WORK MACHINE, REMOTE ATTACHMENT / DETACHMENT SYSTEM FOR AN ATTACHMENT AND REMOTE ATTACHMENT / DETACHMENT METHOD FOR AN ATTACHMENT

Abstract

A work machine (1) includes a work machine main body (2), a prime mover (41), an oil discharge unit (42), a receiving device (51), and a vehicle body control unit (43). The work machine main body (2) includes a work implement (3), a bucket (5), and a connecting device (4). The bucket (5) is attached to the work implement (3). The connecting device (4) attaches and detaches the bucket (5) and the work implement (3). The prime mover (41) is arranged in the work machine main body (2). The oil discharge unit (42) adjusts an oil discharge for driving the work machine main body (2) according to an output of the prime mover (41). The receiving device (51) receives an attachment / detachment signal used to operate the connecting device (4) and transmitted from a remote location.The vehicle body control unit (43) performs control to suppress the output of the engine (41) so that it does not exceed a predetermined output. When the receiving device (51) receives the attachment / detachment signal, the vehicle body control unit (43) deactivates the control to suppress the output of the engine (41) so that it does not exceed the predetermined output.

Description

TECHNICAL AREA

[0001] The present invention relates to a working machine, a remote attachment / removal system for an attachment and a remote attachment / removal method for an attachment. STATE OF THE ART

[0002] A working machine has been proposed which makes it possible to change the attachment between an excavator, a shovel, a crusher, a rock cutter and the like, depending on the soil to be excavated (see, for example, patent document 1).

[0003] In patent document 1, a bracket is attached to the distal end of a boom, and the attachment is mounted to the boom via the bracket. The attachment is secured to the bracket by a locking pin located in a space formed between the bracket and the attachment.

[0004] For attaching the attachment to the bracket, the use of a hydraulically driven actuator was proposed. A locking element capable of locking the attachment is configured to be movable by the actuator, and the attachment is attached to and detached from the bracket by driving the actuator in response to an operator action. LITERATURE LIST Patent literature

[0005] Patent Document 1: JP 10-317415 A Brief description of the invention

[0006] To reduce fuel consumption at idle and to reduce noise and exhaust emissions, in recent years a work machine may be equipped with a function to automatically reduce the engine speed (hereinafter referred to as "automatic deceleration") when no drive power is required from the engine because the work machine is not in operation.

[0007] During the execution of such an automatic delay, the hydraulic pressure is insufficient to drive the actuator that moves the locking element, so additional operation of the working machine is required to increase the hydraulic pressure. This has complicated the operation.

[0008] Furthermore, in recent years there has been a need for the attachment and removal of implements via remote control. The requirement is that such a remote control be simpler to use.

[0009] One objective of the present disclosure is to provide a working machine, a remote attachment / removal system, and a remote attachment / removal method, whereby an attachment can be easily attached and removed from a remote location. SOLUTION TO THE PROBLEM

[0010] A working machine of a first aspect of the present disclosure includes a working machine body, a drive motor, an oil dispensing unit, a receiving device, and a control device. The working machine body includes a working tool, an attachment, and a connecting device. The attachment is mounted on the working tool. The connecting device is used to mount and dismount the attachment and the working tool. The drive motor is located in the working machine body. The oil dispensing unit provides an oil output for driving the working machine body according to an output power of the drive motor. The receiving device receives an attachment / dismount signal sent from a remote location to operate the connecting device.The control device performs a control operation to suppress the output power of the drive motor so that it does not exceed a predetermined output power. When the receiving device receives the attachment / removal signal, the control device deactivates the control operation to suppress the drive motor's output power, thus preventing it from exceeding the predetermined output power.

[0011] A remote attachment / removal system for an implement of a second aspect of the present disclosure includes the working machine of the first aspect and an operating unit for the coupling device. The operating unit for the coupling device is provided at a location remote from the coupling device and transmits the attachment / removal signal based on operation by an operator.

[0012] A remote attachment / removal method for an attachment of a third aspect of the present disclosure includes receiving and disabling. Receiving includes receiving the attachment / removal signal from a remote location to operate a connecting device for attaching and removing a working tool and the attachment. Disabling, when the attachment / removal signal is received, includes disabling the control to suppress the output power of a drive machine so that it does not exceed a predetermined output power, below which an oil supply unit is caused to adjust the oil supply for driving a working machine main body, including the working tool. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0013] The present disclosure can provide a working machine, a remote attachment / removal system and a remote attachment / removal method, whereby an attachment can be easily attached and removed from a remote location. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a diagram illustrating a remote attachment / removal system for an attachment of a first embodiment of the present disclosure. Fig. 2A is a side view of a working machine of the first embodiment of the present disclosure. Fig. 2B is a side view illustrating a state in which a shovel is removed from the Fig. 2A illustrated work machine has been approved. Fig. 2C is a side view illustrating a state in which a crusher is attached to the in Fig. 2B illustrated work machine is attached. Fig. 3(a) and Fig. 3(b) are perspective views illustrating a connecting device and a shovel. Fig. 4(a) and Fig. 4(b) are perspective views illustrating the connecting device. Fig. 5(a) and Fig. 5(b) are perspective views illustrating the connecting device in a state in which a locking pin is embedded in an end surface. Fig. Figure 6 is a flowchart illustrating a procedure for removing the shovel from the connecting device. Fig. Figures 7(a) to 7(d) are schematic views to illustrate the procedure for removing the shovel from the connecting device. Fig. Figure 8 is a flowchart illustrating a procedure for attaching the shovel to the connecting device. Fig. Figures 9(a) to 9(d) are schematic views to illustrate a method for attaching a shovel 5 to a connecting device 4. Fig. 10(a) and Fig. 10(b) are perspective views illustrating a state in which a breaker is attached to the connecting device. Fig. Figure 11 is a diagram illustrating a remote attachment / removal system for an attachment of a second embodiment of the present disclosure. DESCRIPTION OF EXECUTION FORMS

[0014] A remote attachment / removal system for an attachment according to the present disclosure is described below with reference to the drawings. First embodiment configuration

[0015] Overview of the remote attachment / removal system for an attachment Fig. Figure 1 is a configuration diagram illustrating a remote attachment / removal system 10 for an attachment of the present embodiment. The remote attachment / removal system 10 for an attachment includes a working machine 1 and a remote control device 200. The working machine 1 is, for example, a hydraulic excavator, as shown in Figure 1. Fig. 2A illustrates this. Fig. 2A shows a bucket 5 attached to the working machine 1 as an example of an attachment. The bucket 5 can be attached to and removed from the working machine 1 and can be replaced by another attachment, for example a crusher.

[0016] The remote control device 200 is located at a distance from the working machine 1. The remote control device 200 operates the working machine 1 remotely to attach and detach the attachment. Overview of the work machine 1

[0017] Fig. Figure 2A is a side view illustrating a configuration of the working machine 1 of the present embodiment.

[0018] The working machine 1 includes a working machine main body 2. The working machine main body 2 includes a drive body 11, a rotary body 12, a working device 3, a connecting device 4 and a bucket 5 (as an example of the attachment).

[0019] The chassis 11 includes a pair of drive devices 11a. Each drive device 11a includes a crawler track 11b. The working machine 1 moves when the crawler tracks 11b are driven by the rotation of a drive motor, which is caused by the driving force from a drive machine 41.

[0020] The rotating body 12 is arranged on the top of the transport body 11. The rotating body 12 is configured to be driven by a rotary motor 20 (see Fig. 1) To be rotatable about an axis along the up-down direction with respect to the carriage 11. The rotating body 12 is equipped with a swiveling mechanism. The carriage 11 is provided with a swiveling circle that meshes with an output pinion of the swiveling mechanism. The rotary drive of the rotary motor 20 is output by an output pinion after deceleration by the swiveling mechanism (not illustrated). As a result, the swiveling mechanism rotates inside or outside the swiveling circle to cause the rotation of the rotating body 12 with respect to the carriage 11.

