CN105940162B - 挖土机 - Google Patents
挖土机 Download PDFInfo
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- CN105940162B CN105940162B CN201580006867.0A CN201580006867A CN105940162B CN 105940162 B CN105940162 B CN 105940162B CN 201580006867 A CN201580006867 A CN 201580006867A CN 105940162 B CN105940162 B CN 105940162B
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- motor
- rotary motor
- accumulating system
- case
- excavator
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/15—Preventing overcharging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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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
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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
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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
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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
本发明的实施例所涉及的挖土机具有:引擎(11);电动发电机(12),作为利用引擎(11)的驱动力的发电机而发挥功能,且作为可辅助引擎(11)的电动机而发挥功能;蓄电系统(120);回转用电动机(21);DC总线(110),连接电动发电机(12)、蓄电系统(120)及回转用电动机(21);及控制器(30),控制电动发电机(12)、蓄电系统(120)及回转用电动机(21)的动作。控制器(30)在停止了蓄电系统(120)的情况下,当使回转用电动机(21)动力运行时,将作为发电机而发挥功能的电动发电机(12)的发电电力供给到回转用电动机(21),当使回转用电动机(21)再生运行时,将回转用电动机(21)的再生电力供给到作为电动机而发挥功能的电动发电机(12)。
Description
技术领域
本发明涉及一种包括通过蓄积于蓄电器中的电力而被驱动的回转用电动机的挖土机。
背景技术
已知有如下挖土机,在检测到蓄电系统异常的情况下,通过抑制蓄电系统的输出而提高引擎的输出,从而持续电动回转系统的驱动(参考专利文献1。)。
现有技术文献
专利文献
专利文献1:日本特开2010-242444号公报
发明内容
发明要解决的技术课题
然而,在专利文献1中并未提及关于因蓄电系统中发生严重的故障而需要停止蓄电系统的情况。在停止了蓄电系统的情况下,挖土机即使能够用引擎来驱动电动回转系统,蓄电系统也无法吸收基于电动回转系统的再生电力,因此无法对电动回转系统进行电气制动。因此,挖土机需要以机械地停止电动回转系统的状态来维持。然而,在倾斜地面上挖土机处于不稳定的姿势的情况下,若以机械的方式停止电动回转系统,则反而有时在安全方面不优选。
鉴于上述问题,希望提供一种即使在停止了蓄电系统的情况下也能够确保安全性的挖土机。
用于解决技术课题的手段
