JP2937773B2 - Emergency equipment for emergency rescue vehicles and construction vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an unmanned construction using a construction vehicle such as a bulldozer or a hydraulic shovel which is remotely operated wirelessly in a danger zone where no human can enter, when these heavy machines do not operate normally. In addition, the present invention relates to an emergency rescue vehicle and an emergency device for rescue of a construction vehicle for the purpose of backing up and escaping to a safe zone.

[0002]

2. Description of the Related Art In danger zones where people cannot enter, unmanned construction is carried out by construction vehicles such as bulldozers and hydraulic excavators which are remotely operated by radio.

FIG. 9 shows a bulldozer as a typical example, and FIG. 10 shows a configuration of the remote control device. As shown in FIG. 10, the vehicle 1 is provided with a receiving device 2, an interface 3, and an actuator 4 for remote driving.

The receiving device 2 receives a radio command signal from a transmitting device 5 operated by an operator, performs processing such as error checking, and outputs a command signal to the interface 3. The interface 3 is typified by an electromagnetic valve, and switches the valve by an electric signal from the receiving device 2 to control the fluid supplied to the actuator 4.

In the example of the bulldozer shown in FIG. 9, the actuator 4 is a hydraulic cylinder, a hydraulic motor, a hydraulic valve or a hydraulic valve for operating a work machine (blade 6, ripper 7), a brake 8, and other devices necessary for operating the vehicle. And a pressure valve, for example, represented by a blade cylinder 6a, a ripper lift cylinder 7a, and the like.

[0006]

The construction vehicle which is remotely operated in such a manner operates under severe conditions such as vibration and impact, and therefore, there is a possibility that electronic components such as a receiving device may break down. In addition, since the vehicle is unmanned, severe driving is likely to be performed, and an overload may cause a failure of the vehicle body.

When the engine stops due to a vehicle failure, the supply of pressure oil for operating the actuator 4 stops,
Driving of the vehicle 1 becomes impossible. In such an emergency, the work machine (ripper or blade) of the construction vehicle may not be able to tow because it gets into the soil, and the brake is applied to prevent the vehicle from moving due to the fail-safe concept. In some cases, it may not be possible to tow the vehicle to a repair place by towing it with another vehicle.

In addition, the vehicle may not operate due to lack of fuel, low battery voltage, etc. due to the carelessness of the operator.

[0009] Remote operation by radio is intended to operate the vehicle in a place where the environment is poor, such as high temperature, toxic gas, poor terrain, etc., where no one can enter. Therefore, even a relatively minor breakdown leaves the expensive vehicle unattended. In some situations, you may not get it.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and is intended to be used when a construction vehicle such as a bulldozer or a hydraulic excavator is remotely operated wirelessly, and when the vehicle becomes inoperable due to running out of fuel or a low battery voltage. Emergency rescue vehicles and construction vehicles that rescue, rescue, and tow a construction vehicle that has become inoperable due to a failure of a remote control device, a failure of equipment such as an engine, etc. to escape from a specific place to a repairable place It is an object of the present invention to provide a rescue emergency device.

[0011]

SUMMARY OF THE INVENTION According to the present invention, a radio-controllable emergency rescue system for rescuing a construction vehicle that cannot operate due to at least one of a fuel shortage and a battery voltage drop and escaping from a specific place is provided. A vehicle, a wirelessly steerable work arm having a part of a replenishment circuit for replenishing at least one of fuel and electricity,
An emergency rescue vehicle having a configuration including a rescue-side connection device provided at a tip of the work arm and connected to at least one of a fuel and electricity supply system of an inoperable construction vehicle.

According to a second aspect of the present invention, there is provided a wirelessly steerable emergency rescue vehicle that rescues a construction vehicle that cannot be operated due to a failure and escapes from a specific place, the emergency vehicle being equipped with the emergency vehicle. One of a wirelessly steerable electric supply circuit and a pressure oil supply circuit that drives a hydraulic pressure source by one of electricity and pressure oil supplied from the outside to pull the construction vehicle in an emergency, and a construction vehicle An emergency rescue vehicle configured to include a wirelessly steerable towing device for towing the vehicle.

