backhoe

Abstract

The present invention relates to a shovel in which a plurality of devices including an electric storage device can be appropriately cooled in an electric shovel. A shovel (100) of the present invention is provided with: a lower traveling body (1); an upper revolving body (3) that is attached to the lower traveling body so as to be able to revolve freely; an actuator that drives a driven portion including the lower traveling body and the upper revolving body; an electric storage device (19) that is attached to the upper revolving body and serves as an energy source for driving the actuator; a cooling circuit (60) that cools the electric storage device (19); and a fan (90) that is attached to the upper revolving body and performs air supply for cooling to a radiator (62) and a condenser (82B). The electric storage device (19) is disposed so as to be offset from a path in which, by the action of the fan (90), air outside the upper revolving body is introduced into the inside of the upper revolving body and is discharged to the outside of the upper revolving body after passing through the radiator (62) and the condenser (82B).

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2020-188896, filed on November 12, 2020. The entire contents of that Japanese application are incorporated herein by reference.

[0002] This invention relates to an excavator. Background Technology

[0003] For example, there are known electric excavators that use electricity from storage devices such as batteries to drive actuators (see Patent Document 1).

[0004] In Patent Document 1, a cooling fan is used to draw air in from the outside and generate cooling air that draws heat from the internal device, including the battery, and exhausts it to the outside.

[0005] Patent Document 1: Japanese Patent No. 5172898

[0006] However, in Patent Document 1, air drawn in from outside the excavator passes through the battery and then through other equipment such as the oil cooler and heat exchanger in the machine compartment. Therefore, the cooling air passing around the battery becomes relatively hot by drawing heat from the battery, potentially failing to adequately cool the other equipment.

[0007] On the other hand, if a structure is adopted in which cooling air that has passed through the surroundings of other equipment passes through the surroundings of energy storage devices such as batteries, the relatively hot air that has taken away the heat from other equipment comes into contact with the energy storage device, which may not be able to properly reduce the temperature of the energy storage device. Summary of the Invention

[0008] Therefore, in view of the above-mentioned issues, the object of the present invention is to provide a technique for appropriately cooling multiple devices, including an energy storage device, in an electric excavator.

[0009] To achieve the above objectives, one embodiment of the present invention provides an excavator comprising:

[0010] Lower walking body;

[0011] The upper rotating body is mounted on the lower walking body and rotates freely;

[0012] An actuator that drives the driven part, including the lower traveling body and the upper rotating body;

[0013] An energy storage device, mounted on the upper rotating body, serves as an energy source for driving the actuator;

[0014] Cooling device for cooling the energy storage device;

[0015] A fan, mounted on the upper rotating body, supplies air to the designated equipment for cooling.

[0016] The energy storage device is configured to deviate from the following path: air outside the upper rotating body is drawn into the interior of the upper rotating body by the action of the fan, and then discharged to the outside of the upper rotating body after passing through the designated device.

[0017] Furthermore, in other embodiments of the present invention, an excavator is provided, comprising:

[0018] Lower walking body;

[0019] The upper rotating body is mounted on the lower walking body and rotates freely;

[0020] An actuator that drives the driven part, including the lower traveling body and the upper rotating body;

[0021] An energy storage device, mounted on the upper rotating body, serves as an energy source for driving the actuator;

[0022] Cooling device for cooling the energy storage device; and

[0023] A fan, mounted on the upper rotating body, supplies air to the designated equipment for cooling.

[0024] The energy storage device is mounted on the front right side of the upper rotating body.

[0025] Furthermore, in another embodiment of the present invention, an excavator is provided, comprising:

[0026] Lower walking body;

[0027] The upper rotating body is mounted on the lower walking body and rotates freely;

[0028] An actuator that drives the driven part, including the lower traveling body and the upper rotating body;

[0029] An energy storage device, mounted on the upper rotating body, serves as an energy source for driving the actuator;

[0030] Cooling device for cooling the energy storage device;

[0031] A fan, mounted on the upper rotating body, provides cooling airflow to the specified equipment; and

[0032] The flow-changing component changes the direction of airflow through the designated equipment via the fan so that it does not come into contact with the energy storage device.

[0033] The effects of the invention

[0034] According to the above embodiments, multiple devices, including an energy storage device, can be appropriately cooled in an electric excavator. Attached Figure Description

[0035] Figure 1 This is a side view of an excavator.

[0036] Figure 2 This is a block diagram that roughly represents an example of the structure of an excavator.

[0037] Figure 3 This is a block diagram that roughly illustrates an example of the structure of a cooling device for an electric drive system.

[0038] Figure 4 This is a diagram illustrating an example of a heat pump cycle in an air conditioning unit.

[0039] Figure 5 This is a top view showing an example of the configuration structure of various devices on the upper rotating body.

[0040] Figure 6 This is a rear view showing an example of the configuration structure of various devices on the upper rotating body.

[0041] Figure 7 This is a top view showing other examples of the configuration structure of various devices on the upper rotating body.

[0042] Figure 8 This is a right-side view showing other examples of the configuration structure of various devices on the upper rotating body.

[0043] Explanation of symbols

[0044] 1-Lower traveling body (driven part), 1A, 1B-Traveling hydraulic motors (actuators), 3-Upper rotating body (driven part), 3_EX-Exhaust port, 3_IN-Air inlet, 3B-Bottom, 3H-Outer shell, 4-Boom (driven part), 5-Stick (driven part), 6-Bucket (driven part), 7-Boom cylinder (actuator), 8-Stick cylinder (actuator), 9-Bucket cylinder (actuator), 12-Pump motor (electric motor), 14-Main pump (hydraulic pump), 18-Inverter unit, 18A-Inverter, 18B-Inverter, 19-Electric storage device, 19a-Battery module, 19C-Electric Cable (electrical cable), 19H-Hose (refrigerant hose), 20-Rotary drive unit, 21-Rotary motor (actuator), 26-Operating device, 30-Control device, 30A~30C-Controller, 44-DC-DC converter, 46-Battery, 60-Cooling circuit (cooling device), 62-Radiator (specified equipment), 64-Water pump, 80-Air conditioning unit, 82-Heat pump cycle, 82A-Compressor, 82B-Condenser (specified equipment), 82C-Expansion valve, 82D-Evaporator, 90-Fan, 92-Exhaust pipe (flow change component), 94-Shielding plate (shielding component). Detailed Implementation

[0045] Hereinafter, with reference to the accompanying drawings, the manner in which the invention is carried out will be described.

[0046] [Overview of Excavators]

[0047] First, refer to Figure 1 Here is a brief description of an excavator 100, which is an example of construction machinery.

[0048] Figure 1 This is a side view showing an example of the excavator 100 according to this embodiment.

[0049] The excavator 100 includes a lower walking body 1, an upper slewing body 3 rotatably mounted on the lower walking body 1 via a slewing mechanism 2, a boom 4, a stick 5 and a bucket 6 as auxiliary devices, and a cab 10 for the operator.

[0050] The lower traveling body 1 (an example of a driven part) includes, for example, a pair of left and right tracks, each track being connected by traveling hydraulic motors 1A and 1B (an example of actuators) (see reference). Figure 2 It moves on its own thanks to hydraulic drive.

[0051] The upper rotating body 3 (an example of a driven part) is driven by a rotating mechanism 2 and then by a rotating electric motor 21 (an example of an actuator) described later (see reference). Figure 2The upper rotating body 3 is electrically driven, thereby rotating relative to the lower traveling body 1. Furthermore, instead of the rotating electric motor 21, the upper rotating body 3 can also be hydraulically driven by a rotating hydraulic motor via the rotating mechanism 2. In this case, the excavator 100 is equivalent to a structure where the power source (engine) of a so-called hydraulic excavator is replaced by a pump electric motor 12, which powers the main pump 14 (see reference 12) which uses the pump electric motor 12 as its power source. Figure 2 The supplied working oil is used to hydraulically drive all driven components.

[0052] The boom 4 (an example of a driven part) is mounted in a pitchable manner at the center of the front part of the upper slewing body 3. The stick 5 (an example of a driven part) is mounted on the front end of the boom 4 and can rotate up and down. The bucket 6 (an example of a driven part) is mounted on the front end of the stick 5 and can rotate up and down. The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9 (all examples of actuators), which are hydraulic actuators.

[0053] The bucket 6 is an example of an end-connection accessory. Depending on the work being performed, other end-connection accessories can be installed at the front end of the boom 5, replacing the bucket 6. These other end-connection accessories could be, for example, ramp buckets, dredging buckets, or other buckets of a different type than the bucket 6. Furthermore, other end-connection accessories could be, for example, crusher buckets, mixer buckets, grab buckets, or other end-connection accessories of a different type than the bucket. Additionally, auxiliary accessories such as quick couplings or tilting / rotating devices can be installed at the mounting point between the end-connection accessory (including the bucket 6) and the boom 5.

