WO2022249529A1 - 建設機械システム - Google Patents
建設機械システム Download PDFInfo
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- WO2022249529A1 WO2022249529A1 PCT/JP2022/000727 JP2022000727W WO2022249529A1 WO 2022249529 A1 WO2022249529 A1 WO 2022249529A1 JP 2022000727 W JP2022000727 W JP 2022000727W WO 2022249529 A1 WO2022249529 A1 WO 2022249529A1
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- Prior art keywords
- unit
- construction machine
- machine system
- power
- power supply
- Prior art date
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- 238000010276 construction Methods 0.000 title claims abstract description 98
- 238000009434 installation Methods 0.000 claims abstract description 33
- 239000000446 fuel Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 31
- 238000004891 communication Methods 0.000 description 29
- 210000001364 upper extremity Anatomy 0.000 description 24
- 230000004913 activation Effects 0.000 description 22
- 239000002689 soil Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 13
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- 238000000034 method Methods 0.000 description 9
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- 238000000926 separation method Methods 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
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- 230000000903 blocking effect Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
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- 241001465754 Metazoa Species 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 229910021529 ammonia Inorganic materials 0.000 description 1
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- 239000005431 greenhouse gas Substances 0.000 description 1
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
-
- 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
Definitions
- the present invention relates to construction machine systems.
- an object of the present invention is to provide a user-friendly construction machine system that reduces installation work time and wiring work time.
- a first unit a second unit having a second power receiving unit that receives the power from the unit via a wire.
- FIG. 1 is a plan view showing a construction machine system representing a first embodiment;
- FIG. 1 is a side view showing a construction machine system representing a first embodiment;
- FIG. 1 is a block diagram of main parts of a construction machine system of a first embodiment;
- FIG. 1 is a side view showing an enlarged part of the construction machine system of the first embodiment;
- FIG. 1 is an installation flow diagram of the construction machine system of the first embodiment;
- FIG. FIG. 11 is a side view showing main parts of a construction machine system representing a second embodiment; It is a block diagram of the main part of the construction machine system of 2nd Embodiment.
- FIG. 9 is a schematic diagram showing a state in which an emergency stop circuit of the construction machine system of the second embodiment is energized;
- FIG. 9 is a schematic diagram showing a state in which an emergency stop circuit of the construction machine system of the second embodiment is energized;
- FIG. 9 is a schematic diagram showing a state in which an emergency stop circuit of the construction machine
- FIG. 11 is a schematic diagram showing a state in which an emergency stop circuit of the construction machine system of the second embodiment is interrupted;
- FIG. 11 is a flow diagram showing operations from start to stop of the construction machine system of the second embodiment;
- FIG. 11 is a side view showing a state of the rotary crusher unit and the input conveyor unit of the construction machine system of the third embodiment as seen from the ⁇ Y direction side;
- FIG. 12 is an enlarged perspective view showing the vicinity of the front leg of the input conveyor unit of the construction machine system of the third embodiment;
- FIG. 12 is an enlarged perspective view showing a spherical bearing mechanism of the input conveyor unit of the construction machine system of the third embodiment;
- FIG. 1 is a plan view showing a construction machine system 1 representing this embodiment.
- FIG. 2 is a side view showing the construction machine system 1 of this embodiment.
- FIG. 3 is a block diagram of main parts of the construction machine system 1 of this embodiment.
- the vertical direction is the Z direction
- the two orthogonal directions in the horizontal plane are the X direction and the Y direction.
- some components for example, a first power transmission device 26 described later are omitted for the sake of clarity.
- the construction machine system 1 of the present embodiment is a device used to improve and effectively utilize raw material soil such as construction surplus soil.
- the construction machine system 1 of this embodiment has a power supply unit 10, a control unit 20, a rotary crusher unit 30, an input conveyor unit 40, and an operation display unit 100. is set up.
- the input conveyor unit 40 conveys the raw material soil toward the rotary crusher unit 30, and the rotary crusher unit 30 crushes the raw material soil.
- the control unit 20 mainly controls the rotary crusher unit 30 and the feeding conveyor unit 40 in order to improve the raw material soil, and the power supply unit 10 supplies power to the control unit 20 .
- the operation display unit 100 transmits/receives control signals to/from the control unit 20 .
- the power supply unit 10, the control unit 20, the rotary crusher unit 30, the input conveyor unit 40, and the operation display unit 100 may be collectively referred to as five units.
- the construction machine system 1 of the present embodiment is assembled in a factory for each of the five units described above, and is transported from the factory to a construction site in a divided state of the five units, where installation and wiring work is carried out at the construction site. is done.
- the dimensions and weights of each of the five units described above are determined to comply with the transportation restrictions on general roads. It is assumed that each of the five units is connected with an electric wire.
- power supply and control signal communication between the rotary crusher unit 30 and the input conveyor unit 40 are performed wirelessly, which will be described later.
- the wire-connected portions of the five units described above may wirelessly transmit/receive electric power or transmit/receive control signals.
- the construction machine system 1 of this embodiment is installed and wired based on the installation position of the rotary crusher unit 30 . This is because the construction machine system 1 is configured around the rotary crusher unit 30 .
- the input conveyor unit 40 is installed on the ⁇ X direction side of the rotary crusher unit 30 .
- the control unit 20 is installed between the rotary crusher unit 30 and the power supply unit 10 .
- the power supply unit 10 is installed on the +X direction side of the control unit 20 .
- the operation display unit 100 is a mobile tablet in this embodiment, and is within a wireless communication range. Note that the arrangement of each unit is not limited to the illustrated position. The placement of each unit is determined by the placement of other construction machines (not shown) and the placement of construction soil.
- the installation surface 50 on which the construction machine system 1 of the present embodiment is installed is earth and sand, and the portion of the installation surface 50 in contact with the construction machine system 1 is preferably leveled flat at the same height. This is because the construction machine system 1 of this embodiment is designed to be installed horizontally on a plane of the same height. Moreover, it is preferable to fix the five units constituting the construction machine system 1 of the present embodiment to the ground or to a steel plate laid on the installation surface 50 . This is to prevent the positional relationship of each unit from being deviated due to an earthquake or the like. A method of assembling the five units constituting the construction machine system 1 of this embodiment will be described later with reference to FIG.
- the power supply unit 10 supplies necessary power to the first motor 32 of the rotary crusher unit 30 and the second motor 42 of the input conveyor unit 40 .
- the first motor 32 drives a shaft 32a of the rotary crusher unit 30, which will be described later.
- the voltage of the first motor 32 is 200V, and the output of the first motor 32 is about 100kW.
- the second motor 42 drives a later-described head pulley 43 of the input conveyor unit 40 .
