CN101454514A - Work vehicle - Google Patents
Work vehicle Download PDFInfo
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- CN101454514A CN101454514A CNA2007800197037A CN200780019703A CN101454514A CN 101454514 A CN101454514 A CN 101454514A CN A2007800197037 A CNA2007800197037 A CN A2007800197037A CN 200780019703 A CN200780019703 A CN 200780019703A CN 101454514 A CN101454514 A CN 101454514A
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- controller
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- main battery
- inverter
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- 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
Abstract
A crawler type power shovel vehicle (1) operated by a hydraulic actuator (20), constructed from an electric motor (31) for driving a hydraulic pump (32) for supplying hydraulic oil to the hydraulic actuator (20), a battery (50) for supplying direct current power, an inverter (41) for operating the electric motor (31) by converting the direct current power into alternating current power and supplying it to the motor, a controller (40) for causing the inverter (41) to control operation of the electric motor (31), and a voltage/current sensor (42) for detecting the magnitude of a load current flowing from the battery (50) into the inverter (41). The controller (40) stops the motor (31) when the magnitude of the load current detected by the voltage/current sensor (42) continuously exceeds a predetermined threshold for a predetermined time period.
Description
Technical field
The present invention relates in detail, particularly relate to the Work vehicle of the working oil work that provides by means of this electric motor driven hydraulic pump in order to the Work vehicle of battery drive electric motor as drive source.
Background technology
The main flow of the power source of existing Work vehicle is an engine.But on-the-spot such at infrastructure, because the scene that the relation of surrounding environment can not be used engine is then used and is carried the construction implement (reference example such as Japanese kokai publication hei 2004-No. 225355 communiques) of motor as drive source.As the power supply of this motor, use the commercial power charged battery that utilizes that carries on civil power or the construction implement.Such motor utilizes inverter to control.
Summary of the invention
Invent problem to be solved
But; when this motor is applied load; the load current that flows into inverter from battery increases; if but continue to keep overload; then overload current flows into inverter and causes heating, and the holding circuit of this inverter (prevent to generate heat destroy the salvo of internal circuit) action quits work it.Inverter is in case because of heating stops, being reduced to below the threshold value of regulation in temperature before this inverter can not restart, such problem has consequently taken place, promptly this Work vehicle has just had the time that can not use.
Again, in such Work vehicle, it constitutes the work about electric power that controller also utilizes battery, if therefore battery takes place can not supply electric power unusually, this Work vehicle just all quits work.That is to say, exist to connect the problem that can not give a warning to the operator unusually of battery.
The objective of the invention is to, provide to form the Work vehicle that when detecting the state continuance official hour of overcurrent inflow inverter, can make motor stop to move.
Another object of the present invention is, even provide battery that the Work vehicle that also can give the alarm unusually unusually takes place.
The means of technical solution problem and effect thereof
In order to solve above-mentioned problem, Work vehicle of the present invention (for example crawler type forklift 1 among the embodiment), be the Work vehicle that utilizes hydraulic actuator work, have: the hydraulic pump that described hydraulic actuator is provided working oil, the motor that hydraulic pump drive is used, the battery of direct current power is provided, the direct current of battery is transformed to alternating current makes the inverter of motor action with this, control the controller of the action of motor by means of inverter, and detection is from the current sensor (for example voltage-current sensor the embodiment 42) of the size of the load current of battery inflow inverter; The size that described controller is formed on the load current that current sensor senses goes out continues when official hour surpasses the threshold value of regulation motor to be stopped.
When Work vehicle of the present invention constitutes as mentioned above; even on motor, apply heavy load; overcurrent flows into inverter and causes heating; also can be before the action of holding circuit that this inverter has, be before the inverter state of reaching a high temperature quits work; utilize controller that motor is quit work; therefore can use this Work vehicle to start working once again immediately, improve operating efficiency.
In the present invention, except said structure, also have: connect the motor relay that cuts off above-mentioned battery (also being referred to as main battery) and described inverter, utilize the direct current power work of main battery, the action of control hydraulic actuator and inverter, the relay that the while monitoring motor is used is connected the controller that cuts off main battery and inverter, connect the state of relay (for example the 1st relay 46 among the embodiment) main battery of the control usefulness of cutting off main battery and controller, the relay that utilizes controller to use is simultaneously connected the power monitoring controller that cuts off main battery and controller, described power monitoring controller is provided the reserve battery (back up battery) of electric power, and the key switch of connecting cut off the electricity supply supervisory controller and reserve battery.And this Work vehicle is formed on and utilizes key switch to connect power monitoring controller and reserve battery, when starting the power monitoring controller, can carry out the structure of the following stated step, it is the state that the power monitoring controller is obtained main battery, judge the 1st step whether main battery can use, when described the 1st step judges that main battery can use, the relay of power monitoring controller utilization control usefulness connects inverter and controller, the 2nd step of start-up control device, and controller utilizes motor to connect main battery and inverter, the 3rd step of drive motor with relay.
