JP2012139117A - Electric husbandry working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem of an electric husbandry working machine wherein safety for the current change in a discharge control circuit is not considered though the circuit can be shut off by a breaker against overcurrent between a battery and an electric motor.SOLUTION: The electric husbandry working machine is driven by the electric motor 8 with the battery B having a charge control circuit 42a. In the electric husbandry working machine, a turn control device is configured to reduce or stop the rotation of the electric motor 8 in turning as a turn sensor 34 detects the steering of turning.

Description

  The present invention relates to an electric management work machine that includes a rechargeable battery and an electric motor, and performs a tilling operation while being driven by the electric motor.

  Patent Document 1 discloses the arrangement configuration of the battery unit and the electric motor and the arrangement configuration of the controller. Patent Document 2 includes a controller to which an operation signal receiving unit, a control unit, a motor drive circuit, and the like are connected. The control unit receives signals from a charger, a handle mounting switch, a rotation sensor, and the like, and a display unit In addition, a display signal is issued and rotation control of the electric motor is performed via a motor drive circuit. Furthermore, Patent Document 3 discloses a configuration in which an electric working machine is provided with a breaker in the electric circuit of the electric motor, and the circuit is automatically cut off when the electric circuit current becomes excessive due to an increase in the load on the working machine. Yes.

JP 2009-22173 A JP 2004-275100 A JP-A-6-98601

  Although the circuit breaker can be used for the overcurrent between the battery and the electric motor, the safety measures associated with the current change in the discharge control circuit are not considered and need to be improved. This invention reduces the power consumption of the battery in the turning operation of the work machine, lengthens the electric work time, and improves the work efficiency.

  According to the first aspect of the present invention, in the electric management work machine that operates by being driven by the electric motor (8) that is electrically driven by the battery (B) having the charge control circuit (42a), the turning sensor (34) includes the work machine. By detecting the turning steering, the drive rotation of the electric motor (8) during the turning is reduced or stopped, and the configuration of the electric management work machine is provided.

  The invention described in claim 2 has an operation switch (33) for driving the electric motor (8) and an operation signal control circuit (51). When the normal drive starts, the operation switch ( 33) When ON is detected, the electric motor (8) starts rotating. When the operation is stopped, the electric motor (8) is detected when the operation switch is detected to be OFF (T2), which is shorter than the predetermined time (T1). The time from when the turning sensor (34) detects the turning of the work implement to the time when the drive rotation of the electric motor (8) is reduced or stopped is detected by turning off the operation switch. The electric management work machine according to claim 1, characterized in that it is longer than the time (T2) from when the electric motor (8) stops.

  According to the first aspect of the present invention, in the working machine driven by the electric motor 8, the driving force of the electric motor 8 is automatically reduced or stopped during the turning steering stroke of the working machine. Therefore, to reduce or eliminate the electric load of the electric motor 8 required for turning of the work machine, to reduce the number of times of charging, to maintain the electric capacity of the battery B for a long time, and to maintain the substantial work process for a long time. Can do.

  According to the second aspect of the invention, the switch ON time T3 as the operation stop determination time during the work implement turning operation is made longer than the operation stop switch ON time T2 during the normal work operation, thereby ensuring the turning. Therefore, the driving force of the electric motor 8 is reduced or stopped, so that a slight change in tillage direction can be prevented from being erroneously determined as turning.

A side view of an electric field cultivator. The rear view of an electric field cultivator. The top view of an electric field cultivator. The enlarged side view of an electric power tiller. The front view in a battery case. The block circuit diagram (A) of electric motor drive control, and the block circuit diagram (B) of a switching circuit part. The block circuit diagram which shows the connection circuit between a battery and an electric motor. The flowchart of switch control. The flowchart of switch control. Side views (A) and (B) showing the operation of the operation lever portion. Each plan view (A) (B). Block diagrams (A) and (B) of the monitor unit control unit, and flowcharts (C) and (D) of motor drive control during the turning operation. The block diagram (A) of a monitor unit control part, and the flowchart (B) of turning steering control. The block diagram (A) of a monitor unit control part, and the flowchart (B) of the monitor control at the time of motor load current control. The block diagram (A) of a monitor unit control part, and the flowchart (B) of usable time display control. The block diagram (A) of a monitor unit control part, and the flowchart (B) (C) of the monitor control at the time of temperature abnormality detection, and the overcharge. Flowcharts (A) and (B) of monitor control when temperature abnormality is detected during discharge and when overdischarge is stopped. The block circuit diagram (A) of a motor electric control circuit, and the block circuit diagram (B) of the power supply circuit. The front view of the battery pack.