[0021] The rotating body 12 includes a rotating frame 13 and a cabin 14. The rotating frame 13 is located on top of the chassis 11 and is a frame capable of rotating relative to the chassis 11. The working tool 3 is attached to the rotating frame 13 so that it can rotate in an up-down direction. The cabin 14 is positioned at the front left of the rotating frame 13. The cabin 14 serves as an operator's seat, in which an operator sits during operation. Inside the cabin 14 are an operator's seat and an in-vehicle operating unit 49, including a lever for operating the working tool 3.

[0022] Unless otherwise specified, in the present embodiment, front, rear, left, and right are described based on the operator's seat in cabin 14. A direction in which the operator's seat faces forward is referred to as the forward direction, and a direction opposite to the forward direction is referred to as the rearward direction. When the operator's seat faces forward, a right side and a left side in a lateral direction are referred to as the right direction and left direction, respectively.

[0023] The working device 3 is mounted in a position at the front center of the rotating frame 13. As shown in Fig. As illustrated in Figure 2A, the working device 3 includes a boom 15, an arm 16, a boom cylinder 17, an arm cylinder 18, and an attachment cylinder 19. A base end section of the boom 15 is rotatably coupled to the rotating frame 13. The distal end section of the boom 15 is rotatably coupled to a base end section of the arm 16.

[0024] The boom cylinder 17, the arm cylinder 18, and the attachment cylinder 19 are hydraulic cylinders. The boom cylinder 17 is located between the slewing frame 13 and the boom 15. The base end of the boom cylinder 17 is rotatably connected to the slewing frame 13. The distal end of a rod of the boom cylinder 17 is rotatably connected to the boom 15. The boom cylinders 17 are located on both the left and right sides of the boom 15.

[0025] The boom 15 rotates in an up-down direction relative to the rotating frame 13 in response to the extension and retraction of the pair of boom cylinders 17.

[0026] The arm cylinder 18 is arranged between the boom 15 and the arm 16. The base end of the cylinder of the arm cylinder 18 is rotatably connected to the boom 15. The distal end of a rod of the arm cylinder 18 is rotatably connected to the arm 16. The arm 16 rotates in an up-down direction relative to the boom 15 in response to the extension and retraction of the arm cylinder 18.

[0027] The attachment cylinder 19 is arranged between the connecting device 4 and the arm 16. The base end of the cylinder of the attachment cylinder 19 is rotatably connected to the arm 16. The distal end of a rod of the attachment cylinder 19 is connected to the connecting device 4 via a connecting piece 29. The distal end of the rod of the attachment cylinder 19 is rotatably connected to the connecting piece 29. The connecting piece 29 is rotatably connected to both the connecting device 4 and the arm 16. The connecting device 4 rotates in an up-down direction relative to the arm 16 in response to the extension and retraction of the attachment cylinder 19.

[0028] The connecting device 4 detachably connects the bucket 5 to the arm 16. The connecting device 4 is rotatably mounted on the distal end of the arm 16. The bucket 5 is detachably attached to the connecting device 4. The bucket 5 rotates in an up-down direction with the arm 16, together with the connecting device 4, in response to the extension and retraction of the attachment cylinder 19.

[0029] Fig. Figure 2B is a side view illustrating the working machine 1 in a state where the bucket 5 has been removed from the connecting device 4. The attachment that can be connected to the distal end of the arm 16 via the connecting device 4 is not limited to the bucket 5 and can also be other attachments. Fig. Figure 2C is a side view illustrating the working machine 1 in a state where a crusher 6 is connected to the distal end of the arm 16 via the connecting device 4. As shown in Fig. As illustrated in Figure 2C, the crusher 6 can be attached to the bucket 5 instead of the bucket 5.

[0030] Fig. Figure 3(a) is a perspective view illustrating the connecting device 4 and the shovel 5. Fig. 3(b) is a perspective view showing the connecting device 4 and the shovel 5 from a different direction than that shown by Fig. 3(a) is illustrated. The blade 5 is attached to the connecting device 4. The blade 5 encloses a blade main body 21 and a locked section 22. The locked section 22 is locked to the connecting device 4. The locked section 22 is located on an outer surface 21a of the blade main body 21. The locked section 22 encloses a pair of supports 23, a first fastening pin 24 (see Figure 3(a)). Fig. 3(a)) and a second fastening pin 25 (see Fig. 3(b)). The second fastening pin 25, illustrated as a solid round bar, can alternatively also be a plate-shaped element.

[0031] The pair of brackets 23 is arranged on the outer surface 21a. Each bracket 23 is plate-shaped. The pair of brackets 23 is arranged opposite each other at a predetermined distance in the left-right direction. Each bracket 23 is arranged perpendicular to the left-right direction. The first fastening pin 24 is arranged between the pair of brackets 23. The first fastening pin 24 is arranged along the left-right direction. Both ends of the first fastening pin 24 are attached to the pair of brackets 23. The second fastening pin 25 is arranged between the pair of brackets 23. The second fastening pin 25 is arranged along the left-right direction. Both ends of the second fastening pin 25 are attached to the pair of brackets 23. The second fastening pin 25 is arranged parallel to the first fastening pin 24.The second fastening pin 25 is located on the side of an opening 21b of the main blade body 21 opposite the first fastening pin 24. The second fastening pin 25 is located at a predetermined distance from the first fastening pin 24. Connecting device 4

[0032] The connecting device 4 is rotatably attached to the distal end of the arm 16 and the connecting piece 29. As shown in Fig. As illustrated in Figure 2A, the connecting piece 29 includes a first connecting element 27 and a second connecting element 28. The first connecting element 27 couples the arm 16 and the distal end of the rod of the attachment cylinder 19. One end 27a of the first connecting element 27 is rotatably coupled to the arm 16, and the other end 27b of the first connecting element 27 is rotatably coupled to the distal end of the rod of the attachment cylinder 19. The end 27a is located closer to the base end of a section of the distal end of the arm 16 that is coupled to the connecting device 4. The second connecting element 28 couples the connecting device 4 and the end 27b of the first connecting element 27. One end of the second connecting element 28 is rotatably coupled to the connecting device 4, and the other end is rotatably coupled to the end 27b of the first connecting element 27.

[0033] Fig. Figure 4(a) is a diagram illustrating the connecting device 4. Fig. 4(b) is a perspective view showing the connecting device 4 from a different direction than that shown by Fig. 4(a) seen illustrated.

[0034] As in Fig. 4(a) and Fig. As illustrated in Figure 4(b), the connecting device 4 includes a connecting section 31 and a locking section 32. The connecting section 31 is connected to the distal end of the arm 16 and the connecting piece 29. The connecting section 31 includes a pair of brackets 33. The pair of brackets 33 are arranged opposite each other in a left-right direction. Each of the brackets 33 has a plate shape and is arranged perpendicular to the left-right direction.

[0035] As in Fig. As illustrated in Figure 4(a), a distal end 16a of the arm 16 is arranged between the pair of brackets 33. A pin 81 passes through each of the brackets 33 and the distal end 16a of the arm 16. Thus, the connecting device 4 is rotatably attached to the distal end 16a of the arm 16.

[0036] As in Fig. As illustrated in Figure 4(b), an end 28a of the second connecting element 28 is inserted between the pair of brackets 33. A pin 82 is provided through each of the brackets 33 and the end 28a of the second connecting element 28. The connecting device 4 is thereby rotatably connected to the arm 16.

[0037] The locking section 32 locks an attachment such as the bucket 5 and the crusher 6. The locking section 32 locks the locked section 22 of the bucket 5. The locking section 32 closes a main body section 34, a pair of fitting sections 37, a protruding section 38, a locking pin 35 (an example of a locking element), and an actuator 36 (see Fig. 7(a)).