[0054] The cab 10 is mounted on the front left side of the upper rotating body 3, and an operator's seat, operating device 26 (described later), etc. are installed inside it.

[0055] The excavator 100 operates according to the operation of the operator sitting in the cab 10, causing the driven components such as the lower walking body 1 (left and right tracks), upper slewing body 3, boom 4, stick 5 and bucket 6 to move.

[0056] Furthermore, the excavator 100 can be operated by an operator seated in the cab 10, or alternatively, it can be remotely operated from outside the excavator 100 (remote control operation). When the excavator 100 is remotely operated, the cab 10 can be unmanned. The following description assumes that the operator's operation includes at least one of the following: operation of the operating device 26 by the operator in the cab 10 and remote operation by an external operator.

[0057] Remote operation includes, for example, operating the excavator 100 by inputting an operation related to the actuator of the excavator 100 into a designated external device. In this case, the excavator 100 is equipped with a communication device that can communicate with the designated external device. For example, image information (camera images) output by a camera device included in the surrounding information acquisition device 40 (described later) can be sent to the external device. The external device can then display the received image information (camera images) on a display device (hereinafter, "remote operation display device") installed in the external device. Furthermore, various information images (information screens) displayed on the output device 50 (display device) inside the cab 10 of the excavator 100 can also be displayed on the remote operation display device of the external device. Thus, the operator of the external device can, for example, remotely operate the excavator 100 while checking the displayed content such as camera images and information screens showing the surrounding conditions of the excavator 100 on the remote operation display device. Then, the excavator 100 activates the actuators according to the remote operation signal received from the external device by the communication device, which indicates the remote operation content, and can drive the driven components such as the lower walking body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6.

[0058] Furthermore, remote operation can include, for example, the operation of the excavator 100 via external voice input, gesture input, etc., from people around the excavator 100 (e.g., operators). Specifically, the excavator 100 recognizes voice input from people around it, gesture input from people, etc., using voice input devices (e.g., microphones) and gesture input devices (e.g., cameras) mounted on the excavator 100 (the machine itself). Then, the excavator 100 activates actuators based on the recognized voice, gestures, etc., driving driven components such as the lower walking body, upper slewing body 3, boom 4, stick 5, and bucket 6.

[0059] Furthermore, the excavator 100 can automatically activate its actuators regardless of the operator's commands. Thus, the excavator 100 achieves the function of automatically activating at least some of the driven components, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6 (the so-called "automatic operation function" or "MC (Machine Control) function").

[0060] The automatic operation function may include a function that automatically operates driven elements (actuators) other than the driven element (actuator) being operated, based on the operator's operation of the operating device 26 or remote operation (so-called "semi-automatic operation function" or "operation support type MC function"). Furthermore, the automatic operation function may include a function that automatically operates at least a portion of multiple driven elements (actuators) without the operator's operation of the operating device 26 or remote operation (so-called "fully automatic operation function" or "fully automatic type MC function"). In the excavator 100, when the fully automatic operation function is active, the interior of the cab 10 can be unmanned. Furthermore, the semi-automatic operation function, fully automatic operation function, etc., may include a method in which the action content of the driven element (actuator) being operated is automatically determined according to pre-defined rules. Furthermore, in semi-automatic operation functions, fully automatic operation functions, etc., the following methods (the so-called "autonomous operation function") may be included: the excavator 100 autonomously makes various judgments and, based on the judgment results, autonomously determines the action content of the driven element (actuator) that is the object of automatic operation.

[0061] [Structure of an excavator]

[0062] First of all, besides Figure 1 In addition, also refer to Figures 2-4 The overall structure of the excavator 100 involved in this embodiment will be described.

[0063] Figure 2 This is a block diagram that schematically illustrates an example of the structure of the excavator 100 according to this embodiment. Figure 3 This is a diagram showing an example of the cooling circuit 60 of the electric drive system mounted on the excavator 100 according to this embodiment. Figure 4 This is a diagram illustrating an example of the heat pump cycle 82 of the air conditioning unit 80 mounted on the excavator 100 according to this embodiment.

[0064] In addition, Figure 2 In the diagram, mechanical power pipes are represented by double lines, high-pressure hydraulic pipes by thick solid lines, pilot pipes by dashed lines, and electric drive control pipes by thin solid lines.

[0065] <Hydraulic Drive System>

[0066] The hydraulic drive system of the excavator 100 includes hydraulic actuators such as travel hydraulic motors 1A and 1B, boom cylinder 7, stick cylinder 8, and bucket cylinder 9, which respectively hydraulically drive the driven components such as the lower traveling body 1, boom 4, stick 5, and bucket 6. Furthermore, the hydraulic drive system of the excavator 100 includes a pump motor 12, a main pump 14, and a control valve 17.

[0067] The pump motor 12 (an example of an electric motor) is the power source for the hydraulic drive system. The pump motor 12 is, for example, an IPM (Interior Permanent Magnet) motor. The pump motor 12 is connected via inverter 18A to a high-voltage power supply including an energy storage device 19 and a rotary motor 21. The pump motor 12 is powered by three-phase AC power supplied from the energy storage device 19 and the rotary motor 21 via inverter 18A, and drives the main pump 14 and the pilot pump 15. The drive control of the pump motor 12 can be executed by inverter 18A under the control of controller 30B (described later).

[0068] The main pump 14 (an example of a hydraulic pump) draws in working oil from the working oil tank T and discharges it into the high-pressure hydraulic line 16, thereby supplying working oil to the control valve 17 via the high-pressure hydraulic line 16. The main pump 14 is driven by a pump motor 12. The main pump 14 is, for example, a variable-capacity hydraulic pump, and under the control of the controller 30A (described later), a regulator (not shown) controls the angle (deflection angle) of the swashplate. Thus, the main pump 14 can adjust the piston stroke length and the discharge flow rate (discharge pressure).

[0069] Control valve 17 controls the hydraulic drive system according to operating commands corresponding to the operator's operation and automatic operation functions. As described above, control valve 17 is connected to the main pump 14 via high-pressure hydraulic line 16 and is configured to selectively supply working oil from the main pump 14 to multiple hydraulic actuators. For example, control valve 17 is a valve unit including multiple control valves (directional switching valves) that control the flow rate and direction of working oil supplied from the main pump 14 to each hydraulic actuator. The working oil supplied from the main pump 14 and flowing through control valve 17 and the hydraulic actuators is discharged from control valve 17 to the working oil tank T.

[0070] <Electric Drive System>

[0071] The electric drive system of the excavator 100 includes a pump motor 12, a sensor 12s, and an inverter 18A. Furthermore, the electric drive system of the excavator 100 includes a slewing drive unit 20, a sensor 21s, and an inverter 18B. Additionally, the electric drive system of the excavator 100 includes a high-voltage power supply composed of an energy storage device 19, etc.

[0072] The sensor 12s includes a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

[0073] Current sensor 12s1 detects the current of each of the three phases (U phase, V phase, and W phase) of the pump motor 12. For example, current sensor 12s1 is installed in the power path between pump motor 12 and inverter 18A. The detection signal corresponding to the current of each of the three phases of pump motor 12 detected by current sensor 12s1 is directly input to inverter 18A via a communication line. Furthermore, this detection signal can be input to controller 30B via the communication line, and then input to inverter 18A via controller 30B.

[0074] Voltage sensor 12s2 detects the applied voltage of each of the three phases of the pump motor 12. Voltage sensor 12s2 is, for example, installed in the power path between pump motor 12 and inverter 18A. The detection signal corresponding to the applied voltage of each of the three phases of pump motor 12 detected by voltage sensor 12s2 is directly input to inverter 18A via a communication line. Furthermore, this detection signal can be input to controller 30B via the communication line, and then input to inverter 18A via controller 30B.

[0075] Rotational state sensor 12s3 detects the rotational state of pump motor 12. The rotational state of pump motor 12 includes, for example, rotational position (rotation angle) and rotational speed. Rotational state sensor 12s3 can be, for example, a rotary encoder or a resolver. The detection signal corresponding to the rotational state of pump motor 12 detected by rotational state sensor 12s3 is directly input to inverter 18A via a communication line. Furthermore, this detection signal can be input to controller 30B via the communication line, and then input to inverter 18A via controller 30B.

[0076] Inverter 18A drives and controls the pump motor 12 under the control of controller 30B. Inverter 18A includes, for example: a conversion circuit that converts DC power into three-phase AC power, or three-phase AC power into DC power; a drive circuit that drives the conversion circuit to switch on and off; and a control circuit that outputs a control signal that limits the operation of the drive circuit. The control signal is, for example, a PWM (Pulse Width Modulation) signal.