根据本发明的一实施方式的挖土机,具有:引擎;电动发电机,作为利用所述引擎的驱动力的发电机而发挥功能,且作为可辅助所述引擎的电动机而发挥功能;蓄电系统;回转用电动机;总线线路,连接所述电动发电机、所述蓄电系统及所述回转用电动机;及控制装置,控制所述电动发电机、所述蓄电系统及所述回转用电动机的动作,所述控制装置在停止了所述蓄电系统的情况下,在使所述回转用电动机动力运行时,将作为发电机而发挥功能的所述电动发电机的发电电力供给到所述回转用电动机,在使所述回转用电动机再生运行时,将所述回转用电动机的再生电力供给到作为电动机而发挥功能的所述电动发电机。
发明效果
通过上述方式,提供一种即使在停止了蓄电系统的情况下也能够适当地驱动电动回转系统的挖土机。
附图说明
图1是混合式挖土机的侧视图。
图2是表示图1的混合式挖土机的驱动系统的结构的框图。
图3是表示蓄电系统的结构的框图。
图4是表示蓄电系统停止处理的流程的流程图。
图5是表示回转控制切换处理的流程的流程图。
图6是表示蓄电系统停止时回转控制中的回转再生处理的流程的流程图。
具体实施方式
图1是表示可适用本发明的混合式挖土机的侧视图。
在混合式挖土机的下部行走体1上,经由回转机构2搭载有上部回转体3。在上部回转体3上安装有动臂4。在动臂4的前端安装有斗杆5,在斗杆5的前端安装有铲斗6。动臂4、斗杆5及铲斗6构成作为附件的一例的挖掘附件,分别被动臂缸7、斗杆缸8及铲斗缸9液压驱动。在上部回转体3上设置有驾驶室10,且搭载有引擎等动力源。
图2是表示基于本发明的实施方式的混合式挖土机的驱动系统的结构的框图。在图2中,机械动力系统用双重线来表示、高压液压管路用粗实线来表示、先导管路用虚线来表示、电力驱动/控制系统用细实线来表示。
作为机械式驱动部的引擎11和作为辅助驱动部的电动发电机12分别连接于变速器13的两个输入轴上。在变速器13的输出轴上连接有作为可变容量型液压泵的主泵14和作为固定容量型液压泵的先导泵15。在主泵14上经由高压液压管路16连接有控制阀17。
控制阀17为对混合式挖土机中的液压系统进行控制的控制装置。下部行走体1用的液压马达1A(右用)及1B(左用)、动臂缸7、斗杆缸8及铲斗缸9等的液压驱动器经由高压液压管路连接于控制阀17。另外,液压系统包括下部行走体1用的液压马达1A(右用)及1B(左用)、动臂缸7、斗杆缸8、铲斗缸9、主泵14及控制阀17。
在电动发电机12上,经由作为电动发电机控制部的逆变器18连接有包括作为蓄电器的电容器的蓄电系统120。并且,在蓄电系统120上,经由作为电动发电机控制部的逆变器20连接有作为电动工作要件的回转用电动机21。在回转用电动机21的旋转轴21A上连接有分解器22、机械制动器23及回转变速器24。并且,在先导泵15上经由先导管路25连接有操作装置26。由回转用电动机21、逆变器20、分解器22、机械制动器23及回转变速器24构成作为负载驱动系统的电动回转系统。
操作装置26包括操纵杆26A、操纵杆26B及踏板26C。操纵杆26A、操纵杆26B及踏板26C经由液压管路27及28分别连接于控制阀17及压力传感器29。压力传感器29连接于进行电力系统的驱动控制的控制器30。
倾斜传感器M1为对混合式挖土机位于倾斜地面上的情况进行检测的倾斜地面检测部的一例。在本实施例中,倾斜传感器M1为搭载于上部回转体3的加速度传感器,其检测上部回转体3的倾斜角,并将其检测值输出到控制器30。
热消耗部40为用于将回转停止时回转用电动机21所生成的再生电力作为热而消耗的功能要件。在本实施例中,热消耗部40包括电阻部40a及流量控制阀40b。另外,也可以省略电阻部40a及流量控制阀40b中的一个。
电阻部40a包括切换开关及电阻。切换开关为按照来自控制器30的控制信号对逆变器20与电阻之间进行导通/切断的开关。而且,电阻部40a按照来自控制器30的控制信号使逆变器20与电阻导通,回转停止时,使回转用电动机21所生成的再生电力作为直流电力而被电阻接受。电阻在接受再生电力之后产生热。如此,电阻部40a能够使再生电力作为热而消耗,从而能够可靠地消耗回转用电动机21所生成的再生电力。
