JP2018017011A - System for moving electrically-driven work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for moving an electrically-driven work machine, capable of protecting a power supply cable by making a distance between the electrically-driven work machine and a vehicle loaded with a power generator be kept in an appropriate state.SOLUTION: A system for moving an electrically-driven work machine 100 comprising a traveling body 120, a revolving superstructure 130 provided on the upper part of the traveling body, a working machine 150 connected to the revolving superstructure, an electric motor 135 that is an engine, a hydraulic pump 136 driven by the electric motor, and a hydraulic actuator driven by pressure oil discharged from the hydraulic pump comprises: a power generator 201; a vehicle 210 for supporting the power generator; a power supply cable 202 connecting the work machine and the power generator; a sensor 203A for detecting a relative distance between the work machine and the vehicle; a separation detection device 222A for outputting a separation warning signal by inputting a sensor signal and detecting separation causing the relative distance exceeding a predetermined upper limit value; and a separation warning device 204A that performs warning operation by the separation warning signal from the separation detection device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for moving an electrically driven work machine in which a hydraulic pump that discharges pressure oil that drives an actuator is driven by an electric motor. In particular, when the electrically driven work machine is in a place where the cable from the external power source does not reach or moves beyond the reach of the cable, power is supplied from the generator along with the vehicle on which the generator is mounted. The present invention relates to a system for moving an electrically driven work machine.

  When performing excavation work in tunnel tunnels, indoors, underground sites, etc., instead of engine-driven work machines that emit exhaust gas, an electric drive type that drives a hydraulic pump that discharges pressure oil that drives an actuator with an electric motor May be used (see Patent Document 1, etc.). In addition to the fact that maintenance of the engine is not necessary, in recent years, for example, a large-scale outdoor field where large generators are operated, electric driven work machines have been adopted due to the advantage that abundant power sources can be used. There is a case.

JP-A-10-102543

  An electrically driven work machine such as Patent Document 1 (hereinafter referred to as an electrically driven work machine when referred to as “work machine” unless otherwise specified) is supplied via a power supply cable. In this configuration, the electric motor is driven by electric power from an external power source. The hydraulic actuator can be operated by driving the hydraulic pump with the electric motor. However, in other words, the work machine cannot operate unless electric power is supplied to the electric motor. Therefore, when the external power source is fixed, the work machine cannot operate where the power supply cable does not reach, and the movement range is limited to the range where the power supply cable can reach even if the power supply cable arrives. Therefore, for example, when a work machine is self-propelled for loading and unloading and is loaded onto and unloaded from a trailer bed, and is self-propelled for a relatively long distance in the field, an external power source is within the reach of the power supply cable. Sometimes it is difficult.

  Therefore, it is conceivable to move the work machine while supplying a power from the generator with the vehicle on which the generator is mounted. However, in order for the work machine to travel smoothly, it is necessary to keep the distance between the work machine and the vehicle within an appropriate range. If the work machine and the vehicle are too far from each other, the power supply cable may be pulled excessively, the power supply cable may come off and the work machine may be moved. In severe cases, the possibility of the power supply cable being disconnected cannot be denied. .

  An object of the present invention is to provide a system for moving an electrically driven work machine that can keep a distance between a vehicle on which a generator is mounted and an electrically driven work machine at an appropriate state and protect a power feeding cable.

  In order to achieve the above object, a traveling body, a swiveling body provided on the upper part of the traveling body, a working machine connected to the swiveling body, an electric motor as a prime mover, a hydraulic pump driven by the electric motor, and the In a system for moving an electrically driven work machine that includes a hydraulic actuator that is driven by pressure oil discharged from a hydraulic pump to drive the work machine, a generator, a vehicle that supports the generator, and the electric drive type A power supply cable that connects a work machine and the generator, a sensor that detects a physical quantity that changes according to a relative distance between the electrically driven work machine and the vehicle, or a behavior of the power supply cable, and the relative distance is determined in advance. The separation that outputs a separation warning signal by detecting the input of the sensor signal that the electrically driven work machine and the vehicle are separated from each other by exceeding a set upper limit value. And output device, characterized by comprising a separating warning device for warning operation by separating warning signal from the separated detection device.

  According to the present invention, the distance between the vehicle on which the generator is mounted and the electrically driven work machine can be maintained at an appropriate state to protect the power supply cable, and the electrically driven work machine can be smoothly moved even without an external power source. Can be made.

It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 1st Embodiment of this invention. It is a side view of the electric drive type work machine which comprises the movement system of the electric drive type work machine of this invention. It is a side view of the power supply car which comprises the movement system of the electrically driven working machine of this invention. It is a functional block diagram of the control apparatus with which the system for a movement of the electrically driven work machine which concerns on 1st Embodiment of this invention was equipped. It is a flowchart showing the procedure of the warning command by the control apparatus with which the system for a movement of the electrically driven work machine which concerns on 1st Embodiment of this invention was equipped. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 2nd Embodiment of this invention. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 3rd Embodiment of this invention. It is a schematic diagram showing the example of 1 structure of the sensor with which the system for a movement of the electric drive type working machine which concerns on 3rd Embodiment of this invention was equipped. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 4th Embodiment of this invention. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 5th Embodiment of this invention. It is a schematic diagram showing the example of 1 structure of the sensor with which the system for a movement of the electrically driven working machine which concerns on 5th Embodiment of this invention was equipped. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 6th Embodiment of this invention. It is a schematic diagram showing the example of 1 structure of the sensor with which the system for a movement of the electrically driven working machine which concerns on 6th Embodiment of this invention was equipped. It is a functional block diagram of the control apparatus with which the system for a movement of the electrically driven work machine which concerns on 6th Embodiment of this invention was equipped. It is a flowchart showing the procedure of the warning command by the control apparatus with which the system for a movement of the electrically driven work machine which concerns on 6th Embodiment of this invention was equipped. It is a side view showing the whole structure of the movement system of the electric drive type working machine which concerns on 7th Embodiment of this invention. It is a schematic diagram showing the example of 1 structure of the sensor with which the system for a movement of the electrically driven working machine which concerns on 7th Embodiment of this invention was equipped. It is a schematic diagram showing the other structural example of the sensor with which the system for a movement of the electrically driven working machine which concerns on 7th Embodiment of this invention was equipped.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
1. FIG. 1 is a side view showing an overall configuration of a movement system for an electrically driven work machine according to the first embodiment of the present invention. The movement system of the electrically driven work machine shown in the figure includes an electrically driven work machine 100 (hereinafter referred to as work machine 100), a power supply vehicle 200, a sensor 203A, a control device 220 (FIG. 4), and a warning device 204 (FIG. 4). ). In the following description, when there is no notice, the front (left in FIG. 1) of the driver's seat of the working machine 100 is the front.

2. Electric Drive Type Work Machine FIG. 2 is a side view of the work machine 100. A work machine 100 shown in the figure is a work machine that mounts an electric motor instead of an engine (internal combustion engine) as a prime mover for driving a hydraulic pump, and drives the electric motor with electric power supplied from an external power source. The work machine 100 may be provided with a battery for driving an electric motor, but it is assumed that a battery for driving an electric motor is not provided in the present embodiment. The work machine 100 includes a vehicle body 110 and a work machine (front work machine) 150 attached to the vehicle body 110. The vehicle body 110 includes a traveling body 120 and a turning body 130.

2-1. The traveling body 120 may be a wheel-type traveling body, but in this embodiment is a crawler-type traveling body, and includes a track frame 121, a driven wheel (idler) 122, a driving wheel 123, a crawler (crawler belt) 124, and a traveling motor 125. It has.