[0038] The main body section 34 is connected to the connecting section 31. The main body section 34 is essentially in the shape of a rectangular parallelepiped. The pair of supports 33 is arranged on the surface of the main body section 34. The main body section 34 is inserted between the pair of supports 23, the first fastening pin 24, and the second fastening pin 25 of the blade 5. As shown in Fig. As illustrated in 3(a), the pair of fitting sections 37 is fitted to the first fastening pin 24. As shown in Fig. As illustrated in Figure 4(a), the pair of pass sections 37 is arranged at one end of the main body section 34. Each of the pass sections 37 is hook-shaped and has a recessed section 37a. As shown in Fig. As illustrated in Figure 3(a), the first fastening pin 24 is fitted into the recessed section 37a. As shown in Figure 3(a). Fig. As illustrated in Figure 4(b), the projecting section 38 is located on the side opposite the fitting section 37 of the main body section 34. The projecting section 38 extends from an end surface 34d of the main body section 34. The projecting section 38 is located at one end of the end surface 34d on the side of the support 33. The projecting section 38 is arranged in a left-right direction above the pair of supports 33.

[0039] As in Fig. As illustrated in Figure 4(b), the pair of locking pins 35 protrudes from the end surface 34d. The pair of locking pins 35 is arranged substantially along the arrangement direction of the pin 81 and the pin 82. Each of the locking pins 35 moves between a state in which it protrudes from the end surface 34d and a state in which it is embedded in the end surface 34d. Fig. Figure 5(a) is a perspective view illustrating the connecting device 4 in a state in which the locking pin 35 is embedded in the end surface 34d of the main body section 34. Fig. Figure 5(b) is a perspective view of the connecting device 4 in a state in which the locking pin 35 is embedded in the end surface 34d of the main body section 34, from a direction other than that shown by Fig. 5(a) seen. As in Fig. As illustrated in Figure 5(b), the locking pin 35 is embedded in the end surface 34d of the main body section 34 and does not protrude from the end surface 34d.

[0040] As described below Fig. As illustrated in Figure 7(a), the actuator 36 is located inside the main body section 34. The actuator 36 is driven by hydraulic pressure. The actuator 36 is, for example, a hydraulic cylinder. The locking pin 35 is in a state where it protrudes from the end surface 34d of the main body section 34 when the actuator 36 is not driven. That is, the locking pin 35 is in a state where it protrudes from the end surface 34d of the main body section 34 when, in a state where the hydraulic circuit is connected to the connecting device 4, no command is given to the connecting device 4. By driving the actuator 36, the pair of locking pins 35 moves from a state where it protrudes from the end surface 34d to a state where it is embedded in the end surface 34d of the main body section 34.

[0041] As in Fig. 3(a) and Fig. As illustrated in Figure 3(b), the first fastening pin 24 is fitted into the recessed section 37a of the fitting section 37, the locking pin 35 protrudes from the end surface 34d, and the second fastening pin 25 is inserted between the locking pin 35 and the protruding section 38. This mounts the blade 5 to the connecting device 4, with the locking section 32 of the connecting device 4 locking the locked section 22 of the blade 5. Furthermore, the blade 5 can be removed from the connecting device 4 by driving the actuator 36, whereby the locking pin 35 is moved from a state (locked state) in which it protrudes and locks the second fastening pin 25 to a state (removed state) in which it is embedded in the end surface 34d.The following describes in detail a method for removing the shovel 5 from the connecting device 4 and a method for attaching the shovel 5 to the connecting device 4. Control configuration of the working machine

[0042] Next, using Fig. 1. A control configuration for the working machine 1 is described. Fig. 1. A dashed line indicates an electrical signal, a solid line indicates the hydraulic pressure used for driving, and a dash-dotted line indicates the hydraulic pressure (pilot oil) used for control.

[0043] The working machine 1 includes the drive machine 41, an oil dispensing unit 42, a vehicle body control unit 43 (an example of a control device), a pilot valve 44, and a pressure sensor 45. The drive machine 41 is, for example, an engine (internal combustion engine). Although not illustrated, the drive power from the drive machine 41 is transmitted to the drive devices 11a via a power transmission device and the like. The oil dispensing unit 42 adjusts the oil output for driving the working machine body 2 according to an output power from the drive machine 41. The oil dispensing unit 42 includes a hydraulic pump 46, a vehicle body hydraulic circuit 47, and a hydraulic circuit 90 (an example of a hydraulic circuit). The hydraulic pump 46 can, for example, be a swashplate hydraulic pump.The hydraulic pump 46 is mechanically connected to the drive motor 41. The hydraulic pump 46 is driven by the drive motor 41 and delivers hydraulic oil. Therefore, the flow rate and pressure of the hydraulic oil delivered by the hydraulic pump 46 vary depending on the speed of the drive motor 41. The hydraulic pump 46 and the vehicle body hydraulic circuit 47 are connected to each other via the hydraulic circuit 90. The hydraulic oil delivered by the hydraulic pump 46 is supplied by the hydraulic circuit 90 (an example of a hydraulic circuit) via the vehicle body hydraulic circuit 47 to the boom cylinder 17, the arm cylinder 18, the attachment cylinder 19, and the rotary motor 20.The vehicle body hydraulic circuit 47 includes a variety of control valves and regulates the output of oil supplied by the hydraulic pump 46 to the boom cylinder 17, the arm cylinder 18, the attachment cylinder 19, and the rotary motor 20. Each of the control valves is actuated by the pilot oil described below.

[0044] The vehicle body control unit 43 is installed in the working machine 1. The vehicle body control unit 43 includes a processor and a storage device. The processor is, for example, a central processing unit (CPU). Alternatively, the processor can be a different type of processor than the CPU. The processor performs the processing to control the working machine 1 according to a program stored in the storage device. The storage device includes non-volatile memory such as read-only memory (ROM) and volatile memory such as random-access memory (RAM). The storage device can be a hard disk or additional storage such as a solid-state drive (SSD). The storage device is an example of a non-transient, computer-readable recording medium.The vehicle body control unit 43 controls the working machine 1 based on the recorded data.

[0045] The pilot valve 44 adjusts the pressure or flow rate of the pilot oil for controlling the vehicle body hydraulic circuit 47. The pilot valve 44 is, for example, a proportional control valve. The pilot valve 44 can be a pressure-proportional control valve. Alternatively, the pilot valve 44 can be an electromagnetic proportional control valve. The pilot valve 44 is controlled by a command signal from the vehicle body control unit 43. When the pilot valve 44 is actuated in response to the command signal from the vehicle body control unit 43, the opening degree of the control valve provided in the vehicle body hydraulic circuit 47 is adjusted using the pilot oil supplied by the pilot valve 44. This adjusts the oil supplied to the boom cylinder 17, the arm cylinder 18, the attachment cylinder 19, and the rotary motor 20.Thus, the main body of the working machine 2 is driven by a command from the vehicle body control unit 43. Although in . Fig. 1 only one pilot valve 44 is illustrated, but a multitude of pilot valves 44 are provided corresponding to the number of control valves provided in the vehicle body hydraulic circuit 47.

[0046] The pressure sensor 45 (an example of a first pressure sensor) detects the pressure of the pilot oil supplied by the pilot valve 44 to the control valve of the vehicle body hydraulic circuit 47. The pressure sensor 45 detects the pressure of the oil (an example of first control oil) flowing through a pilot circuit 55 that connects the pilot valve 44 and the control valve of the vehicle body hydraulic circuit 47. The pressure of the oil flowing through the pilot circuit 55, which is delivered to the oil delivery unit 42, varies according to the actuation of the vehicle's in-body operating unit 49 and a remote control unit 62, which is described below (these are examples of a main body operating unit). The pressure sensor 45 transmits the detection result as a detection signal to the vehicle body control unit 43. A plurality of pilot circuits 55 are provided, corresponding to the number of pilot valves 44.To detect the pressure of the pilot oil supplied by each of the multiple pilot valves 44, the pressure sensor 45 is provided for each of the multiple pilot circuits 55.

