Work machine

Abstract

The work machine has a second pilot line that guides hydraulic pressure from a pilot hydraulic source to a pilot valve while bypassing a first gate lock valve, a second gate lock valve provided on the second pilot line and capable of switching between an open position that allows supply of hydraulic oil to the pilot valve and a closed position that cuts off the supply of the hydraulic oil, and a control device that controls the second gate lock valve based on a second remote operation signal transmitted from a remote operation device and controls the pilot valve in correspondence with a first remote operation signal transmitted from the remote operation device. In a state where the first gate lock valve is in the closed position, the second gate lock valve makes control based on the control device possible in a case where a ladder is in a stowed state, and on the other hand, maintains the closed position regardless of the second remote operation signal in a case where the ladder is in a deployed state.

Description

Technical Field

[0001] This invention relates to work machinery, and more specifically to work machinery capable of being operated remotely. Background Technology

[0002] In the field of construction machinery such as hydraulic excavators and bulldozers, unmanned operation based on remote control has become an open project in recent years. To remotely operate construction machinery, an operator must first ride in the machinery to start the device that enables remote operation. This device includes, for example, a communication device that receives remote operation signals from a remote control unit and a control device that performs control accordingly based on those signals.

[0003] However, large hydraulic excavators used in mines and other similar environments have ladders for getting on and off them. These ladders are designed to be both extendable and retractable to prevent them from becoming obstacles or coming into contact with the ground during operation. Therefore, operators need to extend the retracted ladder when getting on or off the hydraulic excavator.

[0004] When remotely operating a hydraulic excavator equipped with an extendable and retractable ladder (hereinafter, the retractable ladder), the operator first uses the extended retractable ladder to board the hydraulic excavator, activating its communication and control systems. Then, the operator uses the extended retractable ladder to leave the machine and retracts it. Thus, to begin remote operation of a large hydraulic excavator, the operator needs to perform the aforementioned series of steps.

[0005] As a known technology relating to remote operation of a hydraulic excavator with a retractable ladder, the technology described in Patent Document 1 is known. In the operating machine described in Patent Document 1, in order to perform peripheral monitoring corresponding to the lifting state of the ladder (retractable ladder), the display on the monitor in the remote control room switches to a camera image including the ladder within its shooting range when the ladder is in a retracted configuration, and switches to a camera image behind the hydraulic excavator when the ladder is in an operational configuration.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: International Publication No. 2016 / 174977 Summary of the Invention

[0009] In the work machine described in Patent Document 1, when the elevator is in use, the perimeter of the elevator (retractable elevator) is displayed on a monitor in the remote control room. Therefore, the operator in the remote control room can monitor the surrounding situation of the elevator. However, it is also considered that the operator might overlook the elevator in its deployed state. If the hydraulic excavator is remotely operated in this situation, the excavator will perform working and traveling actions while the elevator remains deployed. With the elevator deployed, there is a possibility that a worker may be riding on the hydraulic excavator. Even with the elevator deployed, the worker riding on the hydraulic excavator cannot leave the machine via remote operation and cannot perform the required work. Therefore, the operating rate of the hydraulic excavator and on-site productivity will decrease.

[0010] The present invention was made in view of the above-mentioned matters, and its object is to provide a work machine that, in a work machine having a ladder that can be deployed and retracted, can suppress the decrease in the operating rate and productivity of the work machine caused by remote operation.

[0011] This application includes multiple solutions to the aforementioned problems, but for example, the operating machinery includes: a driver's cab for the operator; a ladder that can be switched between an extended state and a retracted state, wherein the extended state allows the operator to board and alight relative to the driver's cab, and the retracted state is such that it does not become an obstacle to operation; a hydraulic actuator driven by a supply of hydraulic oil; a hydraulically piloted control valve that controls the flow of hydraulic oil supplied to the hydraulic actuator; and a control valve driven by a pilot hydraulic source. The system includes: a pilot valve for pilot pressure; a first pilot line guiding hydraulic oil from the pilot hydraulic source to the pilot valve; a first door lock valve located on the first pilot line, switchable to either an open position allowing hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve or a closed position cutting off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve; a first operating device located in the cab for operating the hydraulic actuator; and a first door lock device located in the cab for operating the first door lock valve. The machinery is remotely operated via a remote control device located away from the cab, characterized by having: a second pilot line that directs hydraulic pressure from the pilot hydraulic source through the first door lock valve to the pilot valve; a second door lock valve located on the second pilot line, switchable to either an open position allowing hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve or a closed position cutting off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve; an operation mode switch that allows the operator to manually switch between a remote operation mode and a riding operation mode, wherein the remote operation mode represents remote operation based on the remote control device, and the riding operation mode represents operation based on riding to the cab; and a switching valve located on the second pilot line that can be switched via the operation mode switch to either an open position allowing hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve or a closed position cutting off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve.A control device based on signals sent by the remote operating device, wherein the remote operating device has a second operating device that outputs a first remote operating signal and a second door lock device that outputs a second remote operating signal, the first remote operating signal being used to remotely operate the hydraulic actuator, and the second remote operating signal indicating the validity or invalidity of the remote operation based on the second operating device. The control device, based on the second remote operating signal sent by the remote operating device, controls the second door lock valve to either an open or closed position, and controls the opening degree of the pilot valve accordingly of the first remote operating signal sent by the remote operating device. When the first door lock valve is switched to the closed position, the second door lock valve enables control based on the control device when the ladder is in a retracted state; conversely, when the ladder is in an extended state, it remains in the closed position regardless of the second remote operating signal.

[0012] Invention Effects

[0013] According to the present invention, the second door lock valve is kept closed when the ladder is in the extended state. Therefore, remote operation of the hydraulic actuator based on the remote operation device is impossible when the ladder is in the extended state; remote operation based on the remote operation device is only permitted when the ladder is in the retracted state. This prevents the operator from being unable to leave the machine due to remote operation starting the machine when the ladder is in the extended state. Therefore, in working machines equipped with ladders that can be extended and retracted, the reduction in the operating rate and productivity of the working machine caused by remote operation can be suppressed.

[0014] Other issues, components, and effects will become clear from the following description of the implementation method. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a hydraulic excavator as a first embodiment of the working machinery of the present invention.

[0016] Figure 2 This is a schematic diagram showing the hydraulic system in the first embodiment of the working machine of the present invention.

[0017] Figure 3 It indicates composition Figure 2 The diagram shown is a block diagram illustrating the functional configuration of the control device as part of the first embodiment of the work machinery of the present invention.

[0018] Figure 4 It means Figure 3 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown.

[0019] Figure 5 This is a schematic diagram showing the hydraulic system in a modified example of the first embodiment of the working machine of the present invention.

[0020] Figure 6 It indicates composition Figure 5 The diagram shown is a block diagram illustrating the functional configuration of the control device in a modified example of the first embodiment of the work machine of the present invention.

[0021] Figure 7 It means Figure 6 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown.

[0022] Figure 8 This is a schematic diagram showing the hydraulic system in the second embodiment of the working machine of the present invention.

[0023] Figure 9 It indicates composition Figure 8 The diagram shown is a block diagram illustrating the functional configuration of the control device as part of the second embodiment of the work machinery of the present invention.

[0024] Figure 10 It means Figure 9 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown. Detailed Implementation

[0025] Hereinafter, embodiments of the work machinery of the present invention will be described using the accompanying drawings. In this embodiment, a large hydraulic excavator will be used as an example of the work machinery.

[0026] [First Implementation]

[0027] First, use Figure 1 The general configuration of the hydraulic excavator, which is the first embodiment of the working machinery of the present invention, will be described below. Figure 1 This is a schematic diagram of a hydraulic excavator, representing the first embodiment of the working machinery of the present invention. The description will be based on the view from the operator seated in the cab.

[0028] Figure 1 In this example, the hydraulic excavator 1, as a working machine, has a front working device 2 for performing excavation operations, and a body 3 rotatably mounted on the front working device 2. The body 3 consists of a self-moving lower traveling body 4 and an upper rotating body 5 rotatably mounted on the lower traveling body 4. The hydraulic excavator 1 is configured to be operated remotely via a remote control device 100 (described later) located at a location remote from the hydraulic excavator 1. Figure 2 It can be operated remotely.

[0029] The front working device 2 is a multi-joint type working device constructed by rotatably connecting multiple driven components for excavation and other operations in a vertical direction. The multiple driven components include, for example, a boom 11, a stick 12, and a bucket 13 as a working tool. The base end of the boom 11 is rotatably supported on the front of the upper rotating body 5. The base end of the stick 12 is rotatably supported at the front end of the boom 11. The bucket 13 is rotatably supported at the front end of the stick 12. The boom 11, stick 12, and bucket 13 are driven by a boom hydraulic cylinder 15, a stick hydraulic cylinder 16, and a bucket hydraulic cylinder 17, respectively, which are hydraulic actuators.

