[go: up one dir, main page]

CN112638696B - 电动式作业机械 - Google Patents

电动式作业机械 Download PDF

Info

Publication number
CN112638696B
CN112638696B CN202080004747.8A CN202080004747A CN112638696B CN 112638696 B CN112638696 B CN 112638696B CN 202080004747 A CN202080004747 A CN 202080004747A CN 112638696 B CN112638696 B CN 112638696B
Authority
CN
China
Prior art keywords
travel
speed
controller
motor
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080004747.8A
Other languages
English (en)
Other versions
CN112638696A (zh
Inventor
广濑勇树
汤上诚之
泷下龙夫
高木涉
野村泽哉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Tierra Co Ltd
Original Assignee
Hitachi Construction Machinery Tierra Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Tierra Co Ltd filed Critical Hitachi Construction Machinery Tierra Co Ltd
Publication of CN112638696A publication Critical patent/CN112638696A/zh
Application granted granted Critical
Publication of CN112638696B publication Critical patent/CN112638696B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
    • B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of fluid gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K2025/005—Auxiliary drives driven by electric motors forming part of the propulsion unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/02—Auxiliary drives directly from an engine shaft
    • B60K2025/026—Auxiliary drives directly from an engine shaft by a hydraulic transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/10—Driver interactions by alarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/26—Transition between different drive modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/25—Track vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/03—Actuating a signal or alarm device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/61—Arrangements of controllers for electric machines, e.g. inverters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/92—Driver displays
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E02F3/325—Backhoes of the miniature type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

本发明提供一种能够在避免无法抵达充电设备的状态的同时进行作业的电动式作业机械。控制器在电池的余量低于预先设定的第1阈值时，控制逆变器以使得电动机的转速维持为目标转速，并使第1报知装置工作，无论来自行驶模式指示装置的输入如何，均将行驶马达向排油容积变为大容量的行驶1速侧切换。