According to a third aspect of the present invention, there is provided a construction vehicle which is remotely operated wirelessly and provided for unmanned construction.
A rescue-side connection device for receiving at least one supply of fuel, electricity, and pressure oil from a rescue-side connection device provided in a wirelessly steerable emergency rescue vehicle, and an emergency rescue device via the rescue-side connection device An emergency rescue device for a construction vehicle, comprising: a towable circuit that is driven by one of electric power and pressure oil supplied from the vehicle to control the construction vehicle in an emergency state so as to be able to tow.

According to a fourth aspect of the present invention, there is provided the emergency rescue device for a construction vehicle according to the third aspect, wherein the hydraulic device is driven by one of electricity and pressurized oil supplied from the emergency rescue vehicle to reduce the hydraulic pressure in an emergency. An emergency hydraulic pressure source generated, a work implement release circuit for lifting a work implement of a construction vehicle into the air by the pressure oil supplied from the emergency hydraulic supply source and releasing it from the ground, and a pressure supplied from the emergency hydraulic source. And a travel motor release circuit for releasing the travel motor from the braking state using oil.

[0015]

According to the first aspect of the present invention, when the engine of a construction vehicle remotely operated by radio is out of fuel or the battery voltage is low and the engine does not operate, the emergency rescue vehicle is dispatched and the work arm of the vehicle is operated. Is remotely operated to supply fuel or electricity to the inoperable construction vehicle from the rescue-side connection device at the tip of the work arm, thereby making it operable.

According to the second aspect of the present invention, the emergency hydraulic source of the failed vehicle is driven by the electric supply circuit or the hydraulic oil supply circuit of the emergency rescue vehicle, and the failed vehicle can be towed by the hydraulic source. State. Then, the faulty construction vehicle is towed by the emergency rescue vehicle's towing device and transported to a safe place where it can be repaired.

According to a third aspect of the present invention, when the engine of a construction vehicle does not operate due to running out of fuel or a low battery voltage, replenishment is provided from the rescue side connection device of the emergency rescue vehicle via the rescue side connection device. The construction vehicle self-propelled and evacuated to a safe position using fuel or electricity. On the other hand, if the construction vehicle becomes inoperable due to an engine failure, an electrical system failure, etc., the emergency rescue vehicle drives the towable circuit with one of the electricity and the pressure oil supplied to the failed vehicle, thereby causing the failure. Control the vehicle so that it can be towed and tow to a safe place where it can be repaired by the emergency rescue vehicle.

According to a fourth aspect of the present invention, the emergency hydraulic power source provided in the failed vehicle is driven by one of the electric power and the hydraulic oil supplied from the emergency rescue vehicle, and the working machine is released from the hydraulic power source. The working machine of the construction vehicle is lifted into the air by the pressure oil supplied to the circuit, and the braking state of the traveling motor is released by the pressure oil supplied from the hydraulic source to the traveling motor release circuit, thereby towing the failed vehicle. Make it possible.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the embodiments shown in FIGS. 1 to 7 and a failure handling flowchart shown in FIG.

FIG. 1 is a front view showing an embodiment of an emergency rescue vehicle 100 according to the present invention based on a hydraulic excavator, and FIG. 2 is a plan view thereof. This vehicle can be remotely controlled by a radio signal received by the receiving device 2.

In FIG. 1 and FIG. 2, an upper revolving structure 11 capable of revolving with respect to a lower traveling structure 10 is provided with a wirelessly maneuverable towing device 20 for towing an inoperable construction vehicle. The construction vehicle is provided with a towing hook (not shown) to be towed by the towing device 20.

In the towing device 20, the base end of the towing arm 12 is supported by the bracket 12a of the upper swing body 11 so as to be rotatable in the vertical direction, and the bracket 12a of the upper swing body 11 and the bracket 12b on the arm 12 are connected to each other. The towing arm 12 can be vertically swung by a towing arm cylinder 13 provided therebetween. A pair of opening / closing hooks 14 are pivotally supported at the tip of the towing arm 12 so as to be openable and closable about a support shaft 14a, and are provided between a side bracket 15a of the towing arm 12 and a side bracket 15b of the opening / closing hook 14. It is opened and closed by a pair of hook cylinders 15.