- the voltage of the second motor 42 is 200 V, and the output of the second motor 42 is approximately 10 kW. Therefore, the first motor 32 has a larger output than the second motor 42 .
- the power supply unit 10 of this embodiment is a mobile diesel generator, and as shown in the block diagram of FIG.
- the fuel tank 11 stores light oil and supplies the light oil to the internal combustion engine 12 by a supply mechanism (not shown).
- the internal combustion engine 12 is a diesel engine in this embodiment, and transmits the generated rotational force to the generator 13 via an output shaft (not shown).
- the generator 13 rotates a magnet (not shown) with rotational force from the diesel engine, and generates electric power in a fixed coil (not shown) through electromagnetic induction.
- the generator 13 is wire-connected to the power transmission unit 14 and transmits the generated power to the power transmission unit 14 .
- the power transmission unit 14 is a coil, and when electricity flows, a magnetic field is generated.
- wireless power supply is realized by the electromagnetic induction method.
- wireless power supply is used when the distance between the power transmission unit 14 and the power reception unit 21 is within 1 m, and wired connection is used when the distance exceeds 1 m.
- the wired connection may be a connection by wiring or a connection by a connector.
- the configuration of the power supply unit 10 is not limited to the configuration described above.
- a generator with a mixed combustion engine, a generator with an ammonia single combustion engine, space solar power generation, or a commercial power supply may be used.
- carbon dioxide (greenhouse gas) emissions from the construction machine system 1 can be reduced.
- the control unit 20 includes, as shown in the block diagram of FIG. 26 , a second activation device 27 and a second power transmission device 28 .
- the power receiving unit 21 is a coil and receives power from the power transmitting unit 14 by wireless power supply.
- the transformer 22 is wire-connected to the power receiving unit 21, and transforms the power received by the power receiving unit 21 from 200V to 100V.
- the transformer 22 transmits the transformed power to the wired first control device 23 and the first communication device 24 .
- the voltages of the first control device 23 and the first communication device 24 are the same in this embodiment, they may be different. If the voltage is different (eg 24V), a transformer (not shown) may be provided.
- the voltage associated with the first motor 32 of the rotary crusher unit 30 and the second motor 42 of the input conveyor unit 40 is 200 V
- the voltage associated with the first control device 23 and the first communication device 24 is 100V.
- the voltage is changed using the transformer 22 provided in the control unit 20, but multiple power supplies that generate the required voltage may be used. Alternatively, each of the five units may have a power supply.
- the first controller 23 controls the rotary crusher unit 30 and the input conveyor unit 40 .
- the first control device 23 controls the supply of electric power sent from the first activation device 25 to the first power transmission device 26 as control of the rotary crusher unit 30, and the stoppage of the electric power supply (hereinafter referred to as cutoff). . Since this controls the driving and stopping of the first motor 32, it controls the rotation and stopping of the shaft 32a.
- the first control device 23 is wired to the first activation device 25 .
- the first control device 23 controls the supply and cutoff of electric power sent from the second activation device 27 to the second power transmission device 28 as control of the input conveyor unit 40 . Since this controls the driving and stopping of the second motor 42 , it controls the rotation and stopping of the head pulley 43 . In this embodiment, it is wired to the second activation device 27 .
- the first controller 23 When the load current of the first motor 32 is equal to or higher than the rated current (for example, when hard rocks are contained in the raw material soil), the first controller 23 gradually increases the rotation speed of the first motor 32. control to slow down.
- the first control device 23 also stops the first motor 32 in an emergency situation such as when abnormal noise is generated from a bearing (not shown) that holds the shaft 32a of the rotary crusher unit 30, which will be described later. control.
- the load current of the second motor 42 when the load current of the second motor 42 is equal to or higher than the rated current (for example, when the amount of material soil to be conveyed is large), the first control device 23 gradually increases the rotation speed of the second motor 42. Take control to slow down.
- the first control device 23 stops the second motor 42 in an emergency situation such as when abnormal noise is generated from a bearing (not shown) that holds the head pulley 43 of the input conveyor unit 40, which will be described later. to control.
- the first communication device 24 communicates control signals with a second communication device 105 of the operation display unit 100, which will be described later.
- the communication may be wireless communication or wired communication.
- the first activation device 25 is, for example, an inverter, is connected to the first power transmission device 26 by wire, and supplies and cuts off power to be sent to the first power transmission device 26 according to a control signal from the first control device 23 .
- the first power transmission device 26 is similar to the coil described above, and transmits power from the first activation device 25 to the first power reception device 31 described later by wireless power supply.
- Wireless power feeding is used when the distance between the first power transmitting device 26 and the first power receiving device 31 is within 1 m, and wired connection is used when the distance exceeds 1 m.
- the wired connection may be a connection by wiring or a connection by a connector.
- the second activation device 27 is, for example, an inverter, is connected to the second power transmission device 28 by wire, and supplies and cuts off power to be sent to the second power transmission device 28 according to a control signal from the first control device 23 .
- the second power transmission device 28 is a coil, and transmits power from the second activation device 27 by wireless power supply to the second power reception device 33 of the rotary crusher unit 30, which will be described later.
- Wireless power feeding is used when the distance between the second power transmitting device 28 and the second power receiving device 33 is within 1 m, and wired connection is used when the distance exceeds 1 m.
- the wired connection may be a connection by wiring or a connection by a connector.
- the rotary crusher unit 30 is a device that improves the raw material soil conveyed by the input conveyor unit 40 to the required quality.
- the rotary crusher unit 30 has a first power receiving device 31, a first motor 32, a shaft 32a, an impact member 32b, a second power receiving device 33, a third power transmitting device 34, and a connecting pole 35. .
- the first power receiving device 31 is a coil and receives power from the first power transmitting device 26 of the control unit 20 by wireless power supply.
- the first motor 32 is wire-connected to the first power receiving device 31, and the power received by the first power receiving device 31 rotates the shaft 32a of the rotary crusher unit 30 via a belt (not shown).
- a plurality of rod-shaped impact members 32b extending in a direction orthogonal to the Z-axis are attached to the shaft 32a.
- the impact member 32b rotates around the Z-axis due to the rotation of the shaft 32a, crushes the material soil conveyed by the input conveyor unit 40, and improves the material soil.
- the first control device 23 controls the rotary crusher unit 30 by supplying electric power sent from the first starting device 25 to the first power transmission device 26 and stopping the supply of electric power (hereinafter referred to as cutoff). is controlling As described above, the first control device 23 controls the rotation and stopping of the shaft 32 a by controlling the driving and stopping of the first motor 32 .
- the second power receiving device 33 is a coil and receives power from the second power transmitting device 28 of the control unit 20 by wireless power supply.
- the third power transmission device 34 is a coil and is wiredly connected to the second power reception device, and transmits power received by the second power reception device 33 to the third power reception device 41 of the input conveyor unit 40 described later by wireless power supply.
