Self-propelled hydraulic work machine including an emergency stop valve, and method for controlling a self-propelled hydraulic work machine

Abstract

A self-propelled hydraulic work machine (1) having an upper structure (4), a lower structure (2), and a boom assembly (7), wherein the boom assembly has an arm (10), the self-propelled hydraulic work machine further has an attachment (14) connected to the arm and a hydraulic system for moving the boom assembly and the attachment, the hydraulic system includes at least one hydraulic pump (17) and a valve block (15), the valve block is designed to be able to adjust the oil flow of at least one hydraulic line (18) connecting the hydraulic consumer (14) to the hydraulic pump in order to operate the hydraulic consumer, at least one hydraulic line is assigned at least one emergency stop valve (23, 24) designed to close the hydraulic line in an emergency, and at least one emergency stop valve is arranged in the region of the boom assembly and / or in the upper structure on the flow side of the valve block remote from the pump.

Description

Technical Field

[0001] The present invention relates to a self-propelled hydraulic work machine having the features of the preamble of claim 1, and a method for controlling a self-propelled hydraulic work machine having the features of the preamble of claim 10.

Background Art

[0002] Self-propelled hydraulic working machines, especially construction machines, are used in various ways at construction sites for demolition and dismantling work. Such self-propelled machines are also used in civil engineering and forestry. Examples of self-propelled machines include cranes, excavators, as well as material handlers, forestry machines, etc. In the demolition sector, so-called "long front" excavators or demolition excavators are used. The long booms and arms make good tools for using hydraulic attachments for self-propelled hydraulic construction machines for their respective purposes, even at heights of over 20 m. When operating a self-propelled hydraulic construction machine, the hydraulic hoses forming the hydraulic system of the attachment are exposed to the aging process or external influences due to the weather, which can cause damage to the hydraulic hoses. However, many other much more unexpected causes of damage are external mechanical influences on the hydraulic hoses caused by work in areas that are not fully visible. The operator of the excavator cannot see all parts of the arm of the self-propelled hydraulic construction machine during operation, which means that the hydraulic hoses can be damaged, for example, by catching on sharp objects, being punctured, cut, or broken at the construction site. On the one hand, due to the inevitable aging process, and on the other hand, due to unforeseen external influences, oil leakage may occur in the hydraulic hoses during the normal operation of the construction machine. In particular, from the disclosure document EP2547912, it is known to interrupt the lines of the hydraulic system of the attachment so that the attachment does not cause any uncontrolled movement, remains in a fixed position, and does not pose any safety risks at the construction site due to pipe rupture. However, the hydraulic system is only interrupted on the attachment side. That is a problem. Because the long booms and arms of the self-propelled hydraulic working machine require long hydraulic lines that must run from the end of the arm to the attachment, and thus in the case of oil leakage, more than 400 liters of oil can often reach the ground at the construction site in less than 30 seconds. The loss of oil means not only additional costs due to the replacement of the lost oil but also significant environmental pollution at the construction site.

[0003] The same applies to the use of forestry harvesters, some of which have grapples on long booms for gripping the main stem of a tree and which are equipped with a hydraulic motor for rotating the grapple in addition to a hydraulic unit for the grapple.

SUMMARY OF THE INVENTION

[0004] The present invention is based on the problem of providing a cost-saving and environmentally friendly self-propelled hydraulic working machine and a method for controlling such a working machine.

[0005] This problem is solved by a self-propelled hydraulic working machine having the features of claim 1 and a method for controlling a self-propelled hydraulic working machine having the features of claim 10.

[0006] Accordingly, there is provided a self-propelled hydraulic working machine, in particular a construction machine, having a superstructure, a substructure, and a boom assembly, the boom assembly preferably having a boom (which may optionally further have an intermediate boom) and an arm, and the self-propelled hydraulic working machine having an attachment connected to the arm and a hydraulic system for moving the boom assembly and the attachment. The hydraulic system has at least one pump and one valve block, the valve block being designed to be able to regulate the oil flow in at least one, preferably two, hydraulic lines connecting the hydraulic consumer, in particular the attachment, to the pump. At least one emergency stop valve is assigned to the hydraulic line(s), which is designed to close the hydraulic line in an emergency, and at least one emergency stop valve is arranged in the region of the boom assembly of the hydraulic line and / or in the upper structure on the flow side of the valve block remote from the pump.

