WO2020065996A1 - 電動式建設機械 - Google Patents
電動式建設機械 Download PDFInfo
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- WO2020065996A1 WO2020065996A1 PCT/JP2018/036518 JP2018036518W WO2020065996A1 WO 2020065996 A1 WO2020065996 A1 WO 2020065996A1 JP 2018036518 W JP2018036518 W JP 2018036518W WO 2020065996 A1 WO2020065996 A1 WO 2020065996A1
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- construction machine
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- electric
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- 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
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
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- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
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- 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
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- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- 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
- E02F9/22—Hydraulic or pneumatic drives
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- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- 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
- E02F9/26—Indicating devices
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- 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
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- 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
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- 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
- B60L2240/80—Time limits
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- 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
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
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- 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
- B60L2260/50—Control modes by future state prediction
- B60L2260/54—Energy consumption estimation
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- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
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- 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
- Y02T90/12—Electric charging stations
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- 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 present invention relates to an electric construction machine including a power storage device and an electric motor driven by the power of the power storage device to drive a hydraulic pump.
- a construction machine such as a hydraulic shovel is provided with a hydraulic pump and a plurality of hydraulic actuators (specifically, a traveling hydraulic motor and a working hydraulic motor) driven by pressure oil discharged from the hydraulic pump.
- An engine-driven construction machine includes a fuel tank for storing fuel and an engine driven by the fuel in the fuel tank, and is configured to drive a hydraulic pump by the engine. 2. Description of the Related Art There is known an engine-driven construction machine that calculates an operable time of a construction machine (in other words, an operable time of an engine) based on a fuel amount of a fuel tank and displays the calculated operable time. (See, for example, Patent Document 1).
- an electric construction machine that includes a power storage device and a motor driven by the power of the power storage device and is configured to drive a hydraulic pump by the motor has been proposed.
- an electric construction machine needs to reciprocate between a charging facility for charging a power storage device and a work site. More specifically, for example, even if a mobile charging facility is prepared, the charging facility may not be close to the work site. Alternatively, for example, a fixed charging facility may be remote from the work site. In such a case, the electric construction machine travels to the work site after charging the power storage device with the charging facility, and operates at the work site. Then, the electric construction machine must return from the work site to the charging facility when the amount of power stored in the power storage device decreases. Therefore, it is necessary to secure the amount of power stored in the power storage device for the construction machine to travel from the work site to the charging facility, and to limit the operation time of the construction machine at the work site (in other words, the drive time of the electric motor). is there.
- the average power consumption per unit time is calculated based on the power consumption of the electric motor consumed when the construction machine is operated at the work site, and the power storage amount of the power storage device is divided by the average power consumption.
- a method of calculating the operable time of the machine and displaying the calculated operable time is conceivable.
- the load on the traveling hydraulic motor is higher than the load on the working hydraulic actuator. Therefore, the electric power consumption of the electric motor consumed when the construction machine runs is higher than the electric power consumption of the electric motor consumed when the construction machine works. For this reason, the driver responds to the amount of power stored in the power storage device necessary for the construction machine to travel from the work site to the charging facility with respect to the operable time calculated and displayed by the method described above.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an electric construction machine that can travel from a work site to a charging facility and can suppress a decrease in work efficiency. It is in.
- the present invention provides a power storage device, a motor driven by electric power of the power storage device, a hydraulic pump driven by the motor, and a hydraulic pump driven by hydraulic oil discharged from the hydraulic pump.
- An electric construction machine including a traveling hydraulic motor and a working hydraulic actuator, a controller, and a display device, further comprising a movement information acquisition device for acquiring movement information of the construction machine, wherein the controller Based on the movement information of the construction machine acquired by the information acquisition device, calculate the amount of power consumption of the electric motor consumed until the construction machine departs from the charging facility and arrives at the work site.
- Storing calculating the amount of power that can be consumed at the work site by subtracting the power consumption amount from the power storage amount of the power storage device, and consuming the power at the work site. Calculating a running possible time in the work site based on the amount, and displays the operating time available at the work site to the display device.
- the electric construction machine can travel from the work site to the charging facility, and a decrease in work efficiency of the electric construction machine can be suppressed.