Also have; Work vehicle of the present invention like this; the holding circuit that preferably has the state of collecting main battery; in the 1st step; the power monitoring controller forms can be at the electric power that holding circuit is provided reserve battery; start after the described protection electric power, obtain the structure of the state of main battery from described holding circuit.
Again, Work vehicle of the present invention, preferably have with regard to main battery and can not use the warning means (for example indicator lamp 52 of the warning usefulness among the embodiment) that can give the alarm, be formed on and judge when main battery can not use the structure that the power monitoring controller can utilize the warning means to give the alarm in the 1st step.
And, Work vehicle of the present invention, preferably forming the dc voltage conversion that has main battery is the DC-DC converter that makes the voltage of power monitoring controller action, controller forms with relay and can connect main battery and controller, simultaneously the structure that the output of DC-DC converter is connected in reserve battery and states the power monitoring controller.
When constituting Work vehicle of the present invention as mentioned above, outside the controller of control to the supply of electric power of inverter, monitor that main battery controls simultaneously to also making the reserve battery of this power monitoring controller action under the power monitoring controller of the supply of electric power of controller and the state that the main battery unit does not provide electric power even also independently be provided with, therefore, even main battery takes place whole processing are all stopped when unusual.For example main battery is unusual because the power monitoring controller can detect, and utilizes the warning means to give the alarm, and the operator who therefore operates this Work vehicle can recognize the unusual of main battery immediately.
Again, the processing during power connection can be undertaken by begin to connect in regular turn power supply from the power monitoring controller, therefore can simplify the processing and the structure of power monitoring controller and controller.
And under the normal state of main battery, when providing electric power, make the power monitoring controller action by means of main battery simultaneously, simultaneously reserve battery is charged controller, by means of this, take place to make the power monitoring controller action by enough reserve batteries when unusual at main battery.
Description of drawings
Fig. 1 is the stereogram as the structure of the crawler type forklift of an example of Work vehicle of the present invention.
Fig. 2 is the block diagram of the structure of the hydraulic pressure unit that carries on the above-mentioned forklift of expression and power subsystem.
Fig. 3 puts on voltage on the motor and the graph of relation between the motor efficiency.
Fig. 4 is the curve map of expression by the efficient of the motor of motor speed and motor output torque decision.
Fig. 5 is the key diagram of the relation of expression accelerating potential amount (ア Network セ Le amount) and motor speed.
Fig. 6 is the flow chart that the Motor Control used of power saving that expression utilizes controller to carry out is handled.
Fig. 7 is the electromotor velocity of expression when operating means operated and the key diagram of the state of a control of the aperture of control valve.
Fig. 8 is expression because the key diagram of the state of a control of the aperture of the control valve the when speed of motor is changed such as load.
Fig. 9 represents that the overcurrent of utilizing controller to carry out prevents the flow chart of handling.
Figure 10 be the Work vehicle of expression the 2nd embodiment an example, be the block diagram of the structure of the hydraulic pressure unit that carries on the crawler type forklift and power subsystem.
Figure 11 is the flow chart of the processing of the above-mentioned power subsystem of expression when power connection.
Figure 12 is the flow chart of the power-saving control of the above-mentioned power subsystem of expression.
The specific embodiment
With reference to the accompanying drawings preferred embodiment of the present invention is described.At first, as an example of Work vehicle of the present invention, use Fig. 1 that crawler type forklift 1 is described.Also have, this forklift 1 uses with the space of relatively sealing in underground grade and is purpose, utilizes the work about electric power of battery.This forklift 1 has the bogie 4 that travels that constitutes mobile devices 2, the scraper plate (blade) 9 at the rear portion that is arranged at this bogie 4 that travels freely of fluctuating, rotatably be arranged at turntable 11, pivot on the bogie 4 that travels be linked to turntable 11 the front portion power shovel mechanism 13 and be arranged at operating room 15 on the turntable 11.
Here, in the present embodiment, hydraulic pump 32 is made of 3 pump 32a～32c, and these 3 hydraulic pump 32a～32c are driven simultaneously by motor 31.For example forming, the 1st pump 32a provides working oil to driving right actuator and the driving suspension rod 16 suspension rod driving cylinders 21 that drive with sprocket wheel 5, the 2nd pump 32b provides working oil to the scraper bowl driving cylinder 23 that drives a left side and drive actuator, actuating arm 17 driving cylinders 22 with sprocket wheel 5 and drive scraper bowl 18, and the 3rd pump 32c provides the structure of working oil to the actuator of the turning motor that makes turntable 11 rotations and driving scraper plate 9.Be transformed to voltage by direct current power that battery 50 is provided with inverter 41 and the alternating electromotive force of frequency offers motor 31 so that it is driven with regulation again.Also have,, adopt for example IPM (InteriorPermanent Magnetic as such motor 31; Interior permanent magnetism) motor etc.