- Wireless power feeding is used when the distance between the third power transmitting device 34 and the third power receiving device 41 is within 1 m, and wired connection is used when the distance exceeds 1 m.
- the wired connection may be a connection by wiring or a connection by a connector.
- connection post 35 has a columnar shape extending in the +Z-axis direction and the -X-axis direction, is provided on the -X side of the rotary crusher unit 30, and is joined to the front leg 46a of the input conveyor unit 40 described later via bolts.
- a plurality of connection posts 35 having the same shape may be provided at locations separated in parallel in the Y-axis direction.
- the input conveyor unit 40 is a device that conveys raw material soil supplied by a backhoe (not shown) or raw material soil supplied by a sand feeder (not shown) to the rotary crusher unit 30 .
- the input conveyor unit 40 has a conveyor body 300, a third power receiving device 41, a second motor 42, a head pulley 43, a tail pulley 44, a belt 45, front legs 46a, and rear legs 46b.
- the conveyor body 300 is a frame to which components of the input conveyor unit 40 described later are attached.
- the third power receiving device 41 is a coil and receives power from the third power transmitting device 34 of the rotary crusher unit 30 by wireless power supply.
- the second motor 42 is wire-connected to the third power receiving device 41, and the power received by the third power receiving device 41 rotates the head pulley 43 via a drive chain (not shown). That is, in this embodiment, the rotary crusher unit 30 corresponds to the first unit, the third power receiving device 41 corresponds to the first power receiving section, the second motor 42 corresponds to the second power receiving section, and the input conveyor unit 40 corresponds to the second unit.
- the head pulley 43 has a cylindrical shape and is paired with a similarly cylindrical tail pulley 44, around which a seamless belt 45 is wound.
- the belt 45 conveys raw material soil supplied by a backhoe (not shown) or raw material soil supplied by a sand feeder (not shown) to the rotary crusher unit 30 .
- the first control device 23 controls the supply and cutoff of power sent from the second activation device 27 to the second power transmission device 28 as the control of the input conveyor unit 40 .
- the first control device 23 controls the driving and stopping of the second motor 42 and thus controls the rotation and stopping of the head pulley 43 .
- the front leg 46a is joined to the connecting column 35 of the rotary crusher unit 30 via bolts.
- a plurality of the front legs 46a having the same shape and having the same shape as pairs with the connection posts 35 may be provided at locations separated in parallel in the Y-axis direction.
- the rear leg 46b has a columnar shape extending in the -Z-axis direction, is provided on the -X-axis direction side of the input conveyor unit 40, and is brought into contact with the installation surface 50.
- the operation display unit 100 is used by the operator of the construction machine system 1 of this embodiment to perform operation.
- the operation display unit 100 communicates control signals between the second communication device 105 and the first communication device 24 of the control unit 20, which will be described later. Communication may be wired or wireless.
- the operation display unit 100 is a tablet that can be carried and moved, and can be used at a remote location (not shown) within the range of wireless standards.
- the wireless standard may be Wi-Fi (registered trademark) or Bluetooth (registered trademark).
- the operation display unit 100 has a power source 101 , an operation section 102 , a display section 103 , a second control device 104 and a second communication device 105 .
- the power supply 101 is a battery in this embodiment, and is connected to the operation unit 102, the display unit 103, the second control device 104, and the second communication device 105 by wire, and transmits power.
- the operation unit 102 is wired to the second control device and generates an input signal.
- the operation unit 102 of the present embodiment is a touch panel, but may be buttons or knobs.
- the display unit 103 is wire-connected to the second control device, and displays the operating state of the first motor 32, for example.
- the display unit 103 of this embodiment is a touch panel, but may be a liquid crystal monitor.
- the second control device 104 is wired-connected to the second communication device 105 and controls input signals (control signals) generated from the operation unit 102 .
- the second communication device 105 communicates control signals with the first communication device 24 of the control unit 20 .
- the communication may be wireless communication or wired communication.
- the configuration of the operation display unit 100 of this embodiment is not limited to that illustrated. Moreover, although the operation display unit 100 of the present embodiment is a mobile tablet, it may be a fixed tablet, or may be installed in an operation room (not shown) for use.
- FIG. 4 is a diagram for explaining a method of installing and wiring the construction machine system 1 of this embodiment, showing an enlarged view of the joint between the connection post 35 and the front leg 46a in FIG.
- FIG. 5 is an installation flowchart of the construction machine system 1.
- the vertical direction is defined as the Z direction
- the two orthogonal directions in the horizontal plane are defined as the X direction and the Y direction.
- the procedure for installation and wiring will be described below with reference to FIGS. 4 and 5.
- FIG. In this embodiment, the assembly is performed by a crane (not shown) and an operator, but the assembly may be fully automated without the intervention of an operator.
- the installation location (construction site) of the construction machine system 1 of the present embodiment is set by using a construction machine such as a backhoe before the construction machine system 1 is installed. It is finished flat so that the difference between the height in the direction and the height in the -Z direction is approximately 5 cm or less.
- a thin plate or the like is sandwiched between the construction machine system 1 and the installation surface 50, and the construction machine system 1 This is because it is possible to horizontally install the five units that constitute the .
- a steel plate may be laid between the installation surface 50 and the construction machine system 1 in order to fix each unit so that it does not shift due to an earthquake or the like.
- the rotary crusher unit 30 is lifted by a crane (not shown) and installed at a predetermined position on the installation surface 50 (step S1).
- the input conveyor unit 40 is lifted by a crane (not shown), the front leg 46a of the input conveyor unit 40 is connected to the connection column 35 of the rotary crusher unit 30, and the rear leg 46b of the input conveyor unit 40 is in contact with the installation surface 50. (step S2).
- the connecting post 35 and the front leg 46a are fastened with bolts, and the positional relationship between the rotary crusher unit 30 and the input conveyor unit 40 is uniquely determined. Therefore, by providing the third power transmission device 34 in the vicinity of the front leg 46a of the input conveyor unit 40 and providing the third power reception device 41 in the vicinity of the connecting pole 35 of the rotary crusher unit 30, the third power transmission device 34 and the third power reception The positional relationship with the device 41 is also uniquely determined. Furthermore, since the third power transmitting device 34 and the third power receiving device 41 are connected by wireless power supply, wiring work is not required at the construction site, and the work time can be shortened.
- the control unit 20 is lifted by a crane (not shown) and installed at a predetermined position close to the rotary crusher unit 30 in the +X direction (step S3). Note that the installation position of the control unit is not limited to the position in the present embodiment.
- the aforementioned predetermined close position is a position where the separation distance between the first power transmission device 26 and the first power reception device 31 is within 1 m, and the separation distance between the second power transmission device 28 and the second power reception device 33 is It is a position within 1m.