[0007] At least one emergency stop valve enables the hydraulic line to be closed in case of leakage, thereby generally preventing the leakage of hydraulic oil. The emergency stop valve can also include a closing device such as a gate valve or a ball valve. It is particularly easy to incorporate the emergency stop valve in the superstructure area. The use of the emergency stop valve in the area of the arm is advantageous because this has great advantages in case of leakage in the area between the boom assembly and the attachment. If the hydraulic consumer is a single-acting hydraulic cylinder, for example, only one hydraulic line with an emergency stop valve can be provided. If the hydraulic consumer is a double-acting hydraulic cylinder, two hydraulic lines are provided, which are connected to the valve block, and each has at least one emergency stop valve. If the hydraulic consumer is an attachment, the valve block can be an additional valve block having a volume control valve for controlling the volume flow to the attachment.

[0008] Preferably, at least one, in particular at least two, hydraulic lines are located in the protective area above the arm or in the protective area formed by channels, and each emergency stop valve is located in this protective area. The protective area means that the hydraulic line is a rigid pipe made especially of metal and is protected from external influences. These protective areas must be distinguished from the areas of hydraulic lines having flexible hoses that can be quickly torn or damaged.

[0009] The hydraulic line is preferably attached to a hydraulic consumer, in particular an attachment, at a first attachment point and to a boom assembly, in particular an arm, at a second attachment point, and forms a flexible hose vent between the two attachment points. At least one emergency stop valve is preferably arranged outside the flexible hose vent in the region of the boom assembly or the arm. During normal operation of the self-propelled hydraulic working machine, oil often leaks from the flexible hose vent. This is because the flexible hose vent, by its nature, is easily pierced at multiple points, for example, at a construction site. However, the hose vent is essential for the use of the working machine, in particular a construction machine. This is because without a hose vent, large movements of the boom assembly and the attachment are impossible. Closing at least one emergency stop valve, and thus the hydraulic line and the hydraulic system, prevents further leakage in the event of an oil leak.

[0010] Preferably, the emergency stop valve is an electronically controlled solenoid valve, which is particularly cost - advantageous. The emergency stop valve can be a two - way valve. The hydraulic system then includes at least one return line, which connects the emergency stop valve to the hydraulic oil tank, and the hydraulic system is supplied with hydraulic oil from the hydraulic oil tank by a pump. In this case, the emergency stop valve does not need to communicate with the valve block. This is because the flow of hydraulic oil through the hydraulic line in the region of the valve block does not need to be interrupted.

[0011] In a further preferred embodiment, the self - propelled hydraulic working machine, in particular a construction machine, includes an emergency stop actuating device, which communicates with at least one emergency stop valve and / or optionally additionally with the valve block and is configured to close at least one emergency stop valve during actuation.

[0012] Preferably, the emergency stop actuator is arranged in the cab of the self-propelled hydraulic working machine. If the operator of the self-propelled hydraulic working machine detects a leak, he can activate the emergency stop actuator, thereby preventing the hydraulic oil from continuing to leak at the leak point.

[0013] Preferably, at least one sensor is assigned to at least one hydraulic line, at least one sensor is configured to detect a leak in at least one hydraulic line, and at least one sensor communicates with the emergency stop valve and / or the valve block. In this embodiment, the emergency stop valve can be automatically closed in case of a leak and pressure drop in the hydraulic line.

[0014] In a preferred embodiment, the self-propelled hydraulic working machine is a construction machine, in particular a long-boom excavator, which has a reach height in the range of 15 m to 90 m and a weight class of in particular 25 t to 400 t.