As mentioned above, this forklift 1 usefulness drives by control valve 34 and inverter 41 being controlled the working oil that provides, but their action is by controller 40 controls.Also have, for the action of control valve 34 and inverter 41 is controlled, formation can utilize hydrostatic sensor 36, and (36a～36c) measures the formation of the oil pressure separately that pump 32a～32c of constituting hydraulic pump 32 discharges respectively, and detected value is transfused to controller 40.Again, for output voltage V o that measures this battery 50 and the load current Io that flows into inverter 41, between battery 50 and inverter 41 voltage-current sensor 42 is set, detected value is transfused to controller 40.Can set the magnitude of voltage (this is called as " accelerating potential amount " (" ア Network セ Le amount ") in the following description) that puts on motor 31 from inverter 41 for the operator, accelerating potential amount configuration switch 24 is set in operating room 15, and setting value is transfused to controller 40.
The control of carrying out with regard to this controller 40 to motor 31 describes so, below.As mentioned above, according to the operational ton of operating means 14, from these operating means 14 output function signals, controller 40, is controlled the action of hydraulic actuator 20 to control valve 34 output instruction signals according to operation signal.Therefore, when hydraulic actuator 20 being provided working oil drive forklift 1, make motor 31 rotation at a high speed, provide working oil, on the contrary, when hydraulic actuator 20 stops, making motor 31 low speed rotation, can suppress the power consumption of battery 50 by hydraulic pump 32.
Here, as shown in Figure 3, owing to the size of the relation that puts on voltage Vi on the motor 31 and motor efficiency along with the load that applies on the motor 31 changes, therefore in the present embodiment, forming the operator can utilize accelerating potential amount configuration switch 24 to select the structure of the accelerating potential amount (putting on the magnitude of voltage of motor 31) of 3 ranks (L, M, H) according to the working condition of forklift 1.That is to say, can motor efficiency under the light-load state best apply voltage V
1Near make motor efficiency under the accelerating potential amount L of motor 31 rotation, the middle load condition best apply voltage V
2Near make motor efficiency under the accelerating potential amount M of motor 31 rotation and the heavy duty state best apply voltage V
3Near make between the accelerating potential amount H of motor 31 rotation and select.
On the other hand, when the concerning of the rotating speed of inquiring into motor 31 and load (output torque), as shown in Figure 4, have rotating speed when hanging down the efficient of motor 31 poor; The characteristic of excellent in efficiency when rotating speed is high.Particularly have in nominal load (output torque 100%) best characteristic of efficient when moving with rated speed.Therefore, controller 40 can be set the minimum speed R of motor 31 according to the accelerating potential amount (L, M, H) that accelerating potential amount configuration switch 24 is selected as shown in Figure 5
L, R
M, R
H, make this rotating speed rising (in the following description, this rotating speed ascending amount is called " acceleration amount Δ R according to the load change (variation of load current Io) of motor 31
L, Δ R
M, Δ R
H").
When no mode of operation (when operating means 14 does not have the state of output function signal),, also still more can suppress the power consumption of battery 50 with the little slow-speed of revolution operation of load current Io even do not make the high rotating speed rotation of motor 31 with excellent in efficiency again.Even therefore utilize accelerating potential amount configuration switch 24 to select which accelerating potential amount, controller 40 continues official hour in case judge no mode of operation, just controls motor 31 and makes it with R
I(R
I＜R
L＜R
M＜R
H) idling rotates and (inverter 41 to be specified the rotating speed R of idling rotation
I).Certainly, when operating means 14 being operated, inverter 41 is specified above-mentioned minimum speed R with this state
L, R
M, R
HAnd Δ R
L, Δ R
M, Δ R
H
For example, the situation of Fig. 5, expression is for maximum speed R
MAXBe the motor 31 of 2400rpm, the minimum speed R during with the L pattern
LBe decided to be 1400rpm, the minimum speed R during with the M pattern
MBe decided to be 1700rpm, the minimum speed R during with the H pattern
HBe decided to be 2000rpm, with idling speed R
IThe situation that is decided to be 500rpm.Also has the acceleration amount Δ R during the L pattern
LMinimum speed R when the rotating speed that is controlled in motor 31 is no more than the M pattern
MScope, the acceleration amount Δ R during the M pattern
MBe controlled in the minimum speed R when being no more than the H pattern
HScope, the acceleration amount Δ R during the H pattern
HBe controlled in and be no more than maximum speed R
MAXScope.
The action control of the motor 31 that controller 40 is carried out with Fig. 6 describes so, below.Also have, 40 pairs of inverters of controller 41 send the rotary speed instruction of motor 31 and apply the instruction of voltage, and inverter 41 will offer motor 31 its actions of control based on the alternating electromotive force of this command value.Again, in Fig. 6, the mark that the circle that comes out from step S105, S106, S107 surrounds A means and is attached to Fig. 6 that " beginning (ス -ト) " circle of back surrounds the mark of A.
