• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a portable power supply system (30) intended to supply a remotely controlled, electrically driven work machine (1) with electric power, the work machine being of the type having a propulsion device comprising caterpillar tracks (8b) and being equipped with an operable arm (10) intended to carry a work tool at its free end, an electric motor (19) coupled to a hydraulic pump (20) is intended to supply the machine's executive member (8c, 10a) with hydraulic medium, during normal operation the working machine is intended to supply via an electric cable (2 ') is connected to a primary power source (30a) which comprises a stationary AC power grid on site. In order to be able to supply the required current, it comprises a DC energy storage device (29) which, including a secondary power source (30b), can store energy and, if necessary, deliver energy in electrical form; a coupling device (31, 33, 34, 34 ') which makes it possible to selectively connect the primary (30a) or the secondary power source (30b) to the electric motor (19) to drive it. (Fig. 3)
    公开号:SE1250399A1
    申请号:SE1250399
    申请日:2012-04-23
    公开日:2013-10-24
    发明作者:Gunnar Bystedt
    申请人:Brokk Ab；
    IPC主号:
    专利说明:

    2 the on-site electricity distribution network cannot supply the power outlet required by the work machine.
    It should be understood that it is extremely troublesome if the work machine cannot be used immediately on site, even in cases where it is possible to modify or adapt the electricity distribution network so that it can supply the required current to the work machine. In the worst case, the work machine cannot even be driven by the transport vehicle with which it was transported to the relevant workplace due to the lack of the required electricity distribution network. Furthermore, it should be understood that the need for greater mains current and thus higher fuse numbers than what exists at the current location of the electricity distribution network not only means cost increases as such, but also places significantly greater demands on the external electricity network with requirements for required conductor area, protective conductors etc. shall provide drive power to the on-site electricity distribution network. The need to be able to temporarily drive and move the work machine can of course also arise in the event of sudden power outages or more prolonged power outages.
    EP 2 180 576 A2 discloses a portable power supply system for a remote-controlled electrically driven work machine. The system uses a switching device with switches or switches. An operator can, by actuating a control device, switch on the switches so that they alternatively connect a primary power source (stationary AC power distribution network on site) or a secondary power source (which may include a battery).
    A first object of the present invention is therefore to provide a portable power supply system for a remote-controlled electrically driven work machine of the above-mentioned type which eliminates the above-mentioned problems and makes it possible to immediately and at all times be able to use the work machine at a workplace, even at current electricity distribution networks. on site unable to deliver required current. This first object of the invention is achieved by a portable power supply system which has obtained the features and characteristics stated in claim 1. A second object of the invention is to provide a remote controlled work machine of the present kind with substantially improved usability and operational reliability. This second object of the invention is achieved by a working machine which exhibits the features and characteristics set forth in claim 8.
    The essential idea behind the invention consists in arranging for the working machine's hydraulic drive system the possibility to use either a primary and a separate power source either in combination or separately, the primary power source comprising the current electricity distribution network to which the work machine is intended to be connected for operation. the drive source comprises any suitable DC energy storage device that can store energy and, if necessary, emit energy in electrical form. In the event that the current workplace does not have the required electricity distribution network, the secondary power source can be connected and serve as a complement to the primary power source, alternatively the secondary power source is so dimensioned that it alone and as a spare unit can supply the required httpwams.zacwmm / sates / se / Case / 1 1 1340SC / 41 106878 / P41 106878SE00 / P41 106878SEO0_2013- 01-21_130121 besk o requirements.docx 3 electric power to the power supply system include a DC bus which makes it possible to substantially free the work machine, at least for a limited time. It is convenient to be able to connect and utilize the power in various energy sources, for example a battery in direct combination with a conventional AC electricity distribution network of 3-phase 400 V or even only 1-phase 230 V. In the event of a surplus of power in the DC bus, operation can take place without loss of performance at the same time as a battery included in the secondary energy source is charged by means of the surplus.
    The hybrid aspect of the present electric work machine lies in the possibility of being able to use a secondary or supplementary source of electrical energy, not only for charging the battery or as reserve power, but also for operating the work machine for example as a complement to a substandard electrical network on site. This secondary power source may comprise a battery built into the work machine, a generator driven by a small built-in fuel engine or a built-in fuel cell containing a fuel, for example hydrogen gas intended to be converted into electrical energy.