[0015] Furthermore, a method for controlling a self-propelled hydraulic working machine, in particular a construction machine, having an upper structure, a lower structure, and a boom assembly, the boom assembly having arms, the self-propelled hydraulic working machine further having an attachment connected to the arms and a hydraulic system for moving the boom assembly and the attachment, the hydraulic system including at least one pump and a valve block, in particular an additional valve block, and at least one, in particular at least two, hydraulic lines connecting the attachment to the pump, the valve block being connected to the hydraulic lines, is provided. The method includes the following successive steps: (a) Detecting the occurrence of a leak in a hydraulic line between a hydraulic consumer, in particular an attachment, and the valve block (b) Activate or operate and / or move at least one emergency stop valve, thereby closing at least one hydraulic line, in particular at least two hydraulic lines, provided that each of the at least one emergency stop valve is arranged in the area of the boom assembly and / or in the upper structure on the flow side of the valve block remote from the pump of the hydraulic line (one of them).

[0016] It is preferably ensured that the closed position is maintained until the leak is rectified. After the leak has been rectified, it is advantageous for the emergency stop valve to be returned to its initial state or initial position before the leak.

[0017] In contrast to conventional valves or valve devices for closing hydraulic lines, the method according to the invention enables the self-propelled machine to be operated and kept moving, except for the control section associated with the leakage line. The method according to the invention can be used to prevent a large amount of hydraulic oil from leaking from the leakage point. Since it is ensured or can be ensured that the closed position is maintained until the leak is rectified and the hydraulic line is repaired, the leakage of hydraulic oil from the hydraulic line can be reliably prevented. Returning the emergency stop valve to the state before the line leak and closure is preferably carried out without tools and without replacing or renewing parts / components of the emergency stop valve. The return to the initial state is particularly preferably effected automatically, for example after confirmation by the operator. Such confirmation can include an input in the operating unit, actuation of a switch (emergency closure switch or emergency stop switch), etc.

[0018] Preferably, at least one emergency stop valve is a two-way valve, the hydraulic system includes at least one return line, and the following steps are provided in step (b) of the method: - Connect the hydraulic line to the return line by means of the emergency stop valve, the return line being connected to the hydraulic oil tank, and the hydraulic system being supplied by a pump from the hydraulic oil tank.

[0019] Preferably, the method includes the following step between steps (a) and (b): - Actuate a valve block, in particular an additional valve block, to close at least one (two) hydraulic lines, provided that thereby step (b) is carried out with a predetermined time delay.

[0020] Preferably, the method includes detection by visual inspection by an operator or by sensors arranged in the hydraulic lines.

[0021] Preferably, the self-propelled hydraulic working machine includes an emergency stop valve and / or an emergency stop actuator communicating with an additional valve block, and the method according to step (a) includes the following steps: - Manually actuating the emergency stop actuator by the operator.

[0022] The self-propelled hydraulic working machine can be designed as described above.

Brief Description of the Drawings

[0023] Two preferred embodiments of the present invention will be described in more detail below with reference to the drawings. Identical or functionally identical components are given the same reference signs in the figures.

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0025] FIG. 1 shows a self-propelled hydraulic working machine 1 in a preferred embodiment as a long-arm boom excavator having a lower structure 2, and the lower structure 2 is connected to an upper structure 4 via a rotating mechanism 3 that can rotate around a rotation axis S. The rotating mechanism 3 enables a controlled rotational movement between the upper structure 4 and the lower structure 2 around the rotation axis S. Generally, a wheeled excavator and a crawler excavator can be distinguished. In the case of a wheeled excavator, the lower structure 2 can have tires on the chassis. The wheeled excavator is only used in weight classes up to 25 t. On the other hand, the crawler excavator can have endless tracks and is used in all weight classes. The wheeled and crawler excavators should be distinguished as self-propelled land vehicles from other types of excavators such as floating excavators. In the preferred embodiment, the long-arm excavator 1 is realized as a crawler excavator, which is in a common weight class of 25 t to 400 t for demolition work. The upper structure 4 has a cab 5 at its end in the traveling direction (forward direction) F and a counterweight 6 at the end opposite the cab 5. FIGS. 1 and 2 show a boom assembly 7 consisting of three parts, which is attached to the upper structure 4 adjacent to or behind the cab 5. The boom assembly 7 has three links 8, 9, 10 arranged connected to each other. The first member 8 is called the boom, the second member 9 is called the intermediate boom, and the third member farthest from the upper structure is called the arm 10, and two consecutive members are pivotally attached to each other by bolts. The boom assembly 7 further includes a boom cylinder 11 that can move the first link 8 of the boom assembly and an intermediate boom cylinder 12 that can move the second link 9 of the boom assembly 7. Further, an arm cylinder 22 is provided that can be driven to move the arm 10. An attachment 14 is attached to the free end of the arm 10, and the arm head bolt 13 passes through it. This connection can preferably be made by a quick coupler. The attachment 14 and the quick coupler can also be rotated around a pivot axis defined by the arm head bolt 13.In this embodiment, the attachment 14 is a gripping tool, but any hydraulic attachment such as a shearing machine can be used.

[0026] The self-propelled hydraulic working machine 1 includes a hydraulic system that drives a boom cylinder 11, an intermediate boom cylinder 12, and an arm cylinder 22 with hydraulic oil. The flow of hydraulic oil and the related movements are controlled and monitored by a main valve block of a hydraulic system (not shown) located in the upper structure 4. The main valve block includes a valve that adjusts the supply amount of hydraulic oil to one of the hydraulic cylinders. Further, the main valve block has a role of controlling the hydraulic rotation drive of the rotation mechanism 3 and the hydraulic travel drive for the endless tracks of the lower structure 2. An additional valve block 15, a hydraulic oil tank 16, and a hydraulic pump 17 also belong to the hydraulic system and are provided in the upper structure 4. The hydraulic pump 17 supplies the hydraulic oil of the hydraulic system and is connected to the main valve block and the additional valve block 15 via a hydraulic connection. If the performance of one pump is not sufficient for the required application, or if the system is designed redundantly, multiple pumps can be used in the hydraulic system. The additional valve block 15 controls and adjusts the flow of hydraulic oil to the attachment 14. The hydraulic line 18 leads from the additional valve block 15 to the attachment 14. Although FIG. 1 shows only one hydraulic line 18, depending on the type of attachment and the working machine used, multiple or at least two hydraulic lines 18 can exist. The type of attachment 14 and the movements it can perform define the number of hydraulic lines 18 (used and connected). The hydraulic line 18 is formed by a flexible hose line, also called a boom hose vent, arranged in a vent between the upper structure 4 and the first link 8, between the first link 8 and the second link 9, and between the second link 9 and the arm 10 in the region of the bolt 19 of the boom assembly 17. A flexible hose vent 21 is also formed between the first attachment point of the attachment 14 and the second attachment point of the arm 10. The flexible boom hose vent 20 and the flexible hose vent 21 enable the individual links of the boom assembly 7 to pivot around the longitudinal axis of the bolt 19 without interrupting or rupturing the hydraulic line 18. The hose vent 21 and the boom hose vent 20 are formed for each additional hydraulic line 18 (not shown here).The portion of the hydraulic line 18 that runs centrally along the link of the boom assembly 7 away from the swivel shaft or bolt 19 is realized by a hard metal pipe. The ends of the metal pipes are each connected to a flexible hose line to form the hydraulic line 18. The metal pipes form a protected area where the hydraulic line 18 is protected from external damage. In the shown hydraulic line 18, there are two emergency stop valves 23, 24 between the additional valve block 15 and the attachment 14. The emergency stop valves 23, 24 of at least two hydraulic lines 18 are divided into a first emergency stop valve 23 and a second emergency stop valve 24, and are schematically shown as a rectangle in FIG. 1. The first emergency stop valve 23 and the second emergency stop valve 24 can close the corresponding hydraulic line 18 at their respective positions. This ensures that the emergency stop valves 23, 24 located on the side near the additional valve block where oil leakage occurs prevent the hydraulic oil located between this emergency stop valve 23, 24 and the hydraulic pump 17 or the hydraulic oil tank 16 in the hydraulic line 18 from leaking. The first emergency stop valve 23 is located in the upper structure 4 on the flow side of the additional valve block 15 away from the pump. The second emergency stop valve 24 is located in the hydraulic line 18 in the region of the arm 10 outside the hose vent 21. As shown in FIG. 1, the position immediately upstream or downstream of the flexible hose line in the region of the arm head bolt 13 in the flow direction is particularly preferred. Empirically, the hose line often leaks in the region of the arm head bolt 13. The above position of the second emergency stop valve 24 makes it possible to maintain the maximum possible amount of hydraulic oil in the hydraulic line 18 in case of such leakage. If an oil leak occurs at the hose vent 21, by closing the second emergency stop valve 24, the oil in the hydraulic line 18 between the second emergency stop valve 24 and the additional valve block 15 can remain in the hydraulic line 18 and prevent it from leaking. For example, it is conceivable to use an additional emergency stop valve to protect the boom hose vent 20 of the second link 9 against leakage. At least one emergency stop valve 23, 24 is required for each hydraulic line 18.Even with only the first emergency stop valve 23, it is possible to prevent most of the hydraulic oil from leaking in the event of a leak in the flexible hose line in the area of the arm head bolt 13. The emergency stop valves 23, 24 are clearly different from the normal pipe rupture safety valves that are standardly installed in self-propelled hydraulic working machines. A pipe rupture safety valve (not shown) is installed in the attachment 14 and prevents the uncontrolled movement of the attachment 14 in the event of a pipe rupture in order to protect the operator and people at the construction site. The pipe rupture safety valve maintains the pressure of the hydraulic oil in the working chamber of the hydraulic cylinder installed in the attachment 14 or the attachment 14 and enables the attachment 14 to remain in the fixed position. On the other hand, the emergency stop valves 23, 24 interrupt the hydraulic system at at least one point towards the additional valve block 15. Hydraulic oil leaks in the hydraulic line between the break point and the emergency stop valves 23, 24. However, the emergency stop valves 23, 24 prevent a large amount of hydraulic oil from leaking and contribute to environmental protection during the demolition work. The emergency stop valve can also be provided to the hydraulic line to other hydraulic consumers. The hydraulic consumers can be, for example, the boom cylinder 11, the intermediate boom cylinder 12, and / or the arm cylinder.