In case the main switch of forklift 1 is connected, forklift 1 starts, and controller 40 just begins to carry out Motor Control S100.In this Motor Control 100, controller 40 at first monitors the operation signal of operating means 14 outputs, judges whether to have carried out operation (S101).Be judged to be when having carried out operation at step S101, controller 40 is monitor load current Io then, judge whether load has change (S102), when being judged to be load change, calculate and the corresponding acceleration amount of selected accelerating potential amount (ア Network セ Le amount), set this result (S103), be judged to be load when not changing, the amount of will speed up is set at 0 (S104).Then, controller 40 is with acceleration amount (the Δ R that sets
L, Δ R
M, or Δ R
H) with corresponding to the minimum speed (R of accelerating potential amount
L, R
M, or R
H) sum is as the rotating speed of motor 31, will send instruction as the magnitude of voltage that put on the motor 31 to inverter 41 with the accelerating potential amount corresponding voltage value of setting again, (step S105) returns step S101 then.
On the other hand, be judged to be when not implementing operation at step S101, controller 40 is judged whether certain time (step S106) of no mode of operation.Controller 40 is judged to be no mode of operation when having continued the regular hour at step S106, and idling is rotated rotating speed R
IRotating speed as motor 31, to send instruction (step S107) as the magnitude of voltage that puts on motor 31 to inverter 41 with the accelerating potential amount correspondent voltage value of setting again, return step S101 then, when being judged to be no mode of operation when not having certain time, return step S101 at this point.
Here, though be the acceleration amount Δ R of step S103
L, Δ R
M, Δ R
HComputational methods, but with the accelerating potential amount (L, M, H) of current setting, the discharge hydraulic pressure P of the 1st～the 3rd pump 32a～32c
1～P
3, flow into the load current I of inverter 41
0, and the output voltage V of battery 50
0Calculate as parameter.Also have, the calculating of this acceleration amount also can form in advance the table corresponding with these parameters is set in controller 40, and the structure of obtaining from this table more also can form the structure that the calculating formula that these parameter covers is used for stipulating with controller 40 is calculated.
Like this, continue at no mode of operation under the situation of regular hour, there is no need provides working oil from 32 pairs of actuators 20 of hydraulic pump, makes motor 31 with the idling R slower than common operation
IRotation can suppress the power consumption of battery 50 like this.Again,, can utilize accelerating potential amount configuration switch 24 to set the accelerating potential amount, therefore can make motor 31 operations expeditiously, can effectively utilize the electric power of battery 50 based on the load that puts on the motor 31.Also have, the response speed of motor 31 is more much bigger than engine, therefore can control by enough controllers 40, judges the load that motor 31 is applied in from load current, realizes only rotating speed.Even therefore change the rotating speed of motor 31 in real time, also because response speed is fast, the hydraulic pressure change of almost imperceptible hydraulic pump 32.
But controller 40 forms and can control the switching of control valve 34 according to the operation of operating means 14, controls the acceleration of rotary speed of motor 31 or the structure of deceleration simultaneously.For example shown in Figure 7, when this forklift 1 travels, at moment t
1Operating means 14 is operated, quickened, at moment t
2Under the situation of slowing down, both control 40 pairs of control valves 34 of controller (motor that travels being provided the control valve of working oil) and motor 31.That is to say, be for the working oil corresponding with the acceleration and deceleration of forklift 1 operation offered hydraulic actuator 20, provides this to move needed working oil from hydraulic pump 32 simultaneously.Under the situation of Fig. 7, controller 40 is at operation signal (moment t when acceleration side increases of control device 14
1), strengthen the aperture of control valve 34, strengthen the rotating speed of motor 31 simultaneously, the amount of the working oil that is provided is provided.Again, at the operation signal of operating means 14 (t constantly when deceleration side reduces
2), reduce the aperture of control valve 34, reduce the rotating speed of motor 31 simultaneously, the amount of the working oil that is provided is reduced.
When carrying out making under the situation of motor 31 and the action of control valve 34 the aperture step of control valve 34 to change so at the same time, sometimes this forklift 1 sharply quickens or is a significant slowdown the operating characteristics deterioration.For this reason, in the present embodiment, (the moment t among Fig. 7 for example when controller 40 carries out the switching of the acceleration and deceleration of motor 31 and control valve 34 at the same time
1And t
2), the on-off action that makes control valve 34 is gentle slope (ラ Application プ) output, and on-off action is carried out at official hour.Can make the variation of the working oil that offers hydraulic actuator 20 slow like this, can prevent that rapid action from changing.