流量控制阀40b为可以对主泵14所吐出的工作油的流量进行控制的阀。流量控制阀40b按照来自控制器30的控制信号来限制主泵14所吐出的工作油的流量,从而使主泵14的吐出压力甚至吸收马力增大。流量控制阀40b通过限制主泵14所吐出的工作油的流量而产生压力损失,从而产生热。并且,主泵14的吸收马力的增大会带来引擎11的液压负载的增大,并带来引擎11可接受的基于电动发电机12的辅助转矩的增大。而且,引擎11可接受的辅助转矩的增大会带来电动发电机12可消耗的再生电力量的增大,甚至会带来回转用电动机21可生成的再生电力量的增大。由此,流量控制阀40b能够将再生电力间接地作为热而消耗,从而能够可靠地消耗回转用电动机21所生成的再生电力。另一方面,也可以将引擎11的目标转速维持较低的状态。通过将引擎11的动能维持较低的状态而可接受的再生电力增加。
图3是表示蓄电系统120的结构的框图。蓄电系统120包括作为第1蓄电器的电容器19、升降压转换器100、作为总线线路的DC总线110。作为第2蓄电器的DC总线110控制作为第1蓄电器的电容器19、电动发电机12及回转用电动机21之间的电力授受。在电容器19上设置有用于检测电容器电压值的电容器电压检测部112和用于检测电容器电流值的电容器电流检测部113。通过电容器电压检测部112和电容器电流检测部113而检测的电容器电压值和电容器电流值被供给到控制器30。
并且,在电容器19中设置有作为用于检测电容器19的温度的温度检测部的温度传感器M2。并且,在升降压转换器100中也设置有作为用于检测升降压转换器100的温度的温度检测部的温度传感器M3。另外,温度传感器M2及温度传感器M3例如由热敏电阻构成,将各检测值对控制器30进行输出。并且,电容器19的温度也可以通过检测在电容器19的冷却中使用的冷却水的温度而间接地检测。
升降压转换器100按照电动发电机12及回转用电动机21的运行状态进行切换升压动作和降压动作的控制,以使DC总线电压值落在一定范围内。DC总线110配置于逆变器18及20与升降压转换器100之间,进行电容器19、电动发电机12及回转用电动机21之间的电力授受。
并且,在电容器19与升降压转换器100之间设置有切换开关M4。切换开关M4为按照来自控制器30的控制信号来切换电容器19与升降压转换器100之间的导通/切断的开关。
控制器30为作为进行混合式挖土机的驱动控制的主控制部的控制装置。在本实施例中,控制器30由包括CPU及内部存储器的运算处理装置构成,通过使CPU执行储存于内部存储器中的驱动控制用程序而实现各种功能。
并且,控制器30将从压力传感器29供给的信号转换为速度指令,并进行回转用电动机21的驱动控制。从压力传感器29供给的信号相当于表示为了使回转机构2回转而操作了操作装置26时的操作量的信号。
并且,控制器30进行电动发电机12的运行控制(电动(辅助)运行或发电运行的切换),并且进行通过驱动控制作为升降压控制部的升降压转换器100而进行电容器19的充放电控制。并且,控制器30根据电容器19的充电状态、电动发电机12的运行状态(辅助运行或发电运行)及回转用电动机21的运行状态(动力运行或再生运行)进行升降压转换器100的升压动作与降压动作的切换控制,由此进行电容器19的充放电控制。
该升降压转换器100的升压动作与降压动作的切换控制,根据通过DC总线电压检测部111检测的DC总线电压值、通过电容器电压检测部112检测的电容器电压值及通过电容器电流检测部113检测的电容器电流值而进行。
作为辅助马达的电动发电机12所生成的电力在经由逆变器18供给到蓄电系统120的DC总线110之后,经由升降压转换器100供给到电容器19,或者经由逆变器20供给到回转用电动机21。并且,通过回转用电动机21再生运行而生成的再生电力在经由逆变器20供给到蓄电系统120的DC总线110之后,经由升降压转换器100供给到电容器19,或者经由逆变器18供给到电动发电机12。并且,蓄积于电容器19的电力经由升降压转换器100及DC总线110供给到电动发电机12及回转用电动机21中的至少一方。