- the power supply unit 10 is lifted by a crane (not shown) and installed at a predetermined position close to the +X direction side of the control unit 20 (step S4).
- the installation position of the power supply unit 10 is not limited to the position of the present embodiment.
- the aforementioned close predetermined position means a position where the distance between the power receiving unit 21 and the power transmitting unit 14 is within 1 m.
- the inside of the unit is wired before it is brought into the construction site, and wireless power is supplied to locations where the distance between the units is 1 m or less. If the separation distance is 1 m or more, a wired connection is adopted because the attenuation of electric power becomes large. The separation distance does not have to be 1 m.
- the construction machine system 1 of this embodiment is fixed to the ground or iron plate so that each unit will not shift due to an earthquake or the like.
- the wireless connection point of the construction machine system 1 of this embodiment is covered for protection so that it is not easily touched by people or small animals.
- the operation display unit 100 is a mobile tablet in this embodiment, and only needs to be within a wireless communication range (step S5). Moreover, the operation display unit 100 may be of a fixed type connected by wire, and in this case, may be installed in an indoor space (not shown) or outdoors.
- the electric wiring of each of the five units is connected by wire. Power supply and communication are performed wirelessly to transmit and receive power and to transmit and receive control signals. As a result, it is possible to omit or reduce wired wiring between the rotary crusher unit 30 and the input conveyor unit 40 at the construction site, thereby realizing a safe and user-friendly construction machine system that shortens the time required for installation and wiring work. .
- the first control device 23 controls the first motor 32 when the load current of the first motor 32 is equal to or higher than the rated current (for example, when the raw material soil contains hard rocks). Control to slow down the rotation speed step by step. Further, the first control device 23 stops the first motor 32 in an emergency situation such as when abnormal noise is generated from a bearing (not shown) that holds the shaft 32a of the rotary crusher unit 30, which will be described later. to control. In addition, when the load current of the second motor 42 is equal to or higher than the rated current (for example, when the amount of material soil to be conveyed is large), the first control device 23 gradually increases the rotation speed of the second motor 42. Take control to slow down. In addition, the first control device 23 stops the second motor 42 in an emergency situation such as when abnormal noise is generated from a bearing (not shown) that holds the head pulley 43 of the input conveyor unit 40, which will be described later. to control.
- the load current of the second motor 42 is equal to or higher than the rated current (for example, when the raw material soil contains
- the supply of electric power to the first motor 32 and the second motor 42 is stopped.
- the operation of the first motor 32 and the second motor 42 can be stopped simultaneously.
- the power supply to the first motor 32 is stopped, and the first motor 32 stops.
- the power supply to the second motor 42 is stopped, and the second motor 42 Stop.
- This embodiment includes a drone 200, which is an unmanned flying object, as will be described later.
- the drone 200 monitors the operational status of five units and sends information to the first control device 23. 32 and the second motor 42 are stopped. Therefore, the present embodiment is a construction machine system in which the first control device 23 and the drone 200 perform cooperative control.
- the control device (not shown) of the drone 200 captures the amount of earth and sand discharged from the rotary crusher unit 30 with an image pickup device such as a camera, and recognizes that the amount of earth and sand is larger (smaller) than usual by image recognition. If there is an abnormality, an abnormality signal may be sent to the first control device 23 .
- the drone 200 may determine that there is an abnormality when a person enters and send an abnormality signal to the first control device 23 .
- an abnormal signal is sent to the first controller 23.
- the first control device 23 may stop the first motor 32 and the second motor 42 upon receiving an abnormal signal from a control device (not shown) of the drone 200 . In this manner, the first control device 23 and the drone 200 cooperate to control the construction machine system 1 as a whole.
- FIG. 6 is a side view showing the main parts of the construction machine system 1 of this embodiment.
- FIG. 7 is a block diagram of main parts of the construction machine system 1 of this embodiment.
- 8 and 9 are enlarged side views of the vicinity of the emergency stop device 201, which will be described later.
- X′ direction is the X′ direction.
- two axial directions perpendicular to the X' direction are defined as the Y' direction and the Z' direction.
- FIG. 8 is a schematic diagram showing a state in which the emergency stop circuit 49, which will be described later, is energized
- FIG. 9 is a schematic diagram showing a state in which the emergency stop circuit 49, which will be described later, is cut off.
- FIG. 10 is a flow chart showing the operation from start to stop of the construction machine system 1 of this embodiment.
- the construction machine system 1 of this embodiment has a drone 200
- the control unit 20 has a first transmitter 29a and a first receiver 29b, and rotates.
- the type crusher unit 30 has a second receiver 36, a second transmitter 37, a third receiver 38, and a third transmitter 39
- the input conveyor unit 40 has an emergency stop device 201, It has a fourth receiver 47 and a fourth transmitter 48 .
- the first control device 23, the first transmitter 29a, the second receiver 36, the third transmitter 39, the fourth receiver 47, the fourth transmitter 48, the third The receiving device 38, the third transmitting device 39, and the first receiving device 29b are connected in series to form an emergency stop circuit 49 surrounded by a chain double-dashed line in FIG.
- the operation section 102 of the operation display unit 100 of the construction machine system 1 of this embodiment has a plurality of buttons (not shown). For example, a first run button for running the first motor 32, a first stop button for stopping the first motor 32, a second run button for running the second motor 42, and the second motor a second stop button for stopping 42; When the first operation button is pressed, a first operation signal is generated; when the first stop button is pressed, a first stop signal is generated; when the second operation button is pressed, a second operation signal is generated; A second stop signal is generated when the second stop button is pressed.
- a control device (not shown) of the drone 200 is for monitoring the situation of the construction machine system 1 of the present embodiment, and transfers an image captured by a mounted camera to a monitor (not shown) or the like, or detects an abnormality when an abnormality occurs.
- a signal is sent to the first control device 23 .
- the drone 200 operates an emergency stop device 201 to be described later in order to stop the first motor 32 and the second motor 42 . That is, the drone 200 corresponds to a mobile object.
- the first transmitter 29a is a coil and is wired to the first controller 23, and transmits a control signal from the first controller 23 to the second receiver 36 of the rotary crusher unit 30 by wireless power supply.
- the second receiving device 36 is a coil and receives the control signal from the first transmitting device 29a by wireless power supply.
- the second transmission device 37 is a coil and is wired to the second reception device 36, and transmits a control signal from the second reception device 36 to the fourth reception device 47 of the input conveyor unit 40 by wireless power supply.
- the fourth receiving device 47 is a coil and receives the control signal from the second transmitting device 37 by wireless power supply.