Description

电动式作业机械
技术领域
本发明涉及利用被从电池供给电力的电动机驱动液压泵并使用该液压泵的排出油使执行机构工作的电动式作业机械。
背景技术
作为电动式作业机械的现有技术文献，例如存在专利文献1。专利文献1中公开了一种电池驱动的液压作业机械，其具有：电池；由该电池驱动的电动机；由该电动机驱动的液压泵；通过该液压泵而进行动作的多个执行机构，所述液压作业机械的特征在于，包括：电池余量检测机构，其检测所述电池的余量；以及工作限制机构，其在由该电池余量检测机构检测到的电池余量达到预先设定的电池设定值时，限制一部分或全部的所述执行机构的工作，所述工作限制机构构成为通过限制从所述电池针对所述电动机的电力供给来限制所述执行机构的工作。
现有技术文献
专利文献
专利文献1：日本特开平成11-107320号公报
发明内容
发明要解决的课题
在专利文献1记载的电池驱动的作业机械中，在电池的余量达到电池设定值时，通过限制从电池针对电动机的电力供给来限制一部分或全部的执行机构的工作，从而实现能够移动至充电设备的电力的确保。
但是，行驶至充电设备所需的电力对应于到充电设备的距离而不同，因此，在电池余量达到电池设定值时，存在电池余量已经低于能够移动至充电设备的电力的可能性。另外，若电池余量达到电池设定值而限制电池针对电动机的电力供给，则驱动作业附属装置(前部作业装置)的执行机构的工作也被限制，因此在例如主体陷入泥中的情况下，存在无法使用前部作业装置实现脱出，无法抵达充电设备的可能。
本发明是鉴于上述课题提出的，其目的在于提供一种能够在避免无法抵达充电设备的状态的同时进行作业的电动式作业机械。
用于解决课题的手段
为了达成上述目的，本发明的电动式作业机械包括：主体；前部作业装置，其安装于所述主体；电池；电动机，其由所述电池的电力驱动；逆变器，其控制所述电动机；目标转速指示装置，其指示所述电动机的目标转速；液压泵，其由所述电动机驱动；执行机构，其被供给所述液压泵的排出油以驱动所述前部作业装置；行驶马达，其被供给所述液压泵的排出油以使所述主体行驶；行驶模式指示装置，其指示所述主体的行驶模式；以及控制器，其控制所述逆变器，以使得所述电动机的转速与所述目标转速一致，在由所述行驶模式指示装置指示行驶1速的情况下，将所述行驶马达向排油容积变为大容量的行驶1速侧切换，在由所述行驶模式指示装置指示行驶2速的情况下，将所述行驶马达向排油容积变为小容量的行驶2速侧切换，所述控制器在所述电池的余量低于预先设定的第1阈值时，控制所述逆变器以使所述电动机维持所述目标转速，并且，无论来自所述行驶模式指示装置的输入如何，均将所述行驶马达向行驶1速侧切换。
根据按照以上方式构成的本发明，在电池的余量低于预先设定的第1阈值时，无论来自行驶模式指示装置的输入如何，均使得行驶马达向行驶1速侧切换。由此，与行驶马达的驱动相伴的电池消耗被抑制，因此，操作者能够迅速地进行去往充电设备的行驶操作，从而可靠地抵达充电设备。
并且，即使电池的余量低于第1阈值，驱动液压泵的电动机的转速也维持为目标转速，因此，驱动前部作业装置的执行机构的驱动未被限制。由此，在电池余量低下的状态下例如主体陷入泥中的情况下，操作者能够使用前部作业装置实现脱出。
发明效果
根据本发明的电动式作业机械，能够在避免无法抵达充电设备的状态的同时进行作业。
附图说明
图1是示出本发明实施方式的液压挖掘机的外观的图。
图2是示出图1所示的液压挖掘机上搭载的液压驱动系统的构成的图。
图3是示出图2所示的控制器的处理的流程图。
图4是示出图1所示的液压挖掘机的作业环境的图。
具体实施方式
以下，作为本发明实施方式的电动式作业机械，以电动式液压挖掘机为例，使用附图进行说明。需要说明的是，在各图中，对等同要素标注同一附图标记并适当省略重复的说明。
图1是示出本实施方式中的电动式液压挖掘机(以下记为液压挖掘机)的外观的图。
在图1中，液压挖掘机100包括：下部行驶体101；上部回转体102，其以能够回转的方式搭载在该下部行驶体101上；以及前部作业装置104，其借助摇摆柱103以能够在上下及左右方向上转动的方式与该上部回转体102的前端部分连结。下部行驶体101和上部回转体102构成液压挖掘机100的主体105。下部行驶体101为履带式，在履带架106的前方侧设有能够上下移动的推土用的铲刀107。上部回转体102包括形成为基础下部构造的回转台108和设置在回转台108上的棚式的驾驶室109。前部作业装置104包括动臂111、斗杆112、铲斗113，动臂111的基端与摇摆柱103销结合，动臂111的前端与斗杆112的基端销结合，斗杆112的前端与铲斗113销结合。
上部回转体102由回转马达3a相对于下部行驶体101进行回转驱动。动臂111、斗杆112、铲斗113分别通过使动臂缸3b、斗杆缸3c、铲斗缸3d伸缩而转动。摇摆柱103由摇摆缸3e左右驱动。下部行驶体101由左右的行驶马达3f、3g驱动。铲刀107由铲刀缸3h上下驱动。
在驾驶室109中设有驾驶席121、作业用操作杆122、123(仅图示出左侧)、行驶用操作杆124、125(仅图示出左侧)及门锁止操纵杆131。在回转台108上的驾驶室109的后方配置有电池51。
图2是示出在图1所示的液压挖掘机上搭载的液压驱动系统的构成的图。需要说明的是，在图2中，省略了与回转马达3a、摇摆缸3e及铲刀缸3h的驱动有关的部分的图示。
在图2中，本实施方式中的液压驱动系统包括电动机1、电池51、逆变器52、液压泵2、先导泵5、控制阀4、动臂缸3b、斗杆缸3c、铲斗缸3d、行驶马达3f、3g、作业用操作装置21、行驶用操作装置22、控制器10、监视器61、蜂鸣器62、目标转速指示装置70、行驶模式开关71、行驶限制开关72。
