JP3779963B2 - Electric drive working machine system and method for constructing the system - Google Patents

Electric drive working machine system and method for constructing the system Download PDF

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Publication number
JP3779963B2
JP3779963B2 JP2003160708A JP2003160708A JP3779963B2 JP 3779963 B2 JP3779963 B2 JP 3779963B2 JP 2003160708 A JP2003160708 A JP 2003160708A JP 2003160708 A JP2003160708 A JP 2003160708A JP 3779963 B2 JP3779963 B2 JP 3779963B2
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work
work machine
electric drive
transporter
battery
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JP2004364426A (en
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敏雄 中島
紀和 鈴木
修 秋本
統 西野
寛 片田
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Hitachi Ltd
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Hitachi Ltd
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    • 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
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric 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
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • 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
    • B60L2260/28—Four wheel or all wheel drive
    • 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
    • B60L2260/32—Auto pilot mode
    • 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
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/54—Energy consumption estimation
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • 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
    • Y02T10/62—Hybrid vehicles
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、所定の作業を行う作業機とこの作業機を運搬する運搬機とからなる作業機システムに関する。
【０００２】
【従来の技術】
大気汚染の改善及び石油資源の節約、ひいては地球温暖化の抑制の観点から、排出ガス規制及び燃費規制が強化される機運の中、原動機とバッテリを組み合わせて使用するハイブリッド電気自動車が注目されている。このハイブリッド電気自動車のうち、シリーズ式と呼ばれるハイブリッド電気自動車は、原動機と、この原動機により駆動される発電機（ジェネレータ）と、この発電機で発電された電力を蓄電するバッテリと、上記発電機及びバッテリにより電力供給される車両走行用の電動機（モータ）とを備えている（例えば、特許文献１参照）。またパラレル式と呼ばれるハイブリッド電気自動車は、原動機と、この原動機の動力を分配する動力分配機構と、電動発電機とを備えており、通常運転時には原動機で直接走行車両を駆動すると共に、残りの動力を動力分配機構で分配して電動発電機で電力に変換してバッテリに蓄え、高負荷時にはこのバッテリの電力を電動発電機に供給して原動機の動力を補完するようになっている。これらのハイブリッド電気自動車では、原動機を効率のよい条件でのみ使用し、原動機が低効率となる条件においては電動機を用いることにより、全体として大幅に燃費を改善でき且つ排出ガスを低減することができるようになっている。
【０００３】
ところで、所定の作業を行う作業機とこの作業機を運搬する運搬機とからなる作業機システムが従来よりある。このような作業機システムの１つとして、消防作業を行う作業機（無人消防車）と、この作業機を運搬する運搬機（運搬車）とからなる無人消防システムがある（例えば、特許文献２参照）。ここでは、運搬機から作業機を遠隔操作できるようになっており、人が立ち入れないような火災現場においても消防作業や被災者の救助ができるようになっている。
【０００４】
【特許文献１】
特開２００２−２３８１０４号公報
【特許文献２】
特開平９−２７１５２７号公報
【０００５】
【発明が解決しようとする課題】
近年、上述したような自動車における排出ガス規制及び燃費規制の強化に反映される環境保全の機運が高まる中、今後は自動車に拘らず各種作業機システムにおいても環境への配慮が要求されることが予想される。
【０００６】
このような背景から、上記特許文献２に記載のような従来の作業機システムを上記特許文献１に記載のようなシリーズハイブリッド電気駆動又はパラレルハイブリッド電気駆動として、燃費の改善及び排出ガスの低減を図ることが考えられるが、この場合には以下のような課題が存在する。
【０００７】
すなわち、上記作業機システムを構成する作業機及び運搬機をそれぞれハイブリッド電気駆動とすると、作業機及び運搬機の各々にバッテリを搭載することとなるが、上記特許文献１に記載のようなハイブリッド電気駆動システムにおいてはバッテリが大きな重量及びスペースを占める部品であることから、作業機システム全体の重量及び体積が増大してしまい、効率的な電気駆動システムを構築することができない。
【０００８】
本発明の目的は、効率的な電気駆動システムを構築できる電気駆動作業機システムを提供することにある。
【０００９】
【課題を解決するための手段】
（１）上記目的を達成するために、本発明の電気駆動作業機システムは、バッテリ駆動により所定の作業を行う作業機と、原動機を搭載し、前記作業機を運搬する運搬機とを備え、且つ、前記運搬機で前記作業機を運搬する際に前記運搬機の原動機と前記作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成するものとする。
【００１０】
本発明においては、運搬機はこの運搬機に搭載した原動機と作業機に搭載したバッテリとを組み合わせてハイブリッド電気駆動システムを構成した状態で作業機を運搬する。作業地に到着したら、作業機は運搬機から分離してバッテリによる電気駆動によって所定の作業を行う。
【００１１】
