JP2023145173A - electric excavator - Google Patents

Abstract

To improve safety.SOLUTION: An electric excavator according to one embodiment includes a battery, a charging port for supplying power to the battery, and an openable/closable cover that is provided as an exterior of the electric excavator and that opens when servicing the electric excavator, and is configured to perform control so that a state in which the battery is being charged from the charging port and a state in which the openable/closable cover is open are not established at the same time.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to an electric excavator.

In recent years, electrically driven excavators have been proposed that have an electric motor that operates a hydraulic drive system. In the electrically driven excavator, an electric motor is driven by electric power supplied from a battery provided in the main body.

When charging a battery, an electrically driven excavator is connected to an external power source via a charging cable. When the excavator is connected to an external power source, it is difficult to perform the same work operations as when the excavator is not connected to the external power source.

The technology described in Patent Document 1 describes a wired electric excavator. In the wired electric excavator described in Patent Document 1, when the charging cable is connected, the excavator is operated with a bucket or the like, but the excavator is restrained from running.

Patent No. 4504940

Among electric excavators, there are not only wired excavators, but also excavators that perform work using non-wired excavators. In non-wired excavators, the operation and movement of buckets and the like are usually restricted during charging. For this reason, an operator may desire to perform maintenance while the excavator is being charged.

However, care must be taken when performing maintenance while the shovel battery is being charged. For example, an excavator is equipped with a cooling circuit to cool the battery, but if the refrigerant in the refrigerant circuit begins to flow irregularly while the battery is being charged, the cooling fan used to cool the refrigerant will irregularly run at high speed. This is because there is a possibility of rotation.

Therefore, in view of the above-mentioned problems, an object of the present invention is to improve safety by performing control to prevent a retractable cover provided as an exterior of the excavator from being opened while the battery is being charged.

In order to achieve the above object, an electric excavator according to an embodiment of the present disclosure is provided with a battery, a charging port for supplying power to the battery, and an exterior of the electric excavator. It has a retractable cover that opens when charging, and is configured to perform control so that a state in which the battery is being charged from the charging port and a state in which the retractable cover is open do not occur at the same time.

According to the embodiment described above, safety is improved by suppressing the opening/closing cover from being opened when charging the battery.

FIG. 1 is a side view showing a shovel (excavator) according to a first embodiment. FIG. 2 is a block diagram schematically showing an example of the configuration of the shovel according to the first embodiment. FIG. 3 is a block diagram showing the components of the cooling system of the shovel according to the first embodiment. FIG. 4 is a top view showing an example of the arrangement structure of various devices of the revolving upper structure according to the first embodiment. FIG. 5 is a perspective view showing an example of the maintenance door of the revolving upper structure according to the first embodiment. FIG. 6 is a front view showing the external appearance of the excavator according to the first embodiment. FIG. 7 is a diagram showing the arrangement of each component in the interior space when the outer flap is opened according to the first embodiment. FIG. 8 is a flowchart showing a process when the shovel controller according to the first embodiment charges the battery. FIG. 9 is a diagram illustrating a maintenance door locking mechanism according to the second embodiment. FIG. 10 is a flowchart showing processing when the shovel controller according to the second embodiment charges the battery.

Embodiments of the present invention will be described below with reference to the drawings. Further, the embodiments described below are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. Note that in each drawing, the same or corresponding configurations are denoted by the same or corresponding symbols, and explanations may be omitted.

(First embodiment)
First, an overview of an excavator 200 according to a first embodiment will be described as an example of an electric excavator.

[Excavator overview]
As shown in FIG. 1, an excavator 200 according to the present embodiment includes a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2, and a boom as an attachment. 4, an arm 5, a bucket 6, and a cabin 10.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each of the crawlers is hydraulically driven by traveling hydraulic motors 1R and 1L (see FIG. 2), so that the lower traveling body 1 moves by itself.

The upper rotating body 3 is hydraulically driven by a rotating hydraulic motor 2M (see FIG. 2) through the rotating mechanism 2, so that the upper rotating body 3 rotates with respect to the lower traveling body 1. All driven elements (for example, the swing hydraulic motor 2M) are hydraulically driven by hydraulic oil supplied from the main pump 14 (see FIG. 2). This corresponds to a configuration in which the power source (engine) of a so-called hydraulic excavator is replaced with a pump electric motor 12.

Further, the upper revolving body 3 may be electrically driven by a swing electric motor driven by electric power supplied from the battery module 19 through the swing mechanism 2 instead of the swing hydraulic motor 2M. In this case, for example, the shovel 200 is connected from the battery module 19 to the swing electric motor via the inverter. The electric motor for swinging may perform a power running operation in which the upper rotating structure 3 is driven to swing under the control of the shovel controller 30 and an inverter, and a regenerative operation in which regenerative power is generated to swing and brake the upper rotating structure 3. . Further, the swing electric motor may supply regenerated power to the battery module 19 and the pump electric motor 12 via an inverter.

The boom 4 is attached to the center of the front part of the upper revolving body 3 so that it can be lifted up and down, an arm 5 is attached to the tip of the boom 4 so that it can move up and down, and a bucket 6 is attached to the tip of the arm 5 so that it can be moved up and down. Can be installed. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators, respectively.

The bucket 6 is an example of an end attachment, and other end attachments may be attached to the tip of the arm 5 instead of the bucket 6 depending on the content of the work. The other end attachment may be a different type of bucket from the bucket 6, such as a slope bucket or a dredging bucket. Further, the other end attachment may be a different type of end attachment from the bucket, such as a breaker, an agitator, or a grapple.

The cabin 10 is mounted on the front left side of the upper revolving structure 3, and is provided with a cockpit seat for an operator, an operating device 26 (see FIG. 2), etc. to be described later.

An outer flap 150 (an example of an outer cover member) is provided approximately at the center of the left side surface of the upper revolving body 3. The outer flap 150 can be opened and closed, and a charging vehicle inlet (an example of a charging port) for charging the excavator 200 is provided in the space inside the outer flap 150 when the outer flap 150 is opened. The charging vehicle inlet will be described later.

The excavator 200 operates driven elements such as the lower traveling body 1 (left and right crawlers), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 in response to operations by an operator riding in the cabin 10.

Furthermore, instead of or in addition to being configured to be operable by an operator riding in the cabin 10, the shovel 200 may be configured to be remotely controlled from outside the shovel 200. When the excavator 200 is remotely controlled, the interior of the cabin 10 may be unmanned. The following description will proceed on the premise that the operator's operations include at least one of an operator's operation on the operating device 26 by an operator in the cabin 10 and a remote control by an external operator.

The remote control includes, for example, a mode in which the shovel 200 is operated by an operation input regarding an actuator of the shovel 200 performed by a predetermined external device. In this case, the excavator 200 may be equipped with a communication device (not shown) capable of communicating with a predetermined external device, and may, for example, transmit image information (captured image) output by an imaging device (not shown) to the external device. . Then, the external device may display the received image information (captured image) on a display device (hereinafter referred to as a "remote control display device") provided in the external device. Further, various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the excavator 200 may be similarly displayed on a remote control display device of an external device. As a result, the operator of the external device can, for example, remotely operate the shovel 200 while checking the display contents such as a captured image showing the surroundings of the shovel 200 or an information screen displayed on the remote control display device. can. Then, the excavator 200 operates the hydraulic actuator in response to a remote control signal indicating the content of the remote control received from an external device through the communication device, and operates the lower traveling structure 1 (left and right crawlers), the upper rotating structure 3, Driven elements such as boom 4, arm 5, and bucket 6 may be driven.

Further, the remote control may include, for example, a mode in which the shovel 200 is operated by external voice input or gesture input to the shovel 200 by a person (for example, a worker) around the shovel 200. Specifically, the excavator 200 receives sounds uttered by surrounding workers etc. through an audio input device (for example, a microphone) or a gesture input device (for example, an imaging device) mounted on the excavator 200 (its own machine). Recognize gestures, etc. performed by employees, workers, etc. Then, the excavator 200 operates the actuator according to the content of the recognized voice, gesture, etc., and moves the undercarriage 1 (left and right crawlers), the upper revolving structure 3, the boom 4, the arm 5, the bucket 6, etc. The drive element may also be driven.

Furthermore, the excavator 200 may automatically operate the actuator regardless of the details of the operator's operation. As a result, the excavator 200 has a function (so-called " Achieve "automatic driving function" or "machine control function").

The automatic operation function includes a function that automatically operates driven elements (actuators) other than the driven element (hydraulic actuator) to be operated in response to the operator's operation on the operating device 26 or remote control (so-called "semi-automatic operation function"). ”) may be included. In addition, the automatic operation function includes a function that automatically operates at least a part of multiple driven elements (actuators) on the premise that there is no operator operation on the operating device 26 or remote control (so-called "fully automatic operation function"). may be included. In the excavator 200, when the fully automatic operation function is enabled, the interior of the cabin 10 may be unmanned. Further, the semi-automatic driving function, fully automatic driving function, etc. may include a mode in which the operation details of a driven element (actuator) that is a target of automatic driving are automatically determined according to predefined rules. In addition, for semi-automatic driving functions, fully automatic driving functions, etc., the excavator 200 autonomously makes various judgments, and based on the judgment results, autonomously determines the operation of the driven element (actuator) that is the target of automatic driving. (so-called "autonomous driving function") may be included.

[Shovel configuration]
Next, the configuration of the shovel 200 according to the present embodiment will be described with reference to FIG. 2 in addition to FIG. 1.

FIG. 2 is a block diagram schematically showing an example of the configuration of the shovel 200 according to the present embodiment.

In FIG. 2, the mechanical power line is shown as a double line, the hydraulic line is shown as a thick solid line, the pilot line is shown as a broken line, and the electric drive/control line is shown as a thin solid line.

<Hydraulic drive system>
The hydraulic drive system of the excavator 200 according to the present embodiment includes traveling hydraulic motors 1R and 1L, a swing hydraulic motor 2M, which hydraulically drives driven elements such as the lower traveling body 1, the boom 4, the arm 5, and the bucket 6, respectively. It includes hydraulic actuators such as a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. Further, the hydraulic drive system of the excavator 200 according to the present embodiment includes a pump electric motor 12, a main pump 14, and a control valve 17.

The pump electric motor 12 (an example of an electric motor) is a power source for a hydraulic drive system. The pump electric motor 12 is, for example, an IPM (Interior Permanent Magnet) motor. The pump electric motor 12 is connected to a high voltage power source including a battery module 19 via an inverter 18 . The pump electric motor 12 is powered by three-phase AC power supplied from the battery module 19 via the inverter 18 to drive the main pump 14 and the pilot pump 15 . Drive control of the pump electric motor 12 may be performed by an inverter 18 under the control of a shovel controller 30, which will be described later.

The main pump 14 supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16 by sucking hydraulic oil from the hydraulic oil tank T and discharging it to the high-pressure hydraulic line 16 . The main pump 14 is driven by the pump electric motor 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilting angle) of the swash plate under the control of a shovel controller 30, which will be described later. Thereby, the main pump 14 can adjust the stroke length of the piston and adjust the discharge flow rate (discharge pressure).

Note that the main pump 14 may be driven by power from another power source in addition to the pump electric motor 12. For example, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 into the hydraulic oil tank is regenerated by the weight of the boom 4 or arm 5, and the main pump 14 is activated. It may be driven. Specifically, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 and arm cylinder 8 into the hydraulic oil tank due to the weight of the boom 4 and arm 5 is used to increase the main pump 14. A hydraulic motor disposed coaxially with the rotation axis of the motor may be driven. Also, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 and arm cylinder 8 into the hydraulic oil tank is regenerated by the weight of the boom 4 and arm 5, and the energy is used to generate electricity in the generator. may be performed. Specifically, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 and arm cylinder 8 into the hydraulic oil tank due to the weight of the boom 4 and arm 5 is used to generate electricity and power from the generator. The generator may generate electricity by driving a coaxially arranged hydraulic motor. In this case, the power generated by the generator may be supplied to the pump motor 12 or charged to the battery module 19.

The control valve 17 is a hydraulic control device that controls the hydraulic drive system in response to an operator's operation or an operation command corresponding to an automatic driving function. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and supplies the hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1R, 1L, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9). For example, the control valve 17 is a valve unit that includes a plurality of control valves (direction switching valves) that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. Hydraulic oil supplied from the main pump 14 and passed through the control valve 17 and the hydraulic actuator is discharged from the control valve 17 to the hydraulic oil tank T.

<Electric drive system>
The electric drive system of excavator 200 according to this embodiment includes a pump motor 12, a sensor 12s, and an inverter 18. Further, the electric drive system of the excavator 200 according to the present embodiment includes a high voltage power source configured by a battery module 19 and the like.

The sensor 12s includes a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

The current sensor 12s1 detects the current of each of the three phases (U phase, V phase, and W phase) of the pump motor 12. The current sensor 12s1 is provided, for example, in a power path between the pump motor 12 and the inverter 18. Detection signals corresponding to the currents of each of the three phases of the pump motor 12 detected by the current sensor 12s1 are directly taken into the inverter 18 through the communication line. Further, the detection signal may be taken into the shovel controller 30 through the communication line and input to the inverter 18 via the shovel controller 30.

The voltage sensor 12s2 detects the voltage applied to each of the three phases of the pump motor 12. The voltage sensor 12s2 is provided, for example, in a power path between the pump motor 12 and the inverter 18. Detection signals corresponding to the voltages applied to each of the three phases of the pump motor 12 detected by the voltage sensor 12s2 are directly taken into the inverter 18 through the communication line. Further, the detection signal may be taken into the shovel controller 30 through the communication line and input to the inverter 18 via the shovel controller 30.

The rotation state sensor 12s3 detects the rotation state (eg, rotation position (rotation angle), rotation speed, etc.) of the pump electric motor 12. The rotation state sensor 12s3 is, for example, a rotary encoder or a resolver.

The inverter 18 drives and controls the pump electric motor 12 under the control of the shovel controller 30. The inverter 18 includes, for example, a conversion circuit that converts DC power into three-phase AC power or converts three-phase AC power into DC power, a drive circuit that drives a switch of the conversion circuit, and the operation of the drive circuit. and a control circuit that outputs a control signal (for example, a PWM (Pulse Width Modulation) signal).

The control circuit of the inverter 18 controls the drive of the pump motor 12 while grasping the operating state of the pump motor 12. For example, the control circuit of the inverter 18 grasps the operating state of the pump motor 12 based on the detection signal of the rotation state sensor 12s3. Further, the control circuit of the inverter 18 sequentially controls the rotation angle of the rotation shaft of the pump motor 12 based on the detection signal of the current sensor 12s1 and the detection signal of the voltage sensor 12s2 (or the voltage command value generated in the control process). By estimating, the operating state of the pump motor 12 may be grasped.

Note that at least one of the drive circuit and control circuit of the inverter 18 may be provided outside the inverter 18.

The battery module 19 is configured to supply charged power to electronic components within the excavator 200. The specific configuration will be described later.

<Operation system>
The operating system of excavator 200 according to this embodiment includes a pilot pump 15, an operating device 26, and a pressure control valve 31.

Pilot pump 15 supplies pilot pressure to various hydraulic devices (for example, pressure control valve 31) mounted on excavator 200 via pilot line 25. Thereby, the pressure control valve 31 can supply pilot pressure to the control valve 17 according to the operation details (eg, operation amount and operation direction) of the operating device 26 under the control of the shovel controller 30. Therefore, the shovel controller 30 and the pressure control valve 31 can realize the operation of the driven element (hydraulic actuator) according to the operator's operation on the operating device 26. Furthermore, under the control of the shovel controller 30, the pressure control valve 31 can supply a pilot pressure to the control valve 17 according to the content of the remote control specified by the remote control signal. The pilot pump 15 is, for example, a fixed capacity hydraulic pump, and is driven by the pump electric motor 12 as described above.

The operating device 26 is provided within the reach of the operator in the cockpit of the cabin 10, and allows the operator to control the respective driven elements (i.e., the left and right crawlers of the undercarriage 1, the upper revolving structure 3, the boom 4, and the arm 5). , bucket 6, etc.). In other words, the operating device 26 is a hydraulic actuator (for example, travel hydraulic motors 1R, 1L, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) by which an operator drives each driven element. It is used to operate electric actuators. The operating device 26 is, for example, an electric type, and outputs an electrical signal (hereinafter referred to as an "operating signal") according to the content of an operation by an operator. The operation signal output from the operation device 26 is taken into the shovel controller 30 via the signal line 28. As a result, the shovel controller 30 can control the pressure control valve 31 and control the operation of the driven elements (actuators) of the shovel 200 in accordance with the operator's operation details and operation commands corresponding to the automatic operation function. can.

The operating device 26 includes, for example, levers 26A to 26C. The lever 26A may be configured to be able to accept operations regarding each of the arm 5 (arm cylinder 8) and the upper rotating body 3 (swinging operation), for example, in response to operations in the front-rear direction and left-right direction. The lever 26B may be configured to be able to accept operations regarding each of the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9), for example, in response to operations in the front-rear direction and left-right direction. The lever 26C may be configured to be able to accept an operation of the lower traveling body 1 (crawler), for example.

Note that when the control valve 17 is composed of an electromagnetic pilot type control valve (directional switching valve), the operation signal of the electric operating device 26 is directly input to the control valve 17, and each hydraulic control valve is configured as an operating device. 26 may be adopted. Further, the operating device 26 may be of a hydraulic pilot type that outputs a pilot pressure depending on the content of the operation. In this case, pilot pressure depending on the operation content is supplied to the control valve 17.

The pressure control valve 31 uses hydraulic oil supplied from the pilot pump 15 through the pilot line 25 under the control of the shovel controller 30 to output a predetermined pilot pressure. A pilot line on the secondary side of the pressure control valve 31 is connected to the control valve 17 , and the pilot pressure output from the pressure control valve 31 is supplied to the control valve 17 .

<Power system>
The power supply system of excavator 200 is a group of components for supplying power to various electrical devices. Further, the excavator 200 includes a vehicle inlet 101 for normal charging and a vehicle inlet 102 for quick charging as a configuration for charging the battery module 19.

The normal charging vehicle inlet 101 is configured to be connectable to a charging connector (an example of a charging member) provided at the tip of a predetermined cable of an external power source (hereinafter referred to as a "charging cable").

The charging AC-DC converter 103 converts AC power supplied from an external power source through the vehicle inlet 101 for normal charging into DC power capable of charging the battery 192, and supplies the DC power to the battery module 19.

The rapid charging vehicle inlet 102 is configured to be connectable to a charging connector (an example of a charging member) provided at the tip of a charging cable of an external power source (for example, a charging station). The vehicle inlet 102 for quick charging is, for example, an inlet for performing quick charging based on CHAdeMO (registered trademark). In this embodiment, by using such a DC charging method, DC power can be supplied to the battery module 19 without going through an AC-DC converter.

In addition, in this embodiment, a charging member provided at the tip of a charging cable is used as a charging member connected to a vehicle inlet 101 for normal charging (an example of a charging port) and a vehicle inlet 102 for quick charging (an example of a charging port). An example of direct connection using a connector will be explained. However, this embodiment is not limited to the method of directly connecting the charging connector to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. For example, a charging member using a wireless power feeding method may be connected to a charging port and charged from an external power source.

The battery module 19 of the excavator 200 according to this embodiment supplies power to each component within the excavator 200. Battery module 19 includes a battery 192 and a battery controller 191.

Battery 192 supplies power to various components within excavator 200. For example, the battery 192 supplies charged (stored) power to the pump electric motor 12. Further, the battery 192 is charged with the power generated by the pump motor 12 (regenerated power).

The battery 192 is charged (accumulated) by being connected to an external power source via a charging cable.

Battery 192 is, for example, a lithium ion battery and has a relatively high output voltage (eg, several hundred volts).

Battery controller 191 controls the internal configuration of battery module 19 . For example, the battery controller 191 monitors the temperature status of the battery 192 based on the output result from a temperature sensor (not shown), and calculates the SOC (State of Charge) of the battery 192. Then, the battery controller 191 outputs the detection result of the temperature sensor and the SOC to the shovel controller 30. Thereby, the shovel controller 30 can display the temperature of the battery 192 and the SOC of the battery 192 on the output device 50 (display device) inside the cabin 10.

The battery controller 191 according to the present embodiment determines whether or not the charging connector is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, depending on whether the charging connector is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. . Note that the present embodiment does not limit the method of determining whether or not power can be supplied to the determination according to whether or not the charging connector is connected. For example, when performing wireless power supply, other methods may be used, such as determining whether or not power supply is possible through mutual communication with a charging facility provided with an external power source.

Then, when it is determined that the battery controller 191 is connected to an external power source (for example, a charging station) using a charging cable and a charging connector (in other words, when it is determined that power can be supplied), the battery controller 191 connects the external power source (for example, a charging station) Communicate with charging equipment equipped with When the battery controller 191 communicates with the charging equipment and is permitted to supply power from the charging equipment, power supply from an external power source is started.

Note that a power conversion device for boosting the output voltage of the battery module 19 and applying it to the pump motor 12 may be provided between the battery module 19 and the pump motor 12 . Further, as described above, when part or all of the driven part is electrically driven, the electric power of the battery module 19 is used instead of or in addition to the pump motor 12 to electrically drive the driven part. Supplied.

The DC-DC converter 44 is provided, for example, in the upper revolving structure 3, and steps down the very high voltage DC power output from the battery module 19 to a predetermined voltage (for example, about 24 volts) and outputs the voltage. The output power of the DC-DC converter 44 is supplied to the battery 46 to be charged (stored) or supplied to an electrical device (hereinafter referred to as a "low voltage device") driven by the power of the battery 46. The low voltage equipment includes, for example, the shovel controller 30. Further, the low voltage equipment includes, for example, a water pump 64, a fan 90, etc., which will be described later.

For example, as shown in FIG. 2, excavator 200 is equipped with one DC-DC converter 44.

Note that the DC-DC converter 44 may be replaced with an alternator. In this case, the alternator may be provided in the upper revolving body 3 and generate electricity using the power of the pump electric motor 12. Similar to the case of the DC-DC converter 44, the power generated by the alternator is supplied to the battery 46, where it is charged (stored) or supplied to low voltage equipment such as the shovel controller 30.

<Control system>
The control system of shovel 200 according to this embodiment includes a shovel controller 30, an output device 50, and an input device 52.

The output device 50 is provided in the cabin 10 and outputs various information to the operator under the control of the shovel controller 30. The output device 50 includes, for example, a display device that outputs (notifies) information to the operator in a visual manner. The display device may be installed, for example, at a location within the cabin 10 that is easily visible to the operator, and may display various information images under the control of the shovel controller 30. The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. Further, the output device 50 includes, for example, a sound output device that outputs information to the operator in an auditory manner. The sound output device is, for example, a buzzer, a speaker, or the like.

The input device 52 is provided within the cabin 10 and receives various inputs from the operator. The input device 52 may include, for example, an operation input device that accepts an operation input from an operator. The operation input device includes, for example, a button, a toggle, a lever, a touch panel, a touch pad, and the like. Further, the input device 52 may include, for example, a voice input device that accepts voice input from an operator and a gesture input device that accepts gesture input from the operator. The voice input device includes, for example, a microphone that captures the voice of the operator inside the cabin 10. Further, the gesture input device includes, for example, an indoor camera that can capture an image of the operator's gesture inside the cabin 10. A signal corresponding to an input from the operator accepted by the input device 52 is taken into the shovel controller 30.

Each function of the shovel controller 30 may be realized by arbitrary hardware or a combination of arbitrary hardware and software. For example, the shovel controller 30 each includes a processor such as a CPU (Central Processing Unit), a memory device (main storage device) such as a RAM (Random Access Memory), a nonvolatile auxiliary storage device such as a ROM (Read Only Memory), The computer may be configured mainly with a computer including an interface device for input/output with the outside, and the like.

The shovel controller 30 performs drive control of the shovel 200. For example, the shovel controller 30 outputs a control command to the pressure control valve 31 in response to an operation signal input from the operating device 26, and causes the pressure control valve 31 to output a pilot pressure according to the operation content of the operating device 26. . Thereby, the shovel controller 30 can realize the operation of the driven element (hydraulic actuator) of the shovel 200 corresponding to the operation content of the electric operating device 26.

Further, when the shovel 200 is remotely controlled, the shovel controller 30 may perform control related to the remote control, for example. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31 and cause the pressure control valve 31 to output a pilot pressure according to the content of the remote control. Thereby, the shovel controller 30 can realize the operation of the shovel 200 (driven element) corresponding to the content of the remote control.

Further, the shovel controller 30 may perform control related to automatic driving functions, for example. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31 and cause the pressure control valve 31 to act on the control valve 17 with a pilot pressure according to the operation command corresponding to the automatic operation function. Thereby, the shovel controller 30 can realize the operation of the driven element (hydraulic actuator) of the shovel 200 that corresponds to the automatic operation function.

The shovel controller 30 may integrally control the operation of the entire shovel 200 (various devices mounted on the shovel 200).

The shovel controller 30 performs drive control of the electric drive system based on various input information (for example, control commands including operation signals of the operating device 26, etc.). Further, based on a signal from the battery controller 191, lighting control of an indicator 160, which will be described later, may be performed. Further, lighting control of a light source 170, which will be described later, may be performed based on a signal from the opening/closing detection sensor 3A.

Furthermore, the shovel controller 30 may perform switching control between the discharging state and the charging state of the battery module 19 based on the operating state of the operating device 26, for example. Further, for example, when the shovel 200 is remotely controlled, the shovel controller 30 may perform switching control between the discharging state and the charging state of the battery module 19 based on the content of the remote control. Further, for example, when the automatic operation function of the excavator 200 is enabled, the shovel controller 30 may perform switching control between the discharge state and the charge state of the battery module 19 based on an operation command corresponding to the automatic operation function.

Further, in the excavator controller 30, each functional block provided for controlling the state in which the battery 192 is being charged and the state in which the maintenance door 3D (see FIG. 5) is open does not occur at the same time will be described later. do.

<Cooling system>
The cooling system of the shovel 200 is a group of components for cooling components that generate heat as the shovel 200 operates.

As shown in FIG. 3, the cooling system of excavator 200 includes a cooling device 60 and a fan 90.

The cooling device 60 cools electric drive system equipment, relatively high voltage power supply system equipment, and the like in the excavator 200 . For example, as shown in FIG. 3, the devices to be cooled by the cooling device 60 include the pump motor 12, the inverter 18, the battery module 19, the DC-DC converter 44, the charging AC-DC converter 103, etc. .

Note that as long as the conditions regarding the necessary cooling performance for each of the plurality of objects to be cooled are satisfied, the connection mode of the objects to be cooled through which the refrigerant circuit 66 passes the refrigerant may be arbitrary. For example, the refrigerant circuit 66 may connect some or all of the plurality of cooling objects in series, as long as the conditions regarding the necessary cooling performance for each of the plurality of cooling objects are satisfied. may be connected in parallel. Further, in the refrigerant circuit 66, the plurality of objects to be cooled may be arranged in any order, starting from the radiator 62, as long as the conditions regarding the necessary cooling performance for each of the plurality of objects to be cooled are satisfied.

Cooling device 60 includes a radiator 62, a water pump 64, and a refrigerant circuit 66.

The radiator 62 cools the refrigerant (eg, cooling water) in the refrigerant circuit 66. Specifically, the radiator 62 cools the refrigerant by exchanging heat between the surrounding air and the refrigerant.

Water pump 64 circulates refrigerant within refrigerant circuit 66 . The water pump 64 operates using electric power supplied from the DC-DC converter 44 or the battery 46, for example.

Refrigerant circuit 66 includes refrigerant channels 66A, 66B, 66C, 66D, 66E, and 66F.

The coolant flow path 66A connects the water pump 64 and the battery module 19, and allows the coolant discharged from the water pump 64 to flow into the coolant flow path inside or around the battery module 19. Thereby, the cooling device 60 can cool the battery module 19 with the refrigerant. The refrigerant that has passed through the refrigerant flow path inside or around the battery module 19 flows out into the refrigerant flow path 66B.

The refrigerant flow paths 66B, 66B1, and 66B2 connect the battery module 19 and the inverter 18 and the DC-DC converter 44, and direct the refrigerant flowing out from the battery module 19 into or around the inverter 18 and the DC-DC converter 44. The refrigerant flows into the refrigerant flow path. Specifically, the refrigerant flow path 68B whose one end is connected to the battery module 19 branches into refrigerant flow paths 68B1 and 68B2 at the other end, and the refrigerant flow paths 68B1 and 68B2 are connected to the inverter 18 and the DC-DC, respectively. It is connected to converter 44. Thereby, the inverter 18 and the DC-DC converter 44 can be cooled. The refrigerant that has passed through the refrigerant flow path inside or around the inverter 18 flows out into the refrigerant flow path 68C1. Further, the refrigerant that has passed through the refrigerant flow path inside or around the DC-DC converter 44 flows out into the refrigerant flow path 68C2.

The refrigerant flow paths 68C, 68C1, and 68C2 connect the inverter 18 and the DC-DC converter 44 to the pump motor 12, and direct the refrigerant flowing out from the inverter 18 and the DC-DC converter 44 to the inside of the pump motor 12 or Allow it to flow into the surrounding refrigerant flow path. Specifically, refrigerant flow paths 68C1 and 68C2, each of which has one end connected to the inverter 18 and the DC-DC converter 44, merge with one end of the refrigerant flow path 68C, and the other end of the refrigerant flow path 68C connects to the pump electric motor. 12. Thereby, the pump electric motor 12 can be cooled with the refrigerant. The refrigerant that has passed through the refrigerant circuit inside or around the pump motor 12 flows out into the refrigerant flow path 68D.

Note that when a power conversion device is provided between the battery module 19 and the pump electric motor 12, the power conversion device may be cooled by the cooling device 60. In this case, the power conversion device may be arranged in parallel with the inverter 18 and the DC-DC converter 44 in the refrigerant circuit 66, and cooled by the refrigerant flowing out from the battery module 19, for example. Further, the DC-DC converter 44 may be air-cooled. In this case, the coolant channels 66B2 and 66C2 are omitted. Further, at least a portion of the inverter 18, the DC-DC converter 44, etc. may be arranged in series in the refrigerant circuit 66.

The refrigerant flow path 66D connects the pump motor 12 and the charging AC-DC converter 103, and transfers the refrigerant flowing out from the refrigerant flow path inside or around the pump motor 12 to the charging AC-DC converter 103. Allow it to flow into the internal or surrounding refrigerant flow path. Thereby, the cooling device 60 can cool the charging AC-DC converter 103 with the refrigerant. The refrigerant that has passed through the refrigerant flow path inside or around the charging AC-DC converter 103 flows out into the refrigerant flow path 66E.

The refrigerant flow path 66E connects the charging AC-DC converter 103 and the radiator 62, and supplies the refrigerant flowing out from the refrigerant flow path inside or around the charging AC-DC converter 103 to the radiator 62. As a result, the refrigerant circuit 66 cools various devices in the electric drive system and power supply system, and the radiator 62 cools the refrigerant whose temperature has increased, making it possible to cool the various devices in the electric drive system and power supply system again. can be returned to a normal state.

The refrigerant flow path 66F connects the radiator 62 and the water pump 64, and supplies the refrigerant cooled by the radiator 62 to the water pump 64. Thereby, the water pump 64 can discharge the refrigerant cooled by the radiator 62 into the refrigerant flow path 66A and circulate it in the refrigerant circuit 66.

The fan 90 operates under the control of the shovel controller 30 and blows air toward a predetermined device that exchanges heat with the air (hereinafter referred to as "heat exchange device"). The fan 90 operates with power supplied from the DC-DC converter 44 and the battery 46, for example.

The fan 90 may cool the radiator 62 by blowing air toward the radiator 62, for example, as shown in FIG. As a result, air that can exchange heat with the refrigerant flowing inside is successively supplied around the radiator 62, and the degree of cooling of the refrigerant by the radiator 62 can be increased. .

The fan 90 may be one or more. That is, the fan 90 may be configured in any number as long as the degree of heat exchange (degree of cooling or degree of heating) necessary for the heat exchange device can be ensured.

Note that the cooling system of excavator 200 may include an oil cooler that cools hydraulic oil used in the hydraulic drive system (high-pressure hydraulic line) and the operating system (pilot line). The oil cooler is provided, for example, in the return oil path between the control valve 17 and the hydraulic oil tank T, and cools the hydraulic oil by exchanging heat between the surrounding air and the hydraulic oil flowing inside. It's fine. In this case, the fan 90 may blow air toward the oil cooler to cool the oil cooler. As a result, air that can exchange heat with the hydraulic oil flowing inside the oil cooler is successively supplied around the oil cooler, increasing the degree of cooling of the hydraulic oil by the oil cooler. I can do it. In this case, the fan 90 that blows air to the radiator 62 and the fan 90 that blows air to the oil cooler may be the same fan 90, or may be different fans 90.

[Arrangement structure of various equipment in the upper revolving structure]
Next, with reference to FIG. 4, the arrangement structure of various devices in the upper revolving structure 3 will be described.

FIG. 4 is a top view showing an example of the arrangement structure of various devices in the revolving upper structure 3. As shown in FIG. In FIG. 4, the house portion 3H (see FIG. 5), which is the exterior of the upper revolving structure 3, is omitted in order to expose various devices of the upper revolving structure 3.

As shown in FIG. 4, in this example, the battery module 19 is mounted on the right side of the upper revolving structure 3 in a range extending from the front part to the center part in the longitudinal direction.

A pump electric motor 12, a main pump 14, a pilot pump 15, and a control valve 17 are located in the rear part of the upper revolving body 3, from the center in the left-right direction (Y-axis direction) to the right end (-Y-direction side end). , and an inverter 18 are provided.

The pump electric motor 12 and the inverter 18 are integrally arranged at the center of the rear part of the upper revolving body 3 in the left-right direction (Y-axis direction). The pump electric motor 12 and the inverter 18 are arranged such that the rotation axis of the pump electric motor 12 runs along the left-right direction (Y-axis direction) and the output shaft extends rightward. For example, the pump electric motor 12 is mounted on the bottom 3B (swivel frame) of the upper revolving structure 3 via a mount member. Specifically, the pump electric motor 12 may be placed relatively close to the bottom portion 3B so that the main pump 14 and pilot pump 15, which are connected in a mechanically drivable manner, are positioned as low as possible. . Thereby, the main pump 14 can be positioned lower than the liquid level inside the hydraulic oil tank T. Therefore, the occurrence of air trapping in the main pump 14 can be suppressed.

The main pump 14 and the pilot pump 15 are arranged adjacent to the right side of the pump motor 12 such that their input shafts are connected to the output shaft of the pump motor 12 . The main pump 14 and the pilot pump 15 are mounted on the bottom portion 3B via the pump motor 12, for example, by being connected to the pump motor 12.

The control valve 17 is disposed at the center of the rear part of the revolving upper structure 3 in the left-right direction (Y-axis direction) and above the pump electric motor 12 . For example, the pump electric motor 12 and the main pump 14 are arranged at a relatively low position in the space between the bottom part 3B of the upper revolving body 3 and the house part, and the control valve 17 is arranged at a relatively high position in the space. will be placed in Specifically, a pedestal 17MT provided so as to straddle the pump electric motor 12 in the front-rear direction (X-axis direction) is attached to the bottom portion 3B. The control valve 17 is mounted on the pedestal 17MT, thereby being mounted on the bottom portion 3B via the pedestal 17MT.

Note that the control valve 17 may be placed above the main pump 14 or the pilot pump. Moreover, the control valve 17 may be arranged so as to straddle between the pump electric motor 12 and the main pump 14 or pilot pump 15 in the left-right direction (Y-axis direction).

A swing hydraulic motor 2M is mounted in the center of the upper revolving body 3.

A hydraulic oil tank T is arranged in a space in the front-rear direction between the swing hydraulic motor 2M, the pump electric motor 12, and the control valve 17. The hydraulic oil tank T is mounted on the bottom portion 3B directly or via a bracket or the like.

A radiator 62 and a fan 90 are arranged on the left side (-X direction) of the rear part of the upper revolving structure 3, that is, on the left side of the pump electric motor 12, the main pump 14, and the control valve 17.

The radiator 62 is arranged approximately perpendicularly to the bottom portion 3B so that the front-rear direction (X-axis direction) is approximately the longitudinal direction (width direction), and the left-right direction (Y-axis direction) is approximately the lateral direction (thickness direction). It is placed in an upright position. “Substantially” means, for example, to allow for manufacturing errors in the shovel 200 and equipment mounted on the shovel 200. Hereinafter, it will be used with the same intention. Thereby, the radiator 62 can perform heat exchange by introducing air between the fins of the core and passing the air in the left-right direction (Y-axis direction). The radiator 62 is attached to the bottom portion 3B, for example, via a mount member.

The fan 90 is arranged adjacent to the right side (+Y direction side) of the radiator 62. The fan 90 is mounted on the bottom portion 3B via the radiator 62, for example, by being attached to the radiator 62 via a resin fan shroud. The fans 90 are arranged, for example, in two rows in the longitudinal direction (X-axis direction) of the radiator 62 and in two stages in the height direction (Z-axis direction). The fan 90 blows air to the radiator 62 and the like in such a manner that air is sucked out from the radiator 62 side (-Y direction side) to the right side (+Y direction side).

Note that the fan 90 may be arranged adjacent to the left side of the radiator 62 and the like. In this case, the fan 90 blows air to the radiator 62 and the like in a manner that pushes air from the left side toward the radiator 62 (right side).

The battery 46 is arranged at the left end of the rear part of the upper revolving structure 3, that is, to the left of the radiator 62 and the fan 90.

The battery 46 is attached to the bottom portion 3B, for example, via a bracket or the like. A vehicle inlet 101 for normal charging and a vehicle inlet 102 for quick charging are provided on the left side (+Y direction side) of the cabin 10 of the upper revolving structure 3 . The vehicle inlet 101 for normal charging and the vehicle inlet 102 for quick charging are arranged side by side in the front-rear direction (X-axis direction), for example. Further, inside the cabin 10, a DC-DC converter 44 and a charging AC-DC converter 103 are arranged.

The vehicle inlet 101 for normal charging (an example of a charging port) can be connected to a charging connector. The rapid charging vehicle inlet 102 (an example of a charging port) can be connected to a charging connector.

As shown in FIG. 4, an openable and closable outer flap 150 is provided on the left side surface (the side surface in the −Y direction) of the upper revolving body 3. A first inner flap 151 that covers the vehicle inlet 101 for normal charging and a second inner flap 152 that covers the vehicle inlet 102 for quick charging are provided in a space 155 inside when the outer flap 150 is opened.

The first inner flap 151 and the second inner flap can be opened and closed. For example, when connecting the charging connector to the vehicle inlet 101 for normal charging, the first inner flap 151 is left open. Furthermore, when connecting the charging connector to the vehicle inlet 102 for quick charging, the second inner flap 152 is kept open.

The upper revolving body 3 according to the present embodiment is configured such that the rear portion thereof has a substantially arc shape with the rotation center (axis center) 3X as the center when viewed from above. Thereby, the turning radius of the rear part of the upper revolving body 3 can be made relatively small. The turning radius of the rear part of the revolving upper structure 3 means the radius of the trajectory (outer edge) drawn by the rear part of the revolving upper structure 3 around the turning center 3X when the revolving upper structure 3 turns. The shovel 200 corresponds to, for example, a rear micro-swing type shovel. The term "excavator with very small rear swing" refers to an excavator in which the ratio of the turning radius of the rear part of the upper revolving structure 3 to half (1/2) of the total width of the crawler 1C is within 120%. Thereby, the excavator 200 can improve workability in a narrow work site.

On the other hand, in the case of the rear micro-swing type excavator, the space at the rear (in the -X direction) of the upper revolving body 3, especially the space at the left and right (Y-axis direction) ends, is reduced and becomes relatively small. In addition, as there is a trend toward electrification, especially in small machines, the space at the rear of the upper revolving structure 3 is limited in the electric excavator 200, even if it is not an excavator with an ultra-small rear swing. and tends to be relatively small. Therefore, if a relatively large component is placed at the rear of the revolving upper structure 3, dead space will increase, and an efficient arrangement structure of the components may not be realized.

Therefore, in this embodiment, the battery module 19, which is one of the largest components mounted on the revolving upper structure 3, is arranged at the front right side (-Y direction side) of the revolving upper structure 3. The right front portion has a substantially rectangular parallelepiped shape. The battery module 19 is formed in a shape corresponding to the front right side. The pump electric motor 12 and the main pump 14 are mounted at the rear of the upper revolving structure 3.

As a result, in the excavator 200, the pump motor 12, the main pump 14, etc., which are relatively small in size, are arranged at the rear of the revolving upper structure 3, so that the dead space can be made relatively small. The excavator 200 secures a relatively large installation space for the battery module 19 along the right side of the upper revolving structure 3, where the horizontal position changes are small in the front-rear direction (X-axis direction) when viewed from above. can do. Therefore, the excavator 200 can realize an efficient arrangement structure of the components of the revolving upper structure 3 including the battery module 19.

Thereby, the excavator 200 can secure a space above the main pump 14 and the pump electric motor 12, which are relatively small in height, as a space for arranging the control valve 17. In addition, in the excavator 200, the control valve 17 supplied from the main pump 14 is arranged at a position relatively close to the main pump 14, so that the hydraulic oil piping can be made relatively short. Therefore, the excavator 200 can realize a more efficient arrangement structure of the components in the upper revolving structure 3.

As a result, the excavator 200 secures a relatively large capacity of the battery module 19 while disposing the main pump 14, which is relatively small in size, behind the battery module 19. The dimension in the front-rear direction at the right corner (right end portion) can be kept small. Therefore, the excavator 200 can both secure the capacity of the battery module 19 and reduce the turning radius of the rear part of the upper revolving structure 3.

Furthermore, in the present embodiment, a maintenance door 3D may be provided at the rear of the house portion 3H in the revolving upper structure 3, allowing access to components mounted on the revolving upper structure 3.

This allows the operator to easily access a group of parts that are relatively small compared to the battery module 19 and are arranged in a concentrated manner at the rear of the revolving upper structure 3, as described above.

[Explanation of maintenance door and opening/closing detection sensor]
FIG. 5 is a perspective view showing an example of the maintenance door 3D of the upper revolving structure 3. In the example shown in FIG. 5, three maintenance doors 3D are provided at the rear of the upper revolving body 3 (house portion 3H).

In this embodiment, as described above, the battery module 19 which is relatively large in size is arranged at the front right side of the revolving upper structure 3, and the relatively small component group is concentrated at the rear part of the revolving upper structure 3. Ru. Therefore, the operator can easily access these parts through the maintenance door 3D.

The maintenance door 3D (an example of an openable cover) includes maintenance doors 3D1 to 3D3, is provided as an exterior of the excavator 200, and is opened when the excavator 200 is to be maintained.

The maintenance door 3D1 is provided at the left and right center of the rear part of the house section 3H, and can be opened upward using the left and right axis of the upper surface of the house section 3H as a fulcrum. Thereby, the operator can access the pump electric motor 12, the control valve 17, the inverter 18, the hydraulic oil tank T, etc. through the opening of the maintenance door 3D1, and perform various maintenance. In particular, the operator can easily perform maintenance such as refueling the hydraulic oil tank T, which requires relatively high maintenance frequency.

The maintenance door 3D2 is provided on the rear left end side surface of the house section 3H, and can be opened to the left using the vertical axis of the side surface of the house section 3H as a fulcrum. Thereby, the operator can access the battery 46, the radiator 62, equipment related to the air conditioner (not shown), etc. through the opening of the maintenance door 3D2, and perform various maintenance.

The maintenance door 3D3 is provided on the rear right end side surface of the house section 3H, and can be opened to the left using the vertical axis of the side surface of the house section 3H as a fulcrum. Thereby, the operator can access the main pump 14, pilot pump 15, parts in the vicinity, etc. through the opening of the maintenance door 3D3, and perform various maintenance. In particular, workers can easily perform maintenance on filters located near the main pump 14 (for example, the working oil filter 3F and the main fuel filter), which require relatively high maintenance and maintenance frequency. can.

As described above, the maintenance doors 3D1 to 3D3 are opened when performing maintenance on a group of parts provided at the rear of the revolving upper structure 3.

By the way, when the shovel 200 is in a state where the battery 192 is being charged, particularly when performing rapid charging, the shovel controller 30 controls various configurations to cool the battery 192. For example, the shovel controller 30 operates the cooling device 60 shown in FIG. 3 to cool the battery module 19. In this case, the shovel controller 30 operates the water pump 64 to circulate the refrigerant flowing within the refrigerant channels 66A to 66F, and operates the fan 90.

The refrigerant channels 66A to 66F are also arranged at the rear of the upper revolving body 3 as channels for cooling the pump motor 12, the inverter 18, and the like. Therefore, there is a possibility that the coolant heated by cooling the battery module 19 passes through the coolant channels 66B to 66F arranged at the rear of the upper revolving body 3. Furthermore, while the battery 192 is being charged, the battery 46 may also be charged. In this case, the battery 46 may also become hot.

Therefore, when a worker performs maintenance with one or more of the maintenance doors 3D1 to 3D3 open while the battery module 19 is being charged, the worker's parts may be exposed to hot parts. Or it may come into contact with the refrigerant channels 66A to 66F.

Furthermore, while the battery module 19 is being charged, the fan 90 rotates to blow air to the radiator 62 in order to cool the refrigerant in the cooling device 60 .

Therefore, when an operator performs maintenance with the maintenance doors 3D1 and 3D2 open while the battery module 19 is being charged, the operator's body parts may come into contact with the rotating fan 90. There is sex.

Therefore, the shovel controller 30 according to the present embodiment has two states: a state in which the battery module 19 is being charged from the vehicle inlet 101 for normal charging or a vehicle inlet 102 for quick charging, and a state in which the maintenance doors 3D1 to 3D3 are open. Control is performed so that the two conditions do not hold at the same time.

For this reason, opening/closing detection sensors 3A1 to 3A3 are provided at the rear of the upper revolving body 3 to detect the open/closed state of each of the maintenance doors 3D1 to 3D3.

The opening/closing detection sensors 3A1 to 3A3 are sensors for detecting the opening/closing states of the maintenance doors 3D1 to 3D3. The opening/closing detection sensors 3A1 to 3A3 may be, for example, lever-type electric switches that cannot be pressed down when the maintenance doors 3D1 to 3D3 are open, but are pressed down when the maintenance doors 3D1 to 3D3 are in the closed state. Then, the opening/closing detection sensors 3A1 to 3A3 output a signal indicating whether or not they are in a depressed state to the shovel controller 30. Thereby, the shovel controller 30 can grasp the open/closed states of the maintenance doors 3D1 to 3D3.

Specifically, the opening/closing detection sensor 3A1 detects whether or not the maintenance door 3D1 is in a closed state, and transmits a signal indicating the detection result to the shovel controller 30.

The opening/closing detection sensor 3A2 detects whether or not the maintenance door 3D2 is closed, and transmits a signal indicating the detection result to the shovel controller 30.

The opening/closing detection sensor 3A3 detects whether or not the maintenance door 3D3 is closed, and transmits a signal indicating the detection result to the shovel controller 30.

Note that this embodiment is not limited to the case where a lever type (contact type) is used as the opening/closing detection sensors 3A1 to 3A3. For example, the opening/closing detection sensors 3A1 to 3A3 may be magnetic sensors that detect opening/closing using magnets provided on the maintenance doors 3D1 to 3D3. Furthermore, an imaging device may be used as the opening/closing detection sensor 3A. When an imaging device is used, the opening/closing detection sensor 3A is provided at a position where it can recognize the open and closed states of each of the maintenance doors 3D1 to 3D3. In this case, after the shovel controller 30 performs predetermined image processing on the input captured image, each of the maintenance doors 3D1 to 3D3 is can recognize whether it is open or not.

[Situation around the excavator when charging]
Next, a situation in which the charging connector 400 is connected to the vehicle inlet 101 for normal charging and the vehicle inlet 102 for quick charging will be described.

FIG. 6 is a front view showing the external appearance of the shovel 200 according to the present embodiment.

The example shown in FIG. 6 shows a situation where the shovel 200 is being charged. Specifically, a situation is shown in which the charging connector 400 is connected to the normal charging vehicle inlet 101 or the quick charging vehicle inlet 102 stored inside the outer flap 150 with the outer flap 150 opened. ing. Charging connector 400 is connected to an external power source via charging cable 401.

In the excavator 200 according to the present embodiment, a vehicle inlet 101 for normal charging and a vehicle inlet 102 for quick charging are provided in the space existing between the bottom part 3B (swivel frame) of the upper revolving body 3 and the floor surface of the cabin 10. has been established. In other words, since the vehicle inlet 101 for normal charging and the vehicle inlet 102 for quick charging are ergonomically provided at a height that is easy to use, the work burden on the operator when connecting the charging connector 400 can be reduced. .

In this embodiment, when a worker connects the charging connector 400 to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging to start charging, the shovel controller 30 according to the embodiment uses an open/close detection sensor. If it is detected from the signals from 3A1 to 3A3 that one or more of the maintenance doors 3D1 to 3D3 are open, control is performed so that the battery module 19 is not charged.

By the way, when a worker is present in a position as shown in FIG. 6, the worker cannot confirm whether or not the maintenance doors 3D1 to 3D3 are open. Therefore, the shovel controller 30 according to the present embodiment notifies the operator whether or not the maintenance doors 3D1 to 3D3 are open. In this embodiment, whether or not one or more of the maintenance doors 3D1 to 3D3 is open is displayed inside the outer flap 150 when the outer flap 150 is opened.

[Charging port description]
Next, in the excavator 200 according to the embodiment, the space 155 after opening the outer flap 150 will be described. FIG. 7 is a diagram showing the arrangement of each component in the interior space 155 when the outer flap 150 is opened according to the present embodiment. As shown in FIG. 7, in the interior space 155 when the outer flap 150 is opened, the first inner flap 151, the second inner flap 152, the indicator 160 for indicating the charging rate, and the maintenance door 3D are opened. A light source 170 indicating whether or not the image is displayed is arranged.

When the first inner flap 151 is opened, the normal charging vehicle inlet 101 is exposed for connection. When the second inner flap 152 is opened, the quick charging vehicle inlet 102 is exposed for connection.

The indicator 160 is provided with, for example, three LEDs. The display of the indicator 160 changes according to the charging rate under the control of the shovel controller 30. For example, when the SOC is 0%, all LEDs are off. When the SOC is 50%, the first LED is on, the second LED is blinking, and the third LED is off. When the SOC is 75%, the first LED and the second LED are lit, and the third LED is blinking. When the SOC is 100%, all LEDs are lit. By referring to the indicator 160, the operator can determine whether or not the charging connector 400 can be removed from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging.

In this embodiment, since the indicator 160 is provided near the vehicle inlet 101 for normal charging and the vehicle inlet 102 for quick charging, the operator can disconnect the charging connector 400 after checking the SOC. You can judge whether or not. Since the charging connector 400 can be removed after confirming that the SOC of the battery module 19 has reached a predetermined standard, shortening of the working time of the excavator 200 can be suppressed.

In this embodiment, an example has been described in which the indicator 160 including three LEDs is used as a display device for displaying the charging rate. However, in this embodiment, the display device is not limited to the indicator 160 using three LEDs, and four or more or two or less LEDs may be used. Furthermore, a liquid crystal panel or the like may be used as the display device. Any display device may be used as long as it can display the charging rate in this manner.

The light source 170 (an example of a display device) is provided with, for example, one LED. The light source 170 is turned on or off according to the control from the shovel controller 30, depending on whether the maintenance doors 3D1 to 3D3 are open or not. For example, when one or more of the maintenance doors 3D1 to 3D3 is open, the light source 170 is turned on, and when all of the maintenance doors 3D1 to 3D3 are closed, the light source 170 is turned off.

In this embodiment, since the light source 170 is provided near the vehicle inlet 101 for normal charging and the vehicle inlet 102 for quick charging, the operator can check whether the maintenance doors 3D1 to 3D3 are open. Therefore, it can be recognized whether or not charging is started by connecting the charging connector 400.

Further, in this embodiment, the vehicle inlet 101 for normal charging, the vehicle inlet 102 for quick charging, and the light source 170 are provided near the door 10A. Therefore, the user can check whether the maintenance doors 3D1 to 3D3 are open or closed without walking to the rear of the excavator 200. Therefore, the walking burden on the worker can be reduced.

<Functional block of excavator controller>
Returning to FIG. 2, each functional block within the shovel controller 30 will be explained. Each functional block within the shovel controller 30 is conceptual and does not necessarily need to be physically configured as illustrated. It is possible to configure all or part of each functional block by functionally or physically distributing and integrating it in arbitrary units. All or any part of each processing function performed by each functional block is realized by a program executed by the CPU. Alternatively, each functional block may be realized as hardware using wired logic.

The shovel controller 30 according to the present embodiment has two states: a state in which the battery 192 is being charged from the vehicle inlet 101 for normal charging or a vehicle inlet 102 for quick charging, and a state in which the maintenance door 3D (see FIG. 5) is open. Control is performed so that the two conditions do not hold at the same time. Therefore, the shovel controller 30 according to the present embodiment includes an acquisition section 3001, a determination section 3002, an output section 3003, and a control section 3004 as functional blocks.

The acquisition unit 3001 acquires signals from various configurations within the excavator 200. For example, the acquisition unit 3001 acquires signals indicating the detection results of the opening/closing detection sensors 3A1 to 3A3.

The acquisition unit 3001 also acquires a signal indicating whether the SOC and charging connector 400 are connected, etc. from the battery controller 191.

The determination unit 3002 performs various determinations based on the information acquired by the acquisition unit 3001. For example, the determination unit 3002 determines whether one or more of the maintenance doors 3D1 to 3D3 is open based on the detection results of the open/close detection sensors 3A1 to 3A3.

Further, the determination unit 3002 determines whether the SOC of the battery 192 has reached a predetermined reference value (for example, 100%) or more while the battery 192 is being charged.

The output unit 3003 controls the output of information to workers and the like. For example, the output unit 3003 outputs a warning based on the determination result of the determination unit 3002. Furthermore, the output unit 3003 also outputs information based on the information acquired by the acquisition unit 3001.

For example, the output unit 3003 controls the display of the indicator 160 based on the SOC of the battery 192.

Furthermore, the output unit 3003 controls the lighting of the light source 170 depending on whether or not one or more of the maintenance doors 3D1 to 3D3 is open, using the determination unit 3002. Specifically, the output unit 3003 turns on the light source 170 when one or more of the maintenance doors 3D1 to 3D3 is open, and turns on the light source 170 when all of the maintenance doors 3D1 to 3D3 are closed. 170 is turned off.

In the present embodiment, whether one or more of the maintenance doors 3D1 to 3D3 is open is expressed as an example by turning on or turning off the light source 170. Note that this embodiment does not limit the lighting control of the light source 170 to determine whether one or more of the maintenance doors 3D1 to 3D3 are open, but if the operator can recognize whether or not the maintenance doors 3D1 to 3D3 are open, A method like this may also be used. For example, information indicating that one or more of the maintenance doors 3D1 to 3D3 is open may be displayed on the liquid crystal panel.

Further, the output unit 3003 also outputs an audio warning when any one or more of the maintenance doors 3D1 to 3D3 is open during charging control. Note that this embodiment does not limit the output mode of the warning to audio. For example, the output unit 3003 may output the warning to a communication terminal carried by the worker, or output the warning to a communication terminal other than the light source 170. A warning may be output by turning on the light. Furthermore, the output unit 3003 may output a warning to a management center that manages the work site.

Based on the determination result by the determination unit 3002, the control unit 3004 determines whether the battery 192 is being charged from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, and whether the maintenance doors 3D1 to 3D3 (openable cover) are being charged. For example, control is performed so that the open state and the open state do not occur at the same time.

This embodiment is an example in which three maintenance doors 3D1 to 3D3 (an example of an openable cover) are provided. Therefore, the control unit 3004 according to the present embodiment performs control so that the state in which the battery 192 is being charged and the state in which at least one of the maintenance doors 3D1 to 3D3 is open are not established at the same time.

In this embodiment, an example will be described in which three maintenance doors 3D1 to 3D3 (an example of an openable cover) are provided, but the number of maintenance doors 3D1 to 3D3 (an example of an openable cover) is limited to three. Instead, the number may be 2 or less, or 4 or more.

For example, when it is determined that one of the maintenance doors 3D1 to 3D3 (an example of an openable cover) is open, the control unit 3004 instructs the battery controller 191 to suppress the start of charging. , to the battery controller 191.

As another example, when the control unit 3004 determines that any one of the maintenance doors 3D1 to 3D3 (an example of an openable cover) is open while the battery 192 is being charged. Then, an instruction is given to the battery controller 191 to stop charging the battery 192.

In the shovel controller 30 according to the present embodiment, if it is determined that any one of the maintenance doors 3D1 to 3D3 (an example of an openable cover) is open when starting or during charging of the battery 192, the 192 is controlled so that charging is suppressed. As a result, when the maintenance doors 3D1 to 3D3 are open, parts inside the maintenance doors 3D1 to 3D3 are prevented from becoming hot. In other words, it is possible to prevent the fan 90 from rotating irregularly or the refrigerant (for example, cooling water) in the refrigerant circuit 66 from irregularly starting to flow due to the internal parts of the maintenance doors 3D1 to 3D3 becoming hot. are doing. Thereby, in this embodiment, when an operator is performing maintenance, it is possible to prevent the fan 90 from suddenly starting to move or from blowing out the refrigerant (for example, cooling water). Furthermore, charging of the battery 192 can be suppressed when disassembling electrical components through which electricity may flow. Therefore, safety can be improved.

<Flow of charging control>
Next, a description will be given of processing performed during charging control in the shovel 200 according to the present embodiment.

FIG. 8 is a flowchart showing a process when the shovel controller 30 according to this embodiment charges the battery 192.

First, the determination unit 3002 determines whether the charging connector 400 is connected based on the information from the battery controller 191 acquired by the acquisition unit 3001 (S1801). If it is determined that charging connector 400 is not connected (S1801: No), the process of S1801 is performed again.

On the other hand, if it is determined that the charging connector 400 is connected (S1801: Yes), the determination unit 3002 determines whether or not all maintenance doors 3D1 to 3D3 are closed, based on the detection result acquired by the acquisition unit 3001. Determination is made (S1802). If the determining unit 3002 determines that all of the maintenance doors 3D1 to 3D3 are not closed (S1802: No), the output unit 3003 outputs an audio warning indicating that the maintenance doors 3D1 to 3D3 are open (S1803). At this time, the control unit 3004 instructs the battery controller 191 to suppress the start of charging, and performs the process again from S1801, thereby suppressing the start of charging the battery 192. The output unit 3003 also controls the lighting of the light source 170. Note that lighting control of light source 170 may be performed regardless of whether charging connector 400 is connected.

On the other hand, if the determination unit 3002 determines that all maintenance doors 3D1 to 3D3 are closed (S1802: Yes), the control unit 3004 instructs the battery controller 191 to start charging the battery 192 (S1804). .

After that, the determination unit 3002 determines whether one or more of the rear maintenance doors 3D1 to 3D3 is opened based on the detection result acquired by the acquisition unit 3001 (S1805). If the determination unit 3002 determines that one or more of the maintenance doors 3D1 to 3D3 are open (S1805: Yes), the output unit 3003 outputs an audio warning indicating that the maintenance doors 3D1 to 3D3 are open (S1806). ). At this time, the output unit 3003 also controls the lighting of the light source 170.

After that, the control unit 3004 instructs the battery controller 191 to stop charging the battery 192 (S1807). This stops charging the battery 192.

After that, the determination unit 3002 determines whether all rear maintenance doors 3D1 to 3D3 are closed based on the detection result acquired by the acquisition unit 3001 (S1808). If it is determined that all the doors are not closed (S1808: No), the output unit 3003 continues to output the audio warning while charging the battery 192 is stopped.

On the other hand, if the determination unit 3002 determines that all rear maintenance doors 3D1 to 3D3 are closed (S1808: Yes), the control unit 3004 again performs control to restart charging of the battery 192 (S1804).

In S1805, if the determination unit 3002 determines that all maintenance doors 3D1 to 3D3 are closed based on the detection result acquired by the acquisition unit 3001 (S1805: No), the control unit 3004 controls charging of the battery 192. continues (S1809).

Then, the determination unit 3002 determines whether the SOC of the battery 192 obtained from the battery controller 191 is equal to or higher than a predetermined reference value (for example, 100%) (S1810). If it is determined that the SOC is smaller than the predetermined reference value (S1810: No), the process is performed again from S1805.

On the other hand, if the determination unit 3002 determines that the SOC of the battery 192 is equal to or higher than a predetermined reference value (for example, 100%) (S1810: Yes), the control unit 3004 issues an instruction to stop charging the battery 192 to the battery 192. to the controller 191 (S1811). This completes charging of the battery 192.

In this embodiment, by performing the above-described processing, charging control of the battery 192 is performed only when all maintenance doors 3D1 to 3D3 are closed, so safety can be improved.

In the above-described embodiment, a case has been described in which a warning is output and charging is stopped when one or more of the maintenance doors 3D1 to 3D3 is opened during charging. However, the present embodiment is not limited to the case where both the warning output and charging stop control are performed, and only the warning output may be performed, or only the charging stop control may be performed.

In the present embodiment, a case has been described in which the reference value for terminating charging of the battery 192 is 100%. However, in this embodiment, the reference value for terminating battery charging is not limited to 100%, but an appropriate value is set in consideration of the workload of the shovel 200, the lifespan of the battery 192, and the like.

In the present embodiment, even if at least one of the plurality of maintenance doors 3D is open, control is performed so that the battery 192 is not charged at the same time. Thereby, the operator can be prevented from accessing the inside of shovel 200 during charging. Therefore, when the operator is accessing the inside of excavator 200, fan 90 may rotate irregularly due to charging of battery 192, or refrigerant (for example, cooling water) may begin to flow irregularly within refrigerant circuit 66. can be restrained from doing so. Furthermore, it is possible to prevent workers from coming into contact with parts that are being driven by charging. This can improve safety.

The shovel controller 30 according to the present embodiment prevents the start of charging the battery 192 when at least one of the plurality of maintenance doors 3D is open, even if the conditions for starting charging the battery 192 are satisfied. In other words, when the maintenance door 3D is open, the shovel controller 30 suppresses charging so that when an operator is performing maintenance, internal parts become hot due to the start of charging of the battery 192, and the fan 90 It is possible to suppress irregular rotation of the refrigerant circuit 66 and irregular flow of the refrigerant (for example, cooling water) in the refrigerant circuit 66, and also to suppress parts from being driven by charging. Thereby, safety can be improved.

The shovel controller 30 according to the present embodiment stops charging the battery 192 when at least one of the plurality of maintenance doors 3D is opened while the battery 192 is being charged. This prevents the fan 90 from rotating irregularly or the refrigerant (for example, cooling water) in the refrigerant circuit 66 from irregularly starting to flow after at least one of the plurality of maintenance doors 3D is opened. Since this can be suppressed, safety can be improved. Further, the shovel controller 30 outputs a warning when at least one of the plurality of maintenance doors 3D is opened while the battery 192 is being charged. This allows the operator to be prompted to close the maintenance door 3D, thereby improving safety.

(Second embodiment)
In the embodiment described above, by stopping charging and issuing a warning when the maintenance door 3D is opened during charging, the battery 192 is being charged and the maintenance door 3D is open at the same time. An example of controlling to prevent this from happening has been explained. However, the embodiment described above is not limited to an example in which charging is stopped and a warning is issued when the maintenance door 3D is opened. In the second embodiment, a case will be described in which lock control is performed so that the maintenance door 3D cannot be opened when charging is started.

In this embodiment, a locking mechanism 3L (an example of a fixing mechanism) is provided at the rear of the upper revolving body 3, which is capable of locking each of the maintenance doors 3D1 to 3D3 in a closed state. For example, the lock mechanism 3L (3L1 to 3L3) is provided for each of the maintenance doors 3D1 to 3D3.

In this embodiment, the lock mechanism 3L (3L1 to 3L3) may be a solenoid lock, for example. Note that in this embodiment, the lock mechanism 3L (3L1 to 3L3) is not limited to a solenoid lock, and for example, a mechanical lock may be used.

The control unit 3004 outputs a signal for locking or unlocking each of the locking mechanisms 3L (3L1 to 3L3). For example, when the control unit 3004 receives information from the battery controller 191 to charge the battery 192, the control unit 3004 controls the lock mechanism 3L (3L1 to 3L3) so as to lock (fix) the maintenance doors 3D1 to 3D3 in a closed state. ).

FIG. 9 is a diagram illustrating the locking mechanism of the maintenance door 3D according to this embodiment. In the example shown in FIG. 9, the locking mechanism 3L is provided adjacent to the opening/closing detection sensor 3A in the left-right direction (Y-axis direction: depth direction in FIG. 9). Note that the present embodiment does not limit the position of the locking mechanism 3L, and may be any position as long as the maintenance door 3D can be locked.

In the example shown in FIG. 9(A), the maintenance door 3D is shown in an open state. In this case, since the lever-type protrusion of the opening/closing detection sensor 3A protrudes in the +Z-axis direction, the opening/closing detection sensor 3A outputs a signal to the shovel controller 30 indicating that the maintenance door 3D is in the open state. .

Further, a hole is provided in the bottom surface 3D_B of the maintenance door 3D at a position corresponding to the lock mechanism 3L.

The example shown in FIG. 9(B) shows a state in which the maintenance door 3D is closed. In this case, since the protrusion of the opening/closing detection sensor 3A is pushed down in the −Z-axis direction, the opening/closing detection sensor 3A outputs a signal to the shovel controller 30 indicating that the maintenance door 3D is in the closed state.

Thereby, the shovel controller 30 can recognize that the maintenance door 3D is in the closed state. When the shovel controller 30 receives a notification from the battery controller 191 that charging has started, it instructs the lock mechanism 3L to perform lock control. The locking mechanism 3L causes the protrusion 3L_P to protrude in the +Z-axis direction according to the control. The protrusion 3L_P is inserted into a hole provided in the bottom surface 3D_B of the maintenance door 3D. Thereby, the maintenance door 3D is locked (fixed) in a closed state.

<Flow of charging control>
Next, a description will be given of processing performed during charging control in the shovel 200 according to the present embodiment.

FIG. 10 is a flowchart showing a process when the shovel controller 30 according to this embodiment charges the battery 192.

First, the determination unit 3002 determines whether the charging connector 400 is connected based on the information from the battery controller 191 acquired by the acquisition unit 3001 (S1901). If it is determined that charging connector 400 is not connected (S1901: No), the process of S1901 is performed again.

On the other hand, if it is determined that the charging connector 400 is connected (S1901: Yes), the determination unit 3002 determines whether or not all maintenance doors 3D1 to 3D3 are closed, based on the detection result acquired by the acquisition unit 3001. Determination is made (S1902). If the determination unit 3002 determines that all of the maintenance doors 3D1 to 3D3 are not closed (S1902: No), the output unit 3003 outputs an audio warning indicating that the maintenance doors 3D1 to 3D3 are open (S1903). At this time, the control unit 3004 instructs the battery controller 191 to suppress the start of charging, and performs the process again from S1901, thereby suppressing the start of charging the battery 192. The output unit 3003 also controls the lighting of the light source 170. Note that lighting control of light source 170 may be performed regardless of whether charging connector 400 is connected.

On the other hand, when the determination unit 3002 determines that all maintenance doors 3D1 to 3D3 are closed (S1802: Yes), the control unit 3004 locks (fixes) the maintenance doors 3D1 to 3D3 in the closed state. A signal is output to each of the mechanisms 3L (3L1 to 3L3) (S1904).

The control unit 3004 instructs the battery controller 191 to start charging the battery 192 (S1905).

Then, the determination unit 3002 determines whether the SOC of the battery 192 obtained from the battery controller 191 is equal to or higher than a predetermined reference value (for example, 100%) (S1906). If it is determined that the SOC is smaller than the predetermined reference value (S1906: No), the process is performed again from S1906.

On the other hand, if the determination unit 3002 determines that the SOC of the battery 192 is equal to or higher than a predetermined reference value (for example, 100%) (S1906: Yes), the control unit 3004 issues an instruction to stop charging the battery 192 to the battery 192. to the controller 191 (S1907). This completes charging of the battery 192.

The shovel controller 30 according to this embodiment controls the lock mechanism 3L to fix the plurality of maintenance doors 3D in a closed state when charging the battery 192. This can prevent the operator from opening the maintenance door 3D during charging, so it can prevent the maintenance door 3D from opening when the fan 90 starts rotating irregularly due to charging of the battery 192. Alternatively, when the refrigerant flowing in the refrigerant circuit 66 is blown out due to charging of the battery 192, the maintenance door 3D can be prevented from being opened. This can improve safety. Furthermore, charging can be prevented from stopping due to the operator opening the maintenance door 3D. Thereby, it is possible to suppress a delay in the time until the end of charging.

(Modified example)
In the embodiment described above, an example was described in which control is performed so that any one or more of the three maintenance doors 3D does not open during charging. However, the embodiment described above is not limited to control in which all of the maintenance doors 3D remain closed while the battery 192 is being charged.

Therefore, in this modification, the fan 90, parts driven by charging, or the refrigerant channels 66A to 66F are not arranged, and a maintenance door is provided for accessing a space in which parts requiring maintenance are arranged. shall be. The method for providing the maintenance door is to adjust the arrangement of parts gathered at the rear of the upper revolving body 3 so that any one of the three maintenance doors 3D can be opened even during charging. Good too. As another method, the number of maintenance doors 3D may be increased, such as by providing maintenance doors 3D for replacing filters and the like.

In this manner, in this modification, a dedicated maintenance door that can be opened even during charging is provided among the plurality of maintenance doors 3D.

The control unit 3004 of this modification example controls whether the maintenance doors other than the dedicated maintenance door among the plurality of maintenance doors 3D are open and the battery 192 from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. Control is performed so that the state in which the battery is being charged and the state in which the battery is being charged are not established at the same time. As a control method, either stopping charging or outputting a warning may be performed as in the first embodiment, or lock control may be performed in the closed state as in the second embodiment. good.

Then, the control unit 3004 of the present modification extracts the battery 192 from the normal charging vehicle inlet 101 or the quick charging vehicle inlet 102, regardless of whether or not the dedicated maintenance door among the plurality of maintenance doors 3D is open. Controls charging. Therefore, in this modification, it is not necessary to provide the dedicated maintenance door with an opening/closing detection sensor.

In this modification, among the plurality of maintenance doors 3D, maintenance doors other than the dedicated maintenance door are controlled in the same manner as in the above-described embodiment, and the dedicated maintenance door can be opened and closed even during charging. The dedicated maintenance door ensures safety even if it is opened while charging. Therefore, even during charging, maintenance such as filter replacement can be performed while safety is ensured. This makes it possible to achieve both safety and convenience.

Note that the number of dedicated maintenance doors that can be opened during charging is not limited, and the number of dedicated maintenance doors may be one or more.

<Effect>
In the above-described embodiments and modifications, the shovel controller 30 is in a state where the battery 192 is being charged from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, and the state in which the shovel controller 30 is charging the battery 192 from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, and the state in which the shovel controller 30 is charging the battery 192 from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, and the state where the shovel controller 30 is charging the battery 192 from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, ) is open at the same time, it is possible to prevent the worker from coming into contact with parts that have become hot due to charging the battery 192 or parts that are being driven by charging. This can improve safety.

In the embodiments and modifications described above, when the shovel controller 30 charges the battery 192 from the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, the maintenance doors 3D1 to 3D3 (an example of an openable cover) A warning is output depending on the open/closed status of the This allows the worker to recognize the current situation and respond accordingly, thereby improving safety.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes can be made within the scope of the gist described in the claims.

200 Excavator 1 Lower traveling body 2 Swivel mechanism 3 Upper rotating body 3A Open/close detection sensor 3D Maintenance door 3L Lock mechanism 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 19 Battery module 191 Battery controller 192 Battery 30 Excavator Controller 90 Fan 101 Vehicle inlet for normal charging 102 Vehicle inlet for quick charging 160 Indicator 170 Light source 3001 Acquisition section 3002 Judgment section 3003 Output section 3004 Control section

Claims (7)

battery and
a charging port for supplying power to the battery;
a retractable cover that is provided as an exterior of the electric excavator and that opens when servicing the electric excavator;
The battery is configured to perform control so that a state in which the battery is being charged from the charging port and a state in which the retractable cover is open are not established at the same time.
Electric excavator. configured to inhibit the start of charging the battery when the retractable cover is open;
The electric excavator according to claim 1. If the retractable cover opens while the battery is being charged, the battery is configured to perform at least one of stopping charging the battery and outputting a warning.
The electric excavator according to claim 1 or 2. further comprising a fixing mechanism capable of fixing the retractable cover in a closed state,
controlling the fixing mechanism to fix the retractable cover in a closed state when charging the battery;
The electric excavator according to claim 1 or 2. further comprising a display device near the charging port,
When the retractable cover is open, the display device is configured to display that the retractable cover is open.
The electric excavator according to any one of claims 1 to 4. having a plurality of the openable/closable covers;
Control is performed so that a state in which at least one of the plurality of retractable covers is open and a state in which the battery is being charged from the charging port do not occur at the same time.
The electric excavator according to any one of claims 1 to 5. having a plurality of the openable/closable covers;
Control is performed so that a state in which one of the plurality of retractable covers is open and a state in which the battery is being charged from the charging port do not occur at the same time;
The battery is configured to be controlled to be charged from the charging port regardless of whether or not the other one of the retractable covers is open.
The electric excavator according to any one of claims 1 to 5.

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