行驶马达3f、3g由可变容量型的液压马达构成，通过调节器41、42来调节倾转(排油容积)。操作者在进行低速行驶时将行驶模式开关71向行驶1速侧切换操作，在进行高速行驶时将行驶模式开关71向行驶2速侧切换操作。控制器10在由行驶模式开关71指示低速行驶(行驶1速)时，控制调节器41、42以使得行驶马达3f、3g的倾转切换为大容量(行驶1速侧)。另一方面，在由行驶模式开关71指示高速行驶(行驶2速)时，控制调节器41、42以使得行驶马达3f、3g的倾转切换为小容量(行驶2速侧)。在此，行驶马达3f、3g的消耗动力在2速行驶时(高速行驶时)变得比1速行驶时(低速行驶时)大。这是由于，行驶马达3f、3g的转速增加而压力损失变大。因此，与行驶马达3f、3g的驱动相伴的电池消耗在2速行驶时(高速行驶时)变得比1速行驶时(低速行驶时)大。
液压泵2及先导泵5由电动机1驱动。电动机1由经由逆变器52供给的电池51的电力驱动。逆变器52由控制器10控制，进行电池51的电压控制。电池51内置有电池控制器(未图示)，将电池51的信息(电池余量等)向控制器10输出。
控制阀4将从液压泵2排出的工作油向执行机构3b、3c、3d、3f、3g分配。从液压泵2向各执行机构供给的工作油的方向及流量由控制阀4内对应于各执行机构而设置的方向控制阀(未图示)控制。
作业用操作装置21是指示动臂缸3b、斗杆缸3c及铲斗缸3d的动作的装置，具有由操作者操作的作业用操作杆122、123和借助作业用操作杆122、123被操作的先导阀31。先导阀31对应于作业用操作杆122、123的操作量而使先导泵5的排出压(先导一次压)减压，从而生成对与执行机构3b、3c、3d对应的方向控制阀进行切换的先导压，并向控制阀4输出。
行驶用操作装置22为指示行驶马达3f、3g的动作的装置，具有由操作者操作的行驶用操作杆124、125和经由行驶用操作杆124、125被操作的先导阀32。先导阀32对应于行驶用操作杆124、125的操作量使先导泵5的排出压(先导一次压)减压，从而生成对与行驶马达3f、3g对应的方向控制阀进行切换的先导压，并向控制阀4输出。
监视器61由触摸面板构成，具有显示部61a和操作部61b。在显示部61a上显示从控制器10输出的各种信息。另外，操作者能够通过操作操作部61b而向控制器10输入各种信息。蜂鸣器62对应于来自控制器10的控制信号而发出警报音。目标转速指示装置70由操作者操作，向控制器10指示电动机1的目标转速。行驶模式开关71由操作者操作，向控制器10指示主体105的行驶模式。行驶限制开关72由操作者操作，向控制器10指示对应于电池51的余量将行驶模式限制为行驶1速的功能有效或无效。需要说明的是，在本实施方式中，说明了目标转速指示装置70、行驶模式开关71及行驶限制开关72为分别独立的装置，但本发明不限于此，也可以由监视器61的操作部61b构成以上部件。
控制器10对应于来自目标转速指示装置70的输入及电池余量来控制逆变器52。另外，对应于来自行驶模式开关71及行驶限制开关72的输入及电池余量，向调节器41、42输出将行驶马达3f、3g的倾转(排油容积)切换为大容量(行驶1速侧)或小容量(行驶2速侧)的控制信号。
图3是示出控制器10的处理的流程图。以下，依次说明各步骤。
控制器10对应于来自目标转速指示装置70的输入来控制逆变器52。具体来说，控制逆变器52以使得电动机1的转速与由目标转速指示装置70指示的目标转速一致。
接着步骤S1，判定行驶限制开关72是否为OFF(步骤S2)。
在步骤S2中判定行驶限制开关72为OFF(是)的情况下，判定经由行驶模式开关71输入的行驶模式是否为2速(步骤S3)。
在步骤S3中判定行驶模式为2速(是)的情况下，将行驶马达3f、3g向行驶2速侧切换(步骤S4)。
在步骤S3中判定行驶模式不是2速、即行驶模式为1速(否)的情况下，将行驶马达3f、3g向行驶1速侧切换(步骤S5)。
在步骤S2中判定行驶限制开关72为ON(否)的情况下，判定电池余量是否低于第1阈值(步骤S6)。在此，使用图4说明第1阈值的决定方法。图4是示出液压挖掘机100的作业环境的图。在图4中，距离Dmax表示从充电设备200到作业位置的最大距离。第1阈值设定为以行驶2速行驶距离Dmax所需的最低限电池余量以上的值(例如完全充电时的45％)。需要说明的是，距离Dmax对应于作业环境而不同，因此，第1阈值也需要对应于作业环境而变更。因此，优选以能够由操作者输入距离Dmax的方式构成监视器61的操作部61b，并以能够对应于经由操作部61b输入的距离Dmax来计算第1阈值及后述的第2阈值的方式构成控制器10。
回到图3，在步骤S6中判定为电池余量低于第1阈值的情况下，对应于来自目标转速指示装置70的输入及电池余量来控制逆变器52(步骤S7)。具体来说，在电池余量低于第1阈值的状态下，控制逆变器52以使得电动机1的转速维持为目标转速。
接着步骤S7，将行驶马达3f、3g向行驶1速侧切换(步骤S8)。由此，在可能无法以行驶2速到达充电设备的情况下，无论行驶模式开关71的输入如何，行驶马达3f、3g的倾转均被限制为行驶1速。由此，能够抑制与行驶马达3f、3g的驱动相伴的电池消耗。
接着步骤S8，将在监视器61的显示部61a上显示的指示器点亮(步骤S9)。操作者在确认指示器点亮后，迅速地进行去往充电设备200的行驶操作，从而能够可靠地到达充电设备200。需要说明的是，在本实施方式中，由监视器61的显示部61a构成指示器，但本发明不限于此，也可以由独立于监视器61的装置构成。
