Mobile hydraulic working machine with emergency stop valve and method for controlling mobile hydraulic working machine

Abstract

The invention relates to a mobile hydraulic working machine (1) having a superstructure (4), a substructure (2), a boom assembly (7) with an arm (10), an attachment (14) connected to the arm (10), and a hydraulic system for moving the boom assembly (7) and the attachment (14), comprising at least one hydraulic pump (17) and a valve group (15), the valve group (15) is designed to be able to adjust an oil flow in at least one hydraulic line (18) connecting the hydraulic load (14) to the hydraulic pump (17) in order to actuate the hydraulic load (14), at least one emergency stop valve (23, 24) being associated with the at least one hydraulic line (18), which emergency stop valve is designed to be able to close the hydraulic line (18) in the event of an emergency, the at least one emergency stop valve (23, 24) is arranged in the hydraulic line (18) in the region of the boom assembly (7) and / or in the hydraulic line in the superstructure (4) of the valve group (15) facing away from the flow side of the pump.

Description

[0001] The invention relates to a mobile hydraulic working machine having the features of the preamble of claim 1 and to a method for controlling a mobile hydraulic working machine having the features of the preamble of claim 10 .

[0002] Mobile hydraulic working machines, in particular construction machines, are used in various forms for demolition and dismantling work on construction sites. However, such mobile working machines are also used in underground engineering and in forestry. Examples of mobile working machines include cranes, excavators, such as also loading and unloading excavators (Umschlagbagger), as well as forestry machines and similar equipment. In the field of demolition, so-called long-boom excavators (English "longfront") or demolition excavators are mainly used. The long boom and the stick (Stiel) make the mobile hydraulic construction machine a good machine tool so that hydraulic attachments can be used for the corresponding objects at heights of more than 20 m. During the operation of the mobile hydraulic construction machine, the hydraulic hoses that form the hydraulic system of the attachment are subject to external influences due to aging processes or weather conditions, which external influences can cause damage to the hydraulic hoses. However, working in areas that are not fully known can also lead to other and many unforeseeable sources of damage due to mechanical effects on the hydraulic hoses from the outside. The operator of the excavator cannot see every part of the boom of the mobile hydraulic construction machine during operation, so that the hydraulic hose may be hooked, pierced, cut and crushed by, for example, sharp objects on the construction site, and thus may be damaged. Due to the inevitable aging process on the one hand and unforeseen external effects on the other hand, oil leakage from the hydraulic hose may occur during the normal operation of the construction machine. In particular, it is known from the publication EP 25 47 912 that the pipeline of the hydraulic system on the attachment is interrupted due to pipe rupture damage, and the attachment does not move uncontrollably, but stays in a fixed position and does not pose a safety risk on the construction site. However, it is dangerous to interrupt the hydraulic system only on the attachment side, because the long boom and boom of the mobile hydraulic construction machine also result in long hydraulic lines, which must be led to the end of the boom for the attachment, so that in the event of oil leakage, more than 400 liters of oil may flow out in less than half a minute, and this oil will fall on the ground at the construction site. This oil loss not only means additional costs due to the need to replace the lost oil, but also causes serious environmental pollution to the construction site.

[0003] A similar situation applies to harvesters used in forestry, which sometimes carry on long booms jaws for gripping tree trunks and which are equipped with hydraulic motors for rotating the jaws in addition to the hydraulic system for the jaws.

[0004] It is therefore the object of the present invention to specify a cost-effective and environmentally friendly mobile hydraulic working machine and a method for controlling such a working machine.

[0005] This object is achieved by a mobile hydraulic working machine having the features of claim 1 and by a method for controlling a mobile hydraulic working machine having the features of claim 10 .

[0006] Therefore, a mobile hydraulic working machine, in particular a construction machine, is proposed, which has an upper structure, a lower structure, preferably a boom (optionally an intermediate boom) and a boom assembly with a boom, accessories connected to the boom, and a hydraulic system for moving the boom assembly and the accessories. The hydraulic system has at least one hydraulic pump and a valve group, and the valve group is designed to regulate the oil flow in at least one, preferably at least two hydraulic pipelines connecting the hydraulic load, in particular the accessories, to the hydraulic pump in order to be able to control the hydraulic load, in particular the accessories. The hydraulic pipeline or each of the hydraulic pipelines is respectively equipped with at least one emergency stop valve, which is designed to close the hydraulic pipeline in an emergency, and the at least one emergency stop valve is arranged in the hydraulic pipeline located in the area of ​​the boom assembly and / or in the hydraulic pipeline located in the upper structure on the side of the valve group away from the pump flow.