[0077] The control circuit of inverter 18A monitors the operating status of pump motor 12 while simultaneously controlling its drive. For example, the control circuit of inverter 18A monitors the operating status of pump motor 12 based on the detection signal from rotation state sensor 12s3. Furthermore, the control circuit of inverter 18A can sequentially calculate the rotation angle of the pump motor 12's shaft based on the detection signals from current sensor 12s1 and voltage sensor 12s2 (or voltage command values ​​generated during control), thereby monitoring the operating status of pump motor 12.

[0078] In addition, at least one of the drive circuit and control circuit of inverter 18A can be located outside inverter 18A.

[0079] The rotary drive unit 20 includes a rotary electric motor 21, a decomposer 22, a mechanical brake 23, and a rotary reducer 24.

[0080] The rotary motor 21, under the control of the controller 30B and the inverter 18B, performs both power operation (driving the upper rotating body 3 to rotate) and regenerative operation (generating regenerative power to brake the upper rotating body 3 to rotate). The rotary motor 21 is connected to a high-voltage power source (i.e., the energy storage device 19) via the inverter 18B and is driven by three-phase AC power supplied from the energy storage device 19 via the inverter 18B. Furthermore, the rotary motor 21 supplies regenerative power to the energy storage device 19 and the pump motor 12 via the inverter 18B. Thus, the energy storage device 19 can be charged by regenerative power, or the pump motor 12 can be driven. The switching control between power operation and regenerative operation of the rotary motor 21 can be executed by the inverter 18B, for example, under the control of the controller 30B. A decomposer 22, a mechanical brake 23, and a rotary reducer 24 are connected to the rotating shaft 21A of the rotary motor 21.

[0081] The resolver 22 detects the rotational state of the rotary motor 21. The rotational state of the rotary motor 21 includes, for example, rotational position (rotation angle) and rotational speed. The detection signal corresponding to the rotation angle detected by the resolver 22 can be directly input to the inverter 18B via a communication line. Furthermore, this detection signal can be input to the controller 30B via the communication line, and then input to the inverter 18B via the controller 30B.

[0082] Under the control of the controller 30B, the mechanical brake 23 mechanically generates braking force on the rotating shaft 21A of the rotary motor 21. Thus, the mechanical brake 23 can brake the rotation of the upper rotating body 3 or maintain the upper rotating body 3 in a stopped state.

[0083] The rotary reducer 24 is connected to the rotating shaft 21A of the rotary motor 21. By reducing the output (torque) of the rotary motor 21 at a predetermined reduction ratio, the torque is increased, thereby driving the upper rotating body 3 to rotate. That is, when the power is running, the rotary motor 21 drives the upper rotating body 3 to rotate via the rotary reducer 24. Furthermore, the rotary reducer 24 increases the inertial rotational force of the upper rotating body 3 and transmits it to the rotary motor 21, thereby generating regenerative power. That is, when regenerating, the rotary motor 21 generates electricity regenerates power using the inertial rotational force of the upper rotating body 3 transmitted via the rotary reducer 24, and brakes the upper rotating body 3 to rotate.

[0084] The sensor 21s includes a current sensor 21s1 and a voltage sensor 21s2.

[0085] Current sensor 21s1 detects the current in each of the three phases (U phase, V phase, and W phase) of the rotary motor 21. For example, current sensor 21s1 is installed in the power path between the rotary motor 21 and the inverter 18B. The detection signal corresponding to the current in each of the three phases of the rotary motor 21 detected by current sensor 21s1 can be directly input to inverter 18B via a communication line. Furthermore, this detection signal can be input to controller 30B via a communication line, and then input to inverter 18B via controller 30B.

[0086] Voltage sensor 21s2 detects the applied voltage of each of the three phases of the rotary motor 21. Voltage sensor 21s2 is, for example, installed in the power path between the rotary motor 21 and the inverter 18B. The detection signal corresponding to the applied voltage of each of the three phases of the rotary motor 21, detected by voltage sensor 21s2, is directly input to inverter 18B via a communication line. Furthermore, this detection signal can be input to controller 30B via the communication line, and then input to inverter 18B via controller 30B.

[0087] Inverter 18B drives the rotary motor 21 under the control of controller 30B. Inverter 18B includes, for example: a conversion circuit that converts DC power into three-phase AC power, or three-phase AC power into DC power; a drive circuit that drives the conversion circuit to switch on and off; and a control circuit that outputs a control signal (e.g., a PWM signal) that limits the operation of the drive circuit.

[0088] For example, the control circuit of inverter 18B performs speed feedback control and torque feedback control related to rotary motor 21 based on the detection signals of current sensor 21s1, voltage sensor 21s2 and resolver 22.

[0089] For example, such as Figure 3 As shown, inverters 18A and 18B can be housed in a single enclosure and integrally form inverter unit 18.

[0090] In addition, at least one of the drive circuit and control circuit of inverter 18B can be located outside inverter 18B.

[0091] The energy storage device 19 is the energy source for driving the actuator of the excavator 100. The energy storage device 19 is charged (stores electricity) by connecting to an external commercial power source via a specified cable, and the charged (stored) electricity is supplied to the pump motor 12 and the slewing motor 21 via a DC (Direct Current) bus 42. Furthermore, the energy storage device 19 charges the slewing motor 21 with generated electricity (regenerated electricity). The energy storage device 19 is, for example, a lithium-ion battery with a relatively high output voltage (e.g., several hundred volts).

[0092] Additionally, a power conversion device can be installed between the energy storage device 19 and the DC bus 42. This power conversion device is used to boost the output voltage of the energy storage device 19 to apply it to the pump motor 12 and the rotary motor 21. In this case, the power conversion device boosts the power of the energy storage device 19, or steps down the power of the pump motor 12 and the rotary motor 21 via inverters 18A and 18B, and stores the energy in the energy storage device 19. The power conversion device can switch between boosting and bucking operations according to the operating state of the pump motor 12 and the rotary motor 21 to ensure that the voltage value of the DC (Direct Current) bus 42 falls within a certain range. The switching control of the boosting and bucking operations of the power conversion device can be executed by the controller 30B, for example, based on the voltage detection value of the DC bus 42, the voltage detection value of the energy storage device 19, and the current detection value of the energy storage device 19.

[0093] Operating System

[0094] The operating system of the excavator 100 includes a pilot pump 15, an operating device 26, and a pressure control valve 31.

[0095] Pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., pressure control valve 31) mounted on excavator 100 via pilot line 25. Thus, under the control of controller 30A, pressure control valve 31 can supply pilot pressure corresponding to the operation content (e.g., operation amount or operation direction) of operating device 26 to control valve 17. Therefore, controller 30A and pressure control valve 31 can realize the operation of driven components (hydraulic actuators) corresponding to the operation content of operating device 26 operated by the operator. Furthermore, under the control of controller 30A, pressure control valve 31 can supply pilot pressure corresponding to the remote operation content specified by remote operation signal to control valve 17. Pilot pump 15 is, for example, a fixed-capacity hydraulic pump, and as described above, is driven by pump motor 12.

[0096] Alternatively, the pilot pump 15 can be omitted. In this case, working oil discharged from the main pump 14 and reduced to a specified pilot pressure via a pressure reducing valve or the like can be supplied to various hydraulic equipment such as the pressure control valve 31.

[0097] The operating device 26 is positioned within reach of the operator in the operator's seat of the cab 10, allowing the operator to operate the various driven components (i.e., the left and right tracks of the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6, etc.). In other words, the operating device 26 is used by the operator to operate the hydraulic actuators (e.g., travel hydraulic motors 1A and 1B, boom cylinder 7, stick cylinder 8, and bucket cylinder 9, etc.) and electric actuators (slewing motor 21, etc.) that drive the various driven components. The operating device 26 is, for example, electric, and its output is an electrical signal (hereinafter referred to as "operation signal") corresponding to the operator's operation. The operation signal output from the operating device 26 is input to the controller 30A. Thus, the control device 30, including the controller 30A, controls the pressure control valve 31 and the inverter 18B, and can control the operation of the driven components (actuators) of the excavator 100 according to the operation instructions corresponding to the operator's operation or the automatic operation function.

[0098] The operating device 26 includes, for example, levers 26A to 26C. Lever 26A can be configured to receive operations related to each of the boom 5 (boom cylinder 8) and the upper slewing body 3 (slewing action) based on forward / backward and left / right movements. Lever 26B can be configured to receive operations related to each of the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9) based on forward / backward and left / right movements. Lever 26C can be configured to receive operations of the lower traveling body 1 (tracks).

[0099] Alternatively, if the control valve 17 is a solenoid-piloted hydraulic control valve (directional switching valve), the operation signal from the electric operating device 26 can be directly input to the control valve 17, and each hydraulic control valve performs an action corresponding to the operation of the operating device 26. Furthermore, the operating device 26 can be a hydraulically piloted type that outputs a pilot pressure corresponding to the operation. In this case, the pilot pressure corresponding to the operation is supplied to the control valve 17.