[0047] A pressure sensor 70 (an example of a second pressure sensor) is also arranged in the hydraulic circuit 90 between the hydraulic pump 46 and the vehicle body hydraulic circuit 47. The pressure sensor 70 detects the pressure of the hydraulic fluid delivered by the hydraulic pump 46. The pressure sensor 70 transmits a detection signal to the vehicle body control unit 43 as the detection result. There may be only one pressure sensor 70 provided in the hydraulic circuit 90, or the pressure sensor 70 may be provided in each of the flow paths that branch off towards the control valve of the vehicle body hydraulic circuit 47 in the hydraulic circuit 90. In the case that only one pressure sensor 70 is provided in the hydraulic circuit 90, the pressure sensor 70 is preferably provided between the hydraulic pump 46 and a branch point where the vehicle body hydraulic circuit 47 branches off towards the control valve.

[0048] For example, if it is determined that the measured values ​​of all pressure sensors 45 do not exceed a predetermined threshold for a predetermined period of time, such as several seconds, the vehicle body control unit 43 transmits a command signal to the drive motor 41 to suppress the output power of the drive motor 41 so that it does not exceed a predetermined output power. The predetermined threshold is the pressure of the pilot control circuit 55 while the main body of the working machine 2 is not in operation. The predetermined threshold can be changed depending on the pilot control circuit 55 being monitored.The control system, which in this way suppresses the output power of the drive motor 41 so that it does not exceed the predetermined output power while the main body of the working machine 2 is not in operation and the output power of the drive motor 41 is not required, is called an automatic delay control system. The detection values ​​of all pressure sensors 45, which do not exceed the predetermined threshold during the predetermined time period, are an example of the operating condition of the automatic delay control system. The vehicle body control unit 43 can transmit the command signal to the drive motor 41 to suppress the output power of the drive motor 41 so that it does not exceed the predetermined output power if it is determined that the detection value of the pressure sensor 70 does not exceed the predetermined threshold for a predetermined time period, such as several seconds.Automatic delay control can be implemented in this way. In the case where the hydraulic circuit 90 is equipped with the plurality of pressure sensors 70, as described above, automatic delay control can be implemented if the measured values ​​of all pressure sensors 70 do not exceed the specified threshold during a specified time period.

[0049] If the drive motor 41 is an internal combustion engine, the vehicle body control unit 43 transmits a command signal to adjust the speed so that it does not exceed a predetermined speed when the operating condition for the automatic deceleration control is met. The vehicle body control unit 43 transmits a command signal to adjust the speed of the drive motor 41, for example, to achieve a low idle state. The low idle state here refers to a condition in which the internal combustion engine operates at a low speed, below its normal speed.

[0050] If the reading of one of the pressure sensors 45 exceeds the specified threshold for a specified time period, the vehicle body control unit 43 deactivates (also referred to as "canceling") the automatic deceleration control. Specifically, the vehicle body control unit 43 issues a command signal to the drive motor 41 to increase the output power beyond a specified output power. If only one pressure sensor 70 is provided in the hydraulic circuit 90, the vehicle body control unit 43 can deactivate the automatic deceleration control if the reading of this single pressure sensor 70 exceeds the specified threshold for a specified time period.If the multitude of pressure sensors 70 is provided in the hydraulic circuit 90, the vehicle body control unit 43 can deactivate the automatic delay control if the detection value of any of the pressure sensors 70 exceeds the specified threshold during a specified period of time.

[0051] The machine 1 includes a camera 48 (an example of an image capture device), the vehicle-internal operating unit 49, and a vehicle body communication device 50. The camera 48 is, for example, mounted on the main body 2 of the machine. The camera 48 captures an image of the area surrounding the machine 1. The camera 48 transmits an image signal, indicating the image of the area surrounding the machine 1, to the vehicle body communication device 50. It is sufficient if the camera 48 can capture at least the image of the area surrounding the communication device 4. Therefore, the camera 48 is preferably arranged on the front of the rotating body 12.

[0052] The vehicle-integrated control unit 49 (an example of the main body control unit) is located in the cab 14. The operator can use the vehicle-integrated control unit 49 to drive the work machine 1. The operator can use the vehicle-integrated control unit 49 to operate the work implement 3. The vehicle-integrated control unit 49 includes, for example, a control lever. The vehicle-integrated control unit 49 may include other controls such as a pedal, a switch, or a touch panel. The vehicle-integrated control unit 49 may include a control unit that can be activated to disable the automatic deceleration control.Deactivating the automatic deceleration control means that the vehicle body control unit 43 will not perform the control (automatic deceleration control) to suppress the output power of the drive motor 41 in such a way that it does not exceed a predetermined output power, even if the execution condition for the automatic deceleration control is met.

[0053] The vehicle's internal operating unit 49 transmits an operating signal, indicating operation by the operator, to the vehicle body control unit 43. The vehicle body control unit 43 controls the drive motor 41 and a power transmission device (not illustrated) according to the operating signal, thereby causing the movement of the working machine 1. The vehicle body control unit 43 controls the drive motor 41, the oil dispensing unit 42, and the pilot valve 44 according to the operating signal to operate the working tool 3 and cause the rotation of the rotating body 12.

[0054] The vehicle body communication device 50 is installed in the work machine 1. The vehicle body communication device 50 communicates wirelessly with the remote control device 200. The wireless communication between the vehicle body communication device 50 and the remote control device 200 can be either short-range or long-range wireless communication. Communication can take place via the internet or WLAN. Therefore, it is sufficient if data can be sent and received between the vehicle body communication device 50 and the remote control device 200.

[0055] The working machine 1 includes a receiver 51 and a solenoid valve 52. The receiver 51 is installed in the working machine 1. Upon receiving an unlock command signal or a lock command signal (as described below) from the remote control device 200, the receiver 51 transmits an open command signal or a close command signal to the solenoid valve 52. Upon receiving the unlock command signal from the remote control device 200, the receiver 51 transmits a notification signal indicating the receipt of the unlock command signal to the vehicle body control unit 43.

[0056] The receiver 51 can also serve as a vehicle body communication device 50. The receiver 51 communicates wirelessly with the remote control device 200. The wireless communication between the receiver 51 and the remote control device 200 can be either short-range or long-range wireless communication. Communication can take place via the internet or WLAN. Therefore, it is sufficient if data can be sent and received between the receiver 51 and the remote control device 200.

[0057] The solenoid valve 52 is installed in the working machine 1. In its open state, the solenoid valve 52 supplies hydraulic oil from the hydraulic pump 46 to the actuator 36, and in its closed state, it interrupts the supply of hydraulic oil from the hydraulic pump 46 to the actuator 36. The solenoid valve 52 moves to the open state when it receives the opening command signal from the receiving device 51 and supplies oil from the hydraulic pump 46 to the actuator 36. The oil supply actuates the actuator 36, embedding the locking pins 35 described above into the end surface 34d and releasing the locking of the second fastening pins 25 by the locking pins 35.

[0058] When the solenoid valve 52 is actuated in a state where the automatic delay control is performed, the actuator 36 may not be able to be driven because the pressure or flow rate of the oil supplied by the hydraulic pump 46 is low due to the suppression of the output power of the drive machine 41.

[0059] In the present embodiment, the vehicle body control unit 43 deactivates the automatic delay control when it receives the notification signal indicating the receipt of the unlock signal from the receiving device 51. Specifically, upon receiving the notification signal, the vehicle body control unit 43 transmits a determination signal to the drive motor 41 to increase the output power of the drive motor 41 beyond a predetermined output power. If the drive motor 41 is an internal combustion engine, the vehicle body control unit 43 transmits a command signal to the drive motor 41 to increase the speed of the internal combustion engine beyond a predetermined speed.By increasing the output power of the drive motor 41, the oil is delivered from the hydraulic pump 46 at high pressure or high flow rate, and therefore the actuator 36 can be driven while the solenoid valve 52 is in the open state. This causes the locking pin 35 to be embedded in the end surface 34d and the locking of the second fastening pin 25 by the locking pin 35 can be released. Remote control device 200

[0060] The remote control device 200 is, for example, provided in an administrative center located remotely from the work site. The remote control device 200 is, for example, a computer located in the administrative center. An operator in the administrative center can operate the work machine 1 from a remote location by operating the remote control device 200. The remote control device 200 includes a remote communication device 61, the remote control unit 62 (an example of a main body operating unit), a remote input device 63, a linking device operating switch 64 (an example of a linking device operating unit), an automatic delay disabling switch 65, a remote control unit 66, and a display 67.

[0061] The remote communication device 61 communicates wirelessly with the vehicle body communication device 50 and the receiving device 51 of the working machine 1.

[0062] The remote control unit 62 (an example of the main body operating unit) can be operated by the operator in a manner similar to the vehicle's internal operating unit 49 to move the working machine 1. The remote control unit 62 can also be operated by the operator in a similar manner to the vehicle's internal operating unit 49 to operate the working device 3. The remote control unit 62 includes, for example, an operating lever. The remote control unit 62 may include other operating elements such as a pedal, a switch, or a touch panel. The remote control unit 62 transmits an operating signal, indicating operation by the operator, to the remote control unit 66. The pressure of the oil flowing through the pilot circuit 55, which is delivered to the oil delivery unit 42, varies according to the actuation of the remote control unit 62.

[0063] The remote input device 63 can be operated by an operator to enter settings for the machine 1. The remote input device 63 is, for example, a touch panel type input device. Alternatively, the remote input device 63 can also be other input devices, such as a switch. The remote input device 63 transmits an input signal, indicating operation by the operator, to the remote control unit 66.

[0064] The operator can actuate the connection device control switch 64 to release the locking mechanism of the connection device 4 by the locking pin 35. The connection device control switch 64 can be a touch panel or a mechanical switch. The connection device control switch 64 transmits an ON operating signal, indicating an ON operation by the operator, or an OFF operating signal, indicating an OFF operation by the operator, to the remote control unit 66.

[0065] The automatic delay disable switch 65 can be operated by the operator to disable the automatic delay control. When the automatic delay disable switch 65 is set to ON, the automatic delay control will not execute, even if the execution condition for the automatic delay control is met. When the automatic delay disable switch 65 is set to OFF, the automatic delay control will execute if the execution condition for the automatic delay control is met. The automatic delay disable switch 65 can be a touch panel or a mechanical switch.The automatic delay deactivation switch 65 transmits an ON operating signal, indicating an ON operation by the operator, or an OFF operating signal, indicating an OFF operation by the operator, to the remote control unit 66.

[0066] The remote control unit 66 includes a processor and a storage device. The processor is, for example, a central processing unit (CPU). Alternatively, the processor may be a different type of processor than the CPU. The processor performs the processing to control the remote control device 200 according to a program stored in the storage device. The storage device includes non-volatile memory such as read-only memory (ROM) and volatile memory such as random-access memory (RAM). The storage device may be a hard disk or additional storage such as a solid-state drive (SSD). The storage device is an example of a non-transient, computer-readable recording medium.The remote control unit 66 generates a signal based on the acquired data and transmits the generated signal via the remote communication device 61 to the working machine 1 in order to operate the working machine 1.

[0067] The remote control unit 66 transmits a remote control signal to the vehicle body control unit 43 via the remote communication device 61 and the vehicle body communication device 50. The remote control unit 66 generates a remote control signal based on an operating signal from the remote control unit 62 or an input signal from the remote input device 63. The vehicle body control unit 43 controls the drive motor 41 and the power transmission device according to the remote control signal from the remote control unit 66 to set the working machine 1 in motion. The vehicle body control unit 43 controls the drive motor 41, the oil dispensing unit 42, and the pilot valve 44 according to the remote control signal from the remote control unit 66 to operate the working tool 3 and cause the rotation of the rotating body 12.

[0068] The vehicle body communication device 50 transmits an image signal from the camera 48 to the remote control unit 66. Based on the image signal, the remote control unit 66 displays an image of the surroundings of the work machine 1 on the display 67. The operator can operate the work machine 1 by operating the remote control unit 62 while viewing the image of the surroundings of the work machine 1 on the display 67.

[0069] Upon receiving the ON operating signal from the connection device control switch 64, the remote control unit 66 generates the unlock command signal (an example of an installation / removal signal). The remote control unit 66 transmits the unlock command signal via the remote communication device 61 to the receiver 51. Upon receiving the unlock command signal from the remote control device 200, the receiver 51 transmits a notification signal to the vehicle body control unit 43, indicating the receipt of the unlock command signal. Upon receiving the notification signal from the receiver 51, the vehicle body control unit 43 deactivates the automatic delay control. Upon receiving the unlock command signal from the remote control device 200, the receiver 51 transmits the open command signal to the solenoid valve 52.The solenoid valve 52 switches to the open state when it receives the opening command signal from the receiving device 51 and supplies the hydraulic oil from the hydraulic pump 46 to the actuator 36. Upon supply of the hydraulic oil, the actuator 36 is driven, the locking pins 35 described above are embedded in the end surface 34d of the main body section 34, and the locking of the second fastening pins 25 by the locking pins 35 is released.

[0070] Upon receiving the OFF operating signal from the connection device control switch 64, the remote control unit 66 generates the locking command signal (an example of the attach / remove signal). The remote control unit 66 transmits the locking command signal to the receiver 51. Upon receiving the locking command signal from the remote control device 200, the receiver 51 transmits the closing command signal to the solenoid valve 52. The solenoid valve 52 moves to the closed position when it receives the closing command signal from the receiver 51 and interrupts the supply of hydraulic oil from the hydraulic pump 46 to the actuator 36. This causes the locking pin 35 to protrude from the end surface 34d of the main body section 34.

[0071] Upon receiving the ON operating signal from the automatic delay deactivation switch 65, the remote control unit 66 generates a deactivation command signal. The remote control unit 66 transmits the deactivation command signal to the vehicle body control unit 43 via the remote communication device 61 and the vehicle body communication device 50. Upon receiving the deactivation command signal, the vehicle body control unit 43 does not execute the automatic delay control, even if the execution condition for the automatic delay control is met. Upon receiving the OFF operating signal from the automatic delay deactivation switch 65, the remote control unit 66 generates an activation command signal. The remote control unit 66 transmits the activation command signal to the vehicle body control unit 43 via the remote communication device 61 and the vehicle body communication device 50.Upon receiving the activation command signal, the vehicle body control unit 43 executes the automatic delay control if the execution condition for the automatic delay control is met. Operation

[0072] Next, a remote installation / acceptance procedure for an attachment according to the present disclosure will be described.

[0073] First, an operation of performing a process to remove the shovel 5, which is an example of the attachment, from the connecting device 4 from a remote location is described. Fig. Figure 6 is a flowchart illustrating a process for removing the attachment from the connecting device 4.

[0074] In step S10, the operator performs the ON operation at the connection device control switch 64. Upon receiving the ON operating signal from the connection device control switch 64, the remote control unit 66 generates the unlock signal indicating ON operation and outputs the unlock signal to the work machine 1 via the remote communication device 61. Before performing the ON operation at the connection device control switch 64, the operator operates the remote control unit 62 while viewing the image from the camera 48 on the display 67 and places the bucket 5 on the ground.

[0075] Next, in step S11, the receiver 51 receives the unlock signal. Upon receiving the unlock signal, the receiver 51 transmits the notification signal indicating the receipt of the unlock signal to the vehicle body control unit 43. The receiver 51 also transmits the opening command signal to the solenoid valve 52. Step S11 corresponds to an example of a receiving step.

[0076] Next, in step S12, the vehicle body control unit 43 disables the automatic delay control. For example, the vehicle body control unit 43 transmits a command signal to the drive motor 41 to increase the output power of the drive motor 41 beyond a predetermined output power. If the automatic delay control is not executed, the vehicle body control unit 43 might not transmit a command signal to increase the output power to the drive motor 41. Step S12 corresponds to an example of a disabling step.