[0030] The lower traveling body 4 has, for example, tracked traveling devices 19 on the left and right (only the left side is shown in the figure). The traveling devices 19 are driven by traveling hydraulic motors 19a, which act as hydraulic actuators.

[0031] The upper rotating body 5 is configured to be driven to rotate relative to the lower traveling body 4, for example, by a rotary hydraulic motor (not shown) acting as a hydraulic actuator. The upper rotating body 5 includes: a cab 21 for the operator; an equipment compartment 22 housing various equipment; and a counterweight 23 mounted at the rear end of the equipment compartment 22. The counterweight 23 is used to achieve weight balance with the front working device 2. The cab 21 is equipped with an operating device 31 (described later) and a door lock device 32 (see later description). Figure 2 The equipment room 22 houses various equipment (see below) for the hydraulic system 30 that actuates the forward working device 2 and the machine body 3 (lower traveling body 4 and upper rotating body 5). Figure 2 (etc.) The composition of the hydraulic system 30 will be described in detail later.

[0032] A ladder 25 is provided on the rear side of the upper rotating body 5 for the operator to ascend and descend to the hydraulic excavator 1. The ladder 25 is configured to be switchable to a position extending from the lower end of the hydraulic excavator 1 to the height of the cab 21, thus enabling the operator to ascend and descend relative to the cab 21. Figure 1 The ladder 25 is shown in two states: an extended state and a retracted state (not shown) in which it is stored without obstructing the operation of the hydraulic excavator 1. A ladder operation switch 26 is provided in the equipment compartment 22 of the upper rotating body 5, which can switch the ladder 25 to either an extended or retracted state. The ladder 25 is configured such that, in addition to switching via the ladder operation switch 26, it can also be switched to an extended or retracted state via a remote control device (not shown).

[0033] Next, use Figure 2 The configuration of the hydraulic system in the first embodiment of the working machine of the present invention will be described. Figure 2 This is a schematic diagram showing the hydraulic system in the first embodiment of the working machine of the present invention. Furthermore, Figure 2To avoid complicating the explanation, the diagram shows a hydraulic system in which only one of a plurality of hydraulic actuators is driven.

[0034] Figure 2 In this configuration, the hydraulic system 30 is configured to control the drive of various hydraulic actuators in accordance with the operation of the operating device 31 and the door lock device 32 located in the driver's cab 21. Furthermore, the hydraulic system 30 is configured to control the drive of various hydraulic actuators in accordance with remote operating signals sent from the remote operating device 100.

[0035] The operating device 31 instructs the operation of various hydraulic actuators through operator input. The operating device 31 is, for example, an electric joystick device having a tilting joystick, detecting the amount of joystick operation, and outputting an electrical signal corresponding to the detected amount of operation. The electric operating device 31 is electrically connected to the control device 70 via a signal line, outputting an operation signal (electrical signal) corresponding to the operation (operation direction and amount of operation) to the control device 70.

[0036] The door lock device 32 indicates either the validity or invalidity of the instruction from the operating device 31. The door lock device 32 includes: a door lock lever 32a operable to either a locked position (opening the passenger / landing hatch of the cab 21) or a locked-out position (closing the passenger / landing hatch of the cab 21); and a door lock switch 32b that switches the opening and closing of the signal circuit in conjunction with the operation of the door lock lever 32a. The door lock device 32 is electrically connected to the control device 70 via a signal line and outputs an indication (operation signal) corresponding to the operating position (locked position or locked-out position) of the door lock lever 32a to the control device 70. For example, when the door lock lever 32a is operated to the locked position, the door lock device 32 turns the door lock switch 32b into an open state (OFF) and outputs an indication (OFF signal) to the control device 70 that invalidates the instruction from the operating device 31. On the other hand, when the door lock lever 32a is operated to the unlocked position, the door lock switch 32b is closed (ON), and an instruction (ON signal) is output to the control device 70 to make the instruction of the operating device 31 valid. The door lock device 32 is an operating device for operating the first door lock valve 45, which will be described later.

[0037] The remote operation device 100 includes a remote operation lever 101 and a remote operation door lock lever 102, both having the same functions as the aforementioned operation device 31 and door lock device 32. Specifically, the remote operation lever 101 is used to remotely operate various hydraulic actuators in response to operator input. The remote operation lever 101 is electrically connected to the wireless communication device 103 via a signal line, outputting a first remote operation signal corresponding to the operation direction and amount to the wireless communication device 103. The remote operation door lock lever 102 can be operated to either a locked position or a unlocked position, indicating the invalidity or validity of the remote operation based on the remote operation lever 101 in accordance with the operation position. The remote operation door lock lever 102 is electrically connected to the wireless communication device 103 via a signal line, outputting a second remote operation signal corresponding to either the locked position or the unlocked position to the wireless communication device 103. When the remote-operated door lock lever 102 is operated to the locked position, it outputs a second remote-operated signal (lock signal) indicating that remote operation is invalid. On the other hand, when it is operated to the unlocked position, it outputs a second remote-operated signal (lock-out signal) indicating that remote operation is valid. The wireless communication device 103 transmits a remote-operated signal to the hydraulic excavator 1 that is being remotely operated, including the first remote-operated signal of the remote-operated lever 101 and the second remote-operated signal of the remote-operated door lock lever 102.

[0038] The hydraulic system 30 has a wireless communication device 80 that receives remote operation signals from the wireless communication device 103 of the remote operation device 100. The wireless communication device 80 is electrically connected to the control device 70 via a signal line and outputs the received remote operation signals from the remote operation device 100 to the control device 70.

[0039] The hydraulic system 30 includes: a main pump 34 as a hydraulic source; and various hydraulic actuators driven by a supply of hydraulic oil from the main pump 34. Figure 2 (Not shown in the figure); and a control valve 36 (only one shown) that controls the flow of hydraulic oil supplied from the main pump 34 to the hydraulic actuators. The hydraulic actuators are, for example, the boom hydraulic cylinder 15, the stick hydraulic cylinder 16, the bucket hydraulic cylinder 17, and the travel hydraulic motor 19a (all refer to...). Figure 1 ), rotary hydraulic motor (not shown), etc. Control valve 36 is hydraulically pilot-operated, and its drive is controlled according to the magnitude of the pilot pressure acting on the pressure-bearing part.

[0040] The hydraulic system 30 includes a pilot pump 41 as a pilot hydraulic source and pilot valves 42 and 43 that generate pilot pressure using the discharge pressure of the pilot pump 41 as the source pressure. The pilot pump 41 and pilot valves 42 and 43 are connected via a first pilot line 44, which guides the hydraulic oil discharged from the pilot pump 41 to the pilot valves 42 and 43. The pilot valves 42 and 43 are, for example, electromagnetic proportional valves, and have excitation coils 42a and 43a. The excitation coils 42a and 43a of the pilot valves 42 and 43 are electrically connected to the control device 70 via signal lines, and their opening is controlled by a control signal (excitation current) from the control device 70. The pilot valves 42 and 43 generate pilot pressure by correspondingly reducing the discharge pressure of the pilot pump 41 and the operation (operation direction and operation amount) of the operating device 31, and output the generated pilot pressure to the pressure-receiving part of the control valve 36.

[0041] A first locking valve 45 is provided on the first pilot line 44, which can switch the first pilot line 44 to either an open or closed state. In other words, the first locking valve 45 can be switched to either an open position, which allows hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43 via the first pilot line 44, or a closed position, which cuts off the supply of hydraulic oil from the pilot pump 41 to the pilot valves 42 and 43 via the first pilot line 44. When the door lock lever 32a of the door lock device 32 is operated to the locked position, the first locking valve 45 switches to the closed position, which sets the first pilot line 44 to the closed state; on the other hand, when the door lock lever 32a is operated to the unlocked position, it switches to the open position, which sets the first pilot line 44 to the open state. The first locking valve 45 is, for example, a solenoid valve, and has an excitation coil 45a. The excitation coil 45a of the first door lock valve 45 is electrically connected to the control device 70 via a signal line, and switches to the open or closed position in response to the control signal (excitation current) of the control device 70. The first door lock valve 45 is, for example, a normally closed valve.

[0042] A first check valve 46 is provided on the upstream side of the first pilot line 44 compared to the first gate valve 45. The first check valve 46 allows hydraulic oil to flow from the pilot pump 41 to the first gate valve 45, while preventing hydraulic oil from flowing from the first gate valve 45 to the pilot pump 41.