  Based on the drawings, the electric management work machine is composed of a cultivator-type tillage work machine that drives and rotates the rotary claw 4 to propel and drive the soil surface. A battery B and an electric motor 8 that is electrically driven by the battery B are mounted on the work machine frame 1. Below the front output motor 8 of the frame 1, there is provided a motor transmission shaft 10 in the vertical direction and a transmission case 2 in which the motor transmission shaft 10 is housed in a bearing. A rotary shaft 3 is rotatably supported around the horizontal axis by transmission through the transmission shaft 10. A rotary claw 4 is disposed around the rotary shaft 3 projecting from the central transmission case 2 to the left and right sides, and side disks 5 are attached to both ends to constitute a rotary portion R.

  The motor base 6 having a disk shape that covers the upper portion of the rotary portion R is mounted and supported on the work machine frame 1 at the bottom, and the electric motor 8 is attached to the front part on the upper side of the motor base 6, and the battery part on the rear part. A battery case 9 containing B is mounted. The upper side of the motor base 6 is covered with a motor cover 7 so as to be opened and closed. The battery case 9 has a handle 21 at the upper end for easy handling, and a protrusion 22 for fitting the engagement hole formed in the motor base 6 on the bottom surface to prevent the movement of the motor case 9. Is forming.

  A handle frame 11 is provided at the rear part of the work machine frame 1 obliquely upward and rearward, and a pair of operation handles 12 are provided on both the left and right sides of the rear end part. A grip 13 is provided on each operation handle 12. ing. The right-hand handle 12 is provided with an operation lever 17 in the vicinity of the grip 13 for turning the electric motor 8 on and off.

  At the rear end of the work machine frame 1, an auxiliary wheel 14 that supports the machine body by rotating downward when the work machine is moved, and a resistance rod 15 that prevents dashing during the tilling work are attached. When the auxiliary wheel 14 is not in use, the auxiliary wheel 14 is rotated backward to be in the stowed posture.

  A key switch 16 for turning on / off the power from the battery B is provided in an operation case portion formed at a position where the operation handle 12 is attached to the handle frame 11. Further, on the rear surface of the battery case 9, an output terminal 18 of a motor drive circuit 20 for connecting the battery B in the battery case 9 and the electric motor 8 and a charging terminal 19 for charging the battery B are provided. Are provided.

  The battery case 9 is provided with the output terminal 18 and the charging terminal 19 on the rear outer wall portion, the battery B (battery pack 40) including a plurality of battery cells 41 is provided therein, and a charging circuit is provided on the upper surface of each battery cell 41. The built-in charge control board 42 is guided by the guide rail at the bottom and slid back and forth so that it can be inserted and removed. On the upper side of this, the discharge control board 43 incorporating the discharge circuit is slidable back and forth. And is detachable. The terminals of the charging control board 42 are connected to the charging terminals 19 and are directly electrically connected to the battery cells 41. In addition, the discharge control board 43 is configured in a circuit so that a voltage due to the series connection of the plurality of battery cells 41 can be output to the output terminal 18.

  The discharge control board 43 is interposed in the middle of the motor drive circuit 20 that connects the battery cell 41 and the electric motor 8, and the discharge control board 43 includes an output control circuit 43a, a current detection circuit 45, a switching circuit 46, A current smoothing circuit 47, an overdischarge prevention circuit 48, a short circuit prevention circuit 49, and the like are provided (mainly refer to FIGS. 5 to 7).

  Among these, the output control circuit 43a receives the operation signal from the operation signal control circuit 51 by the key switch 16 and the operation limit switch 33, and outputs the switching circuit 46 to ON / OFF switching, and the ON / OFF switching output of the switching circuit 46. The motor drive circuit 20 is configured to be switched off or disconnected.

  Further, the current detection circuit 45 detects the control current of the discharge control board 43, and when the state exceeding the preset set current value continues for a specified time, the switching circuit 46 is turned off and the motor drive circuit 20 is shut off. It is configured as follows.

  Each of the charge control boards 42 incorporates an overcharge prevention circuit 44, while the discharge control board 43 has a current detection circuit 45, a current smoothing circuit 47, an overdischarge prevention circuit in addition to the output control circuit 43a as described above. 48, a short circuit prevention circuit 49, a switching circuit 46, an output limiting circuit 68, and the like are incorporated. The current smoothing circuit 47 is a circuit for smoothing a surge current generated when the operation signal is input.

