JPH09217383A - Remote control type construction equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily confirm the switching state of an operation pattern selector by a remotely controlling operator in a construction equipment having the operation pattern selector, and eliminate the risk of a mulfunction caused by the misunderstanding of the switching state of the operation pattern selector. SOLUTION: An operation pattern selector 29 is provided between remote controlling pilot valves 27a-27d operated by the signals from interior operating pilot valves 25a-25d or a receiver 7, and control valves 30a-30d. This equipment also has switching position detecting means such as limit switches 40, 41 for detecting the switching positions H, M of the operation pattern selector 29. Indicators 42, 43 for displaying the switching positions detected by the detecting means 40, 41 are provided in positions visually confirmable from the outside of the construction equipment.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine such as a hydraulic excavator or a telescoping clamshell provided with a remote control function, and more specifically, it relates to an operation pattern of an operation means such as an operation lever which is different depending on a manufacturer. Even if there is a difference, so that you can use the familiar operation pattern,
Prevents erroneous operation caused by a remote operator who misidentifies an operation pattern in a construction machine that has an operation pattern switching valve between each control valve such as a swing device, boom, arm, and bucket, and each pilot valve. Regarding the device.

[0002]

2. Description of the Related Art When excavating a deep hole using a hydraulic excavator with a slide arm or a clamshell bucket, if the excavation hole becomes deep, the bucket cannot be viewed directly from the operator's cab and the excavation site cannot be confirmed, so accurate excavation cannot be performed. In addition, when the bucket is pulled up, the bucket hits the inner wall of the hole and collapses the wall surface of the hole. Therefore, conventionally, a signaling man other than the operator looks into the excavation hole and signals the operator in the cab about the excavation state, and the operator operates the hydraulic excavator in response to this instruction. However, since this method is extremely inefficient in working, a hydraulic excavator or the like having a remote control function has been developed when excavating such a deep hole that cannot be viewed directly from the operator's cab.

FIG. 4 is a diagram showing a remote-operated hydraulic excavator with a slide arm as an example thereof in a state where a deep hole is being excavated. In the hydraulic excavator, an upper swing body 3 is installed on a lower traveling body 1 via a swing device 2 to form a main body A, and a boom 4 is attached to the upper swing body 3 and a boom cylinder 4x.
And a slide arm 5 composed of a lower arm 5a and an upper arm 5b is rotatably attached to the boom 4 by an arm cylinder 5x.
The upper arm 5b is slidable with respect to the lower arm 5a by y, and the bucket 6 is rotatably attached to the upper arm 5b of the slide arm 5 by a bucket cylinder 6x.

In the excavation work by the hydraulic excavator, the operator 8 operates the belt 1 for remote operation on the ground.
Carrying the shoulder-mounted transmitter 9 (operation panel) by 0, operating the operating lever of the transmitter 9 while watching the excavated portion in the vertical hole 11, and transmitting the remote control signal wirelessly or by wire to the upper swing body 3 The signal is sent to the upper receiver 7, and the receiver 7 receives the transmitted signal and converts the received signal into an operation signal generated when the operator operates the operating means in the driver's cab, and the lower traveling body 1 and the turning device 2 are operated. Each hydraulic motor, boom 4, slide arm 5, each cylinder 4x, 5x, 5y of the bucket 6,
Excavation work is performed by controlling the 6x control valve.

FIG. 5 shows an example of a plane arrangement and an operation pattern on the operation panel of the transmitter 9. On the front left side on the operation panel, the swing motor of the swing device 2 and the arm cylinder 5 are shown.
A control lever 11 for each x control valve is provided, and the bucket cylinder 6x and the boom cylinder 4x are provided on the front right side.
The operation lever 12 for each control valve is provided. Reference numeral 13 denotes a front / running selection switch for selecting whether the operation levers 11 and 12 are for front operation or travel operation.
In the state in which 3 is pulled toward you and the front operation is set, the arm 5 can be raised or lowered by operating the operation lever 11 left and right.
By operating 1 back and forth, it is possible to turn right and left respectively. In addition, the boom 4 can be raised or lowered by operating the operation lever 12 back and forth, and the bucket 6 can be operated by operating the operation lever 12 left and right.
It can be excavated and dumped. On the contrary, in the state where the selection switch 13 is set forward to move forward,
The left and right traveling devices can be driven forward and backward, respectively, by operating the operating levers 11 and 12 back and forth. The operation lever 14 provided at the front center is used for additional attachment operation when there is an additional attachment such as the slide arm 5 or the telescopic clamshell as shown in FIG.

Further, on the operation panel of the transmitter 9, in addition to the operation levers 11, 12, 14 described above, an engine rotation changeover switch 16 for changing over the engine rotation to high / medium / low / idle operation, the engine and the entire engine in case of emergency. An emergency stop switch 17 for making an emergency stop of the valve, a power supply and frequency selection switch 18 to be used, a remote operation switch 19 that is turned on when remotely operated by the operation panel are provided, and the power on / off of the operation panel is displayed. Power pilot lamp 20,
An operation pilot lamp 21 for displaying whether or not remote operation is in progress, a cable connection connector 22 for remote operation by wire, and the like are provided.