Also, a work arm 16 that can be operated wirelessly to supply at least one of fuel, electricity and hydraulic oil to the construction vehicle that has become inoperable comprises a lower boom 17, an upper boom 18, an arm 19, and a rotation thereof. Hydraulic cylinders 17a, 18a, and 19a.

That is, a lower boom 17 rotated by a hydraulic cylinder 17a is supported by a mounting base 16a of the working arm 16, and an upper boom 18 rotated by a hydraulic cylinder 18a is supported by the lower boom 17. An arm 19 is pivotally supported by the upper boom 18 by a hydraulic cylinder 19a.

A coupler 21 serving as a rescue-side connection device connected to a fuel supply system, an electric supply system, or the like of a construction vehicle that has become inoperable is rotatably supported at the tip of the work arm 16. It is rotated by a hydraulic cylinder 21a provided between them. The coupler 21 is connected to a coupler (described later) provided on the towed construction vehicle, and supplies fuel, electricity, or pressure oil to the towed construction vehicle.

The mounting base 16a of the working arm 16 is mounted on a swing table 22 which is rotatably provided, and the swing table 22 is moved by an actuator (not shown).
By rotating the work arm 16 as shown in FIG.
Can be swung.

In FIG. 1, reference numeral 23 denotes a fuel hose, a power cable, and a hydraulic hose provided along the work arm 16 which are bundled into a single unit.
From 100, fuel is supplied to the rescue vehicle via a fuel hose, electricity is supplied via a power cable, or pressurized oil is supplied via a hydraulic hose. These hoses and cables constitute a part of a replenishing circuit for replenishing fuel and electricity.

In the vicinity of the swing table 22, there is provided a fuel tank 24 for storing fuel to be supplied to the depleted construction vehicle, and a fuel hose is drawn from a fuel pump provided in the fuel tank 24. ing.

A monitoring camera 25 for the traction device is provided on the upper surface of the cab 27, and another monitoring camera 26 for the coupling is provided at the tip of the working arm 16, and these monitoring cameras 25 and 26 provide the traction device 20. And the operation status of the work arm 16 is monitored. In particular, the image captured by the camera 26 attached to the coupler 21 is useful for remotely controlling the connection between the coupler 21 and the coupler of the construction vehicle.

FIG. 3 is a front view showing an embodiment of a bulldozer-based emergency rescue vehicle 200 according to the present invention, and FIG. 4 is a plan view thereof. This vehicle can be remotely controlled by a radio signal received by the receiving device 2.

In FIGS. 3 and 4, a tractor 20 which is wirelessly steerable is provided in front of the bulldozer body 40. The towing device 20 has a towing arm 41 similar to a bulldozer push arm and a crawler track frame.
It is attached to 41a by a support shaft 41b so that it can rotate vertically.
It is moved up and down by a tow arm lift cylinder 42 that is rotatably supported by the bulldozer body 40. A pair of opening / closing hooks 14 are pivotally supported at the distal end of the towing arm 41 via a mounting frame 43 so as to be openable and closable about a support shaft 14a, and a side bracket 15a of the mounting frame 43 and a side bracket 15b of the opening / closing hook 14 are provided. A pair of hook cylinders provided between
It is opened and closed by 15.

On the opposite side of the towing device 20, a work arm 16 similar to the emergency rescue vehicle 100 based on the hydraulic excavator shown in FIG. I have. Note that FIG.
A detailed description of the working arm 16 shown in FIG. 4 will be omitted.

In FIG. 3, reference numeral 23 denotes a fuel hose, a power cable, and a hydraulic hose provided along the work arm 16 which are bundled into one to provide an emergency rescue vehicle.
From 200, fuel is supplied to the rescue vehicle via a fuel hose, electricity is supplied via a power cable, or pressurized oil is supplied via a hydraulic hose. These hoses and cables constitute a part of a supply circuit for supplying fuel and the like and electricity.

The swing table 22 is provided on the upper surface of the fuel tank 24. The fuel tank 24 stores fuel to be supplied to the depleted construction vehicle, and a fuel hose is drawn from a fuel pump provided in the fuel tank 24.