[0007] In the event of a leak, the at least one emergency stop valve can close the hydraulic line and thereby prevent the hydraulic oil from flowing out to the greatest extent. The emergency stop valve can also include a shut-off device, such as a slide valve or a ball valve. It is particularly simple here to supplement the emergency stop valve in the area of ​​the superstructure. It is advantageous to use an emergency stop valve in the area of ​​the boom, because this is very helpful when a leak occurs in the area between the boom assembly and the attachment. If the hydraulic load is, for example, a single-acting hydraulic cylinder, only one hydraulic line can be provided, which has an emergency stop valve. In the case where the hydraulic load is a double-acting hydraulic cylinder, there are two hydraulic lines, which are connected to a valve group and each has at least one emergency stop valve. If the hydraulic load is the attachment, the valve group can be an additional valve group with a volume control valve, which controls the volume flow to the attachment.

[0008] The at least one, in particular at least two hydraulic lines are preferably located in a protected area against the upper side of the boom or formed by a channel, in which the corresponding emergency stop valve is located. "Protected area" means that the hydraulic line is a rigid tube, in particular made of metal, which is protected against external influences. The protected area is to be distinguished from an area of ​​the hydraulic line that has a flexible hose, which can quickly tear or become damaged.

[0009] The hydraulic line is preferably fixed to the hydraulic load, in particular the attachment, at a first fixing point and to the boom assembly, in particular the stick, at a second fixing point, and a flexible hose elbow is formed between the two fixing points, and the at least one emergency stop valve is preferably arranged outside the flexible hose elbow in the area of ​​the boom assembly or the stick, respectively. In normal work with the mobile hydraulic construction machine, oil leaks often occur at the flexible hose elbow, because the hose elbow is prone to getting hooked at locations on the construction site due to its characteristics. However, such a hose elbow is indispensable for the use of working machines, in particular construction machines, because without the hose elbow the boom assembly and the attachment cannot perform large movements. Closing the at least one emergency stop valve, and thereby also closing the hydraulic line and the hydraulic system, can prevent further outflow of oil in the event of a leak.

[0010] The emergency stop valve is preferably an electrically controlled solenoid valve, which is particularly economical. The emergency stop valve is a two-way valve, and the hydraulic system then comprises at least one return line, which connects the emergency stop valve to a hydraulic oil tank, which supplies the hydraulic system via the hydraulic pump. In this case, no communication with the valve block is required, since the flow of hydraulic oil through the hydraulic line does not have to be interrupted in the area of ​​the valve block.

[0011] In another preferred embodiment, the mobile hydraulic working machine, in particular a construction machine, comprises an emergency closing operating device, which communicates with the at least one emergency stop valve and / or optionally additionally with the valve group and is configured to close the at least one emergency stop valve when operated.

[0012] The emergency shutdown operating device is preferably arranged in the cab of the mobile hydraulic machine. When the driver of the mobile hydraulic construction machine confirms that there is a leak, the driver can operate the emergency shutdown operating device to prevent the hydraulic oil from continuing to flow out of the ruptured part.

[0013] The at least one hydraulic line is preferably equipped with at least one sensor, which is configured to detect a leak in the at least one hydraulic line, the at least one sensor communicating with the at least one emergency stop valve and / or the valve block. In this case, the emergency stop valve can be closed automatically in the event of a leak and a pressure drop in the hydraulic line.

[0014] In a preferred embodiment, the mobile hydraulic working machine is a construction machine, in particular a long-boom excavator having a digging height in the range of 15 m to 90 m and in particular a weight class between 25 t and 400 t.

[0015] In addition, a method for controlling a mobile hydraulic working machine, in particular a construction machine, is proposed, wherein the mobile hydraulic working machine comprises an upper structure, a lower structure, a boom assembly with a boom, an attachment connected to the boom, and a hydraulic system for moving the boom assembly and the attachment, wherein the hydraulic system comprises at least one pump and a valve group, in particular an additional valve group, and the mobile hydraulic working machine comprises at least one, in particular at least two, hydraulic pipelines connecting the attachment to the pump, and the valve group is connected to the hydraulic pipeline. The method comprises the following steps performed in sequence:

[0016] a) a leak is detected or occurs in a hydraulic line between a hydraulic load, in particular an accessory, and a valve block,

[0017] b) switching or operating or moving at least one emergency stop valve, thereby cutting off at least one, in particular at least two, hydraulic pipelines, wherein the emergency stop valve is arranged in (one) of the hydraulic pipelines in the area of ​​the boom assembly and / or on the flow side of the valve group in the superstructure away from the pump.