- FIG. 1 is a top view illustrating a structure of an electric hydraulic excavator according to an embodiment of the present invention.
- FIG. 1 is a diagram illustrating a configuration of a driving device according to an embodiment of the present invention. It is a figure showing the functional composition of the controller in one embodiment of the present invention with related equipment.
- 5 is a flowchart illustrating a first process of the controller according to the embodiment of the present invention.
- 9 is a flowchart illustrating a second process and a third process of the controller according to the embodiment of the present invention. It is a figure showing the example of the screen of the display in one embodiment of the present invention. It is a flowchart showing the 4th process and 5th process of the controller in one Embodiment of this invention.
- FIG. 9 is a diagram illustrating a functional configuration of a controller together with related devices according to a modification of the present invention.
- FIGS. 1 and 2 are a side view and a top view, respectively, showing the structure of the electric hydraulic shovel according to the present embodiment.
- the driver's front side right side in FIGS. 1 and 2 and rear side (FIGS. 1 and 2).
- the right side the lower side in FIG. 2
- the left side the upper side in FIG. 2
- the electric hydraulic excavator according to the present embodiment is a mini excavator having a mechanical mass of less than 6000 kg.
- the electric hydraulic excavator includes a lower traveling body 1 that can move on its own, and an upper revolving body 2 that is rotatably provided above the lower traveling body 1. Make up the body.
- the upper swing body 2 is turned by a turning hydraulic motor (not shown).
- the undercarriage 1 includes an H-shaped track frame 3 as viewed from above.
- a drive wheel 4 and an idle wheel 5 are provided on the right side of the track frame 3, and a crawler 6 on the right side is hung between them.
- the right driving wheel 4 is rotated by the right traveling hydraulic motor 7, whereby the right crawler belt 6 is driven.
- Driving wheels and idle wheels are also provided on the left side of the track frame 3, and a crawler belt 6 on the left side is hung between them.
- the left driving wheel is rotated by the left traveling hydraulic motor (not shown), thereby driving the left crawler belt 6.
- a blade 8 for discharging the earth is provided so as to be vertically movable.
- the blade 8 is moved up and down by a hydraulic cylinder for blade (not shown).
- a working device 9 is connected to the front side of the upper swing body 2.
- the working device 9 includes a swing post 10 rotatably connected to the front side of the upper revolving structure 2 (more specifically, a revolving frame 17 to be described later) and a vertically rotatable connection to the swing post 10.
- the swing post 10, the boom 11, the arm 12, and the bucket 13 are rotated by a swing hydraulic cylinder (not shown), a boom hydraulic cylinder 14, an arm hydraulic cylinder 15, and a bucket hydraulic cylinder 16, respectively.
- the upper swing body 2 is provided with a swing frame 17 as a basic structure, a canopy-type cab 18 provided on the left side of the swing frame 17, and a rear side of the swing frame 17, and a battery device 19 (see FIG. 3 and FIG. 4).
- a driver's seat 21 on which a driver sits is provided.
- a right-side traveling operation member 22 (see FIG. 3 described later) and a left-side traveling operation member (not shown) are provided.
- the traveling operation member is an integrated operation pedal and operation lever, and instructs the traveling operation of the lower traveling body 1 by an operation in the front-rear direction.
- a swing operation pedal (not shown) is provided on the right side of the traveling operation member 22. The swing operation pedal instructs the operation of the swing post 10 by an operation in the left-right direction.
- a work operation lever 23 and a blade operation lever (not shown) are provided.
- the right operation lever 23 instructs the operation of the boom 11 by operating in the front-rear direction, and instructs the operation of the bucket 13 by operating in the left-right direction.
- the blade operating lever instructs the operation of the blade 8 by operating in the front-rear direction.
- a work operation lever (not shown) is provided on the left side of the driver's seat 21.
- the left operation lever instructs the operation of the arm 12 by operating in the front-rear direction, and instructs the turning operation of the upper swing body 2 by operating in the left-right direction.
- a display device 24 In the cab 18, a display device 24, a start / stop switch 25 (see FIG. 4 described later), and a release switch 26 (see FIG. 4 described later) are provided.