A surveillance camera 25 is provided on the upper surface of the cab 27, and another surveillance camera 26 is provided at the tip of the working arm 16. The surveillance camera 25 monitors the operation status of the traction device 20. Monitor the operation status of the work arm 16.

FIG. 5 is a schematic diagram of an emergency supply circuit provided in the emergency rescue vehicles 100 and 200. A wirelessly steerable fuel supply circuit Fue for refueling the coupler 21 as the rescue side connection device and a wirelessly steerable electric supply circuit C for replenishing electricity for charging the battery.
ha and a wirelessly steerable electric supply circuit Ele and a pressure oil supply circuit Pre for driving an emergency hydraulic power source of a construction vehicle, which will be described later.

The fuel supply circuit Fue includes a fuel pump 31 driven by an electric motor 30 in the fuel tank 24 for supply.
The electromagnetic valve 32 is provided in the discharge-side pipe of the fuel pump 31.

The electric supply circuit Cha is provided with a relay 34 for controlling charging electric power supplied from the power supply 33 of the vehicle 100 or 200 to the rescue-side construction vehicle whose battery voltage is lowered.

The electric supply circuit Ele is provided with a power supply relay 35 for controlling a drive current supplied from the power supply 33 to an emergency hydraulic power supply drive motor of a construction vehicle described later.

The hydraulic oil supply circuit Pre includes a hydraulic oil tank 36
The suction side of a hydraulic pump 38 driven by an electric motor 37 is inserted into the hydraulic pump 38, and an electromagnetic valve 39 is provided in a discharge-side pipe of the hydraulic pump 38.

The electric motors 30, 37, the electromagnetic valves 32, 3
9. The relay 34 and the relay 35 are remotely operated by radio.

FIG. 6 shows a hydraulic excavator working machine as a construction vehicle which is remotely operated by radio and provided for unmanned construction.
A control valve 52 is shown with respect to a boom cylinder 51 for moving the work machine 50 up and down as a whole.
Is connected to the main control circuit Boo. The following hydraulic circuits shown in FIGS. 6 and 7 are provided for the main control circuit Boo of the boom cylinder 51.

The hydraulic circuit shown in FIGS. 6 and 7 is driven by at least one of electricity and pressurized oil supplied from the emergency rescue vehicles 100 and 200 to pull the hydraulic excavator in an emergency, as described later. This is a towable circuit Tra for controlling to a state where it can be obtained.

This towable circuit Tra is an emergency rescue vehicle.
Emergency hydraulic power source Ps which is driven by one of electric and hydraulic oil supplied from 100 and 200 and generates hydraulic pressure in an emergency
A working machine release circuit Lif for lifting the working machine 50 of the hydraulic shovel shown in FIG. 6 into the air in an emergency and releasing it from the ground by the hydraulic oil supplied from the emergency hydraulic source Ps; A travel motor release circuit Run for releasing the hydraulic travel motor 60 shown in FIG. 7 from the braking state by the pressure oil supplied from Ps.

The emergency hydraulic power source Ps shown in FIG. 6 includes an emergency hydraulic pump 54 driven by an electric motor 53a or a hydraulic motor 53b, and a check valve 55
It is composed of an accumulator 55 for accumulating pressure oil discharged downstream of a, so that it can be retained even after disconnection of the coupler, and a relief valve 57 for keeping the operating oil pressure at a set pressure.

The work machine release circuit Lif has a work machine valve 56 interposed in a pipe extending from the emergency hydraulic power source Ps to the boom cylinder 51. At the spring return position shown in FIG. 6, a chamber a for shutting off the line between the hydraulic pump 54 and the boom cylinder 51 is switched, and the pressure oil discharged from the hydraulic pump 54 is sensed and switched via a pilot line 56a. And a chamber b. At the position of the chamber b, the hydraulic oil is supplied to the head side of the boom cylinder 51 and the oil returned from the rod side is discharged to the tank to lift the working machine 50 of the hydraulic shovel into the air.