[0100] Under the control of the controller 30A, the pressure control valve 31 uses working oil supplied from the pilot pump 15 through the pilot line 25 to output a specified pilot pressure. The secondary pilot line of the pressure control valve 31 is connected to the control valve 17, and the pilot pressure output from the pressure control valve 31 is supplied to the control valve 17.

[0101] <Control System>

[0102] The control system of the excavator 100 includes a control device 30, a surrounding information acquisition device 40, an output device 50, an input device 52, a temperature sensor 54, and an oil temperature sensor 56.

[0103] The control device 30 includes controllers 30A to 30C.

[0104] The functions of controllers 30A to 30C can be implemented by any hardware or any combination of hardware and software. For example, controllers 30A to 30C can be configured around a computer that includes a processor such as a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory) (main storage device), a non-volatile auxiliary storage device such as ROM (Read Only Memory), and an interface device for external communication.

[0105] The controller 30A works in conjunction with various controllers that make up the control device 30, which includes controllers 30B and 30C, to drive the excavator 100.

[0106] For example, the controller 30A outputs a control command to the pressure control valve 31 based on the operation signal input from the operating device 26, and outputs a pilot pressure from the pressure control valve 31 corresponding to the operation content of the operating device 26. Thus, the controller 30A can realize the operation of the driven component (hydraulic actuator) of the excavator 100 corresponding to the operation content of the electric operating device 26.

[0107] Furthermore, when the excavator 100 is remotely operated, the controller 30A can, for example, perform control related to the remote operation. Specifically, the controller 30A can output control commands to the pressure control valve 31 and output pilot pressure corresponding to the content of the remote operation from the pressure control valve 31. Thus, the controller 30A can realize the action of the excavator 100 (the driven component) corresponding to the content of the remote operation.

[0108] Furthermore, the controller 30A can perform control related to the automatic operation function, for example. Specifically, the controller 30A can output a control command to the pressure control valve 31, causing a pilot pressure corresponding to the operation command for the automatic operation function to act from the pressure control valve 31 onto the control valve 17. Thus, the controller 30A can realize the operation of the driven components (hydraulic actuators) of the excavator 100 corresponding to the automatic operation function.

[0109] Furthermore, the controller 30A can, for example, control the overall movement of the excavator 100 (various devices mounted on the excavator 100) through bidirectional communication with various controllers such as the controllers 30B and 30C.

[0110] Furthermore, the controller 30A can, for example, perform control related to the function of automatically stopping the main pump 14 (hereinafter referred to as the "pump stop function").

[0111] Specifically, when the excavator 100 is running, and the operator is not operating the excavator 100 (operating the operating device 26 or remotely), the controller 30A can automatically stop the main pump 14. Thus, the controller 30A can stop the operation of the main pump 14, i.e., the pump motor 12, which is not needed when the excavator 100 is not operating. Therefore, the power consumed by the energy storage device 19 in the pump motor 12 can be controlled. Furthermore, when the excavator 100 is running, the controller 30A can stop the main pump 14 upon receiving a specified input indicating the intention to stop the main pump 14 via the input device 52. Thus, the controller 30A can reflect the operator's intention to stop the main pump 14 (pump motor 12). Therefore, for example, if the operator encounters difficulties communicating with surrounding workers due to the operating noise of the main pump 14 (pump motor 12), the operator can temporarily reduce the operating noise by making a specified input through the input device 52, thereby enabling communication with surrounding workers.

[0112] For example, when the excavator 100 is started (e.g., when the key switch is turned on), the control device 30 (controllers 30A and 30B) starts the main pump 14, i.e., the pump motor 12, regardless of whether the operating device 26 is operated. Thus, by starting the pump motor 12 once when the excavator 100 is started, the control device 30 can bring the pump motor 12 into a controllable state. Furthermore, by starting the pump motor 12 once when the excavator 100 is started, the control device 30 can perform diagnostic processing, such as checking for any abnormalities in the pump motor 12. For example, the controller 30B energizes the pump motor 12 via the inverter 18A, thereby diagnosing any abnormalities. If an abnormality is found, the controller 30B can notify the operator of the abnormality in the pump motor 12 via the output device 50, etc. On the other hand, if there is no abnormality in the pump motor 12 and the operation of the operating device 26 has not yet begun, the controller 30B can stop the pump motor 12 using the pump stop function. Then, the controller 30A can repeat the following process: if the operator's operation begins, the pump motor 12 is automatically started; thereafter, each time the non-operational state is detected to continue, the pump motor 12 is automatically stopped; and if the operator's operation begins, the pump motor 12 is automatically started.

[0113] Furthermore, the controller 30A can, for example, perform control related to the operation and stopping of the fan 90.

[0114] The controller 30B performs drive control of the electric drive system based on various information input from the controller 30A (e.g., control commands including the operation signals of the operating device 26).

[0115] For example, the controller 30B can drive the inverter 18B to switch the operating state (power operation and regenerative operation) of the rotary motor 21 according to the operation content of the operating device 26. Furthermore, for example, when the excavator 100 is remotely operated, the controller 30B can drive the inverter 18B to switch the operating state (power operation and regenerative operation) of the rotary motor 21 according to the remote operation content. Also, for example, when the automatic operation function of the excavator 100 is active, the controller 30B can drive the inverter 18B to switch the operating state (power operation and regenerative operation) of the rotary motor 21 according to the operation command corresponding to the automatic operation function.

[0116] Alternatively, there may be a case where the aforementioned power conversion device is installed between the energy storage device 19 and the DC bus 42. In this case, the controller 30B can, for example, drive the power conversion device according to the operating state of the operating device 26, and perform switching control between boost and buck operation of the power conversion device; in other words, it can perform switching control between the discharging and charging states of the energy storage device 19. Furthermore, the controller 30B can, for example, drive the power conversion device according to the content of the remote operation when the excavator 100 is remotely operated, and perform switching control between the discharging and charging states of the energy storage device 19. Also, for example, the controller 30B can, for example, drive the power conversion device according to the operation command corresponding to the automatic operation function when the automatic operation function of the excavator 100 is active, and perform switching control between the discharging and charging states of the energy storage device 19.

[0117] Furthermore, the controller 30B performs control related to the stopping and starting of the pump motor 12, for example, based on control commands related to the pump stop function from the controller 30A.

[0118] The controller 30C performs controls related to the surrounding monitoring function of the excavator 100.

[0119] The controller 30C detects, for example, designated objects (hereinafter referred to as "monitored objects") or their positions around the excavator 100 based on data related to the conditions of the three-dimensional space around the excavator 100 input from the surrounding information acquisition device 40. The data related to the conditions of the three-dimensional space around the excavator 100 includes, for example, detection data related to objects or their positions around the excavator 100.

[0120] Furthermore, if the controller 30C detects a monitored object in an area relatively close to the excavator 100, for example, an alarm can be output through the indoor output device 50 of the cab 10 (e.g., display device, sound output device, etc.).

[0121] Furthermore, the functions of controllers 30B and 30C can be integrated into controller 30A. That is, the various functions implemented by control device 30 can be implemented by one controller, or they can be implemented separately by two or more appropriately configured controllers.

[0122] The surrounding information acquisition device 40 outputs information related to the three-dimensional spatial conditions around the excavator 100. The surrounding information acquisition device 40 may include, for example, an ultrasonic sensor, millimeter-wave radar, a monocular camera, a stereo camera, a depth camera, LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, etc. The output information of the surrounding information acquisition device 40 is input to the controller 30C.

[0123] The output device 50 is located within the cab 10 and outputs various information to the operator under the control of the control device 30 (e.g., controller 30A). The output device 50 may include, for example, a display device that outputs (notifies) information to the operator via a visual method. The display device may be located in a position easily visible to the operator within the cab 10 and displays various information images under the control of the controller 30A. The display device may be, for example, a liquid crystal display (LCD) or an organic EL (Electroluminescence) display. Furthermore, the output device 50 may include, for example, a sound output device that outputs information to the operator via an auditory method. The sound output device may be, for example, a buzzer, a speaker, etc.

[0124] Input device 52 is disposed within the driver's cab 10 and receives various inputs from the operator. Input device 52 may include, for example, an operation input device that receives operator input. Operation input devices may include, for example, buttons, toggle keys, levers, touch panels, touchpads, etc. Furthermore, input device 52 may include, for example, a voice input device that receives voice input from the operator and a gesture input device that receives gesture input from the operator. The voice input device may include, for example, a microphone that captures the voice of the operator within the driver's cab 10. The gesture input device may include, for example, an indoor camera capable of capturing the gestures of the operator within the driver's cab 10. Signals corresponding to the inputs received by the input device 52 from the operator are input to control device 30 (e.g., controller 30A).