On the other hand, as shown in Figure 8, the operational ton of operating means 14 is constant, the aperture of control valve 34 is also constant, but owing to reasons such as load change make the speed of motor 31 quicken and the situation of slowing down under, sometimes because the acceleration and deceleration of motor 31 are discharged the hydraulic pressure increase and decrease, the also acceleration and deceleration of the speed of hydraulic actuator 20.When this forklift 1 is travelled with certain speed, enter the bad part of pavement state, for example the load current I of motor 31
0Increase.Under these circumstances, controller 40 strengthens the rotating speed of motor 31, increases the quantity delivered (moment t among Fig. 8 of working oil
3), make the aperture of control valve 34 reduce a setting simultaneously, so that the discharge rate of working oil increases the action that does not influence actuator 20.Equally, enter the good part of pavement state, corresponding to load current I
0Minimizing, the rotating speed of motor 31 is reduced, (the moment t of Fig. 8 when the quantity delivered of working oil reduces
4), controller 40 strengthens a setting with the aperture of control valve 34, controls the action that the minimizing that makes the working oil discharge rate does not influence hydraulic actuator with this.Thereby the variation of the work oil mass that the hydraulic pump that the rotation speed change that can prevent motor 31 causes 32 is discharged makes a difference to the action of hydraulic actuator 20, improves the operating characteristics of this forklift 1.
In this forklift 1,, flow into the load current I of inverter 41 in case on motor 31, apply load
0Increase.Under the big situation of the charge volume of battery 50, even load current I
0Increase output voltage V
0Variation also little, but under the little situation of the charge volume of battery 50, in case load current I
0Increase output voltage V
0Variation (output voltage V
0Slippage) big.In case big variation in voltage takes place battery 50, motor torque decline just might take place or rotate uneven situation.Again, the output voltage V of battery 50
0When big decline is arranged, be judged to be inverter 41 instantaneous power failures, to the output of motor 31 have cut may.
Therefore, the output voltage V of 40 pairs of batteries 50 of controller
0Monitor this output voltage V
0During less than the threshold value of regulation, reduce the load that on motor 31, applies, make the output voltage V of battery 50
0Stable.For example indicate under the low situation of the rotating speed of motor 31, the instruction that rotating speed will be increased outputs to inverter 41, and the rotating speed of motor 31 is increased.Therefore, flow into the load current I of inverter 41
0Reduce, so also can make output voltage V
0Variation also reduce.And, under to the high situation of the rotating speed of motor 31 indications, the aperture of control valve 34 is reduced, reduce the load of hydraulic pump 32.By means of this, can reduce the load that applies on the motor 31, because load current I
0Reduce output voltage V
0Variation also reduce.
As mentioned above, in the forklift 1 of present embodiment, form the operator and can utilize accelerating potential amount configuration switch 24 to select the accelerating potential amounts, promptly put on the structure of the magnitude of voltage of motor 31.Again, in this forklift 1, inverter 41 puts on motor 31 with the voltage corresponding with the magnitude of voltage of controller 40 indications, controls motor 31 simultaneously and makes the rotating speed of its rotating speed for this controller indication.Therefore, if spin or the pivot rotation when travelling under the state of selecting accelerating potential amount L, the load that then applies on motor 31 increases, and in order to keep the rotating speed of motor 31, will flow into overcurrent in inverter 41.Go down in case flow into the state continuance of overcurrent in the inverter 41, just heating of inverter 41, in case the temperature of this inverter 41 surpasses the size of regulation, holding circuit just action quits work inverter 41, this forklift 1 just can not be worked as a result.
Therefore, in the forklift 1 of present embodiment, with controller monitor load current I
0, control makes the temperature of its holding circuit that does not rise to inverter action.The control of this controller 40 as shown in Figure 9, monitor load current I
0Continue official hour (S200) in case detect overcurrent condition, with regard to control inverter 41 motor 31 is stopped, lighting the indicator lamp 25 of the warning usefulness that is provided with in the operating room 15 simultaneously, report to the police because the thing (S201) that overcurrent stops motor 31 to the operator.In operating room 15, reset button 26 is set, controller 40 is waited for press (S202) of reset button when motor 31 is stopped.Then, press reset button 26, just utilize inverter 41 actuating motor 31 once again, make this forklift 1 can move (S203) in case detect the operator.Also have, under this state, if when overcurrent stops, carrying out identical operations (flowing into the rotation of spin or pivot), then flow through overcurrent equally, the control that stops of motor 31 is implemented, so the operator is necessary to utilize accelerating potential amount configuration switch 24 to select to be higher than the accelerating potential amount (M or H) of current setting.
Like this, controller 40 monitors the load current I that flows into inverter 41
0When overcurrent condition continues official hour, make motor 31 stop action, be set with mistake even accelerating potential amount configuration switch 24 carries out, overcurrent flows into inverter 41, this inverter 41 by means of the operation of reset button 26, can make forklift 1 continue (beginning once again) work also not because of heating quits work immediately.