このように、運搬時に運搬機の原動機と作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成することで、例えばシリーズハイブリッド電気駆動システムとした場合には、作業機の駆動源であるバッテリを運搬機の発電機出力の補完用及び運搬機の制動時における回生電力の蓄電用バッテリとして兼用することが可能であり、パラレルハイブリッド電気駆動システムとした場合には、作業機の駆動源であるバッテリを運搬機の原動機出力の補完用及び回生電力の蓄電用バッテリとして兼用することが可能である。これにより、作業機及び運搬機の各々にバッテリを搭載して作業機システムをハイブリッド電気駆動とする場合に比べ、システム中のバッテリの数を減らすことができる。すなわち、一般にハイブリッド電気駆動システムにおいてバッテリは大きな重量及びスペースを占める部品であることから、本発明によれば電気駆動作業機システム全体の重量及び体積を低減することができる。また、このように重量を低減することができる結果、運搬機の動力についても低減することが可能である。さらに本発明によれば、バッテリの数を減らすことができる分、充電器、バッテリ容量検出器等の補器類の部品点数を減少することが可能であり、その結果、コストを低減することができる。以上述べたような観点から、本発明の電気駆動作業機システムによれば効率的な電気駆動システムを構築することができる。
【００１２】
（２）上記（１）において、好ましくは、前記運搬機は前記原動機により駆動される発電機及び推進用の電動機を備えており、前記作業機を運搬する際には前記発電機及び前記作業機のバッテリのうち少なくとも一方からの電力供給により前記電動機を駆動して推進を行うものとする。
【００１３】
このようにして、運搬機で作業機を運搬する際にシリーズハイブリッド電気駆動システムを構成することで、運搬機の推進状態に関らず原動機を最も効率的な回転数に維持することができるので、排出ガスを大幅に低減することができる。
【００１４】
（３）上記（１）において、また好ましくは、前記運搬機は、前記作業機を運搬する際に前記原動機の動力の少なくとも一部を電力に変換して前記作業機のバッテリを充電するか、又は前記作業機のバッテリからの電力供給により前記原動機の動力の補完を行う電動発電機を備えるものとする。
【００１５】
このようにして、運搬機で作業機を運搬する際にパラレルハイブリッド電気駆動システムを構成することで、通常運転時には原動機の動力を直接運搬機の推進力として用いると共に、余った動力を電動発電機で電力に変換して作業機のバッテリの充電を行い、急発進時や登坂時等原動機が高負荷となるときにはバッテリからの電力供給により電動発電機で原動機の動力の補完を行うことが可能となる。
【００１６】
（４）上記（２）又は（３）において、また好ましくは、前記運搬機で前記作業機を運搬する際に、前記作業機のバッテリで前記運搬機の制動時の回生電力を蓄電するものとする。
【００１７】
（５）上記（１）乃至（４）のいずれかにおいて、また好ましくは、前記運搬機は前記作業機の分離時に単独で推進可能であるものとする。
本発明の電気駆動作業機システムにおいて、上記（２）に記載のように運搬時にシリーズハイブリッド電気駆動システムを構成する場合には、作業機の分離時においても運搬機の発電機で発電した電力を推進用の電動機に供給することにより運搬機は単独で推進することが可能である。一方、上記（３）に記載のように運搬時にパラレルハイブリッド電気駆動システムを構成する場合には、運搬機は原動機の動力を直接推進力として用いることから作業機の分離時においても単独で推進可能である。したがって、運搬機は作業機の分離時に例えば待機場所の移動や作業機の行なう所定の作業に必要な物資の移送等の軽度の作業を行うことができる。このようにして、本発明によれば作業機と運搬機とを独立して運用することが可能である。
【００１８】
（６）上記（１）乃至（５）のいずれかにおいて、また好ましくは、前記運搬機で前記作業機を運搬する際に、前記作業機のバッテリを充電可能であるものとする。
【００１９】
（７）上記（１）乃至（６）のいずれかにおいて、また好ましくは、前記作業機及び前記運搬機はそれぞれ走行手段を備えた作業車及び運搬車であるものとする。
【００２０】
（８）上記目的を達成するために、本発明の電気駆動作業機システムの構築方法は、所定の作業を行う作業機をバッテリ駆動とし、この作業機を運搬する運搬機に原動機を搭載し、前記運搬機で前記作業機を運搬する際に前記運搬機の原動機と前記作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成する方法とする。
【００２１】
【発明の実施の形態】
以下、本発明の電気駆動作業機システム及びそのシステムの構築方法の実施の形態を図面を参照しつつ説明する。
まず、本発明の第１の実施の形態を図１乃至図８を参照しつつ以下に説明する。
図１は、本発明の電気駆動作業機システムの第１の実施の形態である電気駆動作業車システムの全体構造を表す斜視図であり、図１（ａ）は運搬時の状態、図１（ｂ）は分離時の状態を示している。
【００２２】
これら図１（ａ）及び図１（ｂ）において、１は本発明の電気駆動作業機システムの第１の実施の形態である電気駆動作業車システムであり、この電気駆動作業車システム１は、小型の作業車２と、この作業車２を搭載して運搬する運搬車３とにより構成されている。
【００２３】
上記作業車２は、車体４と、この車体４の幅方向両側に設けた走行手段としての２対の車輪５とを備えている。この作業車２は、例えば人の立ち入れないような危険地帯（地雷原、放射能・生物・化学汚染地帯、火災現場等）において所定の作業を行うことを目的としており、図１（ｂ）に示す分離時においては運搬車３から無線（又は有線でもよい）により遠隔操作可能な無人作業車である。また、この作業車２は後述するバッテリ１４による電気駆動により走行及び所定の作業を行うようになっており、走行・作業時の騒音を低減できるようになっている。
【００２４】
上記運搬車３は、車体６と、この車体６の幅方向両側に設けた走行手段としての２対の車輪７とを備えている。車体６は収納スペース３Ａを有しており、運搬時にはこの収納スペース３Ａ内に作業車２を収納するようになっている。また、車体６はその後方にハッチ８を有しており、分離時には図１（ｂ）に示すようにこのハッチ８を開いて作業車２を発進させるようになっている。
【００２５】
図２は作業車２が運搬車３に収納された状態を透視して示す側面図、図３はその上面図である。
これら図２及び図３に示すように、運搬車３の車体６は大まかに３つのエリアに区分することができ、前方側（図２中左側）から、運搬車３の走行をコントロールする運転部６Ａ、分離時に作業車２の遠隔操作を行う操作部６Ｂ、及び作業車２が収納される収納スペース３Ａ（図１（ｂ）参照）を有し、作業車２により行う所定の作業に必要な機器類等を収納可能な収納部６Ｃの順番で配置されている。
【００２６】
上記運転部６Ａには原動機としてのエンジン１０が設けられている。このエンジン１０の出力軸には発電機１１が取り付けられており、エンジン１０で発生した動力が電力に変換されるようになっている。変換された電力の一部は、運搬車３の走行制御を行う走行制御装置１５を介して運搬車３の走行を行う複数（本実施の形態では４つ）の電動機１６にそれぞれ導かれる。これにより各電動機１６が駆動し、その駆動力は減速機１７を介して車輪７にそれぞれ伝達される。残りの電力は、ケーブル１２及びコネクタ１３を介して収納部６Ｃに収納された作業車２に搭載されたバッテリ１４に蓄電されるようになっている。一方、運搬車３の急発進時や登坂時等、発電機１１で発電した電力が電動機１６が要する電力に満たない場合には、作業車２のバッテリ１４から電力が供給されて発電器１１の出力が補完されるようになっている。また、運搬車３の制動時には制動エネルギが回生電力としてバッテリ１４に蓄電されるようになっている。なお、特に図示はしないが、運搬車３に作業車２のバッテリ１４を急速充電可能な急速充電器を備えるようにしてもよい。