接着步骤S9，判定电池余量是否低于第2阈值(步骤S10)。在此，第2阈值设定为低于第1阈值(45％)，且为以行驶1速行驶距离Dmax(图4所示的)所需的最低限电池余量以上的值(例如完全充电时的35％)。
在步骤S10中判定为电池余量低于第2阈值(是)的情况下，使蜂鸣器62鸣叫(步骤S11)，并返回至开始。由此，操作者能够尽快意识到需要对电池51进行充电。
在步骤S10中判定电池余量为第2阈值以上(否)的情况下，返回至开始。
在本实施例中，电动式作业机械100包括：主体105；前部作业装置104，其安装于主体105；电池51；电动机1，其由电池51的电力驱动；逆变器52，其控制电动机1；目标转速指示装置70，其指示电动机1的目标转速；液压泵2，其由电动机1驱动；执行机构3b、3c、3d，其被供给液压泵2的排出油以驱动前部作业装置104；行驶马达3f、3g，其被供给液压泵2的排出油以使主体105行驶；行驶模式指示装置71，其指示主体105的行驶模式；以及控制器10，其控制逆变器52以使得电动机1的转速目标转速一致，在由行驶模式指示装置71指示行驶1速的情况下，将行驶马达3f、3g向排油容积变为大容量的行驶1速侧切换，在由行驶模式指示装置71指示行驶2速的情况下，将行驶马达3f、3g向排油容积变为小容量的行驶2速侧切换，控制器10在电池51的余量低于预先设定的第1阈值(45％)时，控制逆变器52以使得电动机1的转速维持为目标转速，并且，无论来自行驶模式指示装置71的输入如何，均将行驶马达3f、3g向行驶1速侧切换。
另外，所述第1阈值基于主体105以行驶2速行驶规定距离所需的电池余量而设定。
根据按照以上方式构成的本实施例，在电池51的余量低于预先设定的第1阈值(45％)的情况下，无论来自行驶模式指示装置71的输入如何，行驶马达3f、3g均被向行驶1速侧切换。由此，与行驶马达3f、3g的驱动相伴的电池消耗被抑制，因此，操作者迅速地进行去往充电设备200的行驶操作，从而能够可靠地抵达充电设备200。
并且，即使电池余量低于第1阈值(45％)，驱动液压泵2的电动机1的转速也维持为目标转速，因此，驱动前部作业装置104的执行机构3b、3c、3d的驱动未被限制。由此，操作者能够在电池余量低下的状态下例如主体105陷入泥中的情况下，使用前部作业装置104实现脱出。
另外，本实施例的液压挖掘机100还具备行驶限制指示装置72，控制器10仅在经由行驶限制指示装置72指示需要行驶限制的情况下，在电池51的余量低于所述第1阈值(45％)时，无论来自行驶模式指示装置71的输入如何，均将行驶马达3f、3g向行驶1速侧切换。由此，操作者能够通过操作行驶限制开关72来切换将行驶马达3f、3g向行驶1速侧限制的功能的有效/无效。需要说明的是，在本实施方式中，由监视器61的显示部61a构成第1报知装置，但也可以由使用语音进行报知的装置构成。
另外，本实施例的电动式作业机械100具备基于来自控制器9的控制信号而进行工作的第1报知装置14，控制器9在电池51的余量低于所述第1阈值时使第1报知装置14工作。由此，操作者能够意识到电池51的余量低于所述第1阈值的情况。
另外，本实施例的电动式作业机械100还具备第2报知装置62，控制器10在电池51的余量低于第1阈值(45％)且低于设定为主体105以行驶1速行驶规定距离Dmax所需的电池余量以上的第2阈值(35％)时，使第2报知装置62工作。由此，操作者能够尽快意识到需要对电池51进行充电的情况。需要说明的是，在本实施方式中，由蜂鸣器62构成第2报知装置，但也可以由使用语音以外的手段进行报知的装置构成。
另外，本实施例的电动式作业机械100还具备用于将规定距离Dmax向控制器10输入的距离输入装置61b，控制器10对应于从距离输入装置61b输入的规定距离Dmax来计算第1阈值。由此，操作者能够对应于到充电设备200的最大距离Dmax来变更第1阈值。需要说明的是，在本实施方式中由操作部61b构成距离输入装置，但也可以由独立于监视器61的装置构成。
以上，对本发明的实施方式进行了详细说明，但本发明并非限定于上述实施方式，而包含多种变形例。例如，上述实施方式将本发明应用于电动式液压挖掘机，但本发明也可以应用于其他电动式作业机械。另外，上述实施方式是为了清楚易懂地说明本发明而进行了详细说明，本发明并非限定于具备所说明的全部构成的方式。
附图标记说明
1…电动机、2…液压泵、3a…回转马达、3b…动臂缸(执行机构)、3c…斗杆缸(执行机构)、3d…铲斗缸(执行机构)、3e…摇摆缸、3f、3g…行驶马达(执行机构)、3h…铲刀缸、4…控制阀、5…先导泵、10…控制器、21…作业用操作装置、22…行驶用操作装置、31、32…先导阀、41、42…调节器、51…电池、52…逆变器、61…监视器、61a…显示部(第1报知装置)、61b…操作部(距离输入装置)、62…蜂鸣器(第2报知装置)、70…目标转速指示装置、71…行驶模式开关(行驶模式指示装置)、72…行驶限制开关(行驶限制指示装置)、101…下部行驶体、102…上部回转体、103…摇摆柱、104…前部作业装置、105…主体、106…履带架、107…铲刀、108…回转台、109…驾驶室、111…动臂、112…斗杆、113…铲斗、121…驾驶席、122、123…作业用操作杆、124、125…行驶用操作杆、131…门锁止操纵杆、200…充电设备。