[0018] Preferably, it is ensured that the blocking position can be assumed until the leakage is eliminated. After the leakage is eliminated, it is advantageous to switch the emergency stop valve to an initial state or initial position before the leakage.

[0019] Unlike other valves or valve assemblies that close hydraulic lines, with this method, the mobile working machine can continue to operate and move, except for the control part corresponding to the leaking line. With this method, large amounts of hydraulic oil can be prevented from flowing out of the leakage point. Since it is ensured or can be ensured that the shut-off position is maintained until the leakage is eliminated and the hydraulic line is repaired, the hydraulic oil can be reliably prevented from flowing out of the hydraulic line. Preferably, the emergency stop valve can be converted to a state that existed, for example, before the line leaked and was shut off without tools and without replacing or updating the components / parts of the emergency stop valve. Particularly preferably, the initial state is automatically achieved after release, for example by an operator. This release can include an input in the operating unit, an operation of a switch (emergency shut-off switch or emergency stop switch) or a similar operation.

[0020] The at least one emergency stop valve is preferably a two-way valve, and the hydraulic system comprises at least one oil return line, and the following operations are set in step b) of the method:

[0021] - The hydraulic line is connected to the oil return line via the emergency stop valve, the oil return line is connected to a hydraulic oil tank, and the hydraulic oil tank supplies the hydraulic system via the pump.

[0022] Preferably, the method comprises the following steps between steps a) and b):

[0023] - actuating the valve group, in particular the additional valve group, and thereby shutting off the at least one (two)

[0024] The hydraulic line can then proceed to step b) with a predetermined time delay.

[0025] Preferably, the method comprises detecting by observation by an operator or by a sensor arranged in the hydraulic line.

[0026] The mobile hydraulic construction machine preferably comprises an emergency shut-off operating device which communicates with the at least one emergency stop valve and / or the additional valve group, and the method comprises the following method steps after step a):

[0027] The emergency shutoff operating device is manually operated by an operator.

[0028] The mobile hydraulic construction machine can be designed as described above.

[0029] Two preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Identical or functionally identical components are identified in the drawings with the same reference numerals.

[0030] In the figure:

[0031] Figure 1 A perspective view showing a mobile hydraulic construction machine,

[0032] Figure 2 Show Figure 1 A top view of a mobile hydraulic construction machine in

[0033] Figure 3 Show Figure 1 A schematic diagram of an embodiment of a hydraulic system of an attachment of a mobile hydraulic construction machine, and

[0034] Figure 4 A schematic diagram showing another embodiment of a hydraulic system for an attachment is shown.

[0035] Figure 1 A mobile hydraulic construction machine 1 as a long boom excavator is shown according to a preferred embodiment, which has a substructure 2, which is connected to an upper structure 4 via a swivel mechanism 3 that can rotate about an axis of rotation S. By means of the swivel mechanism 3, a controlled swivel movement can be performed between the upper structure 4 and the substructure 2 about the axis of rotation S. In general, a distinction can be made between tire excavators and crawler excavators. The substructure 2 can have tires in the travel mechanism on the one hand, i.e. the tire excavator in question, which is suitable for weight classes up to 25 t, and on the other hand, the substructure can have tracks, i.e. the crawler excavator in question, which is suitable for all weight classes. Tire and crawler excavators are distinguished from other excavator types, such as dredgers, as self-propelled land vehicles. In this preferred embodiment, the long boom excavator 1 is implemented as a crawler excavator, which is generally suitable for weight classes between 25 t and 400 t that are common in demolition work. The superstructure 4 has a cab 5 at its end in the direction of travel F (straight ahead) and a counterweight 6 opposite the cab 5. Figure 1 and 2A three-section boom assembly 7 can be seen, which is fixed to the superstructure 4 beside or behind the cab 5. The boom assembly 7 has three sections 8, 9, and 10 arranged in sequence one after the other. The first section 8 is called the boom, the second section 9 is called the intermediate boom, and the third section farthest from the superstructure is called the boom 10, and the two sections arranged in sequence one after the other are rotatably supported by each other through a pin. The boom assembly 7 also includes a boom cylinder 11 and an intermediate boom cylinder 12, which can move the first section 8 and the second section 9 of the boom assembly 7. In addition, a boom cylinder 22 is provided, which can drive the boom 10 to move. An attachment 14 is fixed to the free end of the boom 10 through which the boom head pin 13 passes. This connection can preferably be established by a speed changer. The attachment 14 and the speed changer can also rotate around the rotation axis defined by the boom head pin 13. The attachment 14 is a gripper in this embodiment, but any hydraulic attachment, such as a scissors fork, can also be used.