In the construction machine such as the hydraulic excavator or the like, the operation pattern of the operation lever, the pedal or the like installed in the operator cab 3a on the main body A may differ depending on the manufacturer. FIG. 6 (A) shows an operation pattern of the same company H as the operation pattern shown in FIG. 5, and FIG. 6 (B) shows an operation pattern of company M. In these figures, 15 is a seat on which an operator is seated, and 23 is a seat. The operation levers 24 and 24 operated by the left hand are operation levers operated by the right hand, respectively, and the actuators described below are operated when they are operated in the arrow directions.

As described above, in the construction machine, each operator is usually accustomed to a specific operation pattern and is often unaccustomed to other operation patterns. Therefore, each operator should operate using an operation device having the same operation pattern. However, it is preferable for safety and efficiency. Therefore, for example, in the case of the construction machinery of company H,
Even if an operator who is accustomed to the operation pattern of the M company performs a driving operation with the operation pattern of the M company, the operation lever can be operated in the same manner as the operation pattern of the H company.
An operation pattern switching valve is provided between the pilot valve having 23, 24, etc. and the control valve of each actuator,
When the operator of company M operates, the operation pattern switching valve is switched to the side of company M, and the operation device is operated according to the operation pattern of FIG. 6 (B).
No. 04 publication. When the operation pattern switching valve is provided and the operation pattern is switched in this way, the operation panel of the transmitter 9 is replaced by the pattern shown in FIG. 6B instead of the operation pattern shown in FIG. Attach the nameplate depicting the operation pattern for M company.

[0009]

However, since the operation pattern switching valve is manually switched, the switching pattern of the operation pattern switching valve cannot be confirmed from the outside when the remote operation is performed. There is a problem in that an actuator different from the intended one moves when the operator who performs the remote operation misunderstands that the operator is performing the switching, although the switching is not performed.

In view of the above situation, the present invention makes it possible to easily recognize the switching state of the operation pattern switching valve in the construction machine having the operation pattern switching valve by the operator who performs the remote operation, and thus the switching state of the operation pattern switching valve. It is an object of the present invention to provide a remote-controlled construction machine that eliminates the risk of malfunction caused by erroneous recognition.

[0011]

In order to achieve the above object, the present invention provides a control valve from a pilot valve between each control valve of each hydraulic actuator of a construction machine and the pilot valve of each control valve. In the remote-controlled construction machine provided with an operation pattern switching valve for changing the operation pattern of the operating means by changing the supply destination of the pilot oil to the operation chamber of the operation chamber, the means for detecting the switching position of the operation pattern switching valve is provided. A display device for displaying the switching position detected by the detection means is provided at a location visible from the outside of the construction machine.

[0012]

In the present invention, the switching position of the operation pattern switching valve is detected by the detecting means, and the switching position is displayed on a display device such as a lamp provided at a location visible from the outside of the construction machine. An operator who performs remote operation can confirm the switching state of the operation pattern switching valve, that is, the operation pattern currently selected, by visually observing the display.

[0013]

1 is an electrohydraulic circuit diagram showing an embodiment of a remote control construction machine according to the present invention, FIG. 2 is an electrohydraulic circuit diagram showing a part of the electrohydraulic circuit in detail, and FIG.
3A is a perspective view showing an example of installation of a display and an example of switching position detecting means of an operation pattern switching valve in the present invention, FIG.
(B) is an electric circuit diagram showing the relationship between the detection means and the display in the embodiment.

1 to 3, 7 is a receiver installed in the main body A, and 9 is a transmitter for remote operation. 2
Reference numerals 3 and 24 are the operation levers shown in FIGS. 6A and 6B. For the sake of explanation, two operation levers 23 and 24 are drawn corresponding to the front-back operation and the left-right operation, respectively. Actually, only two operating levers 23 and 24 are provided, respectively.

In FIG. 1, reference numerals 25a and 25b denote indoor operation pilot valves which operate in response to left and right operations and forward and backward operations of the operating lever 23, and 25c and 25d correspond to left and right operations and forward and backward operations of the operating lever 24, respectively. The indoor operation pilot valve, which operates in the same manner, is a pilot pump.

Reference numerals 27a to 27d are pilot valves for remote operation which are operated by signals from the receiver 7. As shown by 27a in FIG. 2, the pilot valves 27a to 27d for remote operation are electromagnetically proportional. It is composed of a pressure reducing valve 32 and an electromagnetic switching valve 33. Here, in the transmitter 9,
The receiver 7 includes a signal indicating the operation amount of the operation levers 11 and 12 and a signal indicating the operation direction, and the receiver 7 is electromagnetically proportional to the received signal by a current value corresponding to the operation amount of the operation levers 11 and 12. The pressure reducing valve 32 is controlled, and the electromagnetic switching valve 33 is switched by a signal indicating the operating direction.