    In the following, an embodiment of the invention is described in more detail with reference to the accompanying drawings, in which; fi g._1 shows a side view of a remote-controlled electrically driven work machine equipped with a portable power supply system according to the invention, Eig¿ schematically shows a block diagram of a portable power supply system which according to the invention includes an arrangement which allows both a primary and a secondary power source to be connected to the work machine. to operate the same, fl gi schematically shows a block diagram of a portable power supply system according to the invention in an embodiment where the primary power source used comprises a conventional AC electricity distribution network and the secondary power source comprises a power source supported by the work machine including a battery, fl gi shows schematically in in the form of a graph the power supplement obtained when using a combination of a primary and a secondary power source, fi gi shows a portable power supply system according to the invention in which the secondary power source comprises a diesel engine driven generator set at, a so-called genset, fl gj shows a portable power supply system according to the invention in which the power source supercapacitor, secondary comprises an energy storage system containing a fl gLLA shows a perspective view from above of a control box, as seen by an operator when operating the work machine, Figs. 7B shows in the form of a compilation functions of the control box and symbols for converting the work machine from normal operation to an operating state where reserve power from a secondary energy source is utilized. nupu / ams.zaccomm / sstes / se / Case / 1 1 1340SC / 41 106878 / P41 106878SE00 / P41 1068788 E00_201 3- 01-21_130121 besk o requirements.docx 4 Fig. 1 shows a remote-controlled electrically driven work machine 1 designed as a demolition robot which is supplied with power via a cable 2. The work machine is relatively energy-intensive and in order to supply it with the required electric power, the electricity distribution network normally delivers a mains current of, for example, 32 A at a voltage of 400 V. The network is equipped with fuses to meet such power needs. A tar-controlled work machine of the present type is manufactured and sold under the brand "BROKK" and in which machine type an operator 3 walking next to the machine controls and maneuvers the machine by means of a portable control box 4 or remote control supported on the body via a belt or harness. The control box 4 comprises control levers as well as buttons and knobs which, by actuation and adjustment, can cause the work machine to perform the desired movements or by entering data the work machine is provided with the necessary instructions. Common tasks are demolition and demolition work where operator 3 can be at a safe distance from a dangerous work area. The working machine 1 generally comprises a chassis 5 with an upper part 6 and a lower part 7. The upper part 6 is rotatably mounted on the lower part 7 for pivoting in a horizontal plane about a vertical axis C. The lower part 7 of the working machine 1 is provided with a propulsion device 8a. enables the work machine to move on varying surfaces. The caterpillar tracks 8b are driven by hydraulic motors 8c. The working machine further has a number of support legs 7a. The working machine 1 has an operable arm 10 which is supported on the rotatable upper part 6 and which, for operating the arm, in this case comprises four hydraulic functions which are actuated by a series of hydraulic cylinders 10a.
    As best seen in Figures 1 and 7A, the operator 3 is connected via the control unit 4 to the work machine 1 via cable or wirelessly, for example via Bluetooth or radio control. Via the control box 4, the working machine 1 can be switched to different working modes (working modes) as illustrated in Fig. 7B. When changing working position, the control box 4 is adjusted in a so-called setup mode. The selected operating mode is displayed by means of symbols lit on a screen 4c or display on the control box 4. According to the present invention, in said setting mode, an operating state with addition of reserve power (secondary power) is also selectable which can be activated and deactivated by setting on or off; (On, Off). In said reserve power mode, the power supply system supplies three-phase rated voltage of 400 V and the frequency 50 Hz AC to the electric motor of the work machine with the nominal power required to drive the work machine according to the specified rated data. That the operating mode for the reserve power mode is activated, ie. in position (On), is indicated on the control box 4 display 4c for the operator. In an alternative embodiment, it is of course possible to automate this changeover, whereby the system itself senses the instantaneous power demand, ie. if there is a surplus or power surplus, in which a control device such as a PLC, a computer or the like connects the secondary power source if necessary. rmpz // dmszacwßom / sires / se / Case / 1 1 134OSC / 41 106878 / P41 106878SEOO / P41 106878SE00_2013- 01-21_130121 besk o requirements.docx Again with reference to Fig. 1 it appears that the work machine 1 has a drive system which comprises a hydraulic system for controlling the various functions of the work machine. As can be seen from the circuit diagram, the working machine 1 is equipped with an AC three-phase electric motor 19 which drives a hydraulic pump 20 with fixed displacement and with which pump all the executive members of the machine can be provided with hydraulic medium. In this simplified embodiment, only the first hydraulic cylinder 10a of the control arm 10 is shown. When moving the work machine 1 forwards or backwards, hydraulic flow is transmitted via a hydraulic valve not shown in the figure to a respective crawler motor 8c. It should be understood that crucial for the working machine 1 to be able to run at all is that the required electrical power from a power source can be supplied to the electric motor 19 of the working machine.
    With particular reference to Figs. 2 and 3 and in accordance with the invention, a system for power supply 30 of the working machine 1 comprises an arrangement which makes it possible to use either a primary 30a and a secondary power source 30b either in combination or separately. By primary power source is meant the stationary electricity distribution network with a three-phase rated voltage of 400 V and the frequency 50 Hz which is normally present at each workplace and to which the work machine 1 is intended to be connected for operation. By secondary power source 30b is meant any suitable DC energy storage device 29 supported by the work machine 1 which can store energy and, if necessary, emit energy in electrical form. The stored energy can appear in any suitable form, for example as a chemical energy (energy cell) stored in a substance, electrical energy, kinetic energy, etc. A DC energy storage device can also comprise a so-called UPS, (uninterruptible power supply) with the task of taking care of temporary and sausage disturbances in the electricity grid.
    In Fig. 2 of portable power supply system 30 which can be supported as an integral part of the work machine 1. illustrated by a dotted contour line, said Power supply system 30 comprises the following main components; a rectifier 31 for converting from AC a mains 32 supplied alternating current to direct current, an inverter 33 for converting a constant DC voltage to alternating voltage, an intermediate circuit or DC bus 34, 34 'which stabilizes and is optionally arranged to smooth the pulsating direct voltage and has the task of constituting a form of energy storage from which the inverter draws energy, a control circuit (see Fig. 3) for controlling and controlling voltage levels occurring in the system by from energy storage device 29. All units mentioned here are as such well known in continuous transmission and receive signals said units as well as said electrical technology and are all commercially available in which their structure and function will not be described in more detail. Fig. 3 shows the power transmission system in more detail and as can be seen here, the DC bus has a positive side 34 and a negative side 34 ”. The positive power source network 12a is connected to the positive and negative sides 34, 34 'of the DC bus as the primary power source. rmpwams.zaccomm / sites / se / Case / 1 1 1340SC / 41 106878 / P41 106878SE00 / P41 106878SEOO_2013- 01-21_130121 besk o requirements.docx 6 Said power-generating main power network 12 generally comprises a stationary electric power network from which a three-phase alternating current is supplied. with a suitable system voltage level for conventional networks, for example 400 V and the frequency 50 Hz. The alternating current is converted to DC direct voltage by the rectifier 31 which is connected to the above-mentioned DC bus 34, 34 ”.
    The three-phase AC drive motor 19 of the work machine 1 which drives the hydraulic pump 20 is also connected to the DC bus 34, 34 'via said inverter 33. The power to and from the respective units connected to the DC bus 34, 34' is controlled and controlled by means of a control system 37, for example a programmable logic control circuit so-called PLC or computer which is connected via channels 38, 39 to said rectifier 31 and inverter 33, respectively. For control and monitoring of the voltage levels of the DC bus, a so-called buck-boost circuit or the like is used and which for the purpose is arranged between the DC bus 34, 34 'and the energy storage device 29 in which the secondary power source 30b is included.
    The energy storage device 29 comprises an energy storage in the form of a battery 40 of, for example, NiMh type or electric accumulator whose capacity can be selected arbitrarily and as required.
    The battery 40 thus forms a secondary power source 30b which can be recharged when connected to an electrical voltage source. For storage of energy and output of said energy in the form of a DC direct current to the DC bus 34, 34 ', a switch 41 is used which can be switched in alternative positions by the operator 3 by means of the control box 4. Thanks to the DC bus 34, 34' possibility to easily automate the connection and disconnection of the energy storage device 29 and the secondary power source 30b by measuring the instantaneous state of the DC bus for checking whether there is a power surplus or power surplus. Thus, in the event of a current power deficit, the energy storage device 29 and the power source 30b are switched on and the current energy storage device 29 is charged by the excess left by the primary power source 30a. secondary reverse in case of excess power Fig. 5 shows an alternative embodiment where a diesel generator 45 is used as secondary power source 30b. The diesel assembly 45 is mechanically connected to an AC power generator 46 to form a so-called genset. The AC AC output from the power generator 46 is converted to DC direct current at a suitable frequency by means of a converter 47 and is fed into the DC bus via the positive 34 and negative side 34 ”.
    Fig. 6 shows the energy storage device 29 in an alternative embodiment comprising an energy storage in the form of a supercapacitor 57 in which electrical energy can be stored, the supercapacitor forming a secondary energy source. In addition to said supercapacitor 57, a first branch line includes a diode 58 and a charge switch 59, the branch line being connected in parallel across the positive side 34 and negative side 34 "of the DC bus.