【００２７】
このように、本実施の形態では、運搬時においては運搬車３のエンジン１０及び発電機１１と作業車２のバッテリ１４とを組み合わせてシリーズハイブリッド電気駆動システムが構成されるようになっている。これにより、エンジン１０は運搬車３の走行状態に関係なく最も効率的な回転数に維持され、排出ガスを大幅に低減できるようになっている。
【００２８】
また、上記操作部６Ｂには上記走行制御装置１５の上方に作業車２の遠隔操作を行う遠隔制御装置２０が設けられている。この遠隔制御装置２０を用いることにより、操作者が運搬車３から分離した作業車２を遠隔操作できるようになっている。図４はこのときの作業車２が運搬車３から分離した状態を示す、電気駆動作業車システム１全体の側面図、図５は分離時の運搬車３を一部透視して示す側面図、図６はその上面図である。
【００２９】
これら図４乃至図６において、上記遠隔制御装置２０は図示しない遠隔操縦指令システム及び管理システムを有しており、この遠隔制御装置２０の制御信号はケーブル２１を介して通信装置２２に伝えられ、通信装置２２の上部に設けたアンテナ２３を介して作業車２へ送信されるようになっている。
【００３０】
図７は作業車２の内部構造を透視して示す側面図、図８はその上面図である。
これら図７及び図８に示すように、作業車２には上記運搬車３の通信装置２２から送信された制御信号をアンテナ２７を介して受信する通信装置２８が設けられており、この通信装置２８で受信した制御信号はケーブル２９を介し種々の信号を処理する統合制御装置３０を経て走行制御装置３１へ伝えられる。走行制御装置３１は、このようにして伝えられた制御信号に基づいてバッテリ１４から電動機３２へ供給される電力を制御し、この電動機３２の動力は変速機３３を介して各車輪５へ伝えられる。このようにして作業車２は走行を制御されるようになっている。なお、本実施の形態では作業車２が電動機３２を１台のみ搭載するようにしているが、作業車２の用途に応じて複数の電動機３２を搭載するようにしてもよい。
【００３１】
また、作業車２の前方（図８中左方）部にはナビゲーション装置３５が設けられており、作業車２は自身の位置を把握することができるようになっている。さらに、作業車２の前方側上部には魚眼カメラ等の視界装置３６及び複数のセンサ装置３７が設けられており、可視的な位置情報や不可視的な情報（例えば汚染度等）等を得ることができるようになっている。このとき、これらの情報は運搬車３に送信されて操作部６Ｂにいる操作者に伝えられるようになっている。なお、作業車２には、運搬車３からの制御信号の途絶等の不慮の事態に備えて自動的に帰路につく等の自律もしくは半自律の制御機能を設けることが好ましい。
【００３２】
以上において、電気駆動作業車システム１は特許請求の範囲各項記載の電気駆動作業機システムを構成し、作業車２はバッテリ駆動により所定の作業を行う作業機を構成し、運搬車３は作業機を運搬する運搬機を構成する。
【００３３】
次に、上記構成の本発明の電気駆動作業機システム及びそのシステムの構築方法の第１の実施の形態の動作及び作用を以下に説明する。
本実施の形態の電気駆動作業車システム１においては、運搬車３に搭載したエンジン１０及びこのエンジン１０により駆動される発電機１１と、作業車２に搭載したバッテリ１４とを組み合わせてハイブリッド電気駆動システムを構成した状態で、運搬車３で作業車２を運搬する。そして、作業地に到着したら、作業車２は運搬車３から分離し、その後はバッテリ１４による電気駆動によって走行して所定の作業を行う。このとき、運搬車３は発電機１１で発電した電力を電動機１６に供給することにより単独で走行することが可能であり、例えば待機場所の移動や作業車２が行う所定の作業に必要な物資の移送等を行う。
【００３４】
以上説明してきたように、本実施の形態の電気駆動作業車システム１においては、所定の作業を行う作業車２についてはバッテリ１４による電気駆動とし、この作業車２の運搬を行う運搬車３については作業地に到達した後は主目的である運搬作業を終えており運搬車３単体での長時間、長距離駆動を行うことを要しないことから、運搬車３にはバッテリを搭載せずにエンジン１０及びこのエンジン１０により駆動される発電機１１を搭載し、エンジン発電による電気駆動とする。そして、運搬時に運搬車３のエンジン１０及び発電機１１と作業車２のバッテリ１４とを組み合わせてハイブリッド電気駆動システムを構成するようにすることで、作業車２の駆動源であるバッテリ１４を、運搬車３の発電機１１の出力の補完用及び運搬車３の制動時における回生電力の蓄電用バッテリとして兼用することができる。これにより、作業車２及び運搬車３の各々にバッテリを搭載して作業車システムをハイブリッド電気駆動とする場合に比べてバッテリの数を減らすことができる。すなわち、一般にハイブリッド電気駆動システムにおいてバッテリは大きな重量及びスペースを占めることから、本実施の形態によれば、電気駆動作業車システム１中のバッテリの数を減らすことにより電気駆動作業車システム１全体の重量及び体積を低減することが可能となる。また、このように重量を低減することができる結果、運搬車３の動力についても低減することが可能となる。さらに、バッテリの数を減らすことができる分、充電器、バッテリ容量検出器等の補器類の部品点数を減少することが可能であり、その結果、コストを低減することができる。以上述べたように、本実施の形態によれば、重量・スペース・動力・部品点数・コスト等の観点から、効率的な電気駆動システムを構築することができる。
【００３５】
次に、本発明の電気駆動作業機システム及びそのシステムの構築方法の第２の実施の形態を図９を用いて説明する。本実施の形態は、上記第１の実施の形態では運搬時にシリーズハイブリッド電気駆動システムを構成するようにしたのに対して、パラレルハイブリッド電気駆動システムを構成するようにしたものである。
【００３６】
図９は本実施の形態における作業車が運搬車に収納された状態を透視して示す上面図である。なお、この図９において、前述の第１の実施の形態における図３と同様の部分には同符号を付し、説明を省略する。
この図９において、１′は本発明の電気駆動作業機システムの第２の実施の形態である電気駆動作業車システムであり、この電気駆動作業車システム１′は、小型の作業車２と、この作業車２を搭載して運搬する運搬車３′とにより構成されている。この運搬車３′に搭載されたエンジン１０で発生した動力は、動力分配機構４０で分配され、そのうちの一部の動力は変速機４４を介して直接車輪７に伝えられて運搬車３を走行するようになっている。一方、上記動力分配機構４０で分配された残りのエンジン動力は、電動発電機４１により電力に変換され、ケーブル４２、走行制御装置１５′、及びケーブル４３を経て、コネクタ１３を介して作業車２のバッテリ１４に蓄電されるようになっている。
【００３７】
なお、上述したように通常運転時にはエンジン１０の動力を直接運搬車３の推進力として用いると共に余った動力を電動発電機４１で発電してバッテリ１４の充電を行うが、急発進時や登坂時等エンジン１０が高負荷となるときにはバッテリ１４からの電力供給により電動発電機４１でエンジン１０の動力を補完するようになっている。また、運搬車３′はエンジン１０の駆動力により直接走行できるので、前述の第１の実施の形態と同様に作業車２の分離時においても単独で走行することが可能である。
【００３８】
このような構成により、本実施の形態では、運搬時においては運搬車３′のエンジン１０及び電動発電機４１と作業車２のバッテリ１４とを組み合わせてパラレルハイブリッド電気駆動システムが構成されるようになっている。
【００３９】
以上のような構成の本発明の第２の実施の形態によれば、前述の第１の実施の形態と同様に効率的な電気駆動システムを構築することができる上に、運搬車３′は基本的にはエンジン動力によって走行することから、エンジン駆動である自動車を改造して本発明を実施する場合には第１の実施の形態よりも改造が容易である利点を有する。