- the fourth transmission device 48 is a coil and is connected to the fourth reception device 47 by wire, and transmits a control signal from the fourth reception device 47 to the third reception device 38 by wireless power supply.
- the third receiver 38 is a coil and receives the control signal from the fourth transmitter 48 by wireless power supply.
- the third transmitting device 39 is a coil and is wiredly connected to the third receiving device 38, and transmits a control signal from the third receiving device 38 to the first receiving device 29b by wireless power supply.
- the first receiving device 29b is a coil and receives a control signal from the third transmitting device 39 by wireless power supply.
- the first control device 23 is wire-connected to the first receiving device 29b and receives control signals.
- the first control device 23, the first transmitter 29a, the second receiver 36, the third transmitter 39, the fourth receiver 47, the fourth transmitter 48, and the third receiver 38 , the third transmitter 39 , and the first receiver 29 b are connected wirelessly or by wire to form an emergency stop circuit 49 .
- the emergency stop circuit 49 is used by the first controller 23 of the construction machine system 1 to determine whether the first motor 32 and the second motor 42 are operable.
- the first control device 23 determines that the first motor 32 can be operated, and when the first operation button is pressed, the first motor 32 is operated according to the flow described later.
- the emergency stop circuit 49 is not energized (when there is an interrupted portion in the connection section)
- the first control device 23 determines that the first motor 32 cannot be operated, and the first operation button is pressed.
- the first motor 32 does not operate. In other words, the first motor 32 does not operate when any part of the connection section of the emergency stop circuit 49 is cut off.
- the second operation button is pushed, the second motor 42 is operated.
- the second motor 42 When the emergency stop circuit 49 is not energized, the second motor 42 does not operate even if the second operation button is pressed. That is, the second motor 42 does not operate when any part of the connection section of the emergency stop circuit 49 is cut off. As a result, when any part of the connection section of the emergency stop circuit 49 is interrupted, the construction machine system 1 is stopped all at once.
- FIG. 8 is an enlarged view of the vicinity of the emergency stop device 201, showing a part of the emergency stop circuit 49, and showing a state in which the emergency stop circuit 49 is energized.
- FIG. 9 is an enlarged view of the vicinity of the emergency stop device 201, showing a part of the emergency stop circuit 49, showing a state in which the emergency stop device 201 is activated and the emergency stop circuit 49 is cut off.
- the emergency stop device 201 has a movable portion 202 , a spring portion 500 and a guide portion 207 .
- the movable portion 202 has an operation portion 203 , a blocking portion 204 and a guide rod 205 .
- the operation unit 203 has a plate shape that extends in the X' direction and the Y' direction, so that the drone 200 can land on the +Z' direction side.
- One end on the +X' direction side is provided with a blocking portion 204 extending in the -Z' direction side, and the other end is provided with a guide rod 205 and a spring portion 206 extending in the -Z' direction side.
- a guide portion 207 is provided at the end of the spring portion 206 in the -Z′ direction.
- the blocking part 204 has a bar shape extending in the -Z' direction, and blocks power and signals in the section connected by wireless power supply.
- the guide rod 205 has a rod shape extending in the Z direction, and by moving along the inside of the guide portion 207, which will be described later, restricts the movement of the movable portion 202 only in the Z' direction.
- the spring portion 206 is provided between the +Z′ direction side end of the guide portion 207 and the ⁇ Z′ direction bottom surface of the operation portion 203 and supports the weight of the movable portion 202 .
- the spring portion 206 holds the movable portion 202 at a position where the ⁇ Z′ direction end portion of the guide portion 207 does not block the section connected by wireless power supply.
- the guide part 207 has a block shape with a cylindrical hole inside, and limits the moving direction of the guide rod 205 .
- FIG. 8 shows a state in which the emergency stop circuit 49 is energized. 9, when the drone 200 lands on the operation section 203, the weight of the drone 200 causes the spring section 206 to contract, and the movable section 202 starts moving in the -Z' direction. The guide rod 205 moves along the guide portion 207, and when the spring portion 206 contracts to the shortest length, the movable portion 202 stops.
- the blocking part 204 prevents wireless power supply from the second transmitter 37 to the fourth receiver 47 and wireless power supply from the fourth transmitter 48 to the third receiver 38. and the emergency stop circuit 49 is cut off.
- the movable section 202 rises due to the restoring force of the spring section 206, returns to the state shown in FIG. 8, and returns to the state in which the emergency stop circuit 49 is energized.
- the operation of the movable portion 202 may be performed manually. Further, when the control device (not shown) of the drone 200 transmits an emergency stop signal to the first control device 23, the first control device 23 stops the first motor 32 and the second motor 42 all at once. For some reason, for example, if the communication state is not good, the drone 200 operates the emergency stop device 201 to stop the first motor 32 and the second motor 42 all at once.
- the moving direction of the movable part 202 is the Z' direction, but it may be the X' direction or the Y' direction depending on the mounting state.
- the installation location of the emergency stop device 201 is not limited to the position of this embodiment, and may be anywhere in the section connected by wireless power supply in the emergency stop circuit 49, and the number of installations may be one or more.
- the emergency stop circuit 49 may include a light emitting section and a light receiving section.
- the state in which light reaches the light receiving unit from the light emitting unit corresponds to, for example, the state in which wireless power is supplied from the second transmitting device 37 to the fourth receiving device 47 .
- a drone port for charging and waiting may be provided.
- the drone 200 if the drone 200 is installed in a place where the +Z direction position is the highest and the overall view is good, the drone 200 can be used as a fixed point camera while waiting at the drone port. You can shoot the driving situation of Also, the drone 200 may photograph the operating conditions of the construction machine system 1 while in flight. The drone 200 transmits a captured image to a monitor (not shown), so that the operator of the construction machine system 1 can check the operation status of the construction machine system 1 and find an abnormal location (for example, earth and sand spilled from the input conveyor unit 40). location) can be identified immediately and measures such as suspension can be taken.
- the drone port may be provided with a switch for starting and stopping charging so that when the drone 200 lands, the switch is turned on to start charging, and when the drone 200 takes off, the switch is turned off. A plurality of drones 200 may be provided.
- the drone 200 may monitor the situation where the five units are installed. For example, the state of bolt fastening between the connection column 35 of the rotary crusher unit and the front leg 46a of the input conveyor unit 40 may be photographed and transmitted to the monitor described above. As a result, the situation can be confirmed at a remote location during the fully automatic assembly described above.
- the drone 200 may be equipped with an infrared camera. As a result, the drone 200 can take pictures even at night, can monitor the construction machine system 1 24 hours a day, and can operate the construction machine system 1 unmanned day and night.
- FIG. 10 is a flowchart executed by the first controller 23 of the control unit 20 in this embodiment.
- the first control device 23 establishes communication between the first communication device and the second communication device 105 of the operation display unit 100 (step S101).