[0125] Temperature sensor 54 detects the temperature of the equipment in the electric drive system, which is the object of cooling in the cooling circuit 60 described later. Temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the pump motor 12. Temperature sensor 54 also includes a temperature sensor that detects the temperature of the inverter 18A. Temperature sensor 54 also includes a temperature sensor that detects the temperature of the inverter 18B. Temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the energy storage device 19. Temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the rotary motor 21. Temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the DC-DC converter 44 described later. The detection signal from temperature sensor 54 is input to controller 30A, for example. Thus, controller 30A can monitor the temperature status of the equipment in the electric drive system.

[0126] In addition, if a power conversion device is provided between the energy storage device 19 and the DC bus 42, the temperature sensor may include a temperature sensor that monitors the temperature status of the power conversion device.

[0127] Oil temperature sensor 56 detects the temperature of the working oil driving the hydraulic actuator (hereinafter referred to as "working oil temperature"). For example, oil temperature sensor 56 can detect the temperature of the working oil inside the working oil tank T. The detection signal from oil temperature sensor 56 is input to controller 30A, for example. Thus, controller 30A can determine the temperature status of the working oil.

[0128] <Other Constituent Elements>

[0129] The excavator 100 involved in this embodiment includes a DC-DC converter 44, a battery 46, a cooling circuit 60, an air conditioning unit 80, and a fan 90.

[0130] DC-DC converter 44 is provided, for example, on the upper rotating body 3, and steps down the very high voltage DC power output from the energy storage device 19 to a specified voltage (e.g., about 24 volts) and outputs it. The output power of DC-DC converter 44 supplies and charges (stores) the battery 46, or supplies it to electrical devices such as controllers 30A to 30C that are powered by the battery 46.

[0131] Alternatively, the DC-DC converter 44 can be replaced with an alternator. In this case, the alternator can be installed on the upper rotating body 3 and generate electricity using the power of the pump motor 12. Similar to the case of the DC-DC converter 44, the power generated by the alternator is supplied to the battery 46 and charged (stored) in the battery 46, or supplied to electrical devices such as controllers 30A to 30C that are driven by the power of the battery 46.

[0132] Battery 46 is disposed on the upper rotating body 3 and has a relatively low output voltage (e.g., 24 volts). Battery 46 supplies power to electrical equipment other than electric drive systems that require relatively high power (e.g., controllers 30A-30C, air conditioning unit 80, etc.). Battery 46 is, for example, a lead-acid battery or a lithium-ion battery, and is charged by the output power of DC-DC converter 44 as described above.

[0133] Cooling circuit 60 (an example of a cooling device) cools equipment in an electric drive system, etc. For example, such as... Figure 3 As shown, the equipment that is cooled by the cooling circuit 60 includes a pump motor 12, an inverter unit 18, an energy storage device 19, a rotary drive device 20, a DC-DC converter 44, etc.

[0134] The cooling circuit 60 includes a radiator 62, a water pump 64, and refrigerant flow paths 66A, 66B, 66C, 66C1, 66C2, 66D, 66D1, 66D2, 66E, and 66F.

[0135] Radiator 62 (an example of a specified device) cools the refrigerant (e.g., cooling water) within the cooling circuit 60. Specifically, radiator 62 facilitates heat exchange between the surrounding air and the refrigerant, and cools the refrigerant.

[0136] The water pump 64 draws in refrigerant from the refrigerant flow path 66F and discharges it into the refrigerant flow path 66A, thereby circulating the refrigerant in the cooling circuit 60.

[0137] Refrigerant flow path 66A connects water pump 64 and rotary drive unit 20, allowing refrigerant discharged from water pump 64 to flow into the refrigerant flow path inside rotary drive unit 20. This enables the refrigerant to cool the rotary motor 21 and other components inside rotary drive unit 20. After flowing through the rotary drive unit 20, the refrigerant flows out into refrigerant flow path 66B.

[0138] Refrigerant flow path 66B connects the rotary drive unit 20 and the energy storage device 19, allowing refrigerant flowing out of the rotary drive unit 20 to flow into the refrigerant flow path inside the energy storage device 19. This enables the energy storage device 19 to be cooled by refrigerant. After flowing through the energy storage device 19, the refrigerant flows out into refrigerant flow path 66C.

[0139] Refrigerant flow paths 66C, 66C1, and 66C2 connect the energy storage device 19 with the inverter unit 18 and the DC-DC converter 44, allowing refrigerant flowing from the energy storage device 19 to flow into the refrigerant flow paths inside the inverter unit 18 and the DC-DC converter 44. Specifically, refrigerant flow path 66C, which is connected to the energy storage device 19 at one end, branches into refrigerant flow paths 66C1 and 66C2 at the other end, which are respectively connected to the inverter unit 18 and the DC-DC converter 44. This allows cooling of the inverters 18A and 18B and the DC-DC converter 44 included in the inverter unit 18. Refrigerant flowing inside the inverter unit 18 flows out to refrigerant flow path 66D1. Furthermore, refrigerant flowing inside the DC-DC converter 44 flows out to refrigerant flow path 66D2.

[0140] Refrigerant flow paths 66D, 66D1, and 66D2 connect the inverter unit 18 and the DC-DC converter 44 to the pump motor 12, allowing refrigerant flowing from the inverter unit 18 and the DC-DC converter 44 to flow into the refrigerant flow path inside the pump motor 12. Specifically, refrigerant flow paths 66D1 and 66D2, one end of which is connected to the inverter unit 18 and the DC-DC converter 44 respectively, converge at one end of refrigerant flow path 66D, and the other end of refrigerant flow path 66D is connected to the pump motor 12. Thus, the pump motor 12 can be cooled by refrigerant. After flowing inside the pump motor 12, the refrigerant flows out into refrigerant flow path 66E.

[0141] Furthermore, when the power conversion device is located between the energy storage device 19 and the DC bus 42, the power conversion device can be cooled by the cooling circuit 60. In this case, the power conversion device can be configured in parallel with the inverter unit 18 and the DC-DC converter 44 in the cooling circuit 60, and cooled by the refrigerant flowing from the energy storage device 19. The DC-DC converter 44 can be air-cooled. In this case, the refrigerant flow paths 66C2 and 66D2 are omitted. At least a portion of the inverters 18A and 18B and the DC-DC converter 44 can be configured in series in the cooling circuit 60.

[0142] The refrigerant flow path 66E connects the pump motor 12 and the radiator 62, supplying refrigerant from the pump motor 12 to the radiator 62. Thus, by cooling the various devices of the electric drive system, the radiator can cool the refrigerant whose temperature has risen, allowing the various devices of the electric drive system to return to a coolable state.

[0143] The refrigerant flow path 66F connects the radiator 62 and the water pump 64, supplying the refrigerant cooled by the radiator 62 to the water pump 64. The water pump 64 enables the refrigerant cooled by the radiator 62 to circulate in the cooling circuit 60.

[0144] The air conditioning unit 80 adjusts the temperature, humidity, etc., inside the cab 10. The air conditioning unit 80 operates, for example, by power supplied from a DC-DC converter 44 or a battery 46. The air conditioning unit 80 is, for example, a heat pump type that combines cooling and heating, including a heat pump cycle 82.

[0145] Alternatively, the air conditioning unit 80 may replace the heat pump cycle 82 by including a refrigeration cycle and a heating heater. The heating heater may be, for example, a PTC (Positive Temperature Coefficient) heater, a combustion heater, etc.

[0146] like Figure 4 As shown, the heat pump cycle 82 includes a compressor 82A, a condenser 82B, an expansion valve 82C, and an evaporator 82D.

[0147] in addition, Figure 4 The arrow indicates the flow of refrigerant when the air conditioning unit 80 is in cooling mode, and the flow of refrigerant is in the opposite direction when the air conditioning unit 80 is in heating mode.

[0148] The compressor 82A compresses the refrigerant in the heat pump cycle 82. The compressor 82A includes, for example, a built-in electric motor and an inverter circuit that drives the electric motor, and is electrically driven by electricity supplied from the energy storage device 19. The refrigerant compressed by the compressor 82A is delivered to the condenser 82B when the air conditioning unit 80 is in cooling mode, and to the evaporator 82D when the air conditioning unit 80 is in heating mode.

[0149] Alternatively, the compressor 82A can be mechanically driven by the pump motor 12.

[0150] The condenser 82B (an example of a specified device) is used during the cooling operation of the air conditioning unit 80 to compress and cool the refrigerant, which has risen to a relatively high temperature in a gaseous state, by the compressor 82A. Specifically, the condenser 82B releases the heat of the refrigerant to the external gas and cools the refrigerant through heat exchange between the refrigerant flowing inside and the external gas. The refrigerant cooled by the condenser 82B becomes a liquid.

[0151] Furthermore, during the heating operation of the air conditioning unit 80, the condenser 82B extracts heat from the external gas through heat exchange between the refrigerant circulating inside and the external gas, and is depressurized through the expansion valve 82C, causing the temperature of the refrigerant, which has dropped to a relatively low temperature, to rise.