[0043] A pilot relief line 47 branches off from the upstream portion of the first pilot line 44 compared to the first check valve 46. The pilot relief line 47 directs hydraulic oil from the pilot pump 41 to the working oil tank 38. A pilot relief valve 48 is provided on the pilot relief line 47. The pilot relief valve 48 is used to maintain the discharge pressure of the pilot pump 41, which is input to the pilot valves 42 and 43, at a substantially fixed predetermined value. The pilot relief valve 48 opens when the pressure in the first pilot line 44 exceeds a predetermined value (relief set pressure), allowing hydraulic oil in the first pilot line 44 to be released to the working oil tank 38 via the pilot relief line 47.

[0044] The hydraulic system 30 also serves as a hydraulic circuit for remote operation based on the remote operation device 100, including a second pilot line 51 that guides hydraulic oil from the pilot pump 41 through the first gate valve 45 to the pilot valves 42 and 43, an operation mode switching valve 52, and a second gate valve 53 disposed on the second pilot line 51. One side of the second pilot line 51 is connected to the upstream portion of the first pilot line 44 compared to the first check valve 46, and the other side is connected to the portion of the first pilot line 44 between the first gate valve 45 and the pilot valves 42 and 43. The operation mode switching valve 52 is disposed upstream of the second gate valve 53. A second check valve 54 is provided on the upstream portion of the operation mode switching valve 52 on the second pilot line 51. The second check valve 54 allows hydraulic oil to flow from the pilot pump 41 to the operating mode switching valve 52, while preventing hydraulic oil from flowing from the operating mode switching valve 52 to the pilot pump 41.

[0045] The operation mode switching valve 52 switches the remote operation of the hydraulic excavator 1 (hydraulic system 30) based on the remote operation device 100 to either allowed or disabled. The operation mode switching valve 52 is configured to switch between an open position, allowing hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) via the second pilot line 51 to the pilot valves 42 and 43, and a closed position, cutting off the supply of hydraulic oil from the pilot pump 41 via the second pilot line 51 to the pilot valves 42 and 43. Specifically, the open position of the operation mode switching valve 52 is a position where the second pilot line 51 on the upstream side of the operation mode switching valve 52 is connected to the second pilot line 51 on the downstream side. The closed position of the operation mode switching valve 52 is a position where the second pilot line 51 on the upstream side of the operation mode switching valve 52 is cut off, and the second pilot line 51 on the downstream side of the operation mode switching valve 52 is connected to the working oil tank 38.

[0046] Furthermore, the operation mode switching valve 52 is configured to be switched to a closed or open position by manual operation of the operator, and has an operating part 52a for manual switching operation by the operator. The operating part 52a is, for example, located near the ladder operating switch 26 in the equipment room 22 (see reference). Figure 1 The operating unit 52a functions as an operating mode switcher, which can be manually switched by the operator to either a remote operating mode indicating remote operation based on the remote operating device 100, or a passenger operating mode indicating operation based on riding in the cab 21 (where remote operation based on the remote operating device 100 is not possible). When the operating unit 52a, acting as the operating mode switcher, is switched to the passenger operating mode, it is switched to the closed position in conjunction with the switching operation of the operating unit 52a; conversely, when the operating unit 52a is switched to the remote operating mode, it is switched to the open position in conjunction with the switching operation of the operating unit 52a.

[0047] The second door lock valve 53 is essentially controlled to open and close in accordance with the operating position (second remote operation signal) of the remote operation door lock lever 102 of the remote operation device 100. The second door lock valve 53 is configured to switch between an open position, allowing hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) via the second pilot line 51 to the pilot valves 42 and 43, and a closed position, cutting off the supply of hydraulic oil from the pilot pump 41 via the second pilot line 51 to the pilot valves 42 and 43. Specifically, the open position of the second door lock valve 53 is a position in which the second pilot line 51 on the upstream side of the second door lock valve 53 is connected to the second pilot line 51 on the downstream side. The closed position of the second door lock valve 53 is a position in which the second pilot line 51 on the upstream side of the second door lock valve 53 is cut off and the second pilot line 51 on the downstream side of the second door lock valve 53 is connected to the working oil tank 38. The second door lock valve 53 is normally switched to the closed position when the remote-operated door lock lever 102 is operated to the locked position, and to the open position when the remote-operated door lock lever 102 is operated to the unlocked position. The second door lock valve 53 is, for example, a solenoid valve, and has an excitation coil 53a. The second door lock valve 53 is configured to switch between the closed and open positions in response to the control signal (excitation current) from the control device 70 relative to the excitation coil 53a. The second door lock valve 53 is, for example, a normally closed valve. One side of the excitation coil 53a of the second door lock valve 53 is electrically connected to the control device 70 via a signal line 56, and the other side is electrically connected to ground 58 via a signal line 57 and a signal loop switching device 60. In other words, the signal loop for outputting the control signal from the control device 70 relative to the excitation coil 53a of the second door lock valve 53 consists of the signal line 56, the signal line 57, the signal loop switching device 60, and the ground 58.

[0048] The signal circuit switching device 60 switches the signal circuit used to control the second door lock valve 53 to either a connected state or a disconnected state. The signal circuit switching device 60 is configured such that the signal circuit is disconnected when the ladder 25 is in the extended state, and connected when the ladder 25 is in the retracted state.

[0049] The signal loop switching device 60 is, for example, a relay. The relay, as the signal loop switching device 60, includes: a first fixed contact 61 and a second fixed contact 62; a movable contact 63 driven to contact either the first fixed contact 61 or the second fixed contact 62; a relay winding 64 that drives the movable contact 63; and a diode 65 connected in parallel with the relay winding 64. The diode 65 releases the back electromotive force generated when the relay winding 64 is energized by being energized.

[0050] The first fixed contact 61 side is electrically open, while the second fixed contact 62 side is electrically connected to ground 58. The movable contact 63 is electrically connected to the excitation coil 53a of the second door lock valve 53 via signal line 57. One side of the relay winding 64 is connected to ground 58, and the other side is electrically connected to the ladder storage detection device 67 via signal line 66.

[0051] The ladder storage detection device 67 detects the stored state of the ladder 25 and outputs a detection signal to a relay, which functions as a signal loop switching device. The ladder storage detection device 67 is configured, for example, as a switch that turns ON when the ladder 25 is detected to be stored, and OFF when the ladder 25 is not detected to be stored (in the deployed state). That is, the ladder storage detection device 67 functions as a switch that energizes or de-energizes the relay winding 64 in accordance with the stored or deployed state of the ladder 25. The ladder storage detection device 67 only energizes the relay winding 64 when the ladder 25 is detected to be stored.

[0052] The relay, for example, is normally open, configured such that energizing the relay winding 64 switches the contact of the movable contact 63 from the first fixed contact 61 to the second fixed contact 62. In other words, when the ladder 25 is in the extended state, the relay disconnects the signal circuit for the second door lock valve 53 due to the de-energization of the relay winding 64 based on the ladder storage detection device 67 (switch OFF). Conversely, when the ladder 25 is in the retracted state, the relay connects the signal circuit by energizing the relay winding 64 based on the ladder storage detection device 67 (switch ON). In other words, when the ladder 25 is in the extended state, the relay prevents the opening and closing control of the second door lock valve 53 based on the control device 70 (remote-operated door lock lever 102); conversely, when the ladder 25 is in the retracted state, the relay allows the opening and closing control of the second door lock valve 53 based on the control device 70 (remote-operated door lock lever 102).

[0053] The control device 70 is configured to control the opening degrees of pilot valves 42 and 43 in accordance with the operation (operation direction and operation amount) of the operating device 31, and to control the opening and closing of the first door lock valve 45 in accordance with the operation (locked position or unlocked position) of the door lock device 32. Furthermore, the control device 70 is configured to control the opening degrees of pilot valves 42 and 43 in accordance with the operation (operation direction and operation amount) of the remote operating lever 101 of the remote operating device 100, and to control the opening and closing of the second door lock valve 53 in accordance with the operation (locked position or unlocked position) of the remote operating door lock lever 102. The control device 70 receives a remote operating signal, including a first remote operating signal of the remote operating lever 101 and a second remote operating signal of the remote operating door lock lever 102, via the wireless communication device 80.

[0054] Next, use Figure 3 as well as Figure 4 The function of the control device, which constitutes part of the first embodiment of the working machine of the present invention, will be explained. Figure 3 It indicates composition Figure 2 The diagram shown is a block diagram illustrating the functional configuration of the control device as part of the first embodiment of the work machinery of the present invention. Figure 4 It means Figure 3 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown.