- the first control device 23 checks whether the emergency stop circuit 49 is energized and determines whether the first motor 32 and the second motor 42 are operable (step S102). If the emergency stop circuit 49 is not energized, the first control device 23 determines that operation is impossible, waits until energization can be confirmed, and determines that operation is possible if energized, and proceeds to step S103.
- the first control device 23 determines the presence or absence of the first operation signal (step S103).
- the first operation signal is a control signal, and is generated when the operator of the construction machine system 1 presses the first operation button of the operation section 102 of the operation display unit 100 described above.
- the first operation signal is transmitted from the second communication device to the first communication device under the control of the second control device 104 and reaches the first control device 23 .
- Other control signals for example, a first stop signal, which will be described later, also reach the first control device 23 in the same procedure.
- the first controller 23 proceeds to step S104 when there is the first operation signal.
- the first control device 23 transmits a first operation signal to the first activation device 25 .
- the first activation device 25 Upon receiving the first operation signal, the first activation device 25 transmits power of 200 V to the first power transmission device 26 . Further, the electric power reaches the first motor 32 via the first power receiving device 31, and the first motor 32 operates.
- step S105 the first controller 23 determines whether or not there is a second drive signal.
- the first control device 23 proceeds to step S106 when there is the second operation signal.
- the first control device 23 transmits a second operation signal to the second activation device 27 .
- the second activation device 27 Upon receiving the second operation signal, the second activation device 27 transmits power of 200 V to the second power transmission device 28 . Further, the electric power reaches the second motor 42 via the second power receiving device 33, the third power transmitting device 34, and the third power receiving device 41, and the second motor 42 operates.
- step S107 the first control device 23 determines whether the emergency stop circuit 49 is energized.
- step S108 the first control device 23 determines the presence or absence of the first stop signal.
- step S109 the first control device 23 transmits a first stop signal to the first activation device 25 .
- the first activation device 25 receives the first stop signal, it cuts off the power being transmitted to the first power transmission device 26 .
- the power received by the first motor 32 via the first power receiving device 31 is cut off, and the first motor 32 stops.
- step S110 the first control device 23 determines the presence or absence of the second stop signal.
- step S111 When the first control device 23 receives the second stop signal, it proceeds to step S111.
- step S ⁇ b>111 the first control device 23 transmits a second stop signal to the second activation device 27 .
- the second activation device 27 cuts off the power being transmitted to the second power transmission device 28 .
- the power received by the second motor 42 via the second power receiving device 33, the third power transmitting device 34, and the third power receiving device 41 is cut off, the second motor 42 is stopped, and the present flowchart is executed. finish.
- the first control device 23 When there is no second stop signal, the first control device 23 returns to step S103 and repeats the control.
- step S112 the first control device 23 transmits a first stop signal to the first activation device 25 .
- the first activation device 25 receives the first stop signal, it cuts off the power being transmitted to the first power transmission device 26 .
- step S112 ends, the process proceeds to step S113.
- step S ⁇ b>113 the first control device 23 transmits a second stop signal to the second activation device 27 .
- the second activation device 27 Upon receiving the second stop signal, the second activation device 27 cuts off the power being transmitted to the second power transmission device 28 . As a result, the power received by the second motor 42 via the second power receiving device 33, the third power transmitting device 34, and the third power receiving device 41 is cut off, the second motor 42 is stopped, and the present flowchart is executed. finish.
- the drone 200 monitors the operating conditions of the five units and sends information to the first control device 23, and the drone 200 performs the stop operation of the first motor 32 and the second motor 42. to do That is, since the first control device 23 and the drone 200 perform cooperative control, a safe and user-friendly construction machinery system can be realized.
- the U-groove 313 of a pair of holding members 311A and 311B provided in the rotary crusher unit 30 described later and the front leg 307 provided in the input conveyor unit 40 described later are engaged at two points. .
- the rotary crusher unit 30 and the input conveyor unit 40 are connected, the positional relationship between the rotary crusher unit 30 and the input conveyor unit 40 is less likely to shift, and the need for fixing to the ground or iron plate is eliminated.
- the installation time of the construction machine system 1 of the embodiment can be shortened. Since the positional relationship is less likely to shift, the separation distance between sections connected by wireless power supply can be maintained at a constant distance, and a construction machine system that is easy to use can be realized.
- FIG. 11 is a diagram showing a state of the rotary crusher unit 30 and input conveyor unit 40 of the construction machine system 1 of this embodiment viewed from the -Y direction side.
- FIG. 12 is an enlarged perspective view showing the vicinity of the front leg 307 of the input conveyor unit 40 of the construction machine system 1 of this embodiment.
- FIG. 13 is an enlarged perspective view showing the spherical bearing mechanism 301 of the input conveyor unit 40 of the construction machine system 1 of this embodiment.
- the vertical direction is the Z direction
- two orthogonal directions in the horizontal plane are the X direction and the Y direction.
- ⁇ X, ⁇ Y, and ⁇ Z denote the directions of rotation about each axis.
- the input conveyor unit 40 is connected to the rotary crusher unit 30 in the vicinity of its +X direction side end. That is, in this embodiment, the rotary crusher unit 30 corresponds to the first unit, and the input conveyor unit corresponds to the second unit.
- the rotary crusher unit 30 has a pedestal 310 .
- the pedestal 310 serves as a base for the rotary crusher unit 30 to come into contact with the installation surface 50, and has a pair of holding members 311A and 311B for connecting the input conveyor unit 40. Details of the holding members 311A and 311B will be described later.
- the input conveyor unit 40 has front legs 307 and a tail mount 308 .
- the front leg 307 is provided near the +X direction end of the bottom surface of the conveyor body 300 .
- FIG. 12 shows an enlarged view of the vicinity of the front leg 307 .
- the front leg 307 includes a first member 312 extending in the Y direction, a pair of legs 314A and 314B provided at both ends of the first member 312 in the Y direction, and legs 314A and 314B. and a columnar member 315 as a shaft member provided to connect between them.
- a pair of holding members 311A and 311B are provided on the base 310 of the rotary crusher unit 30, and two cylindrical members 315 are provided in the U grooves 313 of the holding members 311A and 311B.
- the front leg 307 is connected to the pedestal 310 (rotary crusher unit 30).
- the front leg 307 has a degree of freedom in the rotational direction ( ⁇ y) around the Y axis with respect to the base 310 by engaging the cylindrical member 315 with the U groove 313 . That is, in this embodiment, the front leg 307 corresponds to the first portion of the input conveyor unit 40, which is the second unit, the U-groove 313 corresponds to the first engaging portion, and the cylindrical member 315 corresponds to the second engaging portion. Equivalent to.