[0152] Expansion valve 82C drastically reduces the pressure and temperature of the flowing refrigerant. During cooling operation of the air conditioning unit 80, expansion valve 82C drastically reduces the pressure and temperature of the liquid, high-pressure refrigerant supplied from condenser 82B. Furthermore, during heating operation of the air conditioning unit 80, expansion valve 82C drastically reduces the pressure and temperature of the liquid, high-pressure refrigerant supplied from evaporator 82D.

[0153] The evaporator 82D exchanges heat between the refrigerant circulating inside and the air supplied from the air conditioning unit 80 to the cab 10. When the air conditioning unit 80 is in cooling mode, the evaporator 82D cools the air supplied to the cab 10 by drawing heat from the air using a relatively low-temperature refrigerant (gas-liquid mixture) supplied from the expansion valve 82C. Furthermore, when the air conditioning unit 80 is in heating mode, the evaporator 82D heats the air supplied to the cab 10 by drawing heat from the air using a relatively high-temperature refrigerant (gas state) supplied from the compressor 82A.

[0154] The fan 90 operates under the control of the control device 30 (e.g., controller 30A) and directs airflow toward a designated device (hereinafter referred to as "heat exchange device") that exchanges heat with the air. The fan 90 operates, for example, by power supplied from the DC-DC converter 44 or the battery 46.

[0155] For example, such as Figure 3 As shown, the fan 90 can direct airflow toward the radiator 62 and cool it. This sequentially supplies air around the radiator 62, enabling heat exchange with the refrigerant flowing inside, thereby improving the cooling effect of the radiator 62 on the refrigerant.

[0156] And, for example, such as Figure 4 As shown, the fan 90 can direct airflow toward the condenser 82B, cooling or heating it. Thus, by sequentially supplying air around the condenser 82B that can exchange heat with the refrigerant flowing inside, the cooling or heating effect of the condenser 82B on the refrigerant can be improved.

[0157] Additionally, an oil cooler (an example of a specified device) can be installed to cool the working oil of the hydraulic drive system. The oil cooler can, for example, be installed in the return oil path between the control valve 17 and the working oil tank T, where heat exchange occurs between the ambient air and the working oil flowing inside, thus cooling the working oil. In this case, the fan 90 can direct airflow towards the oil cooler to cool it. Therefore, by sequentially supplying air capable of heat exchange with the working oil flowing inside the oil cooler, the degree of cooling of the working oil by the oil cooler can be improved.

[0158] There may be one fan 90 or multiple fans as described below. That is, the number of fans 90 may be any number, provided that they can ensure the required degree of heat exchange (cooling or heating) of the heat exchange equipment.

[0159] [Configuration structure of the energy storage device]

[0160] Next, refer to Figures 5-8 The configuration structure of various devices in the upper rotating body 3, including the configuration structure of the energy storage device 19, will be described.

[0161] <An example of the configuration structure of an energy storage device>

[0162] Figure 5 , Figure 6 These are top and rear views showing an example of the configuration structure of various devices in the upper rotating body 3.

[0163] In addition, Figure 5 The diagram shows a state where the upper surface of the outer casing 3H is removed, exposing various devices that are covered by the outer casing 3H of the upper rotating body 3 when viewed from above. Similarly, in Figure 6 The following state is shown: the rear surface of the outer casing 3H is removed so that various devices covered by the outer casing 3H of the upper rotating body 3 are exposed when viewed from the rear.

[0164] like Figure 5 , Figure 6 As shown, in this example, the energy storage device 19 is mounted in the area extending from the center of the upper rotating body 3 in the left-right direction to the right end.

[0165] The energy storage device 19 includes multiple battery modules 19a. In this example, the energy storage device 19 includes nine battery modules 19a, with three battery modules 19a arranged in a three-layer stacked manner inside the housing.

[0166] Within the area extending from the front part to the center part in the front direction from the right side of the upper rotating body 3, a pump motor 12, a main pump 14, a control valve 17, and a working oil tank T are arranged.

[0167] The pump motor 12 is located at the center of the upper rotating body 3 in the front-rear direction on the right side. Furthermore, the pump motor 12 is configured such that its rotation axis is along the front-rear direction and its output axis extends forward.

[0168] The main pump 14 is arranged adjacent to the pump motor 12 in front of it, with its input shaft connected to the output shaft of the pump motor 12.

[0169] The control valve 17 is mounted on the main pump 14. For example, the pump motor 12 and the main pump 14 may be mounted at a relatively low position in the space between the bottom 3B (rotating frame) of the upper rotating body 3 and the outer casing 3H, while the control valve 17 is mounted at a relatively high position in that space.

[0170] The working oil tank T is located at the front right end of the upper rotating body 3, adjacent to the front of the main pump 14 and the control valve 17.

[0171] On the left side of the rear of the upper rotating body 3, i.e. to the left of the energy storage device 19, a radiator 62, a condenser 82B, and a fan 90 are arranged.

[0172] The radiator 62 is configured such that its longitudinal direction is approximately the long side (width direction) and its lateral direction is approximately the short side (thickness direction), and it is positioned approximately vertically relative to the bottom 3B (rotating frame) of the upper rotating body 3. The term "approximately" is intended to allow for manufacturing tolerances in the excavator 100 and the equipment mounted on it. Hereinafter, it will be used with the same intent. Thus, the radiator 62 enables heat exchange by introducing air between the fins of the core and allowing air to pass through in the lateral direction (short side direction). For example, as... Figure 5 , Figure 6 As shown, the radiator 62 is a downflow type, with cans arranged at both ends in the vertical direction.

[0173] The condenser 82B is arranged adjacent to the left side of the radiator 62. The condenser 82B is connected in series with the radiator 62 relative to the airflow. That is, similar to the radiator 62, the condenser 82B is arranged such that its longitudinal direction is approximately the long side (width direction) and its lateral direction is approximately the short side (thickness direction), and it is arranged to stand approximately vertically relative to the bottom of the upper rotating body 3. Compared to the radiator 62, the condenser 82B's height dimension is less than half, and in this example, it is arranged to cover approximately the upper half of the left side of the radiator 62.

[0174] Alternatively, other heat exchange devices can be configured adjacent to the radiator 62 and the condenser 82B. For example, an oil cooler can be configured adjacent to the left side of the radiator 62 and the lower side of the condenser 82B. The same applies to other examples described below.

[0175] Four fans 90 are arranged adjacent to the right side of the heat sink 62. The four fans 90 are arranged in two rows along the long side (front-to-back direction) and in two layers along the height (vertical direction) of the heat sink 62. The fans 90 exhaust air from the left side of the heat sink 62 to the right side, thus blowing air onto the heat sink 62 and the condenser 82B.

[0176] Alternatively, the fan 90 can be arranged adjacent to the left side of the condenser 82B and the heat sink 62, etc. In this case, the fan 90 blows air from the left side toward the condenser 82B and the heat sink 62 (right side) to vent air. The same applies to other examples described below.

[0177] An air inlet 3_IN for introducing air from the outside is provided on the left side of the rear portion of the outer shell 3H of the upper rotating body 3. The air inlet 3_IN can be formed, for example, by multiple through holes in a mesh or slit shape. The same applies to the exhaust port 3_EX, which will be described later. Thus, the fan 90 generates rightward airflow inside the upper rotating body 3, allowing relatively cool external air (see reference) to be introduced from the air inlet 3_IN into the interior of the upper rotating body 3 (the space between the outer shell 3H and the bottom 3B). Figure 5 (blank arrow).

[0178] Furthermore, at the rear of the upper rotating body 3, exhaust ports 3_EX are respectively provided on the upper surface and bottom 3B of the outer casing 3H to discharge the air inside the upper rotating body 3 to the outside. The exhaust ports 3_EX are arranged in the left-right direction between the energy storage device 19 and the fan 90.

[0179] An exhaust pipe 92 is provided between the right side surface of the radiator 62 and the upper and lower exhaust ports 3_EX.

[0180] The exhaust pipe 92 (an example of a flow-changing component) is configured to extend from the central portion of the right side surface of the radiator 62 in the vertical direction toward the upper and lower exhaust ports 3_EX, respectively. The exhaust pipe 92 changes the flow direction so that air drawn to the right by the fan 90 is directed toward the upper and lower exhaust ports 3_EX. Specifically, the exhaust pipe 92 can change the direction of airflow drawn by the upper fan 90 from the right to the upper right, and discharge it from the exhaust port 3_EX on the upper surface of the outer casing 3H to the outside of the upper rotating body 3 (see reference). Figure 6 (The blank arrow on the upper side). Similarly, the exhaust pipe 92 can change the direction of airflow drawn in by the lower fan 90 from the right to the lower right, and discharge it from the exhaust port 3_EX on the lower surface of the bottom 3B to the outside of the upper rotating body 3 (see reference). Figure 6 (Blank arrow at the bottom). Therefore, the exhaust pipe 92 prevents the relatively hot air passing through the condenser 82B and radiator 62 from contacting the energy storage device 19 located to the right of the radiator 62. Therefore, the excavator 100 can prevent the refrigerant introduced into the energy storage device 19 from the cooling circuit 60 from being heated due to the relatively hot air passing through the condenser 82B and radiator 62, thus reducing the cooling performance of the cooling circuit 60 on the energy storage device 19.

[0181] Alternatively, the exhaust port 3_EX can be positioned on the rear surface of the housing portion 3H between the fan 90 and the energy storage device 19 in a left-right direction. In this case, the exhaust pipe 92 can be configured to change the airflow drawn in by the fan 90 from the right to the rear and direct it towards the exhaust port 3_EX. Furthermore, instead of the exhaust pipe 92, a component that only changes the direction of airflow from the right to another direction (e.g., forward) (an example of a flow-changing component) can be provided. In this case, the exhaust port 3_EX can be provided, for example, at the front of the upper rotating body. Thus, the forward airflow is directed towards the exhaust port 3_EX, and the excavator 100 can discharge the relatively high-temperature air that has passed through the condenser 82B and the radiator 62 from the exhaust port 3_EX.

[0182] Thus, in this example, the energy storage device 19 is configured to deviate from the path of the exhaust pipe 92, whereby air from outside the upper rotating body 3 is drawn into it by the action of the fan 90 and then discharged to the outside after passing through the condenser 82B and the radiator 62. As a result, the excavator 100 can properly cool the energy storage device 19 via the cooling circuit 60 and suppress the deterioration associated with temperature rise.

[0183] Furthermore, the radiator 62 and condenser 82B are cooled by relatively low-temperature air introduced from the air inlet 3_IN near the radiator 62 and condenser 82B by the action of the fan 90. Therefore, the excavator 100 can properly cool the refrigerant in the radiator 62 and condenser 82B, as well as the cooling circuit 60 and the heat pump cycle 82, through the action of the air inlet 3_IN and the fan 90.

[0184] <Other examples of the configuration structure of energy storage devices>

[0185] Figure 7 , Figure 8 These are top and right side views showing other examples of the configuration structure of various devices in the upper rotating body 3.

[0186] In addition, Figure 7 The diagram shows a state where the upper surface of the outer casing 3H is removed, exposing various devices that are covered by the outer casing 3H of the upper rotating body 3 when viewed from above. Similarly, in Figure 8 The following state is shown: the right side of the outer casing 3H is removed so that various devices covered by the outer casing 3H of the upper rotating body 3 are exposed when viewed from the left.

[0187] like Figure 7 , Figure 8 As shown, in this example, the energy storage device 19 is mounted on the front part extending from the right side of the upper rotating body 3 to the center part.

[0188] The energy storage device 19 includes 15 battery modules 19a. Inside the frame, five battery modules 19a are arranged side by side in the front-to-back direction in a three-layer stacked manner.

[0189] A cable 19C and a hose 19H are connected to the rear end of the energy storage device 19.

[0190] Cable 19C (an example of an electrical cable) is a power line connecting the energy storage device 19 to a device that receives power from the energy storage device 19. Cable 19C includes, for example, multiple cables electrically connected to the DC bus 42, compressor 82A, DC-DC converter 44, and charging port for charging from an external power source.

[0191] In addition, Figure 7 In the image, one cable 19C is depicted as representing multiple cables. Furthermore, as... Figure 7 As shown, multiple cables can be connected to the connector of the energy storage device 19 in a manner that integrates them into a single cable 19C.

[0192] The refrigerant in the cooling circuit 60 flows through the hose 19H (an example of a refrigerant hose). The hose 19H includes two hoses that correspond to refrigerant flow paths 66B and 66C, respectively. Thus, the cooling circuit 60 introduces refrigerant into the housing (water jacket) of the energy storage device 19, which cools each battery module 19a, and allows the refrigerant that has exchanged heat with the battery modules 19a to be discharged to the outside of the energy storage device 19.

[0193] In addition, Figure 7 In the image, a single hose 19H is depicted using two hoses as a representative example.

[0194] Within a range extending from the center of the upper rotating body 3 in the left-right direction to the right end, a pump motor 12, a main pump 14, a control valve 17, and a working oil tank T are installed.

[0195] The pump motor 12 is located at the center of the rear part of the upper rotating body 3 in the left-right direction. Furthermore, the pump motor 12 is configured such that its rotation shaft is along the left-right direction and its output shaft extends to the right.

[0196] The main pump 14 is arranged adjacent to the right side of the pump motor 12 in such a way that its input shaft is connected to the output shaft of the pump motor 12.

[0197] The control valve 17 is located in the center of the rear part of the upper rotating body 3 in the left-right direction and is mounted on the pump motor 12. For example, as Figure 8 As shown, the pump motor 12 and the main pump 14 are positioned at a relatively low position in the space between the bottom 3B of the upper rotating body 3 and the outer casing 3H, while the control valve 17 is positioned at a relatively high position in this space.

[0198] The working oil tank T is located in the center of the rear part of the upper rotating body 3 in the left-right direction, and is arranged adjacent to the front of the pump motor 12.

[0199] On the left side of the rear of the upper rotating body 3, that is, to the left of the pump motor 12, the main pump 14 and the control valve 17, a radiator 62, a condenser 82B and a fan 90 are arranged.

[0200] The configuration of the radiator 62, condenser 82B and fan 90 is the same as in the example above.

[0201] Similar to the example described above, an air inlet 3_IN for introducing air from the outside is provided on the left side of the rear portion of the outer shell 3H of the upper rotating body 3. As a result, the fan 90 generates rightward airflow inside the upper rotating body 3, allowing relatively cool external air to be introduced from the air inlet 3_IN into the interior of the upper rotating body 3 (the space between the outer shell 3H and the bottom 3B). Figure 7 (blank arrow).

[0202] An exhaust port 3_EX for discharging air to the outside is provided on the right side of the rear portion of the outer shell 3H of the upper rotating body 3. Thus, through the rightward airflow generated by the fan 90, heat exchange occurs with the radiator 62 and condenser 82B, and the heated air is discharged from the exhaust port 3_EX to the outside of the upper rotating body 3 along this airflow (see reference). Figure 7 (The blank arrow on the right).

[0203] Furthermore, the airflow generated by the fan 90 traverses the rear of the upper rotating body 3 in a left-right direction. Therefore, the excavator 100 prevents air, which has become relatively hot due to heat exchange with the radiator 62 and condenser 82B, from easily contacting the energy storage device 19. Thus, the excavator 100 can prevent the refrigerant introduced into the energy storage device 19 from the cooling circuit 60 from being heated due to the relatively high temperature of the air passing through the condenser 82B and radiator 62, thereby reducing the cooling performance of the cooling circuit 60 on the energy storage device 19.

[0204] Furthermore, a shielding plate 94 (an example of a shielding component) is disposed at the rear of the energy storage device 19, which divides the rear of the fan 90, i.e., the path of the airflow generated by the fan 90, between the energy storage device 19 and the energy storage device 19.

[0205] Specifically, shielding plate 94 is configured to separate the energy storage device 19 from the pump motor 12, main pump 14, control valve 17, and working oil tank T. Thus, the excavator 100 can reliably prevent air whose relative temperature has increased through heat exchange with radiator 62 and condenser 82B from contacting the energy storage device 19.

[0206] Furthermore, the shielding plate 94 is configured to include a cable 19C and a flexible hose 19H connected to the rear end of the energy storage device 19 within the space between it and the energy storage device 19. Specifically, the cable 19C and the flexible hose 19H are configured not to cross the top and bottom of the shielding plate 94, or to penetrate the shielding plate 94. This prevents air, which has become relatively warm due to heat exchange with the radiator 62 and condenser 82B, from entering the vicinity of the energy storage device 19 through the gap between the cable 19C and the flexible hose 19H and the top and bottom of the shielding plate 94, or through the through holes. Therefore, the excavator 100 can more reliably prevent air, which has become relatively warm due to heat exchange with the radiator 62 and condenser 82B, from contacting the energy storage device 19.

[0207] Furthermore, as long as the required cooling performance of the energy storage device 19 is ensured, the shielding plate 94 can be omitted. For example, the size (dimensions) of the energy storage device 19 can be varied according to the energy storage capacity determined by conditions such as the required operating time. Therefore, when the front-to-back dimensions of the energy storage device 19 are relatively small and the rear end of the energy storage device 19 is relatively far from the rear end of the upper rotating body 3, the possibility of the air generated by the fan 90 contacting the energy storage device 19 is reduced. Therefore, in this case, the shielding plate 94 can be omitted.

[0208] Thus, in this example, the energy storage device 19 is configured to deviate from the path of being located on the right front side, where air from outside the upper rotating body 3 is drawn into the interior by the action of the fan 90 and then discharged to the outside after passing through the condenser 82B and the radiator 62. As a result, the excavator 100 can properly cool the energy storage device 19 via the cooling circuit 60 and suppress the deterioration associated with temperature rise.

[0209] Furthermore, similar to the example above, the radiator 62 and condenser 82B are cooled by relatively low-temperature air introduced from the air inlet 3_IN near the radiator 62 and condenser 82B by the action of the fan 90. Therefore, the excavator 100 can properly cool the refrigerant in the radiator 62 and condenser 82B, the cooling circuit 60, and the heat pump cycle 82 through the action of the air inlet 3_IN and the fan 90.

[0210] [effect]

[0211] Next, the function of the excavator 100 involved in this embodiment will be explained.

[0212] In this embodiment, the excavator 100 includes a lower traveling body 1, an upper rotating body 3, an actuator, an energy storage device 19, a cooling circuit 60, and a fan 90. Specifically, the upper rotating body 3 is rotatably mounted on the lower traveling body 1. The actuator drives the driven part, including the lower traveling body 1 and the upper rotating body 3. The energy storage device 19 is an energy source mounted on the upper rotating body 3 and used to drive the actuator. The cooling circuit 60 cools the energy storage device 19. The fan 90 is mounted on the upper rotating body 3 and supplies air for cooling heat exchange equipment (e.g., radiator 62 or condenser 82B). The energy storage device 19 is configured to deviate from the path in which air from outside the upper rotating body 3 is drawn into the interior of the upper rotating body 3 by the action of the fan 90, and then discharged to the outside of the upper rotating body 3 after passing through the heat exchange equipment.

[0213] Thus, the heat exchange equipment is cooled by the airflow from the fan 90. Furthermore, the energy storage device 19 is cooled by the cooling circuit 60 and is not easily exposed to the relatively hot airflow (wind) that has passed through the heat exchange equipment. Therefore, the excavator 100 is able to adequately cool multiple devices, including the energy storage device 19.

[0214] Furthermore, in this embodiment, the energy storage device 19 can be mounted on the front right side of the upper rotating body 3.

[0215] Therefore, the energy storage device 19 is positioned within a space centered on the right front corner when viewed from the upper surface of the upper rotating body 3. Consequently, the excavator 100 can create an airflow path within the other spaces of the upper rotating body 3, allowing the fan 90 to cool the heat exchange equipment. As a result, the excavator 100 can separate the space where the energy storage device 19 is located from the space containing the airflow path for cooling the heat exchange equipment, and prevents the relatively hot air passing through the heat exchange equipment by the fan 90 from easily contacting the energy storage device 19. Therefore, the excavator 100 can adequately cool multiple devices including the energy storage device 19.

[0216] Furthermore, in this embodiment, the energy storage device 19 can be configured within the area covering the front right side and the center right side of the upper rotating body 3. Then, by the action of the fan 90, the air outside the upper rotating body 3 is introduced into the interior of the upper rotating body 3 and discharged to the outside of the upper rotating body 3 after passing through the heat exchange device, which can be configured at the rear of the upper rotating body 3.

[0217] Therefore, specifically, the excavator 100 can separate the space where the energy storage device 19 is installed from the space where the airflow path of the cooling heat exchange equipment exists.

[0218] Furthermore, in this embodiment, the airflow path of the cooling heat exchange device can be arranged to extend to the left and right sides of the rear of the upper rotating body 3. Then, a shielding plate 94 can be arranged between the rear end of the energy storage device 19 and the airflow path of the cooling heat exchange device.

[0219] Therefore, the excavator 100 can reliably prevent the relatively hot air that has passed through the heat exchange equipment via the fan 90 from coming into contact with the energy storage device 19.

[0220] Furthermore, in this embodiment, the shielding plate 94 may be configured to include, within the space between it and the energy storage device 19, a cable 19C connected to the energy storage device 19 and a refrigerant hose 19H for the cooling circuit 60.

[0221] Therefore, the cable 19C and hose 19H can be configured, for example, not to cross the top and bottom of the shielding plate 94, or not to penetrate the shielding plate 94. Thus, it is possible to prevent air, whose relative temperature has increased due to heat exchange with the radiator 62 and condenser 82B, from entering the vicinity of the energy storage device 19 through the gap between the cable 19C and hose 19H and the top and bottom of the shielding plate 94, or through the through hole. Therefore, the excavator 100 can more reliably prevent the relatively hot air, which has passed through the heat exchange equipment via the fan 90, from contacting the energy storage device 19.

[0222] Furthermore, in this embodiment, the excavator 100 may be equipped with a flow-changing component that ensures that the direction of airflow through the heat exchange device by the action of the fan 90 does not come into contact with the energy storage device 19.

[0223] Thus, the excavator 100 can separate the space where the energy storage device 19 is located from the space where the airflow path of the cooling heat exchange equipment exists, and prevent the relatively hot air that has passed through the heat exchange equipment by the action of the fan 90 from contacting the energy storage device 19. Therefore, the excavator 100 can properly cool multiple devices including the energy storage device 19.

[0224] Furthermore, in this embodiment, the heat exchange device or fan 90 and the energy storage device 19 can be arranged adjacent to each other. Then, the flow change component can be an exhaust pipe 92 that discharges the air that has passed through the heat exchange device toward the outside of the upper rotating body 3.

[0225] Therefore, specifically, the excavator 100 can separate the space where the energy storage device 19 is installed from the space where the airflow path of the cooling heat exchange equipment exists.

[0226] [Transformation, alteration]

[0227] The implementation methods have been described in detail above, but the present invention is not limited to this specific implementation method. Various modifications and alterations can be made within the scope of the spirit described in the patent claims.

[0228] For example, in the above embodiment, the configuration structure of various devices (heat exchange devices cooled by the energy storage device 19 and the fan 90) of the excavator 100 without an engine has been described, but the same configuration structure can be applied to excavators equipped with an engine. That is, the configuration structure of various devices of the excavator 100 in the above embodiment can be applied to hybrid excavators. Specifically, the radiator for cooling the engine is arranged adjacent to the radiator 62 and the condenser 82B, etc., so that it can be cooled by the fan 90.

[0229] Furthermore, in the above embodiments and variations, the configuration structure of various devices mounted on the excavator 100 has been described. However, the same configuration structure can be applied to other construction machinery equipped with energy storage devices, heat exchange equipment, and fans. Other construction machinery includes, for example, industrial vehicles, forklifts, cranes, bulldozers, etc.

Claims

1. An excavator, comprising: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; An electric motor is mounted on the upper rotating body; A hydraulic pump, mounted on the upper rotating body, is driven by the electric motor; Multiple actuators drive a driven part including the lower traveling body and the upper rotating body, the multiple actuators including a hydraulic actuator that operates by working oil supplied from the hydraulic pump; An energy storage device, mounted on the upper rotating body, serves as the sole energy source for driving the plurality of actuators and supplies power to the electric motor. Cooling device for cooling the energy storage device; A fan, mounted on the upper rotating body, delivers airflow to the specified equipment for cooling. and The flow-changing component alters the direction of airflow through the designated equipment, caused by the fan, so that it does not come into contact with the energy storage device. The energy storage device is configured to deviate from the following path: air outside the upper rotating body is drawn into the interior of the upper rotating body by the action of the fan, and then discharged to the outside of the upper rotating body after passing through the designated device.

2. The excavator according to claim 1, wherein, The specified equipment or the fan and the energy storage device are arranged adjacent to each other. The flow-changing component is an exhaust pipe that discharges air that has passed through the specified device toward the outside of the upper rotating body.

3. An excavator, comprising: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; An electric motor is mounted on the upper rotating body; A hydraulic pump, mounted on the upper rotating body, is driven by the electric motor; Multiple actuators drive a driven part including the lower traveling body and the upper rotating body, the multiple actuators including a hydraulic actuator that operates by working oil supplied from the hydraulic pump; An energy storage device, mounted on the upper rotating body, serves as the sole energy source for driving the plurality of actuators and supplies power to the electric motor. Cooling device for cooling the energy storage device; and A fan, mounted on the upper rotating body, supplies air to the designated equipment for cooling. The energy storage device is mounted only in the area to the right of the center of the upper rotating body, including the front right side of the upper rotating body.

4. The excavator according to claim 3, wherein, The energy storage device is located in the area covering the front right side and the center right side of the upper rotating body. The following path is configured at the rear of the upper rotating body: through the action of the fan, air from outside the upper rotating body is introduced into the interior of the upper rotating body, and then discharged to the outside of the upper rotating body after passing through the designated device.

5. The excavator according to claim 4, wherein, The path is configured to extend to the left and right sides of the rear of the upper rotating body. A shielding component is disposed between the rear end of the energy storage device and the path.

6. The excavator according to claim 5, wherein, The shielding component is configured to include, within the space between itself and the energy storage device, a power cable connected to the energy storage device and a refrigerant hose for the cooling device.

Images