In FIG. 6, a line Ele for supplying electric or hydraulic oil to the electric motor 53a or the hydraulic motor 53b is shown.
c and Pres are connected to a coupler 58 as a rescue-side connection device. The coupler 58 is connected to the coupler 21 of the emergency rescue vehicle shown in FIG.

In addition to the lines Elec and Pres, the coupler 58 on the rescuee side has a fuel supply line for supplying the fuel that has passed through the coupler 58 to the out-of-fuel hydraulic excavator.
Fuel and an electric supply line Char for supplying electricity that has passed through the coupler 58 to a fully-charged hydraulic shovel-mounted battery are connected to each other.

FIG. 7 shows one of the hydraulic traveling motors 60 for driving the left and right crawlers of the hydraulic excavator, respectively.
a, and a traveling parking brake 61 is provided on the rotation shaft of each traveling motor 60. This brake 61
Has a friction member 61d built in the brake cylinder 61a and pressed against each other by a compression spring 61c acting on a piston 61b.

A control valve 62 is provided in the drive conduit 60a, and a brake release line 61e is drawn from the control valve 62 to the rod side of the brake cylinder 61a. When the motor 60 stops, the brake cylinder 61a
Control valve via brake release line 61e
Oil is discharged to the 62 oil drain, and the piston 61b
61c moves in the direction of brake operation.

In such a traveling motor circuit, when the hydraulic excavator which cannot be operated is towed, it is necessary to release the traveling motor 60 from the braking state. Therefore, the circuit for releasing the brake 61 and the traveling motor 60 are free. The traveling motor release circuit Run having a circuit for allowing the motor to rotate at a predetermined speed is required.

That is, the traveling motor release circuit Run
A pressure-reducing valve 63 is provided in the part A pipe drawn from the emergency hydraulic pressure source Ps in FIG.
A pipe 61f is branched from 66 through a check valve 65, and the pipe 61f is connected to a brake release line 61e of the brake 61.
It is connected to the.

A communication pipe 60b and a communication valve 64 are provided between the ports on both sides of the traveling motor 60 to allow free rotation of the traveling motor 60 by communicating between the ports. A conduit 66 via the pressure reducing valve 63 is connected to the pressure acting portion 64a.

When the emergency hydraulic pump 54 shown in FIG. 6 is operated, the pump discharge pressure is reduced to a predetermined pressure via a pressure reducing valve 63, and the piston 61b of a brake 61 is operated in a brake releasing direction via a check valve 65. At the same time, the communication valve 64 is switched to the communication position to short-circuit the two ports of the traveling motor 60, thereby ensuring free rotation of the traveling motor 60 when the vehicle is towed.

Next, the operation of the embodiment shown in the drawings will be described with reference to a flowchart for dealing with the case where the remotely operated hydraulic excavator shown in FIG. 8 cannot operate.

(1) A remote control device comprising a normal transmitting device and a receiving device (hereinafter referred to as a radio control system)
Is operating normally (YES in step 1), normal operation is continued (step 2). Also, a part of the normal radio control system is out of order, but if the hydraulic excavator is capable of self-propelled operation by radio control (YE
S), move the excavator to a safe place and repair it (step 4). If the normal radio control system fails and the vehicle cannot be moved even though the hydraulic excavator has no trouble (YES in step 5), move the vehicle using the backup radio control system and move to a place where it can be repaired. (Step 6).

(2) If the engine does not operate due to running out of fuel of the hydraulic excavator or battery voltage drop (YES in step 7), the emergency rescue vehicle 100 or 100 is operated by radio control.
The operator operates the work arm 16 while watching the images of the surveillance cameras 25 and 26 on the display at hand of the operator, and operates the coupler mounted on the inoperable hydraulic excavator.
58 and the coupler 21 at the end of the working arm 16, and the electric motor of the emergency rescue vehicle 100 or 200 is wirelessly controlled.
30 to drive the fuel pump 31 and open the valve 32 to refuel, or to provide emergency rescue vehicles 100 or 20
The power supply 33 supplies electric power for charging to the battery of the excavator via the relay 34 closed by wireless control to start the engine of the excavator (step 8).