  Although not shown, the track frame 121 is formed in an H shape when viewed from above, and supports a driven wheel 122 on the left and right sides and a driving wheel 123 on the rear. The output shaft of the travel motor 125 is connected to the shafts of the left and right drive wheels 123, respectively. The crawler 124 is wound around the driven wheel 122 and the driving wheel 123 on both the left and right sides. In addition, a revolving structure 130 is provided at the upper portion of the track frame 121 via a revolving wheel 126 so as to be able to turn. The travel motor 125 is a hydraulic motor. The travel motor 125 is driven in response to an operation of an operation lever device (not shown) in the cab.

2-2. Revolving body The revolving body 130 includes a revolving frame 131, a driver's cab 132, a counterweight 133, a power room 134, and the like.

  The revolving frame 131 is a base frame of the revolving body 130 and is provided on the upper part of the track frame 121 via the revolving wheel 126, and the revolving body 130 can revolve with respect to the traveling body 120 around the revolving center C. is there. A turning motor (not shown) is mounted on the turning frame 131 in the vicinity of the turning wheel 126, and the turning shaft of the turning motor meshes with a gear provided on the turning wheel 126, so 130 turns. Although an electric motor can be used as the swing motor, a hydraulic motor is used in this embodiment.

  The driver's cab 132 is disposed at a position offset to one side (left side in the present embodiment) in the left-right direction with respect to the turning center C. The counter weight 133 is a weight for balancing the weight with the work machine 150, and is provided at the rear end of the turning frame 131. The power cab 134 is located between the cab 132 and the counterweight 133. In the power chamber 134, in addition to the electric motor 135 and the hydraulic pump 136, a heat exchanger such as a radiator and an oil cooler (not shown), a valve unit for controlling the flow of pressure oil supplied from the hydraulic pump 136 to the hydraulic actuator, A hydraulic oil tank, a fuel tank, etc. are accommodated. The electric motor 135 is a prime mover, and the hydraulic pump 136 is driven by the electric motor 135 to suck in hydraulic oil in the hydraulic oil tank and discharge it as pressure oil. The engine (internal combustion engine) that drives the hydraulic pump 136 is not mounted on the work machine 100. The hydraulic pump 136 is located on the right side of the electric motor 135.

  For example, a control panel (not shown) is disposed in the revolving body 130 at a position in front of the hydraulic pump 9. In an engine-driven hydraulic excavator, a fuel tank may be disposed in front of the hydraulic pump. However, since the fuel tank is omitted in the work machine 100, a control panel can be installed here. This control panel is a device that receives power from the power source vehicle 200 and other external power sources, and although not particularly shown, the circuit breaker that shuts off and turns on the external power source as necessary, and electrically adjusts the frequency of the input power Inverter device capable of output. The electric power adjusted by the inverter at a frequency corresponding to the rotational speed of the electric motor 135 is supplied to the electric motor 135 through the control panel. A cable stand 137 that prevents damage to the power supply cable 202 due to contact with the traveling body 120 is provided on the upper part of the revolving structure 130, and supports the power supply cable 202.

2-3. Working machine The working machine 150 is an articulated front working machine including a working arm 151 and a bucket 154 that is a working tool. The work arm 151 includes a boom 152, an arm 153, a boom cylinder 155, an arm cylinder 156, and an attachment cylinder 157. The boom 152 is connected to the front portion of the swing body 130 so as to be pivotable in the vertical direction, the arm 153 is pivotally connected to the tip of the boom 152, and the bucket 154 is pivotally connected to the tip of the arm 153. The boom cylinder 155 is connected to the swing body 130 and the boom 152, and the arm cylinder 156 is connected to the boom 152 and the arm 153 at both ends. The attachment cylinder 157 has a proximal end coupled to the arm 153 and a distal end coupled to the distal end of the arm 153 and the bucket 154 via a link 158. The boom cylinder 155, the arm cylinder 156, and the attachment cylinder 157 are all hydraulic actuators, are driven by the pressure oil discharged from the hydraulic pump 136, and drive the work machine 150 by an expansion / contraction operation. Note that other work attachments such as a breaker, a bucket, a magnet, and a clamshell bucket may be attached to the work arm 151 instead of the bucket 154.

3. Power Car FIG. 3 is a side view of the power car 200. A power supply vehicle 200 shown in the figure is a mobile power source that is connected to the work machine 100 and supplies electric power to the electric motor 135 of the work machine 100. The power supply vehicle 200 includes a generator 201, a vehicle 210, and a power feeding cable 202 (FIG. 1).

3-1. Vehicle The vehicle 201 is a self-propelled transport vehicle such as a truck, and includes a vehicle frame 211 and a driver's cab 212. The vehicle 211 includes an engine (internal combustion engine) as a prime mover, and can travel on its own without depending on power supplied from outside. However, as long as the vehicle 210 can travel on its own without relying on external power, for example, an electric vehicle equipped with a motor driven by a battery as a prime mover or a hybrid vehicle equipped with both an engine and a motor as prime movers may be used for the vehicle 210. good. The vehicle 210 supports the generator 201 on the loading platform.

3-2. Generator The generator 201 includes, for example, an internal combustion engine as a prime mover, and is driven by the prime mover to generate electric power. The generator 201 is mounted on the loading platform of the vehicle 210 and is appropriately fixed.

3-3. Feeding Cable The feeding cable 202 connects the generator 201 and the work machine 100 as shown in FIG. Specifically, one end of the power supply cable 202 is connected to the output unit of the generator 201, and the other end is connected to the connection unit of the work machine 100 with the control panel described above. The length of the power supply cable 202 is set so that excessive tension is not applied or is not dragged to the ground as long as the work machine 100 and the power supply vehicle 200 move while maintaining a preset appropriate inter-vehicle distance. It has been adjusted.

4). Sensor Sensor 203 </ b> A is a sensor that detects a physical quantity that changes in accordance with the relative distance between work machine 100 and power supply vehicle 200. In the present embodiment, the relative distance itself between the work machine 100 and the power supply vehicle 200 is used as a physical quantity to be detected. As the sensor 203A, a non-contact type distance sensor using light such as a laser or ultrasonic waves is used. Since the detection target is the “relative distance”, the distance from which part of the work machine 100 to which part of the vehicle 210 is not limited, and data that can contribute to the estimation of the tension and relaxation state of the power supply cable 202 is obtained. It only has to be done. In this embodiment, the structure which measures the distance (distance between vehicles) of the mutually opposing part at the time of the vehicle 210 accompanying the working machine 100 is illustrated. If the sensor 203A is a distance sensor of a type that transmits light and ultrasonic waves toward an object and receives a reflected wave reflected by the object (a type that also serves as a transmitter and a receiver), the work machine 100 and the power supply vehicle What is necessary is just to install in at least one of 200 mutually opposing parts. If the sensor 203A is a type of distance sensor that uses a pair of dedicated transmitter and receiver, either one is installed on one of the opposing parts of the work machine 100 and the power supply car 200, and the other is installed on the other of the opposing parts. Just do it.

  In the present embodiment, the work machine 100 and the power supply vehicle 200 are arranged back to back, and the system in which the vehicle 210 of the power supply vehicle 200 moves backward when the work machine 100 moves forward is illustrated. Therefore, in the opposing part of the work machine 100 and the power supply vehicle 200, the rear part of the revolving body 130 of the work machine 100 (in the present embodiment, the lower part of the counterweight 133) and the front part of the loading platform of the vehicle 210 (if viewed as a single vehicle This applies to the rear part. However, there is a case where the system is assembled so that the forward direction of the work machine 100 and the power supply vehicle 200 matches, and in this case, the driver's seat of the vehicle faces the work machine 100. Although not particularly illustrated, the sensor 203A is connected to the control device 220 (FIG. 4) by wire or wirelessly, and the output signal S is input to the control device 220.

5. Control Device FIG. 4 is a functional block diagram of the control device 220. The control device 220 is mounted on the vehicle 21 or the work machine 100, for example, and is connected to the sensor 203A and the warning device 204 by wire or wirelessly. The control device 220 includes an input device 221, a separation detection device 222A, and an approach detection device 222B.