接着,参考图4对在蓄电系统120中产生异常时,控制器30使蓄电系统120停止的处理(以下,设为“蓄电系统停止处理”。)进行说明。另外,图4是表示蓄电系统停止处理的流程的流程图,控制器30以规定周期重复执行该蓄电系统停止处理。并且,蓄电系统120的“异常”可以包括产生了应停止电容器19中的电力的流入流出的现象的所有情况。
首先,控制器30判定蓄电系统120是否异常(步骤S1)。在本实施例中,控制器30根据DC总线电压检测部111、电容器电压检测部112、电容器电流检测部113、温度传感器M2、温度传感器M3等的输出来判定蓄电系统120是否异常。具体而言,控制器30在电容器19的温度成为规定温度以上的情况下,或者在升降压转换器100的温度成为规定温度以上的情况下,判定蓄电系统120异常。并且,控制器30在电容器电压值脱离规定范围的情况下,且在电容器电流值脱离规定范围的情况下,或者在DC总线电压值脱离规定范围的情况下,判定蓄电系统120异常。并且,控制器30在检测到对电容器19中的电容器单体的状态进行控制管理的电池管理单元的故障的情况下,或者在电池管理单元检测到电容器单体异常(电容器单体的过充电、过放电、基于电容器单体的容量测量结果的电容器单体的劣化等)的情况下,也可以判定蓄电系统120异常。并且,控制器30在检测到DC总线电压检测部111、电容器电压检测部112、电容器电流检测部113、温度传感器M2、温度传感器M3等异常的情况下,也可以判定蓄电系统120异常。并且,控制器30在根据电容器19的内部电阻的测量结果而检测到电容器19的劣化的情况下,也可以判定为蓄电系统120异常。
在判定为蓄电系统120异常的情况下(步骤S1的是),控制器30使蓄电系统120停止(步骤S2)。在本实施例中,控制器30向切换开关M4输出控制信号(切断信号)并切断电容器19与升降压转换器100之间。并且,控制器30将处于内部存储器的蓄电系统状态标志的值设为“1”(停止状态)。蓄电系统状态标志为存储蓄电系统120的状态的标志,作为初始值设定有“0”(工作状态)。而且,控制器30停止升降压转换器100的工作。另外,控制器30也可以仅通过停止升降压转换器100的工作而使蓄电系统120停止。
另一方面,在判定为蓄电系统120不异常的情况下(步骤S1的否),控制器30不使蓄电系统120停止,而是结束这次的蓄电系统停止处理。并且,控制器30即使在停止了蓄电系统120的情况下,也无需再次开始蓄电系统120的工作,而是结束这次的蓄电系统停止处理。
但控制器30在停止了蓄电系统120之后判定为蓄电系统120不异常的情况下,可以再次开始蓄电系统120的工作(步骤S3)。用虚线表示的步骤S3表示使蓄电系统120再次开始工作的处理为可以省略的处理。具体而言,控制器30通过向切换开关M4输出控制信号(导通信号)而导通电容器19与升降压转换器100之间。并且,控制器30将处于内部存储器中的蓄电系统状态标志的值设为“0”(工作状态)。而且,控制器30再次开始升降压转换器100的工作。另外,控制器30在仅通过停止升降压转换器100的工作而使蓄电系统120停止的情况下,通过再次开始升降压转换器100的工作而再次开始蓄电系统120的工作。
如此,控制器30在判定为蓄电系统120异常的情况下使蓄电系统120停止。
接着,参考图5对进行了回转操作的情况下控制器30按照蓄电系统120的状态来切换回转控制的内容的处理(以下,设为“回转控制切换处理”。)进行说明。另外,图5是表示回转控制切换处理的流程的流程图,控制器30在进行了回转操作的情况下执行该回转控制切换处理。
首先,控制器30判定蓄电系统120是否处于停止状态(步骤S11)。在本实施例中,控制器30参考处于内部存储器的蓄电系统状态标志来判定蓄电系统120是否处于停止状态。
在判定为蓄电系统120处于停止状态的情况下(步骤S11的是),控制器30采用蓄电系统停止时回转控制而作为回转控制的内容(步骤S12)。在本实施例中,在蓄电系统状态标志的值为“1”(停止状态)的情况下,控制器30采用蓄电系统停止时回转控制。另外,关于蓄电系统停止时回转控制的详细内容将进行后述。