- the tail mount 308 has a leg portion 309 and a spherical bearing mechanism 301 provided on the +Z direction side of the leg portion 309 .
- the spherical bearing mechanism 301 is provided on the bottom surface of the conveyor body 300 near the end on the -X direction side.
- FIG. 13 is an enlarged perspective view of the spherical bearing mechanism 301.
- the spherical bearing mechanism 301 includes a housing 302, a spherical bearing member 303 provided in the housing 302, a cylindrical member 304 passing through the spherical bearing member 303, and a cylindrical member 304. It has a fixing member 305 connecting the conveyor body 300 .
- the housing 302 is fixed to the leg portion 309 with bolts or the like.
- Housing 302 has a spherical internal space capable of accommodating spherical bearing member 303 .
- the spherical bearing member 303 is a substantially ball-shaped member. A through-hole extending in the Y-axis direction is formed in the spherical bearing member 303, and the cylindrical member 304 passes through the through-hole.
- the spherical bearing member 303 can rotate freely with respect to the housing 302 as long as the cylindrical member 304 and the housing 302 do not interfere mechanically. That is, the spherical bearing member 303 can rotate with respect to the housing 302 in the directions of rotation about the X axis, the direction of rotation about the Y axis, and the direction of rotation about the Z axis.
- Fixing members 305 are provided at both ends of the columnar member 304 , and the columnar member 304 is fixed to the bottom surface of the conveyor body 300 via the fixing members 305 .
- the spherical bearing mechanism 301 is provided between the leg portion 309 and the bottom surface of the conveyor body 300. That is, the spherical bearing mechanism 301 is in a state of being in contact with the installation surface with the upper surface of the leg portion 309 as the installation surface. Therefore, in this embodiment, the spherical bearing mechanism 301 corresponds to the second portion of the input conveyor unit 40, which is the second unit.
- the spherical bearing mechanism 301 changes the attitude of the conveyor body 300 relative to the legs 309 in the rotation direction about the X axis ( ⁇ X), the attitude change in the rotation direction about the Y axis ( ⁇ Y), and the attitude in the rotation direction about the Z axis. A change ( ⁇ Z) is allowed.
- the input conveyor unit 40 suspended by a crane or the like is installed at the position shown in FIG. 11 from above. Then, the cylindrical member 315 of the front leg 307 of the input conveyor unit 40 is engaged with the U grooves 313 (at two places) of the holding members 311A and 311B (see FIG. 12) provided on the base 310 of the rotary crusher unit 30. Let By doing so, the input conveyor unit 40 can be installed in a state of being connected to the rotary crusher unit 30 .
- the front leg 307 has a degree of freedom in the .theta.Y direction with respect to the base 310. As shown in FIG.
- the conveyor body 300 has degrees of freedom in the ⁇ X, ⁇ Y, and ⁇ Z directions with respect to the leg portion 309 .
- the posture of the conveyor body 300 around the X-axis can be determined so as to follow the posture of the gantry 310 .
- the tilt can be absorbed by the spherical bearing mechanism 301 .
- the third power transmitting device 34 near the front leg 307 and the third power receiving device 41 near the holding member 311A or 311B, the positional relationship between the third power transmitting device 34 and the third power receiving device 41 is less likely to shift. Therefore, the separation distance between the sections connected by wireless power supply can be kept constant, and application to the first embodiment is possible.
- the second transmitter 37 and the third receiver 38 in the vicinity of the front leg 307, and the fourth receiver 47 and the fourth transmitter 48 in the vicinity of the holding member 311A or 311B the second transmitter 37 and the fourth receiving device 47, and the positional relationship between the third receiving device 38 and the fourth transmitting device 48 are less likely to shift, and the separation distance between sections connected by wireless power supply can be kept constant. It can be applied to the second embodiment.
- the U-grooves 313 of the pair of holding members 311A and 311B of the rotary crusher unit 30 and the front legs 307 of the input conveyor unit 40 are engaged at two points. are in agreement.
- the rotary crusher unit 30 and the input conveyor unit 40 are connected and the positional relationship is less likely to shift. can save time.