Input Device The input device 221 is a device that inputs the signal S and the like from the sensor 203A. When the signal S output from the sensor 203A is an analog signal, the input device 221 has an analog-digital conversion function.

Separation detection device The separation detection device 222A detects that the relative distance L exceeds the preset upper limit L1 and the work machine 100 and the vehicle 210 are separated from each other based on the signal S input from the sensor 203A. , A device that outputs a separation warning signal that is a warning command signal to the separation warning device 204A. The separation detection device 222A includes a first storage device 223A, a first comparison device 224A, a separation determination device 225A, and a first output device 226A.

  The first storage device 223A is a storage unit that stores a first threshold value S1 corresponding to the value of the signal S detected by the sensor 203A when the relative distance L reaches the upper limit value L1 (increases to the upper limit value L1). is there. A ROM, a RAM, or the like can be used for the first storage device 223A.

  The first comparison device 224A is a functional unit that compares the first threshold value S1 read from the first storage device 223A and the signal S input from the sensor 203A. The output signal of the first comparison device 224A includes information on the magnitude relationship between the signal S and the first threshold value S1. In this example, whether S> S1 or S ≦ S1 is identified by the signal of the first comparison device 224A.

  The separation determination device 225A is a functional unit that outputs a separation identification signal for identifying that when the relative distance L is determined to exceed the upper limit L1 based on the signal of the first comparison device 224A. When the output signal of the first comparison device 224A is a signal for identifying S> S1 and the relative distance L is estimated to exceed the upper limit value L1, the separation determination device 225A outputs a separation identification signal. When the output signal of the first comparison device 224A is a signal for identifying S ≦ S1 and the relative distance L is estimated to be less than or equal to the upper limit value L1, a signal to that effect is output from the separation determination device 225A. Alternatively, no signal may be output.

  The first output device 226A is a functional unit that generates a separation warning signal based on the separation identification signal input from the separation determination device 225A, converts it to an analog signal as necessary, and outputs the analog signal to the separation warning device 204A. The separation warning signal is a signal for instructing a predetermined notification operation of the separation warning device 204A for causing the worker to recognize that the relative distance L exceeds the upper limit value L1.

-Approach detection device The proximity detection device 222B detects that the relative distance L is below a preset lower limit L2 and the work machine 100 and the vehicle 210 approach each other based on the signal S input from the sensor 203A. This is a device that outputs an approach warning signal that is a warning command signal to the approach warning device 204B. Needless to say, the lower limit value L2 <the upper limit value L1. The approach detection device 222B includes a second storage device 223B, a second comparison device 224B, an approach determination device 225B, and a second output device 226B.

  The second storage device 223B is a storage unit that stores a second threshold value S2 corresponding to the value of the signal S output from the sensor 203A when the relative distance L reaches the lower limit value L2 (decreases to the lower limit value L2). is there. Like the first storage device 223A, the second storage device 223B can be a ROM, a RAM, or the like.

  The second comparison device 224B is a functional unit that compares the second threshold value S2 read from the second storage device 223B with the signal S input from the sensor 203A. Similar to the output signal of the first comparison device 224A, the output signal of the second comparison device 224B includes information on the magnitude relationship between the signal S and the second threshold value S2. In this example, whether S <S2 or S ≧ S1 is identified by the signal of the second comparison device 224B.

  The approach determination device 225B is a functional unit that outputs an approach identification signal that identifies the relative distance L when it is determined that the relative distance L is below the lower limit L2 based on the signal from the second comparison device 224B. When the output signal of the second comparison device 224B is a signal for identifying S <S2 and it is estimated that the relative distance L is less than the lower limit value L2, an approach identification signal is output from the approach determination device 225B. When the output signal of the second comparison device 224B is a signal for identifying S ≧ S2 and the relative distance L is estimated to be greater than or equal to the lower limit value L2, a signal to that effect is output from the approach determination device 225B. Alternatively, no signal may be output.

  The second output device 226B is a functional unit that generates an approach warning signal based on the approach identification signal input from the approach determination device 225B, converts it to an analog signal as necessary, and outputs the analog signal to the approach warning device 204B. The approach warning signal is a signal for instructing a predetermined notification operation of the approach warning device 204B for allowing the worker to recognize that the relative distance L exceeds the upper limit value L1.

6). Warning device The warning device 204 is a device that performs a notification operation to the worker in a manner that appeals to visual or auditory sense, for example. If the work machine 100 or the power supply vehicle 200 has a warning light, the warning light can be used. Further, the present invention is not limited to the existing devices provided in the work machine 100 and the vehicle 210, and a separately prepared horn device or warning light may be installed and used in at least one of the work machine 100 and the vehicle 210.

  As shown in FIG. 4, the warning device 204 includes a separation warning device 204A and an approach warning device 204B.

  The separation warning device 204A is a device that performs a warning operation by a separation warning signal input as a warning command signal from the separation detection device 222A. The approach warning device 204B is a device that performs a warning operation by an approach warning signal input as a warning command signal from the approach detection device 222B.

  Note that “approach” and “separation” between the work machine 100 and the power supply vehicle 200 are opposite events that do not occur at the same time. For this reason, a single whistle device can also serve as the separation warning device 204A and the approach warning device 204B, but the separation warning device 204A and the approach warning device 204B can also be configured separately. Specifically, since the common horn device is used in the present embodiment, the common horn device can function as the separation warning device 204A or the approach warning device 204B by changing the horn mode. For example, in the case of performing a notification operation by intermittently emitting a horn, the horn interval is changed between when it functions as the separation warning device 204A and when it functions as the approach warning device 204B. Further, when both the horn devices of the work machine 100 and the vehicle 210 are used, the role can be shared as one of the separation warning devices 204A and the other as the approach warning device 204B. For example, the horn device of the preceding work machine 100 can be used as the separation warning device 204A, and the horn device of the following vehicle 210 can be used as the approach warning device 204B.

7). Operation 7-1. Moving Work The scene in which the moving system according to the present embodiment is used is when the work machine 100 is carried in and out or when it is moved in the field. The work machine 100 cannot move without receiving power supply from an external power source. Therefore, if there is no external power source within the reach of the cable at the loading / unloading location of the operation site, the work machine 100 cannot be loaded / unloaded with a self-propelled function on a transport vehicle such as a trailer. In addition, for example, when moving from the loading / unloading location to the operation site, the work machine 100 cannot be moved by the self-propelled function unless there is an external power source within the reach of the cable. The scene in which the system for movement according to the present embodiment is used is a scene in which the work machine 100 is carried in and out or moved in the field.

  When the work machine 100 is moved by the self-propelled function, first, one worker gets into the cab of the vehicle 210, operates the vehicle 210, and powers the work machine 100 back to back as shown in FIG. The car 200 is moved. Thereafter, the power supply vehicle 200 and the work machine 100 are connected by the power supply cable 202, and the generator 201 is operated to start supplying power to the work machine 100. The procedure for starting the generator 201 and connecting the power supply cable 202 may be reversed.

  When the above preparation is completed, the two workers board the cab 132 of the work machine 100 and the cab of the vehicle 210, respectively, and the work machine 100 and the power supply vehicle are matched in accordance with the start timing, travel speed, and travel direction. 200 is moved. When the power supply car 200 is accompanied, the work machine 100 can move while receiving power supply from the power supply car 200.

  Thereafter, when the work machine 100 arrives at the destination, the power supply cable 202 is disconnected from the work machine 100. For example, when the work machine 100 is unloaded from the site, the work machine 100 is fixed to a loading platform of a transport vehicle (not shown) and prepared for transportation. Further, when shifting to work such as excavation at the destination, after removing the power supply cable 202 from the work machine 100, reconnect the power supply cable from the external power source provided at the work site to the work machine 100, and A state in which excavation and other work can be performed by receiving power from an external power source.

