JP5367784B2 - Electric excavator and excavator monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve responsibility of driving sources of each part and achieve energy saving in a shovel. <P>SOLUTION: An electric shovel comprising a traveling portion A, a slewing portion B, and an operation portion C includes: an engine 1 provided in the slewing portion B; power generators 5, 6 and 7 provided in the slewing portion B in a state of being mechanically connected to the engine 1 and converting the power of the engine 1 to electric energy; a battery provided in the slewing portion B in a state of being electrically connected to the power generators 5, 6 and 7 and storing the electric energy generated by the power generators 5, 6 and 7; a converter (an inverter) provided in the slewing portion B and composing a generating set 2 together with the power generators 5, 6 and 7; and a controller 10 provided in the slewing portion B and storing a processing program and performing calculation by the processing program based on operation commands from an operation input unit and data from various sensors. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

  The present invention includes a traveling unit, a turning unit, and a working unit. The drive source of each unit is electrically operated to improve operability and responsiveness, and at least one of the driving sources of the traveling unit, the turning unit, and the working unit. This is an electric excavator in which the motor generator is used and the energy at the time of braking is recovered as regenerative power to achieve energy saving.

  Conventional power shovels have the configurations shown in FIGS.

  First, FIG. 4 will be described. The entire conventional excavator includes a turning portion 49, a traveling portion 48, and a working portion 50. The working unit 50 includes a hydraulic cylinder 44 that drives a boom, an arm, and a bucket. The turning section 49 includes a power source including the engine 40 and has a main hydraulic circuit including a pump 41, a control valve 42, a hydraulic turning motor 43, and a center joint 45. The traveling unit 48 includes a hydraulic traveling motor 46.

  Hereinafter, a conventional power shovel will be described in detail.

  The engine 40 drives the pump 41 of the hydraulic circuit, and the hydraulic pressure generated by the pump 41 drives the working unit driving cylinder 44, the turning motor 43, and the traveling motor 46 via the control valve 42.

  The hydraulic system is shown in FIG. A hydraulic circuit showing this system is directly connected to a control valve 42 from a hydraulic pump 41 coupled to the engine 40, and is supplied to and discharged from the control valve 42 to a hydraulic cylinder 44, a circuit that is supplied to and discharged from a hydraulic swing motor 43, hydraulic pressure The circuit for supplying and discharging the traveling motor 46 was connected. In this circuit, multiple target simultaneous control of actuators such as various hydraulic motors 43 and 46 and a hydraulic cylinder 44 constituting a load is performed on a hydraulic pump 41 which is a pressure source. Further, the hydraulic system has a high-pressure circuit portion because of the necessity of generating a driving force. Reference numeral 47 denotes a hydraulic oil tank.

JP-A-8-31605

  However, the hydraulic circuit of the above-described conventional excavator has maintenance, noise, energy saving, multi-functionality, oil leakage from the connection part, poor responsiveness based on oil expansion and contraction characteristics, control and control by switching impact. Difficult to operate, poor operability based on insufficient pump flow pressure during simultaneous control of multiple loads, and difficulty in upgrading control, and discards hydraulic pressure as heat by relief or orifice during deceleration Also, the energy of the discharged oil on the low pressure side was wasted.

  In view of the above situation, the present invention is an electric excavator that has a simple structure, multi-functionality, advanced controllability, low noise, easy maintenance, good response, and energy saving. The purpose is to provide.

(1) an electric excavator made from the working portion and the traveling portion and the turning portion, the engine provided in the pivot portion, provided in the swivel part in the engine and mechanically connected state, of the engine detection a generator for converting power to electrical energy, provided in the pivot portion in a state of being the generator and electrically connected, a battery storing electrical energy generated in the generator, the voltage of the battery a voltage detecting sensor, provided in the pivot portion, and the conversion equipment constituting the power generator together with the generator, provided in the swivel part, together with the processing program is stored, an operation command from the operation input device, And a control device that performs calculation by the processing program based on data from various sensors.

[2] run line portion, one or more of the drive source of the turning portion and the working portion as an electric generator, the travel unit control to the motor generator to achieve the functions of the generator, the swivel part and the An electric excavator capable of charging a battery with regenerative power of the motor generator obtained by causing one or more working parts to perform a braking operation and generated power obtained by rotation of an engine, A voltage detection sensor that detects a voltage; a control device that calculates a processing program stored in advance based on data detected by the voltage detection sensor; and a monitor device that displays a calculation result calculated by the control device. It is characterized by that.

[3] In the electric excavator according to [1] or [2], the control device includes an input port, a CPU, a memory, and an output port, and the memory stores the processing program. It is characterized by that.

[4] The electric excavator described in [3], the voltage detection sensor is connected to the input port, characterized in that.

[5] The electric excavator according to the above [3] or [4], wherein the input port is further connected to a current sensor of the battery, characterized in that.

[6] One or more drive sources of the traveling unit, the turning unit, and the working unit are motor generators, and the motor generator is controlled so as to function as a generator to control the traveling unit, the turning unit, and the work. A shovel monitoring device capable of charging a battery with regenerative power of the motor generator obtained by causing one or more of the parts to perform a braking operation and power generated by rotation of the engine, the shovel Has a voltage detection sensor for detecting the voltage of the battery, and a control device that calculates in accordance with a processing program stored in advance based on data detected by the voltage detection sensor, and the monitoring device includes the voltage detection sensor. The calculation result calculated by the control device is displayed based on the data detected by the sensor.
[7] In the electric excavator according to [2], the motor generator is a turning motor generator, and the control device performs an operation based on an operation command and data detected by a turning angle detection sensor. The speed control is performed so that the turning speed of the turning motor generator is within a predetermined turning speed range.
[8] In the electric excavator described in [2] or [7], the motor generator is configured to be able to be supplied with power from a generator that generates electric power by rotational power of an engine and the battery, and to detect the voltage When the voltage of the battery detected by the sensor is lower than a predetermined range, the generated power generated by the generator is charged to the battery.
[9] The electric excavator according to [3], wherein a rotation speed detection sensor that detects a rotation speed of the engine is connected to the input port.
[10] In the excavator monitoring device according to [6], the motor generator is configured to be able to be supplied with power from a generator that generates power by the rotational power of an engine and the battery, and the voltage detection sensor When the voltage of the battery to be detected is lower than a predetermined range, the battery is charged with generated power generated by the generator.

  According to the present invention, the following effects can be achieved.

Control a constraint is due to the characteristics of the flow body, by the electric generator and their control means can be replaced with less control energy loss.

It is a schematic diagram of the electric shovel which shows the Example of this invention. 1 is a block diagram of a power supply system of an electric excavator showing an embodiment of the present invention. It is a control system block diagram of the electric shovel which shows the Example of this invention. It is a schematic diagram of the mechanism system of the conventional power shovel. It is a block diagram of the hydraulic system of the conventional power shovel.

  An electric excavator comprising a traveling unit, a turning unit, and a working unit of the present invention is provided in the turning unit in a state mechanically connected to the engine provided in the turning unit, and the power of the engine A generator for converting into electrical energy, provided in the swivel unit in a state of being electrically connected to the generator, a battery for storing electric energy generated by the generator, provided in the swivel unit, A conversion device (inverter) that constitutes a power generation device together with a generator, and a processing program that is provided in the turning unit and that stores a processing program, and that is based on an operation command from an operation input device and data from various sensors. And a control device for performing the calculation.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments thereof.

  FIG. 1 is a schematic diagram of an electric excavator showing an embodiment of the present invention, and FIG. 2 is a block diagram of a power supply system in the electric excavator.

  In these drawings, A is a traveling part, B is a turning part, and C is a working part. Reference numeral 1 denotes an engine which can control the rotational speed in relation to the generated power. Reference numeral 2 denotes a power generator, which basically includes a generator alone or a converter. In particular, in order to cope with the charging of the battery 3 and the sudden change load and long-time operation of each motor generator, etc., a generator alone that generates a low voltage and a large current, or a device comprising a high voltage generator and a current converter It is preferable to constitute as follows. The battery 3 is provided when power supply from the power generation device 2 to each motor generator or the like is insufficient, or for backup of the power generation device 2.

  An electric power controller 4 charges the battery 3 with the electric power generated by the power generation device 2, and in a situation where regenerative power generation is not performed, the working motor generator 7, the turning motor generator 6, and the electric motor for traveling are used as loads. The power supply control of the power generator 2 and the battery 3 is appropriately controlled to the power generator 5, and the power control is performed so that the power generated by the power generator 2 is increased or decreased with respect to a motor generator or the like whose load has suddenly increased. To do. At that time, it is also possible to control so as to supply only a specific load without determining the urgency of the load and supplying the power of the power generation device 2 to the battery 3.

  There are various control modes of the motor generators and the like in the power controller 4 such as those that place importance on torque and those that place importance on rotation accuracy. For example, in the case of an AC machine, phase control, frequency control, pulse width control, and the like using a converter and an inverter are scheduled, and can be controlled with high accuracy.

  When the motor generator 5 for traveling is operated as an electric motor, it is a motor generator having a relatively large torque and good starting characteristics so that it can travel even when a load is applied to the shovel. The control circuit is also provided. In the conventional hydraulic motor, even if the automatic transmission mechanism is provided, the second speed traveling is performed. However, since the motor generator can be continuously variable, the operation performance and the traveling performance are improved. When operating as a generator, energization control is performed so that a rotating magnetic field is generated in the stator coil so that the phase is delayed with respect to the rotation of the rotor coil. At this time, regenerative electric power is generated and a braking operation is performed.

  The turning motor generator 6 operates as a motor during the turning operation, and operates as a generator having an electromagnetic brake action during the turning end operation to generate regenerative power. The generated electric power is supplied to the battery 3 via the power controller 4. Charged. By using the motor generator, regenerative power generation can be performed by brake operation, and delicate control can be performed.

  Specifically, the working motor generator 7 is composed of a motor generator cylinder with a regenerative function and has a regenerative power generation function as described above, and can be expanded and contracted like a piston / cylinder in a hydraulic system. It is a drive source of a mechanism that can As the expansion / contraction operation mechanism, for example, a ball screw and a ball nut are used. One of the supporting portions is supported by a bearing on the ball screw and is connected as an electric motor through a gear mechanism, and the other supporting portion is fixed to the ball nut. It can be basically configured with. In addition, any conversion mechanism that converts a rotational motion into a telescopic motion that is a linear motion can be basically applied as an electric motor.

  FIG. 3 is a control system block diagram of the electric excavator system provided on the panel of the console.

  In this figure, the control device 10 has a configuration in which a CPU, memory, and input / output ports are connected by a bus. The input port includes a rotation speed detection sensor 13 for detecting the rotation speed of the engine, output voltages of the power generation device 2 and the battery 3, a voltage / current detection sensor 14 for detecting a current, a length of the expansion / contraction operation mechanism in the expansion / contraction state, An expansion / contraction detection sensor 15 for detecting an angle and the like, a load detection sensor 16 for detecting a load such as earth and sand applied to an excavator, a turning angle detection sensor 17 for detecting a turning angle of a turning device with respect to a carriage, a traveling speed detection sensor 18 and the like. Various sensors and an operation input device 11 such as an operation lever and a keyboard are connected.

  On the other hand, the power controller 4, the engine control device 19 that controls the engine speed, and the monitor device 12 are connected to the output port.

  As described above, the power controller 4 is connected to the power controller 4, the power generator 2, the working motor generator 7, the turning motor generator 6, the traveling motor generator 5, and the battery 3. A necessary processing program is stored as a microprogram in the memory of the control device 10.

The operator mainly captures the output data of the various sensors 13 to 18 based on the input data from the operation input device 11 and stores it in the memory, executes the processing program, and displays the operation input device 11 on the monitor device 12 while displaying it. The power controller 4 and various control objects are controlled by operation. If the manual setting is made, the operation can be freely performed by lever operation.
(Mode of operation)
(Swivel system)
The control device 10 inputs data from various sensors based on the operation command from the operation input device 11, and based on the data of the load detection sensor 16, increases the turning speed when the load such as earth and sand is light. Calculating to slow down when heavy. This is because the inertial force at the time of turning is controlled so as to be within a certain controllable range.

  Further, the control device 10 outputs the calculation result to the power controller 4 to control the turning motor generator 6 within a predetermined speed range. When braking is applied at the end of turning, energization control of the stator coil is performed so that a rotating magnetic field having a phase delayed from the rotation of the rotor coil provided on the motor shaft that continues to rotate due to the inertial force is generated. Then, an induced electromotive force is generated in the stator coil. Even when the induced electromotive force is generated in the stator coil as described above, when the rotor connected to the motor shaft is rotated, a braking force is applied to the motor shaft.

This induced electromotive force is fed to the battery 3 or the like as regenerative power. At that time, the control device 10 determines the braking load and the current phase for generating the braking load based on the data of the turning angle detection sensor 17 and the data of the load detection sensor 16 at a predetermined time interval immediately before the end of turning. The calculation result is output to the power controller 4, and the turning motor generator 6 is functioned as a generator to perform braking. As a result, the braking load can be changed by changing the current phase according to the magnitude of the magnitude of the inertial force, and the generated power can be changed according to the current phase. Thereby, since the motor generator was used instead of the hydraulic pressure, hydraulic oil can be made unnecessary and the load on the environment can be reduced. In addition, energy regeneration, which was difficult with conventional hydraulic drive, can be achieved through the use of motor generators, resulting in energy savings, and simultaneous control of multiple actuators, which are restricted by fluid characteristics, The operability is improved by making it possible to use the machine. Moreover, noise can be reduced by suppressing the fluid passage sound of the pipe line, which was a large noise source.
(Working system)
Based on an operation input from the operation input device 11, the control device 10 causes the work motor generator 7 to function as an electric motor, takes in data of the load detection sensor 16, and determines whether the load can be processed by the work system. When it is determined that processing is possible, the supply current to the working motor generator 7 is calculated based on the load data, and the calculated data is output to the power controller 4 to drive the working generator motor 7. . When it is desired to increase the initial torque, the drive current is largely controlled.

For example, control is performed by duty ratio control of the inverter. In this system, the expansion / contraction detection sensor 15, the control device 10, and the work motor generator 7 constitute a feedback system. When the working motor generator 7 is caused to function as a generator, regenerative braking and regenerative power generation are performed based on the same operating principle as the generator for the turning motor generator 6. Thereby, since the motor generator was used instead of the hydraulic pressure, hydraulic oil can be made unnecessary and the load on the environment can be reduced. In addition, energy regeneration, which was difficult with conventional hydraulic drive, can be achieved through the use of motor generators, resulting in energy savings, and simultaneous control of multiple actuators, which are restricted by fluid characteristics, The operability is improved by making it possible to use the machine. Moreover, noise can be reduced by suppressing the fluid passage sound of the pipe line, which was a large noise source.
(Travel system)
Based on the operation input from the operation input device 11, the control device 10 causes the traveling motor generator 5 to function as an electric motor, takes in data of the traveling speed detection sensor 18, and based on a deviation between the operation input and the detection data. The supply current to the traveling motor generator 5 is calculated, and the calculation result is output to the power controller 4 to control the traveling motor generator 5. By continuously increasing or decreasing the supply current, the traveling speed can be continuously changed steplessly. When functioning as a generator, regenerative braking and regenerative power generation are performed as described above.
(Power generation device / battery)
The control device 10 takes in the detection data of the voltage / current detection sensor 14 of the battery 3 and, when the voltage or current is lower than the predetermined range, issues a command to the engine control device 19 to drive the power generation device 2. The generated power is charged into the battery 3 via the power controller 4. This system also constitutes a feedback system.
(Other embodiments)
1 and 2 can be a combination of a commercial power source (AC power source) and a converter, a fuel cell, or a solar cell incidentally.

  In this way, output fluctuations due to engine noise and engine rotational distortion can be suppressed. Moreover, an electromagnetic clutch and an electromagnetic brake can be provided in the motor generator. As a result, it is possible to reliably brake and maintain the stationary position.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

  The electric excavator of the present invention can be used as an electric excavator that improves the responsiveness of the drive source of each part and achieves energy saving.

A traveling part B turning part C working part 1 engine 2 power generator 3 battery 4 power controller 5 traveling motor generator 6 turning motor generator 7 working motor generator 10 control device 11 operation input device 12 monitor device 13 rotation speed Detection sensor 14 Voltage / current detection sensor 15 Expansion / contraction detection sensor 16 Load detection sensor 17 Turning angle detection sensor 18 Traveling speed detection sensor 19 Engine control device

Claims (10)

An electric excavator comprising a traveling part, a turning part and a working part,
An engine provided in the swivel unit;
A generator that is provided in the swivel unit in a mechanically connected state with the engine and converts the power of the engine into electric energy;
A battery that is provided in the swivel unit in a state of being electrically connected to the generator, and that stores electrical energy generated by the generator;
A voltage detection sensor for detecting the voltage of the battery;
A converter that is provided in the swivel unit and constitutes a power generator together with the generator;
An electric motor provided in the turning unit, having a processing program stored therein, and having a control device that performs an operation by the processing program based on an operation command from an operation input device and data from various sensors. Excavator. One or more of the drive sources of the traveling unit, the turning unit, and the working unit is a motor generator, and the motor generator is controlled to perform the function of the generator to control the traveling unit, the turning unit, and the working unit. An electric excavator capable of charging a battery with regenerative power of the motor generator obtained by performing braking operation on two or more, and generated power obtained by rotation of an engine,
A voltage detection sensor for detecting the voltage of the battery;
Based on the data detected by the voltage detection sensor, a control device that calculates by a processing program stored in advance,
A monitor device for displaying a calculation result calculated by the control device;
An electric excavator characterized by comprising: The control device has an input port, a CPU, a memory, and an output port;
The memory stores the processing program,
The electric excavator according to claim 1 or 2, characterized in that. The electric excavator according to claim 3, wherein the voltage detection sensor is connected to the input port. The electric excavator according to claim 3 or 4, wherein the input port is further connected to a current detection sensor of the battery. One or more of the drive sources of the traveling unit, the turning unit, and the working unit is a motor generator, and the motor generator is controlled to perform the function of the generator to control the traveling unit, the turning unit, and the working unit. A shovel monitor device capable of charging a battery with regenerative power of the motor generator obtained by performing braking operation on two or more and generated power obtained by rotation of an engine,
The excavator includes a voltage detection sensor that detects the voltage of the battery, and a control device that calculates a processing program stored in advance based on data detected by the voltage detection sensor,
The monitor device displays the calculation result calculated by the control device based on the data detected by the voltage detection sensor. The motor generator is a turning motor generator,
  The control device performs calculation based on the operation command and data detected by the turning angle detection sensor, and performs speed control so that the turning speed of the turning motor generator is within a predetermined turning speed range;
The electric excavator according to claim 2.   The motor generator is configured to be able to be supplied with power from a generator that generates power by the rotational power of an engine and the battery,
  When the voltage of the battery detected by the voltage detection sensor is lower than a predetermined range, the generated power generated by the generator is charged to the battery.
  The electric excavator according to claim 2 or 7.   A rotational speed detection sensor for detecting the rotational speed of the engine is connected to the input port.
  The electric excavator according to claim 3.   The motor generator is configured to be able to be supplied with power from a generator that generates power by the rotational power of an engine and the battery,
  When the voltage of the battery detected by the voltage detection sensor is lower than a predetermined range, the generated power generated by the generator is charged to the battery.
  The shovel monitoring device according to claim 6.

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