(3) When the engine of the hydraulic excavator fails, when the normal radio control system and the backup radio control system fail, and when the hydraulic control system or the power supply system fails (step 9).
YES), since the excavator is inoperable, it is necessary to tow and move the failed excavator by the emergency rescue vehicle 100 or 200 to a safe place where repair work is possible (step 10).

In this case, before towing, the working machine 50 of the hydraulic excavator on the towed side is raised into the air by the working machine release circuit Lif shown in FIG. 6 and the traveling motor 60 which may hinder towing. Must be released by the travel motor release circuit Run shown in FIG.

Therefore, the emergency rescue vehicle 100 or 200
When the work arm 16 is remotely operated and the coupler 21 provided at the tip thereof is connected to the coupler 58 of the failed hydraulic shovel to operate the relay 35 and the like, the electric motor 53a and the like in FIG. 6 are driven. .

Then, pressurized oil is supplied from the hydraulic pump 54 to the working machine valve 56, the valve 56 is switched from the chamber a to the chamber b, and the hydraulic oil is supplied to the head side of the boom cylinder 51, and the working machine 50 Is lifted in the air. At the same time, pressure oil is accumulated in the accumulator 55.

The hydraulic oil discharged from the hydraulic pump 54 is shown in FIG.
The brake is guided to the traveling parking brake 61 through the pressure reducing valve 63 and the check valve 65, and the brake 61 is released. Further, the communication valve 64 is switched so that the left and right ports of the hydraulic traveling motor 60 communicate with each other, so that the hydraulic traveling motor 60 can be freely rotated to enable towing.

In such a state, the towing arm 12 or 41 of the emergency rescue vehicle 100 or 200 is moved, and the opening and closing hook 14 provided at the tip of the towing arm 12 or 41 causes the towing hook ( (Not shown), the vehicles are connected to each other, and the emergency rescue vehicle 100 or 200 is moved backward to tow a faulty vehicle to a safe place where it can be repaired.

At this time, although the couplers 21 and 58 between the vehicles are disconnected, the unlocked state of the hydraulic traveling motor 60 is maintained during towing by the pressure oil stored in the accumulator 55.

If the vehicle is severely damaged or a large amount of hydraulic oil leaks, the excavator must be left unattended (step 11).

In the illustrated embodiment, a hydraulic excavator is described as a construction vehicle. However, the present invention is not limited to a hydraulic excavator. For a bulldozer, a working machine (a front blade or a rear A circuit that lifts the ripper and releases it from the ground, a circuit that releases braking acting on the traveling motor, and the like can be configured.

As means for driving the hydraulic pump 54 of the hydraulic shovel, a hydraulic motor
The hydraulic oil 53b may be connected to supply hydraulic oil to the hydraulic motor 53b from the hydraulic oil supply circuit Pre of the emergency rescue vehicle via the couplers 21 and 58.

Further, the brake 61 and the communication valve 64 of the travel motor release circuit Run are not limited to the hydraulically operated type, but may be an electrically operated electromagnetic brake and an electromagnetic valve.

[0069]

According to the first aspect of the present invention, there is provided a construction vehicle to be used for unmanned construction by remote operation by radio, wherein the operator runs out of fuel, reduces the voltage of the battery, etc. It is possible to provide an emergency rescue vehicle capable of replenishing fuel or electricity with a construction vehicle that has stopped moving and continuing work.

According to the second aspect of the present invention, power is supplied to a construction vehicle which has become inoperable due to a failure of a remote control device, a failure of equipment such as an engine, etc., and the emergency hydraulic power source is driven. In addition, it is possible to provide an emergency rescue vehicle capable of towing and transporting the construction vehicle to a repair place by the towing device after the vehicle can be towed.

According to the third aspect of the present invention, when the engine of the host vehicle does not operate due to running out of fuel or a low battery voltage, the host vehicle is replenished from the emergency rescue vehicle via the rescue-side connection device. If the vehicle can be evacuated to a safe position by fuel or electricity, and if it becomes inoperable due to engine failure, electrical system failure, etc., the electric and hydraulic oil supplied to the towable circuit of the vehicle from the emergency rescue vehicle Thus, a rescue emergency device for a construction vehicle to be pulled to a safe place where it can be repaired by the emergency rescue vehicle by one of the emergency rescue vehicles can be provided.