    Furthermore, there is a second branch line with a switch 60 which, when closed, causes the supercapacitor 57 to discharge. The diode 58 only allows current to be conducted in one direction for charging the supercapacitor 57, whereby discharge can not take place via said first nupr / dmszacw.com / silesfsefCasel1 1 1340SC / 41 106878 / P41 106878SE00 / P41 106878SE00_2013- 01-21_130121 7 when the first branch line is closed, the voltage of the supercapacitor 57 increases so that it eventually exceeds the voltage across a capacitor 61 included in the DC bus. Since the voltage across the supercapacitor 57 is higher than across the capacitor 61 of the DC bus, the supercapacitor can be connected for supply of power to the AC motor motor 19 of the work machine 1 via the respective inverter 33, which in practice takes place by closing the second branch line by means of the switch 60. Thanks to the system working with a DC distribution network between both primary and secondary power source and consumer (AC AC motor 19 ) energy levels can be easily balanced by mutual energy transfer between different energy sources r in the system. This is particularly interesting in the case of work machines of the present type which are not infrequently used in places which lack the necessary stationary electrical infrastructure, since the primary power source 12 only needs to supply a limited part of the power normally required to drive the electric motor 19 and thereby running the work machine 1 at the same time as a remaining part of the power required to reach the required power level is retrieved from the secondary Power Source. An example of such an occasion when this can be an advantage, is if the general electricity distribution network on site can only supply a limited mains current, for example 16 A, while the work machine requires 32 A to be able to run.
    The latter relationship is illustrated in more detail in Fig. 4, showing diagrammatically in the form of a graph denoted by block A + B the total power requirement for a working machine 1 at the mains current 32 A. Block A corresponds to the maximum power level that can be obtained at 16 A mains current while block B corresponds to the reserve power or supplementary power level that must be supplied by the secondary energy source in order to reach the required power level. Thanks to the combination of primary power from the AC mains (16 A) and the energy storage device 29 supported by the work machine, which receives power from the secondary energy source, sufficient power is obtained to supply the work machine. It should be understood that the amount of electric power that can be obtained from the energy storage device 29, i.e. the capacity of the device depends on a number of different factors such as the technical design of the secondary power source and its dimensions. For example, the energy storage device 29 can be designed in such a way that it can supply at least a limited time, at least for a limited time, to at least make it possible to detach the work machine from a transport vehicle or to simply remove it so that it is out of the way of other activities. Thanks to the DC bus, the energy storage device and the secondary power source are charged as soon as the power transmission system 30 is connected to a primary power source 30a.
    Fig. 7A shows how the work machine can be switched via the control box 4 in different working modes (working modes), which is also illustrated in Fig. 7B. is displayed with symbols in which working modes the machine is switched. With the work machine 1 switched to the position selection mode of running the work machine 1 with “Reserve Power”, the selection symbol is displayed hnp: name.zacw.com/siies/se/Case/1 1 134OSC / 41 106878 / P41 106878EN00 / P41 106878EN00_2013- 01-21_130121 besk o requirements.docx 8 of "Operating state" whereby the screen 4c lights up and when activating the function in position "On" or (On) this is indicated on the control box 4 display 4c. Thanks to the possibility for the operator to directly by means of the control box switch the working machine's operating mode for utilization of secondary power, both the problems with defective electricity distribution networks and the cases where the AC network on site is deficient and unable to supply required current or temporarily fail due to power outages. When the work machine is to be used in the intended place, the problem often arises that the place in question does not have a low-voltage electricity distribution network that can deliver the required power to the work machine, ie. the mains provides the required mains voltage, for example 400V, but cannot supply the mains current required by the work machine. For example, the problem often occurs that the available electricity distribution network on site is limited in that it only offers 16 A in main fuse rating while the work machine requires a higher fuse rating to be able to run, for example 32 A or more. This significantly delays or complicates the commissioning of the work machine or in the worst case makes it impossible, in cases where the electricity distribution network on site is simply not judged to be able to supply the power outlet that the work machine requires. These problems are solved by the power supply systems described above.
    The present invention is not limited to what is described above and that shown in the drawings, but can be changed and modified in a number of different ways within the scope of the inventive concept stated in the appended claims. mp: uamszacmcom / snes / se / Case / 1 1 1340SC / 41 106878 / P41 106878SEOO / P41 106878SEO0_2013- 01-21_130121 besk o requirements.docx
    权利要求:
    Claims (1)
    [1]
    1. -21_130121 besk o requirements.docx
    类似技术:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1250399A|SE542381C2|2012-04-23|2012-04-23|Electrically powered demolition robot and its power supply system|SE1250399A| SE542381C2|2012-04-23|2012-04-23|Electrically powered demolition robot and its power supply system|
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    CN201380021278.0A| CN104247196A|2012-04-23|2013-04-19|Portable power supply system for electrically driven work machine and work machine equipped with such power supply system|
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    US14/396,682| US9725879B2|2012-04-23|2013-04-19|Portable power supply system for an electrically driven work machine and a work machine equipped with such a power supply system|
    PCT/SE2013/050426| WO2013162448A1|2012-04-23|2013-04-19|A portable power supply system for an electrically driven work machine and a work machine equipped with such a power supply system|
    US15/643,330| US10385540B2|2012-04-23|2017-07-06|Portable power supply system for an electrically driven work machine and a work machine equipped with such a power supply system|
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