- FIG. 3 shows a configuration relating to driving of the right traveling hydraulic motor 7 as a representative of the traveling hydraulic motor, and a driving of the boom hydraulic cylinder 14 as a representative of the working hydraulic actuator.
- FIG. 3 is a diagram illustrating a configuration related to.
- the drive device includes a battery device 19 (power storage device), an electric motor 28 driven by electric power of the battery device 19 being supplied via an inverter device 27, a hydraulic pump 29 and a pilot pump driven by the electric motor 28. 30, a traveling control valve 31 for controlling the flow of hydraulic oil from the hydraulic pump 29 to the traveling hydraulic motor 7, a traveling operating device 32 for switching the traveling control valve 31, and a hydraulic cylinder for the boom from the hydraulic pump 29.
- a boom control valve 33 for controlling the flow of pressurized oil to the boiler 14 and a work operation device 34 for switching the boom control valve 33 are provided.
- the traveling operation device 32 includes the traveling operation member 22 described above, a first pressure reducing valve (not shown) that operates according to a front operation of the traveling operation member 22, and a rear operation of the traveling operation member 22. And a second pressure reducing valve (not shown) that operates according to the pressure.
- the first pressure reducing valve generates a pilot pressure corresponding to the front operation amount of the traveling operation member 22 using the discharge pressure of the pilot pump 30 as an original pressure, and generates the pilot pressure in FIG. Output to the right pressure receiving section via the pilot line.
- the traveling control valve 31 is switched to the switching position on the right side in FIG. 3, and the traveling hydraulic motor 7 is rotated in the forward direction.
- the second pressure reducing valve generates a pilot pressure corresponding to the rear operation amount of the traveling operation member 22 using the discharge pressure of the pilot pump 30 as a source pressure, and uses the generated pilot pressure as the driving control valve 31 in FIG. Output to the center left pressure receiving section via the pilot line. Thereby, the traveling control valve 31 is switched to the switching position on the left side in FIG. 3, and the traveling hydraulic motor 7 is rotated backward.
- the work operation device 34 includes the work operation lever 23 described above, a third pressure reducing valve (not shown) that operates according to a front operation of the work operation lever 23, and a rear operation of the work operation lever 23. And a fourth pressure reducing valve (not shown) that operates in response to the pressure.
- the third pressure reducing valve generates a pilot pressure corresponding to the front operation amount of the working operation lever 23 using the discharge pressure of the pilot pump 30 as an original pressure, and uses the generated pilot pressure in the boom control valve 33 in FIG. Output to the right pressure receiving section via pilot line 35A.
- the boom control valve 33 is switched to the right switching position in FIG. 3 to shorten the boom hydraulic cylinder 14.
- the fourth pressure reducing valve generates a pilot pressure corresponding to the rear operation amount of the operation lever 23 using the discharge pressure of the pilot pump 30 as a source pressure, and uses the generated pilot pressure as the boom control valve 33 in FIG.
- the signal is output to the middle left pressure receiving section via the pilot line 35B.
- the boom control valve 33 is switched to the left switching position in FIG. 3 to extend the boom hydraulic cylinder.
- the driving of the left traveling hydraulic motor and other working hydraulic actuators (specifically, a turning hydraulic motor, a blade hydraulic cylinder, a swing hydraulic cylinder, an arm hydraulic cylinder 15, and a bucket hydraulic cylinder 16). Is substantially the same as the configuration related to driving of the right traveling hydraulic motor 7 and the boom hydraulic cylinder 14.
- Work lock valves 36A and 36B are provided on pilot lines 35A and 35B related to driving of the boom hydraulic cylinder 14, respectively.
- a plurality of work lock valves are also provided on a plurality of pilot lines related to driving of other work hydraulic actuators.
- the work lock valves 36A and 36B and the plurality of work lock valves (hereinafter, referred to as the work lock valves 36A and 36B) are switched between a communication position and a cutoff position under the control of a controller 37 described later.
- the work lock valves 36A, 36B and the like are in the communicating position, the pilot pressure generated by the operating device is input to the pressure receiving portion of the control valve, so that the driving of all the working hydraulic actuators is permitted.