【００４０】
なお、以上説明してきた本発明の第１及び第２の実施の形態においては、作業車２及び運搬車３を車輪５，７を設けた装輪式としているが、これに限らず、例えば履体を設けた装軌式としてもよい。
【００４１】
また、上記本発明の第１及び第２の実施の形態においては、運搬車に収納する作業車の台数を１台としているが、複数の作業車を収納するようにしてもよい。この場合、複数の作業車のバッテリを直列又は並列に接続し、これらのバッテリと運搬車のエンジンとでハイブリッド電気駆動システムを構成するようにすれば足りる。
【００４２】
またさらに、上記本発明の第１及び第２の実施の形態においては、作業車２を遠隔操作による無人作業車としたが、例えば作業地域内に格段の人的危険がない場合には、作業車２に有人操作装置を搭載して有人作業車としてもよい。この場合、作業車２の遠隔操作に係わる装置を一式削除することができ、且つ通信装置２８等についても簡易なものとすることができるので、作業車２の重量、電力消費、コスト等を低減することができる。
【００４３】
また、以上説明してきた第１及び第２の実施の形態は、本発明を走行手段を備えた車両である作業車２及び運搬車３からなる電気駆動作業車システムに適用した場合の実施の形態であるが、これに限るものではない。すなわち、本発明は、例えば大型船に小型の作業船を搭載した電気駆動作業船システムや、大型潜水艇に小型の作業潜水艇を搭載した電気駆動潜水艇システムや、大型シールド掘進機に小型の掘進機を搭載した電気駆動掘進機システム等、バッテリ駆動により所定の作業を行う作業機と、原動機（エンジンのような内燃機関に限らず、例えば蒸気機関、水力機関等でもよい）及びこの原動機により駆動される発電機を搭載し、作業機を運搬する運搬機とからなる電気駆動作業機システムであれば、種々の形態に適用可能である。
【００４４】
【発明の効果】
本発明によれば、運搬機で作業機を運搬する際に運搬機の原動機と作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成することで、作業機及び運搬機各々にバッテリを搭載して作業機システムをハイブリッド電気駆動とする場合に比べてバッテリの数を減らすことができる。これにより、電気駆動作業機システム全体の重量及び体積を低減することが可能となる。したがって、効率的な電気駆動システムを構築することができる。
【図面の簡単な説明】
【図１】本発明の電気駆動作業機システムの第１の実施の形態である電気駆動作業車システムの全体構造を表す斜視図である。
【図２】本発明の電気駆動作業機システムの第１の実施の形態において、作業車が運搬車に収納された状態を透視して示す側面図である。
【図３】本発明の電気駆動作業機システムの第１の実施の形態において、作業車が運搬車に収納された状態を透視して示す運搬車の上面図である。
【図４】本発明の電気駆動作業機システムの第１の実施の形態において、作業車が運搬車から分離した状態を示す側面図である。
【図５】本発明の電気駆動作業機システムの第１の実施の形態を構成する運搬車を一部透視して示す側面図である。
【図６】本発明の電気駆動作業機システムの第１の実施の形態を構成する運搬車の内部構造を透視して示す上面図である。
【図７】本発明の電気駆動作業機システムの第１の実施の形態を構成する作業車の内部構造を透視して示す側面図である。
【図８】本発明の電気駆動作業機システムの第１の実施の形態を構成する作業車の内部構造を透視して示す上面図である。
【図９】本発明の電気駆動作業機システムの第２の実施の形態において、作業車が運搬車に収納された状態を透視して示す上面図である。
【符号の説明】
１ 電気駆動作業車システム（電気駆動作業機システム）
２ 作業車（作業機）
３ 運搬車（運搬機）
５ 車輪（走行手段）
７ 車輪（走行手段）
１０ エンジン（原動機）
１１ 発電機
１４ バッテリ
１６ 電動機
４１ 電動発電機[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a work machine system including a work machine that performs a predetermined work and a transporter that carries the work machine.
[0002]
[Prior art]
Hybrid electric vehicles that use a combination of a prime mover and a battery are attracting attention as a result of enhanced exhaust emission regulations and fuel efficiency regulations from the viewpoint of improving air pollution, saving oil resources, and thus suppressing global warming. . Among the hybrid electric vehicles, a hybrid electric vehicle called a series type motor includes a prime mover, a generator (generator) driven by the prime mover, a battery that stores electric power generated by the generator, the generator, And an electric motor (motor) for vehicle travel that is powered by a battery (see, for example, Patent Document 1). In addition, a hybrid electric vehicle called a parallel type includes a prime mover, a power distribution mechanism that distributes the power of the prime mover, and a motor generator. During normal operation, the drive vehicle is directly driven by the prime mover and the remaining power Is distributed by a power distribution mechanism, converted into electric power by a motor generator and stored in a battery. When the load is high, the electric power of the battery is supplied to the motor generator to complement the power of the prime mover. In these hybrid electric vehicles, by using the prime mover only under efficient conditions and using the electric motor under conditions where the prime mover is low in efficiency, the overall fuel consumption can be greatly improved and the exhaust gas can be reduced. It is like that.