[0077] Next, in step S13, the solenoid valve 52 opens upon receiving the opening command signal and supplies the oil delivered by the hydraulic pumps 46 to the actuator 36. Since the automatic delay control is deactivated, the oil is supplied by the hydraulic pump 46 in a quantity and at a pressure sufficient to drive the actuator 36. This actuates the actuator 36, engages the locking pin 35 in the main body section 34, and releases the locking pin 35 from the second fastening pin 25. Step S13 can be executed simultaneously with step S12.

[0078] Fig. Figures 7(a) to 7(d) are schematic views to illustrate a process of removing the shovel 5 from the connecting device 4. Fig. Figure 7(a) is a schematic view illustrating a state in which the blade 5 is attached to the connecting device 4. When the solenoid valve 52 is actuated in step S13, the actuator 36 is actuated by the supplied oil in the Fig. 7(a) illustrated state driven, and the state in which the locking pin 35 is embedded in the end surface 34d of the main body section 34 is achieved as shown in Fig. 7(b) illustrates.

[0079] Next, in step S 14, the operator operates the remote control unit 62 while viewing the image from the camera 48 on the display 67 and performs a process to detach the attachment from the coupling device 4. In particular, the attachment cylinder 19 is removed from the position of Fig. 7(b) retracted, thereby rotating the connecting device 4 about the first fastening pin 24, as shown in Fig. Figure 7(c) illustrates this. This separates the end surface 34d of the connecting device 4 from the second fastening pin 25.

[0080] Next, as in Fig. Figure 7(d) illustrates the joining device 4 being pulled away from the first fastening pin 24 in order to separate the first fastening pin 24 from the recessed section 37a.

[0081] Next, in step S15, the operator performs the OFF operation on the connecting device control switch 64. Upon receiving the OFF operating signal from the connecting device control switch 64, the remote control unit 66 generates the locking command signal and outputs the locking command signal to the machine 1 via the remote communication device 61.

[0082] Next, in step S 16, the receiving device 51 receives the locking command signal. Upon receiving the locking command signal, the receiving device 51 transmits the closing command signal to the solenoid valve 52. Upon receiving the closing command signal, the solenoid valve 52 closes to interrupt the oil supply from the hydraulic pump 46 to the actuator 36. As a result, as described in Fig. Figure 7(d) illustrates the actuator 36 being driven and the locking pin 35 protruding from the end surface 34d.

[0083] Next, a method for attaching the shovel 5, which is an example of the attachment, to the connecting device 4 is described by performing a procedure from a remote location. Fig. Figure 8 is a flowchart illustrating a process for attaching the attachment to the connecting device 4. Fig. Figures 9(a) to 9(d) are schematic views to illustrate a process of attaching the shovel 5 to the connecting device 4.

[0084] First, in step S20, the operator operates the remote control unit 62 while viewing the image from the camera 48 on the display 67, and as in Fig. As illustrated in Figure 9(a), the working device 3 is moved so that the first fastening pin 24 of the locked section 22 of the bucket 5 is fitted into the recessed section 37a of the connecting device 4.

[0085] Next, in step S21, the operator performs the ON operation on the connection device operating switch 64. Upon receiving the ON operating signal from the connection device operating switch 64, the remote control unit 66 generates the unlocking command signal and outputs the unlocking command signal to the machine 1 via the remote communication device 61.

[0086] Next, in step S22, the receiving device 51 receives the unlock command signal. Upon receiving the unlock command signal, the receiving device 51 transmits the notification signal indicating the receipt of the unlock command signal to the vehicle body control unit 43. Upon receiving the unlock command signal, the receiving device 51 transmits the opening command signal to the solenoid valve 52. Step S22 corresponds to an example of the receiving step.

[0087] Next, in step S23, the vehicle body control unit 43 disables the automatic delay control. For example, the vehicle body control unit 43 transmits a command signal to the drive motor 41 to increase the output power of the drive motor 41 beyond a predetermined output power. If the automatic delay control is not executed, the vehicle body control unit 43 might not transmit a command signal to increase the output power to the drive motor 41. Step S23 corresponds to an example of the disabling step.

[0088] Next, in step S24, the solenoid valve 52 switches to the closed state upon receiving the opening command signal and supplies the oil delivered by the hydraulic pumps 46 to the actuator 36. As a result, as in Fig. Figure 9(b) illustrates that the actuator 36 is driven and the locking pin 35 is embedded in the final surface 34d. Step S24 can be performed simultaneously with step S23.

[0089] Next, in step S25, the operator operates the remote control unit 62 while viewing the image from the camera 48 on the display 67 and performs a process to attach the bucket 5 to the connecting device 4. In particular, the attachment cylinder 19 is moved from the state of Fig. 9(b) extended, thereby rotating the connecting device 4 about the first fastening pin 24, as shown in Fig. Figure 9(c) illustrates this. The connecting device 4 is rotated until the protruding section 38 comes into contact with the second fastening pin 25. As a result, the end surface 34d of the connecting device 4 is positioned next to the second fastening pin 25 and between the first fastening pin 24 and the second fastening pin 25.

[0090] Next, in step S26, the operator switches the connecting device control switch 64 OFF. Upon receiving the OFF operating signal from the connecting device control switch 64, the remote control unit 66 generates the locking command signal and outputs the locking command signal to the working machine 1 via the remote communication device 61.

[0091] Next, in step S27, the receiving device 51 receives the locking command signal. Upon receiving the locking command signal, the receiving device 51 transmits the closing command signal to the solenoid valve 52.

[0092] In step S28, the solenoid valve 52 switches to the open state upon receiving the closing command signal and interrupts the oil supply from the hydraulic pumps 46 to the actuator 36. As a result, as in Fig. Figure 9(d) illustrates the actuator 36 being driven and the locking pin 35 protruding from the end surface 34d. As shown in Fig. As illustrated in Figure 9(d), the locking pin 35 together with the protruding section 38 encloses the second fastening pin 25, and the locking pin 35 locks the second fastening pin 25.

[0093] In this way, the shovel 5 can be attached to the connecting device 4 by remote control.

[0094] As in Fig. As illustrated in Figure 2C, the crusher 6 can be attached to and removed from the connecting device 4. Fig. Figure 10(a) is a perspective view illustrating a state in which the crusher 6 is attached to the connecting device 4. Fig. Figure 10(b) is a perspective view of the state in which the crusher 6 is attached to the connecting device 4, from a direction other than that shown in Figure 10(b). Fig. 10(a) seen.

[0095] The crusher 6 includes a crusher main body 71 and an interlocked section 72. The interlocked section 72 is interlocked with the connecting device 4. The interlocked section 72 is connected to one end 71a of the crusher main body 71. The interlocked section 72 includes a mounting plate 76, a pair of brackets 73, and a first mounting pin 74 (see figure). Fig. 10(a)) and a second fastening pin 75 (see Fig. 10(b)). The second fastening pin 75, illustrated as a solid round bar, can alternatively also be a plate-shaped element.

[0096] The mounting plate 76 is attached to end 71a by means of a screw. The pair of brackets 73 is arranged on the mounting plate 76. Each of the brackets 73 has a plate-like shape. The pair of brackets 73 are arranged opposite each other on the mounting plate 76 in a left-right direction at a predetermined distance. Each of the brackets 73 is arranged perpendicular to the left-right direction. The first fastening pin 74 is arranged between the pair of brackets 73. The first fastening pin 74 is arranged along the left-right direction. Both ends of the first fastening pin 74 are attached to the pair of brackets 73. The second fastening pin 75 is arranged between the pair of brackets 73. The second fastening pin 75 is arranged along the left-right direction. Both ends of the second fastening pin 75 are attached to the pair of brackets 73.The second fastening pin 75 is arranged parallel to the first fastening pin 74. The second fastening pin 75 is arranged at a predetermined distance from the first fastening pin 74.