另一方面,在判定为蓄电系统120不处于停止状态的情况下(步骤S11的否),控制器30采用正常时回转控制而作为回转控制的内容(步骤S13)。在本实施例中,在蓄电系统状态标志的值为“0”(工作状态)的情况下,控制器30采用正常时回转控制。在正常时回转控制中,控制器30使电容器19充放电,以便电容器19能够维持规定的充电率(SOC)。具体而言,控制器30将电容器19的SOC维持在适当的级别(例如70%),以便即使电容器19从回转用电动机21等各种电负载接受到再生电力,或者以电容器19的充电以外的目的接受到通过电动发电机12进行的发电而产生的发电电力也不会成为过充电。
另外,在本实施例中,电容器19的SOC根据电容器电压检测部112所检测的电容器电压值而算出。但电容器19的SOC可以通过测量电容器19的内部电阻而导出,也可以使用其它任意的公知方法而导出。
并且,控制器30在判定为蓄电系统120处于停止状态的情况下(步骤S11的是),判定挖土机的姿势是否处于不稳定状态(步骤S14),在这基础上,也可以确定是否采用蓄电系统停止时回转控制。
例如,控制器30在根据倾斜传感器M1的输出检测出挖土机位于倾斜地面的情况下,判定为挖土机的姿势处于不稳定状态。或者,也可以在根据分解器22的输出算出的回转速度为规定值以上的情况下,判定为挖土机的姿势处于不稳定状态。或者,也可以在由动臂角度、斗杆角度及铲斗角度算出的挖土机的作业半径(回转中心与铲斗6的距离)为规定值以上的情况下,判定为挖土机的姿势处于不稳定状态。或者,也可以在由动臂缸压力算出的铲斗6内的沙土等的重量为规定值以上的情况下,判定为挖土机的姿势处于不稳定状态。另外,动臂角度、斗杆角度、铲斗角度、动臂缸压力等,使用公知的传感器而被检测。
在判定为挖土机的姿势处于不稳定状态的情况下(步骤S14的是),控制器30采用蓄电系统停止时回转控制(步骤S12)。
另一方面,在判定为挖土机的姿势不处于不稳定状态的情况下(步骤S14的否),控制器30使上部回转体3的回转停止(步骤S15)。具体而言,若在回转过程中,则即使为进行回转操作的情况,控制器30也通过使机械制动器23工作而使上部回转体3的回转停止。或者,若不是在回转过程中,则即使为进行了回转操作的情况,控制器30也不会使电动发电机12及回转用电动机21动作,以避免开始上部回转体3的回转。并且,控制器30也可以通过使引擎11停止而完全停止挖土机。
另外,用虚线表示的步骤S14及步骤S15表示判定挖土机的姿势是否处于不稳定状态的处理、及停止回转的处理为可以省略的处理。
如此,控制器30按照蓄电系统120的状态而切换回转控制的内容。
接着,对蓄电系统停止时回转控制的详细内容进行说明。在蓄电系统停止时回转控制中,当回转用电动机21为动力运行状态时,控制器30利用引擎11的驱动力使电动发电机12作为发电机发挥功能。而且,仅通过电动发电机12所生成的电力来驱动回转用电动机21。
另外,控制器30可以限制速度指令、回转转矩等(以下,设为“回转转矩等”。),以免回转速度超过规定值。这是为了使之后的回转再生时回转用电动机21所生成的再生电力的最大值不超过电动发电机12的可消耗电力。另外,可消耗电力为作为辅助引擎11的电动机而发挥功能的电动发电机12可接受的电力,引擎11的负载越大则越大。例如在液压驱动器被操作的情况下,由于引擎11的液压负载较大,因此可消耗电力变得较大。
若限制回转转矩等,则上部回转体3的最大回转速度降低。此时,在进行液压驱动器的操作的情况下,控制器30可以按照最大回转速度的降低而使液压驱动器的动作速度降低。这是为了配合操作人员所希望的操作感。具体而言,控制器30按照最大回转速度的降低而控制调整主泵14的斜板偏转角的调整器(未图示。),从而使主泵14的吐出量减少。
接着,参考图6,对在蓄电系统停止时回转控制中当回转用电动机21处于再生运行状态时控制器30对回转用电动机21的再生电力进行控制的处理进行说明。另外,图6是表示该处理的流程的流程图,控制器30在回转用电动机21为再生运行状态时以规定的控制周期重复执行该处理。
概括地讲,控制器30在停止了蓄电系统120的情况下,当使回转用电动机21再生运行时,按照挖土机的姿势来限制制动转矩。这是为了防止破坏在使回转中的上部回转体3停止时产生的、通过基于上部回转体3的惯性所产生的反作用而处于不稳定状态的挖土机的平衡。另外,制动转矩基本上为回转用电动机21通过再生运行而产生的制动转矩,但也可以包括通过机械制动器23而产生的制动转矩。