7-2. Warning Operation FIG. 5 is a flowchart showing a warning command procedure by the control device 220. The procedure in this figure is executed in accordance with a program stored in a storage device (not shown) provided in the control device 220. While the work machine 100 and the power supply vehicle 200 are moved in parallel, the control device 220 has a predetermined cycle time. The procedure shown in FIG.

(Step S101)
When the procedure of FIG. 5 is started, first, in step S101, the control device 220 inputs the signal S output from the sensor 203A by the input device 221. The input signal S is output to the separation detection device 222A and the approach detection device 222B, and stored in a storage device (not shown) as necessary. The input device 221 executes the procedure of step S101 described above.

(Steps S102-S104)
The procedure of steps S102 to S104 is a procedure executed by the separation detecting device 222A.

Step S102
In step S102, the control device 220 compares the signal S input in step S101 of the current cycle with the first threshold value S1 read from the first storage device 223A by the first comparison device 224A. In the first comparison device 224A, as a result of the comparison, a signal that can identify the magnitude relationship between the signal S and the first threshold value S1 is output to the separation determination device 225A. The first comparison device 224A executes the procedure of step S102 described above.

Step S103
When the procedure proceeds to step S103, the control device 220 determines whether the signal S exceeds the first threshold value S1 by the separation determination device 225A. When the determination is satisfied with S> S1, it is estimated that the relative distance L between work machine 100 and power supply vehicle 200 exceeds upper limit L1. In this case, a separation identification signal for identifying that S> S1 (L> L1 is estimated) is output from the separation determination device 225A to the first output device 226A, and the control device 220 moves the procedure to step S104. . On the other hand, when the determination is not satisfied with S ≦ S1, the relative distance L is estimated to be equal to or less than the upper limit value L1. In this case, an identification signal for identifying that S ≦ S1 (L ≦ L1 is estimated) is output from the separation determination device 225A to the first output device 226A (or without any identification signal being output). ), The control device 220 moves the procedure to step S105. The procedure of step S103 described above is executed by the separation determination device 225A.

Step S104
When the procedure moves to step S104, the control device 220 generates a separation warning signal based on the separation identification signal by the first output device 226A, outputs it to the separation warning device 204A, and finishes the procedure of FIG. Accordingly, the separation warning device 204A performs a predetermined warning operation in accordance with the separation warning signal, so that the operator who operates the work machine 100 and the power supply vehicle 200 is away from the proper range. For example, the user is prompted to take appropriate measures such as stopping driving. The first output device 226A executes the procedure of step S104 described above.

(Steps S105-S107)
Steps S105 to S107 are performed by the approach detection device 222B.

Step S105
In step S105, the control device 220 compares the signal S input in step S101 of the current cycle with the second threshold value S2 read from the second storage device 223B by the second comparison device 224B. In the second comparison device 224B, as a result of the comparison, a signal that can identify the magnitude relationship between the signal S and the second threshold value S2 is output to the approach determination device 225B. The second comparison device 224B executes the procedure of step S105 described above.

Step S106
When the procedure moves to step S106, the control device 220 determines whether the signal S is below the second threshold value S2 by the approach determination device 225B. When the determination is satisfied with S <S2, it is estimated that the relative distance L between work machine 100 and power supply vehicle 200 is lower than lower limit value L2. In this case, an approach identification signal for identifying that S <S2 (L <L2 is estimated) is output from the approach determination device 225B to the second output device 226B, and the control device 220 moves the procedure to step S107. . On the other hand, when the determination is not satisfied because S ≧ S2, the relative distance L is estimated to be equal to or greater than the lower limit L2. In this case, an identification signal for identifying that S ≧ S2 (that L ≧ L2 is estimated) is output from the approach determination device 225B to the second output device 226B (or without any identification signal being output). ), The control device 220 finishes the procedure of FIG. If the determination of this step is not satisfied, the determination of step S103 is also not satisfied, so it is estimated that the relative distance L is within an appropriate range not less than the lower limit L2 and not more than the upper limit L1, and the special alarm action is Not executed. The approach determination device 225B executes the procedure of step S106 described above.

Step S107
When the procedure moves to step S107, the control device 220 generates an approach warning signal based on the approach identification signal by the second output device 226B, outputs it to the approach alert device 204B, and finishes the procedure of FIG. Accordingly, the approach warning device 204B performs a predetermined warning operation in accordance with the approach warning signal, and the work machine 100 and the power supply car 200 are approaching the worker operating the work machine 100 and the power supply car 200 outside the appropriate range. Is notified, and appropriate measures such as stoppage of travel are urged, for example. The second output device 226B executes the procedure of step S107 described above.

  Note that either the procedure of steps S102 to S104 by the separation warning device 222A or the procedure of steps S105 to S107 by the approach warning device 222B may be executed first or may be executed in parallel. good.

8). Effect 8-1. According to the present embodiment, when it is estimated that the work machine 100 and the power supply vehicle 200 are separated from each other by exceeding the upper limit value L1 as described above, the work machine 100 and the power supply vehicle 200 are notified to that effect. Both operators who drive can be notified by the separation warning device 204A. Accordingly, it is possible to prompt the operator to perform appropriate operations such as confirmation of the positional relationship between the work machine 100 and the power supply vehicle 200, travel stop, and adjustment of the inter-vehicle distance. Therefore, it is possible to suppress excessive tension from acting on the power supply cable 202, and it is possible to suppress occurrence of disconnection or damage of the power supply cable 202. As described above, according to the present embodiment, the distance between the work machine 100 and the power supply vehicle 200 can be maintained in an appropriate state (range) and the power supply cable 202 can be protected. Therefore, power can be supplied from the power supply vehicle 200 to the work machine 100 without any trouble during loading / unloading to / from the transport vehicle, etc., and the work machine 100 can be smoothly operated even in a place where it cannot be connected to the fixed power supply at the work site. Can be moved and moved.

8-2. In the present embodiment, when it is estimated that the work machine 100 and the power supply car 200 are close to each other below the lower limit value L2, the work machine 100 and the power supply car 200 are operated to that effect. Both workers can be notified by the approach warning device 204B. As in the case of notifying the separation, it is possible to prompt the operator to perform appropriate operations such as confirming the positional relationship between the work machine 100 and the power supply vehicle 200, stopping traveling, and adjusting the inter-vehicle distance. Depending on how to provide a margin for the length of the power supply cable 202, if the power supply cable 202 is excessively loosened, the power supply cable 202 may not be grounded and dragged to the ground or stepped on by the vehicle 210 or the like. According to the present embodiment, occurrence of such a situation can be suppressed, and the power supply cable 202 can also be protected by this.

8-3. Other Effects Since the warning device 204 is functionally sufficient if it can notify the worker, the warning device of the vehicle 210 or the work machine 100 can be used. As long as the vehicle 210 can travel with the generator 201 mounted thereon, a normal truck can be used. The generator 201 only needs to have a power generation capacity sufficient to operate one work machine 100. Thus, the power supply vehicle 200 can be configured by combining the sensor 203 </ b> A and the control device 220 while using existing devices for many components. In the power supply vehicle 200 used for limited applications such as loading / unloading of the work machine 100 and on-site movement, it is also an advantage in terms of labor, cost, and the like that an excessively large dedicated product is not required.

(Second Embodiment)
FIG. 6 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the second embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  This embodiment is different from the first embodiment in that the object to be detected as a physical quantity that changes according to the relative distance L between the work machine 100 and the power supply vehicle 200 is not the distance between the vehicles itself but the distance between the power supply cable 202 and the ground. It is a point. In the present embodiment, instead of the sensor 203A, a sensor 203B that is a distance sensor that detects the distance between the power supply cable 202 and the ground is provided.