[0003]
By the way, there has conventionally been a work machine system including a work machine that performs a predetermined work and a transporter that carries the work machine. As one of such work machine systems, there is an unmanned fire fighting system including a work machine (unmanned fire truck) that performs a fire fighting work and a transport machine (transport car) that carries the work machine (for example, Patent Document 2). reference). Here, the work machine can be remotely operated from the transporter, and the fire work and the rescue of the victim can be performed even in a fire site where a person cannot enter.
[0004]
[Patent Document 1]
JP 2002-238104 A [Patent Document 2]
Japanese Patent Laid-Open No. 9-271527
[Problems to be solved by the invention]
In recent years, as the environmental conservation momentum reflected in the tightening of exhaust gas regulations and fuel efficiency regulations in automobiles as mentioned above has increased, consideration for the environment will be required for various work equipment systems regardless of automobiles. is expected.
[0006]
From such a background, the conventional work machine system as described in Patent Document 2 is used as a series hybrid electric drive or parallel hybrid electric drive as described in Patent Document 1 to improve fuel consumption and reduce exhaust gas. In this case, there are the following problems.
[0007]
That is, if each of the work machine and the transport machine constituting the work machine system is hybrid electric drive, a battery is mounted on each of the work machine and the transport machine. In the drive system, since the battery is a component that occupies a large weight and space, the weight and volume of the entire work machine system increase, and an efficient electric drive system cannot be constructed.
[0008]
An object of the present invention is to provide an electric drive working machine system capable of constructing an efficient electric drive system.
[0009]
[Means for Solving the Problems]
(1) In order to achieve the above object, an electrically driven work machine system of the present invention includes a work machine that performs a predetermined work by battery drive, and a transporter that carries a prime mover and carries the work machine, And when conveying the said working machine with the said conveying machine, the hybrid electric drive system shall be comprised combining the motor | power_engine of the said conveying machine and the battery of the said working machine.
[0010]
In the present invention, the transporter transports the work implement in a state where a hybrid electric drive system is configured by combining a prime mover mounted on the transporter and a battery mounted on the work implement. When arriving at the work site, the work machine is separated from the transporter and performs a predetermined work by electric drive by a battery.
[0011]
In this way, when a hybrid electric drive system is configured by combining the prime mover of the transporter and the battery of the work machine during transportation, for example, in the case of a series hybrid electric drive system, the battery that is the drive source of the work machine is changed. It can be used as a battery for supplementing the generator output of the transporter and as a storage battery for regenerative power during braking of the transporter. Can be used as a supplementary battery for the motor output of the transporter and as a storage battery for regenerative power. Thereby, the number of batteries in the system can be reduced as compared with a case where a battery is mounted on each of the work implement and the transporter and the work implement system is set to hybrid electric drive. That is, in general, a battery is a component that occupies a large weight and space in a hybrid electric drive system. Therefore, according to the present invention, the weight and volume of the entire electric drive work machine system can be reduced. Moreover, as a result of being able to reduce the weight in this way, the power of the transporter can also be reduced. Furthermore, according to the present invention, it is possible to reduce the number of components of auxiliary devices such as a charger and a battery capacity detector, and the cost can be reduced as a result of being able to reduce the number of batteries. it can. From the viewpoint as described above, according to the electric drive working machine system of the present invention, an efficient electric drive system can be constructed.
[0012]
(2) In the above (1), preferably, the transporter includes a generator driven by the prime mover and an electric motor for propulsion, and when the work implement is transported, the generator and the work implement are provided. It is assumed that propulsion is performed by driving the electric motor by supplying power from at least one of the batteries.
[0013]
In this way, by configuring a series hybrid electric drive system when transporting work machines with a transporter, the prime mover can be maintained at the most efficient rotational speed regardless of the propulsion state of the transporter. The exhaust gas can be greatly reduced.
[0014]
(3) In the above (1), preferably, the transporter converts at least a part of the power of the prime mover into electric power when the work implement is transported, and charges the battery of the work implement, Or it shall be provided with the motor generator which complements the motive power of the said motor | power_engine by the electric power supply from the battery of the said working machine.
[0015]
In this way, by configuring the parallel hybrid electric drive system when transporting the work machine with the transporter, the power of the prime mover is directly used as the propulsion force of the transporter during normal operation, and the surplus power is used as the motor generator. It is possible to charge the battery of the work machine by converting it into electric power, and when the prime mover becomes a heavy load such as sudden start or climbing, it is possible to supplement the power of the prime mover with the motor generator by supplying power from the battery Become.
[0016]
(4) In the above (2) or (3), and preferably, when the work machine is transported by the transporter, the regenerative electric power during braking of the transporter is stored by the battery of the work machine. To do.
[0017]
(5) In any one of the above (1) to (4), and preferably, the transporter can be propelled independently when the work implement is separated.
In the electric drive working machine system of the present invention, when the series hybrid electric drive system is configured during transportation as described in (2) above, the electric power generated by the generator of the transporter is also used during separation of the work equipment. By supplying the electric motor for propulsion, the transporter can be propelled independently. On the other hand, when the parallel hybrid electric drive system is configured at the time of transportation as described in (3) above, since the transportation machine uses the power of the prime mover as a direct driving force, it can be propelled independently even when the work equipment is separated. It is. Therefore, when the work machine is separated, the transporter can perform a light work such as moving a standby place or transferring materials necessary for a predetermined work performed by the work machine. In this way, according to the present invention, the work machine and the transporter can be operated independently.
[0018]
(6) In any one of the above (1) to (5), and preferably, when the work implement is transported by the transporter, the battery of the work implement can be charged.
[0019]
(7) In any one of the above (1) to (6), and preferably, the working machine and the transporter are a work vehicle and a transporter each provided with traveling means.