首先,控制器30使回转用电动机21所生成的再生电力在电动发电机12中消耗(步骤S61)。例如不管引擎11是否需要辅助输出,都使电动发电机12强行作为电动机而发挥功能。
并且,控制器30在挖土机的姿势处于不稳定状态的情况下限制再生电力(步骤S62)。例如,控制器30通过抑制回转用电动机21的励磁电流而减小回转用电动机21所生成的再生电力。该情况下,控制器30按照再生电力的减小而使电动发电机12的辅助输出减小。将回转用电动机21所产生的制动转矩限制为小于规定的制动转矩,这是为了防止在使回转中的上部回转体3停止时产生的基于上部回转体3的惯性的反作用变得过大。并且,在并用机械制动器23的情况下,控制器30也可以通过使机械制动器23间断地工作而限制机械制动器23所产生的制动转矩。
另外,控制器30在回转用电动机21的再生电力超过电动发电机12的可消耗电力的情况下,也可以将其超过量作为热而消耗。具体而言,控制器30根据检测流经逆变器20的电流的电流检测部(未图示。)的输出来判定再生电力是否超过可消耗电力(步骤S63)。而且,在判定为再生电力超过可消耗电力的情况下(步骤S63的是),控制器30通过使热消耗部40工作而将其超过量作为热而消耗(步骤S64)。这是为了通过可靠地消耗回转用电动机21所生成的所有再生电力而产生所希望的制动力。
另外,用虚线表示的步骤S63及步骤S64表示判定再生电力是否超过可消耗电力的处理、及将超过量作为热而消耗的处理为可以省略的处理。这是为了在回转动力运行时通过限制回转转矩等而限制回转动作,从而能够防止在回转再生时再生电力超过可消耗电力。
通过以上结构,控制器30在停止了蓄电系统120的情况下,当使回转用电动机21动力运行时,将作为发电机而发挥功能的电动发电机12的发电电力供给到回转用电动机21。并且,在停止了蓄电系统120的情况下,当使回转用电动机21再生运行时,将回转用电动机21的再生电力供给到作为电动机而发挥功能的电动发电机12。因此,即使在停止了蓄电系统120的情况下,也能够适当地驱动电动回转系统。其结果,即使在不稳定的姿势的挖土机中因产生蓄电系统120的异常而使电动回转系统停止时,也通过容许之后的电动回转系统的驱动能够使挖土机以稳定的姿势移动。
并且,本发明的实施例所涉及的挖土机也可以具有将回转用电动机21的再生电力作为热而消耗的热消耗部40。该情况下,即使在再生电力比电动发电机12的可消耗电力大的情况下,也能够可靠地消耗所有再生电力,并能够使上部回转体3以所希望的制动转矩停止。
并且,控制器30在停止了蓄电系统120的情况下,也可以通过限制使回转用电动机21动力运行时的回转转矩等而限制在之后使回转用电动机21再生运行时回转用电动机21所生成的再生电力。该情况下,能够防止再生电力变得比电动发电机12的可消耗电力大,能够使所有再生电力在电动发电机12中可靠地消耗,并能够使上部回转体3以所希望的制动转矩停止。
并且,控制器30在停止了蓄电系统120的情况下,且在进行包括回转操作和液压驱动器的操作的复合操作的情况下,也可以按照使回转用电动机21动力运行时的回转转矩等的限制来限制液压驱动器的动作。该情况下,配合最大回转速度的降低能够降低液压驱动器的动作速度,能够实现操作人员所希望的操作感。
并且,控制器30在停止了蓄电系统120的情况下,当使回转用电动机21再生运行时,在挖土机的姿势处于不稳定状态的情况下可以限制制动转矩。该情况下,能够防止导致挖土机的平衡通过在使回转中的上部回转体3停止时产生的、基于上部回转体3的惯性产生的反作用而破坏。
以上,对本发明的优选实施例进行了详细说明,但本发明并不限定于上述实施例,在不脱离本发明的范围的情况下可以对上述的实施例追加各种变形及替换。
并且,本申请主张基于2014年3月31日于日本申请的日本专利申请2014-074521号的优先权,并将这些日本专利申请的全部内容通过参考而援用于本申请。
符号说明