Claims (5)

1.一种电动式作业机械，包括：
主体；
前部作业装置，其安装于所述主体；
电池；
电动机，其由所述电池的电力驱动；
逆变器，其控制所述电动机；
目标转速指示装置，其指示所述电动机的目标转速；
液压泵，其由所述电动机驱动；
执行机构，其被供给所述液压泵的排出油以驱动所述前部作业装置；
行驶马达，其被供给所述液压泵的排出油以使所述主体行驶；
行驶模式指示装置，其指示所述主体的行驶模式；以及
控制器，其控制所述逆变器，以使得所述电动机的转速与所述目标转速一致，在由所述行驶模式指示装置指示行驶1速的情况下，将所述行驶马达向排油容积变为大容量的行驶1速侧切换，在由所述行驶模式指示装置指示行驶2速的情况下，将所述行驶马达向排油容积变为小容量的行驶2速侧切换，所述电动式作业机械的特征在于，
所述控制器在所述电池的余量低于预先设定的第1阈值时，控制所述逆变器以使得所述电动机的转速维持为所述目标转速，并且，无论来自所述行驶模式指示装置的输入如何，均将所述行驶马达向行驶1速侧切换，
所述第1阈值基于所述主体以行驶2速行驶规定距离所需的电池余量设定。
2.根据权利要求1所述的电动式作业机械，其特征在于，
还具备行驶限制指示装置，
所述控制器仅在借助所述行驶限制指示装置指示为需要行驶限制的情况下，在所述电池的余量低于所述第1阈值时，无论来自所述行驶模式指示装置的输入如何，均将所述行驶马达向行驶1速侧切换。
3.根据权利要求1所述的电动式作业机械，其特征在于，
具备基于来自所述控制器的控制信号进行工作的第1报知装置，
所述控制器在所述电池的余量低于所述第1阈值时使所述第1报知装置工作。
4.根据权利要求3所述的电动式作业机械，其特征在于，
还具备第2报知装置，
所述控制器在所述电池的余量低于所述第1阈值且低于第2阈值时，使所述第2报知装置工作，其中，所述第2阈值基于所述主体以行驶1速行驶所述规定距离所需的电池余量而设定。
5.根据权利要求1所述的电动式作业机械，其特征在于，
还具备距离输入装置，该距离输入装置用于将所述规定距离向所述控制器输入，
所述控制器对应于从所述距离输入装置输入的所述规定距离来计算所述第1阈值。
CN202080004747.8A 2019-03-26 2020-03-16 电动式作业机械 Active CN112638696B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-059413 2019-03-26
JP2019059413A JP6955524B2 (ja) 2019-03-26 2019-03-26 バッテリ式作業機械
PCT/JP2020/011559 WO2020196062A1 (ja) 2019-03-26 2020-03-16 バッテリ式作業機械