[0020]
(8) In order to achieve the above-mentioned object, the construction method of the electric drive working machine system of the present invention uses a work machine that performs a predetermined work as a battery drive, and mounts a prime mover on a transporter that carries the work machine, When the work machine is transported by the transporter, a hybrid electric drive system is configured by combining a prime mover of the transporter and a battery of the work machine.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of an electric drive working machine system and a method for constructing the system according to the present invention will be described below with reference to the drawings.
First, a first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a perspective view showing the entire structure of an electric drive work vehicle system which is a first embodiment of the electric drive work machine system of the present invention. FIG. 1 (a) is a state during transportation, and FIG. b) shows the state at the time of separation.
[0022]
1 (a) and 1 (b), reference numeral 1 denotes an electric drive work vehicle system which is a first embodiment of the electric drive work machine system of the present invention. It is comprised by the small work vehicle 2 and the transport vehicle 3 which carries this work vehicle 2 and conveys.
[0023]
The work vehicle 2 includes a vehicle body 4 and two pairs of wheels 5 as traveling means provided on both sides of the vehicle body 4 in the width direction. This work vehicle 2 is intended to perform a predetermined work in a dangerous zone (land mine field, radioactive / biological / chemical contamination zone, fire site, etc.) where humans cannot enter, for example, FIG. The unmanned work vehicle can be remotely operated from the transport vehicle 3 by radio (or may be wired) at the time of separation shown in FIG. In addition, the work vehicle 2 travels and performs predetermined work by electric drive by a battery 14 to be described later, so that noise during travel and work can be reduced.
[0024]
The transport vehicle 3 includes a vehicle body 6 and two pairs of wheels 7 as traveling means provided on both sides of the vehicle body 6 in the width direction. The vehicle body 6 has a storage space 3A, and the work vehicle 2 is stored in the storage space 3A during transportation. Further, the vehicle body 6 has a hatch 8 behind it, and when separated, the hatch 8 is opened to start the work vehicle 2 as shown in FIG.
[0025]
FIG. 2 is a side view showing a state in which the work vehicle 2 is housed in the transport vehicle 3, and FIG. 3 is a top view thereof.
As shown in FIGS. 2 and 3, the vehicle body 6 of the transport vehicle 3 can be roughly divided into three areas, and a driving unit that controls the travel of the transport vehicle 3 from the front side (left side in FIG. 2). 6A, an operation unit 6B for remotely operating the work vehicle 2 at the time of separation, and a storage space 3A (see FIG. 1B) in which the work vehicle 2 is stored, which are necessary for a predetermined work performed by the work vehicle 2. Arranged in the order of the storage section 6C capable of storing devices and the like.
[0026]
The operating unit 6A is provided with an engine 10 as a prime mover. A generator 11 is attached to the output shaft of the engine 10 so that power generated by the engine 10 is converted into electric power. A part of the converted electric power is respectively guided to a plurality (four in the present embodiment) of motors 16 that travel the transport vehicle 3 via a travel control device 15 that performs travel control of the transport vehicle 3. As a result, each electric motor 16 is driven, and the driving force is transmitted to the wheel 7 via the speed reducer 17. The remaining electric power is stored in the battery 14 mounted on the work vehicle 2 housed in the housing portion 6C via the cable 12 and the connector 13. On the other hand, when the electric power generated by the generator 11 is less than the electric power required by the electric motor 16 such as when the transport vehicle 3 starts suddenly or climbs, electric power is supplied from the battery 14 of the work vehicle 2 to The output is complemented. Further, when the transport vehicle 3 is braked, the braking energy is stored in the battery 14 as regenerative power. Although not particularly illustrated, the transport vehicle 3 may be provided with a quick charger that can quickly charge the battery 14 of the work vehicle 2.
[0027]
Thus, in this embodiment, the series hybrid electric drive system is configured by combining the engine 10 and the generator 11 of the transport vehicle 3 and the battery 14 of the work vehicle 2 during transport. As a result, the engine 10 is maintained at the most efficient rotational speed regardless of the traveling state of the transport vehicle 3, and the exhaust gas can be greatly reduced.
[0028]
The operation unit 6B is provided with a remote control device 20 for remotely operating the work vehicle 2 above the travel control device 15. By using this remote control device 20, the operator can remotely operate the work vehicle 2 separated from the transport vehicle 3. FIG. 4 is a side view of the entire electrically driven work vehicle system 1 showing a state where the work vehicle 2 is separated from the transport vehicle 3 at this time, and FIG. 5 is a side view showing a part of the transport vehicle 3 at the time of separation. FIG. 6 is a top view thereof.
[0029]
4 to 6, the remote control device 20 has a remote control command system and a management system (not shown), and the control signal of the remote control device 20 is transmitted to the communication device 22 via the cable 21. It is transmitted to the work vehicle 2 via an antenna 23 provided on the upper part of the communication device 22.
[0030]
FIG. 7 is a side view showing the internal structure of the work vehicle 2 as seen through, and FIG. 8 is a top view thereof.
7 and 8, the work vehicle 2 is provided with a communication device 28 for receiving a control signal transmitted from the communication device 22 of the transport vehicle 3 via an antenna 27. The control signal received at 28 is transmitted via the cable 29 to the traveling control device 31 through the integrated control device 30 that processes various signals. The travel control device 31 controls the electric power supplied from the battery 14 to the electric motor 32 based on the control signal thus transmitted, and the power of the electric motor 32 is transmitted to each wheel 5 via the transmission 33. . In this way, the work vehicle 2 is controlled to travel. In the present embodiment, the work vehicle 2 is mounted with only one electric motor 32, but a plurality of electric motors 32 may be mounted depending on the application of the work vehicle 2.
[0031]
A navigation device 35 is provided in front of the work vehicle 2 (left side in FIG. 8) so that the work vehicle 2 can grasp its own position. Further, a visual field device 36 such as a fisheye camera and a plurality of sensor devices 37 are provided on the upper front side of the work vehicle 2 to obtain visible position information, invisible information (for example, contamination degree, etc.) and the like. Be able to. At this time, these pieces of information are transmitted to the transport vehicle 3 and transmitted to the operator in the operation unit 6B. In addition, it is preferable to provide the work vehicle 2 with an autonomous or semi-autonomous control function such as automatically returning to the emergency vehicle in preparation for an unexpected situation such as interruption of a control signal from the transport vehicle 3.