[0055] Figure 3In this system, the control device 70, as a hardware component, includes, for example, a storage device 71 composed of RAM and ROM, and a processing device 72 composed of a CPU and MPU. The storage device 71 pre-stores programs and various information required for the motion control of the hydraulic excavator 1. The processing device 72 appropriately reads programs and various information from the storage device 71, executes processing according to the programs, thereby realizing various functions including the following.

[0056] The control device 70 has a first door lock valve control unit 74, a pilot valve control unit 75, a second door lock valve command setting unit 76, and a second door lock valve control unit 77, which are functions performed by the processing device 72.

[0057] The first door lock valve control unit 74 sets the command relative to the first door lock valve 45 to either a closed or open position based on the operation signal (OFF or ON signal of the door lock switch 32b) output from the door lock device 32 in accordance with the operation position (locked position or unlocked position) of the door lock lever 32a, and outputs a control signal (excitation current) corresponding to the set command (closed position or open position) to the first door lock valve 45 (excitation coil 45a). When the operation position of the door lock lever 32a is in the locked position (when the operation signal is the OFF signal of the door lock switch 32b), the first door lock valve control unit 74 sets the command relative to the first door lock valve 45 to the open position; on the other hand, when the operation position is in the unlocked position (when the operation signal is the ON signal of the door lock switch 32b), the first door lock valve control unit 74 sets the command to the closed position.

[0058] The pilot valve control unit 75 sets the opening (drive) command of each pilot valve 42, 43 based on the operation signal (operation direction and operation amount) output from the operating device 31. Additionally, the pilot valve control unit 75 sets the opening (drive) command of each pilot valve 42, 43 based on the first remote operation signal (operation direction and operation amount) from the remote operation lever 101 output from the wireless communication device 80. The pilot valve control unit 75 outputs a control signal (excitation current) corresponding to the set command to each pilot valve 42, 43 (excitation coils 42a, 43a).

[0059] The second door lock valve command setting unit 76 sets the command relative to the second door lock valve 53 to either an open or closed position based on the second remote operation signal (locked position or unlocked position) of the remote operation door lock lever 102 output from the wireless communication device 80. Specifically, the second door lock valve command setting unit 76, for example, according to... Figure 4 The flowchart shown illustrates the setting of this instruction. The second door lock valve instruction setting unit 76 first determines whether the remote-operated door lock lever 102 is in the unlocked position based on the second remote operation signal of the remote-operated door lock lever 102 output from the wireless communication device 80. Figure 4 (See step S10). In step S10, if it is determined that the remote operation door lock lever 102 is in the unlocked position (yes), the command relative to the second door lock valve 53 is set to the open position (…). Figure 4 (See step S20). On the other hand, if it is determined in step S10 that the remote operation door lock lever 102 is in the locked position (no), the command is set to the closed position (…). Figure 4 Step S30 (as shown).

[0060] return Figure 3 The second door lock valve control unit 77 outputs a control signal (excitation current) corresponding to the command (open position or closed position) set by the second door lock valve command setting unit 76 to the second door lock valve 53 (excitation coil 53a).

[0061] Next, use Figures 1-3 The operation and effects of the first embodiment of the working machine of the present invention will be explained. First, the operation of the hydraulic excavator 1 by an operator sitting in the cab 21 will be described.

[0062] Operators relative to Figure 1 The hydraulic excavator 1 shown is ridden on using the ladder 25 in its extended state, and the ladder 25 is retracted by operating the ladder operation switch 26. At this time, the operating part 52a of the operation mode switching valve 52, which serves as an operation mode switcher, is placed in the riding operation mode. Therefore, Figure 2 The operating mode switching valve 52 shown is in a closed position corresponding to the operating position of the riding operation mode of the operating unit 52a. As a result, the supply of hydraulic oil from the pilot pump 41 to the pilot valves 42 and 43 via the second pilot line 51 is cut off, so remote operation based on the remote operating device 100 is not possible.

[0063] Next, the operator moves the door lock lever 32a of the door lock device 32 in the cab 21 from the locked position to the unlocked position and sets it in. If the door lock lever 32a is moved to the unlocked position, the door lock switch 32b switches from the open state to the closed state. As a result, an ON signal (making the indication of the operating device 31 valid) from the door lock device 32 is input to the control device 70. Figure 3 The control device 70 (first door lock valve control unit 74) shown sets an instruction to open the first door lock valve 45 based on the ON signal from the door lock device 32, and outputs a control signal (excitation current) corresponding to the instruction to open the set position to the first door lock valve 45.

[0064] thus, Figure 2In the hydraulic system 30 shown, the normally closed first gate valve 45 is switched to the open position, and the first pilot line 44 becomes connected. In this case, hydraulic oil from the pilot pump 41 is supplied to the pilot valves 42 and 43 via the first check valve 46 on the first pilot line 44 and the open first gate valve 45, and the discharge pressure of the pilot pump 41 is input to the pilot valves 42 and 43.

[0065] If the operator operates the operating device 31 in this state, the operating device 31 will output an operating signal (indication of the hydraulic actuator's drive) corresponding to the operating direction and operating amount to the control device 70. Figure 3 The control device 70 (pilot valve control unit 75) shown sets the opening degree of each pilot valve 42, 43 based on the operation signal from the operating device 31, and outputs the control signal (excitation current) corresponding to the set command to each pilot valve 42, 43.

[0066] thus, Figure 2 The opening degrees of each pilot valve 42, 43 are controlled, and each pilot valve 42, 43 correspondingly reduces the discharge pressure of the pilot pump 41 and generates pilot pressure according to the controlled opening degree. The pilot pressure generated by the pilot valves 42, 43 acts on the pressure-receiving part of the control valve 36, and the drive of the control valve 36 is controlled accordingly with the pilot pressure. Thus, hydraulic oil from the main pump 34 is supplied to the hydraulic actuator (…) via the control valve 36. Figure 1 The hydraulic actuator is controlled by supplying hydraulic cylinders such as boom hydraulic cylinder 15, stick hydraulic cylinder 16, bucket hydraulic cylinder 17, travel hydraulic motor 19a or rotary hydraulic motor (not shown), thereby controlling the drive of the hydraulic actuator.

[0067] Next, we will describe the situation of remotely operating a hydraulic excavator.

[0068] In order to pass Figure 2 The remote operation device 100 shown is used to remotely operate the hydraulic excavator 1. This requires the control device 70 and the wireless communication device 80 to be powered on. Furthermore, the operating section 52a of the operation mode switching valve 52, which acts as an operation mode switcher, needs to be switched from the riding operation mode to the remote operation mode.

[0069] Therefore, the operator is relative to Figure 1 The hydraulic excavator 1 shown is mounted using the ladder 25 in its extended state. The operating unit 52a of the operating mode switching valve 52 located in the equipment compartment 22 is manually operated to switch from the mounted operation mode to the remote operation mode, and... Figure 2The control device 70 and the wireless communication device 80 shown are powered ON. Then, after leaving the machine using the ladder 25, the ladder 25 is retracted via remote control. Furthermore, in this embodiment, the first door lock valve 45 being in the closed position is one of the conditions for initiating remote operation of the hydraulic excavator 1. Therefore, when the operator leaves the machine, the first door lock valve 45 is in the closed position.

[0070] When the operating section 52a of the operating mode switching valve 52 switches to the remote operating mode, the operating mode switching valve 52 switches to the open position corresponding to the operating position of the remote operating mode. As a result, the second pilot line 51 on the upstream and downstream sides of the operating mode switching valve 52 becomes connected.

[0071] Furthermore, based on the stowage of the ladder 25, the ladder stowage detection device 67 detects the stowage state of the ladder 25 and outputs a detection signal (excitation current) corresponding to the stowage state of the ladder 25 to the relay winding 64 of the relay. As a result, the contact of the movable contact 63 of the relay switches from the first fixed contact 61 to the second fixed contact 62. Driven by this relay, the signal circuit (signal line 56, signal line 57, excitation coil 53a, relay, ground 58) used to control the second door lock valve 53 switches from an interrupted state to a connected state. In other words, based on the stowage of the ladder 25, the opening and closing control of the second door lock valve 53 based on the control device 70 becomes possible.

[0072] Subsequently, when the operator switches the remote operation door lock lever 102 of the remote operation device 100 from the locked position to the unlocked position, the wireless communication device 103 of the remote operation device 100 sends a second remote operation signal (lock-off signal) to the remote operation door lock lever 102. The lock-off signal (second remote operation signal) of the remote operation door lock lever 102 sent from the wireless communication device 103 is received by the wireless communication device 80 of the hydraulic excavator 1.