  Although the short-circuit prevention for the discharge control board 43 can be prevented by the short-circuit prevention circuit 49, the short-circuit prevention for each charge control circuit 42a is not provided for each of the discharge control boards 42, and a common short-circuit prevention circuit is provided for them. 50 substrates are provided in the battery case 9 between the charging terminal 19 and the discharge control substrate 42 so as to be freely inserted into and removed from one side of the discharge control substrate 43 in a vertical posture.

  The output terminal 18 of the battery case 9 is connected to the electric motor 8 by the motor drive circuit 20 as the output terminal 18 to the electric motor 8 and is connected to the operation signal control circuit 51 as the signal input / output terminal 18. From this signal control circuit 51, an on / off signal such as an operation (limit) switch 33 operated by the key switch 16 or the operation lever 17 can be input and an operation signal can be output to the input control circuit 43a. Based on the output from the input control circuit 43a, a battery remaining amount, a warning display signal, and the like are input from the signal control circuit 51, and output to these LEDs 26 such as a power on / off LED, an operation warning LED, and a battery remaining amount LED. It is configured to do.

  The output terminal 18 is connected to the electric motor 8 through a breaker 55. The breaker 55 is composed of a solenoid-operated switch that turns the motor drive circuit 20 on and off. When the current value of the motor drive circuit 20 increases, the breaker 55 is energized to turn off the switch to turn off the motor drive circuit 20 and turn off the electric motor 8. It is the structure used as a stop position. The breaker 55 is provided on the upper surface of the rear part of the motor base 6 in the form of an ON-OFF switch.

  When the operation lever 17 of the right hand side handle 12 is gripped against the spring 25 and rotated around the support shaft 30, the operation switch 33 is turned ON, and the electric motor 8 is driven by a signal from the operation control circuit 51. Drive. When the grip of the operation lever 17 is released, it is returned by the spring 25, the operation switch 33 is turned OFF, and the electric motor 8 is also stopped.

  On the upper side of the operation lever 17, the thumb of the right hand pushes and moves against the spring 35, and the pin position can be switched between the small diameter portion 31 a and the large diameter portion 31 b each time this push operation is performed. When the check pin 31 is provided and the small-diameter portion 31a of the check pin 31 is opposed to the gripping position of the operation lever 17, the operation switch 33 can be turned on by allowing the operation lever 17 to rotate. When the large-diameter portion 31b is opposed, the operation lever 17 is not allowed to rotate, and therefore the operation switch 33 cannot be turned on even when the operation lever 17 is gripped, thereby maintaining the operation safety. is doing.

  In the tilling work, the state of charge of the battery B is confirmed by the presence or absence of blinking of the battery remaining amount LED 28. If insufficient, the charger 65 is connected to the charging terminal 19 and predetermined charging is performed. When starting the tilling work, the key switch 16 is turned on, the check pin 31 is pressed to switch to the small diameter portion 31a, and the operation switch 33 is turned on by gripping and turning the operation lever 17, and then the operation switch 33 is turned on. The signal is transmitted to the output control circuit 43 a via the operation signal control circuit (substrate) 51, the switching circuit 46 is operated to the circuit connection side, and the electric motor 8 is driven by the battery B. The rotary part R rotates and can perform tilling work.

  When stopping the tilling work, when the operator releases the operation lever 17, the spring 25 is returned, and the drive current from the battery B is cut off by the operation signal generated when the operation switch 33 is turned off. The driving of R is stopped.

  The operation of the above configuration will be described with reference to the flowcharts of FIGS. When the key switch 16 is turned on (step S101), various switch signals and various detection sensor values are read (S102). Next, it is determined whether or not the operation switch 33 is ON (S103). When the ON signal output of both steps S101 and S103 is an operation signal, an ON signal is output to the switching circuit 46 (S104). When this output is received, the motor drive circuit 20 is in a connected state, and the battery B and the electric motor 8 are in a circuit connected state and are driven to rotate (S105).

  During operation, the current detection circuit 45 constantly monitors the control current and compares the detected current value with a predetermined value (S106), and the breaker 55 detects the load current value of the motor drive circuit 20 to detect an overload condition. It is determined whether or not (S107). If the value is equal to or smaller than the predetermined value in step S106 and not in an overload state in step S107, the electric motor 8 maintains the rotational drive state in order to continue the ON signal to the switching circuit 46.

  On the other hand, in the comparison with the predetermined value in step S106, if it is not less than the predetermined value and the preset specified time is exceeded, an OFF signal is output to the switching circuit 46 as a control current abnormality (S111), and the electric motor 8 is Stop (S112).