Reference numerals 28a to 28d denote remote control pilot valves 27a to 27d and indoor control pilot valves 25a to 25d corresponding to the remote control pilot valves 27a to 27d, respectively. Select the pilot pressure and select the control valve 30 described later.
a to 30d is a high pressure selection circuit of the pilot valve secondary side circuit to be supplied to the operation chamber, and as shown in FIG. 2, each of the remote operation pilot valves 27a to 27d and the indoor operation pilot valves 25a to 25d. Two shuttle valves 34 are installed for each of the two circuits on the secondary side.

Reference numeral 29 is an operation pattern switching valve for selecting an operation pattern desired by the operator in accordance with an operation pattern which differs depending on manufacturers, and when the switching position H is selected, the operation pattern shown in FIG. 6 (A) is selected. Then, when the switching position M is selected, the operation pattern of FIG. 6B is selected.

Reference numerals 30a to 30d denote control valves for the arm cylinder 5x, the swing motor 2x of the swing device 2, the bucket cylinder 6x, and the boom cylinder 4x, respectively. As shown in FIG. By supplying pilot oil from the indoor operation pilot valves 25a to 25d or the remote operation pilot valves 27a to 27d to the operation chamber, these control valves 30a to 30d are switched to correspond to the hydraulic oil from the main pump 31. It controls the switching of the supply to the actuator.

In FIGS. 1 and 3, reference numerals 40 and 41 are limit switches provided as means for detecting the switching position of the operation pattern switching valve 29, and the contacts 40a and 41 are provided by the operation lever 29a of the operation pattern switching valve 29.
It is to close a. 42 and 43 are company H and M, respectively
This is an indicator consisting of a lamp that lights up when the operation pattern of the company is selected, and the contacts 45 and 46 are closed by the operation of the relay 44 which is energized by the signal instructing the remote operation from the transmitter 9 during the remote operation. In this state, depending on the switching position of the operation lever 29a of the operation pattern switching valve 29, the contact 40a of the limit switch 40 or the contact 41b of the limit switch 41 is closed to illuminate. These indicators 42 and 43 are installed, for example, on the top plate of the driver's cab 3a, which is easily visible to an operator who is remote from the main body A and who operates remotely.

As described above, in the present invention, the indicators 42, 4 for displaying the switching position of the operation pattern switching valve 29.
Since 3 is installed at a position where it can be easily seen from the outside of the main body A,
An operator who performs remote operation can grasp the current operation pattern at a glance, prevents malfunction caused by erroneous recognition of the operation pattern, and enhances safety.

The display devices 42 and 43 may display an operation pattern or a manufacturer's company name, and the number of operation patterns is not limited to two, but may be three or more. The invention can be applied.

[0023]

According to the present invention, since the indicator for displaying the switching position of the operation pattern switching valve is provided at a location visible from the outside of the construction machine, an operator operating remotely can easily recognize the current operation pattern. It is possible to confirm the operation pattern, prevent an erroneous operation due to an erroneous recognition of the operation pattern, and improve safety.

[Brief description of drawings]

FIG. 1 is an electrohydraulic circuit diagram showing an embodiment of a remote-controlled construction machine according to the present invention.

FIG. 2 is an electrohydraulic circuit diagram showing in detail a part of the electrohydraulic circuit of the embodiment.

FIG. 3A is a perspective view showing an example of installation of a display and an example of switching position detecting means of an operation pattern switching valve, and FIG. 3B is an electric circuit diagram showing a relationship between the detecting means and the display. is there.

FIG. 4 is a diagram showing a state in which a deep hole is excavated using a conventional remote-controlled hydraulic excavator with a slide arm.

5 is a diagram showing an arrangement of operation means and an operation pattern on an operation panel of the transmitter of FIG.

6A and 6B are diagrams showing examples of operation patterns in a conventional construction machine.

[Explanation of symbols]

1: undercarriage, 2: turning device, 2a: turning motor,
3: Upper revolving structure, 4: Boom, 4x: Boom cylinder,
5: arm, 5x: arm cylinder, 6: bucket, 6
x: bucket cylinder, 7: receiver, 9: transmitter, 1
1, 12, 14: Operation lever, 13: Front / running selection switch, 23, 24: Operation lever, 25a to 26
d: pilot valve, 26: pilot pump, 27a-
27d: Pilot valve for remote operation, 28a to 28d: High pressure selection circuit, 29: Operation pattern switching valve, 29a: Operation lever, 30a to 30d: Control valve, 31: Main pump, 32: Electromagnetic proportional pressure reducing valve, 33: Solenoid switching valve, 3
4: shuttle valve, 40, 41: limit switch for switching position detection, 42, 43: indicator, 44: relay, 4
5, 46: contacts that are closed during remote operation

Claims (1)

[Claims] Claim: What is claimed is: 1. Operation means for changing pilot oil supply destination from the pilot valve to the operation chamber of the control valve between each control valve of each hydraulic actuator of the construction machine and the pilot valve of each control valve. In a remote-controlled construction machine provided with an operation pattern switching valve for changing the operation pattern of, a means for detecting the switching position of the operation pattern switching valve is provided, and at a location visible from the outside of the construction machine,
A remote-controlled construction machine comprising a display for displaying the switching position detected by the detection means.