- the work lock valves 36A, 36B, etc. are in the shut-off position, the pilot pressure generated by the operating device is not input to the pressure receiving portion of the control valve. Operation) is prohibited.
- the electric hydraulic shovel of the present embodiment includes a controller 37, and the controller 37 calculates a time during which the hydraulic shovel can operate at a work site and causes the display device 24 to display the calculated time.
- the controller 37 calculates the amount of power stored in the battery device 19 and displays the calculated amount on the display device 24.
- the controller 37 controls the work lock valves 36A and 36B to the communication position. Then, the driving of all the working hydraulic actuators is prohibited.
- FIG. 4 is a diagram illustrating a functional configuration of the controller according to the present embodiment together with related devices.
- the electric excavator of the present embodiment includes an input device 39 and a positioning device 40 as a movement information acquisition device for acquiring movement information of the excavator.
- the input device 39 is for inputting the position of the charging facility and the work site (specifically, information of latitude and longitude), and includes, for example, a display for displaying a map, an operation button for moving a cursor on the map, and , An operation button for indicating the position of the cursor on the map as the position of the charging facility or the work site, and a controller for outputting the designated charging facility and the position of the work site to the controller 37.
- the input device 39 may be configured as a function of the display device 24.
- the positioning device 40 measures the position of the excavator (own device) based on a signal from a satellite (not shown), and outputs the measured position of the excavator to the controller 37.
- a current sensor 38 is provided between the battery device 19 and the inverter device 27, and the supply current of the battery device 19 (in other words, the current consumption of the electric motor 28) detected by the current sensor 38 is output to the controller 37.
- the start / stop switch 25 is configured by, for example, a push switch, and inputs an instruction to start or stop the electric motor 28.
- the release switch 26 is composed of, for example, a push switch, and inputs an instruction to release the drive inhibition of the working hydraulic actuator.
- the controller 37 includes an arithmetic control unit (for example, CPU) that executes arithmetic processing and control processing based on a program, and a storage unit (for example, ROM, RAM) that stores the program and the result of the arithmetic processing.
- the controller 37 has a start / stop control unit 41, a consumable power amount calculation unit 42, an operable time calculation unit 43, and a work lock control unit 44 as a functional configuration.
- the start / stop control unit 41 of the controller 37 controls the inverter device 27 according to the input of the start / stop switch 25, thereby controlling the start / stop of the electric motor 28.
- the consumable power calculation unit 42 of the controller 37 stores the positions of the charging equipment and the work site input from the input device 39, and based on those positions and the position of the hydraulic shovel measured by the positioning device 40 (in other words, Based on the movement information of the excavator acquired by the movement information acquisition device, the timing at which the excavator departs from the filling equipment and the timing at which the excavator arrives at the work site are acquired. Then, the consumable power calculation unit 42 integrates the current consumption of the electric motor 28 detected by the current sensor 38 between the time when the excavator departs from the charging facility and arrives at the work site, and The electric energy is calculated, and the calculated electric power consumption is stored (first processing).
- the consumable power calculation unit 42 of the controller 37 calculates the power that can be consumed at the work site by subtracting the power consumption described above from the power storage of the battery device 19 (second processing).
- the operable time calculator 43 of the controller 37 calculates the operable time at the work site based on the amount of power that can be consumed at the work site calculated by the consumable power calculator 42 (third process).
- the work lock control unit 44 of the controller 37 sets the threshold value of the power storage amount so as to be higher than the above-described power consumption amount by a predetermined value set in advance, and when the power storage amount of the battery device 19 decreases to the threshold value, The lock valves 36A and 36B are controlled to the shut-off position to prohibit the driving of all the working hydraulic actuators (fourth processing).
- the work lock control unit 44 controls the work lock valves 36A, 36B and the like to the communicating position to release the prohibition of driving of all the working hydraulic actuators (fifth processing).
- FIG. 5 is a flowchart illustrating a first process of the controller according to the present embodiment.
- step S101 the consumable power calculation unit 42 of the controller 37 determines whether the excavator has departed from the charging facility based on the stored location of the charging facility and the position of the excavator measured by the positioning device 40. judge. More specifically, the consumable power calculation unit 42 determines that the excavator has departed from the charging facility when the position of the excavator measured by the positioning device 40 has moved away from the position of the charging facility. When determining that the hydraulic shovel has departed from the charging facility, the consumable power calculation unit 42 proceeds to step S ⁇ b> 102 and starts integrating the current consumption of the electric motor 28 detected by the current sensor 38.