[0032]
In the above, the electric drive work vehicle system 1 constitutes an electric drive work machine system described in each claim, the work vehicle 2 constitutes a work machine that performs a predetermined work by battery drive, and the transport vehicle 3 works. Configure a transporter to transport the machine.
[0033]
Next, the operation and action of the first embodiment of the electric drive working machine system of the present invention and the construction method of the system will be described below.
In the electrically driven work vehicle system 1 of the present embodiment, the hybrid electric drive is performed by combining the engine 10 mounted on the transport vehicle 3 and the generator 11 driven by the engine 10 and the battery 14 mounted on the work vehicle 2. With the system configured, the work vehicle 2 is transported by the transport vehicle 3. When the vehicle arrives at the work site, the work vehicle 2 is separated from the transport vehicle 3 and then travels by electric drive by the battery 14 to perform a predetermined work. At this time, the transport vehicle 3 can travel alone by supplying the electric power generated by the generator 11 to the electric motor 16. For example, the transport vehicle 3 can move the standby place or supply materials necessary for a predetermined work performed by the work vehicle 2. Transporting etc.
[0034]
As described above, in the electrically driven work vehicle system 1 of the present embodiment, the work vehicle 2 that performs a predetermined work is electrically driven by the battery 14, and the transport vehicle 3 that transports the work vehicle 2 is used. After arriving at the work site, the transport work that is the main purpose is completed, and it is not necessary to drive the transport vehicle 3 for a long time for a long time. An engine 10 and a generator 11 driven by the engine 10 are mounted, and electric driving is performed by engine power generation. And the battery 14 which is the drive source of the work vehicle 2 is comprised by combining the engine 10 and the generator 11 of the transport vehicle 3 and the battery 14 of the work vehicle 2 at the time of transportation to constitute a hybrid electric drive system. It can also be used as a power storage battery for complementing the output of the generator 11 of the transport vehicle 3 and for regenerative power during braking of the transport vehicle 3. Thereby, the number of batteries can be reduced compared with the case where a battery is mounted on each of the work vehicle 2 and the transport vehicle 3 and the work vehicle system is hybrid electric drive. In other words, since a battery generally occupies a large weight and space in a hybrid electric drive system, according to the present embodiment, by reducing the number of batteries in the electric drive work vehicle system 1, the electric drive work vehicle system 1 as a whole is reduced. The weight and volume can be reduced. Moreover, as a result of being able to reduce the weight in this way, the power of the transport vehicle 3 can also be reduced. Furthermore, since the number of batteries can be reduced, the number of components of auxiliary devices such as a charger and a battery capacity detector can be reduced, and as a result, the cost can be reduced. As described above, according to the present embodiment, an efficient electric drive system can be constructed from the viewpoints of weight, space, power, number of parts, cost, and the like.
[0035]
Next, a second embodiment of the electric drive working machine system and the system construction method of the present invention will be described with reference to FIG. In this embodiment, the series hybrid electric drive system is configured during transportation in the first embodiment, whereas the parallel hybrid electric drive system is configured.
[0036]
FIG. 9 is a top view showing a state in which the work vehicle in the present embodiment is housed in the transport vehicle. In FIG. 9, parts similar to those in FIG. 3 in the first embodiment described above are denoted by the same reference numerals and description thereof is omitted.
In FIG. 9, reference numeral 1 ′ denotes an electric drive work vehicle system which is a second embodiment of the electric drive work machine system of the present invention. The electric drive work vehicle system 1 ′ includes a small work vehicle 2, It is comprised by the transport vehicle 3 'which carries this work vehicle 2 and conveys. The power generated by the engine 10 mounted on the transport vehicle 3 ′ is distributed by the power distribution mechanism 40, and a part of the power is transmitted directly to the wheels 7 via the transmission 44 and travels on the transport vehicle 3. It is supposed to be. On the other hand, the remaining engine power distributed by the power distribution mechanism 40 is converted into electric power by the motor generator 41, passes through the cable 42, the travel control device 15 ′, and the cable 43, and then via the connector 13, the work vehicle 2. The battery 14 is charged.
[0037]
As described above, during normal operation, the power of the engine 10 is directly used as the driving force of the transport vehicle 3 and the surplus power is generated by the motor generator 41 to charge the battery 14. When the engine 10 has a high load, the power of the engine 10 is supplemented by the motor generator 41 by supplying power from the battery 14. Further, since the transport vehicle 3 ′ can travel directly by the driving force of the engine 10, it can travel alone even when the work vehicle 2 is separated as in the first embodiment.
[0038]
With this configuration, in this embodiment, the parallel hybrid electric drive system is configured by combining the engine 10 and the motor generator 41 of the transport vehicle 3 ′ and the battery 14 of the work vehicle 2 during transport. It has become.
[0039]
According to the second embodiment of the present invention configured as described above, an efficient electric drive system can be constructed in the same manner as in the first embodiment described above. Since the vehicle is basically driven by engine power, when the present invention is implemented by remodeling an engine-driven automobile, there is an advantage that remodeling is easier than in the first embodiment.
[0040]
In the first and second embodiments of the present invention described above, the work vehicle 2 and the transport vehicle 3 are wheeled with wheels 5 and 7, but the present invention is not limited to this. It is good also as a track type which provided the body.
[0041]
Moreover, in the said 1st and 2nd embodiment of this invention, although the number of the work vehicles accommodated in a transport vehicle is set to one, you may make it accommodate a some work vehicle. In this case, it is only necessary to connect the batteries of a plurality of work vehicles in series or in parallel, and to form a hybrid electric drive system with these batteries and the engine of the transport vehicle.
[0042]
Furthermore, in the first and second embodiments of the present invention, the work vehicle 2 is an unmanned work vehicle by remote control. However, when there is no particular human danger in the work area, for example, A manned operating device may be mounted on the vehicle 2 to provide a manned work vehicle. In this case, a set of devices related to the remote operation of the work vehicle 2 can be deleted, and the communication device 28 and the like can be simplified, thereby reducing the weight, power consumption, cost, etc. of the work vehicle 2. can do.