[0027] Figure 3 shows a part of the hydraulic system, which is shown only schematically and is used in particular to control the movement of the attachment 14. The hydraulic valves of the additional valve block 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 block 15 with the hydraulic pressure required to control the attachment 14 or its hydraulic cylinder. The additional valve block 15 can adjust the volumetric flow of hydraulic oil through four hydraulic lines 18 shown as an example, and thus control the movement of the attachment 14. There is one first emergency stop valve 23 and one second emergency stop valve 24 for each hydraulic line 18. The first emergency stop valve 23 and the second emergency stop valve 24 are each located in two different areas of the hydraulic line 18. The hose vent 20 closest to the additional valve block and the flexible hose vent 21 in the area of the arm head bolt 13 are shown.

[0028] The first emergency stop valve 23 is arranged in the upper structure 4, that is, in the upper structure area of each hydraulic line 18, specifically located on the flow side of the additional valve block 15 far from the pump. The second emergency stop valve 24 is arranged in the boom assembly area of each hydraulic line 18, specifically located in the area of the arm 10 outside the upper structure 4 and outside the flexible hose vent 21 as already described above. To enable the hydraulic oil to flow through the emergency stop valves 23, 24 without being blocked, the emergency stop valves 23, 24 are open during the normal operation of the self-propelled hydraulic working machine 1. The emergency stop valves 23, 24 are controlled by an emergency stop actuator 25. When the emergency stop actuator 25 is actuated, the hydraulic lines 18 are closed by the emergency stop valves 23, 24 and the flow of hydraulic oil is stopped. The emergency stop actuator 25 communicates electronically with the additional valve block 15 and switches the emergency stop valves 23, 24.

[0029] 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 are switched and the hydraulic line 18 is closed. Figure 3 shows the closed state of the emergency stop valves 23, 24, which is achieved by actuating the emergency stop actuator 25.