Publications (2)

Publication Number Publication Date
CN112638696A CN112638696A (zh) 2021-04-09
CN112638696B true CN112638696B (zh) 2024-06-04

Family

ID=72609797

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080004747.8A Active CN112638696B (zh) 2019-03-26 2020-03-16 电动式作业机械

Country Status (6)

Country Link
US (1) US12168858B2 (zh)
EP (1) EP3950404B1 (zh)
JP (1) JP6955524B2 (zh)
KR (1) KR102496324B1 (zh)
CN (1) CN112638696B (zh)
WO (1) WO2020196062A1 (zh)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7096177B2 (ja) * 2019-02-04 2022-07-05 日立建機株式会社 電気駆動式作業機械
JP7428164B2 (ja) * 2021-06-09 2024-02-06 トヨタ自動車株式会社 トラクタ
FR3129112A1 (fr) * 2021-11-18 2023-05-19 Manitou Bf Véhicule de travail électrique à traction hydrostatique équipé d’une assistance hydraulique à l’entraînement en déplacement
IT202100030644A1 (it) * 2021-12-03 2023-06-03 Soilmec Spa Macchina da fondazioni dotata di un sistema di accumulo elettrico intercambiabile e di un’attrezzatura di movimentazione per il sistema di accumulo
US20230249581A1 (en) * 2022-02-09 2023-08-10 Nott Corporation Methods and systems for power management of a vehicle
GB2620140A (en) * 2022-06-28 2024-01-03 Bamford Excavators Ltd A control system
GB2621328B (en) * 2022-08-05 2024-10-30 Caterpillar Inc Method for monitoring a state of charge of a battery of an electric work vehicle
JP2024098600A (ja) * 2023-01-11 2024-07-24 株式会社小松製作所 電動作業機械、電動作業機械の制御システムおよび電動作業機械の制御方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11107320A (ja) * 1997-10-06 1999-04-20 Yutani Heavy Ind Ltd バッテリ駆動の油圧作業機械
JP2007071197A (ja) * 2005-08-11 2007-03-22 Yanmar Co Ltd ハイブリッド型油圧作業機
JP2009256988A (ja) * 2008-04-18 2009-11-05 Hitachi Constr Mach Co Ltd 電動式作業機械
CN102134868A (zh) * 2010-01-22 2011-07-27 日立建机株式会社 混合动力式工程机械
CN102844212A (zh) * 2010-04-15 2012-12-26 三菱自动车工业株式会社 混合动力车辆
CN103339329A (zh) * 2011-02-01 2013-10-02 日立建机株式会社 作业机械
CN103921692A (zh) * 2014-03-10 2014-07-16 北京智行鸿远汽车技术有限公司 纯电动车上装设备的调速控制方法和纯电动车
KR20180030685A (ko) * 2016-02-29 2018-03-23 히다찌 겐끼 가부시키가이샤 하이브리드 작업 기계