- the consumable power calculation unit 42 of the controller 37 determines whether the hydraulic shovel has arrived at the work site based on the stored position of the work site and the position of the hydraulic shovel measured by the positioning device 40. Determine whether More specifically, when the position of the excavator measured by the positioning device 40 overlaps with the position of the work site, the consumable power calculation unit 42 determines that the excavator has arrived at the work site. The consumable power calculation unit 42 continues to accumulate the consumed current in step S102 until it determines that the hydraulic shovel has arrived at the work site. When it is determined that the hydraulic shovel has arrived at the work site, the consumable power calculation unit 42 ends the integration of the current consumption in step S102. Thereby, the amount of power consumption of the electric motor 28 consumed between the time when the excavator departs from the charging facility and when it reaches the work site is calculated.
- the consumable power calculation unit 42 of the controller 37 stores the calculated power consumption of the electric motor 28.
- FIG. 6 is a flowchart showing the second process and the third process of the controller according to the present embodiment.
- step S201 the consumable power calculation unit 42 of the controller 37 determines whether or not the excavator is at the work site based on the stored position of the work site and the position of the excavator measured by the positioning device 40. . Then, when determining that the hydraulic shovel is at the work site, the consumable power calculation unit 42 proceeds to step S202 and determines whether the electric motor 28 is driven based on the control information of the start / stop control unit 41 ( In other words, it is determined whether the hydraulic excavator is operating). If the electric motor 28 is not driven, the process returns to step S201 described above. On the other hand, when the electric motor 28 is being driven, the process proceeds to step S203.
- step S ⁇ b> 203 the consumable power calculation unit 42 of the controller 37 calculates the current power storage of the battery device 19. More specifically, the consumable power calculation unit 42 calculates the power consumption of the motor 28 by integrating the current consumption of the motor 28 detected by the current sensor 38 at predetermined time intervals. Then, the consumable power calculation unit 42 calculates the current power storage amount by subtracting the above-described power consumption amount from the past power storage amount of the battery device 19 (before the predetermined time has elapsed). Then, the consumable power calculation unit 42 outputs the calculated current power storage amount of the battery device 19 to the display device 24 for display.
- the display device 24 displays the amount of stored power based on the positions of the hands between the scales, for example, as shown in FIG.
- the consumable power calculation unit 42 of the controller 37 calculates the power consumption stored in step S104 of FIG. 5 from the current power storage of the battery device 19 calculated in step S203 described above. Is subtracted to calculate the amount of electricity that can be consumed at the work site.
- step S205 the operable time calculation unit 43 of the controller 37 calculates the average power consumption per unit time based on the power consumption of the electric motor 28 consumed when the hydraulic shovel operates at the work site. Then, the process proceeds to step S206, in which the operable time calculation unit 43 divides the electric energy that can be consumed at the work site calculated by the consumable electric energy calculation unit 42 by the average power consumption described above, and can operate at the work site. Calculate the time. Then, the process proceeds to step S207, and the operable time calculation unit 43 outputs the calculated operable time to the display device 24 to display it.
- the display device 24 displays the operable time (numerical value), for example, as shown in FIG.
- FIG. 8 is a flowchart showing the fourth processing and the fifth processing of the controller according to the present embodiment.
- the work lock control unit 44 of the controller 37 sets the threshold value of the power storage amount so as to be higher than the power consumption stored in step S104 of FIG. 5 by a predetermined value set in advance. Then, the process proceeds to step S302, where the work lock control unit 44 determines whether or not the current storage amount of the battery device 19 calculated in step S203 of FIG. If the current storage amount of the battery device 19 exceeds the threshold, the process proceeds to step S303, where the work lock control unit 44 controls the work lock valves 36A and 36B to the communication position. Thereby, the driving of all the working hydraulic actuators is permitted.