[0030] In a preferred embodiment, the emergency stop valves 23, 24 are electronic control solenoid valves.

[0031] In a preferred embodiment, the leak is detected by an operator, who then actuates the emergency stop actuator 25, whereby the emergency stop valves 23, 24 are switched and the hydraulic line 18 is closed. The detection can also be carried out by a sensor assigned to the hydraulic line 18, and the emergency stop actuator 25 can then be automatically actuated.

[0032] In a preferred embodiment, first the additional valve block 15 is actuated by the emergency stop actuator 25, and the additional valve block 15 stops at least two hydraulic lines 18. Next, the emergency stop valves 23, 24 are switched and the hydraulic line 18 is closed with a pre-determinable time delay.

[0033] Figure 4 shows a further embodiment of a part of a hydraulic system that is generally similar to that of Figure 3. In this case, the attachment 14 is hydraulically pilot-controlled by a low-pressure line. The boom hose vent 20 and the hose vent 21 are not depicted. The differences between Figure 4 and Figure 3 are described below. In the embodiment shown in Figure 4, the first emergency stop valve 23 in the superstructure area of the hydraulic line 18 is realized by a two-way valve 26, which can be connected to the hydraulic oil tank 16 of the hydraulic system via the return line 27. In normal operation, the second emergency stop valve 24 (which is an electronically controlled solenoid valve in one embodiment) is open in the boom assembly area, and the two-way valve 26 in the superstructure area is in the first switching position, which allows hydraulic oil to flow from the additional valve block 15 through the hydraulic line 18 to the attachment 14.

[0034] After an oil leak is detected by the operator or a sensor, the second emergency stop valve 24 in the boom assembly area of the hydraulic line 18 is switched on and closed by actuating the emergency stop actuator 25, and the two-way valve 26 switches to the shown second switching position, where the hydraulic oil flows from the additional valve block 15 through the return line 27 to the hydraulic oil tank 16.

[0035] It is conceivable to use more than two emergency stop valves 23, 24 per hydraulic line 18.

[0036] Thus, in both types of hydraulically piloted hydraulic systems, one electrically and one hydraulically, oil leakage detection can be carried out by the operator or a sensor. The emergency stop actuator 25 can be designed, for example, as an operating button in the cab 5 or on the boom assembly 7, or can be accessible via the control unit of the self-propelled hydraulic work machine 1, which has the operating elements necessary to control the self-propelled hydraulic work machine 1. By actuating the emergency stop actuator 25, the emergency stop valves 23, 24 are switched on and the flow of hydraulic oil is stopped. By actuating the emergency stop actuator 25 again, the emergency stop valves 23, 24 can be switched back and the hydraulic line 18 to the attachment 14 can be opened again. The emergency stop valves 23, 24 are switched back when the oil leakage in the hydraulic line 18 has been rectified. If the leakage is detected by a sensor, an alarm may be issued, whereby the operator can actuate the emergency stop actuator 25. However, it is also possible for the emergency stop valves 23, 24 and / or an additional valve block 15 to be automatically activated by a sensor that detects a pressure drop. In a further embodiment, it is intended to use an emergency stop valve that automatically closes in the event of a pressure drop in the hydraulic line 18.

Claims

1. A self-propelled hydraulic working machine (1) having an upper structure (4), a lower structure (2), and a boom assembly (7), wherein the boom assembly (7) has an arm (10), and the self-propelled hydraulic working machine (1) further has an attachment (14) connected to the arm (10) and a hydraulic system for moving the boom assembly (7) and the attachment (14), the hydraulic system including at least one hydraulic pump (17) and a valve block (15), the valve block (15) being designed to be able to adjust the oil flow of at least one hydraulic line (18) connecting the hydraulic consumer (14) to the hydraulic pump (17) to operate the hydraulic consumer (14). In the self-propelled hydraulic working machine (1), at least one hydraulic line (18) is assigned at least one emergency stop valve (23, 24) designed to close the hydraulic line (18) in an emergency, and at least one emergency stop valve (23, 24) is arranged in the region of the boom assembly (7) and / or in the upper structure (4) on the flow side of the valve block (15) away from the pump. The self-propelled hydraulic working machine (1) is characterized by this.