[0036] The mobile hydraulic construction machine 1 includes a hydraulic system, which mainly drives the boom cylinder 11 and the intermediate boom cylinder 12 and the arm cylinder 22 with hydraulic oil. The hydraulic oil flow and the movement caused by it are controlled and monitored by a main valve group (not shown) of the hydraulic system located in the upper structure 4. The main valve group includes a plurality of valves for adjusting the hydraulic oil supply to one of the hydraulic cylinders. In addition, the main valve group is also responsible for controlling the rotation drive of the rotation mechanism 3 and the hydraulic travel drive for the crawler tracks of the lower structure 2. In addition, the hydraulic system also includes an additional valve group 15, a hydraulic oil tank 16 and a hydraulic pump 17 located in the upper structure 4. The hydraulic pump 17 delivers hydraulic oil of the hydraulic system and is connected to the main valve group and the additional valve group 15 via a hydraulic connection structure. If the power of one pump is insufficient for the necessary use or the system is to be constructed redundantly, multiple pumps can be used in the hydraulic system. The additional valve group 15 controls and regulates the hydraulic oil flow sent to the attachment 14. The hydraulic pipeline 18 leads from the additional valve group 15 to the attachment 14. In Figure 1Only one hydraulic line 18 is shown, but multiple, but at least two hydraulic lines 18 can be used, depending on the attachment used and the type of construction machine. The type of attachment 14 and the movements that the attachment can perform define the number of hydraulic lines 18 (used and connected). The hydraulic lines 18 are formed in the region of the pins 19 of the boom assembly 7, i.e. between the superstructure 4 and the first segment 8 and between the first segment 8 and the second segment 9 and between the second segment 9 and the boom 10 by flexible hose lines arranged in an arc, which are also called boom hose elbows 20. A flexible hose elbow 21 is also formed between the first fixing point on the attachment 14 and the second fixing point on the boom 10. The flexible boom hose elbow 20 and the flexible hose elbow 21 make it possible for the individual segments of the boom assembly 7 to be able to rotate about the longitudinal axis of the pins 19 without interrupting or breaking the hydraulic lines 18. The hose elbow 21 and the boom hose elbow 20 are formed for each additional hydraulic line 18 not shown here. The part of the hydraulic line 18 that extends centrally along the sections of the boom assembly 7 away from the axis of rotation or the pin 19 is realized by a rigid metal pipe. The ends of the metal pipe are respectively connected to flexible hose lines to form the hydraulic line 18. The metal pipe forms a protected area in which the hydraulic line 18 is protected from damage from the outside. In the hydraulic line 18 shown, two emergency stop valves 23, 24 are provided between the additional valve group 15 and the attachment 14. The emergency stop valves 23, 24 of the at least two hydraulic lines 18 are divided into a first emergency stop valve 23 and a second emergency stop valve 24, and Figure 1 Schematically shown as a rectangle in the figure. The first emergency stop valve 23 and the second emergency stop valve 24 can close the corresponding hydraulic pipeline 18 at the corresponding position. It can be ensured that the emergency stop valves 23, 24 located on the side close to the additional valve group where oil leakage occurs can prevent the hydraulic oil in the hydraulic pipeline 18 between this emergency stop valve 23, 24 and the hydraulic pump 17 or the hydraulic oil tank 16 from flowing out. The first emergency stop valve 23 is arranged in the hydraulic pipeline 18 in the superstructure 4 on the flow side of the additional valve group 15 away from the pump. The second emergency stop valve 24 is arranged in the hydraulic pipeline 18 outside the hose elbow 21 in the area of ​​the boom 10. In particular, as in Figure 1As shown in , it is preferred that the position is located in the area of ​​the boom head pin 13 directly before or after the flexible hose line in the flow direction. According to experience, the hose line usually leaks in the area of ​​the boom head pin 13. The second emergency stop valve 24 located in the aforementioned position can keep the maximum possible amount of hydraulic oil in the hydraulic line 18 in the event of such a leakage. If oil leakage occurs in the hose elbow 21, the oil in the hydraulic line 18 can be kept in the hydraulic line 18 between the second emergency stop valve 24 and the additional valve group 15 by closing the second emergency stop valve 24 and prevent it from flowing out. It is conceivable that other emergency stop valves can also be used, which, for example, provide protection against leakage of the boom hose elbow 20 of the second section 9. Each hydraulic line 18 requires at least one emergency stop valve 23, 24. Even if the first emergency stop valve 23 leaks in the flexible hose line in the area of ​​the boom head pin 13, it can prevent a large amount of hydraulic oil from flowing out. The emergency stop valves 23, 24 are clearly different from conventional pipe rupture protection devices, which are currently installed as standard in mobile hydraulic construction machines. The pipe rupture protection device, which is not shown, is installed on the attachment 14 and prevents uncontrolled movement of the attachment 14 in the event of a pipe rupture in order to protect the operator and construction site personnel. The pipe rupture protection device can maintain the pressure of the hydraulic oil in the working chamber of the hydraulic cylinder in the attachment 14 or installed in the attachment, and allows the attachment 14 to be kept in a fixed position. The emergency stop valves 23, 24 interrupt the hydraulic system at at least one position toward the additional valve group 15. The hydraulic oil between the rupture site and the emergency stop valves 23, 24 in the hydraulic pipeline will flow out, but the emergency stop valves 23, 24 can prevent a large amount of hydraulic oil from flowing out and thus contribute to environmental protection during demolition work. The emergency stop valve can also be arranged in a hydraulic pipeline leading to other hydraulic loads. The hydraulic load can be, for example, the boom cylinder 11, the intermediate boom cylinder 12 and / or the arm cylinder.