- step S304 If the current storage amount of the battery device 19 is equal to or smaller than the threshold, the process proceeds to step S304, and the work lock control unit 44 of the controller 37 controls the work lock valves 36A and 36B to the shut-off position. This prohibits the driving of all the working hydraulic actuators. Then, the process proceeds to step S305, and the work lock control unit 44 determines whether or not the instruction of the release switch 26 has been input. If the instruction of the release switch 26 has not been input, the process returns to step S302.
- the work lock control unit 44 of the controller 37 temporarily releases the prohibition of driving of all the working hydraulic actuators. More specifically, the work lock control unit 44 controls the work lock valves 36A, 36B and the like to the communication position in step S306, and is set in advance after the instruction of the release switch 26 is input in step S307. It is determined whether a predetermined time has elapsed. Then, the work lock control unit 44 controls the work lock valves 36A, 36B and the like to the communication position until a predetermined time has elapsed. After a predetermined time has elapsed, the work lock control unit 44 returns to step S304 via step S302, and controls the work lock valves 36A, 36B and the like to the shut-off position.
- the controller 37 performs the work after the excavator starts from the charging facility based on the position of the charging facility and the work site input from the input device 39 and the position of the excavator measured by the positioning device 40.
- the power consumption of the electric motor 28 consumed until the vehicle arrives at the site is calculated and stored.
- the controller 37 calculates the amount of power that can be consumed at the work site by subtracting the above-described power consumption amount from the amount of power stored in the battery device 19, and calculates the time that can be operated at the work site based on the amount of power that can be consumed at the work site.
- the display device 24 displays the time operable at the work site.
- the driver does not need to estimate the operable time corresponding to the charged amount of the battery device 19 required for the hydraulic excavator to travel from the work site to the charging facility, and operates at the work site indicated on the display device 24. You only have to pay attention when possible. That is, if the operable time displayed on the display device 24 is equal to or greater than zero, the amount of charge of the battery device 19 required for the hydraulic shovel to travel from the work site to the charging facility can be secured, and the hydraulic shovel can be used. It can travel from the work site to the charging facility. Further, the driver may consider the timing of charging the battery device 19, that is, the timing of returning to the charging facility from the work site, based on the work plan at the work site and the operable time displayed on the display device 24. it can. Thus, the operating time of the excavator at the work site can be increased, and the working efficiency of the excavator can be increased.
- the controller 37 controls the power storage amount such that the power consumption is higher by a predetermined value than the power consumption consumed between the time when the excavator departs from the charging facility and when the excavator arrives at the work site.
- the work lock valves 36A and 36B are controlled so as to prohibit the operation of the working hydraulic actuator when the charged amount of the battery device 19 decreases to the threshold. This suppresses a decrease in the amount of power stored in the battery device 19, so that the hydraulic shovel can travel from the work site to the charging facility.
- the controller 37 also controls the operation of the work lock valves 36A and 36A so as to temporarily release the prohibition of driving of the work hydraulic actuator when an instruction of the release switch 26 is input in a state where the drive of the work hydraulic actuator is prohibited. 36B and the like are controlled. Thereby, for example, the posture of the working device 9 can be changed for traveling of the hydraulic shovel.
- the electric hydraulic shovel includes an input device 39 and a positioning device 40 as a movement information acquisition device
- the consumable power calculation unit 42 of the controller 37 includes a charging facility input from the input device 39. And based on the position of the work site and the position of the excavator measured by the positioning device 40, the amount of power consumption of the electric motor 28 consumed between the time when the excavator departs from the charging equipment and when it reaches the work site is calculated.
- the present invention is not limited to this, and can be modified without departing from the spirit and technical idea of the invention. For example, as in a modification shown in FIG.
- the electric hydraulic shovel serves as a movement information acquisition device when the hydraulic shovel (own device) departs from the charging facility and when the hydraulic shovel (own device) arrives at the work site. May be provided.
- the consumable power calculation unit 42 of the controller 37 calculates the power consumption of the electric motor 28 consumed from when the excavator departs from the charging facility to when it arrives at the work site. It may be calculated. In such a modification, the same effect as in the above-described embodiment can be obtained.
- the work lock control unit 44 of the controller 37 controls the work lock valves 36A, 36B and the like to the communication position until a predetermined time elapses after the instruction of the release switch 26 is input, and sets the predetermined position.