Family Cites Families (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE462212B (sv) * 1988-08-23 1990-05-21 Bahco Hydrauto Ab Hydrualisk styranordning foer eldrivna fordon
JP2003111212A (ja) * 2001-09-27 2003-04-11 Sanyo Electric Co Ltd 電動車
DE102007030168A1 (de) * 2007-06-27 2009-01-08 Claas Selbstfahrende Erntemaschinen Gmbh Elektronische Steuerung für die Antriebseinheit eines Fahrzeugs
JP2011002085A (ja) * 2009-06-22 2011-01-06 Takeuchi Seisakusho:Kk 建設機械の油圧制御装置
JP5350292B2 (ja) * 2010-02-23 2013-11-27 カヤバ工業株式会社 ハイブリッド建設機械の制御装置
JP5228000B2 (ja) * 2010-05-26 2013-07-03 日立建機株式会社 ハイブリッド式建設機械
JP5737598B2 (ja) * 2010-10-22 2015-06-17 日立建機株式会社 電動式建設機械
JP5559742B2 (ja) * 2011-05-25 2014-07-23 日立建機株式会社 建設機械の電動駆動装置
JP5562288B2 (ja) * 2011-05-25 2014-07-30 日立建機株式会社 建設機械の電動駆動装置
JP5568533B2 (ja) * 2011-09-22 2014-08-06 日立建機株式会社 建設機械およびその電池パック
JP2014009564A (ja) * 2012-07-03 2014-01-20 Hitachi Constr Mach Co Ltd 作業機械
JP6070934B2 (ja) * 2012-12-21 2017-02-01 三菱自動車工業株式会社 ハイブリッド車の走行モード切換制御装置
JP6133704B2 (ja) * 2013-06-19 2017-05-24 株式会社小松製作所 ハイブリッド作業機械及びハイブリッド作業機械の制御方法
JP6360054B2 (ja) * 2013-06-26 2018-07-18 日立建機株式会社 ハイブリッド式作業機械
US9441347B2 (en) * 2013-08-05 2016-09-13 Deere & Company Methods and apparatus to control a dual function work machine
JP6005082B2 (ja) * 2014-02-04 2016-10-12 日立建機株式会社 建設機械
US9657458B2 (en) * 2014-02-12 2017-05-23 Company Wrench, Ltd. Auxiliary power unit excavator system
JP6324224B2 (ja) * 2014-06-10 2018-05-16 日立建機株式会社 ハイブリッド建設機械
GB201413545D0 (en) * 2014-07-31 2014-09-17 Agco Int Gmbh Vehicle control system
GB201413547D0 (en) * 2014-07-31 2014-09-17 Agco Int Gmbh Vehicle control system
KR101965085B1 (ko) * 2015-02-10 2019-04-02 히다찌 겐끼 가부시키가이샤 작업 기계, 동력 유닛 및 작업 기계의 디젤 엔진
US9533674B2 (en) * 2015-02-23 2017-01-03 Ford Global Technologies, Llc Battery state of charge engine shut-off threshold based on predicted operation
JP6232007B2 (ja) * 2015-03-02 2017-11-15 株式会社日立建機ティエラ ハイブリッド式作業機械
US10584722B2 (en) * 2015-09-29 2020-03-10 Hitachi Construction Machinery Co., Ltd. Hydraulic fluid energy regeneration apparatus of work machine
JP2017226284A (ja) * 2016-06-21 2017-12-28 株式会社クボタ 作業機
EP3514029B1 (en) * 2016-09-16 2021-09-01 Hitachi Construction Machinery Tierra Co., Ltd. Hybrid work machine
EP3351827B1 (en) * 2017-01-20 2022-08-03 Artemis Intelligent Power Limited Hydrostatic transmission for a vehicle
JP6981841B2 (ja) * 2017-10-18 2021-12-17 株式会社マキタ 電動作業機
JP6985216B2 (ja) * 2018-06-28 2021-12-22 日立建機株式会社 建設機械管理システム
JP6902159B2 (ja) * 2018-09-28 2021-07-14 株式会社日立建機ティエラ 電動式建設機械
EP3951088B1 (en) * 2019-03-29 2024-08-21 Sumitomo Construction Machinery Co., Ltd. Automatically operated excavator
CN113994092B (zh) * 2019-09-24 2024-06-04 株式会社日立建机Tierra 电动式液压作业机械
JP7165111B2 (ja) * 2019-09-26 2022-11-02 株式会社日立建機ティエラ 電動式油圧建設機械
JP7209607B2 (ja) * 2019-09-26 2023-01-20 日立建機株式会社 作業機械
WO2021199154A1 (ja) * 2020-03-30 2021-10-07 日立建機株式会社 建設機械
JP2023032914A (ja) * 2021-08-27 2023-03-09 株式会社マキタ 電動作業機
JP2023081617A (ja) * 2021-12-01 2023-06-13 ヤンマーホールディングス株式会社 電動式作業機械