[0097] By performing the same procedure as in the case of the shovel 5, the first fastening pin 74 is fitted into the fitting section 37 of the connecting device 4, as shown in Fig. 10(a) illustrates, and the locking pin 35 locks the second fastening pin 75, as shown in Fig. Figure 10(b) illustrates this. In this way, the crusher 6 can be attached to the connecting device 4. Second embodiment

[0098] Next, a remote mounting / removal system 110 for an attachment of a second embodiment is described. Fig.Figure 11 is a configuration diagram illustrating the remote attachment / removal system 110 for an attachment of the second embodiment. The remote attachment / removal system 110 for an attachment of the second embodiment uses a different trigger to cause the vehicle body control unit 43 to deactivate the automatic delay control. In the first embodiment, the vehicle body control unit 43 is caused to deactivate the automatic delay control by the notification signal indicating the receipt of the unlock signal from the receiving device 51. In the second embodiment, the pressure sensor 70 detects the receipt of the unlock signal, and the vehicle body control unit 43 is caused to deactivate the automatic delay control by the signal from the pressure sensor 70.

[0099] In the remote attachment / removal system 110 for an attachment of the second embodiment, the receiving device 51 of a working machine 101, unlike in the first embodiment, does not transmit the notification signal indicating the receipt of the unlocking signal to the vehicle body control unit 43.

[0100] The remote attachment / removal system 110 for an attachment of the second embodiment differs from that of the first embodiment in the configuration of the working machine. The working machine 101 of the remote attachment / removal system 110 for an attachment of the second embodiment, compared to the working machine 1 of the first embodiment, further includes a solenoid valve 53 (an example of a first on / off valve). In its open state, the solenoid valve 53 supplies oil from the hydraulic pump 46 to a pilot circuit 80 (an example of a pilot oil supply path), and in its closed state, it interrupts the oil supply from the hydraulic pump 46 to the pilot circuit 80. The solenoid valve 53 is connected to the hydraulic pump 46. Furthermore, the solenoid valve 53 is connected to the hydraulic pump 46 via the pilot circuit 80. Therefore, when the solenoid valve 53 is opened, pilot oil (an example of a second pilot oil) is supplied to the pilot circuit 80.The solenoid valve 53 opens when the receiving device 51 receives the unlocking signal, and the control oil operates the hydraulic pump 46. In the second embodiment, as in the first embodiment, the hydraulic circuit 90 is provided, through which the oil delivered by the hydraulic pump 46 is supplied to the vehicle body hydraulic circuit 47, and the pressure sensor 70, which detects the pressure of the oil delivered by the hydraulic pump 46, is arranged in the hydraulic circuit 90. The automatic delay control is deactivated according to the oil pressure detected by the pressure sensor 70.

[0101] Upon receiving the unlock signal from the remote control device 200, the receiver 51 transmits the opening command signal to the solenoid valve 53. Upon receiving the opening command signal, the solenoid valve 53 opens to supply oil from the hydraulic pump 46 to the pilot circuit 80. As a result, the oil supplied to the pilot circuit 80 actuates a servo piston of the hydraulic pump 46, and a swashplate of the hydraulic pump 46 is actuated. In this case, the swashplate causes an increase in the pressure of the oil delivered by the hydraulic pump 46. This leads to a temporary increase in the hydraulic pressure of the oil flowing through the hydraulic circuit 90, which is connected to supply oil from a delivery port of the hydraulic pump 46 to the vehicle body hydraulic circuit 47.If the measured value of pressure sensor 70 exceeds a predetermined threshold, the operating condition for the automatic deceleration control is no longer met, and the vehicle body control unit 43 deactivates the automatic deceleration control. Specifically, the vehicle body control unit 43 issues a command signal to the drive motor 41 to increase the output power beyond a predetermined output power. In a case where multiple pressure sensors 70 are provided in the hydraulic circuit 90, the automatic deceleration control is deactivated if the measured value of any of the pressure sensors 70 exceeds the predetermined threshold for a predetermined period of time.In the second embodiment, if a pressure sensor 70 is provided, the automatic delay control is executed if the detection value of the pressure sensor 70 does not exceed the predetermined threshold during the predetermined time period. If a plurality of pressure sensors 70 are provided, the automatic delay control is executed if the detection values ​​of all pressure sensors 70 do not exceed the predetermined threshold during the predetermined time period. The present invention is not limited to this, and the automatic delay control can be executed if the detection values ​​of all pressure sensors 70 do not exceed the predetermined threshold during the predetermined time period.

[0102] As described above, in the remote attachment / removal system 110 for an attachment of the second embodiment, the vehicle body control unit 43 deactivates the automatic delay control when it detects that the operating condition for the automatic delay control is not met, due to the supply of oil from the hydraulic pump 46 to the pilot circuit 80 to increase the detection value of the pressure sensor 70. Accordingly, the oil is supplied from the hydraulic pump 46 at a pressure and flow rate to drive the actuator 36, thereby releasing the locking mechanism of the second fastening pin 25, with the locking pin 35 being embedded in the end surface 34d.

[0103] That is, in the second embodiment, the pressure sensor 70 detects the oil pressure in the hydraulic circuit 90, which changes in response to the receipt of the unlocking signal, and the vehicle body control unit 43 deactivates the automatic deceleration control based on the signal from the pressure sensor 70.

[0104] The remote attachment / acceptance procedure for an attachment of the second embodiment is the same as that of the first embodiment, except that the trigger for aborting the automatic delay is different from that of the first embodiment, and therefore a description of it is omitted.

[0105] According to the second embodiment, by installing the receiving device 51, the solenoid valves 52 and 53 and the connecting device 4 into an existing working machine, the function that enables the attachment and removal of an attachment from a remote location can be added to the existing working machine. Features etc.

[0106] When the receiving device 51 in the remote attachment / removal system 10, 110 for an attachment of the embodiments receives the attachment / removal signal, the vehicle body control unit 43 deactivates the control to suppress the output power of the drive motor 41 to the specified output power.

[0107] By deactivating the automatic delay control in this way, the oil is supplied by the oil dispensing unit 42 at a pressure and flow rate that enables the operation of the connecting device 4. Therefore, no additional actuation of the working machine 1, 101 is required to deactivate the automatic delay control, and thus the attachment and removal of an attachment can be carried out easily and without time and effort from a remote location.

[0108] The remote attachment / removal system 10, 110 for an attachment of the embodiments includes the camera 48. The camera 48 captures an image of an area that includes at least the connecting device 4. Thus, the attachment can be attached to and removed from the connecting device 4 while the image captured by the camera 48 is checked on the display 67.

[0109] The remote attachment / removal system 10, 110 for an attachment of the embodiments includes the remote control unit 62 and the pressure sensor 45. The remote control unit 62 is operated to adjust the output of the pilot oil for controlling the oil dispensing unit 42 and for driving the main body of the working machine 2. The pressure sensor 45 detects the pressure of the pilot oil supplied to the oil dispensing unit 42 according to the actuation of the remote control unit 62. If the pressure of the pilot oil falls to or below the predetermined threshold, the vehicle body control unit 43 performs a control action (automatic deceleration control) to reduce the output power of the drive machine 41 to the predetermined output power.

[0110] Accordingly, if the output power of the drive machine 41 is not required because the main body of the working machine 2 is not moving, the output power of the drive machine 41 can be reduced to or below the specified output power.

[0111] In the remote mounting / removal system 10 for an attachment of the first embodiment, the receiving device 51 transmits a signal indicating the receipt of the unlocking signal to the vehicle body control unit 43. Upon receiving the notification signal indicating the receipt of the unlocking signal, the vehicle body control unit 43 deactivates the control (automatic delay control) for throttling the output power of the drive motor 41 to the predetermined output power.

[0112] Accordingly, the hydraulic pump 46 supplies the oil with a pressure and flow rate that enables the actuator 36 of the connecting device 4 to be driven, and thus the locking pin 35 can be separated from the second fastening pin 25 in order to release the locking of the second fastening pin 25 by the locking pin 35.

[0113] When the receiving device 51 in the remote attachment / removal system 110 for an attachment of the second embodiment receives the unlocking signal, the solenoid valve 53 switches to the open position to connect the hydraulic pump 46 and the pilot circuit 80. If the pressure of the hydraulic circuit 90 reaches or exceeds a predetermined threshold as a result of the oil supply to the pilot circuit 80, the vehicle body control unit 43 deactivates the control (automatic delay control) to suppress the output power of the drive motor 41 so that it does not exceed the predetermined output power.