- the case where the work lock valves 36A, 36B and the like are controlled to the shut-off position after a lapse of time has been described as an example, but the present invention is not limited to this, and can be modified without departing from the spirit and technical idea of the present invention. .
- the work lock control unit 44 of the controller 37 controls the work lock valves 36A, 36B and the like to the communication position only while the instruction of the release switch 26 is being input, and the input of the instruction of the release switch 26 is interrupted.
- the work lock valves 36A and 36B may be controlled to the shut-off position.
- the work lock control unit 44 of the controller 37 sets the work lock valves 36A, 36B and the like to the communication position not only while the instruction of the release switch 26 is being input, but also when the input of the instruction is interrupted. It may be controlled. In such a modification, the same effect as in the above-described embodiment can be obtained.
- a plurality of work lock valves are respectively provided in a plurality of pilot lines related to driving of all the working hydraulic actuators.
- the present invention is not limited thereto, and the gist of the present invention and Deformation is possible without departing from the technical idea.
- a plurality of work locks are provided only for a plurality of pilot lines related to driving of the working device 9 (specifically, driving of the hydraulic cylinder for swing, the hydraulic cylinder for boom 14, the hydraulic cylinder for arm 15, and the hydraulic cylinder for bucket 16).
- a valve may be provided.
- the work lock control unit 44 of the controller 37 may control the plurality of work lock valves so as to prohibit only driving of the work device 9 when the charged amount of the battery device 19 decreases to the threshold value.
- the same effect as in the above-described embodiment can be obtained.
- a work lock valve may be provided on the primary side of the operating device (specifically, the pressure reducing valve). In such a modification, the same effect as in the above-described embodiment can be obtained.
- the operation device may include a potentiometer that generates an electric signal corresponding to the operation amount of the operation lever (or the operation pedal) and outputs the signal to the pressure reducing valve.
- a switch may be provided on the primary side or the secondary side of the potentiometer as the work lock device.
- the work lock control unit 44 of the controller 37 controls the switch to be in the open state to prohibit the operation of the work hydraulic actuator when the charged amount of the battery device 19 has decreased to the threshold value. Is input, the switch is controlled to be in the closed state, and the prohibition of driving of the working hydraulic actuator may be temporarily released. In such a modification, the same effect as in the above-described embodiment can be obtained.
- the electric hydraulic excavator includes the work lock device and the release switch 26, and the controller 37 includes the work lock control unit 44.
- the present invention is not limited thereto. Modifications can be made without departing from the spirit and technical idea of the present invention. That is, although some of the effects described above cannot be obtained, the electric hydraulic excavator does not include the work lock device and the release switch 26, and the controller 37 may not include the work lock control unit 44.
- the controller 37 has the start / stop control unit 41 .
- the present invention is not limited thereto, and can be modified without departing from the spirit and technical idea of the present invention. is there.
- the controller 37 may not include the start / stop control unit 41, and may include another controller having a start / stop control unit.
- the present invention is not limited to this, and the present invention may be applied to, for example, an electric hydraulic crane.
