraulic excavator can be moved after smoothing the operation, after an emergency stop, or in the event of engine trouble or other troubles, and the boom, arm and bucket can be rotated to dig down due to the expansion and contraction of the hydraulic actuator. If the engine during work is stopped, by retracting the hydraulic excavator, it is possible to withdraw the hydraulic excavator by freely expand and contract the hydraulic actuators of the vehicle body motion of the hydraulic excavator as an external force.

[Brief description of drawings]

FIG. 1 is a side view of a remote-controlled hydraulic excavator provided with a hydraulic circuit device according to the present invention.

FIG. 2 is a configuration explanatory view of a traveling hydraulic circuit including an emergency traveling hydraulic circuit in the hydraulic circuit device according to the present invention.

FIG. 3 is a configuration explanatory diagram of a hydraulic actuator operating circuit including an emergency hydraulic pressure release circuit in the hydraulic circuit device according to the present invention.

FIG. 4 (1) is an explanatory view of the hydraulic excavator in a state in which the main receiver is out of order due to a failure during the digging work. (2) is an explanatory view of the hydraulic excavator in a state in which the emergency hydraulic pressure releasing means is operated by the sub communication device to release the hydraulic pressure of each hydraulic actuator, and at the same time, the emergency traveling hydraulic means causes the vehicle body to move backward. (3) is an explanatory view of the hydraulic excavator in a state where the movement of the vehicle body is used as an external force to freely expand and contract each hydraulic actuator to retract the vehicle body.

[Explanation of symbols]

1L Left traveling hydraulic motor 1R Right traveling hydraulic motor 3 Main engine 4 Main communication device 7 Tank 9L Left electromagnetic hydraulic pilot directional switching valve (direction switching valve) 9R Right electromagnetic hydraulic pilot directional switching valve (direction switching) 20) Emergency engine 21 Sub-communication device 24L Left emergency pump 24R Right emergency pump 26L Left emergency electromagnetic hydraulic pilot directional control valve (left emergency directional switching valve) 26R Right emergency electromagnetic hydraulic pilot Directional switching valve (right emergency directional switching valve) 29L Left first emergency solenoid valve (left first switching valve, left circuit switching means) 29R Right first emergency solenoid valve (right first switching valve, Right circuit switching means) 34L Left second emergency solenoid valve (left second switching valve, left circuit switching means) 34R Right second emergency solenoid valve (right second switching valve, right circuit switching means) 51 solenoid valve( Service switching valve 54L Left directional switching solenoid valve (emergency directional switching valve) 54R Right directional switching solenoid valve (emergency directional switching valve) 80L Left main circuit 80R Right main circuit 81L Left emergency circuit 81R right Emergency circuit A traveling hydraulic circuit A1 left traveling hydraulic circuit section A2 right traveling hydraulic circuit section B emergency traveling hydraulic circuit B1 left emergency traveling hydraulic circuit section B2 right emergency traveling hydraulic circuit section C hydraulic actuator circuit D emergency hydraulic circuit Release circuit T hydraulic actuator

Claims (4)

[Claims] 1. A transmitted signal is received by a main communication device to remotely operate a main engine and a directional control valve of a traveling hydraulic circuit to drive left and right traveling hydraulic motors, and the left and right traveling hydraulic motors are driven. Operate the switching of the rotation direction of the hydraulic motor,
Moreover, in the hydraulic circuit device of the remote control hydraulic excavator that operates the hydraulic actuator, the main circuit of the left and right traveling hydraulic motors is switched to the emergency circuit by the reception signal of the sub-communication device, and the emergency pump is driven and The emergency travel hydraulic circuit that drives the left and right travel hydraulic motors by switching the rotation direction of the travel hydraulic motor, and shuts off the hydraulic pressure supply to the hydraulic actuator by receiving signals from the sub communication device. A hydraulic circuit device for a remote-controlled hydraulic excavator, comprising: an emergency hydraulic release circuit that releases internal pressure to a tank. 2. The emergency hydraulic pressure release circuit includes an emergency switching valve that shuts off hydraulic pressure supply to the hydraulic actuator, an emergency directional switching valve that releases the internal pressure of the hydraulic actuator to a tank, and a transmitted signal. 2. The hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 1, further comprising a sub-communication device for receiving the information and remotely controlling the emergency directional control valve and the emergency directional control valve. 3. A left circuit switching means for switching the emergency traveling hydraulic circuit to a left emergency pump that drives a left traveling hydraulic motor and a main circuit of the left traveling hydraulic motor to an emergency circuit, and a left circuit switching means. A left emergency traveling hydraulic circuit section having a left emergency directional switching valve for operating the switching of the rotation direction of the traveling hydraulic motor, a right emergency pump for driving the right traveling hydraulic motor and a right traveling hydraulic circuit. A right emergency traveling hydraulic circuit section having a circuit switching means for switching the main circuit of the motor to an emergency circuit and a right emergency directional switching valve for operating switching of the rotational direction of the right traveling hydraulic motor, and the left and right An emergency engine that drives the emergency pumps on the left and right of the emergency traveling hydraulic circuit section, and the emergency engine and the left side that receive the transmitted signal.
2. A hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 1, wherein the hydraulic circuit device comprises a right circuit switching means and a sub-communication device for remotely operating the left and right emergency direction switching valves. 4. A left first switching valve for opening the emergency circuit of the left traveling hydraulic motor, and a main circuit of the left traveling hydraulic motor in association with the first switching valve, wherein the left circuit switching means is opened. And a second second switching valve for switching and shutting off the right circuit, and the right circuit switching means is interlocked with the first switching valve and the first switching valve on the right for opening the emergency circuit of the hydraulic motor for traveling on the right. 5. A hydraulic circuit device for a remote-controlled hydraulic excavator according to claim 3, wherein the hydraulic circuit device for a remote-controlled hydraulic excavator comprises a right second switching valve for switching and shutting off the main circuit of the right traveling hydraulic motor.