[0114] Accordingly, the oil is supplied by the hydraulic pump 46 at a pressure and flow rate that enables the actuator 36 of the connecting device 4 to be driven, thereby releasing the locking of the second fastening pin 25 by the locking pin 35, the locking pin 35 being embedded in the end surface 34d.

[0115] In the remote attachment / removal system 10, 110 for an attachment according to the embodiments, the connecting device 4 includes the locking pin 35 and the actuator 56. The locking pin 35 can be locked to the attachment. The actuator 56 drives the locking pin 35. The remote attachment / removal system 10, 110 includes the solenoid valve 52 (an example of a second on / off valve). When the receiving device 51 receives the attachment / removal signal, the solenoid valve 52 is in the open state to supply oil from the hydraulic pump 46 to the actuator 56, and the locking pin 35 is moved from the locked state, in which it is locked to the attachment, to the unlocked state, in which it is detached from the attachment, by driving the actuator 56.

[0116] In this way, the attachment can be attached to and removed from the connecting device 4.

[0117] In the remote attachment / removal system 10, 110 for an attachment according to the embodiments, the vehicle body control unit 43 deactivates the control for suppressing the output power of the drive machine 41 so that it does not exceed the predetermined output power by transmitting the command signal to increase the output power above the predetermined output power to the drive machine 41 in the state in which the output power of the drive machine 41 does not exceed the predetermined output power.

[0118] This way, the automatic delay control can be deactivated. Other embodiments

[0119] Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above and various modifications can be made without departing from the spirit of the invention.

[0120] (A) In the embodiments above, the bucket 5 and the crusher 6 are given as examples of the attachment, but the attachment is not limited to these and other attachments may also be used. A crusher, rock crusher, or the like may be used as another example.

[0121] (B) In the embodiments described above, a hydraulic excavator was used as an example of a working machine, but the working machine is not limited to a hydraulic excavator. For example, a hydraulic excavator with tires, a compact loader, a wheel loader, a backhoe, or the like could be used as the working machine.

[0122] (C) In the embodiments described above, the example of the drive machine 41 is an internal combustion engine powered by burning fossil fuels such as light oil. However, the drive machine 41 can also be one that uses electrical energy, such as a battery. That is, the working machine 1, 101 can be an electric working machine. In this case, the drive machine 41 can be an electric motor. The electric motor can be powered by electrical energy stored in a lithium-ion battery. The electric motor can be powered by electrical energy generated by the fuel cell. The drive machine 41 can be a hydrogen engine powered by burning hydrogen.

[0123] (D) In ​​the above embodiments, the operator operates the working machine 1, 101 remotely using the camera 48, but in a case where the working machine 1, 101 is visible, the camera 48 does not need to be provided. Remote includes a position from which the working machine 1, 101 is visible and a position from which the working machine 1, 101 is not visible.

[0124] (E) In the above embodiments, the remote control device 200 is described, for example, as a computer located in the administrative center, but is not limited to this. The remote control device may be a portable terminal, a smartphone, or the like.

[0125] (F) In the above embodiments, the operator operates the working machine 1, 101 remotely, however, the attachment and removal of the attachment to and from the coupling device 4 can also be carried out in the cabin 14.

[0126] (G) In the above embodiments, the rotary motor 20 is a hydraulic motor, but is not limited to this and can also be an electric motor. Commercial applicability

[0127] The working machine, the remote attachment / removal system and the remote attachment / removal method of the present disclosure offer the effect of enabling easy attachment and removal of the attachment from a remote location and can therefore be advantageously used for a hydraulic excavator or the like. Reference symbol list 1 working machine 2 Main working machine bodies 3 Work equipment 4 Connecting device 5 shovels 41 Drive machine 42 Oil dispensing units 43 Vehicle body control unit 51 Receiving device QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 10-317415 A

[0005]

Claims

[1] Working machine, comprising: a working machine main body which includes a working tool, an attachment attached to the working tool and a connecting device by which the attachment is attached to and detached from the working tool; a drive motor that is arranged in the main body of the working machine; an oil dispensing unit configured to adjust an oil output for driving the working machine main body according to an output power of the drive machine; a receiving device configured to receive an attachment / removal signal sent from a remote location to operate the linking device; and a control device configured to perform control in order to suppress the output power of the drive machine so that it does not exceed a predetermined output power, wherein, When the receiving device receives the attachment / removal signal, the control device deactivates the control to suppress the output power of the drive machine so that it does not exceed the specified output power. [2] Working machine according to claim 1, further comprising an image acquisition device configured to capture an image of an area which includes at least the connecting device. [3] Working machine according to claim 1, wherein the drive machine is an internal combustion engine. [4] Working machine according to claim 1, further comprising: a main body operating unit that is operated to set an output of the first control oil to control the oil output unit and to drive the working machine main body; and a first pressure sensor configured to detect the pressure of the first control oil which is supplied to the oil dispensing unit according to the operation of the main body operating unit, wherein the control device performs the suppression control when the pressure of the first control oil falls to or below a predetermined threshold. [5] Working machine according to claim 1, wherein the oil dispensing unit a hydraulic pump configured to deliver oil according to the output power of the drive motor, and includes a hydraulic circuit to which the oil delivered by the hydraulic pump is supplied. [6] Working machine according to claim 1, wherein Upon receiving the installation / removal signal, the receiving device transmits a signal indicating the receipt of the installation / removal signal to the control device and The control device deactivates the control for suppressing the output power of the drive machine so that it does not exceed the specified output power when it receives the signal indicating the receipt of the installation / removal signal. [7] Working machine according to claim 4, wherein the oil dispensing unit a hydraulic pump configured to deliver oil according to the output power of the drive motor, and includes a hydraulic circuit through which the oil delivered by the hydraulic pump is fed into a hydraulic circuit of the vehicle body, the hydraulic circuit is equipped with a second pressure sensor configured to detect the pressure of the delivered oil, the working machine further includes: a first on / off valve connected to the hydraulic pump; and a control oil supply path through which the second control oil is supplied to the hydraulic pump when the first on / off valve is open, wherein the control oil supply path is arranged between the first on / off valve and the hydraulic pump, the first on / off valve is opened when the receiving device receives the attach / remove signal to operate the hydraulic pump with the second control oil, and The control device deactivates the suppression control if a pressure detected by the second pressure sensor exceeds the specified threshold. [8] Working machine according to claim 5, wherein the control device a locking element that can be locked to the attachment and includes an actuator configured to drive the locking element, The working machine further comprises a second on / off valve configured to supply oil from the hydraulic pump to the actuator when open and to shut off the oil supply from the hydraulic pump to the actuator when closed, and The second on / off valve is in the open position to supply oil from the hydraulic pump to the actuator when the receiving device receives the attach / remove signal, and the locking element is moved by driving the actuator from a locked state, in which it is locked to the attachment, to a released state, in which it is released from the attachment. [9] Working machine according to claim 1, wherein the control device deactivates the control for suppressing the output power of the drive machine so that it does not exceed the predetermined output power by transmitting a command signal to the drive machine to increase the output power above the predetermined output power in a state in which the output power of the drive machine does not exceed the predetermined output power. [10] Remote attachment / removal system for an attachment, wherein the attachment / removal system comprises: the working machine according to one of claims 1 to 9 and an operating unit for the connecting device, which is provided at a location remote from the connecting device and is configured to transmit the attachment / removal signal based on operation by an operator. [11] Remote fitting / acceptance procedure for an attachment, the procedure comprising: Receiving an attachment / removal signal from a remote location to operate a coupling device that attaches and removes an attachment from a work implement; and When the installation / removal signal is received, the control is deactivated to suppress the output power of a drive motor so that it does not exceed a predetermined output power below which an oil dispensing unit is caused to cease oil dispensing to drive a working machine main body including the working tool.

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