As described above, both the current detection circuit 45 and the breaker 55 can protect the battery B, the electric motor 8, the wiring, and the like.
Further, as shown in FIG. 9, the output limiting circuit 68 that limits the driving of the electric motor 8 when the operation switch 33 is intermittently connected is stopped after the step S111. Whether or not the key switch 16 is turned on is determined (S201), and when the key switch 16 is turned on (S202), an ON output is made to the switching circuit 46 (S203). On the other hand, when the predetermined time has not elapsed in step S202, the switching circuit 46 continues the OFF output (S205). With this configuration, when the operation switch 16 is turned off, even if the operation switch 16 is turned on, the input is not accepted even when the operation switch 16 is turned on, so that the hunting operation at the start of the electric motor 8 can be suppressed. B and the output control circuit 43a are protected.

  Here, in the electric management work machine that is driven by the electric motor 8 driven by the electric motor 8 with the battery B having the charge control circuit 42a, the turning sensor 34 detects the turning operation (see FIG. 12). The rotation of the electric motor 8 is reduced (S1) or stopped (S2).

  The operation of the work machine is performed by driving an electric motor 8 that is electrically driven from the battery B. For this reason, when the battery B is discharged at the start of work and the storage capacity is low, long-term management work can be performed by charging through the charge control circuit 42a. Further, during the operation process by the management work machine, the turning steering process is often repeated at the end of each work travel process. When the turning operation process is reached, the turning sensor 34 detects the turning operation process. The rotation of the electric motor 8 of the working machine during this turning stroke is automatically reduced. Alternatively, the rotation of the electric motor 8 is automatically stopped. In the form in which the rotation of the electric motor 8 is stopped, the driving force by the electric motor 8 cannot be used in the turning steering after the stop. Then, the work implement is turned by manual operation of the operator, and the operation shifts to the work start posture in the subsequent work process, and the electric rotation of the electric motor 8 is started or the drive rotation speed is returned to the high speed position. , Resume subsequent work.

  The electric motor 8 includes an operation switch 33 for driving the electric motor 8 and the operation signal control circuit 51 (see FIG. 13). During normal driving, the electric motor is operated when the switch 33 is turned on for a predetermined time T1 or more. 8 is rotated (S3), and when stopped, the electric motor 8 is stopped when the time T2 is shorter than the predetermined time T1 (S4). The electric motor 8 is controlled to stop when the ON time 33 continues for an ON time T3 longer than the ON time T2 during the operation.

  When the operation switch 33 is turned on during the operation, the operation signal from the operation signal control circuit 51 is supplied to the discharge control circuit 43a, and the electric motor 8 is rotated through the current from the battery B to drive the work machine. . During this normal operation, when the operation switch 33 is turned ON and a certain ON time T1 elapses (S3), the motor drive signal 29 is output and the electric motor 8 is rotated. When stopping the drive rotation of the motor 8 during normal operation of the motor 8 (S4), the ON time T2 shorter than the predetermined ON time T1 or T3 (T1> T3> T2). This motor drive is stopped by the output. In the stop control, when the turning sensor 34 does not detect the turning operation, the ON time T2 is set as an ON time shorter than the ON time T3, and the ON time T2 elapses (S4). Then, the motor drive signal 29 for driving the motor 8 in operation is output to stop the motor 8 drive. In the stop control, when the turning sensor 34 detects the turning operation (S5), the motor driving signal 29 is output when the ON time T3 longer than the ON time T2 during the operation has elapsed. Then, the motor 8 is stopped.

  Next, mainly based on FIG. 14, the motor load current monitors 37 and 38 are provided, the current value at the time of work is displayed by a level meter or the like, and the current is low and the stable state is displayed as the eco mode. The driver can know the load during work and the proper working depth, and the battery capacity can be saved and the working time can be extended. An operation signal is generated from the operation switch 33 and supplied to the discharge control circuit 43, and current is supplied from the battery B to rotate the motor 8. This monitor load current 52 is detected (S6), the current monitor LED 37 is turned on, and it is determined whether the load current value is appropriate. If it is appropriate, the eco monitor LED 38 is turned on.

  Mainly based on FIG. 15, the motor current used for the calculation when displaying the usable time of the battery B is displayed as an average value (S7), and the display value is updated at regular intervals. The motor 8 is connected to the battery B, an operation signal is generated by the operation switch 33 ON, the operation signal is supplied to the discharge control circuit 43, and the current is supplied from the battery B to rotate the motor 8. During operation, the average value of the motor current within a certain time is calculated, the remaining workable time is calculated from the current and the battery voltage, and displayed on the remaining time monitor LED 28.