[0073] The wireless communication device 80 outputs the received lock release signal of the remote operation door lock lever 102 to the control device 70. Figure 3 The control device 70 (second door lock valve command setting unit 76) shown sets an open position command relative to the second door lock valve 53 based on the lock release signal (second remote operation signal) from the remote operation door lock lever 102 of the wireless communication device 80.

[0074] At this point, as described above, Figure 2 The relay shown operates when the ladder 25 is retracted, thereby connecting the signal circuit for the second door lock valve 53, making it possible to control the opening and closing of the second door lock valve 53 based on the control device 70. Therefore, Figure 3The control device 70 (second door lock valve control unit 77) shown can output a control signal (excitation current) corresponding to the command for the open position set by the second door lock valve command setting unit 76 to the second door lock valve 53. As a result, the normally closed second door lock valve 53 is switched to the open position.

[0075] By switching the operation mode switching valve 52 to the open position and the second door lock valve 53 to the open position, the second pilot line 51 becomes connected. In this case, even if the first door lock valve 45 is in the closed position, hydraulic oil from the pilot pump 41 is supplied to the pilot valves 42 and 43 via the second check valve 54, the operation mode switching valve 52 in the open position, and the second door lock valve 53 in the open position on the second pilot line 51, and the discharge pressure of the pilot pump 41 is input to the pilot valves 42 and 43.

[0076] If the remote operating joystick 101 of the remote operating device 100 is operated by the operator in this state, the wireless communication device 80 of the hydraulic excavator 1 receives the first remote operation signal (operation direction and operation amount) of the remote operating joystick 101 sent from the wireless communication device 103 of the remote operating device 100 and outputs it to the control device 70. Figure 3 The control device 70 (pilot valve control unit 75) shown sets the opening degree of each pilot valve 42, 43 based on the first remote operation signal from the remote operation lever 101 of the wireless communication device 80, and outputs the control signal (excitation current) corresponding to the set command to each pilot valve 42, 43.

[0077] Therefore, control Figure 2 The opening degrees of each pilot valve 42, 43 are shown. At this time, as described above, the discharge pressure of the pilot pump 41 is input to each pilot valve 42, 43 via the second pilot line 51. Therefore, each pilot valve 42, 43 can reduce the discharge pressure of the pilot pump 41 and generate pilot pressure in accordance with the controlled opening degree. The pilot pressure generated by the pilot valves 42, 43 acts on the pressure-receiving part of the control valve 36, and the drive of the control valve 36 is controlled accordingly with the pilot pressure. As a result, hydraulic oil from the main pump 34 is supplied to the hydraulic actuator via the control valve 36, thereby controlling the drive of the hydraulic actuator.

[0078] Thus, with the operation section 52a of the operation mode switching valve 52, which acts as an operation mode switcher, switched to remote operation mode by manual operation, the hydraulic excavator 1 can be operated remotely by the remote operation device 100 when the ladder 25 is in the retracted state.

[0079] However, consider the following scenario: Although the operator uses the extended ladder 25 to ride on the hydraulic excavator 1 and switches the operating mode switching valve 52's operating part 52a to remote operation mode, other operators operate the remote operation device 100 before leaving the machine. In this case, the ladder 25 remains in the extended state. Therefore, the ladder storage detection device 67 detects the extended state of the ladder 25 and outputs a detection signal (OFF signal) corresponding to the extended state of the ladder 25 to the relay winding 64. As a result, the relay does not operate, and the contact of the movable contact 63 of the relay remains at the first fixed contact 61. That is, the signal circuit (signal line 56, signal line 57, excitation coil 53a, relay, ground 58) used to control the second door lock valve 53 remains in the cut-off state through the relay.

[0080] If the remote operation door lock lever 102 of the remote operation device 100 is operated to the unlocked position in this state, the control device 70 sets an open position command based on the unlocked signal (second remote operation signal) of the remote operation door lock lever 102 received by the wireless communication device 80. Furthermore, it wants to output a control signal (excitation current) corresponding to the set open position command to the second door lock valve 53.

[0081] However, as described above, when the ladder 25 is in the extended state, the signal circuit for the second door lock valve 53 is cut off via a relay. Therefore, the control signal (excitation current) from the control device 70 cannot be input to the second door lock valve 53, and opening / closing control of the second door lock valve 53 based on the control device 70 is impossible. Consequently, the normally closed second door lock valve 53 remains in the closed position. That is, the second door lock valve 53 remains in the closed position regardless of the operation of the remote-operated door lock lever 102 to the unlocked position. Due to the closed position of the second door lock valve 53, hydraulic oil from the pilot pump 41 cannot be supplied to the pilot valves 42 and 43 via the second pilot line 51.

[0082] At this time, if the remote operation lever 101 of the remote operation device 100 is operated, the control device 70 will output a control signal (excitation current) corresponding to the opening command set based on the first remote operation signal of the remote operation lever 101 to each pilot valve 42, 43. However, the hydraulic oil of the pilot pump 41 cannot be supplied to the pilot valves 42, 43 due to the closed position of the second door lock valve 53. Therefore, even if the opening of each pilot valve 42, 43 is controlled by the control device 70, the control valve 36 cannot be driven. Therefore, the hydraulic actuator will not be driven.

[0083] Thus, in this embodiment, when the ladder 25 is in the extended state, remote operation of the hydraulic excavator 1 based on the remote operation device 100 cannot be performed. Therefore, it is possible to prevent the operator riding on the hydraulic excavator 1 with the ladder 25 in the extended state from being unable to leave the machine due to remote operation based on the remote operation device 100.

[0084] Furthermore, in this embodiment, remote operation of the hydraulic excavator 1 based on the remote operation device 100 cannot be performed unless the operation section 52a of the operation mode switching valve 52 is switched from manual operation to remote operation mode. When the operation section 52a of the operation mode switching valve 52 is in the riding operation mode operation position, the operation mode switching valve 52 is configured to be in the closed position, and the second pilot line 51 is cut off. Therefore, even if the ladder 25 is in the retracted state and the opening and closing control of the second door lock valve 53 based on the control device 70 can be performed, the hydraulic oil of the pilot pump 41 cannot be supplied to each pilot valve 42, 43 via the second pilot line 51 due to the closed position of the operation mode switching valve 52.

[0085] As described above, the hydraulic excavator 1 (operating machinery) of the first embodiment of the present invention includes: a cab 21 for the operator to ride in; a ladder 25 that can be switched between an extended state that allows the operator to ride in and out of the cab 21 and a retracted state that does not become an obstacle to operation; hydraulic actuators 15, 16, 17, and 19a driven by the supply of hydraulic oil; a hydraulically piloted control valve 36 that controls the flow of hydraulic oil supplied to the hydraulic actuators 15, 16, 17, and 19a; pilot valves 42 and 43 that generate pilot pressure to drive the control valve 36 using a pilot pump 41 (pilot hydraulic source) as the source pressure; and hydraulic oil from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43. The hydraulic excavator 1 is configured to be remotely operated via a remote operating device 100 located at a location remote from the cab 21, and includes a first pilot line 44; a first door lock valve 45 provided on the first pilot line 44, which is switched to either an open position that allows hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43, or a closed position that cuts off the supply of hydraulic oil from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43; an operating device 31 (first operating device) disposed in the cab 21 for operating the hydraulic actuators 15, 16, 17, 19a; and a door lock device 32 (first door lock device) disposed in the cab 21 for operating the first door lock valve 45.The hydraulic excavator 1 (operating machinery) also includes: a second pilot line 51 that allows hydraulic oil from the pilot pump 41 (pilot hydraulic source) to be diverted from the first gate valve 45 to the pilot valves 42 and 43; a second gate valve 53 provided on the second pilot line 51, which can be switched to either an open position that allows hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43, or a closed position that cuts off the supply of hydraulic oil from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42 and 43; and a switchable operating mode. The operating mode switching valve 52 of the converter has an operating section 52a that can be manually switched by the operator to either a remote operation mode indicating remote operation based on the remote operation device 100 or a riding operation mode indicating operation based on riding into the cab 21; the operating mode switching valve 52 (switching valve) provided on the second pilot line 51 can be switched by the switching operation of the operating section 52a (operating mode switcher) to either an open position that allows hydraulic oil to be supplied from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42, 43 or a closed position that cuts off the supply of hydraulic oil from the pilot pump 41 (pilot hydraulic source) to the pilot valves 42, 43; and a control device 70 that is controlled based on a signal sent by the remote operation device 100, wherein the remote operation device 100 has: a remote operation lever 101 (second operation device) that outputs a first remote operation signal for remotely operating the hydraulic actuators 15, 16, 17, 19a; and a transmission The remote-operated door lock lever 102 (second door lock device) issues a second remote-operated signal, which indicates whether the remote operation based on the remote-operated lever 101 (second operating device) is valid or invalid. The control device 70 controls the second door lock valve 53 to either an open or closed position based on the second remote-operated signal sent by the remote-operated device 100, and controls the opening degree of pilot valves 42 and 43 in accordance with the first remote-operated signal sent by the remote-operated device 100. When the first door lock valve 45 is switched to the closed position, the second door lock valve 53 enables control based on the control device 70 when the ladder 25 is in the retracted state; conversely, when the ladder 25 is in the extended state, it remains in the closed position regardless of the second remote-operated signal.