  Similar to the sensor 203A, the sensor 203B used in the present embodiment is, for example, a non-contact distance sensor using light or ultrasonic waves, and particularly, a reflected wave that transmits light or ultrasonic waves toward the target and is reflected by the target. Can be used. The sensor 203B is attached to the power supply cable 202, and is fixed to the power supply cable 202 in a posture in which light or the like is transmitted downward (toward the ground) by selecting a portion that can approach the ground most. Examples of the portion of the power supply cable 202 that can approach the ground most include the central portion between the work machine 100 and the vehicle 210, the central portion in the length direction of the power supply cable 202, and the like. Further, as shown in FIG. 6, the power supply cable 202 can be connected to the work machine 100 and the power supply vehicle 200, and the sensor 203B can be attached to the part that is actually closest to the ground. By installing the sensor 203B in this way, the distance between the power feeding cable 203 and the ground can be detected. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  In the case of this embodiment, if the relative distance L is increased, the power supply cable 202 is tensioned, and thus the distance value (signal S) detected by the sensor 203B is increased. Conversely, the distance value (signal S) detected by the sensor 203B decreases as the relative distance L decreases. Although the physical quantities to be detected are different, the correspondence between the increase / decrease in the relative distance L and the increase / decrease in the signal S is the same as that in the first embodiment. The same can be said. However, since the physical quantities to be detected are different, it is necessary to adjust the first threshold value S1 stored in the first storage device 223A and the second threshold value S2 stored in the second storage device 223B. Specifically, the value corresponding to the signal S output from the sensor 203B when the relative distance L reaches the upper limit value L1 is output as the first threshold value S1, and is output from the sensor 203B when the relative distance L reaches the lower limit value L2. A value corresponding to the signal S may be set as the second threshold value S2.

  Also in this embodiment, the same effect as the first embodiment can be obtained.

(Third embodiment)
FIG. 7 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the third embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference between the present embodiment and the first and second embodiments is that the object to be detected as a physical quantity that changes according to the relative distance L between the work machine 100 and the power supply vehicle 200 is the tension of the power supply cable 202. . In the present embodiment, instead of the sensor 203A, a sensor 203C that is a tension sensor that detects the tension of the power supply cable 202 is provided.

  FIG. 8 is a schematic diagram illustrating a configuration example of the sensor 203C. The sensor 203 </ b> C shown in the figure includes a casing 231, a guide roller 232, and a load meter 233 (for example, a load cell), and is attached to the power feeding cable 202. The casing 231 is, for example, a cylindrical member or two plate members facing each other. Two guide rollers 232 are rotatably supported inside the casing 231. The rotation axes of the two guide rollers 232 are parallel. Although not shown, a groove extending in the circumferential direction is formed on the outer peripheral surface of the guide roller 232, and the power feeding cable 202 is hooked on this groove. In the present embodiment, the two guide rollers 232 have the same size and shape.

  The load meter 233 is located between the two guide rollers 232 inside the casing 231 and is attached to the casing 231 so that the power supply cable 202 is sandwiched between the two guide rollers 232. In this configuration, the load applied to the load cell 233 from the power supply cable 202 varies depending on the tension of the power supply cable 202. The position of the load meter 233 with respect to the guide roller 232 is based on the signal of the load meter 233 when the relative distance L is an appropriate value set as a reference. It is adjusted so that both of the generations are secured. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  In the case of this embodiment, if the relative distance L is increased, the power supply cable 202 is tensioned, so that the tension value (signal S) detected by the sensor 203C is increased. On the other hand, the value of the tension (signal S) detected by the sensor 203C decreases as the relative distance L decreases. Although the physical quantities to be detected are different, the correspondence relationship between the increase / decrease in the relative distance L and the increase / decrease in the signal S is the same as in the first embodiment in this embodiment, and thus the configuration of the control device 220 and the control procedure (flow chart) This can be the same as in the first embodiment. However, since the physical quantities to be detected are different, it is necessary to adjust the first threshold value S1 stored in the first storage device 223A and the second threshold value S2 stored in the second storage device 223B. Specifically, the value corresponding to the signal S output from the sensor 203C when the relative distance L reaches the upper limit value L1 is output as the first threshold value S1, and the value output from the sensor 203C when the relative distance L reaches the lower limit value L2. A value corresponding to the signal S may be set as the second threshold value S2.

  Also in this embodiment, the same effect as the first embodiment can be obtained. In addition, since the tension applied to the power supply cable 202 can be directly detected, the validity of the warning particularly when the work machine 100 and the power supply vehicle 200 are separated from each other is improved.

(Fourth embodiment)
FIG. 9 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the fourth embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference between the present embodiment and the first to third embodiments is that the object to be detected as a physical quantity that changes according to the relative distance L between the work machine 100 and the power supply vehicle 200 connects the work machine 100 and the vehicle 210. The point is the tension of the wire 234. In this embodiment, instead of the sensor 203A, a sensor 203D that is a tension sensor that detects the tension of the wire 234 is provided.

  In the present embodiment, the facing portions of the work machine 100 and the power supply vehicle 200 are connected by a wire 234. The wire 234 is adjusted to such a length that excessive tension is not applied to the power supply cable 202 even when the wire 234 is fully extended. As the sensor 203D installed on the wire 234, a sensor similar to the sensor 203C shown in FIG. 8 can be used. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  In the case of the present embodiment, the wire 234 is tensioned when the relative distance L is large, so that the tension value (signal S) detected by the sensor 203D is large. On the contrary, the tension value (signal S) detected by the sensor 203D decreases as the relative distance L decreases. Although the physical quantities to be detected are different, the correspondence between the increase / decrease in the relative distance L and the increase / decrease in the signal S is the same as that in the first embodiment. The same can be said. However, since the physical quantities to be detected are different, it is necessary to adjust the first threshold value S1 stored in the first storage device 223A and the second threshold value S2 stored in the second storage device 223B. Specifically, a value corresponding to the signal S output from the sensor 203D when the relative distance L reaches the upper limit L1 is output from the sensor 203D as the first threshold S1, and when the relative distance L reaches the lower limit L2. A value corresponding to the signal S may be set as the second threshold value S2.

  Also in this embodiment, the same effect as the first embodiment can be obtained. Further, when the work machine 100 and the power supply vehicle 200 are separated from each other, the tension of the wire 234 applied before the power supply cable 202 is detected and the separation warning operation is executed, so that excessive tension is applied to the power supply cable 202. It can be effectively suppressed.

(Fifth embodiment)
FIG. 10 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the fifth embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The present embodiment is common to the third embodiment in that the object to be detected as a physical quantity that changes according to the relative distance L between the work machine 100 and the power supply vehicle 200 is the tension of the power supply cable 202. The detection mechanism is different from that of the third embodiment. In this embodiment, instead of the sensor 203A, a sensor 203E that is a tension sensor that detects the tension of the power supply cable 202 is provided.