The 2nd embodiment
Below with reference to Figure 10～Figure 12 the 2nd embodiment is described.Also having, is object with crawler type forklift shown in Figure 11 also in this embodiment, but for avoiding repeat specification, below identical part is still used identical symbol and title, and it illustrates omission.Again, in Figure 12, the mark that the circle that comes out from step 240 surrounds A means the mark of the circle encirclement A that is attached to " " back.
The voltage that motor 31 utilizes the direct current power that main battery unit 150 is provided by inverter 143 to be transformed to have regulation and the alternating electromotive force of frequency drive.Also have, main battery unit 150 is made of lithium ion battery, can export the main battery 150a of high direct voltage (for example 336V direct current) and obtain the holding circuit 150b that the state of this main battery 150a protects simultaneously to constitute.
Below to providing the power-supply system 140 of electric power to describe with the 150 pairs of motor 31 in main battery unit.Power-supply system 140 has the state of supervision main battery unit 150 and power monitoring controller 141 and the control inverter 143 and the control valve 34 of output voltage, make motor 31 and hydraulic actuator 20 actions, connect and cut off the controller 142 of the electric power that offers inverter 143 simultaneously.
This power-supply system 140 is in order to make 141 actions of power monitoring controller when forklift 1 starts, reserve battery 144 with lithium ion battery formation of exporting the DC voltage (for example DC voltage of 12.6V) that makes these power monitoring controller 141 actions, this reserve battery 144 forms the structure that can utilize the operating room 15 interior key switches (main power switch) that are provided with 145 connections and cut off with power monitoring controller 141.And power monitoring controller 141 forms the structure that electric power can be provided by the holding circuit 150b of 144 pairs of main battery unit 150 of reserve battery, forms the structure that can collect the state of main battery 150a from this holding circuit 150b simultaneously.
The main battery 150a of main battery unit 150 forms can provide being connected of electric power with inverter 143 to controller 142.Be connected the 1st contact 146a of the 1st relay 146 between main battery 150a and the controller 142, main battery 150a utilizes the 1st relay 146 to be connected with controller 142 and cuts off.Again, connect the contact 147a of the 2nd relay 147 between main battery 150a and the inverter 143, main battery 150 utilizes the 2nd relay 147 to connect and cut off with inverter 143.This controller 142 has DC-DC converter 148 that the high-voltage dc voltage that main battery 150a is provided is transformed to low-voltage direct low pressure (making the voltage of power monitoring controller 141 action usefulness); the output of this DC-DC converter 148 is connected between reserve battery 144 and the key switch 145, is between power monitoring controller 141 and the reserve battery 144 that these are connected to form, and the 2nd contact 146b that can utilize the 1st relay 146 connects and the structure of cut-out by protecting diode 151.
The 1st structure that formation can utilize the control realization of power monitoring controller 141 to be connected and to cut off with the 2nd contact 146a, 146b of the 1st relay 146.The the 1st and the 2nd contact 146a, 146b are maintained at dissengaged positions (off state) usually, when applying voltage, 141 pairs the 1st relays 146 of power monitoring controller become on-state, these contacts 146a, 146b connect, and form the structure that main battery 150a and controller 142, DC-DC converter 148 are connected with power monitoring controller 141 and reserve battery 144.In a single day the 2nd contact 146b that also forms the 1st relay 146 is connected, and DC-DC converter 148 just provides electric power to power monitoring controller 141, simultaneously the structure that reserve battery 144 is charged.Form the structure that the contact 147a of the 2nd relay 147 can connect and cut off by the control of controller 142 again.This contact 147a keeps dissengaged positions (off state) usually, becomes on-state when 142 pairs the 2nd relays 147 of slave controller apply voltage, and this contact 147a connects, the structure that main battery 150a is connected with inverter 143.
Also have, controller 142 can import be arranged at hydraulic pressure unit 130 detect hydraulic pumps 32 discharge pressure hydrostatic sensor 36 output valve and measure the detected value of current sensor 149 that offers the load current of inverter 143 from main battery 150a.Again, at power monitoring controller 141, expression the 1st relay 146 is set is in on-state, is promptly providing the 1st indicator lamp 141a of electric power and when the 1st relay 146 is in off-state, can make the power switch 141b that the 1st relay 146 connects and inform that situation such as unusual takes place in main battery unit 150 warning is with indicator lamp 152 by pressing to controller 142.Also be provided with on the controller 142 expression the 2nd relay 147 be in on-state, promptly providing the 2nd indicator lamp 142a of electric power to inverter 143 and when the 2nd relay 147 is in off-state by pressing the motor start-up switch 142b that the 2nd relay 147 can be connected.These the 1st and the 2nd indicator lamp 141a, 141b, warning all are arranged in the operating room 15 with indicator lamp 152, power switch 141b and motor start-up switch 142b.