[0043]
In the first and second embodiments described above, the present invention is applied to an electrically driven work vehicle system including a work vehicle 2 and a transport vehicle 3 that are vehicles equipped with traveling means. However, it is not limited to this. That is, the present invention is, for example, an electric drive work boat system in which a small work ship is mounted on a large ship, an electric drive submersible system in which a small work submersible is mounted on a large submersible, and a small shield excavator. An electric drive excavator system equipped with an excavator, etc., a work machine that performs a predetermined work by battery drive, a prime mover (not limited to an internal combustion engine such as an engine, for example, a steam engine, a hydraulic engine, etc.) and the prime mover Any electrically driven work machine system that includes a driven generator and a transporter that transports the work machine can be applied to various forms.
[0044]
【The invention's effect】
According to the present invention, when a work machine is transported by a transporter, a hybrid electric drive system is configured by combining a prime mover of the transporter and a battery of the work machine, so that a battery is mounted on each of the work machine and the transporter. Thus, the number of batteries can be reduced as compared with the case where the work machine system is a hybrid electric drive. Thereby, it becomes possible to reduce the weight and volume of the whole electric drive working machine system. Therefore, an efficient electric drive system can be constructed.
[Brief description of the drawings]
FIG. 1 is a perspective view showing the overall structure of an electric drive work vehicle system which is a first embodiment of an electric drive work machine system of the present invention.
FIG. 2 is a side view showing a state in which the work vehicle is housed in the transport vehicle in the first embodiment of the electric drive working machine system of the present invention.
FIG. 3 is a top view of the transport vehicle in a first embodiment of the electric drive working machine system of the present invention, showing a state in which the work vehicle is housed in the transport vehicle.
FIG. 4 is a side view showing a state where the work vehicle is separated from the transport vehicle in the first embodiment of the electric drive working machine system of the present invention.
FIG. 5 is a side view showing a part of the transport vehicle constituting the first embodiment of the electric drive working machine system of the present invention.
FIG. 6 is a top view showing the internal structure of the transport vehicle constituting the first embodiment of the electric drive working machine system of the present invention as seen through.
FIG. 7 is a side view showing the internal structure of the work vehicle constituting the first embodiment of the electric drive working machine system of the present invention in a transparent manner.
FIG. 8 is a top view showing the internal structure of the work vehicle constituting the first embodiment of the electric drive working machine system of the present invention in a transparent manner.
FIG. 9 is a top view showing a state in which a work vehicle is housed in a transport vehicle in a second embodiment of the electrically driven work machine system of the present invention.
[Explanation of symbols]
1 Electric drive work vehicle system (electric drive work machine system)
2 Work vehicle (work machine)
3 Transporter (transporter)
5 wheels (traveling means)
7 wheels (traveling means)
10 engine (motor)
11 generator 14 battery 16 motor 41 motor generator

Claims (8)

バッテリ駆動により所定の作業を行う作業機と、原動機を搭載し、前記作業機を運搬する運搬機とを備え、且つ、前記運搬機で前記作業機を運搬する際に前記運搬機の原動機と前記作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成することを特徴とする電気駆動作業機システム。A work machine that performs a predetermined work by battery drive, a motor that is mounted with a prime mover and that transports the work machine, and when the work machine is transported by the transporter, An electric drive work machine system comprising a hybrid electric drive system in combination with a battery of a work machine. 請求項１記載の電気駆動作業機システムにおいて、前記運搬機は前記原動機により駆動される発電機及び推進用の電動機を備えており、前記作業機を運搬する際には前記発電機及び前記作業機のバッテリのうち少なくとも一方からの電力供給により前記電動機を駆動して推進を行うことを特徴とする電気駆動作業機システム。2. The electric drive working machine system according to claim 1, wherein the transporter includes a generator driven by the prime mover and an electric motor for propulsion, and the generator and the work machine are provided when the work machine is transported. An electric drive working machine system, wherein propulsion is performed by driving the electric motor by supplying power from at least one of the batteries. 請求項１記載の電気駆動作業機システムにおいて、前記運搬機は、前記作業機を運搬する際に前記原動機の動力の少なくとも一部を電力に変換して前記作業機のバッテリの充電をし、もしくは前記作業機のバッテリからの電力供給により前記原動機の動力の補完を行う電動発電機を備えることを特徴とする電気駆動作業機システム。The electrically driven work machine system according to claim 1, wherein the transporter converts at least a part of the power of the prime mover into electric power when the work machine is transported to charge the battery of the work machine, or An electrically driven work machine system comprising a motor generator that complements the power of the prime mover by supplying power from a battery of the work machine. 請求項２又は３記載の電気駆動作業機システムにおいて、前記運搬機で前記作業機を運搬する際に、前記作業機のバッテリで前記運搬機の制動時の回生電力を蓄電することを特徴とする電気駆動作業機システム。The electric drive work machine system according to claim 2 or 3, wherein when the work machine is transported by the transporter, regenerative electric power during braking of the transporter is stored by the battery of the work machine. Electric drive work machine system. 請求項１乃至４のいずれか１項記載の電気駆動作業機システムにおいて、前記運搬機は前記作業機の分離時に単独で推進可能であることを特徴とする電気駆動作業機システム。The electric drive working machine system according to any one of claims 1 to 4, wherein the transporter can be independently propelled when the work machine is separated. 請求項１乃至５のいずれか１項記載の電気駆動作業機システムにおいて、前記運搬機で前記作業機を運搬する際に、前記作業機のバッテリを充電可能であることを特徴とする電気駆動作業機システム。The electrically driven work machine system according to claim 1, wherein when the work machine is transported by the transporter, a battery of the work machine can be charged. Machine system. 請求項１乃至６のいずれか１項記載の電気駆動作業機システムにおいて、前記作業機及び前記運搬機はそれぞれ走行手段を備えた作業車及び運搬車であることを特徴とする電気駆動作業機システム。The electric drive working machine system according to any one of claims 1 to 6, wherein the work machine and the transporter are a work vehicle and a transporter provided with traveling means, respectively. . 所定の作業を行う作業機をバッテリ駆動とし、この作業機を運搬する運搬機に原動機を搭載し、前記運搬機で前記作業機を運搬する際に前記運搬機の原動機と前記作業機のバッテリとを組み合わせてハイブリッド電気駆動システムを構成することを特徴とする電気駆動作業機システムの構築方法。A work machine that performs a predetermined work is battery-driven, a motor is mounted on a transporter that transports the work machine, and when the work machine is transported by the transporter, the motor of the transporter and the battery of the work machine A construction method of an electric drive working machine system, characterized in that a hybrid electric drive system is configured by combining them.
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