- the positional relationship is less likely to shift, the distance between sections connected by wireless power supply can be maintained at a constant distance, and a user-friendly construction machine system can be realized.
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Abstract
Description
まず以下、図1から図3を用いて建設機械システム1の構成について説明していく。図1は、本実施形態を表す建設機械システム1を示す平面図である。図2は、本実施形態の建設機械システム1を示す側面図である。図3は、本実施形態の建設機械システム1の主要部分のブロック図である。図1、図2では、説明の便宜上、鉛直方向をZ方向、水平面内において直交する二軸方向をX方向及びY方向とする。また図1では、図を見やすくするため、一部構成要素(例えば、後述する第1送電装置26)を省略している。
詳細は後述するものの、投入コンベヤユニット40は回転式破砕装置ユニット30に向けて原料土を搬送するものであり、回転式破砕装置ユニット30は原料土を破砕するものである。また、制御ユニット20は原料土を改良するために主に回転式破砕装置ユニット30と投入コンベヤユニット40とを制御するものであり、電源ユニット10は制御ユニット20に電力を供給するものである。また、操作表示ユニット100は制御ユニット20との間で制御信号を送信・受信するものである。電源ユニット10と、制御ユニット20と、回転式破砕装置ユニット30と、投入コンベヤユニット40と、操作表示ユニット100と、を総称して5つのユニットと記載することもある。
本実施形態において、上述の5つのユニットのそれぞれの寸法及び重量は、一般道路の運搬制限を遵守した寸法・重量に決められている。なお、5つのユニットのそれぞれは電気配線が有線接続されているものとする。これに対して、回転式破砕装置ユニット30と、投入コンベヤユニット40との間の電力供給や制御信号の通信は、後述する無線で行うことにより、電力の送電・受電や制御信号の送信・受信を行う構成になっている。
これにより、建設現場において回転式破砕装置ユニット30と、投入コンベヤユニット40との有線による配線を省略または減らすことができ、設置・配線作業の時間短縮をすることができる。なお、上述の5つのユニット内の有線接続されている箇所が無線により電力の送電・受電または制御信号の送信・受信がされても良い。
本実施形態の建設機械システム1を構成する5つのユニットの組立方法については、図4を用いて後述する。
第1制御装置23は、回転式破砕装置ユニット30の制御として、第1起動装置25から第1送電装置26へ送る電力の供給と、電力の供給の停止(以下、遮断という)とを制御する。これにより、第1モータ32の駆動と停止とを制御するので、シャフト32aの回転と停止とを制御している。本実施形態では、第1制御装置23は、第1起動装置25に有線接続されている。
図4は、本実施形態の建設機械システム1を設置・配線する方法を説明する図であり、図2の接続柱35と前脚46aとの接合部を拡大している。図5は、建設機械システム1の設置フロー図である。図4では、説明の便宜上、鉛直方向をZ方向、水平面内において直交する二軸方向をX方向及びY方向とする。以下、図4と図5を用いて設置・配線の手順について説明していく。なお、本実施形態では、図示しないクレーンと作業者により組立が行われるが、作業者を介さない全自動による組立でも良い。
また、人が第1送電装置26と第1受電装置31との無線給電により接続される区間に板等を挟み込むと第1モータ32への電力の供給が停止され、第1モータ32が停止する。あるいは、人が第2送電装置28と第2受電装置33との無線給電により接続される区間に板等を挟み込と、第2モータ42への電力の供給が停止され、第2モータ42が停止する。このように、本実施形態では、原料土が投入コンベヤユニット40のベルト45からこぼれている場合や、不図示のベアリングから異音が発生している場合のような緊急的な状態では、人が第1モータ32と第2モータ42との少なくとも一方を停止させることができる。
本実施形態は、後述するように無人飛行体であるドローン200を備えており、ドローン200が5つのユニットの運転状況を監視し第1制御装置23に情報を送ったり、ドローン200が第1モータ32と第2モータ42との停止操作をしたりする。このため、本実施形態は、第1制御装置23とドローン200とが協調制御を行う建設機械システムとなっている。
協調制御の一例として、ドローン200の不図示の制御装置が回転式破砕装置ユニット30から排出される土砂の量をカメラなどの撮像装置で捉え、画像認識により土砂量が通常より多い(少ない)を判断し、異常の場合、第1制御装置23に異常信号を送ることがある。もう一つの例としてドローン200が人の立ち入った時を異常と判断し第1制御装置23に異常信号を送ることがある。さらにもう一つの例として、投入コンベヤユニット40や回転式破砕装置ユニット30からの土砂こぼれ等の時、異常と判断し第1制御装置23に異常信号を送る。第1制御装置23は、ドローン200の不図示の制御装置からの異常信号を受け、第1モータ32と第2モータ42を停止することがある。このように第1制御装置23とドローン200とが協調し、建設機械システム1全体の制御を行う。
図6は、本実施形態の建設機械システム1の主要部分を示す側面図である。図7は、本実施形態の建設機械システム1の主要部分のブロック図である。図8及び図9は、後述する非常停止装置201の近傍を拡大した側面図であるが、説明の便宜上、前述した投入コンベヤユニット40のコンベヤ本体300の長手方向(+X方向かつ+Y方向に伸びる方向)をX’方向としている。さらにX’方向と直交する二軸方向をY’方向及びZ’方向としている。図8は、後述する非常停止回路49が通電された状態を示す概略図であり、図9は、後述する非常停止回路49が遮断されている状態を示す概略図である。図10は、本実施形態の建設機械システム1の運転開始から停止までを示すフロー図である。
図8と図9とを用いて、非常停止方法の一つとしてドローン200が非常停止装置201を操作する方法を説明する。図8は、非常停止装置201の近傍を拡大した図で、非常停止回路49の一部が示され、非常停止回路49は通電された状態を表している。図9は、非常停止装置201の近傍を拡大した図で、非常停止回路49の一部示されていて、非常停止装置201が作動し非常停止回路49が遮断されている状態を表している。
図10は、本実施形態における制御ユニット20の第1制御装置23により実行されるフローチャートである。
ステップS112が終了すると、ステップS113へ進む。ステップS113では、第1制御装置23は、第2起動装置27へ第2停止信号を送信する。第2起動装置27は第2停止信号を受信すると、第2送電装置28へ送電している電力を遮断する。これにより、第2受電装置33と、第3送電装置34と第3受電装置41とを介して第2モータ42が受信していた電力が遮断され、第2モータ42が停止し、本フローチャートを終了する。
第3実施形態では、後述する回転式破砕装置ユニット30が備える一対の保持部材311A、311Bが有するU溝313と、後述する投入コンベヤユニット40が備える前脚307とが2箇所で係合している。これにより、回転式破砕装置ユニット30と投入コンベヤユニット40とが連結し、回転式破砕装置ユニット30と投入コンベヤユニット40との位置関係をずれにくくし、地面や鉄板への固定を不要とし、本実施形態の建設機械システム1の設置時間を短縮することができる。位置関係がずれにくいため無線給電により接続される区間の離隔距離も一定間隔に保つことができ、使い勝手の良い建設機械システムを実現できる。
10 電源ユニット
20 制御ユニット
30 回転式破砕装置ユニット
40 投入コンベヤユニット
50 設置面
100 操作表示ユニット
200 ドローン
201 非常停止装置
301 球面軸受機構
Claims (11)
- 第1ユニットと、
前記第1ユニットとは別ユニットであり、前記第1ユニットからの電力を無線給電により受け取る第1受電部と、前記第1受電部から有線を経由して前記電力を受電する第2受電部とを有した第2ユニットと、を備えた建設機械システム。 - 前記第1ユニットは電源を有し、
前記第1受電部は、前記無線給電により前記電源からの電力を受電する請求項1記載の建設機械システム。 - 前記第1ユニットは、前記第1ユニットとは別ユニットである電源から無線給電により電力を受電する受電部を有する請求項1記載の建設機械システム。
- 前記有線の長さは、前記第1ユニットと前記第1受電部との距離よりも長い請求項1~3のいずれか一項に記載の建設機械システム。
- 電源に燃料電池を用いる請求項1~4のいずれか一項に記載の建設機械システム。
- 前記第1ユニットと前記第2ユニットとの運転状態を監視する飛行可能な移動体を備えた請求項1~5のいずれか一項に記載の建設機械システム。
- 前記移動体が、無線給電に接続される区間を遮断する請求項6に記載の建設機械システム。
- 前記移動体が、前記運転状態を撮影し、遠隔地に撮影したデータを送信する請求項6または7に記載の建設機械システム。
- 前記移動体が、前記第1ユニットと前記第2ユニットとの組立状況を監視する請求項6~8のいずれか一項に記載の建設機械システム。
- 前記第2ユニットの前記第1ユニットに係合される第1部分の回転に関する自由度の数と、前記第2ユニットの設置面に当接される第2部分の回転に関する自由度の数が異なる、請求項1~9のいずれか一項に記載の建設機械システム。
- 前記第1ユニットと前記第2ユニットとが連結し、前記第1ユニットと前記第2ユニットとのどちらか一方または両方の位置が移動しても、無線給電により接続される区間の離隔距離が一定間隔に保たれる請求項10に記載の建設機械システム。
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JP2003088744A (ja) * | 2001-09-19 | 2003-03-25 | Hitachi Constr Mach Co Ltd | 自走式混合機及びこれを用いた土砂混合システム |
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