- Hydraulic motor for traveling 14 Hydraulic cylinder for boom 15 Hydraulic cylinder for arm 16 Hydraulic cylinder for bucket 19
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Abstract
Description
14 ブーム用油圧シリンダ
15 アーム用油圧シリンダ
16 バケット用油圧シリンダ
19 バッテリ装置(蓄電装置)
24 表示装置
26 解除スイッチ
28 電動機
29 油圧ポンプ
36A,36B 作業ロック弁(作業ロック装置)
37 コントローラ
39 入力装置
40 測位装置
45 移動入力スイッチ
Claims (6)
- 蓄電装置と、前記蓄電装置の電力によって駆動される電動機と、前記電動機によって駆動される油圧ポンプと、前記油圧ポンプから吐出された圧油によって駆動される走行用油圧モータ及び作業用油圧アクチュエータと、コントローラと、表示装置とを備えた電動式建設機械において、
前記建設機械の移動情報を取得する移動情報取得装置を更に備え、
前記コントローラは、
前記移動情報取得装置で取得された前記建設機械の移動情報に基づいて、前記建設機械が充電設備から出発してから作業現場に到着するまでの間に消費された前記電動機の消費電力量を算出して記憶し、
前記蓄電装置の蓄電量から前記消費電力量を減算して前記作業現場で消費可能な電量を算出し、
前記作業現場で消費可能な電量に基づいて前記作業現場で稼動可能な時間を算出し、
前記作業現場で稼動可能な時間を前記表示装置に表示させることを特徴とする電動式建設機械。 - 請求項1に記載の電動式建設機械において、
前記コントローラは、前記建設機械が前記作業現場で稼動したときに消費された前記電動機の消費電力量に基づいて単位時間あたりの平均消費電力を算出し、前記作業現場で消費可能な電量を前記平均消費電力で除算して前記作業現場で稼動可能な時間を算出することを特徴とする電動式建設機械。 - 請求項1に記載の電動式建設機械において、
前記移動情報取得装置は、前記充電設備及び前記作業現場の位置を入力する入力装置と、前記建設機械の位置を測定する測位装置とで構成されており、
前記コントローラは、前記入力装置から入力された前記充電設備及び前記作業現場の位置と前記測位装置で測定された前記建設機械の位置に基づいて、前記建設機械が前記充電設備から出発してから前記作業現場に到着するまでの間に消費された前記電動機の消費電力量を算出することを特徴とする電動式建設機械。 - 請求項1に記載の電動式建設機械において、
前記移動情報取得装置は、前記建設機械が前記充電設備から出発したときと前記建設機械が前記作業現場に到着したときに操作される移動入力スイッチであり、
前記コントローラは、前記移動入力スイッチの操作に基づいて、前記建設機械が前記充電設備から出発してから前記作業現場に到着するまでの間に消費された前記電動機の消費電力量を算出することを特徴とする電動式建設機械。 - 請求項1に記載の電動式建設機械において、
前記作業用油圧アクチュエータの駆動の許可と禁止を切換える作業ロック装置と、
前記作業用油圧アクチュエータの駆動禁止を解除する指示を入力する解除スイッチとを備え、
前記コントローラは、
前記建設機械が前記充電設備から出発してから前記作業現場に到着するまでの間に消費された前記消費電力量より予め設定された所定値だけ高くなるように蓄電量の閾値を設定し、
前記蓄電装置の蓄電量が前記閾値まで低下した場合に、前記作業用油圧アクチュエータの駆動を禁止するように前記作業ロック装置を制御し、
その後、前記解除スイッチの指示が入力された場合に、前記作業用油圧アクチュエータの駆動禁止を解除するように前記作業ロック装置を制御することを特徴とする電動式建設機械。 - 請求項5に記載の電動式建設機械において、
前記コントローラは、前記解除スイッチの指示が入力されてから予め設定された所定時間が経過するまで、前記作業用油圧アクチュエータの駆動を許可するように前記作業ロック装置を制御し、前記所定時間が経過した後、前記作業用油圧アクチュエータの駆動を禁止するように前記作業ロック装置を制御することを特徴とする電動式建設機械。
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US16/645,345 US11136743B2 (en) | 2018-09-28 | 2018-09-28 | Electric construction machine |
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KR1020207005685A KR102391360B1 (ko) | 2018-09-28 | 2018-09-28 | 전동식 건설 기계 |
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JP2020125625A (ja) * | 2019-02-04 | 2020-08-20 | 日立建機株式会社 | 電気駆動式作業機械 |
JP7096177B2 (ja) | 2019-02-04 | 2022-07-05 | 日立建機株式会社 | 電気駆動式作業機械 |
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Publication number | Publication date |
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JP6902159B2 (ja) | 2021-07-14 |
EP3666584B1 (en) | 2023-09-27 |
US20210222399A1 (en) | 2021-07-22 |
CN111247026A (zh) | 2020-06-05 |
US11136743B2 (en) | 2021-10-05 |
KR102391360B1 (ko) | 2022-04-27 |
EP3666584A1 (en) | 2020-06-17 |
JPWO2020065996A1 (ja) | 2021-01-07 |
EP3666584A4 (en) | 2021-04-21 |
KR20200037313A (ko) | 2020-04-08 |
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