  FIG. 11 is a schematic diagram illustrating a configuration example of the sensor 203E. The sensor 203E shown in the figure includes a base 241, a post 242, an arm 243, a holder 244, a spring 245, and a load meter 246 (for example, a load cell). The base 241 is a basic structure of the sensor 203E, and is fixed on the loading platform of the vehicle 210 at a position closer to the work machine 100 than the connection portion of the power supply cable 202 to the generator 201. The arm 243 is rotatably connected to a post 242 standing on the base 241 via a rotation shaft extending horizontally. A holder 244 is attached to the tip of the arm 242. The holder 244 is a cylindrical member, for example, through which the power supply cable 202 is passed. The load cell 246 is fixed to the base 241 so as to be interposed between the arm 243 and the base 241. The spring 245 is interposed between the arm 243 and the base 241, and connects the arm 243 and the base 241. In the present embodiment, the length when the weight of the arm 243 and the holder 244 is applied to the spring 243 and the arm 243 is supported by the load meter 246 is defined as the natural length of the spring 245. When the spring 245 has a natural length and the relative distance L is an appropriate value set, the holder 244 prevents the power feeding cable 202 from touching the inner peripheral surface (or a load greater than the set value is not applied). The height is adjusted. Further, when the spring 245 is a natural length and the relative distance L is an appropriate value, the position of each element is adjusted so that a load having an intermediate value in the measurement range is applied to the load meter 246. In this configuration, the load applied to the load meter 246 increases or decreases depending on the tension of the power supply cable 202. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  In the present embodiment, when the relative distance L increases, the power supply cable 202 is tensioned and an upward force is applied to the holder 244. Since the spring 245 is connected to the arm 243, a load below a certain level is supported by the spring 245. However, when the force to lift the holder 244 exceeds the spring force, the value of the tension detected by the sensor 203E is lifted by the holder 244. (Signal S) decreases. On the other hand, when the relative distance L is reduced, the feeding cable 202 is relaxed and a downward force is applied to the holder 244. If the load is below a certain level, it is supported by the spring 245. However, if the force that pushes down the holder 244 exceeds the spring force, the holder 244 is pushed down and the tension value (signal S) detected by the sensor 203E increases. . In the present embodiment, the correspondence between the increase / decrease in the relative distance L and the increase / decrease in the signal S is opposite to that in the first embodiment. Therefore, after changing the determination content of step S103 to “S <S1?” And the determination content of step S106 in FIG. 5 to “S> S2?”, The control device 220 of the first embodiment and its control procedure are changed. (Flowchart) can also be applied to this embodiment. However, the first threshold value S1 stored in the first storage device 223A and the second threshold value S2 stored in the second storage device 223B need to be adjusted. A value corresponding to the signal S output from the sensor 203E when the relative distance L reaches the upper limit value L1 corresponds to the first threshold value S1, and a value corresponding to the signal S output from the sensor 203E when the relative distance L reaches the lower limit value L2. The value may be set to the second threshold value S2 (> S1).

  Also in this embodiment, the same effect as the first embodiment can be obtained. In addition, since the tension applied to the power supply cable 202 can be directly detected, the validity of the warning particularly when the work machine 100 and the power supply vehicle 200 are separated from each other is improved.

(Sixth embodiment)
FIG. 12 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the sixth embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  This embodiment is different from the first to fifth embodiments in that, instead of estimating the relative distance L from the detected physical quantity, whether or not the feeding cable 202 that behaves according to the relative distance L touches the proximity switch. The purpose is to determine the magnitude relationship between the relative distance L, the upper limit L1 and the lower limit L2. In the present embodiment, a sensor 203F is provided instead of the sensor 203A.

  FIG. 13 is a schematic diagram illustrating a configuration example of the sensor 203F. The sensor 203F shown in the figure includes a base 251, a post 252, a holder 253, and proximity switches 203Fa and 203Fb. The base 251 is a basic structure of the sensor 203F, and is fixed on the loading platform of the vehicle 210 at a position closer to the work machine 100 than a connection portion of the power supply cable 202 to the generator 201. A holder 253 is supported on the base 251 via a post 252. The holder 253 is a cylindrical member, for example, through which the power supply cable 202 is passed. Proximity switches 203Fa and 203Fb are sensors that detect the behavior of the power supply cable 202, and are fixed to the ceiling and floor surfaces of the internal space of the holder 253, and are opposed to each other with the power supply cable 202 passed through the holder 253 interposed therebetween. doing. When the relative distance L is an appropriate value set, the height of the holder 253 is adjusted so that the power supply cable 202 is positioned at the intermediate portion between the proximity switches 203Fa and 203Fb. In this state, the proximity switches 203Fa and 203Fb are both separated from the power supply cable 202. The proximity switch 203Fa on the upper side is installed so that the power feeding cable 202 is in contact with the tension when the relative distance L increases. The lower proximity switch 203Fb is installed so that the power supply cable 202 contacts when relaxed as the relative distance L decreases. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  FIG. 14 is a functional block diagram of a control device 220 ′ provided in the system for moving an electrically driven work machine according to the present embodiment. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG. Like the control device 220, the control device 220 'is mounted on the vehicle 21 or the work machine 100, for example, and is connected to the sensor 203F (proximity switches 203Fa, 203Fb) and the warning device 204 by wire or wirelessly. The control device 220 'includes a separation detection device 222A' and an approach detection device 222B '. The input device 221 provided in the control device 220 is omitted in this example.

  Like the separation detection device 222A, the separation detection device 222A ′ detects that the relative distance L has exceeded the upper limit value L1, based on the signal input from the sensor 203F, and sends a warning command signal to the separation warning device 204A. It is a device that outputs a certain separation warning signal. The separation detection device 222A 'includes a separation determination device 225A' and a first output device 226A. The separation determination device 225A 'is a component that replaces the separation determination device 225A provided in the separation detection device 222A of the first embodiment. Further, the first storage device 223A and the first comparison device 224A provided in the separation detection device 222A are omitted in this example.

  The separation determination device 225A ′ is a device that outputs a separation identification signal for identifying that when the relative distance L is determined to exceed the upper limit L1 depending on the presence or absence of an input signal from the sensor 203F. In the present embodiment, when the signal Sa from the upper proximity switch 203Fa is input, if the relative distance L exceeds the upper limit value L1, it is determined by the separation determination device 225A ', and a separation identification signal is output. When the signal Sa from the proximity switch 203Fa is not input and the relative distance L is estimated to be equal to or less than the upper limit value L1, a signal to that effect may be output from the separation determination device 225A ′. Alternatively, no signal may be output. The processing content of the first output device 226A for the output of the separation determination device 225A 'is the same as that of the first embodiment.

  Similar to the approach detection device 222B, the approach detection device 222B ′ detects that the relative distance L has approached below the lower limit value L2, based on the signal input from the sensor 203F, and sends a warning command signal to the approach warning device 204B. It is a device that outputs a certain approach warning signal. The approach detection device 222B 'includes an approach determination device 225B' and a second output device 226B. The approach determination device 225B 'is a component that replaces the approach determination device 225B provided in the approach detection device 222B of the first embodiment. Further, the second storage device 223B and the second comparison device 224B provided in the approach detection device 222B are omitted in this example.

  The approach determination device 225B ′ is a device that outputs an approach identification signal for identifying the relative distance L when it is determined that the relative distance L exceeds the lower limit L2 in accordance with the presence or absence of an input signal from the sensor 203F. In this embodiment, when the signal Sb from the lower proximity switch 203Fb is input, the approach determination device 225B ′ determines that the relative distance L is less than the lower limit value L2, and an approach identification signal is output. . When the signal Sb from the proximity switch 203Fb is not input and the relative distance L is estimated to be equal to or greater than the lower limit L2, a signal to that effect may be output from the proximity determination device 225B ′. Alternatively, no signal may be output. The processing contents of the second output device 226B for the output of the approach determination device 225B 'are the same as those in the first embodiment.

  FIG. 15 is a flowchart showing the procedure of a warning command by the control device 220 '. The procedure in this figure is executed in accordance with a program stored in a storage device (not shown) provided in the control device 220 ′, and the control device 220 performs a predetermined cycle while the work machine 100 and the power supply vehicle 200 are moved in parallel. The procedure shown in the figure is repeatedly executed at time (for example, 0.1 s).

(Steps S201 and S202)
The procedure of steps S201 and S202 is a procedure executed by the separation detecting device 222A ′.