  Mainly based on FIG. 16 and FIG. 17, a temperature abnormality signal during charging of the battery B is sent to the charger side, and an abnormality monitor is displayed. The motor 8 is connected to the battery B, an operation signal is generated when the operation switch 33 is turned on and supplied to the discharge control circuit 43a, and current is supplied from the battery B to rotate the motor 8. During charging, the temperature sensor 53 in the battery pack is read (S8). If the temperature sensor 53 exceeds a certain value, the charging switch 54 of the charging circuit 42a is turned off as a temperature abnormality, and a charging stop signal 56 is output 57 to the charger 57 and displayed on the monitor. To do. A charge input signal 58 for generating a signal for charging the battery B is provided on the input side of the controller 23, and a discharge output 59 for outputting the motor 8 or the like is provided on the output side. During this charging, the cell voltage is read into the battery pack (S9), and if it is above a certain value, the charging switch 54 of the charging circuit 42a is turned off as the cell 41 is overcharged, and a charging stop signal is output to the charger. At the same time, it is displayed on the monitor.

  Further, a temperature abnormality signal during battery B discharge can be sent to the operation monitor side to display an abnormality. In the overdischarge state during discharge (S10), an overdischarge stop signal 57 can be sent to the operation monitor side to stop the discharge output 59 and display an abnormality.

Further, when the lower limit value of the battery cell voltage during discharge is detected (S11) and the discharge is interrupted, an interruption signal is sent to the operation monitor and displayed as a discharge abnormality.
Based on FIG. 18, when the key switch 16 is turned on and the operation switch 33 is not turned on within a certain time, the power supplied from the battery B to the monitor circuit 20 or the like via the key switch 16 is turned off. . Battery B is prevented from discharging. In the monitor unit 60, when the operation switch 33 is turned on, an operation signal is generated and supplied to the discharge control circuit 43a, current is supplied from the battery B, and the motor 8 is rotated. When the power supply circuit 61 and the timer circuit 62 are provided between the key switch 16 and the monitor circuit 27 and the timer is operated simultaneously with the ON of the key switch 16, the operation switch 33 is not turned ON within a certain time. The timer circuit 62 turns off the power supply circuit 61 to stop the power supply.

  After stopping the power supply in this way, it can be restored by turning on the operation switch 33. If the key switch 16 is left on, the battery B is discharged and becomes unusable. However, when the key switch 16 is turned on and the operation switch 33 is not turned on within a predetermined time, the key switch 16 is turned on from the battery B. The power supplied to the monitor circuit 27 and the like is turned off, and the operation switch 33 can be restarted. Battery B is prevented from discharging. The electric charger 65 via the charge control circuit 42 has charge monitor LEDs 66 and 67 for displaying a charge state. When charging is completed, the LED 66 is turned on, and during charging, the LED 67 is turned on.

  Moreover, FIG. 19 shows the form of the battery pack 40 used as the battery B of the said working machine. A plurality of battery packs 40 having the same shape and different capacities are configured so that the number of the battery packs 40 can be selected according to the working state. Each battery pack 40 is configured as a secondary battery by a charge control circuit 42a, a discharge control circuit 43a, and a plurality of battery cells 41. By changing the capacity or quantity of the battery cells 41, the voltage of the battery pack 40 is the same and the capacity can be changed. Further, the battery pack 40 may be provided with a charging power connector 63 and a discharging connector 64 so as to be connected to the charging terminal 19 and the discharging terminal 18.

8 Motor 33 Operation switch 34 Turning sensor 42a Charging control circuit 43a Output control circuit 51 Operation signal control circuit 41 Battery cell B Battery T1 Switch ON time (T1>T3> T2)
T2 switch ON time T3 switch ON time

Claims (2)

  In the electric management work machine that is driven by the electric motor (8) that is electrically driven by the battery (B) having the charge control circuit (42a), the turning sensor (34) detects the turning steering of the work machine. The electric management work machine characterized in that the drive rotation of the electric motor (8) during the turning is reduced or stopped.   The motor has an operation switch (33) for driving the electric motor (8) and an operation signal control circuit (51). When normal operation is started, the electric motor is detected when the operation switch (33) is turned on for a predetermined time (T1) or longer. When the rotation of (8) is started and the operation is stopped, the electric motor (8) is stopped when the operation switch is detected to be OFF (T2), which is shorter than the predetermined time (T1). 34) After the turning of the operation switch is detected, the electric motor (8) is stopped after the time until the rotation of the electric motor (8) is reduced or stopped after the rotation of the working machine is detected. The electric management work machine according to claim 1, characterized in that it is longer than a time (T2) until the start.

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