[0086] According to this configuration, when the ladder 25 is in the extended state, the second door lock valve 53 is kept in the closed position. Therefore, remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation device 100 is impossible when the ladder 25 is in the extended state; remote operation based on the remote operation device 100 is only permitted when the ladder 25 is in the retracted state. This prevents the operator from being unable to leave the machine due to remote operation starting the hydraulic excavator 1 (operating machinery) when the ladder 25 is in the extended state. Therefore, in a hydraulic excavator 1 (operating machinery) having an extendable and retractable ladder 25, the reduction in the operating rate and productivity of the hydraulic excavator 1 (operating machinery) caused by remote operation can be suppressed.

[0087] Furthermore, the hydraulic excavator 1 (operating machinery) of this embodiment includes: a signal circuit switching device 60, which switches the signal circuit used to output control signals to the control device 70 relative to the second door lock valve 53 to a connected state or a cut-off state; and a ladder storage detection device 67 (detection device), which detects the storage state of the ladder 25. The second door lock valve 53 is configured to be in a closed position when the signal circuit is in the cut-off state. The signal circuit switching device 60 is configured to connect the signal circuit when the ladder storage detection device 67 (detection device) detects the storage state of the ladder 25, and disconnect the signal circuit when the ladder storage detection device 67 (detection device) does not detect the storage state of the ladder.

[0088] According to this configuration, by switching the connection or disconnection of the signal circuit for controlling the second door lock valve 53, it is possible to switch between non-restricted and permitted remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation device 100, corresponding to the unfolded or retracted state of the ladder 25.

[0089] [Modifications of the First Embodiment]

[0090] Next, use Figures 5-7 A variation of the first embodiment of the working machine of the present invention will be described. Figure 5 This is a schematic diagram showing the hydraulic system in a modified example of the first embodiment of the working machine of the present invention. Figure 6 It indicates composition Figure 5 The diagram shown is a block diagram illustrating the functional configuration of the control device in a modified example of the first embodiment of the work machine of the present invention. Figure 7 It means Figure 6 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown. Furthermore, Figures 5-7 In the middle, it is marked with Figures 1-4The parts of the accompanying figures that have the same reference numerals are the same parts, therefore their detailed descriptions are omitted.

[0091] Figure 5 The variation of the first embodiment of the work machine of the present invention shown differs from the first embodiment in that it includes an operation mode detector 69 that detects the operation position (riding operation mode or remote operation mode) of the operation section 52a, which acts as an operation mode switcher, and a control device 70A that sets the command (open position or closed position) for the second door lock valve 53 based on the second remote operation signal of the remote operation door lock lever 102 of the remote operation device 100, the detection signal of the operation mode detector 69, and the operation signal of the door lock device 32. In this variation, when the operation section 52a, which acts as an operation mode switcher, is switched to the remote operation mode, and the operator is riding on the hydraulic excavator 1 and operates the door lock lever 32a of the door lock device 32, the operation of the operator riding on the hydraulic excavator 1 is prioritized over the remote operation based on the remote operation device 100.

[0092] Specifically, Figure 5 In this embodiment, the hydraulic system 30's operating mode switching valve 52 is equipped with an operating mode detector 69 that detects the operating position (riding operation mode or remote operation mode) of the operating unit 52a, which acts as an operating mode switcher. The operating mode detector 69 is electrically connected to the control device 70A via a signal line, and the operating unit 52a of the operating mode switching valve 52 outputs a detection signal of the operating position in either the riding operation mode or the remote operation mode to the control device 70A. The hardware configuration of the hydraulic system 30 in this modified example is the same as that of the hydraulic system 30 in the first embodiment, except for this.

[0093] like Figure 6 As shown, the control device 70A, like the control device 70 of the first embodiment, includes a first door lock valve control unit 74, a pilot valve control unit 75, a second door lock valve command setting unit 76A, and a second door lock valve control unit 77. However, the second door lock valve command setting unit 76A sets the command for the second door lock valve 53 to either an open or closed position based on the second remote operation signal (locking signal or lock release signal) of the remote operation door lock lever 102 output from the wireless communication device 80, the detection signal (riding operation mode or remote operation mode) output from the operation mode detector 69, and the operation signal output from the door lock device 32.

[0094] The second door lock valve command setting unit 76A, for example, according to... Figure 7The flowchart shown illustrates how to set this instruction. The second door lock valve instruction setting unit 76A first determines, based on the detection signal output from the operation mode detector 69, whether the operation position (operation mode) of the operation unit 52a, which acts as an operation mode switcher, is in remote operation mode. Figure 7 (See step S2). If it is determined that the operating position (operating mode) of the operating unit 52a is in remote operating mode (yes), proceed to step S10; otherwise, if it is determined that the operating position (operating mode) of the operating unit 52a is in riding operating mode (no), proceed to step S30.

[0095] If the condition is yes in step S2, similarly to the second door lock valve command setting unit 76 in the first embodiment, it is determined whether the remote operation door lock lever 102 is in the unlocked position based on the operation signal of the remote operation door lock lever 102 output from the wireless communication device 80. Figure 7 (See step S10). If it is determined that the remote operation door lock lever 102 is in the unlocked position (yes), proceed to step S20; otherwise, if it is determined that the remote operation door lock lever 102 is in the locked position (no), proceed to step S30.

[0096] If the condition is yes in step S10, the command for the second door lock valve 53 is set to the open position. Figure 7 (See step S20). In step S20, if the command for the second door lock valve 53 is set to the open position, it is determined whether a switching operation (change in the operation signal) of the door lock device 32 is detected. Figure 7 (See step S22). If it is determined that a switching operation of the door lock device 32 has been detected (yes), proceed to step S30; otherwise, end if it is determined that no switching operation of the door lock device 32 has been detected (no).

[0097] If the condition is no in step S2 or S10, or yes in step S22, the command for the second door lock valve 53 is set to the closed position. Figure 7 Step S30 (as shown).

[0098] Next, use Figures 5-7 The operation and effects of a modified example of the first embodiment of the working machine of the present invention will be explained.

[0099] In the first embodiment, when the operating part 52a of the operating mode switching valve 52 is in remote operation mode and the remote operation door lock lever 102 of the remote operation device 100 is operated to the unlocked position, even if the door lock lever 32a is operated to the locked position by the operator riding on the hydraulic excavator 1, hydraulic oil from the pilot pump 41 will still be supplied to the pilot valves 42 and 43 via the open position operating mode switching valve 52 and the open position second door lock valve 53 on the second pilot line 51. Therefore, even if the operator riding on the hydraulic excavator 1 wants to operate the door lock lever 32a to the locked position to stop the operation of the hydraulic excavator 1, the hydraulic excavator 1 will still work if the remote operation lever 101 is operated. In this case, the operator riding on the hydraulic excavator 1 cannot leave the machine, resulting in a decrease in the operating rate and productivity of the hydraulic excavator 1.

[0100] In contrast, in this variant example, Figure 5 When the operating part 52a of the operating mode switching valve 52 shown is in remote operation mode, if the operator riding on the hydraulic excavator 1 switches the door lock lever 32a, then Figure 6 The first door lock valve control unit 74 of the control device 70A controls the first door lock valve 45 to the closed or open position in accordance with the operation signal (locked position or unlocked position) output from the door lock device 32. Furthermore, if the second door lock valve command setting unit 76A of the control device 70A detects a switching operation (change in operation signal) of the door lock device 32, it ignores the second remote operation signal of the remote operation door lock lever 102 and proceeds according to... Figure 7 In step S22 of the flowchart shown, the command for the second door lock valve 53 is set to the closed position. The second door lock valve control unit 77 switches the control of the second door lock valve 53 to the closed position accordingly based on the command for the closed position of the second door lock valve 53 set by the second door lock valve command setting unit 76A.