Step S201
When the procedure of FIG. 15 is started, the control device 220 ′ determines whether or not the signal Sa from the upper proximity switch 203Fa is input by the separation determination device 225A ′. When the signal Sa is input and the determination is satisfied, it is estimated that the relative distance L between the work machine 100 and the power supply vehicle 200 exceeds the upper limit value L1. In this case, a separation identification signal for identifying that L> L1 is estimated is output from the separation determination device 225A ′ to the first output device 226A, and the control device 220 ′ moves the procedure to step S202. On the other hand, when the signal Sa is not input and the determination is not satisfied, the relative distance L is estimated to be equal to or less than the upper limit value L1. In this case, an identification signal identifying that L ≦ L1 is estimated is output from the separation determination device 225A ′ to the first output device 226A (or without any identification signal being output), and the control device 220 ′ The procedure is moved to step S203. The procedure of step S201 described above is executed by the separation determination device 225A ′.

Step S202
When the procedure moves to step S202, the control device 220 ′ uses the first output device 226A to generate a separation warning signal based on the separation identification signal, outputs it to the separation warning device 204A, and finishes the procedure of FIG. The procedure of step S202 is the same as the procedure of step S104 in FIG.

(Steps S203 and S204)
The procedures in steps S203 and S204 are procedures executed by the approach detection device 222B ′.

Step S203
When the procedure proceeds to step S203, the control device 220 ′ determines whether or not the signal Sb from the lower proximity switch 203Fb is input by the proximity determination device 225B. When the signal Sa is input and the determination is satisfied, it is estimated that the relative distance L between the work machine 100 and the power supply vehicle 200 is less than the lower limit L2. In this case, an approach identification signal for identifying that L <L2 is estimated is output from the approach determination device 225B ′ to the second output device 226B, and the control device 220 ′ moves the procedure to step S204. On the other hand, when the signal Sb is not input and the determination is not satisfied, the relative distance L is estimated to be equal to or greater than the lower limit value L2. In this case, an identification signal identifying that L ≧ L2 is estimated is output from the approach determination device 225B ′ to the second output device 226B (or without any identification signal being output), and the control device 220 ′ The procedure of FIG. 15 is finished. If the determination of this step is not satisfied, the determination of step S201 is also not satisfied, so it is estimated that the relative distance L is within an appropriate range that is greater than or equal to the lower limit value L2 and less than or equal to the upper limit value L1. Not executed. The approach determination device 225B ′ executes the procedure of step S203 described above.

Step S204
When the procedure moves to step S204, the control device 220 ′ uses the second output device 226B to generate an approach warning signal based on the approach identification signal, outputs it to the approach warning device 204B, and finishes the procedure of FIG. The procedure of step S204 is the same as the procedure of step S107 in FIG.

  Note that either the procedure of steps S201 and S202 by the separation warning device 222A ′ or the procedure of steps S203 and S204 by the approach warning device 222B ′ may be executed first, or may be executed in parallel. May be.

  Also in this embodiment, the same effect as the first embodiment can be obtained.

  Note that there is a case where the slack of the power feeding cable 202 is large relative to the relative distance L due to flexibility, and the power feeding cable 202 is in contact with the lower proximity switch 203Fb more than necessary. In this case, the feeder cable 202 is supported by a spring having an appropriate spring force with respect to a stationary structure such as the holder 253 and the base 251, and the relative distance L is more than necessary because there is a margin with respect to the lower limit L2. Execution of the approach warning operation can be suppressed.

(Seventh embodiment)
FIG. 16 is a side view showing the entire configuration of the movement system of the electrically driven work machine according to the seventh embodiment of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  This embodiment is common to the sixth embodiment in that the magnitude relationship between the relative distance L and the upper limit value L1 and the lower limit value L2 is determined based on whether or not the power supply cable 202 touches the proximity switch. The detection mechanism is different from that of the sixth embodiment. In the present embodiment, instead of the sensor 203A, a sensor 203G that is a tension sensor that detects the tension of the power supply cable 202 is provided.

  FIG. 17 is a schematic diagram illustrating a configuration example of the sensor 203G. The sensor 203G shown in the figure includes proximity switches 203Ga and 203Gb and a carriage 260 that supports them. The carriage 260 includes a caster 261, a body 262, and a holder 263. The body 262 is connected to the vehicle 210 by a connecting member 264 (FIG. 16), and is located between the work machine 100 and the vehicle 210. The connecting member 264 is, for example, a highly rigid rod-shaped steel material. Body 262 may be coupled to work machine 100. In addition, although a flexible member such as a wire or a chain can be used for the connecting member 264, in this case, it is desirable to connect the body 262 to both the work machine 100 and the vehicle 210. A caster 261 is attached to the lower part of the body 262, and the sensor 203G is configured to be movable in an arbitrary horizontal direction along with the vehicle 210 or the work machine 100.

  A post 265 extending vertically is attached to the lower portion of the holder 263. The post 265 penetrates the upper surface of the body 262 and is elastically supported by the body 262 via a spring 266. The holder 263 is a cylindrical member, and the power supply cable 202 is passed through the holder 263. A trigger 267 is attached to the holder 263, and a trigger 268 is attached to the post 265. That is, the holder 263, the post 265, and the triggers 267 and 268 are structures that move along with the power supply cable 202. At this time, when the relative distance L is an appropriate value set, the height of the holder 263 is set so that the feeding cable 202 does not touch the inner peripheral surface of the holder 263 (or a load exceeding the set value is not applied to the inner peripheral surface). Has been adjusted.

  The proximity switch 203Ga is supported by the body 262 via the support member 269, and the proximity switch 203Gb is supported by the body 262 via the support member 270. The proximity switches 203Ga and 203Gb are arranged so that the proximity switch 203Ga touches the trigger 267 and the proximity switch 203Gb is separated from the trigger 268 in a state where the relative distance L is an appropriate value (the holder 263 is not pushed up and down). ing. When the feeding cable 202 is tensioned from this state and the holder 263 is pushed up, the proximity switch 203Ga is turned off (both the proximity switches 203Ga and 203Gb are turned off). Conversely, when the power feeding cable 202 is relaxed and the holder 263 is pushed down, the proximity switch 203Gb is turned on (both the proximity switches 203Ga and 203Gb are turned on).

  In the present embodiment, a warning light device provided on the upper portion of the body 262 is used for the warning device 204 instead of a horn device such as the vehicle 210. The warning device 204 includes, for example, three color warning lights. For example, the warning light is turned on in a normal color (for example, green) at normal times, and the warning light is turned on in a warning color (red, etc.) at the time of warning. It is configured to perform a warning operation that blinks. It is desirable to distinguish between the separation warning operation and the approach warning operation by changing the lighting or blinking or lighting color pattern. In the present embodiment, the control device 220 ′ (FIG. 14) of the sixth embodiment is applied, but the control device 220 ′ may be housed in the body 262. The other main hardware configuration elements and the relationships between the elements are the same as in the first embodiment.

  In the present embodiment, when the relative distance L is increased, the power feeding cable 202 is tensioned and an upward force is applied to the holder 263. Since the holder 263 is elastically supported by the spring 266, a load below a certain level is supported by the spring 266. However, when the force to lift the holder 263 exceeds the spring force, the holder 263 is lifted and the signal Sa of the proximity switch 203Ga is turned OFF. become. On the contrary, when the relative distance L is reduced, the power feeding cable 202 is relaxed and a downward force is applied to the holder 263. If the load is below a certain level, it is supported by the spring 266. However, when the force that pushes down the holder 263 exceeds the spring force, the holder 263 is pushed down and the signal Sb of the proximity switch 203Gb is turned on. Therefore, after changing the determination content of step S201 in FIG. 15 to “signal Sa is OFF?”, The control device 220 ′ of the sixth embodiment and its control procedure (flowchart) are also applied to this embodiment. be able to.

  Also in this embodiment, the same effect as the first embodiment can be obtained.