1-下部行走体,1A、1B-液压马达,2-回转机构,3-上部回转体,4-动臂,5-斗杆,6-铲斗,7-动臂缸,8-斗杆缸,9-铲斗缸,10-驾驶室,11-引擎,12-电动发电机,13-变速器,14-主泵,15-先导泵,16-高压液压管路,17-控制阀,18、20-逆变器,19-电容器,21-回转用电动机,22-分解器,23-机械制动器,24-回转变速器,25-先导管路,26-操作装置,26A、26B-操纵杆,26C-踏板,27-液压管路,28-液压管路,29-压力传感器,30-控制器,40-热消耗部,40a-电阻部,40b-流量控制阀,100-升降压转换器,110-DC总线,111-DC总线电压检测部,112-电容器电压检测部,113-电容器电流检测部,120-蓄电系统,M1-倾斜传感器,M2-温度传感器,M3-温度传感器,M4-切换开关。
Claims (11)
1.一种挖土机,其具有:
回转体;
液压系统,设置于所述回转体;
液压泵,与所述液压系统连接;
引擎,与所述液压泵连接;
电动发电机,与所述引擎及所述液压泵连接;
蓄电系统;
回转用电动机,驱动所述回转体;
总线线路,连接所述电动发电机、所述蓄电系统及所述回转用电动机;及
控制装置,控制所述电动发电机、所述蓄电系统及所述回转用电动机的动作,
所述控制装置在所述蓄电系统中产生异常而停止了所述蓄电系统的情况下,当使所述回转用电动机再生运行时,将所述回转用电动机的再生电力供给到所述电动发电机,使所述电动发电机作为电动机而动作,由此通过所述引擎及所述液压系统来消耗所述回转用电动机的再生电力。
2.根据权利要求1所述的挖土机,其具有:
热消耗部,将所述回转用电动机的再生电力中的、超过所述电动发电机的可消耗电力的量的电力作为热而消耗。
3.根据权利要求1所述的挖土机,其中,
所述控制装置在停止了所述蓄电系统的情况下,限制使所述回转用电动机动力运行时的回转速度或回转转矩,并且,使液压驱动器的动作速度降低。
4.根据权利要求3所述的挖土机,其中,
所述控制装置在停止了所述蓄电系统的情况下,且在进行包括回转操作和液压驱动器的操作的复合操作的情况下,按照使所述回转用电动机动力运行时的所述回转转矩的限制而限制所述液压驱动器的动作。
5.根据权利要求1所述的挖土机,其具有:
倾斜地面检测部,检测所述挖土机位于倾斜地面的情况,
所述控制装置在检测出所述挖土机位于倾斜地面且停止了所述蓄电系统的情况下,当使所述回转用电动机动力运行时,将作为发电机而发挥功能的所述电动发电机的发电电力供给到所述回转用电动机,当使所述回转用电动机再生运行时,将所述回转用电动机的再生电力供给到作为电动机而发挥功能的所述电动发电机。
6.根据权利要求1所述的挖土机,其中,
所述控制装置在停止了所述蓄电系统的情况下,当使所述回转用电动机再生运行时,按照挖土机的姿势而限制制动转矩。
7.根据权利要求1所述的挖土机,其中,
所述控制装置通过利用流量控制阀限制所述液压泵吐出的工作油的流量来使所述电动发电机可消耗的再生电力增大。
8.根据权利要求1所述的挖土机,其中,
所述控制装置通过降低所述引擎的目标转速来使所述电动发电机可消耗的再生电力增大。
9.根据权利要求1所述的挖土机,其中,
所述控制装置在所述蓄电系统为停止状态的情况下,按照所述挖土机的姿势来确定是使所述回转体的回转停止还是采用蓄电系统停止时回转控制。
10.根据权利要求9所述的挖土机,其中,
所述控制装置在要使所述回转体的回转停止的情况下,在处于回转中时,使机械制动器工作,在未处于回转中时,不使所述电动发电机及所述回转用电动机动作。
11.根据权利要求9所述的挖土机,其中,
所述控制装置即使在停止了所述回转体的回转时,也根据所述挖土机的姿势来许可之后的回转。
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US20160340865A1 (en) | 2016-11-24 |
CN105940162A (zh) | 2016-09-14 |
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EP3128086A1 (en) | 2017-02-08 |
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