The supply of electric power control of this power-supply system 140 being carried out with Figure 11 describes so, below.At first handle and begin explanation from power connection.Take the key switch 145 that in a single day operator in operating room 15 will be disposed at this operating room 15 and connect, just provide electric power to power monitoring controller 141, start this power monitoring controller 141 (step S100) from reserve battery 144.Power monitoring controller 141 at first provides electric power to the holding circuit 150b of main battery unit 150, and this holding circuit 150b is started, and holding circuit 150b begins to collect the state (step S110) of main battery 150a.Then, power monitoring controller 141 judges from the state (step S120) that holding circuit 150b obtains main battery 150a whether main battery 150a can use (step S130).For example main battery 150a is under the situation such as over-discharge state, is judged as this main battery 150a can not use the time, and power monitoring controller 141 just makes to report to the police and lights with indicator lamp 152, finishes power connection processing (step S160).
On the other hand, if main battery 150a is a normal condition, is judged to be and uses, then power monitoring controller 141 is connected the 1st relay 146, provide electric power from main battery 150a to controller 142, this controller 142 is started, simultaneously the 1st indicator lamp 141a is lighted (step S140).Also have, as mentioned above, in case the 1st relay 146 is in on-state, just provide electric power to power monitoring controller 141 and reserve battery 144 from DC-DC converter 148, after, the work about electric power that this DC-DC converter 148 provides of power monitoring controller 141 usefulness begins reserve battery 144 is charged simultaneously.
At last, in case controller 142 starts, this controller 142 just makes the 2nd relay 147 be in on-state, provide electric power from main battery 150a to inverter 143, control this inverter 143, the alternating electromotive force of assigned voltage and frequency is offered motor 31, drive motor 31, simultaneously the 2nd indicator lamp 142a is lighted (step S140), finish the power connection of power-supply system 140 then and handle.
With Figure 12 the power-saving control of power-supply system 140 is described below.Also have, so-called power-saving control is in the time needn't providing working oil to hydraulic actuator 20, motor 31 is stopped, or controller 142 is stopped, and prevents the control of the consumption of electric power that main battery 150a is charged with this.Figure 12 represents the control of controller 142, as mentioned above, in case the power connection processing finishes, just begins to carry out power-saving control.
Then, whether 142 pairs of motor start-up switches of controller 142b is switched on and judges (step S230).Be judged as motor start-up switch 142b when being switched on, the 2nd relay 147 is connected, provide electric power,, and the 2nd indicator lamp 142a lighted (step S240) with this drive motor 31 to inverter 143.Return step S200 then, carry out above-mentioned processing repeatedly.At step S230, be judged to be motor start-up switch 142b when not being switched on, controller 142 is obtained the mode of operation (step S250) of operating means 14 grades, whether judgement is not have operation state of a control (step S260) in setting-up time, be judged as not is when not having the operation state of a control, return step S230, carry out these processing repeatedly.
Be judged as in setting-up time at step S230 and continue to be in when not having the operation state of a control, controller 142 sends to power monitoring controller 141 (step S270) with command signal.Then; in case power monitoring controller 141 slave controllers 142 receive this command signal; the 1st relay 146 is disconnected; cut-out is to the supply of electric power of controller 142; with this this controller 142 is stopped; the 1st indicator lamp 141a is extinguished, and stop supply of electric power, transfer to park mode then the holding circuit 150b of main battery unit 150.
In a single day power monitoring controller 141 enters park mode, with regard to stopping the situation that power switch 141b is pressed is monitored action in addition, suppresses the power consumption of reserve battery 144 as far as possible.Then, in case detecting power switch 141b is pressed, power monitoring controller 141 is with regard to the breaking dormancy pattern, implement the later processing of step S110 in the power connection processing shown in Figure 11, make the 1st and the 2nd relay 146,147 be in on-state, provide electric power to controller 142 and inverter 143, make motor 31 work.
Like this, outside the controller 142 of control to the supply of electric power of inverter 143, be provided with in addition main battery unit 150 is monitored, control power monitoring controller 141 simultaneously to the supply of electric power of controller 142, even and the reserve battery 144 that also makes these power monitoring controller 141 actions at the state that electric power is not provided from main battery unit 150, even main battery 150a takes place when unusual like this, also can detect this unusual also utilization warning with power supply supervisory controller 141 and give the alarm with indicator lamp 152 grades, the operator who therefore operates this forklift 1 can recognize the unusual of main battery unit 150 immediately.
As mentioned above, can connect power supply in regular turn from power monitoring controller 141 beginning, therefore the processing when carrying out power connection can make the processing and the designs simplification of power monitoring controller 141 and controller 142.And, 150a is in normal condition at main battery, when providing electric power to controller 142, utilize main battery 150a to make 141 actions of power monitoring controller simultaneously, simultaneously reserve battery 144 is charged, by means of this, when main battery 150a is unusual, can make 141 actions of power monitoring controller by enough reserve batteries 144.