[0037] Figure 3A part of the hydraulic system, which is only shown schematically, is used in particular for controlling the movement of the attachment 14. The hydraulic valves of the additional valve group 15 are electrically pilot-controlled to move the attachment 14, which is not shown in the figure. The hydraulic pump 17 supplies the additional valve group 15 with the necessary oil pressure in order to control the attachment 14 or its hydraulic cylinder. The additional valve group 15 is used to regulate the volume flow of the hydraulic oil through a total of four hydraulic lines 18 shown by way of example, and thus the movement of the attachment 14 can be controlled. For each hydraulic line 18, there is a first emergency stop valve 23 and a second emergency stop valve 24. The first emergency stop valve 23 and the second emergency stop valve 24 are respectively located in two different sections of the hydraulic line 18. Here it is shown at the flexible hose elbow 21 in the area of ​​the boom hose elbow 20 and the boom head pin 13 closest to the additional valve group.

[0038] On the one hand, in the superstructure 4, a first emergency stop valve 23 is arranged in a section of the corresponding hydraulic line 18 located on the flow side of the additional valve group 15 away from the pump, and on the other hand, a second emergency stop valve 24 is arranged in a boom assembly section of the corresponding hydraulic line 18, which is located outside the superstructure 4 and in the area of ​​the boom 10 outside the flexible hose elbow 21, as already explained above. The emergency stop valves 23, 24 are open during normal operation of the mobile hydraulic construction machine 1, so that the hydraulic oil can flow through the emergency stop valves 23, 24 without hindrance. The emergency stop valves 23, 24 are controlled by an emergency closing operating device 25. When the emergency closing operating device 25 is operated, the hydraulic line 18 is closed by the emergency stop valves 23, 24 to stop the hydraulic oil flow. The emergency stop operating device 25 communicates electrically with the additional valve group 15 to switch the emergency stop valves 23, 24.

[0039] After a leak is detected in one of the hydraulic lines 18 between the attachment 14 and the additional valve block 15, the emergency stop valves 23, 24 can be switched and the hydraulic line 18 can be blocked. Figure 3 2 and 3 respectively show the closed states of the emergency stop valves 23 and 24 , which can be achieved by operating the emergency closing operating device 25 .