2. The self-propelled hydraulic working machine (1) according to claim 1, characterized in that at least one hydraulic line (18) is located in a protective area above the arm (10) or in a protective area formed by a conduit, and each emergency stop valve (24) is located in this protective area.

3. Each of at least one hydraulic line (18) is attached to a first attachment point to the hydraulic consumer (14) and a second attachment point to the boom assembly (10), and a flexible hose vent (21) is formed between the two attachment points. Each of at least one emergency stop valve (24) is arranged in the region of the boom assembly (10) outside the flexible hose vent (21). The self-propelled hydraulic working machine (1) according to claim 1 or 2 is characterized by this.

4. The self-propelled hydraulic working machine (1) according to any one of claims 1 to 3, characterized in that at least one emergency stop valve (23, 24) is an electronically controlled solenoid valve.

5. At least one emergency stop valve (23, 24) is a two-way valve (26), the hydraulic system includes at least one return line (27), the return line (27) connects at least one emergency stop valve (26) to the hydraulic oil tank (16), and the hydraulic system is supplied from the hydraulic oil tank (16) by a hydraulic pump (17). The self-propelled hydraulic working machine (1) according to claim 4, characterized in that.

6. The self-propelled hydraulic working machine (1) includes an emergency stop actuator (25), the emergency stop actuator (25) communicates with at least one emergency stop valve (23, 24, 26) and / or a valve block (15), and The self-propelled hydraulic working machine (1) according to any one of claims 1 to 5, characterized in that it is configured to close when at least one emergency stop valve (23, 24, 26) is actuated.

7. The self-propelled hydraulic working machine (1) according to claim 6, characterized in that the emergency stop actuator (25) is arranged in the cab (5) of the self-propelled hydraulic working machine (1).

8. At least one hydraulic line (18) is assigned at least one sensor configured to detect a leak in at least one hydraulic line (18), and at least one sensor communicates with at least one emergency stop valve (23, 24, 26) and / or a valve block (15). The self-propelled hydraulic working machine (1) according to any one of claims 1 to 5, characterized in that.

9. The self-propelled hydraulic working machine (1) according to any one of claims 1 to 8, characterized in that it is a long boom excavator having a reach height in the range of 15 m to 40 m.

10. A method for controlling a self-propelled hydraulic working machine (1) having a superstructure (4), a substructure (2), and a boom assembly (7), wherein the boom assembly (7) has an arm (10), and the self-propelled hydraulic working machine (1) further has an attachment (14) connected to the arm (10) and a hydraulic system for moving the boom assembly (7) and the attachment (14), the hydraulic system including at least one hydraulic pump (17) and a valve block (15), and at least one hydraulic line (18) connecting the hydraulic consumer (14) to the hydraulic pump (17), the valve block (15) being connected to at least one hydraulic line (18), the method characterized by including the following sequential steps: a) Detecting a leak in the hydraulic line (18) between the hydraulic consumer (14) and the valve block (15); b) Switching at least one emergency stop valve (23, 24), thereby closing at least one hydraulic line (18), provided that each of the at least one emergency stop valve (23, 24) is arranged in the region of the boom assembly (7) and / or in the flow side upper structure (4) of the valve block (15) remote from the pump in at least one hydraulic line (18).

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

12. The method according to claim 10, characterized by including the following method step between step (a) and step (b): - Actuating the valve block (15) to close at least one hydraulic line (18), provided that thereby step (b) is carried out with a predetermined time delay.

13. The method according to any one of claims 10 to 12, characterized in that in step (a), the detection is carried out by visual inspection by an operator or by a sensor arranged on the hydraulic line (18).

14. The self-propelled hydraulic working machine (1) includes an emergency stop actuator (25) that communicates with at least one emergency stop valve (23, 24, 26) and / or valve block (15), and the method includes the following method steps after step (a), characterized in that it is the method according to any one of claims 10 to 13: - Manually operate the emergency stop actuator (25) by an operator.

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