Also have, utilize the working oil supply situation of 142 pairs of hydraulic actuators 20 of controller and the operational circumstances of operating means 14 to monitor, when hydraulic pressure there is no need, stop the supply of electric power of inverter 143 or stop supply of electric power controller 142, suppress the unnecessary power consumption of main battery 150a with this, can prolong not this main battery unit 150 is charged working time of the forklift 1 that also can carry out.Like this, even stop supply of electric power, also can provide electric power to inverter 143 and controller 142 by pushing motor start-up switch 142a or power switch 141a to inverter 143 and controller 142.
Claims (5)
1. Work vehicle that utilizes hydraulic actuator work is characterized in that having:
Driving provides the hydraulic pressure pump motor of working oil to described hydraulic actuator,
The battery of direct current power is provided,
The direct current power of described battery is transformed to alternating electromotive force to be provided, so that the inverter of described motor action,
Control the controller of the action of described motor by described inverter, and
Detection flows into the current sensor of size of the load current of described inverter from described battery,
When the size of the load current that described controller goes out in described current sensor senses continues official hour and surpasses the threshold value of regulation, described motor is stopped.
2. Work vehicle that utilizes hydraulic actuator work is characterized in that having:
Discharge makes the hydraulic pump of the working oil of described hydraulic actuator action usefulness,
Drive described hydraulic pressure pump motor,
The main battery of direct current power is provided,
The direct current power that provides of described main battery is transformed to alternating electromotive force offers described motor, so that the inverter of described motor action,
Connect the motor relay that cuts off described main battery and described inverter,
Controller, it utilizes the direct current power work of described main battery, controls the action of described hydraulic actuator and described inverter, and connect with relay by described motor simultaneously and cut off described main battery and described inverter,
Connect the controller relay that cuts off described main battery and described controller,
Monitor the state of described main battery, connect the power monitoring controller that cuts off described main battery and described controller by described controller with relay simultaneously,
Provide the reserve battery of electric power to described power monitoring controller, and
Connect the key switch that cuts off described power monitoring controller and described reserve battery;
Connect described power monitoring controller and described reserve battery at described key switch, when starting described power monitoring controller, can carry out following steps:
Described power monitoring controller is obtained the state of described main battery, judges the 1st step whether described main battery can use,
When described the 1st step judged that described main battery can use, the relay that described power monitoring controller is used by described controller was connected described main battery and described controller, started the 2nd step of described controller, and
Described controller connects described inverter and described main battery by described motor with relay, drives the 3rd step of described motor.
3. Work vehicle according to claim 2 is characterized in that,
Holding circuit with state of collecting described main battery,
In described the 1st step, described power monitoring controller starts after this holding circuit at the electric power that described holding circuit is provided described reserve battery, and obtains the state of described main battery from described holding circuit.
4. according to claim 2 or 3 described Work vehicles, it is characterized in that,
Have with regard to described main battery and can not use the warning means that give the alarm,
Judge that in described the 1st step described power monitoring controller utilized described warning means to give the alarm when described main battery can not use.
5. according to each the described Work vehicle in the claim 2～4, it is characterized in that,
Have dc voltage conversion with described main battery and be the DC-DC converter that makes the voltage that described power monitoring controller action uses,
Described controller connects described main battery and described controller with relay, and the output with described DC-DC converter simultaneously is connected to described reserve battery and described power monitoring controller.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP153695/2006 | 2006-06-01 | ||
| JP2006153695A JP4284334B2 (en) | 2006-06-01 | 2006-06-01 | Work vehicle |
| JP153694/2006 | 2006-06-01 | ||
| JP2006153694A JP4538427B2 (en) | 2006-06-01 | 2006-06-01 | Work vehicle |
| PCT/JP2007/061033 WO2007139169A1 (en) | 2006-06-01 | 2007-05-24 | Working vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101454514A true CN101454514A (en) | 2009-06-10 |
| CN101454514B CN101454514B (en) | 2011-11-02 |
Family
ID=38854517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007800197037A Active CN101454514B (en) | 2006-06-01 | 2007-05-24 | Work vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4538427B2 (en) |
| CN (1) | CN101454514B (en) |
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| CN103660982A (en) * | 2012-09-14 | 2014-03-26 | 福特全球技术公司 | Vehicle |
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| JPH0739001A (en) * | 1993-07-26 | 1995-02-07 | Toyota Autom Loom Works Ltd | Running controller |
| JP3381708B2 (en) * | 2000-05-02 | 2003-03-04 | トヨタ自動車株式会社 | VEHICLE, POWER SUPPLY SYSTEM CONTROL DEVICE, POWER SUPPLY SYSTEM CONTROL METHOD, AND VEHICLE START-UP CONTROL METHOD |
| JP2004169464A (en) * | 2002-11-21 | 2004-06-17 | Komatsu Ltd | Construction equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2007321461A (en) | 2007-12-13 |
| JP4538427B2 (en) | 2010-09-08 |
| CN101454514B (en) | 2011-11-02 |
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