[0040] In a preferred embodiment, the emergency stop valves 23 and 24 are electrically controlled solenoid valves.

[0041] In a preferred embodiment, the operator finds the leakage and operates the emergency shutdown operating device 25 accordingly, so that the emergency stop valves 23 and 24 are switched and the hydraulic pipeline 18 is cut off. The detection can also be performed by a sensor assigned to the hydraulic pipeline 18, so that the emergency shutdown operating device 25 can be automatically operated at this time.

[0042] In a preferred embodiment, the additional valve group 15 is first controlled by operating the emergency shutdown operating device 25, and the at least two hydraulic lines 18 are blocked by the additional valve group 15. Thereafter, the emergency stop valves 23, 24 are switched and the hydraulic lines 18 are closed with a predeterminable time delay.

[0043] Figure 4 Shows most of the Figure 3 Another embodiment of a part of a similar hydraulic system. The attachment 14 is in this case hydraulically piloted via a low-pressure line. The boom hose elbow 20 and the hose elbow 21 are not shown here. The differences are explained below. Figure 4 In the embodiment shown in FIG. 1 , the first emergency stop valve 23 is implemented in the upper structure section of the hydraulic line 18 by a two-way valve 26, which can be connected to the hydraulic oil tank 16 of the hydraulic system via a return line 27. In one embodiment, during normal operation, the second emergency stop valve 24 in the boom assembly section by an electrically controlled solenoid valve is open, and the two-way valve 26 in the upper structure section allows hydraulic oil to flow from the additional valve group 15 to the attachment 14 via the hydraulic line in the first switching position.

[0044] After oil leakage is detected by an operator or a sensor, the emergency shutdown operating device 25 is operated to switch and close the second emergency stop valve 24 in the boom assembly section of the hydraulic pipeline 18, and switch the two-way valve 26 to the second switching position shown. In the second switching position, hydraulic oil flows from the additional valve group 15 into the hydraulic oil tank 16 via the return oil pipeline 27.

[0045] It is conceivable that more than two emergency stop valves 23 , 24 may be used per hydraulic line 18 .

[0046] In the two embodiments of the hydraulic system, one is an electrical pilot control and the other is a hydraulic pilot control, in which the detection of oil leakage can be carried out by an operator or a sensor. The emergency shutdown operating device 25 can be formed, for example, by an operating button located in the cab 5 or on the boom assembly 7 or can be accessed via a controller of the mobile hydraulic construction machine 1, which has the necessary operating elements for controlling the mobile hydraulic construction machine 1.

[0047] By operating the emergency closing operating device 25, the emergency stop valves 23 and 24 are switched and the flow of hydraulic oil is stopped. By re-operating the emergency closing operating device 25, the emergency stop valves 23 and 24 can be switched and reset to reopen the hydraulic pipeline 18 leading to the attachment 14. When the oil leakage on the hydraulic pipeline 18 has been eliminated, the switching and resetting of the emergency stop valves 23 and 24 are performed. When a leak is detected by a sensor, it is conceivable that an alarm can be output, based on which the operator can operate the emergency closing operating device 25. However, the emergency stop valves 23, 24 and / or the additional valve group 15 can also be automatically operated by a sensor that detects a pressure drop. In another embodiment, an emergency stop valve that automatically closes when the pressure in the hydraulic pipeline 18 drops can be set.

Claims

1. A mobile hydraulic working machine (1), comprising an upper structure (4), a lower structure (2), a boom assembly (7) with a boom (10), an attachment (14) connected to the boom (10), and a hydraulic system for moving the boom assembly (7) and the attachment (14), wherein the hydraulic system comprises at least one hydraulic pump (17) and a valve group (15), wherein the valve group (15) is designed to be able to adjust the oil flow in at least one hydraulic pipeline (18) for connecting the hydraulic load (14) to the hydraulic pump (17) in order to control the hydraulic load (14), and characterized in that: The at least one hydraulic pipeline (18) is equipped with at least one emergency stop valve (23, 24), which is designed to be able to close the hydraulic pipeline (18) in an emergency. The at least one emergency stop valve (23, 24) is arranged in the hydraulic pipeline (18) in the area of ​​the boom assembly (7) and / or in the hydraulic pipeline (18) in the upper structure (4) on the flow side of the valve group (15) away from the pump.