[0101] Thus, in this modified example, when the operating section 52a of the operating mode switching valve 52 is in remote operation mode, and simultaneously operations of the operating device 31 and the door lock device 32 performed by the operator riding on the hydraulic excavator 1, and remote operations performed by the remote operation device 100 are executed, the second door lock valve 53 is switched to the closed position by the switching operation of the door lock device 32. This allows the operations performed by the operator riding on the hydraulic excavator 1 to take priority. In other words, operating authority is transferred to the operator riding on the hydraulic excavator 1. As a result, the hydraulic excavator 1 can be operated or stopped according to the intention of the operator riding on the hydraulic excavator 1. Therefore, even when the operating mode is in remote operation mode, the operator riding on the hydraulic excavator 1 can stop the hydraulic excavator 1 as needed and leave the machine using the ladder 25.

[0102] According to the modified example of the first embodiment of the working machine of the present invention described above, similarly to the first embodiment, the second door lock valve 53 is kept in the closed position when the ladder 25 is in the extended state. This makes remote operation based on the hydraulic actuators 15, 16, 17, and 19a of the remote operation device 100 impossible. Therefore, it is possible to prevent the operator from being unable to leave the machine due to remote operation starting the hydraulic excavator 1 when the ladder 25 is in the extended state. Thus, in the hydraulic excavator 1 having an extendable and retractable ladder 25, the reduction in the operating rate and productivity of the hydraulic excavator 1 caused by remote operation can be suppressed.

[0103] Furthermore, the hydraulic excavator (operating machinery) in this modified example also has an operation mode detector 69 for detecting the operating position of the operating unit 52a (operation mode switcher). The control device 70A is configured such that, even if it is determined based on the detection result of the operation mode detector 69 that the operating position of the operating unit 52a (operation mode switcher) is in remote operation mode, but a switching operation of the door lock device 32 (first door lock device) is detected, the second remote operation signal is ignored and the second door lock valve 53 is switched to the closed position.

[0104] According to this configuration, even when the operation unit 52a (operation mode switcher) is in remote operation mode, if the operator riding on the hydraulic excavator 1 performs a switching operation on the door lock device 32 (first door lock device), the second door lock valve 53 will be switched to the closed position, thereby making remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation device 100 impossible. Therefore, when in remote operation mode, if remote operation based on the remote operation device 100 and riding operation based on riding to the cab 21 are performed simultaneously, riding operation can be prioritized over remote operation.

[0105] Furthermore, in this modified example, the control device 70A is configured such that, in the remote operation mode, if the operator operates the door lock lever 32a of the hydraulic excavator 1, the operator's operation takes priority over remote operation. However, the operation mode of the hydraulic excavator 1 in this modified example is merely one example.

[0106] For example, the control device 70A can also be configured such that, in the remote operation mode, when the ladder 25 is in the extended state, regardless of whether the door lock lever 32a is operated, it keeps both the second door lock valve 53 and the first door lock valve 45 in the closed position. This reliably prevents the hydraulic excavator 1 from operating when the ladder 25 is in the extended state.

[0107] Alternatively, for example, if remote operation is prioritized over operator operation, the control device 70A may be configured to keep the first door lock valve 45 in the closed position regardless of whether the door lock lever 32a is operated when the operation mode is remote operation mode.

[0108] [Second Implementation]

[0109] Next, use Figures 8-10 The second embodiment of the working machine of the present invention will be described below. Figure 8 This is a schematic diagram showing the hydraulic system in the second embodiment of the working machine of the present invention. Figure 9 It indicates composition Figure 8 The diagram shown is a block diagram illustrating the functional configuration of the control device as part of the second embodiment of the work machinery of the present invention. Figure 10 It means Figure 9 A flowchart illustrating an example of the processing sequence of the second door lock valve command setting unit in the control device shown. Furthermore, Figures 8-10 In the middle, it is marked with Figures 1 to 7 The parts of the accompanying figures that have the same reference numerals are the same parts, therefore their detailed descriptions are omitted.

[0110] The difference between the second embodiment of the working machine of the present invention and the first embodiment is that the point of switching the connection or disconnection of the signal circuit switching device 60 (relay) for controlling the connection or disconnection of the signal circuit for controlling the second door lock valve 53 and the point of controlling the opening and closing of the second door lock valve 53 in accordance with the detection results of the control device 70B and the ladder storage detection device 67B are deleted.

[0111] Specifically, such as Figure 8 As shown, the hydraulic system 30 does not include the signal loop switching device 60 of the first embodiment, i.e., a relay (see reference). Figure 2 The excitation coil 53a of the second door lock valve 53 is electrically connected to the control device 70B via signal line 56. That is, the signal circuit for outputting control signals to the control device 70B relative to the excitation coil 53a of the second door lock valve 53 is in a constantly connected state. Additionally, the ladder storage detection device 67B is electrically connected to the control device 70B via signal line 66B, outputting a detection signal (ON or OFF signal) indicating the storage or unfolded state of the ladder 25 to the control device 70B. The hardware configuration of the hydraulic system 30 in the second embodiment is the same as that in the first embodiment.

[0112] like Figure 9As shown, the control device 70B, like the control device 70 of the first embodiment, includes a first door lock valve control unit 74, a pilot valve control unit 75, a second door lock valve command setting unit 76B, and a second door lock valve control unit 77. However, the second door lock valve command setting unit 76B sets the command for the second door lock valve 53 to either the open or closed position based on the second remote operation signal (locking signal or lock release signal) of the remote operation door lock lever 102 output from the wireless communication device 80 and the detection signal (ON signal or OFF signal) output from the ladder storage detection device 67B.

[0113] The second door lock valve command setting unit 76B, for example, according to... Figure 10 The flowchart shown illustrates the setting of this instruction. The second door lock valve instruction setting unit 76B first determines whether the ladder 25 is in a retracted state based on the detection signal output from the ladder storage detection device 67B. Figure 10 (See step S4). If it is determined that the ladder 25 is in the retracted state (yes), proceed to step S10; otherwise, if it is determined that the ladder 25 is in the unfolded state (no), proceed to step S30.

[0114] If yes in step S4, similarly to the second door lock valve command setting unit 76 in the first embodiment, it is determined whether the remote operation door lock lever 102 is in the unlocked position based on the second remote operation signal of the remote operation door lock lever 102 output from the wireless communication device 80. Figure 10 (See step S10). If it is determined that the remote operation door lock lever 102 is in the unlocked position (yes), proceed to step S20; otherwise, if it is determined that the remote operation door lock lever 102 is in the locked position (no), proceed to step S30.

[0115] If the condition is yes in step S10, the command for the second door lock valve 53 is set to the open position. Figure 10 (See step S20). On the other hand, if the condition is not met in step S4 or S10, the instruction is set to the closed position. Figure 10 Step S30 (as shown).

[0116] Next, use Figures 8-10 The operation and effects of the second embodiment of the working machine of the present invention will be explained.

[0117] like Figure 8When the ladder 25 is stowed, the ladder stowage detection device 67B detects the stowage state of the ladder 25 and outputs a detection signal (ON signal) corresponding to the stowage state to the control device 70B. If the control device 70B determines that the ladder 25 is in the stowage state based on the detection signal from the ladder stowage detection device 67B, it controls the opening and closing of the second door lock valve 53 in accordance with the second remote operation signal from the remote operation device 100. That is, when the ladder 25 is in the stowage state, remote operation based on the hydraulic actuators 15, 16, 17, and 19a of the remote operation lever 101 is permitted.

[0118] On the other hand, when the ladder 25 is in the extended state, the ladder storage detection device 67B detects the extended state of the ladder 25 and outputs a detection signal (OFF signal) corresponding to the extended state to the control device 70B. If the control device 70B determines that the ladder 25 is in the extended state based on the detection signal from the ladder storage detection device 67B, it ignores the second remote operation signal from the remote operation device 100 and switches the second door lock valve 53 to the closed position. Figure 10 (See steps S4 and S30). Because the second door lock valve 53 is in the closed position, hydraulic oil from the pilot pump 41 cannot be supplied to the pilot valves 42 and 43 via the second pilot line 51. Therefore, with the ladder 25 in the extended state, remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation lever 101 is impossible.

[0119] According to the second embodiment of the work machine of the present invention described above, similarly to the first embodiment, when the ladder 25 is in the extended state, the second door lock valve 53 is kept in the closed position. This makes remote operation based on the hydraulic actuators 15, 16, 17, and 19a of the remote operation device 100 impossible. Therefore, it is possible to prevent the operator from being unable to leave the machine due to remote operation causing the hydraulic excavator 1 to start when the ladder 25 is in the extended state. Thus, in the hydraulic excavator 1 having an extendable and retractable ladder 25, the reduction in the operating rate and productivity of the hydraulic excavator 1 caused by remote operation can be suppressed.