According to the fourth aspect of the present invention, the emergency hydraulic power source of the own vehicle is driven by one of the electricity and the pressure oil supplied from the emergency rescue vehicle, and the work machine release circuit of the own vehicle is used. Lift the working machine of the vehicle into the air, release the braking state of the traveling motor of the vehicle by the traveling motor release circuit of the vehicle, and rescue the emergency device for the construction vehicle that is securely towed by the emergency rescue vehicle. Can be provided.

[Brief description of the drawings]

FIG. 1 is a front view of an emergency rescue vehicle based on a hydraulic shovel, showing a first embodiment according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a front view of a bulldozer-based emergency rescue vehicle showing a second embodiment according to the present invention.

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a circuit diagram of a fuel and electricity supply circuit and an electricity and pressure oil supply circuit mounted on the emergency rescue vehicle.

FIG. 6 is a circuit diagram illustrating an example of an emergency hydraulic power source and a work implement release circuit that operate in an emergency of a remotely driven construction vehicle.

FIG. 7 is a circuit diagram showing an example of a traveling motor release circuit that operates in an emergency of the construction vehicle.

FIG. 8 is a flowchart of a countermeasure to be taken when a failure occurs in the construction vehicle.

FIG. 9 is an explanatory diagram showing a general bulldozer.

FIG. 10 is a block diagram showing a general wireless remote control device.

[Explanation of symbols]

 100,200 Emergency rescue vehicle 16 Work arm 20 Traction device 21 Rescue side connection device 50 Work machine 58 Relief side connection device 60 Traveling motor Fue Fuel supply circuit Cha Electric supply circuit Ps Emergency hydraulic power source Ele Electric supply circuit Pre Pressure oil Supply circuit Tra Towable circuit Lif Work implement release circuit Run Traveling motor release circuit

Continuation of front page (56) References JP-A-59-206533 (JP, A) JP-A-49-31104 (JP, A) JP-A-3-187423 (JP, A) JP-A-59-44437 (JP) JP-A-59-187927 (JP, A) JP-A-61-133805 (JP, U) JP-A-59-140907 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB Name) E02F 9/24

Claims (4)

(57) [Claims] 1. A wirelessly steerable emergency rescue vehicle that rescues a construction vehicle that cannot operate due to at least one of a fuel shortage and a battery voltage drop and escapes from a specific place, and supplies at least one of fuel and electricity. And a rescue-side connection provided at a tip of the work arm and connected to at least one of a fuel and electricity supply system of an inoperable construction vehicle. An emergency rescue vehicle characterized by comprising a device. 2. An emergency rescue vehicle that can rescue a construction vehicle that cannot be operated due to a failure and escape from a specific place, wherein an emergency hydraulic power source of the construction vehicle is supplied from outside. Either an electric power supply circuit or a hydraulic oil supply circuit that can be driven by one of electric and hydraulic oil to tow a construction vehicle in an emergency, and a wirelessly steerable vehicle to tow a construction vehicle An emergency rescue vehicle comprising: a traction device; 3. A construction vehicle which is remotely operated by radio and provided for unmanned construction, wherein at least one of fuel, electricity and pressurized oil is supplied from a rescue-side connection device provided in a wirelessly steerable emergency rescue vehicle. A rescue-side connection device for receiving, and towing controlled by an electric or hydraulic oil supplied from the emergency rescue vehicle via the rescue-side connection device to a state in which an emergency construction vehicle can be towed An emergency device for rescue of a construction vehicle, comprising an enabling circuit. 4. A towable circuit includes: an emergency hydraulic pressure source which is driven by one of electric power and pressure oil supplied from an emergency rescue vehicle to generate hydraulic pressure in an emergency; and a pressure supplied from the emergency hydraulic pressure source. A work machine release circuit that lifts the work machine of the construction vehicle into the air with oil and releases the work machine from the ground, and a travel motor release circuit that releases the travel motor from the braking state using the pressure oil supplied from the emergency hydraulic power source. The emergency device for rescue of a construction vehicle according to claim 3, wherein: