JP3897875B2 - Battery operated hydraulic work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a battery-driven hydraulic working machine in which a hydraulic pump is driven by an electric motor supplied with electric power from a battery, and an actuator is operated by discharged oil discharged from the hydraulic pump.
[0002]
[Prior art]
Conventionally, a hydraulic working machine is equipped with a monitoring device described in, for example, Japanese Patent Laid-Open No. 60-215298. As shown in the block diagram of FIG. 5, this type of monitoring device includes on / off sensor groups 41 to 4n for detecting battery voltage abnormality, brake failure, cooling water temperature abnormality, fuel level abnormality reduction, etc., and hydraulic pressure and cooling water. There are analog sensor groups 51 to 5n for detecting temperature, fuel level, etc. in an analog manner, and an output signal output from each sensor group is given to the input circuit 2A of the controller 2 via the harness 1. .
[0003]
The processing circuit 2B performs processing such as A / D conversion on the sensor signal applied through the input circuit 2A and outputs the processed signal to the panel unit 3. The panel unit 3 has a liquid crystal display 3B and a drive circuit 3A for driving the display 3B, and performs warning display and cage display based on sensor signals.
[0004]
[Problems to be solved by the invention]
When a monitoring device with such a configuration is installed in a hydraulic working machine such as a bulldozer or a power shovel, a warning display or a cage display is displayed to the operator when an abnormal battery voltage, abnormal fuel level, etc. occurs. , Can call attention. However, since then, no measures have been taken to save battery and fuel consumption. In particular, running out of battery becomes a serious problem in a battery-driven hydraulic working machine that is equipped with a battery-driven electric motor and works by driving a hydraulic pump. In other words, if the work is continued despite the fact that the amount of electricity in the battery has dropped below the warning level, the amount of electricity in the battery will be completely zero. In this state, the actuator in the hydraulic working machine cannot be operated at all, and the charging facility cannot be returned by itself and is stuck. In addition, for example, if the discharge of 80% or more of the amount of electricity at the time of full charge is repeated many times, the performance of the battery itself deteriorates. As a result, the life of the battery is shortened, which is inconvenient in terms of maintenance and economy. was there.
[0005]
The present invention has been made in consideration of the circumstances in the above-described conventional battery-driven hydraulic working machine, and can prevent an overdischarge by allowing an operator to recognize that the amount of electricity of the battery is hardly left. Another object of the present invention is to provide a battery-driven hydraulic working machine that can secure the amount of electricity that can be moved by itself to the charging facility and prevent the hydraulic working machine from getting stuck.
[0006]
[Means for Solving the Problems]
The present invention detects a remaining battery level in a hydraulic working machine having a battery, an electric motor driven by the battery, a hydraulic pump driven by the electric motor, and a plurality of actuators operated by the hydraulic pump. Battery remaining amount detecting means to be operated and an operation restriction for restricting the operation of a part or all of the actuators when the remaining battery amount detected by the battery remaining amount detecting means reaches a preset battery setting value. A battery-operated hydraulic working machine comprising: means; and release means capable of releasing the restriction of operation of the actuator by an operator's operation .
[0007]
In the present invention, the operation of the actuator can be limited when the release means is operated in a state where the remaining battery level detected by the remaining battery level detection means has not reached the battery set value.
[0008]
The first form of the operation limiting means is one that limits the operation of the actuator by limiting the amount of oil discharged from the hydraulic pump. Specifically, it has an open / close valve that opens and closes the primary pressure line that connects the hydraulic pump and the hydraulic remote control valve of the operation lever, and an operation control unit that performs open / close control of the open / close valve. The operation of the actuator can be limited by outputting a close signal from the operation control unit to the on-off valve. Further, the present invention is not limited to this, and it has a regulator that adjusts the amount of oil discharged from the hydraulic pump and a flow rate control unit that limits the flow rate of the regulator, and outputs a flow rate reduction signal from the flow rate control unit to the regulator. Can also limit the operation of the actuator.
[0009]
As the second mode of the operation limiting means, there is shown one that limits the operation of the actuator by limiting the power supply from the battery to the electric motor. Specifically, it has a circuit that supplies power from the battery to the electric motor and a power supply control unit that is connected to the circuit and controls the supply of electric power, and stops power supply from the power supply control to the electric motor. Alternatively, the operation of the actuator can be limited by outputting a signal to be reduced.
[0010]
In the present invention, when the operation of the actuator is limited, it is preferable that only the travel actuator can be operated.
[0011]
In the present invention, the second battery set value is set on the fully charged side with respect to the battery set value, and an alarm is issued when the remaining battery level detected by the remaining battery level detection means reaches the second battery set value. An alarm generating means can be provided to emit.
[0012]
In this invention, it is preferable to have an alerting | reporting means which alert | reports the battery remaining amount detected by the battery remaining amount detection means.
[0013]
According to the present invention, the amount of electricity is detected by the battery remaining amount detecting means in the battery use state, and the battery remaining amount detected by the battery remaining amount detecting means is set to the fully charged side from the battery set value. When the second battery set value (for example, 35% of full charge) is reached, an alarm is generated by the alarm generation means. When the alarm is issued, the battery is still used, and when the remaining battery level reaches a battery set value (for example, 30% of full charge), the operation control means limits the operation of some or all of the actuators. . When the operation of some actuators is limited, for example, the traveling actuator is in an operable state, and the operation of other actuators, for example, the front attachment is stopped.
[0014]
Moreover, when restricting all the actuators, the operation speed of all the actuators is reduced or the operation is stopped. In this case, when the operator turns on the release means for releasing the operation restriction of the attachment, the operation of the hydraulic work machine can be resumed, and the hydraulic work machine can be quickly moved to the charging facility.
[0015]
In addition, when the release operation unit is turned on even though the remaining battery level detected by the remaining battery level detection unit has not reached the battery set value, for example, the operation of the actuator is disabled or the operation of the electric motor is stopped. Stop. As a result, when the detected remaining battery level has not reached the battery set value, the operator recognizes that the release switch must be turned off.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0017]
FIG. 1 is a side view of a battery-driven hydraulic working machine (in this embodiment, a hydraulic excavator will be described as an example) showing an embodiment of the present invention. In the figure, 6 is a lower traveling body of a hydraulic excavator, 7 is an upper swinging body mounted on the upper part of the lower traveling body 6, 8 is a driver seat mounted on the upper swinging body 7, and 9 is an upper swinging body 7 A work attachment 10 attached to the front part is a battery (battery 10 is composed of a plurality of battery pieces, so-called cells) arranged behind the upper swing body 7.
[0018]
FIG. 2 is a plan view of the upper swing body 7 shown in FIG. In the figure, 11 is a plurality of batteries constituting a battery (lead storage battery) 10, 12 is an electric motor disposed on the side of the upper swing body 7 and driven by the battery 10, and 13 is driven by the electric motor 12 and is a main pressure oil. The hydraulic pump 34 discharges the hydraulic oil tank.
[0019]
FIG. 3 is a main part circuit diagram relating to the hydraulic system of the excavator of the present invention. In the figure, 14 is one of the representative actuators that actuates the work attachment, 15 is a pilot switching valve for controlling the actuator 14, 16 is a hydraulic remote control valve for operating the actuator 14, 17 Is a pilot pump which is a pilot hydraulic pressure source for deriving the pilot primary pressure. Reference numeral 18 denotes a pressure sensor that detects an operation state of the hydraulic remote control valve 16 by detecting a pilot secondary pressure derived from the pilot valve 19F or 19R of the hydraulic remote control valve 16. The pressure sensor 18 can also be configured with a potentiometer that detects the operation amount of the operation lever 35 of the hydraulic remote control valve 16.
[0020]
20 is a specific gravity sensor as battery remaining amount detecting means for detecting the remaining amount of the battery 10 (specifically, the remaining amount of electricity) by detecting the specific gravity of the battery electrolyte, and 21 is a chopper for controlling the voltage of the battery 10. , 22 is a switch for opening and closing the battery power supply, 23 is an alarm device comprising a buzzer as an alarm generating means, 24 is a warning lamp, and 25 is a display as an informing means for displaying the remaining battery level detected by the specific gravity sensor 20. Part. The alarm device 23 issues an alarm when the detected value of the specific gravity sensor 20 reaches a battery set value (for example, 35% of full charge).
[0021]
26a is an operation control unit that outputs an open / close signal to an electromagnetic open / close valve 30 as an open / close valve to be described later, 26b is a flow rate control unit that outputs a flow rate reduction signal to a regulator 32 to be described later, and 26c is an electric motor 12 from the battery 10. Is a power supply control unit that stops or reduces the power supply to each of these, and each of these control units is configured by a controller 28 configured by a microprocessor. Each of the control units 26a, 26b, and 26c functions as an operation limiting unit that limits the operation of some or all of the actuators when the detection value of the specific gravity sensor 20 reaches the battery set value.
[0022]
29a and 29b are release switches as release means connected to the controller 28, 30 is an electromagnetic on-off valve provided between the pilot primary pressure lines 31a and 31b, 32 is a regulator for controlling the discharge flow rate of the hydraulic pump 13, 33 Is an electromagnetic proportional pressure reducing valve as an electro-oil converter.
[0023]
When the detected value of the specific gravity sensor 20 reaches the battery set value, the electromagnetic on-off valve 30 is switched to the low position by the operation control unit 26a, shuts down the oil passage, and is operated by the hydraulic pump 13. Among them, the operation of some of the actuators 14 is stopped. In the present embodiment, some of the actuators 14 are actuators other than the traveling hydraulic motor.
[0024]
Further, when the detected value of the specific gravity sensor 20 reaches the battery set value, the flow rate control unit 26b outputs a flow rate reduction signal to the regulator 32 to limit the operation of the actuator 14. Specifically, the regulator 32 reduces the operating speed of a part of the actuators 14 among the plurality of actuators operated by the pump 13, and the electromagnetic proportional pressure reduction is performed by a command signal output from the flow rate control unit 26b. The discharge flow rate of the hydraulic pump 13 is controlled via the valve 33.
[0025]
Furthermore, the power supply control unit 26c is configured to stop or reduce the power supplied from the battery 10 to the electric motor 12 when the detection value of the specific gravity sensor 20 reaches the battery set value.
[0026]
The stop state of the actuator 14 or the electric motor 12 can be released by operating the release switch 29a. However, when the release switch 29a is turned on when the detection value of the specific gravity sensor 20 has not reached the battery set value, the operation of the actuator 14 or the electric motor 12 in the operating state is stopped.
[0027]
The release switch 29b is configured to release the operating speed reduction state of the actuator 14 or the electric motor 12. When the release switch 29b is turned on in a state where the detection value of the specific gravity sensor 20 does not reach the battery set value, the operating speed of the actuator 14 or the electric motor 12 is reduced.
[0028]
Next, the control operation of the controller 28 having the above configuration will be described with reference to the flowchart shown in FIG.
[0029]
When the main switch of the hydraulic excavator is turned on, the amount of electricity of the battery 10 is detected by the specific gravity sensor 20 and the detection signal is input to the controller 28. When the remaining battery level detected by the specific gravity sensor 20 reaches the second battery set value, that is, when the battery discharge amount is 65% or more (step S1), the controller 28 instructs the alarm unit 23 to issue an alarm. At the same time, the warning lamp 24 is blinked (step S2).
[0030]
After the warning is urged, the actuator 14 is further operated, and when the detected value of the specific gravity sensor 20 reaches the battery set value, that is, when the battery discharge amount becomes 70% or more (step S3), the controller 28 is operated. A command signal is output to the electromagnetic on-off valve 30 via the control unit 26a. As a result, the electromagnetic on-off valve 30 interposed between the pilot primary pressure lines 31a-31b switches the open oil path position A to the shutoff oil path position B, and the operation lever of the hydraulic remote control valve 16 corresponding to some actuators. The operation of 35 is disabled (steps S4 → S5). Specifically, the operation of the other actuators 14 corresponding to the front attachment, etc., is stopped except for the traveling hydraulic motor among the plurality of actuators provided in the hydraulic working machine.
[0031]
Further, in the case where the motor 12 is stopped instead of stopping the operation in step S <b> 5, when the detected value of the specific gravity sensor 20 reaches the battery set value, the power supply control unit 26 c of the controller 28 changes from the battery 10 to the motor 12. Is stopped to stop the rotation of the motor 12, and the process returns to step S1.
[0032]
When the release switch 29a is turned on in this state (step S4), the operation of the electric motor 12 is resumed (step S6), and the traveling motor can be operated. Accordingly, the hydraulic working machine can be immediately moved to a charging facility (not shown).
[0033]
When the operation of the actuator 14 is resumed after the release switch 29a is turned on, the operation time of the electric motor 12 is measured by an internal clock built in the controller 28 (step S7), and the operation time is a predetermined time T minutes. (Step S8), the travel motor is operated at a normal speed (step S9), and when the operation time has passed T minutes, the travel motor is operated at an operation speed 0.7 times the normal speed (step S10). .
[0034]
When the release switch 29a is turned on in a state where the detection value of the specific gravity sensor 20 has not reached the battery set value (step S11), the operation of the actuator 14 or the electric motor 12 in the operating state is stopped. (Step S12). This process is to prevent erroneous operation of the release switch 29a. Specifically, when the detected value has not reached the battery set value or the second battery set value, the actuator must be turned off unless the release switch 29a is turned off. The operation is disabled (step S13), and the release switch 29a is turned on only when the detected value reaches the battery set value.
[0035]
In the above embodiment, the operation lever 16 cannot be operated or the rotation of the electric motor 12 is stopped. However, the present invention is not limited to this, and the operation of the actuator may be limited by reducing the operation speed of the actuator. it can. That is, when a command signal is output to the regulator 32 of the hydraulic pump 13 via the electromagnetic proportional pressure reducing valve 33 and the regulator 32 is operated to reduce the discharge flow rate of the hydraulic pump 13, the operating speed of the actuator 14 is reduced. be able to. Alternatively, when the detection value of the specific gravity sensor 20 reaches the battery set value, the power supply amount control unit 26c reduces the power supply amount supplied from the battery 10 to the electric motor 12, thereby reducing the rotation of the electric motor 12. You can also.
[0036]
As described above, the actuator operating speed reduction or the motor decelerating rotation can be canceled by turning on the release switch 29b, and the operation of the actuator can be resumed. It can be carried out.
[0037]
The detection value of the specific gravity sensor 20 is displayed on the display unit 25 as a notification means via the controller 28. Therefore, the operator can also check the remaining battery level by viewing the display unit 25. Note that the notification means is not limited to the display unit 25 and can be notified by voice.
[0038]
As described above, in this embodiment, an alarm is issued when the detected value detected by the specific gravity sensor 20 reaches the second battery set value (for example, 35% at the time of full charge). It is possible to recognize that it is necessary to move the hydraulic work machine to the charging facility by selecting a work break. However, when the operation of the hydraulic working machine is continued without charging the battery in this state, and the detection value of the specific gravity sensor 20 reaches the battery set value (for example, 30% of full charge) next, a plurality of hydraulic working machines are Among these actuators, some operations are stopped, or the operation of the electric motor 12 is stopped. Alternatively, when the detected value reaches the battery set value, the operating speed of at least one of the actuators of the hydraulic working machine decreases, or the rotational speed of the electric motor 12 decreases.
[0039]
Therefore, in such a state, the operator can recognize that the remaining amount of electricity in the battery is hardly left, and it is understood that the state of the battery itself is shortened. The operator who recognizes this state turns on the release switch 29a (29b) for releasing the operation stop state or the operation speed decrease state of the actuator to operate the hydraulic work machine at the normal operation speed and move it to the charging facility. be able to. In other words, by operating the release switch 29a (29b) and using the amount of battery electricity that can move to the charging facility, it is possible to prevent the hydraulic work machine from being stuck due to the battery running out.
[0040]
【The invention's effect】
According to the present invention, since the alarm is issued when the detected value detected by the battery remaining amount detecting means reaches the second battery set value, it is recognized that the hydraulic work machine needs to be moved to the charging facility. And overdischarge can be prevented.
[0041]
When the detection value detected by the battery remaining amount detection means reaches the battery set value, some of the actuators of the hydraulic work machine are stopped, or the operation of the electric motor is stopped, or part of the actuators Since the operating speed of the motor or the rotation speed of the motor decreases, the operator can confirm that there is almost no remaining battery power remaining.In this state, the release switch is turned on to operate the actuator at the normal operating speed. The hydraulic working machine can be moved to the charging facility.
[0042]
Further, according to the present invention includes the notification means for notifying the remaining battery capacity detected by Tsu by the battery remaining amount detecting means, it is possible to confirm the remaining battery capacity on a display or voice.
[Brief description of the drawings]
FIG. 1 is a side view of a battery-driven hydraulic working machine showing an embodiment of the present invention.
FIG. 2 is a plan view having a partial cutout of the upper swing body in FIG. 1;
FIG. 3 is a circuit diagram of a main part of a battery-driven hydraulic device according to the present invention.
4 is a flowchart showing a control operation of the controller shown in FIG. 3;
FIG. 5 is a block diagram illustrating a configuration of a conventional monitor device.
[Explanation of symbols]
6 Lower Revolving Body 7 Upper Revolving Body 9 Work Attachment 10 Battery 12 Electric Motor 13 Hydraulic Pump 14 Actuator 15 Pilot Switching Valve 16 Hydraulic Remote Control Valve 18 Pressure Sensor 20 Specific Gravity Sensor 23 Alarm 24 Warning Lamp 25 Display Unit 26a Operation Control Unit 26b Flow Control Unit 26c power supply control unit 28 controller 29a, 29b release switch 30 electromagnetic on-off valve 32 regulator

Claims (10)

In a hydraulic working machine having a battery, an electric motor driven by the battery, a hydraulic pump driven by the electric motor, and a plurality of actuators operated by the hydraulic pump,
Battery remaining amount detecting means for detecting the remaining amount of the battery;
An operation restricting means for restricting the operation of a part or all of the actuators when the battery remaining amount detected by the battery remaining amount detecting means reaches a preset battery set value;
A battery-operated hydraulic working machine comprising: release means capable of releasing the operation restriction of the actuator by an operator's operation . The actuator is configured to limit the operation of the actuator when the release unit is operated in a state where the remaining battery level detected by the remaining battery level detection unit does not reach the battery set value. The battery-operated hydraulic working machine according to 1. The battery-operated hydraulic working machine according to claim 1 or 2 , wherein the operation limiting means is configured to limit the operation of the actuator by limiting an amount of oil discharged from the hydraulic pump. An opening / closing valve interposed in a primary pressure line connecting the hydraulic pump and a hydraulic remote control valve of an operation lever, and an operation control unit for controlling opening / closing of the opening / closing valve, the operation control unit The battery-operated hydraulic working machine according to claim 3 , wherein the operation of the actuator is limited by outputting a closing signal to the on-off valve from the actuator. A regulator that adjusts the discharge flow rate of the hydraulic pump and a flow rate control unit that controls the flow rate of the regulator, and by outputting a flow rate reduction signal from the flow rate control unit to the regulator, the operation of the actuator is controlled. The battery-operated hydraulic working machine according to claim 3 to be limited. It said operation restricting means, according to claim 1 or 2 hydraulic working machine battery according is configured to limit the operation of the actuator by limiting the power supply to the motor from the battery. A circuit for supplying power from the battery to the motor; and a power supply control unit connected to the circuit for controlling power supply, wherein the power supply control unit stops power supply to the motor. The battery-operated hydraulic working machine according to claim 6 , wherein operation of the actuator is limited by outputting a signal to be reduced. The battery-driven hydraulic working machine according to claim 1 or 2, wherein only the travel actuator is operable when the operation of the actuator is limited. An alarm that has a second battery setting value on the fully charged side with respect to the battery setting value, and issues an alarm when the remaining battery level detected by the remaining battery level detection means reaches the second battery setting value The battery-operated hydraulic working machine according to any one of claims 1 to 8 , further comprising generating means. The battery-operated hydraulic working machine according to any one of claims 1 to 9 , further comprising an informing unit that informs the battery remaining amount detected by the battery remaining amount detecting unit.

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