[0120] Furthermore, the hydraulic excavator (operating machinery) of this embodiment includes a ladder storage detection device 67B (detection device) for detecting the storage state of the ladder 25. Additionally, the control device 70B is configured to determine whether the ladder 25 is in a stored state or an extended state based on the detection result of the ladder storage detection device 67B (detection device). If the ladder 25 is determined to be in a stored state, the control device 70B controls the second door lock valve 53 to a closed or open position in accordance with the second remote operation signal. If the ladder 25 is determined to be in an extended state, the control device 70B ignores the second remote operation signal and controls the second door lock valve 53 to a closed position.

[0121] According to this configuration, by executing the functions of the software based on the control device 70B, it is possible to switch between non-restricted and permitted remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation device 100, corresponding to the unfolded or retracted state of the ladder 25. Therefore, compared to the first embodiment, which uses an electrical circuit including relays to achieve the non-restricted or permitted remote operation of the hydraulic actuators 15, 16, 17, and 19a based on the remote operation device 100, it can be implemented with a simpler hardware configuration.

[0122] [Other Implementation Methods]

[0123] Furthermore, the above embodiments exemplify the application of the invention to a large hydraulic excavator 1 having a ladder 25 that can be deployed and retracted. However, the invention can be widely applied, for example, to various types of work machinery such as large bulldozers that have ladders that can be deployed and retracted.

[0124] Furthermore, the present invention is not limited to this embodiment and includes various modifications. The above embodiments have been described in detail for ease of understanding of the present invention, but are not limited to having all the described configurations. It is possible to substitute a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, for a part of the configuration of each embodiment, it is also possible to add, delete, or substitute other configurations.

[0125] For example, in the second embodiment, the operation mode detector 69 can also be configured as a variant of the first embodiment. In this case, similar to the variant, the second door lock valve command setting unit of the control device will also set the command for the second door lock valve 53 to the closed position when the operation mode detector 69 detects a remote operation mode but detects a switching operation of the door lock device 32.

[0126] Furthermore, in the second embodiment, a switch is used as an example of a detection device for detecting the stowed state of the ladder. However, any detection device capable of detecting the stowed state of the ladder may not need to be a switch.

[0127] For example, a camera capable of capturing images of the ladder can be used as the detection device. In this case, the camera is electrically connected to a control device and outputs the captured data, which serves as the detection result of the detection device, to the control device. The control device is configured to determine whether the ladder is in a retracted state (whether it is in an extended state) based on the camera's captured data, instead of using an ON or OFF signal from a switch.

[0128] Alternatively, a ladder operation switch 26 can be used as a detection device to detect the folded state of the ladder. In this case, the ladder operation switch 26 is electrically connected to the control device, and outputs an operation signal (a folding operation signal) from the ladder operation switch 26, which is the detection result of the detection device, to the control device. The control device is configured to determine whether the ladder is in a folded state (or an extended state) based on the operation signal from the ladder operation switch 26. For example, after a predetermined time has elapsed since the input of the folding operation signal from the ladder operation switch 26, the control device determines that the ladder 25 is in a folded state.

[0129] Alternatively, the control device can be configured to not only determine whether the ladder 25 is in a retracted or extended state, but also, using a switch and a ladder operation switch 26 as detection devices, determine the state of the ladder transitioning between the retracted and extended states; that is, the state of the ladder 25 during the period from the time it begins to extend from the retracted state until it becomes extended, or the state of the ladder 25 during the period from the time it begins to retract from the time it becomes retracted. Furthermore, the control device can be configured, for example, to close the second door lock valve 53 when the ladder 25 is in this transition state, thereby enabling the operator to more reliably leave the machine.

[0130] Explanation of reference numerals in the attached figures

[0131] 1…Hydraulic excavator (operating machinery), 21…Cab, 15…Boom hydraulic cylinder (hydraulic actuator), 16…Stick hydraulic cylinder (hydraulic actuator), 17…Bucket hydraulic cylinder (hydraulic actuator), 19a…Travel hydraulic motor (hydraulic actuator), 25…Ladder, 31…Operating device (first operating device), 32…Door locking device (first door locking device), 36…Control valve, 41…Pilot pump (pilot hydraulic source), 42, 43…Pilot valves, 44…First pilot line, 4 5…First door lock valve, 51…Second pilot line, 52…Operation mode switching valve (switching valve), 52a…Operation unit (operation mode switcher), 53…Second door lock valve, 60…Signal circuit switching device, 67, 67B…Ladder storage detection device, 69…Operation mode detector, 70, 70A, 70B…Control device, 100…Remote operation device, 101…Remote operation lever (second operation device), 102…Remote operation door lock lever (second door lock device).

Claims

1. A type of operating machinery, comprising: The driver's cab for the operator; The ladder can be switched between an extended state and a retracted state. The extended state allows the operator to board and alight relative to the cab, while the retracted state ensures that it is not an obstacle to the operation. A hydraulic actuator driven by the supply of hydraulic oil; A hydraulically pilot-operated control valve that controls the flow of hydraulic oil supplied to the hydraulic actuator. A pilot valve that generates pilot pressure to drive the control valve using a pilot hydraulic source as the source pressure; The first pilot line guides the hydraulic oil from the pilot hydraulic source to the pilot valve; The first door lock valve located on the first pilot line can be switched to either an open position that allows hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve, or a closed position that cuts off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve. A first operating device configured in the driver's cab is used to operate the hydraulic actuator; and The first door lock device, located in the driver's cab, is used to operate the first door lock valve. The operating machinery can be remotely operated via a remote control device located away from the driver's cab, characterized in that it has: The second pilot line allows hydraulic pressure from the pilot hydraulic source to detour from the first door lock valve and be directed toward the pilot valve; The second door lock valve located on the second pilot line can be switched to either an open position that allows hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve, or a closed position that cuts off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve. An operation mode switcher that allows the operator to manually switch between either remote operation mode or ride operation mode, wherein the remote operation mode represents remote operation based on the remote operation device, and the ride operation mode represents operation based on riding into the cab. The switching valve located on the second pilot line can be switched, by the switching operation of the operating mode switch, to either an open position that allows hydraulic oil to be supplied from the pilot hydraulic source to the pilot valve, or a closed position that cuts off the supply of hydraulic oil from the pilot hydraulic source to the pilot valve; and A control device that operates based on signals transmitted from the remote operating device, wherein the remote operating device has a second operating device that outputs a first remote operating signal and a second door lock device that outputs a second remote operating signal. The first remote operating signal is used to remotely operate the hydraulic actuator, and the second remote operating signal indicates whether the remote operation based on the second operating device is valid or invalid. The control device, based on the second remote operating signal transmitted from the remote operating device, controls the second door lock valve to either an open or closed position, and controls the opening degree of the pilot valve accordingly to the first remote operating signal transmitted from the remote operating device. When the first door lock valve is switched to the closed position, the second door lock valve enables control based on the control device when the ladder is in the retracted state; on the other hand, when the ladder is in the extended state, it remains in the closed position regardless of the second remote operation signal.

2. The operating machinery according to claim 1, characterized in that, It also has: A signal loop switching device that switches the signal loop used to output control signals from the control device relative to the second door lock valve to a connected or disconnected state; and A detection device that detects the stowed state of the ladder. The second door lock valve is configured to be in the closed position when the signal circuit is cut off. The signal loop switching device is configured to connect the signal loop when the detection device detects that the ladder is in a retracted state, and disconnect the signal loop when the detection device does not detect that the ladder is in a retracted state.

3. The operating machinery according to claim 1, characterized in that, It also includes a detection device for detecting the stowage status of the ladder. The control device is configured as follows: Based on the detection results of the detection device, it is determined whether the ladder is in a stowed state or an unfolded state. If the ladder is determined to be in a stowed state, the second door lock valve is controlled to either the closed or open position in accordance with the second remote operation signal. If it is determined that the ladder is in the unfolded state, the second remote operation signal is ignored and the second door lock valve is controlled to the closed position.

4. The operating machinery according to claim 1, characterized in that, It also has an operation mode detector that detects the operation position of the operation mode switch. Even though the control device determines that the operation mode switcher is in remote operation mode based on the detection result of the operation mode detector, it still detects the switching operation of the first door lock device, and ignores the second remote operation signal to switch the second door lock valve to the closed position.

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