2. The mobile hydraulic working machine (1) according to claim 1, characterized in that: The at least one hydraulic line (18) lies against the upper side of the boom (10) in a protected area or is formed by a channel, and a corresponding emergency stop valve (24) is located in the protected area.

3. The mobile hydraulic working machine (1) according to claim 1 or 2, characterized in that: The at least one hydraulic pipeline (18) is fixed to the hydraulic load (14) at a first fixing point and to the boom assembly (10) at a second fixing point, and a flexible hose elbow (21) is formed between the two fixing points, and the at least one emergency stop valve (24) is arranged outside the flexible hose elbow (21) in the area of ​​the boom assembly (10).

4. A mobile hydraulic working machine (1) according to any one of the preceding claims, characterised in that The at least one emergency stop valve (23, 24) is an electrically controlled solenoid valve.

5. The mobile hydraulic working machine (1) according to claim 4, characterized in that: The at least one emergency stop valve (23, 24) is a two-way valve (26), and the hydraulic system comprises at least one return line (27), which connects the at least one emergency stop valve (26) to a hydraulic oil tank (16), which supplies the hydraulic system via the hydraulic pump (17).

6. A mobile hydraulic working machine (1) according to any one of the preceding claims, characterised in that The mobile hydraulic working machine (1) comprises an emergency closing operating device (25), which communicates with the at least one emergency stop valve (23, 24, 26) and / or with the valve group (15) and is configured to close the at least one emergency stop valve (23, 24, 26) when operated.

7. The mobile hydraulic working machine (1) according to claim 6, characterized in that: The emergency closing operation device (25) is arranged in the cab (5) of the mobile hydraulic working machine (1).

8. The mobile hydraulic working machine (1) according to any one of the preceding claims 1 to 5, characterized in that: The at least one hydraulic line (18) is provided with at least one sensor, which is configured to detect a leak in the at least one hydraulic line (18), the at least one sensor communicating with the at least one emergency stop valve (23, 24, 26) and / or the valve block (15).

9. A mobile hydraulic working machine (1) according to any one of the preceding claims, characterised in that The mobile hydraulic working machine (1) is a long-arm excavator having a digging height in the range of 15 m to 40 m.

10. A method for controlling a mobile hydraulic working machine (1), the mobile hydraulic working machine having an upper structure (4), a lower structure (2), a boom assembly (7) with a boom (10), an attachment (14) connected to the boom (10), and a hydraulic system for moving the boom assembly (7) and the attachment (14), the hydraulic system comprising at least one hydraulic pump (17) and a valve group (15), and the mobile hydraulic working machine having at least one hydraulic pipeline (18) connecting the hydraulic load (14) to the hydraulic pump (17), the valve group (15) being connected to the at least one hydraulic pipeline (18), characterized in that: The method comprises the following steps performed in sequence: a. detecting a leak in the hydraulic line (18) between the hydraulic load (14) and the valve group (15), b. Switching at least one emergency stop valve (23, 24) and thereby shutting off the at least one hydraulic pipeline (18), wherein the emergency stop valve is respectively arranged in the at least one hydraulic pipeline located in the area of ​​the boom assembly (7) and / or in the at least one hydraulic pipeline (18) located in the upper structure (4) on the flow side of the valve group (15) away from the pump.

11. The method according to claim 10, characterized in that The at least one emergency stop valve is a two-way valve (26), and the hydraulic system includes at least one return oil pipeline (27), and in step b., the emergency stop valve (26) connects a matching hydraulic pipeline (18) to the return oil pipeline (27), and the return oil pipeline is connected to a hydraulic oil tank (16), and the hydraulic oil tank supplies the hydraulic system through the hydraulic pump (17).

12. The method according to claim 10, characterized in that The method comprises the following steps between steps a. and b.: - the valve group (15) is actuated and the at least one hydraulic line (18) is shut off, wherein this is carried out in a manner delayed by a predetermined time by step b.

13. The method according to any one of the preceding claims 10 to 12, characterized in that In step a., the detection is performed by observation by an operator or by a sensor arranged in the hydraulic line (18).

14. The method according to any one of the preceding claims 10 to 13, characterized in that The mobile hydraulic construction machine (1) comprises an emergency closing operating device (25) which communicates with the at least one emergency stop valve (23, 24, 26) and / or the valve group (15), wherein the method comprises the following method steps after step a.: - The emergency shut-off operating device (25) is manually operated by an operator.

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