  FIG. 18 is a schematic diagram illustrating another configuration example of the sensor 203G. In the figure, the same or corresponding parts as in FIG. The arrangement of the proximity switches 203Ga and 203Gb can be appropriately changed as long as the three states L <L2, L2 ≦ L ≦ L1, and L> L1 can be identified by the combination of turning on and off. For example, in the example of FIG. 17, the proximity switch 203Ga is provided in the upper part of the body 262, and only the proximity switch 203Gb is accommodated in the body 262. It can also be set as the structure to do. Arranging the proximity switches 203Ga and 203Gb inside the body 262 also contributes to protecting the proximity switches 203Ga and 203Gb from dust. The configuration example of FIG. 18 can also be configured such that the proximity switch 203Ga is turned off only when L> L1, and the proximity switch 203Gb is turned on only when L <L2. Further, the correspondence relationship between the state of L <L2, L2 ≦ L ≦ L1, L> L1 and the combination of on / off can be changed as appropriate. For example, the proximity switch 203Ga is triggered only when L> L1. The arrangement can be changed together with H.267. The proximity switch 203Gb can be repositioned together with the trigger 268 so that the proximity switch 203Gb is turned off only when L <L2.

(Other)
In the above embodiment, the case where the warning operation is configured to be performed only when the relative distance L exceeds the upper limit value L1 or less than the lower limit value L2 has been described as an example. It can also be a thing. For example, if an intermediate limit value smaller than the upper limit value L1 is added and set, and the intermediate value S1 ′ is set as a threshold value for the corresponding sensor output, before the signal S reaches the first threshold value S1 It is also possible to perform a notification operation to call attention when the intermediate value S1 ′ is exceeded. For the lower limit L2 side, an intermediate value can be set based on the same concept, and a notification operation can be performed when the intermediate value falls below the second threshold value S2.

  Further, in the above description, an example in which an approach warning operation is performed so that the work machine 100 and the power supply vehicle 200 do not approach too much has been described, but the essential effect of alerting the power supply cable 202 not to apply an excessive tensile load. In order to obtain the above, it is only necessary to execute a separation warning operation. When omitting the approach warning function, related components and procedures can be omitted.

DESCRIPTION OF SYMBOLS 100 ... Electric drive type working machine, 120 ... Traveling body, 125 ... Traveling motor (hydraulic actuator), 130 ... Revolving body, 135 ... Electric motor, 136 ... Hydraulic pump, 150 ... Working machine, 155 ... Boom cylinder (hydraulic actuator), 156 ... Arm cylinder (hydraulic actuator), 157 ... Attachment cylinder (hydraulic actuator), 200 ... Power supply car, 201 ... Generator, 202 ... Power feeding cable, 203A, 203B ... Sensor (distance sensor), 203C-203E ... Sensor (tension) Sensor), 203F, 203G ... sensor, 203Fa, 203Fb, 203Ga, 203Gb ... proximity switch (sensor), 204A ... separation warning device, 204B ... proximity warning device, 210 ... vehicle, L ... electric drive work machine and vehicle Relative distance, 222A, 222A '... Separated Detecting device, 222B, 222B '... proximity detection device, 223A ... first storage device, 223B ... second storage device, 224A ... first comparison device, 224B ... second comparison device, 225A, 225A' ... separation determination device, 225B , 225B '... approach determination device, 226A ... first output device, 226B ... second output device, 234 ... wire, 260 ... cart, 263 ... holder (structure that moves with the power supply cable), 264 ... connecting member, 265... Post (structure that moves with the power supply cable) 267, 268... Trigger (structure that moves with the power supply cable), L1 ... Upper limit value of the relative distance, L2 ... Lower limit value of the relative distance, S. Signal output from sensor, S1... First threshold, S2... Second threshold, Sa, Sb... Input signal from proximity switch

Claims (8)

A traveling body, a revolving body provided on the upper part of the traveling body, a working machine connected to the revolving body, an electric motor as a prime mover, a hydraulic pump driven by the electric motor, and pressure oil discharged from the hydraulic pump In the system for moving an electrically driven work machine provided with a hydraulic actuator that is driven by and drives the work implement,
A generator,
A vehicle that supports the generator;
A power supply cable connecting the electric drive work machine and the generator;
A sensor that detects a physical quantity that changes according to a relative distance between the electrically driven work machine and the vehicle or a behavior of the power supply cable;
A separation detection device that outputs a separation warning signal by inputting a signal of the sensor and detecting that the electrically driven work machine and the vehicle are separated from each other when the relative distance exceeds a preset upper limit value;
A system for moving an electrically driven work machine, comprising a separation warning device that performs a warning operation in response to a separation warning signal from the separation detection device. The system for moving an electrically driven work machine according to claim 1,
The separation detection device includes:
A first storage device storing a first threshold value corresponding to a signal output from the sensor when the relative distance reaches the upper limit;
A first comparison device that compares the first threshold value read from the first storage device with a signal input from the sensor;
A separation determination device that outputs a separation identification signal for identifying that when the relative distance is determined to exceed the upper limit value based on the signal of the first comparison device;
A system for moving an electrically driven work machine, comprising: a first output device that generates the separation warning signal based on the separation identification signal input from the separation determination device and outputs the separation warning signal to the separation warning device. . The system for moving an electrically driven work machine according to claim 2,
The approach is achieved by detecting the input of the sensor signal that the relative distance between the electric drive work machine and the vehicle is below a preset lower limit and the electric drive work machine and the vehicle are approaching. An approach detection device that outputs a warning signal;
A system for moving an electrically driven work machine, comprising an approach warning device that performs a warning operation in response to an approach warning signal from the approach detection device. The system for moving an electrically driven work machine according to claim 3,
The approach detection device includes:
A second storage device storing a second threshold value corresponding to a signal output from the sensor when the relative distance reaches the lower limit;
A second comparison device that compares the second threshold value read from the second storage device with a signal input from the sensor;
An approach determination device that outputs an approach identification signal for identifying the relative distance when it is determined that the relative distance is below the lower limit value based on the signal of the second comparison device;
A system for moving an electrically driven work machine, comprising: a second output device that generates the approach warning signal based on the approach identification signal input from the approach determination device and outputs the approach warning signal to the approach warning device. .   5. The system for moving an electrically driven work machine according to claim 4, wherein the sensor detects a distance sensor that detects the relative distance, a distance sensor that detects a distance between the power feeding cable and the ground, and a tension of the power feeding cable. A system for moving an electrically driven work machine, wherein the system is one of a tension sensor and a tension sensor that detects a tension of a wire connecting the electrically driven work machine and the vehicle. The system for moving an electrically driven work machine according to claim 1,
The sensor includes at least one proximity switch installed so that the power supply cable or a structure that moves with the power supply cable or a structure that moves with the power supply cable is in contact with or separated from the tension when the relative distance increases.
The separation detection device includes:
A separation determination device that outputs a separation identification signal for identifying that when the relative distance is determined to exceed the upper limit value depending on the presence or absence of an input signal from the proximity switch;
A system for moving an electrically driven work machine, comprising: a first output device that generates the separation warning signal based on the separation identification signal input from the separation determination device and outputs the separation warning signal to the separation warning device. . The system for moving an electrically driven work machine according to claim 6,
By detecting that the relative distance between the electric drive work machine and the vehicle is below a preset lower limit value and the electric drive work machine and the vehicle are approached by inputting a signal from the proximity switch. An approach detection device for outputting an approach warning signal;
An approach warning device that performs a warning operation by an approach warning signal from the approach detection device,
The approach detection device includes:
An approach determination device that outputs an approach identification signal for identifying the relative distance when it is determined that the relative distance is below the lower limit value depending on the presence or absence of an input signal from the proximity switch;
A system for moving an electrically driven work machine, comprising: a second output device that generates the approach warning signal based on the approach identification signal input from the approach determination device and outputs the approach warning signal to the approach warning device. . The system for moving an electrically driven work machine according to claim 7,
A carriage supporting the proximity switch;
A system for moving an electrically driven work machine comprising a connecting member for connecting the carriage to the vehicle or the electrically driven work machine.

Images