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11107320A (ja) * 1997-10-06 1999-04-20 Yutani Heavy Ind Ltd バッテリ駆動の油圧作業機械
JP2007071197A (ja) * 2005-08-11 2007-03-22 Yanmar Co Ltd ハイブリッド型油圧作業機
JP2009256988A (ja) * 2008-04-18 2009-11-05 Hitachi Constr Mach Co Ltd 電動式作業機械
CN102134868A (zh) * 2010-01-22 2011-07-27 日立建机株式会社 混合动力式工程机械
CN102844212A (zh) * 2010-04-15 2012-12-26 三菱自动车工业株式会社 混合动力车辆
CN103339329A (zh) * 2011-02-01 2013-10-02 日立建机株式会社 作业机械
CN103921692A (zh) * 2014-03-10 2014-07-16 北京智行鸿远汽车技术有限公司 纯电动车上装设备的调速控制方法和纯电动车
KR20180030685A (ko) * 2016-02-29 2018-03-23 히다찌 겐끼 가부시키가이샤 하이브리드 작업 기계

Also Published As

Publication number Publication date
KR20210033036A (ko) 2021-03-25
EP3950404A4 (en) 2022-12-21
WO2020196062A1 (ja) 2020-10-01
JP6955524B2 (ja) 2021-10-27
US12168858B2 (en) 2024-12-17
KR102496324B1 (ko) 2023-02-07
EP3950404B1 (en) 2024-05-08
EP3950404A1 (en) 2022-02-09
US20220049467A1 (en) 2022-02-17
JP2020159055A (ja) 2020-10-01
CN112638696A (zh) 2021-04-09

Similar Documents

Publication Publication Date Title
CN112638696B (zh) 电动式作业机械
JP6915000B2 (ja) ショベル
US8612102B2 (en) Hydraulic excavator and hydraulic excavator control method
CN108699802B (zh) 作业机械
US10156061B2 (en) Work machine control device, work machine, and work machine control method
JP6683620B2 (ja) 作業車両およびエンジン出力制御方法
JPWO2017115809A1 (ja) ショベル
CN111315935A (zh) 挖土机
JP2018080510A (ja) 作業機械
JP2018048503A (ja) 建設機械の制御装置
JPWO2019012701A1 (ja) 作業機械および作業機械の制御方法
JP5634654B1 (ja) 作業車両および作業車両の制御方法
JP6691482B2 (ja) 作業車両および動作制御方法
CN106988364B (zh) 施工机械
JPWO2019012699A1 (ja) 作業機械および作業機械の制御方法
JP2017210816A (ja) 作業機械
WO2022210989A1 (ja) ショベル
JP2011117316A (ja) 建設機械の制御装置
JP2007303128A (ja) 建設機械
EP4124694B1 (en) Working control device in working vehicle
JPWO2019012700A1 (ja) 作業機械および作業機械の制御方法
JP2024082696A (ja) ショベル、操作支援方法及び操作支援プログラム
JP2001003399A (ja) 建設機械のアクチュエータ制御装置
JP2012162940A (ja) 建設機械の制御装置
JP2013217070A (ja) 建設機械の制御装置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant