WO2012153754A1 - 自走式ケーブル中継台車 - Google Patents
自走式ケーブル中継台車 Download PDFInfo
- Publication number
- WO2012153754A1 WO2012153754A1 PCT/JP2012/061825 JP2012061825W WO2012153754A1 WO 2012153754 A1 WO2012153754 A1 WO 2012153754A1 JP 2012061825 W JP2012061825 W JP 2012061825W WO 2012153754 A1 WO2012153754 A1 WO 2012153754A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shovel
- relay
- cable
- movement
- traveling
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 19
- 238000004804 winding Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 description 13
- 238000012545 processing Methods 0.000 description 9
- 238000009795 derivation Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
- H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2016—Winches
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/04—Distributing means for power supply in mines
- E21F17/06—Distributing electric power; Cable networks; Conduits for cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Definitions
- the lower traveling body 10 has a pair of left and right crawler belts 11 and a pair of left and right traveling motors 12 which drive the crawler belts 11 by being driven by electric power.
- the shovel 1 can travel by driving the crawler belt 11 by the traveling motor 12 as described above.
- the shovel 1 is a remote control type shovel 1 that operates by remote control from the outside without the driver carrying. That is, the shovel 1 is equipped with a transmission / reception device (not shown) used for transmission / reception of radio waves when remote control is performed by radio waves, and is provided outside the shovel 1 and signals between the shovel 1 and the transmission / reception device
- the remote control is performed by using a remote control device (not shown) that performs transmission and reception of
- the remote control device inputs an operation instruction when driving the shovel 1, transmits the input command signal, and receives a signal from the shovel 1, and operates the shovel 1 using the remote control device. It is possible to transmit information from the shovel 1 side to the driver who is driving the vehicle.
- the ends of the power supply side cable 65 and the shovel side cable 66 thus enter the inside of the shaft of the cable drum 34 are taken out of the end of the shaft from the end of the shaft, and It is connected together to the power transmission relay unit 32 held by the main body 31.
- the power transmission relay unit 32 to which the power supply side cable 65 and the shovel side cable 66 are connected can relay power transmission between the both cables 64.
- the relay carriage 30 acquires the relative position of the shovel 1 by the movement position deriving unit 52 of the electronic control device 50 based on the image captured by the camera 38. That is, based on the position of the shovel 1 detected by photographing with the camera 38, the movement position deriving unit 52 derives the movement position of the relay truck 30. Further, when the movement position of the relay carriage 30 is derived as described above, the movement position is derived in consideration of not only the relative position with the shovel 1 but also the position of the cable 64. That is, when the shovel 1 moves, the moving position deriving unit 52 also estimates the position of the cable 64 whose position changes with the movement of the shovel 1.
- the traveling device 40 performs the traveling operation by electricity supplied from the external power supply 60 by the power supply side cable 65, for example, the electric power for the traveling electric motor is transmitted via the power transmission relay unit 32 to which the cable 64 is connected. It is easy to supply As a result, it is not necessary to separately prepare another power source such as an internal combustion engine, and the enlargement and weight increase of the relay truck 30 can be suppressed.
- FIG. 10 is an explanatory view showing a modified example of the relay carriage according to the embodiment.
- only one cable drum 34 is provided on the relay carriage 30, and only one of the power supply side cable 65 and the shovel side cable 66 can be taken up and delivered by the cable drum 34. May be provided.
- the shovel side cable 66 can be taken up by the cable drum 34
- the end of the shovel side cable 66 taken up by the cable drum 34 is connected to the power transmission relay section 32
- the power supply side cable 65 is Alternatively, it may be connected directly to the power transmission relay unit 32 without being taken up by the cable drum 34.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Power Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Transportation (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Operation Control Of Excavators (AREA)
- Electric Cable Arrangement Between Relatively Moving Parts (AREA)
Abstract
Description
図1は、実施形態に係る中継台車を介して電気が供給される積込機械(例えば、ショベル)の概略図である。同図に示すショベル1は、外部から供給される電力により各部を駆動する電動式作業機械になっている。このショベル1は、上部旋回体2と下部走行体10とを有しており、この上部旋回体2と下部走行体10とは、双方を相対的に回動可能に連結するスイングサークル16により連結されている。このうち、上部旋回体2には、ブーム4、アーム5及びバケット6を含む作業装置である作業機3が取り付けられている。また、下部走行体10には、左右一対の履帯11と、電力によって駆動することにより履帯11を駆動させる左右一対の走行モータ12とを有している。ショベル1は、このように走行モータ12によって履帯11を駆動させることにより、走行可能になっている。
2 上部旋回体
8 ポンプユニット
10 下部走行体
11、41 履帯
12、42 走行モータ
16 スイングサークル
30 中継台車
31 台車本体
32 送電中継部
34 ケーブルドラム
35 電源側ドラム
36 ショベル側ドラム
38 カメラ
40 走行装置
50 電子制御装置
51 移動制御部
52 移動位置導出部
53 ドラム制御部
60 外部電源
64 ケーブル
65 電源側ケーブル
66 ショベル側ケーブル
70 制御受信装置
80、85 GPS装置
81 送信装置
86 位置情報受信装置
Claims (6)
- 電源との間で送電を行う電源側ケーブルと、電動式作業機械との間で送電を行う作業機械側ケーブルと、が接続され、双方の間で送電の中継を行う送電中継部と、
前記送電中継部を移動させることができるように走行動作を行う走行装置と、
前記走行装置に対して移動制御を行う移動制御手段と、
を備えることを特徴とする自走式ケーブル中継台車。 - 周囲の状態を検出する外部状態検出手段と、
前記電動式作業機械の位置に基づいて移動位置を導出する移動位置導出手段と、
を備えており、
前記移動位置導出手段は、前記外部状態検出手段で検出した前記電動式作業機械の位置に基づいて前記移動位置を導出し、
前記移動制御手段は、前記移動位置導出手段で導出した前記移動位置に移動するように前記移動制御を行う請求項1に記載の自走式ケーブル中継台車。 - 外部からの制御信号を受信する制御受信装置を備えており、
前記移動制御手段は、前記制御受信装置で受信した前記制御信号に基づいて前記移動制御を行う請求項1に記載の自走式ケーブル中継台車。 - 現在の位置を検出する位置検出装置と、
前記電動式作業機械に設けられる送信装置から送信した前記電動式作業機械の位置情報を受信する位置情報受信装置と、
を備えており、
前記移動制御手段は、前記位置情報受信装置で受信した前記電動式作業機械の位置情報と、前記位置検出装置で検出した現在の位置と、に基づいて前記移動制御を行う請求項1に記載の自走式ケーブル中継台車。 - 前記走行装置は、前記電源側ケーブルによって前記電源から供給された電気によって前記走行動作を行う請求項1~4のいずれか1項に記載の自走式ケーブル中継台車。
- ケーブルを巻き取り可能な巻き取り装置を備えており、
前記電源側ケーブルと前記作業機械側ケーブルとのうち、少なくとも一方は、前記巻き取り装置によって出し入れ可能に巻き取られる請求項1~5のいずれか1項に記載の自走式ケーブル中継台車。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/110,774 US8978851B2 (en) | 2011-05-10 | 2012-05-09 | Self-propelled cable relay truck |
CA2832964A CA2832964C (en) | 2011-05-10 | 2012-05-09 | Self-propelled cable relay truck |
CN201280017776.3A CN103476995B (zh) | 2011-05-10 | 2012-05-09 | 自走式电缆中继台车 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011-105747 | 2011-05-10 | ||
JP2011105747A JP5791363B2 (ja) | 2011-05-10 | 2011-05-10 | 自走式ケーブル中継台車 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012153754A1 true WO2012153754A1 (ja) | 2012-11-15 |
Family
ID=47139231
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/061825 WO2012153754A1 (ja) | 2011-05-10 | 2012-05-09 | 自走式ケーブル中継台車 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8978851B2 (ja) |
JP (1) | JP5791363B2 (ja) |
CN (1) | CN103476995B (ja) |
CA (1) | CA2832964C (ja) |
WO (1) | WO2012153754A1 (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5791363B2 (ja) * | 2011-05-10 | 2015-10-07 | 株式会社小松製作所 | 自走式ケーブル中継台車 |
JP6032872B2 (ja) * | 2011-06-17 | 2016-11-30 | 株式会社小松製作所 | 電動式作業機械への電力供給システム |
US9252584B2 (en) * | 2013-06-06 | 2016-02-02 | Brett Aldrich | Apparatus and method for providing tethered electrical power to autonomous mobile robots |
US20190173310A1 (en) * | 2015-03-16 | 2019-06-06 | Saud AlZamil | Electromechanical set replacing a Diesel Engine |
US9773175B2 (en) | 2015-07-09 | 2017-09-26 | Caterpillar Inc. | System and method for tracking position of cable attached to a machine |
US20180159305A1 (en) * | 2016-12-04 | 2018-06-07 | Lionel O. Barthold | Live-Line High Voltage Conductor Replacement |
DE102017217481A1 (de) * | 2017-09-29 | 2019-04-04 | Deere & Company | Stromversorgungssystem für eine Fahrzeugflotte |
USD962998S1 (en) | 2019-03-18 | 2022-09-06 | Deere & Company | Hood for a work machine |
DE102019203653A1 (de) * | 2019-03-18 | 2020-09-24 | Deere & Company | Stromversorgungssystem für eine Fahrzeugflotte |
CN110077915A (zh) * | 2019-04-10 | 2019-08-02 | 沧州华海风电设备科技技术开发有限公司 | 一种运用于智能移动集缆车的卷线机 |
DE102019210743A1 (de) * | 2019-07-19 | 2021-01-21 | Kässbohrer Geländefahrzeug Aktiengesellschaft | Pistenpflegefahrzeug zur Pflege einer Piste |
JP2021025271A (ja) * | 2019-08-02 | 2021-02-22 | コベルコ建機株式会社 | 作業機 |
CN110932276A (zh) * | 2019-12-19 | 2020-03-27 | 三一重机有限公司 | 移动式控制装置及电动挖掘机系统 |
USD939592S1 (en) | 2020-03-05 | 2021-12-28 | Deere & Company | Work machine |
CN112720508B (zh) * | 2021-04-02 | 2022-02-01 | 南京艾格慧元农业科技有限公司 | 一种蔬菜大棚机器人控制方法 |
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JP2003278159A (ja) * | 2002-03-27 | 2003-10-02 | Port & Airport Research Institute | 遠隔操作による施工方法及びシステム |
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2011
- 2011-05-10 JP JP2011105747A patent/JP5791363B2/ja not_active Expired - Fee Related
-
2012
- 2012-05-09 CN CN201280017776.3A patent/CN103476995B/zh not_active Expired - Fee Related
- 2012-05-09 CA CA2832964A patent/CA2832964C/en not_active Expired - Fee Related
- 2012-05-09 WO PCT/JP2012/061825 patent/WO2012153754A1/ja active Application Filing
- 2012-05-09 US US14/110,774 patent/US8978851B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS54125801A (en) * | 1978-03-23 | 1979-09-29 | Kawasaki Heavy Ind Ltd | Power feeder for electromorive bulldozer |
JPH0718705A (ja) * | 1993-06-30 | 1995-01-20 | Fujita Corp | 作業機械の動作状態視認方法 |
JP2003278159A (ja) * | 2002-03-27 | 2003-10-02 | Port & Airport Research Institute | 遠隔操作による施工方法及びシステム |
Also Published As
Publication number | Publication date |
---|---|
CN103476995A (zh) | 2013-12-25 |
JP2012237116A (ja) | 2012-12-06 |
CA2832964C (en) | 2016-01-12 |
US20140027228A1 (en) | 2014-01-30 |
CN103476995B (zh) | 2015-11-25 |
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CA2832964A1 (en) | 2012-11-15 |
US8978851B2 (en) | 2015-03-17 |
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